Diff: main.cpp

Revision:

0:ea1c50666fc2

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Apr 28 17:44:45 2021 +0000
@@ -0,0 +1,79 @@
+#include "mbed.h"
+#include "XNucleo53L0A1.h"
+#include <stdio.h>
+#include "rtos.h"
+#include "LSM9DS1.h"
+
+#define VL53L0_I2C_SDA   p28
+#define VL53L0_I2C_SCL   p27
+
+
+DigitalOut myled(LED1);
+
+Serial pc(USBTX,USBRX);
+DigitalOut shdn(p26);
+
+static XNucleo53L0A1 *board=NULL;
+
+
+int main() 
+{
+    float tempC;
+    int status;
+    uint32_t distance;
+    uint32_t last_distance;
+    DevI2C *device_i2c = new DevI2C(VL53L0_I2C_SDA, VL53L0_I2C_SCL);
+    /* creates the 53L0A1 expansion board singleton obj */
+    board = XNucleo53L0A1::instance(device_i2c, A2, D8, D2);
+    shdn = 0; //must reset sensor for an mbed reset to work
+    wait(0.1);
+    shdn = 1;
+    wait(0.1);
+    LSM9DS1 lol(p9, p10, 0xD6, 0x3C);
+    lol.begin();
+    if (!lol.begin()) {
+        pc.printf("Failed to communicate with LSM9DS1.\n");
+    }
+    lol.calibrate();
+    /* init the 53L0A1 board with default values */
+    status = board->init_board();
+
+    while (status) 
+    {
+        pc.printf("Failed to init board! \r\n");
+        status = board->init_board();
+    }
+    //loop taking and printing distance
+    while (1) 
+    {
+
+        if (board->sensor_centre->get_distance(&distance) == VL53L0X_ERROR_NONE) 
+        {
+            if(distance != last_distance)
+            {
+                pc.printf("D=%ld mm\r\n", distance);
+            }
+            board->sensor_centre->get_distance(&last_distance);
+        } 
+        lol.readTemp();
+        lol.readMag();
+        lol.readGyro();
+        
+        //pc.printf("%d %d %d %d %d %d %d %d %d\n\r", lol.calcGyro(lol.gx), lol.calcGyro(lol.gy), lol.calcGyro(lol.gz), lol.ax, lol.ay, lol.az, lol.mx, lol.my, lol.mz);
+        //pc.printf("%d %d %d\n\r", lol.calcGyro(lol.gx), lol.calcGyro(lol.gy), lol.calcGyro(lol.gz));
+        pc.printf("gyro: %d %d %d\n\r", lol.gx, lol.gy, lol.gz);
+        pc.printf("accel: %d %d %d\n\r", lol.ax, lol.ay, lol.az);
+        pc.printf("mag: %d %d %d\n\n\r", lol.mx, lol.my, lol.mz);
+        myled = 1;
+        wait(2);
+        myled = 0;
+        wait(2);
+//        tempC = myTMP36;
+//        pc.printf("Float operator overloading avoids .read(): T=%5.2F C \n\r", tempC);
+//        pc.printf("A Printf arg needs a float type convert: T=%5.2F C \n\r", float(myTMP36));
+//        pc.printf("Or Use .read() instead: T=%5.2F C \n\r\n\r", myTMP36.read());
+//        wait(.5);
+        
+    }
+    
+}