ESA1 / Mbed 2 deprecated OrientationTracker_mag_offset

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Dependencies:   mbed Orientation_tracker X_NUCLEO_IKS01A2

main.cpp@22:bbdb7b928ccc, 2019-05-27 (annotated)

Committer:
Lafayette96
Date:
Mon May 27 11:50:00 2019 +0000
Revision:
22:bbdb7b928ccc
Parent:
21:c62412a679b0
Child:
23:9f1afcbd26f5
Baud rate changed

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 22:bbdb7b928ccc 46
cparata 0:69566eea0fba 47 /* Instantiate the expansion board */
davide.aliprandi@st.com 13:fc873da5b445 48 static XNucleoIKS01A2 *mems_expansion_board = XNucleoIKS01A2::instance(D14, D15, D4, D5);
cparata 0:69566eea0fba 49
cparata 0:69566eea0fba 50 /* Retrieve the composing elements of the expansion board */
davide.aliprandi@st.com 13:fc873da5b445 51 static LSM303AGRMagSensor *magnetometer = mems_expansion_board->magnetometer;
cparata 0:69566eea0fba 52 static HTS221Sensor *hum_temp = mems_expansion_board->ht_sensor;
cparata 0:69566eea0fba 53 static LPS22HBSensor *press_temp = mems_expansion_board->pt_sensor;
cparata 0:69566eea0fba 54 static LSM6DSLSensor *acc_gyro = mems_expansion_board->acc_gyro;
davide.aliprandi@st.com 13:fc873da5b445 55 static LSM303AGRAccSensor *accelerometer = mems_expansion_board->accelerometer;
cparata 0:69566eea0fba 56
cparata 0:69566eea0fba 57 /* Helper function for printing floats & doubles */
davide.aliprandi@st.com 13:fc873da5b445 58 static char *print_double(char* str, double v, int decimalDigits=2)
cparata 0:69566eea0fba 59 {
cparata 0:69566eea0fba 60 int i = 1;
cparata 0:69566eea0fba 61 int intPart, fractPart;
cparata 0:69566eea0fba 62 int len;
cparata 0:69566eea0fba 63 char *ptr;
cparata 0:69566eea0fba 64
cparata 0:69566eea0fba 65 /* prepare decimal digits multiplicator */
cparata 0:69566eea0fba 66 for (;decimalDigits!=0; i*=10, decimalDigits--);
cparata 0:69566eea0fba 67
cparata 0:69566eea0fba 68 /* calculate integer & fractinal parts */
cparata 0:69566eea0fba 69 intPart = (int)v;
cparata 0:69566eea0fba 70 fractPart = (int)((v-(double)(int)v)*i);
cparata 0:69566eea0fba 71
cparata 0:69566eea0fba 72 /* fill in integer part */
cparata 0:69566eea0fba 73 sprintf(str, "%i.", intPart);
cparata 0:69566eea0fba 74
cparata 0:69566eea0fba 75 /* prepare fill in of fractional part */
cparata 0:69566eea0fba 76 len = strlen(str);
cparata 0:69566eea0fba 77 ptr = &str[len];
cparata 0:69566eea0fba 78
cparata 0:69566eea0fba 79 /* fill in leading fractional zeros */
cparata 0:69566eea0fba 80 for (i/=10;i>1; i/=10, ptr++) {
davide.aliprandi@st.com 13:fc873da5b445 81 if (fractPart >= i) {
davide.aliprandi@st.com 13:fc873da5b445 82 break;
davide.aliprandi@st.com 13:fc873da5b445 83 }
cparata 0:69566eea0fba 84 *ptr = '0';
cparata 0:69566eea0fba 85 }
cparata 0:69566eea0fba 86
cparata 0:69566eea0fba 87 /* fill in (rest of) fractional part */
cparata 0:69566eea0fba 88 sprintf(ptr, "%i", fractPart);
cparata 0:69566eea0fba 89
cparata 0:69566eea0fba 90 return str;
cparata 0:69566eea0fba 91 }
cparata 0:69566eea0fba 92
piter12345 21:c62412a679b0 93 // NMEA conversion
piter12345 21:c62412a679b0 94
piter12345 21:c62412a679b0 95 void float_to_char(float my_float, char* tab){
piter12345 21:c62412a679b0 96 tab[0] = (char)( (int)(my_float/100.0) + 48);
piter12345 21:c62412a679b0 97 tab[1] = (char)( (int)((my_float - (tab[0]- '0')*100)/10.0) + 48);
piter12345 21:c62412a679b0 98 tab[2] = (char)( (int)((my_float - (tab[0]- '0')*100 - (tab[1]- '0')*10 )) + 48);
piter12345 21:c62412a679b0 99 tab[4] = (char)( (int)((my_float - (tab[0]- '0')*100 - (tab[1]- '0')*10 - (tab[2]- '0'))*10.0) + 48);
piter12345 21:c62412a679b0 100 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 101 }
piter12345 21:c62412a679b0 102
piter12345 21:c62412a679b0 103 char * get_nmea_sentence(float roll, float pitch, float yaw){
piter12345 21:c62412a679b0 104 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 105 //float roll_deg = roll * 360/(2*3.14);
piter12345 21:c62412a679b0 106 // float pitch_deg = pitch * 360/(2*3.14);
piter12345 21:c62412a679b0 107 // float yaw_deg = yaw * 360/(2*3.14);
piter12345 21:c62412a679b0 108
piter12345 21:c62412a679b0 109 float_to_char(roll, sentence + 27);
piter12345 21:c62412a679b0 110 float_to_char(pitch, sentence + 34);
piter12345 21:c62412a679b0 111 float_to_char(yaw, sentence + 18);
piter12345 21:c62412a679b0 112
piter12345 21:c62412a679b0 113 return sentence;
piter12345 21:c62412a679b0 114 }
piter12345 21:c62412a679b0 115
piter12345 21:c62412a679b0 116
cparata 0:69566eea0fba 117 /* Simple main function */
cparata 0:69566eea0fba 118 int main() {
cparata 0:69566eea0fba 119 uint8_t id;
cparata 0:69566eea0fba 120 float value1, value2;
cparata 0:69566eea0fba 121 char buffer1[32], buffer2[32];
piter12345 21:c62412a679b0 122 char* nmea;
cparata 0:69566eea0fba 123 int32_t axes[3];
piter12345 18:ba523ddf9a89 124 int32_t mag[3];
piter12345 18:ba523ddf9a89 125 int32_t gyr[3];
piter12345 18:ba523ddf9a89 126 int32_t ac[3];
piter12345 21:c62412a679b0 127 float gyrf[3];
piter12345 18:ba523ddf9a89 128 float pitch, roll, yaw;
Lafayette96 22:bbdb7b928ccc 129 // pc.baud(115200);
piter12345 18:ba523ddf9a89 130
cparata 0:69566eea0fba 131
cparata 0:69566eea0fba 132 /* Enable all sensors */
davide.aliprandi@st.com 13:fc873da5b445 133 hum_temp->enable();
davide.aliprandi@st.com 13:fc873da5b445 134 press_temp->enable();
davide.aliprandi@st.com 13:fc873da5b445 135 magnetometer->enable();
davide.aliprandi@st.com 13:fc873da5b445 136 accelerometer->enable();
davide.aliprandi@st.com 13:fc873da5b445 137 acc_gyro->enable_x();
davide.aliprandi@st.com 13:fc873da5b445 138 acc_gyro->enable_g();
cparata 0:69566eea0fba 139
Lafayette96 22:bbdb7b928ccc 140 //printf("\r\n--- Starting new run ---\r\n");
cparata 0:69566eea0fba 141
davide.aliprandi@st.com 13:fc873da5b445 142 magnetometer->read_id(&id);
piter12345 18:ba523ddf9a89 143 // printf("LSM303AGR magnetometer = 0x%X\r\n", id);
davide.aliprandi@st.com 13:fc873da5b445 144 accelerometer->read_id(&id);
piter12345 18:ba523ddf9a89 145 // printf("LSM303AGR accelerometer = 0x%X\r\n", id);
davide.aliprandi@st.com 13:fc873da5b445 146 acc_gyro->read_id(&id);
piter12345 18:ba523ddf9a89 147 // printf("LSM6DSL accelerometer & gyroscope = 0x%X\r\n", id);
piter12345 18:ba523ddf9a89 148
piter12345 18:ba523ddf9a89 149
piter12345 20:c27bce3cf63b 150 Madgwick madgwick_filter;
piter12345 20:c27bce3cf63b 151 madgwick_filter.begin(sampleFreqDef);
piter12345 18:ba523ddf9a89 152
cparata 0:69566eea0fba 153
cparata 0:69566eea0fba 154 while(1) {
Lafayette96 22:bbdb7b928ccc 155 pc.printf("\r\n");
piter12345 18:ba523ddf9a89 156
piter12345 20:c27bce3cf63b 157 magnetometer->get_m_axes(axes);
piter12345 18:ba523ddf9a89 158 mag[0] = axes[0];
piter12345 18:ba523ddf9a89 159 mag[1] = axes[1];
piter12345 18:ba523ddf9a89 160 mag[2] = axes[2];
piter12345 21:c62412a679b0 161 // printf("LSM303AGR [mag/mgauss]: %6ld, %6ld, %6ld\r\n", mag[0], mag[1], mag[2]);
cparata 0:69566eea0fba 162
piter12345 18:ba523ddf9a89 163 // 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 164
piter12345 18:ba523ddf9a89 165 accelerometer->get_x_axes(axes);
piter12345 18:ba523ddf9a89 166 ac[0] = axes[0];
piter12345 18:ba523ddf9a89 167 ac[1] = axes[1];
piter12345 18:ba523ddf9a89 168 ac[2] = axes[2];
piter12345 21:c62412a679b0 169 // printf("LSM303AGR [acc/g]: %6ld, %6ld, %6ld\r\n", ac[0], ac[1], ac[2]);
piter12345 18:ba523ddf9a89 170
piter12345 18:ba523ddf9a89 171 //acc_gyro->get_x_axes(axes);
piter12345 18:ba523ddf9a89 172 //printf("LSM6DSL [acc/mg]: %6ld, %6ld, %6ld\r\n", ac[0], ac[1], ac[2]);
piter12345 18:ba523ddf9a89 173
piter12345 18:ba523ddf9a89 174 acc_gyro->get_g_axes(axes);
piter12345 18:ba523ddf9a89 175 gyr[0] = axes[0];
piter12345 18:ba523ddf9a89 176 gyr[1] = axes[1];
piter12345 18:ba523ddf9a89 177 gyr[2] = axes[2];
piter12345 21:c62412a679b0 178 // printf("LSM6DSL [gyro/mdps]: %6ld, %6ld, %6ld\r\n", gyr[0], gyr[1], gyr[2]);
piter12345 21:c62412a679b0 179
piter12345 21:c62412a679b0 180 gyrf[0] = 1.0*gyr[0];
piter12345 21:c62412a679b0 181 gyrf[1] = 1.0*gyr[1];
piter12345 21:c62412a679b0 182 gyrf[2] = 1.0*gyr[2];
piter12345 21:c62412a679b0 183 // printf(" gx: %.2f gy: %.2f , gz: %.2f\n\r", gyrf[0], gyrf[1], gyrf[2]);
piter12345 21:c62412a679b0 184
piter12345 21:c62412a679b0 185 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 186 //madgwick_filter.update(0,100,0,0,0,0,0,0,0);
piter12345 20:c27bce3cf63b 187 madgwick_filter.computeAngles();
piter12345 20:c27bce3cf63b 188
piter12345 20:c27bce3cf63b 189 pitch = madgwick_filter.getPitch();
piter12345 20:c27bce3cf63b 190 roll = madgwick_filter.getRoll();
piter12345 20:c27bce3cf63b 191 yaw = madgwick_filter.getYaw();
cparata 0:69566eea0fba 192
piter12345 21:c62412a679b0 193 // printf(" Roll: %.2f Pitch: %.2f , Yaw: %.2f\n\r", roll, pitch, yaw);
piter12345 21:c62412a679b0 194 nmea = get_nmea_sentence(roll,pitch,yaw);
Lafayette96 22:bbdb7b928ccc 195 pc.printf("%s",nmea);
piter12345 21:c62412a679b0 196 // printf("Hehehehe\n\r");
Lafayette96 22:bbdb7b928ccc 197 wait(0.1);
cparata 0:69566eea0fba 198 }
cparata 0:69566eea0fba 199 }