Revision 10:5226b32ae4f8, committed 2017-02-14

Comitter:

divui

Date:

Tue Feb 14 23:33:47 2017 +0000

Parent:

9:49650e8f0bb2

Commit message:

.

Changed in this revision

--- a/main.cpp	Thu Nov 24 16:19:41 2016 +0000
+++ b/main.cpp	Tue Feb 14 23:33:47 2017 +0000
@@ -1,134 +1,77 @@
-/**
- ******************************************************************************
- * @file    main.cpp
- * @author  AST / EST
- * @version V0.0.1
- * @date    14-August-2015
- * @brief   Simple Example application for using the X_NUCLEO_IKS01A1 
- *          MEMS Inertial & Environmental Sensor Nucleo expansion board.
- ******************************************************************************
- * @attention
- *
- * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
- *
- * Redistribution and use in source and binary forms, with or without modification,
- * are permitted provided that the following conditions are met:
- *   1. Redistributions of source code must retain the above copyright notice,
- *      this list of conditions and the following disclaimer.
- *   2. Redistributions in binary form must reproduce the above copyright notice,
- *      this list of conditions and the following disclaimer in the documentation
- *      and/or other materials provided with the distribution.
- *   3. Neither the name of STMicroelectronics nor the names of its contributors
- *      may be used to endorse or promote products derived from this software
- *      without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
- *  SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
- * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
- * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- *
- ******************************************************************************
-*/ 
+/*
+    Conversione dei dati grezzi del giroscopio su scheda IKS01A1 in gradi
+*/
 
 /* Includes */
 #include "mbed.h"
 #include "x_nucleo_iks01a1.h"
 
+#define  sens 70
+
+
 /* Instantiate the expansion board */
 static X_NUCLEO_IKS01A1 *mems_expansion_board = X_NUCLEO_IKS01A1::Instance(D14, D15);
 
 /* Retrieve the composing elements of the expansion board */
 static GyroSensor *gyroscope = mems_expansion_board->GetGyroscope();
 static MotionSensor *accelerometer = mems_expansion_board->GetAccelerometer();
-static MagneticSensor *magnetometer = mems_expansion_board->magnetometer;
-static HumiditySensor *humidity_sensor = mems_expansion_board->ht_sensor;
-static PressureSensor *pressure_sensor = mems_expansion_board->pt_sensor;
-static TempSensor *temp_sensor1 = mems_expansion_board->ht_sensor;
-static TempSensor *temp_sensor2 = mems_expansion_board->pt_sensor;
-
-/* Helper function for printing floats & doubles */
-static char *printDouble(char* str, double v, int decimalDigits=2)
-{
-  int i = 1;
-  int intPart, fractPart;
-  int len;
-  char *ptr;
-
-  /* prepare decimal digits multiplicator */
-  for (;decimalDigits!=0; i*=10, decimalDigits--);
-
-  /* calculate integer & fractinal parts */
-  intPart = (int)v;
-  fractPart = (int)((v-(double)(int)v)*i);
-
-  /* fill in integer part */
-  sprintf(str, "%i.", intPart);
-
-  /* prepare fill in of fractional part */
-  len = strlen(str);
-  ptr = &str[len];
-
-  /* fill in leading fractional zeros */
-  for (i/=10;i>1; i/=10, ptr++) {
-    if(fractPart >= i) break;
-    *ptr = '0';
-  }
-
-  /* fill in (rest of) fractional part */
-  sprintf(ptr, "%i", fractPart);
-
-  return str;
-}
 
 
 /* Simple main function */
 int main() {
   uint8_t id;
-  float value1, value2;
-  char buffer1[32], buffer2[32];
   int32_t axes[3];
+  int32_t off[3];
+  float parziale[3] = {0,0,0};   //inizializzazione vettore senza ciclo FOR
+  float finale[3] = {0,0,0};
+  int32_t k=0;
   
   printf("\r\n--- Starting new run ---\r\n");
-
-  humidity_sensor->ReadID(&id);
-  printf("HTS221  humidity & temperature    = 0x%X\r\n", id);
-  pressure_sensor->ReadID(&id);
-  printf("LPS25H  pressure & temperature    = 0x%X\r\n", id);
-  magnetometer->ReadID(&id);
-  printf("LIS3MDL magnetometer              = 0x%X\r\n", id);
   gyroscope->ReadID(&id);
   printf("LSM6DS0 accelerometer & gyroscope = 0x%X\r\n", id);
   
-  wait(3);
+  wait(1.5);
+  
+  //acquisizione offset
+  accelerometer->Get_X_Axes(off);
+  printf("off [gyro/mdps]:   %6ld, %6ld, %6ld\r\n", off[0], off[1], off[2]);
+
  
   while(1) {
     printf("\r\n");
 
-    temp_sensor1->GetTemperature(&value1);
-    humidity_sensor->GetHumidity(&value2);
-    printf("HTS221: [temp] %7s°C,   [hum] %s%%\r\n", printDouble(buffer1, value1), printDouble(buffer2, value2));
-    
-    temp_sensor2->GetFahrenheit(&value1);
-    pressure_sensor->GetPressure(&value2);
-    printf("LPS25H: [temp] %7s°F, [press] %smbar\r\n", printDouble(buffer1, value1), printDouble(buffer2, value2));
-
-    printf("---\r\n");
-
-    magnetometer->Get_M_Axes(axes);
-    printf("LIS3MDL [mag/mgauss]:  %6ld, %6ld, %6ld\r\n", axes[0], axes[1], axes[2]);
-
     accelerometer->Get_X_Axes(axes);
     printf("LSM6DS0 [acc/mg]:      %6ld, %6ld, %6ld\r\n", axes[0], axes[1], axes[2]);
 
     gyroscope->Get_G_Axes(axes);
-    printf("LSM6DS0 [gyro/mdps]:   %6ld, %6ld, %6ld\r\n", axes[0], axes[1], axes[2]);
+    printf("LSM6DS0 RAW [gyro/mdps]:   %6ld, %6ld, %6ld\r\n", axes[0], axes[1], axes[2]);
+
+    for(int i=0;i<3;i++)
+        axes[i]=axes[i]-off[i];
+        
+    printf("LSM6DS0 FINE [gyro/mdps]:   %6ld, %6ld, %6ld\r\n", axes[0], axes[1], axes[2]);
+    
+        
+    k=k+1;
+    wait_ms(1);  //dt
 
-    wait(1.5);
+    // Ricavo il parziale della velocità angolare
+    for(int i=0;i<3;i++)
+    {
+        parziale[i]=(axes[i]*sens)/1000;// passo da mdps a dpLSB
+        
+        finale[i]=(finale[i]-19)/2.84;// levo la correzione per poter sommare i dati parziali
+    
+        parziale[i]/= 1000;// moltiplico per il dt (1ms)
+   
+        if (axes[i]>150 ||axes[i]<-150)
+            finale[i] += parziale[i];     // integro 
+    
+        finale[i]=(finale[i]*2.84)+19;// correggo offset e guadagno che ho ricavato da una "taratura" grezza (ricavo la retta )
+        
+    }
+    printf("finale  [gyro/d]:   %6f, %6f, %6f\r\n", finale[0], finale[1], finale[2]);//angolo
+
   }
+
 }