main.cpp

00001 /**
00002  ******************************************************************************
00003  * @file    main.cpp
00004  * @author  CLab
00005  * @version V1.0.0
00006  * @date    2-December-2016
00007  * @brief   Simple 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) 2016 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 /* Includes */
00040 #include "mbed.h"
00041 #include "XNucleoIKS01A2.h"
00042 
00043 /* Instantiate the expansion board */
00044 static XNucleoIKS01A2 *mems_expansion_board = XNucleoIKS01A2::instance(D14, D15, D4, D5);
00045 
00046 /* Retrieve the composing elements of the expansion board */
00047 //static LSM303AGRMagSensor *magnetometer = mems_expansion_board->magnetometer;
00048 //static HTS221Sensor *hum_temp = mems_expansion_board->ht_sensor;
00049 //static LPS22HBSensor *press_temp = mems_expansion_board->pt_sensor;
00050 static LSM6DSLSensor *acc_gyro = mems_expansion_board->acc_gyro;
00051 static LSM303AGRAccSensor *accelerometer = mems_expansion_board->accelerometer;
00052 
00053 /* Helper function for printing floats & doubles */
00054 static char *print_double(char* str, double v, int decimalDigits=2)
00055 {
00056   int i = 1;
00057   int intPart, fractPart;
00058   int len;
00059   char *ptr;
00060 
00061   /* prepare decimal digits multiplicator */
00062   for (;decimalDigits!=0; i*=10, decimalDigits--);
00063 
00064   /* calculate integer & fractinal parts */
00065   intPart = (int)v;
00066   fractPart = (int)((v-(double)(int)v)*i);
00067 
00068   /* fill in integer part */
00069   sprintf(str, "%i.", intPart);
00070 
00071   /* prepare fill in of fractional part */
00072   len = strlen(str);
00073   ptr = &str[len];
00074 
00075   /* fill in leading fractional zeros */
00076   for (i/=10;i>1; i/=10, ptr++) {
00077     if (fractPart >= i) {
00078       break;
00079     }
00080     *ptr = '0';
00081   }
00082 
00083   /* fill in (rest of) fractional part */
00084   sprintf(ptr, "%i", fractPart);
00085 
00086   return str;
00087 }
00088 
00089 /* Simple main function */
00090 int main() {
00091   uint8_t id;
00092   int32_t offsets[3];
00093   int32_t lastAxes[3];
00094   int32_t currAxes[3];
00095   char buffer1[32], buffer2[32];
00096   int32_t axes[3];
00097   
00098   /* Enable all sensors */
00099 //  hum_temp->enable();
00100 //  press_temp->enable();
00101 //  magnetometer->enable();
00102   accelerometer->enable();
00103   acc_gyro->enable_x();
00104   acc_gyro->enable_g();
00105   
00106   printf("\r\n--- Starting new run ---\r\n");
00107     
00108   // wait for sensor to stabilize  
00109     wait(2);
00110 //  hum_temp->read_id(&id);
00111 //  printf("HTS221  humidity & temperature    = 0x%X\r\n", id);
00112 //  press_temp->read_id(&id);
00113 //  printf("LPS22HB  pressure & temperature   = 0x%X\r\n", id);
00114 //  magnetometer->read_id(&id);
00115 //  printf("LSM303AGR magnetometer            = 0x%X\r\n", id);
00116  accelerometer->read_id(&id);
00117 // printf("LSM303AGR accelerometer           = 0x%X\r\n", id);
00118   acc_gyro->read_id(&id);
00119   
00120   printf("LSM6DSL accelerometer & gyroscope = 0x%X\r\n", id);
00121   
00122   // Read and display initial values
00123   acc_gyro->get_g_axes(axes);
00124   printf("Initial Gyro Readings:   %6ld, %6ld, %6ld\r\n", axes[0], axes[1], axes[2]);
00125   
00126   // Calculate offset for each axes and store in offsets
00127   // Then initialize lastAxes to calibrated values
00128   for(int i = 0; i < 3;i++){
00129         offsets[i] = axes[i] * (-1);
00130         lastAxes[i] = axes[i] + offsets[i];
00131     }
00132   // Display offsets  
00133   printf("Offsets set to:   %6ld, %6ld, %6ld\r\n", offsets[0], offsets[1], offsets[2]);
00134   
00135   // Display initial calibrated values should be at or near 0 for all
00136   printf("Calibrated Gyro Settings:   %6ld, %6ld, %6ld\r\n", lastAxes[0], lastAxes[1], lastAxes[2]);
00137   
00138   
00139   while(1) {
00140   //  printf("\r\n");
00141 
00142   //  hum_temp->get_temperature(&value1);
00143 //    hum_temp->get_humidity(&value2);
00144 //    printf("HTS221: [temp] %7s C,   [hum] %s%%\r\n", print_double(buffer1, value1), print_double(buffer2, value2));
00145 //    
00146 //    press_temp->get_temperature(&value1);
00147 //    press_temp->get_pressure(&value2);
00148 //    printf("LPS22HB: [temp] %7s C, [press] %s mbar\r\n", print_double(buffer1, value1), print_double(buffer2, value2));
00149 
00150     printf("---\r\n");
00151 
00152  //   magnetometer->get_m_axes(axes);
00153 //    printf("LSM303AGR [mag/mgauss]:  %6ld, %6ld, %6ld\r\n", axes[0], axes[1], axes[2]);
00154     
00155 //    accelerometer->get_x_axes(axes);
00156 //    printf("LSM303AGR [acc/mg]:  %6ld, %6ld, %6ld\r\n", axes[0], axes[1], axes[2]);
00157 
00158 //    acc_gyro->get_x_axes(axes);
00159 //    printf("LSM6DSL [acc/mg]:      %6ld, %6ld, %6ld\r\n", axes[0], axes[1], axes[2]);
00160 
00161     acc_gyro->get_g_axes(axes);
00162      for(int i = 0; i < 3;i++){
00163         currAxes[i] = axes[i] +  offsets[i];
00164     } 
00165     // print current calibrated readings
00166     printf("Axes Readings:   %6ld, %6ld, %6ld\r\n", axes[0], axes[1], axes[2]);
00167     printf("Offsets:   %6ld, %6ld, %6ld\r\n", offsets[0], offsets[1], offsets[2]);
00168     printf("Adjusted Readings:   %6ld, %6ld, %6ld\r\n", currAxes[0], currAxes[1], currAxes[2]);
00169 
00170     // Set lastAxes to current readings
00171      for(int i = 0; i < 3;i++){
00172         lastAxes[i] = axes[i] + offsets[i];
00173     }
00174     wait(1.5);
00175   }
00176 }