Kalman + GPS / Mbed 2 deprecated UART_Nucleo

Altimeter from barometer

Dependencies:   X_NUCLEO_IKS01A1 mbed

main.cpp@0:0da91bfb31da, 2016-03-23 (annotated)

Committer:
Bullet_95
Date:
Wed Mar 23 12:09:54 2016 +0000
Revision:
0:0da91bfb31da
Altimeter_UART

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Bullet_95 0:0da91bfb31da 1 /* Includes */
Bullet_95 0:0da91bfb31da 2
Bullet_95 0:0da91bfb31da 3 #include "mbed.h"
Bullet_95 0:0da91bfb31da 4 #include "x_nucleo_iks01a1.h"
Bullet_95 0:0da91bfb31da 5 #include "lsm6ds0_class.h"
Bullet_95 0:0da91bfb31da 6 #include <stdio.h>
Bullet_95 0:0da91bfb31da 7 #include <stdlib.h>
Bullet_95 0:0da91bfb31da 8 #include <string.h>
Bullet_95 0:0da91bfb31da 9
Bullet_95 0:0da91bfb31da 10
Bullet_95 0:0da91bfb31da 11 //------------------------------------
Bullet_95 0:0da91bfb31da 12 // Hyperterminal configuration
Bullet_95 0:0da91bfb31da 13 // 9600 bauds, 8-bit data, no parity
Bullet_95 0:0da91bfb31da 14 //------------------------------------
Bullet_95 0:0da91bfb31da 15
Bullet_95 0:0da91bfb31da 16 Serial pc(PC_4, PC_5); //TX, RX
Bullet_95 0:0da91bfb31da 17
Bullet_95 0:0da91bfb31da 18
Bullet_95 0:0da91bfb31da 19 /* Instantiate the expansion board */
Bullet_95 0:0da91bfb31da 20 static X_NUCLEO_IKS01A1 *mems_expansion_board = X_NUCLEO_IKS01A1::Instance(D14, D15);
Bullet_95 0:0da91bfb31da 21
Bullet_95 0:0da91bfb31da 22 static HumiditySensor *humidity_sensor = mems_expansion_board->ht_sensor;
Bullet_95 0:0da91bfb31da 23 static PressureSensor *pressure_sensor = mems_expansion_board->pt_sensor;
Bullet_95 0:0da91bfb31da 24 static TempSensor *temp_sensor1 = mems_expansion_board->ht_sensor;
Bullet_95 0:0da91bfb31da 25 static TempSensor *temp_sensor2 = mems_expansion_board->pt_sensor;
Bullet_95 0:0da91bfb31da 26
Bullet_95 0:0da91bfb31da 27
Bullet_95 0:0da91bfb31da 28 void From_Pressure_mb_To_Altitude_US_Std_Atmosphere_1976_ft(float* Pressure_mb, float* Altitude_ft);
Bullet_95 0:0da91bfb31da 29 void From_ft_To_m(float* ft, float* m);
Bullet_95 0:0da91bfb31da 30
Bullet_95 0:0da91bfb31da 31 /* Helper function for printing floats & doubles */
Bullet_95 0:0da91bfb31da 32 static char *printDouble(char* str, double v, int decimalDigits=2)
Bullet_95 0:0da91bfb31da 33 {
Bullet_95 0:0da91bfb31da 34 int i = 1;
Bullet_95 0:0da91bfb31da 35 int intPart, fractPart;
Bullet_95 0:0da91bfb31da 36 int len;
Bullet_95 0:0da91bfb31da 37 char *ptr;
Bullet_95 0:0da91bfb31da 38
Bullet_95 0:0da91bfb31da 39 /* prepare decimal digits multiplicator */
Bullet_95 0:0da91bfb31da 40 for (; decimalDigits!=0; i*=10, decimalDigits--);
Bullet_95 0:0da91bfb31da 41
Bullet_95 0:0da91bfb31da 42 /* calculate integer & fractinal parts */
Bullet_95 0:0da91bfb31da 43 intPart = (int)v;
Bullet_95 0:0da91bfb31da 44 fractPart = (int)((v-(double)(int)v)*i);
Bullet_95 0:0da91bfb31da 45
Bullet_95 0:0da91bfb31da 46 /* fill in integer part */
Bullet_95 0:0da91bfb31da 47 sprintf(str, "%i.", intPart);
Bullet_95 0:0da91bfb31da 48
Bullet_95 0:0da91bfb31da 49 /* prepare fill in of fractional part */
Bullet_95 0:0da91bfb31da 50 len = strlen(str);
Bullet_95 0:0da91bfb31da 51 ptr = &str[len];
Bullet_95 0:0da91bfb31da 52
Bullet_95 0:0da91bfb31da 53 /* fill in leading fractional zeros */
Bullet_95 0:0da91bfb31da 54 for (i/=10; i>1; i/=10, ptr++) {
Bullet_95 0:0da91bfb31da 55 if(fractPart >= i) break;
Bullet_95 0:0da91bfb31da 56 *ptr = '0';
Bullet_95 0:0da91bfb31da 57 }
Bullet_95 0:0da91bfb31da 58
Bullet_95 0:0da91bfb31da 59 /* fill in (rest of) fractional part */
Bullet_95 0:0da91bfb31da 60 sprintf(ptr, "%i", fractPart);
Bullet_95 0:0da91bfb31da 61
Bullet_95 0:0da91bfb31da 62 return str;
Bullet_95 0:0da91bfb31da 63 }
Bullet_95 0:0da91bfb31da 64
Bullet_95 0:0da91bfb31da 65
Bullet_95 0:0da91bfb31da 66
Bullet_95 0:0da91bfb31da 67 /* Simple main function */
Bullet_95 0:0da91bfb31da 68 int main()
Bullet_95 0:0da91bfb31da 69 {
Bullet_95 0:0da91bfb31da 70 uint8_t id;
Bullet_95 0:0da91bfb31da 71 float value1, value2;
Bullet_95 0:0da91bfb31da 72 char buffer1[32], buffer2[32];
Bullet_95 0:0da91bfb31da 73 float Altitude_ft;
Bullet_95 0:0da91bfb31da 74 float m;
Bullet_95 0:0da91bfb31da 75
Bullet_95 0:0da91bfb31da 76
Bullet_95 0:0da91bfb31da 77 pc.printf("\r\n--- Starting new run ---\r\n");
Bullet_95 0:0da91bfb31da 78
Bullet_95 0:0da91bfb31da 79 humidity_sensor->ReadID(&id);
Bullet_95 0:0da91bfb31da 80 pc.printf("HTS221 humidity & temperature = 0x%X\r\n", id);
Bullet_95 0:0da91bfb31da 81 pressure_sensor->ReadID(&id);
Bullet_95 0:0da91bfb31da 82 pc.printf("LPS25H pressure & temperature = 0x%X\r\n", id);
Bullet_95 0:0da91bfb31da 83
Bullet_95 0:0da91bfb31da 84 wait(3);
Bullet_95 0:0da91bfb31da 85
Bullet_95 0:0da91bfb31da 86 while(1) {
Bullet_95 0:0da91bfb31da 87 printf("\r\n");
Bullet_95 0:0da91bfb31da 88
Bullet_95 0:0da91bfb31da 89 temp_sensor1->GetTemperature(&value1);
Bullet_95 0:0da91bfb31da 90 humidity_sensor->GetHumidity(&value2);
Bullet_95 0:0da91bfb31da 91 pc.printf("HTS221: [temp] %7s°C, [hum] %s%%\r\n", printDouble(buffer1, value1), printDouble(buffer2, value2));
Bullet_95 0:0da91bfb31da 92
Bullet_95 0:0da91bfb31da 93 temp_sensor2->GetFahrenheit(&value1);
Bullet_95 0:0da91bfb31da 94 pressure_sensor->GetPressure(&value2);
Bullet_95 0:0da91bfb31da 95 pc.printf("LPS25H: [temp] %7s°F, [press] %smbar\r\n", printDouble(buffer1, value1), printDouble(buffer2, value2));
Bullet_95 0:0da91bfb31da 96 From_Pressure_mb_To_Altitude_US_Std_Atmosphere_1976_ft(&value2,&Altitude_ft);
Bullet_95 0:0da91bfb31da 97 From_ft_To_m(&Altitude_ft,&m);
Bullet_95 0:0da91bfb31da 98 pc.printf("LPS25H: [altitude] %7sfeet, [altitude] %smetres\r\n",printDouble(buffer1, Altitude_ft), printDouble(buffer2, m) );
Bullet_95 0:0da91bfb31da 99
Bullet_95 0:0da91bfb31da 100 pc.printf("---\r\n");
Bullet_95 0:0da91bfb31da 101
Bullet_95 0:0da91bfb31da 102 wait(2);
Bullet_95 0:0da91bfb31da 103 }
Bullet_95 0:0da91bfb31da 104 }
Bullet_95 0:0da91bfb31da 105
Bullet_95 0:0da91bfb31da 106 void From_Pressure_mb_To_Altitude_US_Std_Atmosphere_1976_ft(float*
Bullet_95 0:0da91bfb31da 107 Pressure_mb, float* Altitude_ft)
Bullet_95 0:0da91bfb31da 108 {
Bullet_95 0:0da91bfb31da 109 //=(1-(Pressure/1013.25)^0.190284)*145366.45
Bullet_95 0:0da91bfb31da 110 *Altitude_ft = (1-pow(*Pressure_mb/1013.25,0.190284))*145366.45;
Bullet_95 0:0da91bfb31da 111 }
Bullet_95 0:0da91bfb31da 112
Bullet_95 0:0da91bfb31da 113 void From_ft_To_m(float* ft, float* m)
Bullet_95 0:0da91bfb31da 114 {
Bullet_95 0:0da91bfb31da 115 //=feet/3.280839895
Bullet_95 0:0da91bfb31da 116 *m = *ft/3.280839895;
Bullet_95 0:0da91bfb31da 117 }