University of Plymouth - Stages 1, 2 and 3 / Mbed OS ELEC35XR-2019_SEM

Template code Support mbed-os 5.x

Dependencies:   X_NUCLEO_IKS01A3

main.cpp@0:3c909a9f5c1f, 2019-08-15 (annotated)

Committer:
noutram
Date:
Thu Aug 15 13:41:34 2019 +0000
Revision:
0:3c909a9f5c1f
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noutram 0:3c909a9f5c1f 1 /* mbed Microcontroller Library
noutram 0:3c909a9f5c1f 2 * Copyright (c) 2018 ARM Limited
noutram 0:3c909a9f5c1f 3 * SPDX-License-Identifier: Apache-2.0
noutram 0:3c909a9f5c1f 4 */
noutram 0:3c909a9f5c1f 5
noutram 0:3c909a9f5c1f 6 #include "mbed.h"
noutram 0:3c909a9f5c1f 7 #include "stats_report.h"
noutram 0:3c909a9f5c1f 8 #include "XNucleoIKS01A3.h"
noutram 0:3c909a9f5c1f 9 #include "USBMouse.h"
noutram 0:3c909a9f5c1f 10
noutram 0:3c909a9f5c1f 11 DigitalOut led1(LED1);
noutram 0:3c909a9f5c1f 12
noutram 0:3c909a9f5c1f 13 #define SLEEP_TIME 500 // (msec)
noutram 0:3c909a9f5c1f 14 #define PRINT_AFTER_N_LOOPS 20
noutram 0:3c909a9f5c1f 15 /* Instantiate the expansion board */
noutram 0:3c909a9f5c1f 16 static XNucleoIKS01A3 *mems_expansion_board = XNucleoIKS01A3::instance(D14, D15, D4, D5, A3, D6, A4);
noutram 0:3c909a9f5c1f 17
noutram 0:3c909a9f5c1f 18 /* Retrieve the composing elements of the expansion board */
noutram 0:3c909a9f5c1f 19
noutram 0:3c909a9f5c1f 20 static LIS2MDLSensor *magnetometer = mems_expansion_board->magnetometer;
noutram 0:3c909a9f5c1f 21 static HTS221Sensor *hum_temp = mems_expansion_board->ht_sensor;
noutram 0:3c909a9f5c1f 22 static LPS22HHSensor *press_temp = mems_expansion_board->pt_sensor;
noutram 0:3c909a9f5c1f 23 static LSM6DSOSensor *acc_gyro = mems_expansion_board->acc_gyro;
noutram 0:3c909a9f5c1f 24 static LIS2DW12Sensor *accelerometer = mems_expansion_board->accelerometer;
noutram 0:3c909a9f5c1f 25 static STTS751Sensor *temp = mems_expansion_board->t_sensor;
noutram 0:3c909a9f5c1f 26
noutram 0:3c909a9f5c1f 27 Semaphore one_slot(1);
noutram 0:3c909a9f5c1f 28
noutram 0:3c909a9f5c1f 29 static char *print_double(char* str, double v, int decimalDigits=2)
noutram 0:3c909a9f5c1f 30 {
noutram 0:3c909a9f5c1f 31 int i = 1;
noutram 0:3c909a9f5c1f 32 int intPart, fractPart;
noutram 0:3c909a9f5c1f 33 int len;
noutram 0:3c909a9f5c1f 34 char *ptr;
noutram 0:3c909a9f5c1f 35
noutram 0:3c909a9f5c1f 36 /* prepare decimal digits multiplicator */
noutram 0:3c909a9f5c1f 37 for (;decimalDigits!=0; i*=10, decimalDigits--);
noutram 0:3c909a9f5c1f 38
noutram 0:3c909a9f5c1f 39 /* calculate integer & fractinal parts */
noutram 0:3c909a9f5c1f 40 intPart = (int)v;
noutram 0:3c909a9f5c1f 41 fractPart = (int)((v-(double)(int)v)*i);
noutram 0:3c909a9f5c1f 42
noutram 0:3c909a9f5c1f 43 /* fill in integer part */
noutram 0:3c909a9f5c1f 44 sprintf(str, "%i.", intPart);
noutram 0:3c909a9f5c1f 45
noutram 0:3c909a9f5c1f 46 /* prepare fill in of fractional part */
noutram 0:3c909a9f5c1f 47 len = strlen(str);
noutram 0:3c909a9f5c1f 48 ptr = &str[len];
noutram 0:3c909a9f5c1f 49
noutram 0:3c909a9f5c1f 50 /* fill in leading fractional zeros */
noutram 0:3c909a9f5c1f 51 for (i/=10;i>1; i/=10, ptr++) {
noutram 0:3c909a9f5c1f 52 if (fractPart >= i) {
noutram 0:3c909a9f5c1f 53 break;
noutram 0:3c909a9f5c1f 54 }
noutram 0:3c909a9f5c1f 55 *ptr = '0';
noutram 0:3c909a9f5c1f 56 }
noutram 0:3c909a9f5c1f 57
noutram 0:3c909a9f5c1f 58 /* fill in (rest of) fractional part */
noutram 0:3c909a9f5c1f 59 sprintf(ptr, "%i", fractPart);
noutram 0:3c909a9f5c1f 60
noutram 0:3c909a9f5c1f 61 return str;
noutram 0:3c909a9f5c1f 62 }
noutram 0:3c909a9f5c1f 63 USBMouse mouse;
noutram 0:3c909a9f5c1f 64
noutram 0:3c909a9f5c1f 65 int main() {
noutram 0:3c909a9f5c1f 66 uint8_t id;
noutram 0:3c909a9f5c1f 67 float value1, value2;
noutram 0:3c909a9f5c1f 68 char buffer1[32], buffer2[32];
noutram 0:3c909a9f5c1f 69 int32_t axes[3];
noutram 0:3c909a9f5c1f 70
noutram 0:3c909a9f5c1f 71 int16_t x = 0;
noutram 0:3c909a9f5c1f 72 int16_t y = 0;
noutram 0:3c909a9f5c1f 73 int32_t radius = 10;
noutram 0:3c909a9f5c1f 74 int32_t angle = 0;
noutram 0:3c909a9f5c1f 75
noutram 0:3c909a9f5c1f 76 /* Enable all sensors */
noutram 0:3c909a9f5c1f 77
noutram 0:3c909a9f5c1f 78
noutram 0:3c909a9f5c1f 79 hum_temp->enable();
noutram 0:3c909a9f5c1f 80 press_temp->enable();
noutram 0:3c909a9f5c1f 81 temp->enable();
noutram 0:3c909a9f5c1f 82 magnetometer->enable();
noutram 0:3c909a9f5c1f 83 accelerometer->enable_x();
noutram 0:3c909a9f5c1f 84 acc_gyro->enable_x();
noutram 0:3c909a9f5c1f 85 acc_gyro->enable_g();
noutram 0:3c909a9f5c1f 86
noutram 0:3c909a9f5c1f 87
noutram 0:3c909a9f5c1f 88 printf("\r\n--- Starting new run ---\r\n");
noutram 0:3c909a9f5c1f 89
noutram 0:3c909a9f5c1f 90
noutram 0:3c909a9f5c1f 91 hum_temp->read_id(&id);
noutram 0:3c909a9f5c1f 92 printf("HTS221 humidity & temperature = 0x%X\r\n", id);
noutram 0:3c909a9f5c1f 93 press_temp->read_id(&id);
noutram 0:3c909a9f5c1f 94 printf("LPS22HH pressure & temperature = 0x%X\r\n", id);
noutram 0:3c909a9f5c1f 95 temp->read_id(&id);
noutram 0:3c909a9f5c1f 96 printf("STTS751 temperature = 0x%X\r\n", id);
noutram 0:3c909a9f5c1f 97 magnetometer->read_id(&id);
noutram 0:3c909a9f5c1f 98 printf("LIS2MDL magnetometer = 0x%X\r\n", id);
noutram 0:3c909a9f5c1f 99 accelerometer->read_id(&id);
noutram 0:3c909a9f5c1f 100 printf("LIS2DW12 accelerometer = 0x%X\r\n", id);
noutram 0:3c909a9f5c1f 101 acc_gyro->read_id(&id);
noutram 0:3c909a9f5c1f 102 printf("LSM6DSO accelerometer & gyroscope = 0x%X\r\n", id);
noutram 0:3c909a9f5c1f 103
noutram 0:3c909a9f5c1f 104
noutram 0:3c909a9f5c1f 105 while(1) {
noutram 0:3c909a9f5c1f 106 printf("\r\n");
noutram 0:3c909a9f5c1f 107
noutram 0:3c909a9f5c1f 108 hum_temp->get_temperature(&value1);
noutram 0:3c909a9f5c1f 109 hum_temp->get_humidity(&value2);
noutram 0:3c909a9f5c1f 110 printf("HTS221: [temp] %7s C, [hum] %s%%\r\n", print_double(buffer1, value1), print_double(buffer2, value2));
noutram 0:3c909a9f5c1f 111
noutram 0:3c909a9f5c1f 112 press_temp->get_temperature(&value1);
noutram 0:3c909a9f5c1f 113 press_temp->get_pressure(&value2);
noutram 0:3c909a9f5c1f 114 printf("LPS22HH: [temp] %7s C, [press] %s mbar\r\n", print_double(buffer1, value1), print_double(buffer2, value2));
noutram 0:3c909a9f5c1f 115
noutram 0:3c909a9f5c1f 116 temp->get_temperature(&value1);
noutram 0:3c909a9f5c1f 117 printf("STTS751: [temp] %7s C\r\n", print_double(buffer1, value1));
noutram 0:3c909a9f5c1f 118
noutram 0:3c909a9f5c1f 119 printf("---\r\n");
noutram 0:3c909a9f5c1f 120
noutram 0:3c909a9f5c1f 121 magnetometer->get_m_axes(axes);
noutram 0:3c909a9f5c1f 122 printf("LIS2MDL [mag/mgauss]: %6d, %6d, %6d\r\n", axes[0], axes[1], axes[2]);
noutram 0:3c909a9f5c1f 123
noutram 0:3c909a9f5c1f 124 accelerometer->get_x_axes(axes);
noutram 0:3c909a9f5c1f 125 printf("LIS2DW12 [acc/mg]: %6d, %6d, %6d\r\n", axes[0], axes[1], axes[2]);
noutram 0:3c909a9f5c1f 126
noutram 0:3c909a9f5c1f 127 acc_gyro->get_x_axes(axes);
noutram 0:3c909a9f5c1f 128 printf("LSM6DSO [acc/mg]: %6d, %6d, %6d\r\n", axes[0], axes[1], axes[2]);
noutram 0:3c909a9f5c1f 129
noutram 0:3c909a9f5c1f 130 acc_gyro->get_g_axes(axes);
noutram 0:3c909a9f5c1f 131 printf("LSM6DSO [gyro/mdps]: %6d, %6d, %6d\r\n", axes[0], axes[1], axes[2]);
noutram 0:3c909a9f5c1f 132
noutram 0:3c909a9f5c1f 133 x = cos((double)angle*3.14/180.0)*radius;
noutram 0:3c909a9f5c1f 134 y = sin((double)angle*3.14/180.0)*radius;
noutram 0:3c909a9f5c1f 135
noutram 0:3c909a9f5c1f 136 //will move mouse x, y away from its previous position on the screen
noutram 0:3c909a9f5c1f 137 mouse.move(x, y);
noutram 0:3c909a9f5c1f 138 angle += 3;
noutram 0:3c909a9f5c1f 139
noutram 0:3c909a9f5c1f 140 wait(0.001);
noutram 0:3c909a9f5c1f 141 }
noutram 0:3c909a9f5c1f 142 }