Example to sweep a servo according to MEMS sensors position
Dependencies: Servo X_NUCLEO_IKS01A1 mbed
Fork of HelloWorld_IKS01A1 by
main.cpp
- Committer:
- Wolfgang Betz
- Date:
- 2015-08-17
- Revision:
- 0:c71c9af137dd
- Child:
- 3:a2d2342526db
File content as of revision 0:c71c9af137dd:
/** ****************************************************************************** * @file main.cpp * @author AST / EST * @version V0.0.1 * @date 14-August-2015 * @brief Simple Example application for using the X_NUCLEO_IKS01A1 * MEMS Inertial & Environmental Sensor Nucleo expansion board. ****************************************************************************** * @attention * * <h2><center>© COPYRIGHT(c) 2015 STMicroelectronics</center></h2> * * Redistribution and use in source and binary forms, with or without modification, * are permitted provided that the following conditions are met: * 1. Redistributions of source code must retain the above copyright notice, * this list of conditions and the following disclaimer. * 2. Redistributions in binary form must reproduce the above copyright notice, * this list of conditions and the following disclaimer in the documentation * and/or other materials provided with the distribution. * 3. Neither the name of STMicroelectronics nor the names of its contributors * may be used to endorse or promote products derived from this software * without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * ****************************************************************************** */ /* Includes */ #include "mbed.h" #include "x_nucleo_iks01a1.h" /* Instantiate the expansion board */ static X_NUCLEO_IKS01A1 *mems_expansion_board = X_NUCLEO_IKS01A1::Instance(); /* Retrieve the composing elements of the expansion board */ static GyroSensor *gyroscope = mems_expansion_board->GetGyroscope(); static MotionSensor *accelerometer = mems_expansion_board->GetAccelerometer(); static MagneticSensor *magnetometer = mems_expansion_board->magnetometer; static HumiditySensor *humidity_sensor = mems_expansion_board->ht_sensor; static PressureSensor *pressure_sensor = mems_expansion_board->pressure_sensor; static TempSensor *temp_sensor1 = mems_expansion_board->ht_sensor; static TempSensor *temp_sensor2 = mems_expansion_board->pressure_sensor; /* Helper function for printing floats & doubles */ static char *printDouble(char* str, double v, int decimalDigits=2) { int i = 1; int intPart, fractPart; int len; char *ptr; /* prepare decimal digits multiplicator */ for (;decimalDigits!=0; i*=10, decimalDigits--); /* calculate integer & fractinal parts */ intPart = (int)v; fractPart = (int)((v-(double)(int)v)*i); /* fill in integer part */ sprintf(str, "%i.", intPart); /* prepare fill in of fractional part */ len = strlen(str); ptr = &str[len]; /* fill in leading fractional zeros */ for (i/=10;i>1; i/=10, ptr++) { if(fractPart >= i) break; *ptr = '0'; } /* fill in (rest of) fractional part */ sprintf(ptr, "%i", fractPart); return str; } /* Simple main function */ int main() { uint8_t id; float value1, value2; char buffer1[32], buffer2[32]; int32_t axes[3]; printf("\r\n--- Starting new run ---\r\n"); humidity_sensor->ReadID(&id); printf("HTS221 humidity & temperature = 0x%X\r\n", id); pressure_sensor->ReadID(&id); printf("LPS25H pressure & temperature = 0x%X\r\n", id); magnetometer->ReadID(&id); printf("LIS3MDL magnetometer = 0x%X\r\n", id); gyroscope->ReadID(&id); printf("LSM6DS0 accelerometer & gyroscope = 0x%X\r\n", id); wait(3); while(1) { printf("\r\n"); temp_sensor1->GetTemperature(&value1); humidity_sensor->GetHumidity(&value2); printf("HTS221: [temp] %7s°C, [hum] %s%%\r\n", printDouble(buffer1, value1), printDouble(buffer2, value2)); temp_sensor2->GetFahrenheit(&value1); pressure_sensor->GetPressure(&value2); printf("LPS25H: [temp] %7s°F, [press] %smbar\r\n", printDouble(buffer1, value1), printDouble(buffer2, value2)); printf("---\r\n"); magnetometer->Get_M_Axes(axes); printf("LIS3MDL [mag/mgauss]: %6ld, %6ld, %6ld\r\n", axes[0], axes[1], axes[2]); accelerometer->Get_X_Axes(axes); printf("LSM6DS0 [acc/mg]: %6ld, %6ld, %6ld\r\n", axes[0], axes[1], axes[2]); gyroscope->Get_G_Axes(axes); printf("LSM6DS0 [gyro/mdps]: %6ld, %6ld, %6ld\r\n", axes[0], axes[1], axes[2]); wait(1.5); } }