Diopodio
Dependencies: X_NUCLEO_IKS01A1 mbed
Fork of Sensors_Reader by
main.cpp
- Committer:
- JackLenz
- Date:
- 2017-11-12
- Revision:
- 70:c6b61c5cadf4
- Parent:
- 69:12b1170b510a
File content as of revision 70:c6b61c5cadf4:
/** ****************************************************************************** * @file main.cpp * @author AST / EST * @version V0.0.1 * @date 14-April-2015 * @brief Example application for using the X_NUCLEO_IKS01A1 * MEMS Inertial & Environmental Sensor Nucleo expansion board. ****************************************************************************** * @attention * * <h2><center>© 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. * ****************************************************************************** */ /** * @mainpage X_NUCLEO_IKS01A1 MEMS Inertial & Environmental Sensor Nucleo Expansion Board Firmware Package * * <b>Introduction</b> * * This firmware package includes Components Device Drivers, Board Support Package * and example application for STMicroelectronics X_NUCLEO_IKS01A1 MEMS Inertial & Environmental Nucleo * Expansion Board * * <b>Example Application</b> * */ /*** Includes ----------------------------------------------------------------- ***/ #include "mbed.h" #include "assert.h" #include "x_nucleo_iks01a1.h" #include <math.h> #include <Ticker.h> /*** Constants ---------------------------------------------------------------- ***/ namespace { const int MS_INTERVALS = 1000; const double RAD_TO_DEG = 57.2957786; const double PI = 3.14159265; } /*** Macros ------------------------------------------------------------------- ***/ #define APP_LOOP_PERIOD 3000 // in ms #if defined(TARGET_STM) #define LED_OFF (0) #else #define LED_OFF (1) #endif #define LED_ON (!LED_OFF) /*** Typedefs ----------------------------------------------------------------- ***/ typedef struct { int32_t AXIS_X; int32_t AXIS_Y; int32_t AXIS_Z; } AxesRaw_TypeDef; /*** Serial declaration --------------------------------------------------------- ***/ Serial ser(USBTX,USBRX,115200); /*** Static variables --------------------------------------------------------- ***/ #ifdef DBG_MCU /* betzw: enable debugging while using sleep modes */ #include "DbgMCU.h" static DbgMCU enable_dbg; #endif // DBG_MCU static X_NUCLEO_IKS01A1 *mems_expansion_board = X_NUCLEO_IKS01A1::Instance(); static GyroSensor *gyroscope = mems_expansion_board->GetGyroscope(); static MotionSensor *accelerometer = mems_expansion_board->GetAccelerometer(); static MagneticSensor *magnetometer = mems_expansion_board->magnetometer; static Ticker ticker; static DigitalOut myled(LED1, LED_OFF); static volatile bool timer_irq_triggered = false; static volatile bool ff_irq_triggered = false; /*** Helper Functions (1/2) ------------------------------------------------------------ ***/ /*** Interrupt Handler Top-Halves ------------------------------------------------------ ***/ /* Called in interrupt context, therefore just set a trigger variable */ static void timer_irq(void) { timer_irq_triggered = true; } /* Called in interrupt context, therefore just set a trigger variable */ static void ff_irq(void) { ff_irq_triggered = true; /* Disable IRQ until handled */ mems_expansion_board->gyro_lsm6ds3->Disable_Free_Fall_Detection_IRQ(); } /*** Interrupt Handler Bottom-Halves ------------------------------------------------- ***/ /* Handle Free Fall Interrupt (here we are in "normal" context, i.e. not in IRQ context) */ static void handle_ff_irq(void) { printf("\nFree Fall Detected!\n\n"); /* Re-enable IRQ */ mems_expansion_board->gyro_lsm6ds3->Enable_Free_Fall_Detection_IRQ(); } /*** Helper Functions (2/2) ------------------------------------------------------------ ***/ /* print 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; } /* Initialization function */ static void init(void) { uint8_t id1, id2; /* Determine ID of Gyro & Motion Sensor */ assert((mems_expansion_board->gyro_lsm6ds0 == NULL) || (mems_expansion_board->gyro_lsm6ds3 == NULL)); CALL_METH(gyroscope, read_id, &id1, 0x0); CALL_METH(accelerometer, read_id, &id2, 0x0); printf("Gyroscope | Motion Sensor ID = %s (0x%x | 0x%x)\n", ((id1 == I_AM_LSM6DS3_XG) ? "LSM6DS3" : ((id1 == I_AM_LSM6DS0_XG) ? "LSM6DS0" : "UNKNOWN")), id1, id2 ); assert(id1 == id2); /* Register Free Fall Detection IRQ Handler & Enable Detection */ if(mems_expansion_board->gyro_lsm6ds3 != NULL) { mems_expansion_board->gyro_lsm6ds3->Attach_Free_Fall_Detection_IRQ(ff_irq); mems_expansion_board->gyro_lsm6ds3->Enable_Free_Fall_Detection(); } } /* Main cycle function */ static void main_cycle(void) { AxesRaw_TypeDef MAG_Value; AxesRaw_TypeDef ACC_Value; AxesRaw_TypeDef GYR_Value; char buffer1[32]; char buffer2[32]; char buffer3[32]; char buffer4[32]; unsigned int ret = 0; /* Declaration of sensors variables */ double accX,accY,accZ; double gyroX,gyroY,gyroZ; /* Switch LED On */ myled = LED_ON; printf("===\n"); /* Determine Environmental Values */ ret |= (!CALL_METH(magnetometer, get_m_axes, (int32_t *)&MAG_Value, 0) ? 0x0 : 0x10);; ret |= (!CALL_METH(accelerometer, get_x_axes, (int32_t *)&ACC_Value, 0) ? 0x0 : 0x20);; ret |= (!CALL_METH(gyroscope, get_g_axes, (int32_t *)&GYR_Value, 0) ? 0x0 : 0x40); /* Print Values Out */ printf("I2C [errors]: 0x%.2x X Y Z\n", ret); printf("MAG [mgauss]: %9ld %9ld %9ld\n", MAG_Value.AXIS_X, MAG_Value.AXIS_Y, MAG_Value.AXIS_Z); printf("ACC [mg]: %9ld %9ld %9ld\n", ACC_Value.AXIS_X, ACC_Value.AXIS_Y, ACC_Value.AXIS_Z); printf("GYR [mdps]: %9ld %9ld %9ld\n", GYR_Value.AXIS_X, GYR_Value.AXIS_Y, GYR_Value.AXIS_Z); accX = ACC_Value.AXIS_X; accY = ACC_Value.AXIS_Y; accZ = ACC_Value.AXIS_Z; gyroX = GYR_Value.AXIS_X; gyroY = GYR_Value.AXIS_Y; gyroZ = GYR_Value.AXIS_Z; #ifdef RESTRICT_PITCH // Eq. 25 and 26 double roll = atan2(accY, accZ) * RAD_TO_DEG; double pitch = atan(-accX / sqrt(accY * accY + accZ * accZ)) * RAD_TO_DEG; #else // Eq. 28 and 29 double roll = atan(accY / sqrt(accX * accX + accZ * accZ)) * RAD_TO_DEG; double pitch = atan2(-accX, accZ) * RAD_TO_DEG; #endif double yaw = atan2(-accZ, sqrt(accY * accY + accZ * accZ)) * 180.0/PI; /* Print Serially *//* ser.printf("%lf",pitch); ser.printf(":"); ser.printf("%lf",roll); ser.printf(":"); ser.printf("%lf\n",yaw); */ ser.printf("1"); ser.printf(":"); ser.printf("2"); ser.printf(":"); ser.printf("3\n"); /* Switch LED Off */ myled = LED_OFF; } /*** Main function ------------------------------------------------------------- ***/ /* Generic main function/loop for enabling WFE in case of interrupt based cyclic execution */ int main() { /* Start & initialize */ printf("\n--- Starting new run ---\n"); init(); /* Start timer irq */ ticker.attach_us(timer_irq, MS_INTERVALS * APP_LOOP_PERIOD); while (true) { if(timer_irq_triggered) { timer_irq_triggered = false; main_cycle(); } else if(ff_irq_triggered) { ff_irq_triggered = false; handle_ff_irq(); } else { __WFE(); /* it is recommended that SEVONPEND in the System Control Register is NOT set */ } } }