Test whole program
Dependencies: X_NUCLEO_IKS01A1 mbed
Fork of Sensors_Reader_JACKLENZ by
main.cpp@70:c6b61c5cadf4, 2017-11-12 (annotated)
- Committer:
- JackLenz
- Date:
- Sun Nov 12 20:48:31 2017 +0000
- Revision:
- 70:c6b61c5cadf4
- Parent:
- 69:12b1170b510a
- Child:
- 71:a6a052fd3d22
Tried serial printing without success (maybe).; Can't verify it due to errors in Processing3 application which can't read correctly the output of the Nucleo (maybe I've done something wrong)
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Wolfgang Betz |
0:3e4f610a0689 | 1 | /** |
Wolfgang Betz |
0:3e4f610a0689 | 2 | ****************************************************************************** |
Wolfgang Betz |
0:3e4f610a0689 | 3 | * @file main.cpp |
Wolfgang Betz |
0:3e4f610a0689 | 4 | * @author AST / EST |
Wolfgang Betz |
0:3e4f610a0689 | 5 | * @version V0.0.1 |
Wolfgang Betz |
0:3e4f610a0689 | 6 | * @date 14-April-2015 |
Wolfgang Betz |
0:3e4f610a0689 | 7 | * @brief Example application for using the X_NUCLEO_IKS01A1 |
Wolfgang Betz |
5:a1de9dcb0f41 | 8 | * MEMS Inertial & Environmental Sensor Nucleo expansion board. |
Wolfgang Betz |
0:3e4f610a0689 | 9 | ****************************************************************************** |
Wolfgang Betz |
0:3e4f610a0689 | 10 | * @attention |
Wolfgang Betz |
0:3e4f610a0689 | 11 | * |
Wolfgang Betz |
0:3e4f610a0689 | 12 | * <h2><center>© COPYRIGHT(c) 2015 STMicroelectronics</center></h2> |
Wolfgang Betz |
0:3e4f610a0689 | 13 | * |
Wolfgang Betz |
0:3e4f610a0689 | 14 | * Redistribution and use in source and binary forms, with or without modification, |
Wolfgang Betz |
0:3e4f610a0689 | 15 | * are permitted provided that the following conditions are met: |
Wolfgang Betz |
0:3e4f610a0689 | 16 | * 1. Redistributions of source code must retain the above copyright notice, |
Wolfgang Betz |
0:3e4f610a0689 | 17 | * this list of conditions and the following disclaimer. |
Wolfgang Betz |
0:3e4f610a0689 | 18 | * 2. Redistributions in binary form must reproduce the above copyright notice, |
Wolfgang Betz |
0:3e4f610a0689 | 19 | * this list of conditions and the following disclaimer in the documentation |
Wolfgang Betz |
0:3e4f610a0689 | 20 | * and/or other materials provided with the distribution. |
Wolfgang Betz |
0:3e4f610a0689 | 21 | * 3. Neither the name of STMicroelectronics nor the names of its contributors |
Wolfgang Betz |
0:3e4f610a0689 | 22 | * may be used to endorse or promote products derived from this software |
Wolfgang Betz |
0:3e4f610a0689 | 23 | * without specific prior written permission. |
Wolfgang Betz |
0:3e4f610a0689 | 24 | * |
Wolfgang Betz |
0:3e4f610a0689 | 25 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
Wolfgang Betz |
0:3e4f610a0689 | 26 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
Wolfgang Betz |
0:3e4f610a0689 | 27 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE |
Wolfgang Betz |
0:3e4f610a0689 | 28 | * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE |
Wolfgang Betz |
0:3e4f610a0689 | 29 | * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL |
Wolfgang Betz |
0:3e4f610a0689 | 30 | * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR |
Wolfgang Betz |
0:3e4f610a0689 | 31 | * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
Wolfgang Betz |
0:3e4f610a0689 | 32 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, |
Wolfgang Betz |
0:3e4f610a0689 | 33 | * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
Wolfgang Betz |
0:3e4f610a0689 | 34 | * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
Wolfgang Betz |
0:3e4f610a0689 | 35 | * |
Wolfgang Betz |
0:3e4f610a0689 | 36 | ****************************************************************************** |
Wolfgang Betz |
0:3e4f610a0689 | 37 | */ |
Wolfgang Betz |
0:3e4f610a0689 | 38 | |
Wolfgang Betz |
0:3e4f610a0689 | 39 | /** |
Wolfgang Betz |
5:a1de9dcb0f41 | 40 | * @mainpage X_NUCLEO_IKS01A1 MEMS Inertial & Environmental Sensor Nucleo Expansion Board Firmware Package |
Wolfgang Betz |
0:3e4f610a0689 | 41 | * |
Wolfgang Betz |
0:3e4f610a0689 | 42 | * <b>Introduction</b> |
Wolfgang Betz |
0:3e4f610a0689 | 43 | * |
Wolfgang Betz |
0:3e4f610a0689 | 44 | * This firmware package includes Components Device Drivers, Board Support Package |
Wolfgang Betz |
0:3e4f610a0689 | 45 | * and example application for STMicroelectronics X_NUCLEO_IKS01A1 MEMS Inertial & Environmental Nucleo |
Wolfgang Betz |
0:3e4f610a0689 | 46 | * Expansion Board |
Wolfgang Betz |
0:3e4f610a0689 | 47 | * |
Wolfgang Betz |
0:3e4f610a0689 | 48 | * <b>Example Application</b> |
Wolfgang Betz |
0:3e4f610a0689 | 49 | * |
Wolfgang Betz |
0:3e4f610a0689 | 50 | */ |
Wolfgang Betz |
0:3e4f610a0689 | 51 | |
Wolfgang Betz |
0:3e4f610a0689 | 52 | |
Wolfgang Betz |
0:3e4f610a0689 | 53 | /*** Includes ----------------------------------------------------------------- ***/ |
Wolfgang Betz |
0:3e4f610a0689 | 54 | #include "mbed.h" |
Wolfgang Betz |
33:7ba7fbf0503a | 55 | #include "assert.h" |
Wolfgang Betz |
0:3e4f610a0689 | 56 | #include "x_nucleo_iks01a1.h" |
JackLenz | 70:c6b61c5cadf4 | 57 | #include <math.h> |
Wolfgang Betz |
0:3e4f610a0689 | 58 | |
Wolfgang Betz |
0:3e4f610a0689 | 59 | #include <Ticker.h> |
Wolfgang Betz |
0:3e4f610a0689 | 60 | |
Wolfgang Betz |
0:3e4f610a0689 | 61 | |
Wolfgang Betz |
0:3e4f610a0689 | 62 | /*** Constants ---------------------------------------------------------------- ***/ |
Wolfgang Betz |
0:3e4f610a0689 | 63 | namespace { |
Wolfgang Betz |
0:3e4f610a0689 | 64 | const int MS_INTERVALS = 1000; |
JackLenz | 70:c6b61c5cadf4 | 65 | const double RAD_TO_DEG = 57.2957786; |
JackLenz | 70:c6b61c5cadf4 | 66 | const double PI = 3.14159265; |
Wolfgang Betz |
0:3e4f610a0689 | 67 | } |
Wolfgang Betz |
0:3e4f610a0689 | 68 | |
Wolfgang Betz |
0:3e4f610a0689 | 69 | |
Wolfgang Betz |
0:3e4f610a0689 | 70 | /*** Macros ------------------------------------------------------------------- ***/ |
Wolfgang Betz |
40:f567538352e1 | 71 | #define APP_LOOP_PERIOD 3000 // in ms |
Wolfgang Betz |
0:3e4f610a0689 | 72 | |
Wolfgang Betz |
4:81037ace7f27 | 73 | #if defined(TARGET_STM) |
Wolfgang Betz |
4:81037ace7f27 | 74 | #define LED_OFF (0) |
Wolfgang Betz |
4:81037ace7f27 | 75 | #else |
Wolfgang Betz |
4:81037ace7f27 | 76 | #define LED_OFF (1) |
Wolfgang Betz |
4:81037ace7f27 | 77 | #endif |
Wolfgang Betz |
4:81037ace7f27 | 78 | #define LED_ON (!LED_OFF) |
Wolfgang Betz |
4:81037ace7f27 | 79 | |
Wolfgang Betz |
0:3e4f610a0689 | 80 | |
Wolfgang Betz |
1:9458657e49ee | 81 | /*** Typedefs ----------------------------------------------------------------- ***/ |
Wolfgang Betz |
1:9458657e49ee | 82 | typedef struct { |
Wolfgang Betz |
1:9458657e49ee | 83 | int32_t AXIS_X; |
Wolfgang Betz |
1:9458657e49ee | 84 | int32_t AXIS_Y; |
Wolfgang Betz |
1:9458657e49ee | 85 | int32_t AXIS_Z; |
Wolfgang Betz |
1:9458657e49ee | 86 | } AxesRaw_TypeDef; |
Wolfgang Betz |
1:9458657e49ee | 87 | |
JackLenz | 70:c6b61c5cadf4 | 88 | /*** Serial declaration --------------------------------------------------------- ***/ |
JackLenz | 70:c6b61c5cadf4 | 89 | Serial ser(USBTX,USBRX,115200); |
Wolfgang Betz |
1:9458657e49ee | 90 | |
Wolfgang Betz |
0:3e4f610a0689 | 91 | /*** Static variables --------------------------------------------------------- ***/ |
Wolfgang Betz |
0:3e4f610a0689 | 92 | #ifdef DBG_MCU |
Wolfgang Betz |
0:3e4f610a0689 | 93 | /* betzw: enable debugging while using sleep modes */ |
Wolfgang Betz |
0:3e4f610a0689 | 94 | #include "DbgMCU.h" |
Wolfgang Betz |
0:3e4f610a0689 | 95 | static DbgMCU enable_dbg; |
Wolfgang Betz |
0:3e4f610a0689 | 96 | #endif // DBG_MCU |
Wolfgang Betz |
0:3e4f610a0689 | 97 | |
Wolfgang Betz |
1:9458657e49ee | 98 | static X_NUCLEO_IKS01A1 *mems_expansion_board = X_NUCLEO_IKS01A1::Instance(); |
Wolfgang Betz |
33:7ba7fbf0503a | 99 | static GyroSensor *gyroscope = mems_expansion_board->GetGyroscope(); |
Wolfgang Betz |
33:7ba7fbf0503a | 100 | static MotionSensor *accelerometer = mems_expansion_board->GetAccelerometer(); |
Wolfgang Betz |
32:97bff5dadafd | 101 | static MagneticSensor *magnetometer = mems_expansion_board->magnetometer; |
Wolfgang Betz |
18:645c96f209c7 | 102 | |
Wolfgang Betz |
0:3e4f610a0689 | 103 | static Ticker ticker; |
Wolfgang Betz |
40:f567538352e1 | 104 | static DigitalOut myled(LED1, LED_OFF); |
Wolfgang Betz |
40:f567538352e1 | 105 | |
Wolfgang Betz |
0:3e4f610a0689 | 106 | static volatile bool timer_irq_triggered = false; |
Wolfgang Betz |
40:f567538352e1 | 107 | static volatile bool ff_irq_triggered = false; |
Wolfgang Betz |
4:81037ace7f27 | 108 | |
Wolfgang Betz |
0:3e4f610a0689 | 109 | |
Wolfgang Betz |
0:3e4f610a0689 | 110 | /*** Helper Functions (1/2) ------------------------------------------------------------ ***/ |
Wolfgang Betz |
0:3e4f610a0689 | 111 | |
Wolfgang Betz |
0:3e4f610a0689 | 112 | |
Wolfgang Betz |
0:3e4f610a0689 | 113 | /*** Interrupt Handler Top-Halves ------------------------------------------------------ ***/ |
Wolfgang Betz |
0:3e4f610a0689 | 114 | /* Called in interrupt context, therefore just set a trigger variable */ |
Wolfgang Betz |
0:3e4f610a0689 | 115 | static void timer_irq(void) { |
Wolfgang Betz |
0:3e4f610a0689 | 116 | timer_irq_triggered = true; |
Wolfgang Betz |
0:3e4f610a0689 | 117 | } |
Wolfgang Betz |
0:3e4f610a0689 | 118 | |
Wolfgang Betz |
40:f567538352e1 | 119 | /* Called in interrupt context, therefore just set a trigger variable */ |
Wolfgang Betz |
40:f567538352e1 | 120 | static void ff_irq(void) { |
Wolfgang Betz |
40:f567538352e1 | 121 | ff_irq_triggered = true; |
Wolfgang Betz |
40:f567538352e1 | 122 | |
Wolfgang Betz |
40:f567538352e1 | 123 | /* Disable IRQ until handled */ |
Wolfgang Betz |
40:f567538352e1 | 124 | mems_expansion_board->gyro_lsm6ds3->Disable_Free_Fall_Detection_IRQ(); |
Wolfgang Betz |
40:f567538352e1 | 125 | } |
Wolfgang Betz |
40:f567538352e1 | 126 | |
Wolfgang Betz |
0:3e4f610a0689 | 127 | |
Wolfgang Betz |
0:3e4f610a0689 | 128 | /*** Interrupt Handler Bottom-Halves ------------------------------------------------- ***/ |
Wolfgang Betz |
40:f567538352e1 | 129 | /* Handle Free Fall Interrupt |
Wolfgang Betz |
40:f567538352e1 | 130 | (here we are in "normal" context, i.e. not in IRQ context) |
Wolfgang Betz |
40:f567538352e1 | 131 | */ |
Wolfgang Betz |
40:f567538352e1 | 132 | static void handle_ff_irq(void) { |
Wolfgang Betz |
40:f567538352e1 | 133 | printf("\nFree Fall Detected!\n\n"); |
Wolfgang Betz |
40:f567538352e1 | 134 | |
Wolfgang Betz |
40:f567538352e1 | 135 | /* Re-enable IRQ */ |
Wolfgang Betz |
40:f567538352e1 | 136 | mems_expansion_board->gyro_lsm6ds3->Enable_Free_Fall_Detection_IRQ(); |
Wolfgang Betz |
40:f567538352e1 | 137 | } |
Wolfgang Betz |
0:3e4f610a0689 | 138 | |
Wolfgang Betz |
0:3e4f610a0689 | 139 | |
Wolfgang Betz |
0:3e4f610a0689 | 140 | /*** Helper Functions (2/2) ------------------------------------------------------------ ***/ |
Wolfgang Betz |
2:00f62b148a07 | 141 | /* print floats & doubles */ |
Wolfgang Betz |
2:00f62b148a07 | 142 | static char *printDouble(char* str, double v, int decimalDigits=2) |
Wolfgang Betz |
2:00f62b148a07 | 143 | { |
Wolfgang Betz |
2:00f62b148a07 | 144 | int i = 1; |
Wolfgang Betz |
2:00f62b148a07 | 145 | int intPart, fractPart; |
Wolfgang Betz |
54:d812bb378d46 | 146 | int len; |
Wolfgang Betz |
54:d812bb378d46 | 147 | char *ptr; |
Wolfgang Betz |
2:00f62b148a07 | 148 | |
Wolfgang Betz |
54:d812bb378d46 | 149 | /* prepare decimal digits multiplicator */ |
Wolfgang Betz |
2:00f62b148a07 | 150 | for (;decimalDigits!=0; i*=10, decimalDigits--); |
Wolfgang Betz |
54:d812bb378d46 | 151 | |
Wolfgang Betz |
54:d812bb378d46 | 152 | /* calculate integer & fractinal parts */ |
Wolfgang Betz |
2:00f62b148a07 | 153 | intPart = (int)v; |
Wolfgang Betz |
2:00f62b148a07 | 154 | fractPart = (int)((v-(double)(int)v)*i); |
Wolfgang Betz |
54:d812bb378d46 | 155 | |
Wolfgang Betz |
54:d812bb378d46 | 156 | /* fill in integer part */ |
Wolfgang Betz |
54:d812bb378d46 | 157 | sprintf(str, "%i.", intPart); |
Wolfgang Betz |
54:d812bb378d46 | 158 | |
Wolfgang Betz |
54:d812bb378d46 | 159 | /* prepare fill in of fractional part */ |
Wolfgang Betz |
54:d812bb378d46 | 160 | len = strlen(str); |
Wolfgang Betz |
54:d812bb378d46 | 161 | ptr = &str[len]; |
Wolfgang Betz |
54:d812bb378d46 | 162 | |
Wolfgang Betz |
54:d812bb378d46 | 163 | /* fill in leading fractional zeros */ |
Wolfgang Betz |
54:d812bb378d46 | 164 | for (i/=10;i>1; i/=10, ptr++) { |
Wolfgang Betz |
54:d812bb378d46 | 165 | if(fractPart >= i) break; |
Wolfgang Betz |
54:d812bb378d46 | 166 | *ptr = '0'; |
Wolfgang Betz |
54:d812bb378d46 | 167 | } |
Wolfgang Betz |
54:d812bb378d46 | 168 | |
Wolfgang Betz |
54:d812bb378d46 | 169 | /* fill in (rest of) fractional part */ |
Wolfgang Betz |
54:d812bb378d46 | 170 | sprintf(ptr, "%i", fractPart); |
Wolfgang Betz |
2:00f62b148a07 | 171 | |
Wolfgang Betz |
2:00f62b148a07 | 172 | return str; |
Wolfgang Betz |
2:00f62b148a07 | 173 | } |
Wolfgang Betz |
2:00f62b148a07 | 174 | |
Wolfgang Betz |
0:3e4f610a0689 | 175 | /* Initialization function */ |
Wolfgang Betz |
0:3e4f610a0689 | 176 | static void init(void) { |
Wolfgang Betz |
33:7ba7fbf0503a | 177 | uint8_t id1, id2; |
JackLenz | 70:c6b61c5cadf4 | 178 | |
Wolfgang Betz |
33:7ba7fbf0503a | 179 | /* Determine ID of Gyro & Motion Sensor */ |
Wolfgang Betz |
33:7ba7fbf0503a | 180 | assert((mems_expansion_board->gyro_lsm6ds0 == NULL) || |
Wolfgang Betz |
33:7ba7fbf0503a | 181 | (mems_expansion_board->gyro_lsm6ds3 == NULL)); |
Wolfgang Betz |
69:12b1170b510a | 182 | CALL_METH(gyroscope, read_id, &id1, 0x0); |
Wolfgang Betz |
69:12b1170b510a | 183 | CALL_METH(accelerometer, read_id, &id2, 0x0); |
Wolfgang Betz |
33:7ba7fbf0503a | 184 | printf("Gyroscope | Motion Sensor ID = %s (0x%x | 0x%x)\n", |
Wolfgang Betz |
33:7ba7fbf0503a | 185 | ((id1 == I_AM_LSM6DS3_XG) ? "LSM6DS3" : |
Wolfgang Betz |
33:7ba7fbf0503a | 186 | ((id1 == I_AM_LSM6DS0_XG) ? "LSM6DS0" : "UNKNOWN")), |
Wolfgang Betz |
33:7ba7fbf0503a | 187 | id1, id2 |
Wolfgang Betz |
33:7ba7fbf0503a | 188 | ); |
Wolfgang Betz |
33:7ba7fbf0503a | 189 | assert(id1 == id2); |
Wolfgang Betz |
33:7ba7fbf0503a | 190 | |
Wolfgang Betz |
40:f567538352e1 | 191 | /* Register Free Fall Detection IRQ Handler & Enable Detection */ |
Wolfgang Betz |
40:f567538352e1 | 192 | if(mems_expansion_board->gyro_lsm6ds3 != NULL) { |
Wolfgang Betz |
40:f567538352e1 | 193 | mems_expansion_board->gyro_lsm6ds3->Attach_Free_Fall_Detection_IRQ(ff_irq); |
Wolfgang Betz |
40:f567538352e1 | 194 | mems_expansion_board->gyro_lsm6ds3->Enable_Free_Fall_Detection(); |
Wolfgang Betz |
40:f567538352e1 | 195 | } |
Wolfgang Betz |
1:9458657e49ee | 196 | } |
Wolfgang Betz |
1:9458657e49ee | 197 | |
Wolfgang Betz |
1:9458657e49ee | 198 | /* Main cycle function */ |
Wolfgang Betz |
1:9458657e49ee | 199 | static void main_cycle(void) { |
Wolfgang Betz |
1:9458657e49ee | 200 | AxesRaw_TypeDef MAG_Value; |
Wolfgang Betz |
1:9458657e49ee | 201 | AxesRaw_TypeDef ACC_Value; |
Wolfgang Betz |
1:9458657e49ee | 202 | AxesRaw_TypeDef GYR_Value; |
Wolfgang Betz |
2:00f62b148a07 | 203 | char buffer1[32]; |
Wolfgang Betz |
2:00f62b148a07 | 204 | char buffer2[32]; |
Wolfgang Betz |
2:00f62b148a07 | 205 | char buffer3[32]; |
Wolfgang Betz |
11:e20efb4e8a98 | 206 | char buffer4[32]; |
Wolfgang Betz |
50:4a902230142d | 207 | unsigned int ret = 0; |
Wolfgang Betz |
50:4a902230142d | 208 | |
JackLenz | 70:c6b61c5cadf4 | 209 | /* Declaration of sensors variables */ |
JackLenz | 70:c6b61c5cadf4 | 210 | double accX,accY,accZ; |
JackLenz | 70:c6b61c5cadf4 | 211 | double gyroX,gyroY,gyroZ; |
JackLenz | 70:c6b61c5cadf4 | 212 | |
JackLenz | 70:c6b61c5cadf4 | 213 | |
Wolfgang Betz |
1:9458657e49ee | 214 | /* Switch LED On */ |
Wolfgang Betz |
4:81037ace7f27 | 215 | myled = LED_ON; |
Wolfgang Betz |
2:00f62b148a07 | 216 | printf("===\n"); |
Wolfgang Betz |
1:9458657e49ee | 217 | |
Wolfgang Betz |
1:9458657e49ee | 218 | /* Determine Environmental Values */ |
Wolfgang Betz |
69:12b1170b510a | 219 | ret |= (!CALL_METH(magnetometer, get_m_axes, (int32_t *)&MAG_Value, 0) ? 0x0 : 0x10);; |
Wolfgang Betz |
69:12b1170b510a | 220 | ret |= (!CALL_METH(accelerometer, get_x_axes, (int32_t *)&ACC_Value, 0) ? 0x0 : 0x20);; |
Wolfgang Betz |
69:12b1170b510a | 221 | ret |= (!CALL_METH(gyroscope, get_g_axes, (int32_t *)&GYR_Value, 0) ? 0x0 : 0x40); |
Wolfgang Betz |
1:9458657e49ee | 222 | |
Wolfgang Betz |
1:9458657e49ee | 223 | /* Print Values Out */ |
Wolfgang Betz |
54:d812bb378d46 | 224 | printf("I2C [errors]: 0x%.2x X Y Z\n", ret); |
Wolfgang Betz |
29:25c8f7d4515a | 225 | printf("MAG [mgauss]: %9ld %9ld %9ld\n", |
Wolfgang Betz |
29:25c8f7d4515a | 226 | MAG_Value.AXIS_X, MAG_Value.AXIS_Y, MAG_Value.AXIS_Z); |
Wolfgang Betz |
29:25c8f7d4515a | 227 | printf("ACC [mg]: %9ld %9ld %9ld\n", |
Wolfgang Betz |
29:25c8f7d4515a | 228 | ACC_Value.AXIS_X, ACC_Value.AXIS_Y, ACC_Value.AXIS_Z); |
Wolfgang Betz |
29:25c8f7d4515a | 229 | printf("GYR [mdps]: %9ld %9ld %9ld\n", |
Wolfgang Betz |
29:25c8f7d4515a | 230 | GYR_Value.AXIS_X, GYR_Value.AXIS_Y, GYR_Value.AXIS_Z); |
JackLenz | 70:c6b61c5cadf4 | 231 | |
JackLenz | 70:c6b61c5cadf4 | 232 | accX = ACC_Value.AXIS_X; |
JackLenz | 70:c6b61c5cadf4 | 233 | accY = ACC_Value.AXIS_Y; |
JackLenz | 70:c6b61c5cadf4 | 234 | accZ = ACC_Value.AXIS_Z; |
JackLenz | 70:c6b61c5cadf4 | 235 | gyroX = GYR_Value.AXIS_X; |
JackLenz | 70:c6b61c5cadf4 | 236 | gyroY = GYR_Value.AXIS_Y; |
JackLenz | 70:c6b61c5cadf4 | 237 | gyroZ = GYR_Value.AXIS_Z; |
JackLenz | 70:c6b61c5cadf4 | 238 | |
JackLenz | 70:c6b61c5cadf4 | 239 | #ifdef RESTRICT_PITCH // Eq. 25 and 26 |
JackLenz | 70:c6b61c5cadf4 | 240 | double roll = atan2(accY, accZ) * RAD_TO_DEG; |
JackLenz | 70:c6b61c5cadf4 | 241 | double pitch = atan(-accX / sqrt(accY * accY + accZ * accZ)) * RAD_TO_DEG; |
JackLenz | 70:c6b61c5cadf4 | 242 | #else // Eq. 28 and 29 |
JackLenz | 70:c6b61c5cadf4 | 243 | double roll = atan(accY / sqrt(accX * accX + accZ * accZ)) * RAD_TO_DEG; |
JackLenz | 70:c6b61c5cadf4 | 244 | double pitch = atan2(-accX, accZ) * RAD_TO_DEG; |
JackLenz | 70:c6b61c5cadf4 | 245 | #endif |
JackLenz | 70:c6b61c5cadf4 | 246 | double yaw = atan2(-accZ, sqrt(accY * accY + accZ * accZ)) * 180.0/PI; |
JackLenz | 70:c6b61c5cadf4 | 247 | |
JackLenz | 70:c6b61c5cadf4 | 248 | /* Print Serially *//* |
JackLenz | 70:c6b61c5cadf4 | 249 | ser.printf("%lf",pitch); |
JackLenz | 70:c6b61c5cadf4 | 250 | ser.printf(":"); |
JackLenz | 70:c6b61c5cadf4 | 251 | ser.printf("%lf",roll); |
JackLenz | 70:c6b61c5cadf4 | 252 | ser.printf(":"); |
JackLenz | 70:c6b61c5cadf4 | 253 | ser.printf("%lf\n",yaw); |
JackLenz | 70:c6b61c5cadf4 | 254 | */ |
JackLenz | 70:c6b61c5cadf4 | 255 | ser.printf("1"); |
JackLenz | 70:c6b61c5cadf4 | 256 | ser.printf(":"); |
JackLenz | 70:c6b61c5cadf4 | 257 | ser.printf("2"); |
JackLenz | 70:c6b61c5cadf4 | 258 | ser.printf(":"); |
JackLenz | 70:c6b61c5cadf4 | 259 | ser.printf("3\n"); |
JackLenz | 70:c6b61c5cadf4 | 260 | |
Wolfgang Betz |
1:9458657e49ee | 261 | |
Wolfgang Betz |
1:9458657e49ee | 262 | /* Switch LED Off */ |
Wolfgang Betz |
4:81037ace7f27 | 263 | myled = LED_OFF; |
Wolfgang Betz |
0:3e4f610a0689 | 264 | } |
Wolfgang Betz |
0:3e4f610a0689 | 265 | |
Wolfgang Betz |
0:3e4f610a0689 | 266 | |
Wolfgang Betz |
0:3e4f610a0689 | 267 | /*** Main function ------------------------------------------------------------- ***/ |
Wolfgang Betz |
51:5ce8202680b4 | 268 | /* Generic main function/loop for enabling WFE in case of |
Wolfgang Betz |
0:3e4f610a0689 | 269 | interrupt based cyclic execution |
Wolfgang Betz |
0:3e4f610a0689 | 270 | */ |
Wolfgang Betz |
0:3e4f610a0689 | 271 | int main() |
Wolfgang Betz |
0:3e4f610a0689 | 272 | { |
Wolfgang Betz |
0:3e4f610a0689 | 273 | /* Start & initialize */ |
Wolfgang Betz |
0:3e4f610a0689 | 274 | printf("\n--- Starting new run ---\n"); |
Wolfgang Betz |
0:3e4f610a0689 | 275 | init(); |
Wolfgang Betz |
0:3e4f610a0689 | 276 | |
Wolfgang Betz |
0:3e4f610a0689 | 277 | /* Start timer irq */ |
Wolfgang Betz |
0:3e4f610a0689 | 278 | ticker.attach_us(timer_irq, MS_INTERVALS * APP_LOOP_PERIOD); |
Wolfgang Betz |
0:3e4f610a0689 | 279 | |
Wolfgang Betz |
47:6a63161486cf | 280 | while (true) { |
Wolfgang Betz |
47:6a63161486cf | 281 | if(timer_irq_triggered) { |
Wolfgang Betz |
47:6a63161486cf | 282 | timer_irq_triggered = false; |
Wolfgang Betz |
47:6a63161486cf | 283 | main_cycle(); |
Wolfgang Betz |
47:6a63161486cf | 284 | } else if(ff_irq_triggered) { |
Wolfgang Betz |
47:6a63161486cf | 285 | ff_irq_triggered = false; |
Wolfgang Betz |
47:6a63161486cf | 286 | handle_ff_irq(); |
Wolfgang Betz |
47:6a63161486cf | 287 | } else { |
Wolfgang Betz |
49:0223aee4b17a | 288 | __WFE(); /* it is recommended that SEVONPEND in the |
Wolfgang Betz |
49:0223aee4b17a | 289 | System Control Register is NOT set */ |
Wolfgang Betz |
47:6a63161486cf | 290 | } |
Wolfgang Betz |
47:6a63161486cf | 291 | } |
Wolfgang Betz |
0:3e4f610a0689 | 292 | } |