main.cpp

00001 
00002 /* Includes */
00003 #include "mbed.h"
00004 #include "x_nucleo_iks01a2.h"
00005 
00006 /* Instantiate the expansion board */
00007 static X_NUCLEO_IKS01A2 *mems_expansion_board = X_NUCLEO_IKS01A2::Instance(D14, D15, D4, D5);
00008 
00009 
00010 #define  sens 70
00011 
00012 static LSM6DSLSensor *acc_gyro = mems_expansion_board->acc_gyro;
00013 
00014 
00015 /* Simple main function */
00016 int main() {
00017   uint8_t id;
00018   int32_t axes[3];
00019   int32_t off[3];
00020   float parziale[3];
00021   float finale[3];
00022   int32_t k=0;
00023   for(int i=0;i<3;i++)
00024 {parziale[i]=0;}
00025 
00026  for(int i=0;i<3;i++)
00027 {finale [i]=0;}
00028   /* Enable all sensors */
00029  
00030   acc_gyro->Enable_X();
00031   acc_gyro->Enable_G();
00032   
00033   printf("\r\n--- Starting new run ---\r\n");
00034   acc_gyro->ReadID(&id);
00035   printf("LSM6DSL accelerometer & gyroscope = 0x%X\r\n", id);
00036   wait(1.5);
00037  acc_gyro->Get_G_Axes(axes);
00038  printf("LSM6DSL [gyro/mdps]:   %6ld, %6ld, %6ld\r\n", axes[0], axes[1], axes[2]);
00039  for(int i=0;i<3;i++){
00040 off[i]=axes[i];}
00041   printf("off [gyro/mdps]:   %6ld, %6ld, %6ld\r\n", off[0], off[1], off[2]);
00042   while(1) {
00043     printf("\r\n");
00044 
00045     acc_gyro->Get_X_Axes(axes);
00046     printf("LSM6DSL [acc/mg]:      %6ld, %6ld, %6ld\r\n", axes[0], axes[1], axes[2]);
00047 
00048     acc_gyro->Get_G_Axes(axes);
00049     printf("LSM6DSLrow [gyro/mdps]:   %6ld, %6ld, %6ld\r\n", axes[0], axes[1], axes[2]);
00050 for(int i=0;i<3;i++)
00051 {axes[i]=axes[i]-off[i];}
00052        printf("LSM6DSLfine [gyro/mdps]:   %6ld, %6ld, %6ld\r\n", axes[0], axes[1], axes[2]);
00053     k=k+1;
00054     wait_m(1);
00055     
00056     // ricavo l'parziale dalla velocità angolare
00057     
00058     for(int i=0;i<3;i++)
00059 {
00060     parziale[i]=(axes[i]*sens)/1000;
00061 
00062 
00063     parziale[i]/= 1000;
00064    if (axes[i]>150 ||axes[i]<-150)
00065     finale[i] += parziale[i];
00066   
00067 }
00068     printf("finale  [gyro/d]:   %6f, %6f, %6f\r\n", finale[0], finale[1], finale[2]);//angolo
00069   }
00070 }