Revision 0:2c1725825eaa, committed 2019-05-17

Comitter:

GuillaumeFISH

Date:

Fri May 17 22:33:33 2019 +0000

Commit message:

May 17 2019 4:33pm

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/X_NUCLEO_IKS01A2.lib	Fri May 17 22:33:33 2019 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/teams/ST/code/X_NUCLEO_IKS01A2/#138a7a28bd21

--- /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>&copy; 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

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed-os.lib	Fri May 17 22:33:33 2019 +0000
@@ -0,0 +1,1 @@
+https://github.com/ARMmbed/mbed-os/#a8e5a4cb0f4facb615c32306d9b509aec07a0b5a