ESA1 / Mbed 2 deprecated HelloWorld_IKS01A2

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Dependencies:   mbed Orientation_tracker X_NUCLEO_IKS01A2

main.cpp@23:9f1afcbd26f5, 2019-06-10 (annotated)

Committer:
Lafayette96
Date:
Mon Jun 10 11:01:04 2019 +0000
Revision:
23:9f1afcbd26f5
Parent:
22:bbdb7b928ccc 
newest

Who changed what in which revision?

UserRevisionLine numberNew contents of line
cparata 0:69566eea0fba 1 /**
cparata 0:69566eea0fba 2 ******************************************************************************
cparata 0:69566eea0fba 3 * @file main.cpp
cparata 8:8f495e604424 4 * @author CLab
cparata 8:8f495e604424 5 * @version V1.0.0
cparata 8:8f495e604424 6 * @date 2-December-2016
cparata 0:69566eea0fba 7 * @brief Simple Example application for using the X_NUCLEO_IKS01A1
cparata 0:69566eea0fba 8 * MEMS Inertial & Environmental Sensor Nucleo expansion board.
cparata 0:69566eea0fba 9 ******************************************************************************
cparata 0:69566eea0fba 10 * @attention
cparata 0:69566eea0fba 11 *
cparata 0:69566eea0fba 12 * <h2><center>&copy; COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
cparata 0:69566eea0fba 13 *
cparata 0:69566eea0fba 14 * Redistribution and use in source and binary forms, with or without modification,
cparata 0:69566eea0fba 15 * are permitted provided that the following conditions are met:
cparata 0:69566eea0fba 16 * 1. Redistributions of source code must retain the above copyright notice,
cparata 0:69566eea0fba 17 * this list of conditions and the following disclaimer.
cparata 0:69566eea0fba 18 * 2. Redistributions in binary form must reproduce the above copyright notice,
cparata 0:69566eea0fba 19 * this list of conditions and the following disclaimer in the documentation
cparata 0:69566eea0fba 20 * and/or other materials provided with the distribution.
cparata 0:69566eea0fba 21 * 3. Neither the name of STMicroelectronics nor the names of its contributors
cparata 0:69566eea0fba 22 * may be used to endorse or promote products derived from this software
cparata 0:69566eea0fba 23 * without specific prior written permission.
cparata 0:69566eea0fba 24 *
cparata 0:69566eea0fba 25 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
cparata 0:69566eea0fba 26 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
cparata 0:69566eea0fba 27 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
cparata 0:69566eea0fba 28 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
cparata 0:69566eea0fba 29 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
cparata 0:69566eea0fba 30 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
cparata 0:69566eea0fba 31 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
cparata 0:69566eea0fba 32 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
cparata 0:69566eea0fba 33 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
cparata 0:69566eea0fba 34 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
cparata 0:69566eea0fba 35 *
cparata 0:69566eea0fba 36 ******************************************************************************
cparata 0:69566eea0fba 37 */
cparata 0:69566eea0fba 38
cparata 0:69566eea0fba 39 /* Includes */
cparata 0:69566eea0fba 40 #include "mbed.h"
davide.aliprandi@st.com 13:fc873da5b445 41 #include "XNucleoIKS01A2.h"
piter12345 20:c27bce3cf63b 42 #include "MadgwickAHRS.h"
Lafayette96 22:bbdb7b928ccc 43 #define sampleFreqDef 10.0f
Lafayette96 22:bbdb7b928ccc 44
Lafayette96 22:bbdb7b928ccc 45 Serial pc(USBTX, USBRX, 115200);
Lafayette96 23:9f1afcbd26f5 46 uint8_t id;
Lafayette96 23:9f1afcbd26f5 47 float value1, value2;
Lafayette96 23:9f1afcbd26f5 48 char buffer1[32], buffer2[32];
Lafayette96 23:9f1afcbd26f5 49 char* nmea;
Lafayette96 23:9f1afcbd26f5 50 int32_t axes[3];
Lafayette96 23:9f1afcbd26f5 51 int32_t mag[3];
Lafayette96 23:9f1afcbd26f5 52 int32_t gyr[3];
Lafayette96 23:9f1afcbd26f5 53 int32_t ac[3];
Lafayette96 23:9f1afcbd26f5 54 float gyrf[3];
Lafayette96 23:9f1afcbd26f5 55 float pitch, roll, yaw;
Lafayette96 23:9f1afcbd26f5 56 uint32_t counter = 0;
Lafayette96 23:9f1afcbd26f5 57 int32_t mag_max[3];
Lafayette96 23:9f1afcbd26f5 58 int32_t mag_min[3]; // zmienne do przechwoywania "offsetu" magnetometru
Lafayette96 23:9f1afcbd26f5 59 bool initialized = false;
Lafayette96 23:9f1afcbd26f5 60
Lafayette96 23:9f1afcbd26f5 61 //enable a ticker that allows to setup a recurring interrupt to repeatedly call a function at a specified rate.
Lafayette96 23:9f1afcbd26f5 62 Ticker flipper;
Lafayette96 23:9f1afcbd26f5 63
Lafayette96 23:9f1afcbd26f5 64 Madgwick madgwick_filter;
Lafayette96 22:bbdb7b928ccc 65
cparata 0:69566eea0fba 66 /* Instantiate the expansion board */
davide.aliprandi@st.com 13:fc873da5b445 67 static XNucleoIKS01A2 *mems_expansion_board = XNucleoIKS01A2::instance(D14, D15, D4, D5);
cparata 0:69566eea0fba 68
cparata 0:69566eea0fba 69 /* Retrieve the composing elements of the expansion board */
davide.aliprandi@st.com 13:fc873da5b445 70 static LSM303AGRMagSensor *magnetometer = mems_expansion_board->magnetometer;
cparata 0:69566eea0fba 71 static HTS221Sensor *hum_temp = mems_expansion_board->ht_sensor;
cparata 0:69566eea0fba 72 static LPS22HBSensor *press_temp = mems_expansion_board->pt_sensor;
cparata 0:69566eea0fba 73 static LSM6DSLSensor *acc_gyro = mems_expansion_board->acc_gyro;
davide.aliprandi@st.com 13:fc873da5b445 74 static LSM303AGRAccSensor *accelerometer = mems_expansion_board->accelerometer;
cparata 0:69566eea0fba 75
cparata 0:69566eea0fba 76 /* Helper function for printing floats & doubles */
davide.aliprandi@st.com 13:fc873da5b445 77 static char *print_double(char* str, double v, int decimalDigits=2)
cparata 0:69566eea0fba 78 {
cparata 0:69566eea0fba 79 int i = 1;
cparata 0:69566eea0fba 80 int intPart, fractPart;
cparata 0:69566eea0fba 81 int len;
cparata 0:69566eea0fba 82 char *ptr;
cparata 0:69566eea0fba 83
cparata 0:69566eea0fba 84 /* prepare decimal digits multiplicator */
cparata 0:69566eea0fba 85 for (;decimalDigits!=0; i*=10, decimalDigits--);
cparata 0:69566eea0fba 86
cparata 0:69566eea0fba 87 /* calculate integer & fractinal parts */
cparata 0:69566eea0fba 88 intPart = (int)v;
cparata 0:69566eea0fba 89 fractPart = (int)((v-(double)(int)v)*i);
cparata 0:69566eea0fba 90
cparata 0:69566eea0fba 91 /* fill in integer part */
cparata 0:69566eea0fba 92 sprintf(str, "%i.", intPart);
cparata 0:69566eea0fba 93
cparata 0:69566eea0fba 94 /* prepare fill in of fractional part */
cparata 0:69566eea0fba 95 len = strlen(str);
cparata 0:69566eea0fba 96 ptr = &str[len];
cparata 0:69566eea0fba 97
cparata 0:69566eea0fba 98 /* fill in leading fractional zeros */
cparata 0:69566eea0fba 99 for (i/=10;i>1; i/=10, ptr++) {
davide.aliprandi@st.com 13:fc873da5b445 100 if (fractPart >= i) {
davide.aliprandi@st.com 13:fc873da5b445 101 break;
davide.aliprandi@st.com 13:fc873da5b445 102 }
cparata 0:69566eea0fba 103 *ptr = '0';
cparata 0:69566eea0fba 104 }
cparata 0:69566eea0fba 105
cparata 0:69566eea0fba 106 /* fill in (rest of) fractional part */
cparata 0:69566eea0fba 107 sprintf(ptr, "%i", fractPart);
cparata 0:69566eea0fba 108
cparata 0:69566eea0fba 109 return str;
cparata 0:69566eea0fba 110 }
cparata 0:69566eea0fba 111
Lafayette96 23:9f1afcbd26f5 112
piter12345 21:c62412a679b0 113 // NMEA conversion
piter12345 21:c62412a679b0 114 void float_to_char(float my_float, char* tab){
Lafayette96 23:9f1afcbd26f5 115 tab[0] = (char)( (int)(my_float/100.0) + 48);
piter12345 21:c62412a679b0 116 tab[1] = (char)( (int)((my_float - (tab[0]- '0')*100)/10.0) + 48);
piter12345 21:c62412a679b0 117 tab[2] = (char)( (int)((my_float - (tab[0]- '0')*100 - (tab[1]- '0')*10 )) + 48);
piter12345 21:c62412a679b0 118 tab[4] = (char)( (int)((my_float - (tab[0]- '0')*100 - (tab[1]- '0')*10 - (tab[2]- '0'))*10.0) + 48);
piter12345 21:c62412a679b0 119 tab[5] = (char)( (int)((my_float - (tab[0]- '0')*100 - (tab[1]- '0')*10 - (tab[2]- '0') - (tab[4]- '0')/10.0)*100.0) + 48);
piter12345 21:c62412a679b0 120 }
piter12345 21:c62412a679b0 121
piter12345 21:c62412a679b0 122 char * get_nmea_sentence(float roll, float pitch, float yaw){
Lafayette96 23:9f1afcbd26f5 123 static char sentence[] = "$PASHR,hhmmss.sss,hhh.hh,T,rrr.rr,ppp.pp,xxx.xx,a.aaa,b.bbb,c.ccc,d,e*hh\n\r\n";
piter12345 21:c62412a679b0 124 //float roll_deg = roll * 360/(2*3.14);
piter12345 21:c62412a679b0 125 // float pitch_deg = pitch * 360/(2*3.14);
piter12345 21:c62412a679b0 126 // float yaw_deg = yaw * 360/(2*3.14);
piter12345 21:c62412a679b0 127
piter12345 21:c62412a679b0 128 float_to_char(roll, sentence + 27);
piter12345 21:c62412a679b0 129 float_to_char(pitch, sentence + 34);
piter12345 21:c62412a679b0 130 float_to_char(yaw, sentence + 18);
piter12345 21:c62412a679b0 131
piter12345 21:c62412a679b0 132 return sentence;
piter12345 21:c62412a679b0 133 }
piter12345 21:c62412a679b0 134
piter12345 21:c62412a679b0 135
Lafayette96 23:9f1afcbd26f5 136 void update_filter(){
Lafayette96 23:9f1afcbd26f5 137 magnetometer->get_m_axes(axes);
Lafayette96 23:9f1afcbd26f5 138 mag[0] = axes[0] + 15;
Lafayette96 23:9f1afcbd26f5 139 mag[1] = axes[1] + 180;
Lafayette96 23:9f1afcbd26f5 140 mag[2] = axes[2] + 51;
Lafayette96 23:9f1afcbd26f5 141
Lafayette96 23:9f1afcbd26f5 142 /*
Lafayette96 23:9f1afcbd26f5 143 if(initialized == false){
Lafayette96 23:9f1afcbd26f5 144 mag_max[0] = mag[0];
Lafayette96 23:9f1afcbd26f5 145 mag_max[1] = mag[1];
Lafayette96 23:9f1afcbd26f5 146 mag_max[2] = mag[2];
Lafayette96 23:9f1afcbd26f5 147 mag_min[0] = mag[0];
Lafayette96 23:9f1afcbd26f5 148 mag_min[1] = mag[1];
Lafayette96 23:9f1afcbd26f5 149 mag_min[2] = mag[2];
Lafayette96 23:9f1afcbd26f5 150 initialized = true;
Lafayette96 23:9f1afcbd26f5 151 }
piter12345 18:ba523ddf9a89 152
Lafayette96 23:9f1afcbd26f5 153
Lafayette96 23:9f1afcbd26f5 154 for(int i=0; i<3; i++){
Lafayette96 23:9f1afcbd26f5 155 if(mag[i] > mag_max[i]){
Lafayette96 23:9f1afcbd26f5 156 mag_max[i] = mag[i];
Lafayette96 23:9f1afcbd26f5 157 }
Lafayette96 23:9f1afcbd26f5 158 if(mag[i] < mag_min[i]){
Lafayette96 23:9f1afcbd26f5 159 mag_min[i] = mag[i];
Lafayette96 23:9f1afcbd26f5 160 }
Lafayette96 23:9f1afcbd26f5 161 }
Lafayette96 23:9f1afcbd26f5 162 */
Lafayette96 23:9f1afcbd26f5 163
cparata 0:69566eea0fba 164
Lafayette96 23:9f1afcbd26f5 165 //pc.printf("LSM303AGR maximum axes values [mag/mgauss]: %6ld, %6ld, %6ld\r\n", mag_max[0], mag_max[1], mag_max[2]);
Lafayette96 23:9f1afcbd26f5 166 //pc.printf("LSM303AGR minimum axes values [mag/mgauss]: %6ld, %6ld, %6ld\r\n", mag_min[0], mag_min[1], mag_min[2]);
Lafayette96 23:9f1afcbd26f5 167
Lafayette96 23:9f1afcbd26f5 168 //pc.printf("mag1 is at 0x%08X\r\n", &mag[0]); it's how to get an adress for use in stm studio
piter12345 18:ba523ddf9a89 169
piter12345 18:ba523ddf9a89 170 accelerometer->get_x_axes(axes);
piter12345 18:ba523ddf9a89 171 ac[0] = axes[0];
piter12345 18:ba523ddf9a89 172 ac[1] = axes[1];
piter12345 18:ba523ddf9a89 173 ac[2] = axes[2];
piter12345 21:c62412a679b0 174 // printf("LSM303AGR [acc/g]: %6ld, %6ld, %6ld\r\n", ac[0], ac[1], ac[2]);
piter12345 18:ba523ddf9a89 175
piter12345 18:ba523ddf9a89 176 //acc_gyro->get_x_axes(axes);
piter12345 18:ba523ddf9a89 177 //printf("LSM6DSL [acc/mg]: %6ld, %6ld, %6ld\r\n", ac[0], ac[1], ac[2]);
piter12345 18:ba523ddf9a89 178
piter12345 18:ba523ddf9a89 179 acc_gyro->get_g_axes(axes);
piter12345 18:ba523ddf9a89 180 gyr[0] = axes[0];
piter12345 18:ba523ddf9a89 181 gyr[1] = axes[1];
piter12345 18:ba523ddf9a89 182 gyr[2] = axes[2];
piter12345 21:c62412a679b0 183 // printf("LSM6DSL [gyro/mdps]: %6ld, %6ld, %6ld\r\n", gyr[0], gyr[1], gyr[2]);
piter12345 21:c62412a679b0 184
piter12345 21:c62412a679b0 185 gyrf[0] = 1.0*gyr[0];
piter12345 21:c62412a679b0 186 gyrf[1] = 1.0*gyr[1];
piter12345 21:c62412a679b0 187 gyrf[2] = 1.0*gyr[2];
piter12345 21:c62412a679b0 188 // printf(" gx: %.2f gy: %.2f , gz: %.2f\n\r", gyrf[0], gyrf[1], gyrf[2]);
piter12345 21:c62412a679b0 189
piter12345 21:c62412a679b0 190 madgwick_filter.update((float)gyr[0]/1000.0, (float)gyr[1]/1000.0, (float)gyr[2]/1000.0, (float)ac[0], (float)ac[1], (float)ac[2], (float)mag[0], (float)mag[1], (float)mag[2]);
piter12345 21:c62412a679b0 191 //madgwick_filter.update(0,100,0,0,0,0,0,0,0);
piter12345 20:c27bce3cf63b 192 madgwick_filter.computeAngles();
piter12345 20:c27bce3cf63b 193
piter12345 20:c27bce3cf63b 194 pitch = madgwick_filter.getPitch();
piter12345 20:c27bce3cf63b 195 roll = madgwick_filter.getRoll();
piter12345 20:c27bce3cf63b 196 yaw = madgwick_filter.getYaw();
Lafayette96 23:9f1afcbd26f5 197 }
Lafayette96 23:9f1afcbd26f5 198
Lafayette96 23:9f1afcbd26f5 199
Lafayette96 23:9f1afcbd26f5 200 int main() {
Lafayette96 23:9f1afcbd26f5 201
Lafayette96 23:9f1afcbd26f5 202 /* Enable all sensors */
Lafayette96 23:9f1afcbd26f5 203 hum_temp->enable();
Lafayette96 23:9f1afcbd26f5 204 press_temp->enable();
Lafayette96 23:9f1afcbd26f5 205 magnetometer->enable();
Lafayette96 23:9f1afcbd26f5 206 accelerometer->enable();
Lafayette96 23:9f1afcbd26f5 207 acc_gyro->enable_x();
Lafayette96 23:9f1afcbd26f5 208 acc_gyro->enable_g();
Lafayette96 23:9f1afcbd26f5 209
Lafayette96 23:9f1afcbd26f5 210
Lafayette96 23:9f1afcbd26f5 211 magnetometer->read_id(&id);
Lafayette96 23:9f1afcbd26f5 212 // printf("LSM303AGR magnetometer = 0x%X\r\n", id);
Lafayette96 23:9f1afcbd26f5 213 accelerometer->read_id(&id);
Lafayette96 23:9f1afcbd26f5 214 // printf("LSM303AGR accelerometer = 0x%X\r\n", id);
Lafayette96 23:9f1afcbd26f5 215 acc_gyro->read_id(&id);
Lafayette96 23:9f1afcbd26f5 216 // printf("LSM6DSL accelerometer & gyroscope = 0x%X\r\n", id);
cparata 0:69566eea0fba 217
Lafayette96 23:9f1afcbd26f5 218 flipper.attach(&update_filter, 0.1);
Lafayette96 23:9f1afcbd26f5 219
Lafayette96 23:9f1afcbd26f5 220 while(1){
Lafayette96 23:9f1afcbd26f5 221 //nmea = get_nmea_sentence(roll,pitch,yaw);
Lafayette96 23:9f1afcbd26f5 222 //pc.printf("%s",nmea);
Lafayette96 23:9f1afcbd26f5 223 pc.printf("no elo");
Lafayette96 23:9f1afcbd26f5 224 wait_ms(500);
Lafayette96 23:9f1afcbd26f5 225 }
cparata 0:69566eea0fba 226 }
Lafayette96 23:9f1afcbd26f5 227