ESA1 / Mbed 2 deprecated HelloWorld_IKS01A2

Dependencies:   mbed Orientation_tracker X_NUCLEO_IKS01A2

Committer:
piter12345
Date:
Mon May 20 11:58:29 2019 +0000
Revision:
21:c62412a679b0
Parent:
20:c27bce3cf63b
Child:
22:bbdb7b928ccc
Madgwick improvement. NMEA conversion.

Who changed what in which revision?

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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 21:c62412a679b0 43 #define sampleFreqDef 2.0f
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
piter12345 21:c62412a679b0 90 // NMEA conversion
piter12345 21:c62412a679b0 91
piter12345 21:c62412a679b0 92 void float_to_char(float my_float, char* tab){
piter12345 21:c62412a679b0 93 tab[0] = (char)( (int)(my_float/100.0) + 48);
piter12345 21:c62412a679b0 94 tab[1] = (char)( (int)((my_float - (tab[0]- '0')*100)/10.0) + 48);
piter12345 21:c62412a679b0 95 tab[2] = (char)( (int)((my_float - (tab[0]- '0')*100 - (tab[1]- '0')*10 )) + 48);
piter12345 21:c62412a679b0 96 tab[4] = (char)( (int)((my_float - (tab[0]- '0')*100 - (tab[1]- '0')*10 - (tab[2]- '0'))*10.0) + 48);
piter12345 21:c62412a679b0 97 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 98 }
piter12345 21:c62412a679b0 99
piter12345 21:c62412a679b0 100 char * get_nmea_sentence(float roll, float pitch, float yaw){
piter12345 21:c62412a679b0 101 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";
piter12345 21:c62412a679b0 102 //float roll_deg = roll * 360/(2*3.14);
piter12345 21:c62412a679b0 103 // float pitch_deg = pitch * 360/(2*3.14);
piter12345 21:c62412a679b0 104 // float yaw_deg = yaw * 360/(2*3.14);
piter12345 21:c62412a679b0 105
piter12345 21:c62412a679b0 106 float_to_char(roll, sentence + 27);
piter12345 21:c62412a679b0 107 float_to_char(pitch, sentence + 34);
piter12345 21:c62412a679b0 108 float_to_char(yaw, sentence + 18);
piter12345 21:c62412a679b0 109
piter12345 21:c62412a679b0 110 return sentence;
piter12345 21:c62412a679b0 111 }
piter12345 21:c62412a679b0 112
piter12345 21:c62412a679b0 113
cparata 0:69566eea0fba 114 /* Simple main function */
cparata 0:69566eea0fba 115 int main() {
cparata 0:69566eea0fba 116 uint8_t id;
cparata 0:69566eea0fba 117 float value1, value2;
cparata 0:69566eea0fba 118 char buffer1[32], buffer2[32];
piter12345 21:c62412a679b0 119 char* nmea;
cparata 0:69566eea0fba 120 int32_t axes[3];
piter12345 18:ba523ddf9a89 121 int32_t mag[3];
piter12345 18:ba523ddf9a89 122 int32_t gyr[3];
piter12345 18:ba523ddf9a89 123 int32_t ac[3];
piter12345 21:c62412a679b0 124 float gyrf[3];
piter12345 18:ba523ddf9a89 125 float pitch, roll, yaw;
piter12345 18:ba523ddf9a89 126
cparata 0:69566eea0fba 127
cparata 0:69566eea0fba 128 /* Enable all sensors */
davide.aliprandi@st.com 13:fc873da5b445 129 hum_temp->enable();
davide.aliprandi@st.com 13:fc873da5b445 130 press_temp->enable();
davide.aliprandi@st.com 13:fc873da5b445 131 magnetometer->enable();
davide.aliprandi@st.com 13:fc873da5b445 132 accelerometer->enable();
davide.aliprandi@st.com 13:fc873da5b445 133 acc_gyro->enable_x();
davide.aliprandi@st.com 13:fc873da5b445 134 acc_gyro->enable_g();
cparata 0:69566eea0fba 135
cparata 0:69566eea0fba 136 printf("\r\n--- Starting new run ---\r\n");
cparata 0:69566eea0fba 137
davide.aliprandi@st.com 13:fc873da5b445 138 magnetometer->read_id(&id);
piter12345 18:ba523ddf9a89 139 // printf("LSM303AGR magnetometer = 0x%X\r\n", id);
davide.aliprandi@st.com 13:fc873da5b445 140 accelerometer->read_id(&id);
piter12345 18:ba523ddf9a89 141 // printf("LSM303AGR accelerometer = 0x%X\r\n", id);
davide.aliprandi@st.com 13:fc873da5b445 142 acc_gyro->read_id(&id);
piter12345 18:ba523ddf9a89 143 // printf("LSM6DSL accelerometer & gyroscope = 0x%X\r\n", id);
piter12345 18:ba523ddf9a89 144
piter12345 18:ba523ddf9a89 145
piter12345 20:c27bce3cf63b 146 Madgwick madgwick_filter;
piter12345 20:c27bce3cf63b 147 madgwick_filter.begin(sampleFreqDef);
piter12345 18:ba523ddf9a89 148
cparata 0:69566eea0fba 149
cparata 0:69566eea0fba 150 while(1) {
cparata 0:69566eea0fba 151 printf("\r\n");
piter12345 18:ba523ddf9a89 152
piter12345 20:c27bce3cf63b 153 magnetometer->get_m_axes(axes);
piter12345 18:ba523ddf9a89 154 mag[0] = axes[0];
piter12345 18:ba523ddf9a89 155 mag[1] = axes[1];
piter12345 18:ba523ddf9a89 156 mag[2] = axes[2];
piter12345 21:c62412a679b0 157 // printf("LSM303AGR [mag/mgauss]: %6ld, %6ld, %6ld\r\n", mag[0], mag[1], mag[2]);
cparata 0:69566eea0fba 158
piter12345 18:ba523ddf9a89 159 // 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 160
piter12345 18:ba523ddf9a89 161 accelerometer->get_x_axes(axes);
piter12345 18:ba523ddf9a89 162 ac[0] = axes[0];
piter12345 18:ba523ddf9a89 163 ac[1] = axes[1];
piter12345 18:ba523ddf9a89 164 ac[2] = axes[2];
piter12345 21:c62412a679b0 165 // printf("LSM303AGR [acc/g]: %6ld, %6ld, %6ld\r\n", ac[0], ac[1], ac[2]);
piter12345 18:ba523ddf9a89 166
piter12345 18:ba523ddf9a89 167 //acc_gyro->get_x_axes(axes);
piter12345 18:ba523ddf9a89 168 //printf("LSM6DSL [acc/mg]: %6ld, %6ld, %6ld\r\n", ac[0], ac[1], ac[2]);
piter12345 18:ba523ddf9a89 169
piter12345 18:ba523ddf9a89 170 acc_gyro->get_g_axes(axes);
piter12345 18:ba523ddf9a89 171 gyr[0] = axes[0];
piter12345 18:ba523ddf9a89 172 gyr[1] = axes[1];
piter12345 18:ba523ddf9a89 173 gyr[2] = axes[2];
piter12345 21:c62412a679b0 174 // printf("LSM6DSL [gyro/mdps]: %6ld, %6ld, %6ld\r\n", gyr[0], gyr[1], gyr[2]);
piter12345 21:c62412a679b0 175
piter12345 21:c62412a679b0 176 gyrf[0] = 1.0*gyr[0];
piter12345 21:c62412a679b0 177 gyrf[1] = 1.0*gyr[1];
piter12345 21:c62412a679b0 178 gyrf[2] = 1.0*gyr[2];
piter12345 21:c62412a679b0 179 // printf(" gx: %.2f gy: %.2f , gz: %.2f\n\r", gyrf[0], gyrf[1], gyrf[2]);
piter12345 21:c62412a679b0 180
piter12345 21:c62412a679b0 181 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 182 //madgwick_filter.update(0,100,0,0,0,0,0,0,0);
piter12345 20:c27bce3cf63b 183 madgwick_filter.computeAngles();
piter12345 20:c27bce3cf63b 184
piter12345 20:c27bce3cf63b 185 pitch = madgwick_filter.getPitch();
piter12345 20:c27bce3cf63b 186 roll = madgwick_filter.getRoll();
piter12345 20:c27bce3cf63b 187 yaw = madgwick_filter.getYaw();
cparata 0:69566eea0fba 188
piter12345 21:c62412a679b0 189 // printf(" Roll: %.2f Pitch: %.2f , Yaw: %.2f\n\r", roll, pitch, yaw);
piter12345 21:c62412a679b0 190 nmea = get_nmea_sentence(roll,pitch,yaw);
piter12345 21:c62412a679b0 191 printf("%s",nmea);
piter12345 21:c62412a679b0 192 // printf("Hehehehe\n\r");
piter12345 18:ba523ddf9a89 193 wait(0.5);
cparata 0:69566eea0fba 194 }
cparata 0:69566eea0fba 195 }