ESA1 / Mbed 2 deprecated HelloWorld_IKS01A2

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Dependencies:   mbed Orientation_tracker X_NUCLEO_IKS01A2

main.cpp@20:c27bce3cf63b, 2019-05-20 (annotated)

Committer:
piter12345
Date:
Mon May 20 08:22:32 2019 +0000
Revision:
20:c27bce3cf63b
Parent:
19:428ad790bdb3
Child:
21:c62412a679b0
up

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"
piter12345 20:c27bce3cf63b 43 #define sampleFreqDef 1500.0f
cparata 0:69566eea0fba 44 /* Instantiate the expansion board */
davide.aliprandi@st.com 13:fc873da5b445 45 static XNucleoIKS01A2 *mems_expansion_board = XNucleoIKS01A2::instance(D14, D15, D4, D5);
cparata 0:69566eea0fba 46
cparata 0:69566eea0fba 47 /* Retrieve the composing elements of the expansion board */
davide.aliprandi@st.com 13:fc873da5b445 48 static LSM303AGRMagSensor *magnetometer = mems_expansion_board->magnetometer;
cparata 0:69566eea0fba 49 static HTS221Sensor *hum_temp = mems_expansion_board->ht_sensor;
cparata 0:69566eea0fba 50 static LPS22HBSensor *press_temp = mems_expansion_board->pt_sensor;
cparata 0:69566eea0fba 51 static LSM6DSLSensor *acc_gyro = mems_expansion_board->acc_gyro;
davide.aliprandi@st.com 13:fc873da5b445 52 static LSM303AGRAccSensor *accelerometer = mems_expansion_board->accelerometer;
cparata 0:69566eea0fba 53
cparata 0:69566eea0fba 54 /* Helper function for printing floats & doubles */
davide.aliprandi@st.com 13:fc873da5b445 55 static char *print_double(char* str, double v, int decimalDigits=2)
cparata 0:69566eea0fba 56 {
cparata 0:69566eea0fba 57 int i = 1;
cparata 0:69566eea0fba 58 int intPart, fractPart;
cparata 0:69566eea0fba 59 int len;
cparata 0:69566eea0fba 60 char *ptr;
cparata 0:69566eea0fba 61
cparata 0:69566eea0fba 62 /* prepare decimal digits multiplicator */
cparata 0:69566eea0fba 63 for (;decimalDigits!=0; i*=10, decimalDigits--);
cparata 0:69566eea0fba 64
cparata 0:69566eea0fba 65 /* calculate integer & fractinal parts */
cparata 0:69566eea0fba 66 intPart = (int)v;
cparata 0:69566eea0fba 67 fractPart = (int)((v-(double)(int)v)*i);
cparata 0:69566eea0fba 68
cparata 0:69566eea0fba 69 /* fill in integer part */
cparata 0:69566eea0fba 70 sprintf(str, "%i.", intPart);
cparata 0:69566eea0fba 71
cparata 0:69566eea0fba 72 /* prepare fill in of fractional part */
cparata 0:69566eea0fba 73 len = strlen(str);
cparata 0:69566eea0fba 74 ptr = &str[len];
cparata 0:69566eea0fba 75
cparata 0:69566eea0fba 76 /* fill in leading fractional zeros */
cparata 0:69566eea0fba 77 for (i/=10;i>1; i/=10, ptr++) {
davide.aliprandi@st.com 13:fc873da5b445 78 if (fractPart >= i) {
davide.aliprandi@st.com 13:fc873da5b445 79 break;
davide.aliprandi@st.com 13:fc873da5b445 80 }
cparata 0:69566eea0fba 81 *ptr = '0';
cparata 0:69566eea0fba 82 }
cparata 0:69566eea0fba 83
cparata 0:69566eea0fba 84 /* fill in (rest of) fractional part */
cparata 0:69566eea0fba 85 sprintf(ptr, "%i", fractPart);
cparata 0:69566eea0fba 86
cparata 0:69566eea0fba 87 return str;
cparata 0:69566eea0fba 88 }
cparata 0:69566eea0fba 89
cparata 0:69566eea0fba 90 /* Simple main function */
cparata 0:69566eea0fba 91 int main() {
cparata 0:69566eea0fba 92 uint8_t id;
cparata 0:69566eea0fba 93 float value1, value2;
cparata 0:69566eea0fba 94 char buffer1[32], buffer2[32];
cparata 0:69566eea0fba 95 int32_t axes[3];
piter12345 18:ba523ddf9a89 96 int32_t mag[3];
piter12345 18:ba523ddf9a89 97 int32_t gyr[3];
piter12345 18:ba523ddf9a89 98 int32_t ac[3];
piter12345 20:c27bce3cf63b 99 float offset[9] = {0};
piter12345 18:ba523ddf9a89 100 float pitch, roll, yaw;
piter12345 20:c27bce3cf63b 101 int offset_cnt = 0;
piter12345 18:ba523ddf9a89 102
cparata 0:69566eea0fba 103
cparata 0:69566eea0fba 104 /* Enable all sensors */
davide.aliprandi@st.com 13:fc873da5b445 105 hum_temp->enable();
davide.aliprandi@st.com 13:fc873da5b445 106 press_temp->enable();
davide.aliprandi@st.com 13:fc873da5b445 107 magnetometer->enable();
davide.aliprandi@st.com 13:fc873da5b445 108 accelerometer->enable();
davide.aliprandi@st.com 13:fc873da5b445 109 acc_gyro->enable_x();
davide.aliprandi@st.com 13:fc873da5b445 110 acc_gyro->enable_g();
cparata 0:69566eea0fba 111
cparata 0:69566eea0fba 112 printf("\r\n--- Starting new run ---\r\n");
cparata 0:69566eea0fba 113
davide.aliprandi@st.com 13:fc873da5b445 114 magnetometer->read_id(&id);
piter12345 18:ba523ddf9a89 115 // printf("LSM303AGR magnetometer = 0x%X\r\n", id);
davide.aliprandi@st.com 13:fc873da5b445 116 accelerometer->read_id(&id);
piter12345 18:ba523ddf9a89 117 // printf("LSM303AGR accelerometer = 0x%X\r\n", id);
davide.aliprandi@st.com 13:fc873da5b445 118 acc_gyro->read_id(&id);
piter12345 18:ba523ddf9a89 119 // printf("LSM6DSL accelerometer & gyroscope = 0x%X\r\n", id);
piter12345 18:ba523ddf9a89 120
piter12345 18:ba523ddf9a89 121
piter12345 20:c27bce3cf63b 122 Madgwick madgwick_filter;
piter12345 20:c27bce3cf63b 123 madgwick_filter.begin(sampleFreqDef);
piter12345 18:ba523ddf9a89 124
cparata 0:69566eea0fba 125
cparata 0:69566eea0fba 126 while(1) {
cparata 0:69566eea0fba 127 printf("\r\n");
piter12345 18:ba523ddf9a89 128
piter12345 20:c27bce3cf63b 129 magnetometer->get_m_axes(axes);
piter12345 18:ba523ddf9a89 130 mag[0] = axes[0];
piter12345 18:ba523ddf9a89 131 mag[1] = axes[1];
piter12345 18:ba523ddf9a89 132 mag[2] = axes[2];
piter12345 18:ba523ddf9a89 133 printf("LSM303AGR [mag/mgauss]: %6ld, %6ld, %6ld\r\n", mag[0], mag[1], mag[2]);
cparata 0:69566eea0fba 134
piter12345 18:ba523ddf9a89 135 // 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 136
piter12345 18:ba523ddf9a89 137 accelerometer->get_x_axes(axes);
piter12345 18:ba523ddf9a89 138 ac[0] = axes[0];
piter12345 18:ba523ddf9a89 139 ac[1] = axes[1];
piter12345 18:ba523ddf9a89 140 ac[2] = axes[2];
piter12345 20:c27bce3cf63b 141 printf("LSM303AGR [acc/mg]: %6ld, %6ld, %6ld\r\n", ac[0] - offset[3]*1000, ac[1] - offset[4]*1000, ac[2] - offset[5]*1000);
piter12345 18:ba523ddf9a89 142
piter12345 18:ba523ddf9a89 143 //acc_gyro->get_x_axes(axes);
piter12345 18:ba523ddf9a89 144 //printf("LSM6DSL [acc/mg]: %6ld, %6ld, %6ld\r\n", ac[0], ac[1], ac[2]);
piter12345 18:ba523ddf9a89 145
piter12345 18:ba523ddf9a89 146 acc_gyro->get_g_axes(axes);
piter12345 18:ba523ddf9a89 147 gyr[0] = axes[0];
piter12345 18:ba523ddf9a89 148 gyr[1] = axes[1];
piter12345 18:ba523ddf9a89 149 gyr[2] = axes[2];
piter12345 20:c27bce3cf63b 150 printf("LSM6DSL [gyro/mdps]: %6ld, %6ld, %6ld\r\n", gyr[0]/1000 - offset[0], gyr[1]/1000 - offset[1], gyr[2]/1000 - offset[2]);
piter12345 20:c27bce3cf63b 151 if (offset_cnt > 10)
piter12345 20:c27bce3cf63b 152 {
piter12345 20:c27bce3cf63b 153 madgwick_filter.update(gyr[0]/1000 - offset[6], gyr[1]/1000 - offset[7], gyr[2]/1000 - offset[8], ac[0]/1000 - offset[3], ac[1]/1000 - offset[4], ac[2]/1000- offset[5], mag[0]/1000, mag[1]/1000, mag[2]/1000);
piter12345 20:c27bce3cf63b 154 //madgwick_filter.update(0,0,0,0,0,0,0,0,0);
piter12345 20:c27bce3cf63b 155 madgwick_filter.computeAngles();
piter12345 20:c27bce3cf63b 156 }
piter12345 20:c27bce3cf63b 157
piter12345 20:c27bce3cf63b 158 pitch = madgwick_filter.getPitch();
piter12345 20:c27bce3cf63b 159 roll = madgwick_filter.getRoll();
piter12345 20:c27bce3cf63b 160 yaw = madgwick_filter.getYaw();
cparata 0:69566eea0fba 161
piter12345 20:c27bce3cf63b 162 if (offset_cnt < 10)
piter12345 20:c27bce3cf63b 163 {
piter12345 20:c27bce3cf63b 164 offset[0] += mag[0]/1000;
piter12345 20:c27bce3cf63b 165 offset[1] += mag[1]/1000;
piter12345 20:c27bce3cf63b 166 offset[2] += mag[2]/1000;
piter12345 20:c27bce3cf63b 167 offset[3] += ac[0]/1000;
piter12345 20:c27bce3cf63b 168 offset[4] += ac[1]/1000;
piter12345 20:c27bce3cf63b 169 offset[5] += ac[2]/1000;
piter12345 20:c27bce3cf63b 170 offset[6] += gyr[0]/1000;
piter12345 20:c27bce3cf63b 171 offset[7] += gyr[1]/1000;
piter12345 20:c27bce3cf63b 172 offset[8] += gyr[2]/1000;
piter12345 20:c27bce3cf63b 173 }
piter12345 20:c27bce3cf63b 174 if(offset_cnt == 10)
piter12345 20:c27bce3cf63b 175 {
piter12345 20:c27bce3cf63b 176 for(int i = 0; i<10;i++)
piter12345 20:c27bce3cf63b 177 {
piter12345 20:c27bce3cf63b 178 offset[i] = offset[i]/10;
piter12345 20:c27bce3cf63b 179 printf("Offset[%d]: %.2f/n",i,offset[i]);
piter12345 20:c27bce3cf63b 180 }
piter12345 20:c27bce3cf63b 181 }
piter12345 20:c27bce3cf63b 182
piter12345 20:c27bce3cf63b 183 offset_cnt++;
piter12345 20:c27bce3cf63b 184 printf(" Roll: %.2f\n Pitch: %.2f\n , Yaw: %.2f\n", roll, pitch, yaw);
piter12345 19:428ad790bdb3 185 printf("Hehehehe");
piter12345 18:ba523ddf9a89 186 wait(0.5);
cparata 0:69566eea0fba 187 }
cparata 0:69566eea0fba 188 }