main.cpp

00001 /**
00002  ******************************************************************************
00003  * @file    main.cpp
00004  * @author  AST / EST
00005  * @version V0.0.1
00006  * @date    14-April-2015
00007  * @brief   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) 2015 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 /**
00040  * @mainpage X_NUCLEO_IKS01A1 MEMS Inertial & Environmental Sensor Nucleo Expansion Board Firmware Package
00041  *
00042  * <b>Introduction</b>
00043  *
00044  * This firmware package includes Components Device Drivers, Board Support Package
00045  * and example application for STMicroelectronics X_NUCLEO_IKS01A1 MEMS Inertial & Environmental Nucleo
00046  * Expansion Board
00047  * 
00048  * <b>Example Application</b>
00049  *
00050  */
00051 
00052 
00053 /*** Includes ----------------------------------------------------------------- ***/
00054 #include "mbed.h"
00055 #include "assert.h"
00056 #include "x_nucleo_iks01a1.h"
00057 
00058 #include <Ticker.h>
00059 
00060 
00061 /*** Constants ---------------------------------------------------------------- ***/
00062 namespace {
00063     const int MS_INTERVALS = 1000;
00064 }
00065 
00066 
00067 /*** Macros ------------------------------------------------------------------- ***/
00068 #define APP_LOOP_PERIOD 3000 // in ms
00069 
00070 #if defined(TARGET_STM)
00071 #define LED_OFF (0)
00072 #else
00073 #define LED_OFF (1)
00074 #endif
00075 #define LED_ON  (!LED_OFF)
00076 
00077 
00078 /*** Typedefs ----------------------------------------------------------------- ***/
00079 typedef struct {
00080     int32_t AXIS_X;
00081     int32_t AXIS_Y;
00082     int32_t AXIS_Z;
00083 } AxesRaw_TypeDef;
00084 
00085 
00086 /*** Static variables --------------------------------------------------------- ***/
00087 #ifdef DBG_MCU
00088 /* betzw: enable debugging while using sleep modes */
00089 #include "DbgMCU.h"
00090 static DbgMCU enable_dbg;
00091 #endif // DBG_MCU
00092 
00093 static X_NUCLEO_IKS01A1 *mems_expansion_board = X_NUCLEO_IKS01A1::Instance();
00094 static GyroSensor *gyroscope = mems_expansion_board->GetGyroscope();
00095 static MotionSensor *accelerometer = mems_expansion_board->GetAccelerometer();
00096 static MagneticSensor *magnetometer = mems_expansion_board->magnetometer;
00097 static HumiditySensor *humidity_sensor = mems_expansion_board->ht_sensor;;
00098 static PressureSensor *pressure_sensor = mems_expansion_board->pt_sensor;
00099 static TempSensor *temp_sensor1 = mems_expansion_board->ht_sensor;
00100 static TempSensor *temp_sensor2 = mems_expansion_board->pt_sensor;
00101 
00102 static Ticker ticker;
00103 static DigitalOut myled(LED1, LED_OFF);
00104 
00105 static volatile bool timer_irq_triggered = false;
00106 static volatile bool ff_irq_triggered = false;
00107 
00108 
00109 /*** Helper Functions (1/2) ------------------------------------------------------------ ***/
00110 
00111 
00112 /*** Interrupt Handler Top-Halves ------------------------------------------------------ ***/
00113 /* Called in interrupt context, therefore just set a trigger variable */
00114 static void timer_irq(void) {
00115     timer_irq_triggered = true;
00116 }
00117 
00118 /* Called in interrupt context, therefore just set a trigger variable */
00119 static void ff_irq(void) {
00120     ff_irq_triggered = true;
00121 
00122     /* Disable IRQ until handled */
00123     mems_expansion_board->gyro_lsm6ds3->Disable_Free_Fall_Detection_IRQ();
00124 }
00125 
00126 
00127 /*** Interrupt Handler Bottom-Halves ------------------------------------------------- ***/
00128 /* Handle Free Fall Interrupt
00129    (here we are in "normal" context, i.e. not in IRQ context)
00130 */
00131 static void handle_ff_irq(void) {
00132     printf("\nFree Fall Detected!\n\n");
00133 
00134     /* Re-enable IRQ */
00135     mems_expansion_board->gyro_lsm6ds3->Enable_Free_Fall_Detection_IRQ();
00136 }
00137 
00138 
00139 /*** Helper Functions (2/2) ------------------------------------------------------------ ***/
00140 /* print floats & doubles */
00141 static char *printDouble(char* str, double v, int decimalDigits=2)
00142 {
00143   int i = 1;
00144   int intPart, fractPart;
00145   int len;
00146   char *ptr;
00147 
00148   /* prepare decimal digits multiplicator */
00149   for (;decimalDigits!=0; i*=10, decimalDigits--);
00150 
00151   /* calculate integer & fractinal parts */
00152   intPart = (int)v;
00153   fractPart = (int)((v-(double)(int)v)*i);
00154 
00155   /* fill in integer part */
00156   sprintf(str, "%i.", intPart);
00157 
00158   /* prepare fill in of fractional part */
00159   len = strlen(str);
00160   ptr = &str[len];
00161 
00162   /* fill in leading fractional zeros */
00163   for (i/=10;i>1; i/=10, ptr++) {
00164       if(fractPart >= i) break;
00165       *ptr = '0';
00166   }
00167 
00168   /* fill in (rest of) fractional part */
00169   sprintf(ptr, "%i", fractPart);
00170 
00171   return str;
00172 }
00173 
00174 /* Initialization function */
00175 static void init(void) {
00176     uint8_t id1, id2;
00177 
00178     /* Determine ID of Humidity & Temperature Sensor */
00179     CALL_METH(humidity_sensor, read_id, &id1, 0x0);
00180     CALL_METH(temp_sensor1, read_id, &id2, 0x0);
00181         printf("Humidity  | Temperature Sensor ID = %s (0x%x | 0x%x)\n", 
00182            ((id1 == I_AM_HTS221) ? "HTS221 " : "UNKNOWN"),
00183            id1, id2
00184            );
00185     assert(id1 == id2);
00186 
00187     /* Determine ID of Gyro & Motion Sensor */
00188     assert((mems_expansion_board->gyro_lsm6ds0 == NULL) ||
00189            (mems_expansion_board->gyro_lsm6ds3 == NULL));
00190     CALL_METH(gyroscope, read_id, &id1, 0x0);
00191     CALL_METH(accelerometer, read_id, &id2, 0x0);
00192         printf("Gyroscope | Motion Sensor ID      = %s (0x%x | 0x%x)\n", 
00193            ((id1 == I_AM_LSM6DS3_XG) ? "LSM6DS3" : 
00194         ((id1 == I_AM_LSM6DS0_XG) ? "LSM6DS0" : "UNKNOWN")),
00195            id1, id2
00196            );
00197     assert(id1 == id2);
00198 
00199     /* Register Free Fall Detection IRQ Handler & Enable Detection */
00200     if(mems_expansion_board->gyro_lsm6ds3 != NULL) {
00201         mems_expansion_board->gyro_lsm6ds3->Attach_Free_Fall_Detection_IRQ(ff_irq);
00202         mems_expansion_board->gyro_lsm6ds3->Enable_Free_Fall_Detection();
00203     }
00204 }
00205 
00206 /* Main cycle function */
00207 static void main_cycle(void) {
00208     float TEMPERATURE_Value;
00209     float HUMIDITY_Value;
00210     float PRESSURE_Value;
00211     float PRESSURE_Temp_Value;
00212     AxesRaw_TypeDef MAG_Value;
00213     AxesRaw_TypeDef ACC_Value;
00214     AxesRaw_TypeDef GYR_Value;
00215     char buffer1[32];
00216     char buffer2[32];
00217     char buffer3[32];
00218     char buffer4[32];
00219     unsigned int ret = 0;
00220     
00221     /* Switch LED On */
00222     myled = LED_ON;
00223     printf("===\n");
00224 
00225     /* Determine Environmental Values */
00226     ret |= (!CALL_METH(temp_sensor1, get_temperature, &TEMPERATURE_Value, 0.0f) ? 0x0 : 0x1);
00227     ret |= (!CALL_METH(humidity_sensor, get_humidity, &HUMIDITY_Value, 0.0f) ? 0x0 : 0x2);;
00228     ret |= (!CALL_METH(pressure_sensor, get_pressure, &PRESSURE_Value, 0.0f) ? 0x0 : 0x4);;
00229     ret |= (!CALL_METH(temp_sensor2, get_fahrenheit, &PRESSURE_Temp_Value, 0.0f) ? 0x0 : 0x8);;
00230     ret |= (!CALL_METH(magnetometer, get_m_axes, (int32_t *)&MAG_Value, 0) ? 0x0 : 0x10);;
00231     ret |= (!CALL_METH(accelerometer, get_x_axes, (int32_t *)&ACC_Value, 0) ? 0x0 : 0x20);;
00232     ret |= (!CALL_METH(gyroscope, get_g_axes, (int32_t *)&GYR_Value, 0) ? 0x0 : 0x40);
00233 
00234     /* Print Values Out */
00235         printf("I2C [errors]: 0x%.2x    X         Y         Z\n", ret); 
00236         printf("MAG [mgauss]: %9ld %9ld %9ld\n", 
00237            MAG_Value.AXIS_X, MAG_Value.AXIS_Y, MAG_Value.AXIS_Z);
00238         printf("ACC [mg]:     %9ld %9ld %9ld\n", 
00239            ACC_Value.AXIS_X, ACC_Value.AXIS_Y, ACC_Value.AXIS_Z);
00240         printf("GYR [mdps]:   %9ld %9ld %9ld\n", 
00241            GYR_Value.AXIS_X, GYR_Value.AXIS_Y, GYR_Value.AXIS_Z);
00242         printf("---\nTEMP | HUMIDITY: %s°C | %s%%\nTEMP | PRESSURE: %s°F | %smbar\n", 
00243            printDouble(buffer1, TEMPERATURE_Value), 
00244            printDouble(buffer2, HUMIDITY_Value), 
00245            printDouble(buffer4, PRESSURE_Temp_Value),
00246            printDouble(buffer3, PRESSURE_Value));
00247     
00248     /* Switch LED Off */
00249     myled = LED_OFF;
00250 }
00251 
00252 
00253 /*** Main function ------------------------------------------------------------- ***/
00254 /* Generic main function/loop for enabling WFE in case of 
00255    interrupt based cyclic execution
00256 */
00257 int main()
00258 {
00259     /* Start & initialize */
00260     printf("\n--- Starting new run ---\n");
00261     init();
00262 
00263     /* Start timer irq */
00264     ticker.attach_us(timer_irq, MS_INTERVALS * APP_LOOP_PERIOD);
00265 
00266     while (true) {
00267         if(timer_irq_triggered) {
00268             timer_irq_triggered = false;
00269             main_cycle();
00270         } else if(ff_irq_triggered) {
00271             ff_irq_triggered = false;
00272             handle_ff_irq();
00273         } else {
00274             __WFE(); /* it is recommended that SEVONPEND in the 
00275                     System Control Register is NOT set */
00276         }
00277     }
00278 }