Diff: main.cpp

Revision:

0:26594709b159

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Mar 20 22:45:29 2020 +0000
@@ -0,0 +1,176 @@
+/**
+ ******************************************************************************
+ * @file    main.cpp
+ * @author  CLab
+ * @version V1.0.0
+ * @date    2-December-2016
+ * @brief   Simple Example application for using the X_NUCLEO_IKS01A1 
+ *          MEMS Inertial & Environmental Sensor Nucleo expansion board.
+ ******************************************************************************
+ * @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"
+
+/* 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;
+}
+
+/* Simple main function */
+int main() {
+  uint8_t id;
+  int32_t offsets[3];
+  int32_t lastAxes[3];
+  int32_t currAxes[3];
+  char buffer1[32], buffer2[32];
+  int32_t axes[3];
+  
+  /* Enable all sensors */
+//  hum_temp->enable();
+//  press_temp->enable();
+//  magnetometer->enable();
+  accelerometer->enable();
+  acc_gyro->enable_x();
+  acc_gyro->enable_g();
+  
+  printf("\r\n--- Starting new run ---\r\n");
+    
+  // wait for sensor to stabilize  
+    wait(2);
+//  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);
+  
+  // Read and display initial values
+  acc_gyro->get_g_axes(axes);
+  printf("Initial Gyro Readings:   %6ld, %6ld, %6ld\r\n", axes[0], axes[1], axes[2]);
+  
+  // Calculate offset for each axes and store in offsets
+  // Then initialize lastAxes to calibrated values
+  for(int i = 0; i < 3;i++){
+        offsets[i] = axes[i] * (-1);
+        lastAxes[i] = axes[i] + offsets[i];
+    }
+  // Display offsets  
+  printf("Offsets set to:   %6ld, %6ld, %6ld\r\n", offsets[0], offsets[1], offsets[2]);
+  
+  // Display initial calibrated values should be at or near 0 for all
+  printf("Calibrated Gyro Settings:   %6ld, %6ld, %6ld\r\n", lastAxes[0], lastAxes[1], lastAxes[2]);
+  
+  
+  while(1) {
+  //  printf("\r\n");
+
+  //  hum_temp->get_temperature(&value1);
+//    hum_temp->get_humidity(&value2);
+//    printf("HTS221: [temp] %7s C,   [hum] %s%%\r\n", print_double(buffer1, value1), print_double(buffer2, value2));
+//    
+//    press_temp->get_temperature(&value1);
+//    press_temp->get_pressure(&value2);
+//    printf("LPS22HB: [temp] %7s C, [press] %s mbar\r\n", print_double(buffer1, value1), print_double(buffer2, value2));
+
+    printf("---\r\n");
+
+ //   magnetometer->get_m_axes(axes);
+//    printf("LSM303AGR [mag/mgauss]:  %6ld, %6ld, %6ld\r\n", axes[0], axes[1], axes[2]);
+    
+//    accelerometer->get_x_axes(axes);
+//    printf("LSM303AGR [acc/mg]:  %6ld, %6ld, %6ld\r\n", axes[0], axes[1], axes[2]);
+
+//    acc_gyro->get_x_axes(axes);
+//    printf("LSM6DSL [acc/mg]:      %6ld, %6ld, %6ld\r\n", axes[0], axes[1], axes[2]);
+
+    acc_gyro->get_g_axes(axes);
+     for(int i = 0; i < 3;i++){
+        currAxes[i] = axes[i] +  offsets[i];
+    } 
+    // print current calibrated readings
+    printf("Axes Readings:   %6ld, %6ld, %6ld\r\n", axes[0], axes[1], axes[2]);
+    printf("Offsets:   %6ld, %6ld, %6ld\r\n", offsets[0], offsets[1], offsets[2]);
+    printf("Adjusted Readings:   %6ld, %6ld, %6ld\r\n", currAxes[0], currAxes[1], currAxes[2]);
+
+    // Set lastAxes to current readings
+     for(int i = 0; i < 3;i++){
+        lastAxes[i] = axes[i] + offsets[i];
+    }
+    wait(1.5);
+  }
+}