Stage-1 Students SoCEM / Mbed OS ReferredCoursework2016

Version of the IKS01A1 library for this coursework

Dependencies:   X_NUCLEO_COMMON

Fork of X_NUCLEO_IKS01A1 by ST

main.cpp@89:c55aa4c1187f, 2017-08-01 (annotated)

Committer:
noutram
Date:
Tue Aug 01 23:46:04 2017 +0000
Revision:
89:c55aa4c1187f
updated for 2017

Who changed what in which revision?

UserRevisionLine numberNew contents of line
noutram 89:c55aa4c1187f 1 /**
noutram 89:c55aa4c1187f 2 ******************************************************************************
noutram 89:c55aa4c1187f 3 * @file main.cpp
noutram 89:c55aa4c1187f 4 * @author AST / EST
noutram 89:c55aa4c1187f 5 * @version V0.0.1
noutram 89:c55aa4c1187f 6 * @date 14-August-2015
noutram 89:c55aa4c1187f 7 * @brief Simple Example application for using the X_NUCLEO_IKS01A1
noutram 89:c55aa4c1187f 8 * MEMS Inertial & Environmental Sensor Nucleo expansion board.
noutram 89:c55aa4c1187f 9 ******************************************************************************
noutram 89:c55aa4c1187f 10 * @attention
noutram 89:c55aa4c1187f 11 *
noutram 89:c55aa4c1187f 12 * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
noutram 89:c55aa4c1187f 13 *
noutram 89:c55aa4c1187f 14 * Redistribution and use in source and binary forms, with or without modification,
noutram 89:c55aa4c1187f 15 * are permitted provided that the following conditions are met:
noutram 89:c55aa4c1187f 16 * 1. Redistributions of source code must retain the above copyright notice,
noutram 89:c55aa4c1187f 17 * this list of conditions and the following disclaimer.
noutram 89:c55aa4c1187f 18 * 2. Redistributions in binary form must reproduce the above copyright notice,
noutram 89:c55aa4c1187f 19 * this list of conditions and the following disclaimer in the documentation
noutram 89:c55aa4c1187f 20 * and/or other materials provided with the distribution.
noutram 89:c55aa4c1187f 21 * 3. Neither the name of STMicroelectronics nor the names of its contributors
noutram 89:c55aa4c1187f 22 * may be used to endorse or promote products derived from this software
noutram 89:c55aa4c1187f 23 * without specific prior written permission.
noutram 89:c55aa4c1187f 24 *
noutram 89:c55aa4c1187f 25 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
noutram 89:c55aa4c1187f 26 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
noutram 89:c55aa4c1187f 27 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
noutram 89:c55aa4c1187f 28 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
noutram 89:c55aa4c1187f 29 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
noutram 89:c55aa4c1187f 30 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
noutram 89:c55aa4c1187f 31 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
noutram 89:c55aa4c1187f 32 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
noutram 89:c55aa4c1187f 33 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
noutram 89:c55aa4c1187f 34 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
noutram 89:c55aa4c1187f 35 *
noutram 89:c55aa4c1187f 36 ******************************************************************************
noutram 89:c55aa4c1187f 37
noutram 89:c55aa4c1187f 38
noutram 89:c55aa4c1187f 39 HINTS:
noutram 89:c55aa4c1187f 40
noutram 89:c55aa4c1187f 41 Use a Ticker for accurate sampling, but do NOT use printf or locks inside an ISR. Instead, use a MailBox to safely move data across from an ISR to a Thread
noutram 89:c55aa4c1187f 42 Many functions in MBED are thread-safe - check the online docs
noutram 89:c55aa4c1187f 43
noutram 89:c55aa4c1187f 44 For buffering, use an Array (of structures) and the producer-consumer pattern (or a variant of it).
noutram 89:c55aa4c1187f 45 DO NOT use a mailbox or queue to perform the buffering
noutram 89:c55aa4c1187f 46
noutram 89:c55aa4c1187f 47 Perform serial comms on another thread
noutram 89:c55aa4c1187f 48
noutram 89:c55aa4c1187f 49 Beware of a thread running out of stack space. If you have to use a lot of local variable data, consider increasing the size of the stack for the respective thread. See the constructor for Thread in the docs
noutram 89:c55aa4c1187f 50
noutram 89:c55aa4c1187f 51 In terms of diagnostics, consider the following type of information:
noutram 89:c55aa4c1187f 52
noutram 89:c55aa4c1187f 53 An indication that the sampling is running (not every sample maybe, but a heart-beat type indication)
noutram 89:c55aa4c1187f 54 An error if the buffer is full
noutram 89:c55aa4c1187f 55 An warning if the buffer is empty
noutram 89:c55aa4c1187f 56 Anything that helps diagnose a deadlock (e.g. output a message / toggle an LED before a lock is taken and after it is released)
noutram 89:c55aa4c1187f 57
noutram 89:c55aa4c1187f 58 For high marks in the logging aspect, remember that although printf is thread safe (not interrupt safe), printf from multiple threads will result in interleaved text.
noutram 89:c55aa4c1187f 59 To solve this, have a logging thread that queues up whole messages and write them to the serial interface one at a time - this is ambitious but can be done
noutram 89:c55aa4c1187f 60 */
noutram 89:c55aa4c1187f 61
noutram 89:c55aa4c1187f 62 /* Includes */
noutram 89:c55aa4c1187f 63 #include "mbed.h"
noutram 89:c55aa4c1187f 64 //#include "rtos.h"
noutram 89:c55aa4c1187f 65 #include "x_nucleo_iks01a1.h"
noutram 89:c55aa4c1187f 66
noutram 89:c55aa4c1187f 67 /* Instantiate the expansion board */
noutram 89:c55aa4c1187f 68 static X_NUCLEO_IKS01A1 *mems_expansion_board = X_NUCLEO_IKS01A1::Instance(D14, D15);
noutram 89:c55aa4c1187f 69
noutram 89:c55aa4c1187f 70 /* Retrieve the composing elements of the expansion board */
noutram 89:c55aa4c1187f 71 static GyroSensor *gyroscope = mems_expansion_board->GetGyroscope();
noutram 89:c55aa4c1187f 72 static MotionSensor *accelerometer = mems_expansion_board->GetAccelerometer();
noutram 89:c55aa4c1187f 73 static MagneticSensor *magnetometer = mems_expansion_board->magnetometer;
noutram 89:c55aa4c1187f 74
noutram 89:c55aa4c1187f 75 extern char *printDouble(char* str, double v, int decimalDigits=2);
noutram 89:c55aa4c1187f 76
noutram 89:c55aa4c1187f 77 typedef struct {
noutram 89:c55aa4c1187f 78 int32_t x;
noutram 89:c55aa4c1187f 79 int32_t y;
noutram 89:c55aa4c1187f 80 int32_t z;
noutram 89:c55aa4c1187f 81 } AccelData;
noutram 89:c55aa4c1187f 82
noutram 89:c55aa4c1187f 83 /* Simple main function */
noutram 89:c55aa4c1187f 84 int main() {
noutram 89:c55aa4c1187f 85 uint8_t id;
noutram 89:c55aa4c1187f 86 int32_t axes[3];
noutram 89:c55aa4c1187f 87
noutram 89:c55aa4c1187f 88 printf("\r\n--- Starting new run ---\r\n");
noutram 89:c55aa4c1187f 89
noutram 89:c55aa4c1187f 90 accelerometer->ReadID(&id);
noutram 89:c55aa4c1187f 91 printf("LSM6DS0 Accelerometer = 0x%X\r\n", id);
noutram 89:c55aa4c1187f 92 magnetometer->ReadID(&id);
noutram 89:c55aa4c1187f 93 printf("LIS3MDL magnetometer = 0x%X\r\n", id);
noutram 89:c55aa4c1187f 94 gyroscope->ReadID(&id);
noutram 89:c55aa4c1187f 95 printf("LSM6DS0 accelerometer & gyroscope = 0x%X\r\n", id);
noutram 89:c55aa4c1187f 96
noutram 89:c55aa4c1187f 97 wait(3);
noutram 89:c55aa4c1187f 98
noutram 89:c55aa4c1187f 99 while(1) {
noutram 89:c55aa4c1187f 100 printf("\r\n");
noutram 89:c55aa4c1187f 101
noutram 89:c55aa4c1187f 102 magnetometer->Get_M_Axes(axes);
noutram 89:c55aa4c1187f 103 printf("LIS3MDL [mag/mgauss]: %6ld, %6ld, %6ld\r\n", axes[0], axes[1], axes[2]);
noutram 89:c55aa4c1187f 104
noutram 89:c55aa4c1187f 105 accelerometer->Get_X_Axes(axes);
noutram 89:c55aa4c1187f 106
noutram 89:c55aa4c1187f 107 AccelData d;
noutram 89:c55aa4c1187f 108 d.x = axes[0];
noutram 89:c55aa4c1187f 109 d.y = axes[1];
noutram 89:c55aa4c1187f 110 d.z = axes[2];
noutram 89:c55aa4c1187f 111
noutram 89:c55aa4c1187f 112 printf("LSM6DS0 [acc/mg]: %6ld, %6ld, %6ld\r\n", d.x, d.y, d.z);
noutram 89:c55aa4c1187f 113
noutram 89:c55aa4c1187f 114 gyroscope->Get_G_Axes(axes);
noutram 89:c55aa4c1187f 115 printf("LSM6DS0 [gyro/mdps]: %6ld, %6ld, %6ld\r\n", axes[0], axes[1], axes[2]);
noutram 89:c55aa4c1187f 116
noutram 89:c55aa4c1187f 117 //This is not a good way to do accurate sampling - I reccomend a Ticker
noutram 89:c55aa4c1187f 118 wait(1.5);
noutram 89:c55aa4c1187f 119 }
noutram 89:c55aa4c1187f 120 }