main.cpp

00001 /**
00002  ******************************************************************************
00003  * @file    main.cpp
00004  * @author  AST / EST
00005  * @version V0.0.1
00006  * @date    14-April-2015
00007  * @brief   Example application for using the X_NUCLEO_IKS01A1 
00008  *          MEMS Inertial & Environmental Sensor Nucleo expansion board.
00009  ******************************************************************************
00010  * @attention
00011  *
00012  * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
00013  *
00014  * Redistribution and use in source and binary forms, with or without modification,
00015  * are permitted provided that the following conditions are met:
00016  *   1. Redistributions of source code must retain the above copyright notice,
00017  *      this list of conditions and the following disclaimer.
00018  *   2. Redistributions in binary form must reproduce the above copyright notice,
00019  *      this list of conditions and the following disclaimer in the documentation
00020  *      and/or other materials provided with the distribution.
00021  *   3. Neither the name of STMicroelectronics nor the names of its contributors
00022  *      may be used to endorse or promote products derived from this software
00023  *      without specific prior written permission.
00024  *
00025  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00026  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00027  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00028  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
00029  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
00030  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
00031  *  SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00032  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
00033  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
00034  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00035  *
00036  ******************************************************************************
00037 */ 
00038 
00039 /**
00040  * @mainpage X_NUCLEO_IKS01A1 MEMS Inertial & Environmental Sensor Nucleo Expansion Board Firmware Package
00041  *
00042  * <b>Introduction</b>
00043  *
00044  * This firmware package includes Components Device Drivers, Board Support Package
00045  * and example application for STMicroelectronics X_NUCLEO_IKS01A1 MEMS Inertial & Environmental Nucleo
00046  * Expansion Board
00047  * 
00048  * <b>Example Application</b>
00049  *
00050  */
00051 
00052 
00053 /*** Includes ----------------------------------------------------------------- ***/
00054 #include "mbed.h"
00055 #include "assert.h"
00056 #include "x_nucleo_iks01a1.h"
00057 #include <math.h>
00058 
00059 #include <Ticker.h>
00060 
00061 
00062 /*** Constants ---------------------------------------------------------------- ***/
00063 namespace {
00064     const int MS_INTERVALS = 1000;
00065     const double RAD_TO_DEG = 57.2957786;
00066     const double PI = 3.14159265;
00067 }
00068 
00069 
00070 /*** Macros ------------------------------------------------------------------- ***/
00071 #define APP_LOOP_PERIOD 3000 // in ms
00072 
00073 #if defined(TARGET_STM)
00074 #define LED_OFF (0)
00075 #else
00076 #define LED_OFF (1)
00077 #endif
00078 #define LED_ON  (!LED_OFF)
00079 
00080 
00081 /*** Typedefs ----------------------------------------------------------------- ***/
00082 typedef struct {
00083     int32_t AXIS_X;
00084     int32_t AXIS_Y;
00085     int32_t AXIS_Z;
00086 } AxesRaw_TypeDef;
00087 
00088 /*** Serial declaration --------------------------------------------------------- ***/
00089 Serial ser(USBTX,USBRX,115200);
00090 
00091 /*** Static variables --------------------------------------------------------- ***/
00092 #ifdef DBG_MCU
00093 /* betzw: enable debugging while using sleep modes */
00094 #include "DbgMCU.h"
00095 static DbgMCU enable_dbg;
00096 #endif // DBG_MCU
00097 
00098 static X_NUCLEO_IKS01A1 *mems_expansion_board = X_NUCLEO_IKS01A1::Instance();
00099 static GyroSensor *gyroscope = mems_expansion_board->GetGyroscope();
00100 static MotionSensor *accelerometer = mems_expansion_board->GetAccelerometer();
00101 static MagneticSensor *magnetometer = mems_expansion_board->magnetometer;
00102 
00103 static Ticker ticker;
00104 static DigitalOut myled(LED1, LED_OFF);
00105 
00106 static volatile bool timer_irq_triggered = false;
00107 static volatile bool ff_irq_triggered = false;
00108 
00109 
00110 /*** Helper Functions (1/2) ------------------------------------------------------------ ***/
00111 
00112 
00113 /*** Interrupt Handler Top-Halves ------------------------------------------------------ ***/
00114 /* Called in interrupt context, therefore just set a trigger variable */
00115 static void timer_irq(void) {
00116     timer_irq_triggered = true;
00117 }
00118 
00119 /* Called in interrupt context, therefore just set a trigger variable */
00120 static void ff_irq(void) {
00121     ff_irq_triggered = true;
00122 
00123     /* Disable IRQ until handled */
00124     mems_expansion_board->gyro_lsm6ds3->Disable_Free_Fall_Detection_IRQ();
00125 }
00126 
00127 
00128 /*** Interrupt Handler Bottom-Halves ------------------------------------------------- ***/
00129 /* Handle Free Fall Interrupt
00130    (here we are in "normal" context, i.e. not in IRQ context)
00131 */
00132 static void handle_ff_irq(void) {
00133     printf("\nFree Fall Detected!\n\n");
00134 
00135     /* Re-enable IRQ */
00136     mems_expansion_board->gyro_lsm6ds3->Enable_Free_Fall_Detection_IRQ();
00137 }
00138 
00139 
00140 /*** Helper Functions (2/2) ------------------------------------------------------------ ***/
00141 /* print floats & doubles */
00142 static char *printDouble(char* str, double v, int decimalDigits=2)
00143 {
00144   int i = 1;
00145   int intPart, fractPart;
00146   int len;
00147   char *ptr;
00148 
00149   /* prepare decimal digits multiplicator */
00150   for (;decimalDigits!=0; i*=10, decimalDigits--);
00151 
00152   /* calculate integer & fractinal parts */
00153   intPart = (int)v;
00154   fractPart = (int)((v-(double)(int)v)*i);
00155 
00156   /* fill in integer part */
00157   sprintf(str, "%i.", intPart);
00158 
00159   /* prepare fill in of fractional part */
00160   len = strlen(str);
00161   ptr = &str[len];
00162 
00163   /* fill in leading fractional zeros */
00164   for (i/=10;i>1; i/=10, ptr++) {
00165       if(fractPart >= i) break;
00166       *ptr = '0';
00167   }
00168 
00169   /* fill in (rest of) fractional part */
00170   sprintf(ptr, "%i", fractPart);
00171 
00172   return str;
00173 }
00174 
00175 /* Initialization function */
00176 static void init(void) {
00177     uint8_t id1, id2;
00178     
00179     /* Determine ID of Gyro & Motion Sensor */
00180     assert((mems_expansion_board->gyro_lsm6ds0 == NULL) ||
00181            (mems_expansion_board->gyro_lsm6ds3 == NULL));
00182     CALL_METH(gyroscope, read_id, &id1, 0x0);
00183     CALL_METH(accelerometer, read_id, &id2, 0x0);
00184         printf("Gyroscope | Motion Sensor ID      = %s (0x%x | 0x%x)\n", 
00185            ((id1 == I_AM_LSM6DS3_XG) ? "LSM6DS3" : 
00186         ((id1 == I_AM_LSM6DS0_XG) ? "LSM6DS0" : "UNKNOWN")),
00187            id1, id2
00188            );
00189     assert(id1 == id2);
00190 
00191     /* Register Free Fall Detection IRQ Handler & Enable Detection */
00192     if(mems_expansion_board->gyro_lsm6ds3 != NULL) {
00193         mems_expansion_board->gyro_lsm6ds3->Attach_Free_Fall_Detection_IRQ(ff_irq);
00194         mems_expansion_board->gyro_lsm6ds3->Enable_Free_Fall_Detection();
00195     }
00196 }
00197 
00198 /* Main cycle function */
00199 static void main_cycle(void) {
00200     AxesRaw_TypeDef MAG_Value;
00201     AxesRaw_TypeDef ACC_Value;
00202     AxesRaw_TypeDef GYR_Value;
00203     char buffer1[32];
00204     char buffer2[32];
00205     char buffer3[32];
00206     char buffer4[32];
00207     unsigned int ret = 0;
00208     
00209     /* Declaration of sensors variables */
00210     double accX,accY,accZ;
00211     double gyroX,gyroY,gyroZ;
00212 
00213     
00214     /* Switch LED On */
00215     myled = LED_ON;
00216     printf("===\n");
00217 
00218     /* Determine Environmental Values */
00219     ret |= (!CALL_METH(magnetometer, get_m_axes, (int32_t *)&MAG_Value, 0) ? 0x0 : 0x10);;
00220     ret |= (!CALL_METH(accelerometer, get_x_axes, (int32_t *)&ACC_Value, 0) ? 0x0 : 0x20);;
00221     ret |= (!CALL_METH(gyroscope, get_g_axes, (int32_t *)&GYR_Value, 0) ? 0x0 : 0x40);
00222 
00223     /* Print Values Out */
00224         printf("I2C [errors]: 0x%.2x    X         Y         Z\n", ret); 
00225         printf("MAG [mgauss]: %9ld %9ld %9ld\n", 
00226            MAG_Value.AXIS_X, MAG_Value.AXIS_Y, MAG_Value.AXIS_Z);
00227         printf("ACC [mg]:     %9ld %9ld %9ld\n", 
00228            ACC_Value.AXIS_X, ACC_Value.AXIS_Y, ACC_Value.AXIS_Z);
00229         printf("GYR [mdps]:   %9ld %9ld %9ld\n", 
00230            GYR_Value.AXIS_X, GYR_Value.AXIS_Y, GYR_Value.AXIS_Z);
00231            
00232     accX = ACC_Value.AXIS_X;
00233     accY = ACC_Value.AXIS_Y;
00234     accZ = ACC_Value.AXIS_Z;
00235     gyroX = GYR_Value.AXIS_X;
00236     gyroY = GYR_Value.AXIS_Y;
00237     gyroZ = GYR_Value.AXIS_Z;
00238     
00239     #ifdef RESTRICT_PITCH // Eq. 25 and 26
00240     double roll  = atan2(accY, accZ) * RAD_TO_DEG;
00241     double pitch = atan(-accX / sqrt(accY * accY + accZ * accZ)) * RAD_TO_DEG;
00242     #else // Eq. 28 and 29
00243     double roll  = atan(accY / sqrt(accX * accX + accZ * accZ)) * RAD_TO_DEG;
00244     double pitch = atan2(-accX, accZ) * RAD_TO_DEG;
00245     #endif
00246     double yaw = atan2(-accZ, sqrt(accY * accY + accZ * accZ)) * 180.0/PI;
00247     
00248     /* Print Serially *//*
00249     ser.printf("%lf",pitch);
00250     ser.printf(":");
00251     ser.printf("%lf",roll);
00252     ser.printf(":");
00253     ser.printf("%lf\n",yaw);
00254     */
00255     ser.printf("1");
00256     ser.printf(":");
00257     ser.printf("2");
00258     ser.printf(":");
00259     ser.printf("3\n");
00260     
00261     
00262     /* Switch LED Off */
00263     myled = LED_OFF;
00264 }
00265 
00266 
00267 /*** Main function ------------------------------------------------------------- ***/
00268 /* Generic main function/loop for enabling WFE in case of 
00269    interrupt based cyclic execution
00270 */
00271 int main()
00272 {
00273     /* Start & initialize */
00274     printf("\n--- Starting new run ---\n");
00275     init();
00276 
00277     /* Start timer irq */
00278     ticker.attach_us(timer_irq, MS_INTERVALS * APP_LOOP_PERIOD);
00279 
00280     while (true) {
00281         if(timer_irq_triggered) {
00282             timer_irq_triggered = false;
00283             main_cycle();
00284         } else if(ff_irq_triggered) {
00285             ff_irq_triggered = false;
00286             handle_ff_irq();
00287         } else {
00288             __WFE(); /* it is recommended that SEVONPEND in the 
00289                     System Control Register is NOT set */
00290         }
00291     }
00292 }