Diff: main.cpp

Revision:

89:c55aa4c1187f

Child:

90:38dfa3f350aa

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Aug 01 23:46:04 2017 +0000
@@ -0,0 +1,120 @@
+/**
+ ******************************************************************************
+ * @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.
+ *
+ ******************************************************************************
+
+
+ HINTS:
+ 
+ Use a Ticker for accurate sampling, but do NOT use printf or locks inside an ISR. Instead, use a MailBox to safely move data across from an ISR to a Thread
+ Many functions in MBED are thread-safe - check the online docs
+ 
+ For buffering, use an Array (of structures) and the producer-consumer pattern (or a variant of it).
+ DO NOT use a mailbox or queue to perform the buffering
+ 
+ Perform serial comms on another thread
+ 
+ Beware of a thread running out of stack space. If you have to use a lot of local variable data, consider increasing the size of the stack for the respective thread. See the constructor for Thread in the docs
+ 
+ In terms of diagnostics, consider the following type of information:
+ 
+ An indication that the sampling is running (not every sample maybe, but a heart-beat type indication)
+ An error if the buffer is full
+ An warning if the buffer is empty
+ Anything that helps diagnose a deadlock (e.g. output a message / toggle an LED before a lock is taken and after it is released)
+ 
+ For high marks in the logging aspect, remember that although printf is thread safe (not interrupt safe), printf from multiple threads will result in interleaved text.
+ To solve this, have a logging thread that queues up whole messages and write them to the serial interface one at a time - this is ambitious but can be done
+*/ 
+
+/* Includes */
+#include "mbed.h"
+//#include "rtos.h"
+#include "x_nucleo_iks01a1.h"
+
+/* 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;
+
+extern char *printDouble(char* str, double v, int decimalDigits=2);
+
+typedef struct  {
+    int32_t x;
+    int32_t y;
+    int32_t z;
+} AccelData;
+
+/* Simple main function */
+int main() {
+  uint8_t id;
+  int32_t axes[3];
+  
+  printf("\r\n--- Starting new run ---\r\n");
+  
+  accelerometer->ReadID(&id);
+  printf("LSM6DS0 Accelerometer             = 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);
+ 
+  while(1) {
+    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);
+    
+    AccelData d;
+    d.x = axes[0];
+    d.y = axes[1];
+    d.z = axes[2];
+    
+    printf("LSM6DS0 [acc/mg]:      %6ld, %6ld, %6ld\r\n", d.x, d.y, d.z);
+    
+    gyroscope->Get_G_Axes(axes);
+    printf("LSM6DS0 [gyro/mdps]:   %6ld, %6ld, %6ld\r\n", axes[0], axes[1], axes[2]);
+
+    //This is not a good way to do accurate sampling - I reccomend a Ticker
+    wait(1.5);
+  }
+}