Diff: main.cpp

Revision:

68:61c4480769a1

Parent:

62:67e2353604be

diff -r 6f54b8c6f65b -r 61c4480769a1 main.cpp
--- a/main.cpp	Thu Nov 24 16:33:18 2016 +0000
+++ b/main.cpp	Sat Feb 25 03:01:12 2017 +0000
@@ -1,278 +1,143 @@
-/**
- ******************************************************************************
- * @file    main.cpp
- * @author  AST / EST
- * @version V0.0.1
- * @date    14-April-2015
- * @brief   Example application for using the X_NUCLEO_IKS01A1 
- *          MEMS Inertial & Environmental Sensor Nucleo expansion board.
- ******************************************************************************
- * @attention
- *
- * <h2><center>&copy; 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.
- *
- ******************************************************************************
-*/ 
-
-/**
- * @mainpage X_NUCLEO_IKS01A1 MEMS Inertial & Environmental Sensor Nucleo Expansion Board Firmware Package
- *
- * <b>Introduction</b>
- *
- * This firmware package includes Components Device Drivers, Board Support Package
- * and example application for STMicroelectronics X_NUCLEO_IKS01A1 MEMS Inertial & Environmental Nucleo
- * Expansion Board
- * 
- * <b>Example Application</b>
- *
- */
-
-
-/*** Includes ----------------------------------------------------------------- ***/
-#include "mbed.h"
-#include "assert.h"
-#include "x_nucleo_iks01a1.h"
-
-#include <Ticker.h>
-
-
-/*** Constants ---------------------------------------------------------------- ***/
-namespace {
-	const int MS_INTERVALS = 1000;
-}
-
-
-/*** Macros ------------------------------------------------------------------- ***/
-#define APP_LOOP_PERIOD 3000 // in ms
-
-#if defined(TARGET_STM)
-#define LED_OFF (0)
-#else
-#define LED_OFF (1)
-#endif
-#define LED_ON  (!LED_OFF)
-
-
-/*** Typedefs ----------------------------------------------------------------- ***/
-typedef struct {
-    int32_t AXIS_X;
-    int32_t AXIS_Y;
-    int32_t AXIS_Z;
-} AxesRaw_TypeDef;
-
-
-/*** Static variables --------------------------------------------------------- ***/
-#ifdef DBG_MCU
-/* betzw: enable debugging while using sleep modes */
-#include "DbgMCU.h"
-static DbgMCU enable_dbg;
-#endif // DBG_MCU
-
-static X_NUCLEO_IKS01A1 *mems_expansion_board = X_NUCLEO_IKS01A1::Instance();
-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->pt_sensor;
-static TempSensor *temp_sensor1 = mems_expansion_board->ht_sensor;
-static TempSensor *temp_sensor2 = mems_expansion_board->pt_sensor;
-
-static Ticker ticker;
-static DigitalOut myled(LED1, LED_OFF);
-
-static volatile bool timer_irq_triggered = false;
-static volatile bool ff_irq_triggered = false;
-
-
-/*** Helper Functions (1/2) ------------------------------------------------------------ ***/
-
-
-/*** Interrupt Handler Top-Halves ------------------------------------------------------ ***/
-/* Called in interrupt context, therefore just set a trigger variable */
-static void timer_irq(void) {
-	timer_irq_triggered = true;
-}
-
-/* Called in interrupt context, therefore just set a trigger variable */
-static void ff_irq(void) {
-	ff_irq_triggered = true;
-
-	/* Disable IRQ until handled */
-	mems_expansion_board->gyro_lsm6ds3->Disable_Free_Fall_Detection_IRQ();
-}
-
-
-/*** Interrupt Handler Bottom-Halves ------------------------------------------------- ***/
-/* Handle Free Fall Interrupt
-   (here we are in "normal" context, i.e. not in IRQ context)
-*/
-static void handle_ff_irq(void) {
-    printf("\nFree Fall Detected!\n\n");
-
-    /* Re-enable IRQ */
-    mems_expansion_board->gyro_lsm6ds3->Enable_Free_Fall_Detection_IRQ();
-}
-
-
-/*** Helper Functions (2/2) ------------------------------------------------------------ ***/
-/* print 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;
-}
-
-/* Initialization function */
-static void init(void) {
-	uint8_t id1, id2;
-
-	/* Determine ID of Humidity & Temperature Sensor */
-	CALL_METH(humidity_sensor, ReadID, &id1, 0x0);
-	CALL_METH(temp_sensor1, ReadID, &id2, 0x0);
-    	printf("Humidity  | Temperature Sensor ID = %s (0x%x | 0x%x)\n", 
-	       ((id1 == I_AM_HTS221) ? "HTS221 " : "UNKNOWN"),
-	       id1, id2
-	       );
-	assert(id1 == id2);
-
-	/* Determine ID of Gyro & Motion Sensor */
-	assert((mems_expansion_board->gyro_lsm6ds0 == NULL) ||
-	       (mems_expansion_board->gyro_lsm6ds3 == NULL));
-	CALL_METH(gyroscope, ReadID, &id1, 0x0);
-	CALL_METH(accelerometer, ReadID, &id2, 0x0);
-    	printf("Gyroscope | Motion Sensor ID      = %s (0x%x | 0x%x)\n", 
-	       ((id1 == I_AM_LSM6DS3_XG) ? "LSM6DS3" : 
-		((id1 == I_AM_LSM6DS0_XG) ? "LSM6DS0" : "UNKNOWN")),
-	       id1, id2
-	       );
-	assert(id1 == id2);
-
-	/* Register Free Fall Detection IRQ Handler & Enable Detection */
-	if(mems_expansion_board->gyro_lsm6ds3 != NULL) {
-		mems_expansion_board->gyro_lsm6ds3->Attach_Free_Fall_Detection_IRQ(ff_irq);
-		mems_expansion_board->gyro_lsm6ds3->Enable_Free_Fall_Detection();
-	}
-}
-
-/* Main cycle function */
-static void main_cycle(void) {
-	float TEMPERATURE_Value;
-	float HUMIDITY_Value;
-	float PRESSURE_Value;
-	float PRESSURE_Temp_Value;
-	AxesRaw_TypeDef MAG_Value;
-	AxesRaw_TypeDef ACC_Value;
-	AxesRaw_TypeDef GYR_Value;
-	char buffer1[32];
-	char buffer2[32];
-	char buffer3[32];
-	char buffer4[32];
-	unsigned int ret = 0;
-	
-	/* Switch LED On */
-	myled = LED_ON;
-	printf("===\n");
-
-	/* Determine Environmental Values */
-	ret |= (!CALL_METH(temp_sensor1, GetTemperature, &TEMPERATURE_Value, 0.0f) ? 0x0 : 0x1);
-	ret |= (!CALL_METH(humidity_sensor, GetHumidity, &HUMIDITY_Value, 0.0f) ? 0x0 : 0x2);;
-	ret |= (!CALL_METH(pressure_sensor, GetPressure, &PRESSURE_Value, 0.0f) ? 0x0 : 0x4);;
-	ret |= (!CALL_METH(temp_sensor2, GetFahrenheit, &PRESSURE_Temp_Value, 0.0f) ? 0x0 : 0x8);;
-	ret |= (!CALL_METH(magnetometer, Get_M_Axes, (int32_t *)&MAG_Value, 0) ? 0x0 : 0x10);;
-	ret |= (!CALL_METH(accelerometer, Get_X_Axes, (int32_t *)&ACC_Value, 0) ? 0x0 : 0x20);;
-	ret |= (!CALL_METH(gyroscope, Get_G_Axes, (int32_t *)&GYR_Value, 0) ? 0x0 : 0x40);
-
-	/* Print Values Out */
-        printf("I2C [errors]: 0x%.2x    X         Y         Z\n", ret); 
-        printf("MAG [mgauss]: %9ld %9ld %9ld\n", 
-	       MAG_Value.AXIS_X, MAG_Value.AXIS_Y, MAG_Value.AXIS_Z);
-        printf("ACC [mg]:     %9ld %9ld %9ld\n", 
-	       ACC_Value.AXIS_X, ACC_Value.AXIS_Y, ACC_Value.AXIS_Z);
-        printf("GYR [mdps]:   %9ld %9ld %9ld\n", 
-	       GYR_Value.AXIS_X, GYR_Value.AXIS_Y, GYR_Value.AXIS_Z);
-        printf("---\nTEMP | HUMIDITY: %s°C | %s%%\nTEMP | PRESSURE: %s°F | %smbar\n", 
-	       printDouble(buffer1, TEMPERATURE_Value), 
-	       printDouble(buffer2, HUMIDITY_Value), 
-	       printDouble(buffer4, PRESSURE_Temp_Value),
-	       printDouble(buffer3, PRESSURE_Value));
-	
-	/* Switch LED Off */
-	myled = LED_OFF;
-}
-
-
-/*** Main function ------------------------------------------------------------- ***/
-/* Generic main function/loop for enabling WFE in case of 
-   interrupt based cyclic execution
-*/
-int main()
-{
-	/* Start & initialize */
-	printf("\n--- Starting new run ---\n");
-	init();
-
-	/* Start timer irq */
-	ticker.attach_us(timer_irq, MS_INTERVALS * APP_LOOP_PERIOD);
-
-	while (true) {
-		if(timer_irq_triggered) {
-			timer_irq_triggered = false;
-			main_cycle();
-		} else if(ff_irq_triggered) {
-			ff_irq_triggered = false;
-			handle_ff_irq();
-		} else {
-			__WFE(); /* it is recommended that SEVONPEND in the 
-				    System Control Register is NOT set */
-		}
-	}
-}
+/**
+ ******************************************************************************
+ * @file    main.cpp
+ * @author  CLab
+ * @version V1.0.0
+ * @date    2-December-2016
+ * @brief   Simple Example application for using the X_NUCLEO_IKS01A1 
+ *          MEMS Inertial & Environmental Sensor Nucleo expansion board.
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>&copy; COPYRIGHT(c) 2016 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_iks01a2.h"
+
+/* Instantiate the expansion board */
+static X_NUCLEO_IKS01A2 *mems_expansion_board = X_NUCLEO_IKS01A2::Instance(D14, D15, D4, D5);
+
+/* Retrieve the composing elements of the expansion board */
+static LSM303AGR_MAG_Sensor *magnetometer = mems_expansion_board->magnetometer;
+static HTS221Sensor *hum_temp = mems_expansion_board->ht_sensor;
+static LPS22HBSensor *press_temp = mems_expansion_board->pt_sensor;
+static LSM6DSLSensor *acc_gyro = mems_expansion_board->acc_gyro;
+static LSM303AGR_ACC_Sensor *accelerometer = mems_expansion_board->accelerometer;
+
+/* 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];
+  
+  /* Enable all sensors */
+  hum_temp->Enable();
+  press_temp->Enable();
+  magnetometer->Enable();
+  accelerometer->Enable();
+  acc_gyro->Enable_X();
+  acc_gyro->Enable_G();
+  
+  printf("\r\n--- Starting new run ---\r\n");
+
+  hum_temp->ReadID(&id);
+  printf("HTS221  humidity & temperature    = 0x%X\r\n", id);
+  press_temp->ReadID(&id);
+  printf("LPS22HB  pressure & temperature   = 0x%X\r\n", id);
+  magnetometer->ReadID(&id);
+  printf("LSM303AGR magnetometer            = 0x%X\r\n", id);
+  accelerometer->ReadID(&id);
+  printf("LSM303AGR accelerometer           = 0x%X\r\n", id);
+  acc_gyro->ReadID(&id);
+  printf("LSM6DSL accelerometer & gyroscope = 0x%X\r\n", id);
+ 
+  while(1) {
+    printf("\r\n");
+
+    hum_temp->GetTemperature(&value1);
+    hum_temp->GetHumidity(&value2);
+    printf("HTS221: [temp] %7s C,   [hum] %s%%\r\n", printDouble(buffer1, value1), printDouble(buffer2, value2));
+    
+    press_temp->GetTemperature(&value1);
+    press_temp->GetPressure(&value2);
+    printf("LPS22HB: [temp] %7s C, [press] %s mbar\r\n", printDouble(buffer1, value1), printDouble(buffer2, value2));
+
+    printf("---\r\n");
+
+    magnetometer->Get_M_Axes(axes);
+    printf("LSM303AGR [mag/mgauss]:  %6ld, %6ld, %6ld\r\n", axes[0], axes[1], axes[2]);
+    
+    accelerometer->Get_X_Axes(axes);
+    printf("LSM303AGR [acc/mg]:  %6ld, %6ld, %6ld\r\n", axes[0], axes[1], axes[2]);
+
+    acc_gyro->Get_X_Axes(axes);
+    printf("LSM6DSL [acc/mg]:      %6ld, %6ld, %6ld\r\n", axes[0], axes[1], axes[2]);
+
+    acc_gyro->Get_G_Axes(axes);
+    printf("LSM6DSL [gyro/mdps]:   %6ld, %6ld, %6ld\r\n", axes[0], axes[1], axes[2]);
+
+    wait(1.5);
+  }
+}