main.cpp

00001 /**
00002  ******************************************************************************
00003  * @file    main.cpp
00004  * @author  CLab
00005  * @version V1.0.0
00006  * @date    2-December-2016
00007  * @brief   Simple Example application for using the X_NUCLEO_IKS01A1 
00008  *          MEMS Inertial & Environmental Sensor Nucleo expansion board.
00009  ******************************************************************************
00010  * @attention
00011  *
00012  * <h2><center>&copy; COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
00013  *
00014  * Redistribution and use in source and binary forms, with or without modification,
00015  * are permitted provided that the following conditions are met:
00016  *   1. Redistributions of source code must retain the above copyright notice,
00017  *      this list of conditions and the following disclaimer.
00018  *   2. Redistributions in binary form must reproduce the above copyright notice,
00019  *      this list of conditions and the following disclaimer in the documentation
00020  *      and/or other materials provided with the distribution.
00021  *   3. Neither the name of STMicroelectronics nor the names of its contributors
00022  *      may be used to endorse or promote products derived from this software
00023  *      without specific prior written permission.
00024  *
00025  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00026  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00027  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00028  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
00029  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
00030  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
00031  *  SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00032  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
00033  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
00034  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00035  *
00036  ******************************************************************************
00037 */ 
00038 
00039 /* Includes */
00040 #include "mbed.h"
00041 #include "XNucleoIKS01A2.h"
00042 #include "MadgwickAHRS.h"
00043 #define sampleFreqDef   10.0f
00044 
00045 Serial pc(USBTX, USBRX, 115200);
00046 uint8_t id;
00047 float value1, value2;
00048 char buffer1[32], buffer2[32];
00049 char* nmea;
00050 int32_t axes[3];
00051 int32_t mag[3];
00052 int32_t gyr[3];
00053 int32_t ac[3];
00054 float gyrf[3];
00055 float pitch, roll, yaw;
00056 uint32_t counter = 0;
00057 int32_t mag_max[3];
00058 int32_t mag_min[3]; // zmienne do przechwoywania "offsetu" magnetometru
00059 bool initialized = false;
00060 
00061 //enable a ticker that allows to  setup a recurring interrupt to repeatedly call a function at a specified rate.
00062 Ticker flipper; 
00063 
00064 Madgwick madgwick_filter;
00065 
00066 /* Instantiate the expansion board */
00067 static XNucleoIKS01A2 *mems_expansion_board = XNucleoIKS01A2::instance(D14, D15, D4, D5);
00068 
00069 /* Retrieve the composing elements of the expansion board */
00070 static LSM303AGRMagSensor *magnetometer = mems_expansion_board->magnetometer;
00071 static HTS221Sensor *hum_temp = mems_expansion_board->ht_sensor;
00072 static LPS22HBSensor *press_temp = mems_expansion_board->pt_sensor;
00073 static LSM6DSLSensor *acc_gyro = mems_expansion_board->acc_gyro;
00074 static LSM303AGRAccSensor *accelerometer = mems_expansion_board->accelerometer;
00075 
00076 /* Helper function for printing floats & doubles */
00077 static char *print_double(char* str, double v, int decimalDigits=2)
00078 {
00079   int i = 1;
00080   int intPart, fractPart;
00081   int len;
00082   char *ptr;
00083 
00084   /* prepare decimal digits multiplicator */
00085   for (;decimalDigits!=0; i*=10, decimalDigits--);
00086 
00087   /* calculate integer & fractinal parts */
00088   intPart = (int)v;
00089   fractPart = (int)((v-(double)(int)v)*i);
00090 
00091   /* fill in integer part */
00092   sprintf(str, "%i.", intPart);
00093 
00094   /* prepare fill in of fractional part */
00095   len = strlen(str);
00096   ptr = &str[len];
00097 
00098   /* fill in leading fractional zeros */
00099   for (i/=10;i>1; i/=10, ptr++) {
00100     if (fractPart >= i) {
00101       break;
00102     }
00103     *ptr = '0';
00104   }
00105 
00106   /* fill in (rest of) fractional part */
00107   sprintf(ptr, "%i", fractPart);
00108 
00109   return str;
00110 }
00111 
00112 
00113 // NMEA conversion
00114 void float_to_char(float my_float, char* tab){
00115     tab[0] = (char)( (int)(my_float/100.0) + 48);
00116     tab[1] = (char)( (int)((my_float - (tab[0]- '0')*100)/10.0) + 48);
00117     tab[2] = (char)( (int)((my_float - (tab[0]- '0')*100 - (tab[1]- '0')*10 )) + 48);
00118     tab[4] = (char)( (int)((my_float - (tab[0]- '0')*100 - (tab[1]- '0')*10  - (tab[2]- '0'))*10.0) + 48);
00119     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);
00120 }
00121 
00122 char * get_nmea_sentence(float roll, float pitch, float yaw){
00123     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";
00124     //float roll_deg =    roll *  360/(2*3.14);
00125    // float pitch_deg =   pitch * 360/(2*3.14);
00126    // float yaw_deg =     yaw *  360/(2*3.14);
00127 
00128     float_to_char(roll, sentence + 27);
00129     float_to_char(pitch, sentence + 34);
00130     float_to_char(yaw, sentence + 18);
00131 
00132     return sentence;
00133 }
00134 
00135 
00136 void update_filter(){
00137     magnetometer->get_m_axes(axes);
00138     mag[0] = axes[0] + 15;
00139     mag[1] = axes[1] + 180;
00140     mag[2] = axes[2] + 51;
00141     
00142     /* 
00143     if(initialized == false){
00144         mag_max[0] = mag[0];
00145         mag_max[1] = mag[1];
00146         mag_max[2] = mag[2];
00147         mag_min[0] = mag[0];
00148         mag_min[1] = mag[1];
00149         mag_min[2] = mag[2];
00150         initialized = true;
00151     }
00152     
00153       
00154     for(int i=0; i<3; i++){
00155         if(mag[i] > mag_max[i]){
00156             mag_max[i] = mag[i];
00157             }
00158         if(mag[i] < mag_min[i]){
00159             mag_min[i] = mag[i];
00160             }
00161         }
00162     */
00163         
00164     
00165     //pc.printf("LSM303AGR maximum axes values [mag/mgauss]:  %6ld, %6ld, %6ld\r\n", mag_max[0], mag_max[1], mag_max[2]);
00166     //pc.printf("LSM303AGR minimum axes values [mag/mgauss]:  %6ld, %6ld, %6ld\r\n", mag_min[0], mag_min[1], mag_min[2]);
00167     
00168     //pc.printf("mag1 is at 0x%08X\r\n", &mag[0]); it's how to get an adress for use in stm studio
00169   
00170     accelerometer->get_x_axes(axes);
00171     ac[0] = axes[0];
00172     ac[1] = axes[1];
00173     ac[2] = axes[2];
00174  //   printf("LSM303AGR [acc/g]:  %6ld, %6ld, %6ld\r\n", ac[0], ac[1], ac[2]);
00175     
00176    //acc_gyro->get_x_axes(axes);
00177    //printf("LSM6DSL [acc/mg]:      %6ld, %6ld, %6ld\r\n", ac[0], ac[1], ac[2]);    
00178     
00179     acc_gyro->get_g_axes(axes);
00180     gyr[0] = axes[0];
00181     gyr[1] = axes[1];
00182     gyr[2] = axes[2];
00183   //  printf("LSM6DSL [gyro/mdps]:   %6ld, %6ld, %6ld\r\n", gyr[0], gyr[1], gyr[2]);
00184     
00185     gyrf[0] = 1.0*gyr[0];
00186     gyrf[1] = 1.0*gyr[1];
00187     gyrf[2] = 1.0*gyr[2];
00188    // printf(" gx: %.2f gy: %.2f , gz: %.2f\n\r", gyrf[0], gyrf[1], gyrf[2]);
00189     
00190     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]);
00191     //madgwick_filter.update(0,100,0,0,0,0,0,0,0);
00192     madgwick_filter.computeAngles();
00193     
00194     pitch = madgwick_filter.getPitch();
00195     roll = madgwick_filter.getRoll();
00196     yaw = madgwick_filter.getYaw();
00197 }
00198 
00199 
00200 int main() {
00201   
00202   /* Enable all sensors */
00203   hum_temp->enable();
00204   press_temp->enable();
00205   magnetometer->enable();
00206   accelerometer->enable();
00207   acc_gyro->enable_x();
00208   acc_gyro->enable_g();
00209   
00210 
00211   magnetometer->read_id(&id);
00212  // printf("LSM303AGR magnetometer            = 0x%X\r\n", id);
00213   accelerometer->read_id(&id);
00214  // printf("LSM303AGR accelerometer           = 0x%X\r\n", id);
00215   acc_gyro->read_id(&id);
00216  // printf("LSM6DSL accelerometer & gyroscope = 0x%X\r\n", id);
00217     
00218 flipper.attach(&update_filter, 0.1);
00219     
00220     while(1){      
00221     //nmea = get_nmea_sentence(roll,pitch,yaw);
00222     //pc.printf("%s",nmea);
00223     pc.printf("no elo");
00224     wait_ms(500);
00225     }
00226 }
00227