logs sensor data
Dependencies: X_NUCLEO_IKS01A2
Diff: main.cpp
- Revision:
- 0:2c1725825eaa
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main.cpp Fri May 17 22:33:33 2019 +0000 @@ -0,0 +1,225 @@ +#include "mbed.h" +/** + ****************************************************************************** + * @file main.cpp + * @author NW + * @version V1.0.0 + * @date 07-May-2019 + * @brief Modified Example application for using the X_NUCLEO_IKS01A2 + * MEMS Inertial & Environmental Sensor Nucleo expansion board + * Using a ticker timer and event queuing. + ****************************************************************************** + * @attention + * + * <h2><center>© COPYRIGHT(c) 2016 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. + * + ****************************************************************************** +*/ + +/* Includes */ +#include "mbed.h" +#include "XNucleoIKS01A2.h" + +/* Configures PC serial port */ +Serial pc(USBTX, USBRX); +DigitalOut led1(LED1); + +uint8_t id; +float temp1, temp2, humid1, humid2; +char buffer1[32], buffer2[32], buffer3[32], buffer4[32]; +int32_t axes1[3], axes2[3], axes3[3], axes4[3]; +int64_t usTime1 = 0, usTime2 = 0, usDeltaTime = 0; + +/* Defines the two queues used, one for events and one for printing to the screen */ +EventQueue printfQueue; +EventQueue eventQueue; + +/* Defines the timer */ +Timer t; +time_t whattime; + +/* Instantiate the expansion board */ +static XNucleoIKS01A2 *mems_expansion_board = XNucleoIKS01A2::instance(D14, D15, D4, D5); + +/* Retrieve the composing elements of the expansion board */ +static LSM303AGRMagSensor *magnetometer = mems_expansion_board->magnetometer; +static HTS221Sensor *hum_temp = mems_expansion_board->ht_sensor; +static LPS22HBSensor *press_temp = mems_expansion_board->pt_sensor; +static LSM6DSLSensor *acc_gyro = mems_expansion_board->acc_gyro; +static LSM303AGRAccSensor *accelerometer = mems_expansion_board->accelerometer; + +/* Helper function for printing floats & doubles */ +static char *print_double(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; +} + +/* Reads the sensor board sensors */ +/* Reads the current board time */ +/* Compares the current time to the last time it was measured */ +void Read_Sensors() { + // this runs in the normal priority thread + led1 = !led1; + hum_temp->get_temperature(&temp1); + hum_temp->get_humidity(&humid1); + press_temp->get_temperature(&temp2); + press_temp->get_pressure(&humid2); + magnetometer->get_m_axes(axes1); + accelerometer->get_x_axes(axes2); + acc_gyro->get_x_axes(axes3); + acc_gyro->get_g_axes(axes4); + usTime2 = usTime1; + usTime1 = t.read_high_resolution_us(); + usDeltaTime = usTime1 - usTime2; + whattime = time(NULL); +} + +/* Prints to the serial console */ +void Print_Sensors() { + // this runs in the lower priority thread + printf("%u ", (unsigned int)whattime); + printf("%lld ", usDeltaTime); + printf("%lld ", usTime1); + printf("%7s %s ", print_double(buffer1, temp1), print_double(buffer2, humid1)); + printf("%7s %s ", print_double(buffer3, temp2), print_double(buffer4, humid2)); + printf("%6ld %6ld %6ld ", axes1[0], axes1[1], axes1[2]); + printf("%6ld %6ld %6ld", axes2[0], axes2[1], axes2[2]); + printf("%6ld %6ld %6ld", axes3[0], axes3[1], axes3[2]); + printf("%6ld %6ld %6ld\r\n", axes4[0], axes4[1], axes4[2]); + + +} + +/* Converts standard time into Epoch time. Could delete this if no longer needed.*/ +time_t asUnixTime(int year, int mon, int mday, int hour, int min, int sec) { + struct tm t; + t.tm_year = year - 1900; + t.tm_mon = mon - 1; // convert to 0 based month + t.tm_mday = mday; + t.tm_hour = hour; + t.tm_min = min; + t.tm_sec = sec; + t.tm_isdst = -1; // Is Daylight saving time on? 1 = yes, 0 = no, -1 = unknown + + return mktime(&t); // returns seconds elapsed since January 1, 1970 (begin of the Epoch) +} + + +/* Simple main function */ +int main() { + pc.baud(115200); + /* Sets an arbitrary starting date */ + /* TODO: read in from serial console to start */ + //set_time(asUnixTime(2019,03,24,16,10,30)); Could get rid of asUnixTime as well + + + /*Guillaume's addition to read in from serial*/ + //Prompts the user to input the current unix time and uses input + //to set the RTC + int int_time=0; + char buffer[10]; + + pc.printf("Enter the current unix time:"); + pc.scanf("%s", buffer); + sscanf(buffer, "%d", &int_time); + pc.printf("received %d\n",int_time); + + set_time(int_time); // Set RTC time + + /* resets and starts the timer */ + t.reset(); + t.start(); + usTime1 = t.read_high_resolution_us(); + + /* Enable all sensors */ + hum_temp->enable(); + press_temp->enable(); + magnetometer->enable(); + accelerometer->enable(); + acc_gyro->enable_x(); + acc_gyro->enable_g(); + wait(1.5); + //Prints headers for each measurement. Unsure if the acc, mag, and gyro + //directions are accurate. (Don't know if accx actually measures in x direction) + printf("\r\nDATE TIME EPOC DELT RUNT TEP1 HUM TEP2 PRES MAGX MAGY MAGZ AC1X AC1Y AC1Z AC2X AC2Y AC2Z GYRX GYRY GYRZ\r\n"); +/* + hum_temp->read_id(&id); + printf("HTS221 humidity & temperature = 0x%X\r\n", id); + press_temp->read_id(&id); + printf("LPS22HB pressure & temperature = 0x%X\r\n", id); + magnetometer->read_id(&id); + printf("LSM303AGR magnetometer = 0x%X\r\n", id); + accelerometer->read_id(&id); + printf("LSM303AGR accelerometer = 0x%X\r\n", id); + acc_gyro->read_id(&id); + printf("LSM6DSL accelerometer & gyroscope = 0x%X\r\n", id); + printf("---\r\n"); + */ + // normal priority thread for other events + Thread eventThread(osPriorityNormal); + eventThread.start(callback(&eventQueue, &EventQueue::dispatch_forever)); + + // low priority thread for calling printf() + Thread printfThread(osPriorityLow); + printfThread.start(callback(&printfQueue, &EventQueue::dispatch_forever)); + + // call read_sensors 1 every second, automatically defering to the eventThread + Ticker ReadTicker; + Ticker PrintTicker; + ReadTicker.attach(eventQueue.event(&Read_Sensors), 1.0f); + PrintTicker.attach(printfQueue.event(&Print_Sensors), 1.0f); + + wait(osWaitForever); +} \ No newline at end of file