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Dependencies: mbed X_NUCLEO_IKS01A2
Revision 0:26594709b159, committed 2020-03-20
- Comitter:
- Nextdaycode
- Date:
- Fri Mar 20 22:45:29 2020 +0000
- Commit message:
- initial commit
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/X_NUCLEO_IKS01A2.lib Fri Mar 20 22:45:29 2020 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/teams/ST/code/X_NUCLEO_IKS01A2/#138a7a28bd21
--- /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>© 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); + } +}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Fri Mar 20 22:45:29 2020 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/e1686b8d5b90 \ No newline at end of file