University of Plymouth - Stages 1, 2 and 3 / Mbed OS DAVEJENKINS_IKS01A1

IKS01A1 Demo

Dependencies:   X_NUCLEO_IKS01A1

main.cpp@12:504236c45846, 2019-09-11 (annotated)

Committer:
noutram
Date:
Wed Sep 11 13:07:56 2019 +0000
Revision:
12:504236c45846
Parent:
11:c613d631c1e9 
Now works with F429

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Wolfgang Betz 0:c71c9af137dd 1 /**
Wolfgang Betz 0:c71c9af137dd 2 ******************************************************************************
Wolfgang Betz 0:c71c9af137dd 3 * @file main.cpp
Wolfgang Betz 0:c71c9af137dd 4 * @author AST / EST
Wolfgang Betz 0:c71c9af137dd 5 * @version V0.0.1
Wolfgang Betz 0:c71c9af137dd 6 * @date 14-August-2015
Wolfgang Betz 0:c71c9af137dd 7 * @brief Simple Example application for using the X_NUCLEO_IKS01A1
Wolfgang Betz 0:c71c9af137dd 8 * MEMS Inertial & Environmental Sensor Nucleo expansion board.
Wolfgang Betz 0:c71c9af137dd 9 ******************************************************************************
Wolfgang Betz 0:c71c9af137dd 10 * @attention
Wolfgang Betz 0:c71c9af137dd 11 *
Wolfgang Betz 0:c71c9af137dd 12 * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
Wolfgang Betz 0:c71c9af137dd 13 *
Wolfgang Betz 0:c71c9af137dd 14 * Redistribution and use in source and binary forms, with or without modification,
Wolfgang Betz 0:c71c9af137dd 15 * are permitted provided that the following conditions are met:
Wolfgang Betz 0:c71c9af137dd 16 * 1. Redistributions of source code must retain the above copyright notice,
Wolfgang Betz 0:c71c9af137dd 17 * this list of conditions and the following disclaimer.
Wolfgang Betz 0:c71c9af137dd 18 * 2. Redistributions in binary form must reproduce the above copyright notice,
Wolfgang Betz 0:c71c9af137dd 19 * this list of conditions and the following disclaimer in the documentation
Wolfgang Betz 0:c71c9af137dd 20 * and/or other materials provided with the distribution.
Wolfgang Betz 0:c71c9af137dd 21 * 3. Neither the name of STMicroelectronics nor the names of its contributors
Wolfgang Betz 0:c71c9af137dd 22 * may be used to endorse or promote products derived from this software
Wolfgang Betz 0:c71c9af137dd 23 * without specific prior written permission.
Wolfgang Betz 0:c71c9af137dd 24 *
Wolfgang Betz 0:c71c9af137dd 25 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
Wolfgang Betz 0:c71c9af137dd 26 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
Wolfgang Betz 0:c71c9af137dd 27 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
Wolfgang Betz 0:c71c9af137dd 28 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
Wolfgang Betz 0:c71c9af137dd 29 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
Wolfgang Betz 0:c71c9af137dd 30 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
Wolfgang Betz 0:c71c9af137dd 31 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
Wolfgang Betz 0:c71c9af137dd 32 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
Wolfgang Betz 0:c71c9af137dd 33 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
Wolfgang Betz 0:c71c9af137dd 34 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
Wolfgang Betz 0:c71c9af137dd 35 *
Wolfgang Betz 0:c71c9af137dd 36 ******************************************************************************
Wolfgang Betz 0:c71c9af137dd 37 */
Wolfgang Betz 0:c71c9af137dd 38
Wolfgang Betz 0:c71c9af137dd 39 /* Includes */
Wolfgang Betz 0:c71c9af137dd 40 #include "mbed.h"
Wolfgang Betz 0:c71c9af137dd 41 #include "x_nucleo_iks01a1.h"
noutram 12:504236c45846 42 void doSample();
noutram 12:504236c45846 43 void samplerThread();
noutram 11:c613d631c1e9 44
Wolfgang Betz 0:c71c9af137dd 45 /* Instantiate the expansion board */
Wolfgang Betz 4:b1526d074d83 46 static X_NUCLEO_IKS01A1 *mems_expansion_board = X_NUCLEO_IKS01A1::Instance(D14, D15);
Wolfgang Betz 0:c71c9af137dd 47
Wolfgang Betz 0:c71c9af137dd 48 /* Retrieve the composing elements of the expansion board */
Wolfgang Betz 0:c71c9af137dd 49 static GyroSensor *gyroscope = mems_expansion_board->GetGyroscope();
Wolfgang Betz 0:c71c9af137dd 50 static MotionSensor *accelerometer = mems_expansion_board->GetAccelerometer();
Wolfgang Betz 0:c71c9af137dd 51 static MagneticSensor *magnetometer = mems_expansion_board->magnetometer;
Wolfgang Betz 0:c71c9af137dd 52 static HumiditySensor *humidity_sensor = mems_expansion_board->ht_sensor;
Wolfgang Betz 3:a2d2342526db 53 static PressureSensor *pressure_sensor = mems_expansion_board->pt_sensor;
Wolfgang Betz 0:c71c9af137dd 54 static TempSensor *temp_sensor1 = mems_expansion_board->ht_sensor;
Wolfgang Betz 3:a2d2342526db 55 static TempSensor *temp_sensor2 = mems_expansion_board->pt_sensor;
Wolfgang Betz 0:c71c9af137dd 56
noutram 12:504236c45846 57 Serial pc(USBTX, USBRX);
noutram 12:504236c45846 58 Thread sampler(osPriorityRealtime);
noutram 12:504236c45846 59 EventQueue queue;
Wolfgang Betz 0:c71c9af137dd 60
noutram 11:c613d631c1e9 61 DigitalIn sw1(USER_BUTTON);
noutram 11:c613d631c1e9 62 int32_t m_axes[3];
noutram 11:c613d631c1e9 63 int32_t a_axes[3];
noutram 11:c613d631c1e9 64 int32_t g_axes[3];
noutram 12:504236c45846 65 uint8_t id;
noutram 12:504236c45846 66
noutram 12:504236c45846 67 const unsigned Fs = 100;
noutram 12:504236c45846 68 const double T = 1.0 / (double)Fs;
noutram 12:504236c45846 69 const unsigned Tms = (unsigned)(T*1000.0);
noutram 12:504236c45846 70 unsigned long tt = 0;
noutram 12:504236c45846 71
noutram 12:504236c45846 72 void samplerThread()
noutram 12:504236c45846 73 {
noutram 12:504236c45846 74 queue.dispatch();
noutram 12:504236c45846 75 }
noutram 11:c613d631c1e9 76 void doSample()
noutram 11:c613d631c1e9 77 {
noutram 11:c613d631c1e9 78 magnetometer->get_m_axes(m_axes);
noutram 11:c613d631c1e9 79 accelerometer->get_x_axes(a_axes);
noutram 11:c613d631c1e9 80 gyroscope->get_g_axes(g_axes);
noutram 11:c613d631c1e9 81
noutram 11:c613d631c1e9 82 pc.printf("%lu,",tt); tt+=Tms;
noutram 11:c613d631c1e9 83 pc.printf("%d,%d,%d,", m_axes[0], m_axes[1], m_axes[2]);
noutram 11:c613d631c1e9 84 pc.printf("%d,%d,%d,", a_axes[0], a_axes[1], a_axes[2]);
noutram 11:c613d631c1e9 85 pc.printf("%d,%d,%d\r\n", g_axes[0], g_axes[1], g_axes[2]);
noutram 12:504236c45846 86 }
Wolfgang Betz 0:c71c9af137dd 87
noutram 12:504236c45846 88 /* Simple main function */
noutram 12:504236c45846 89 int main() {
noutram 12:504236c45846 90
noutram 12:504236c45846 91 pc.baud(926100);
noutram 12:504236c45846 92
noutram 12:504236c45846 93 humidity_sensor->read_id(&id);
noutram 12:504236c45846 94 pressure_sensor->read_id(&id);
noutram 12:504236c45846 95 magnetometer->read_id(&id);
noutram 12:504236c45846 96 gyroscope->read_id(&id);
noutram 12:504236c45846 97
noutram 12:504236c45846 98 pc.printf("Press the blue button to start\n\rThen press the black reset button to stop\n\r");
noutram 12:504236c45846 99
noutram 12:504236c45846 100 while (sw1 == 0);
noutram 12:504236c45846 101 wait_ms(250.0);
noutram 12:504236c45846 102 while (sw1 == 1);
noutram 12:504236c45846 103 wait_ms(250.0);
noutram 12:504236c45846 104
noutram 12:504236c45846 105 pc.printf("time[ms],x[mag/mgauss],y[mag/mgauss],z[mag/mgauss],x[acc/mg],y[acc/mg],z[acc/mg],x[gyro/mdps],y[gyro/mdps],z[gyro/mdps]\n\r");
noutram 12:504236c45846 106
noutram 12:504236c45846 107 sampler.start(samplerThread);
noutram 12:504236c45846 108 queue.call_every(Tms, doSample);
noutram 12:504236c45846 109 sampler.join();
noutram 12:504236c45846 110
noutram 12:504236c45846 111 while(true) {
noutram 12:504236c45846 112 pc.printf("Should never get here!\n\r");
noutram 12:504236c45846 113 wait(1.0);
noutram 11:c613d631c1e9 114 }
noutram 11:c613d631c1e9 115
noutram 11:c613d631c1e9 116 }
Wolfgang Betz 0:c71c9af137dd 117
Wolfgang Betz 0:c71c9af137dd 118