Alex Block
/
test
ergwrthsgfhrtxhs
main.cpp@18:9b9ec0b35b45, 2019-11-19 (annotated)
- Committer:
- mitch092
- Date:
- Tue Nov 19 00:42:38 2019 +0000
- Revision:
- 18:9b9ec0b35b45
- Parent:
- 13:fc873da5b445
- Child:
- 19:29d3c7caea66
afdasf
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
cparata | 0:69566eea0fba | 1 | /** |
cparata | 0:69566eea0fba | 2 | ****************************************************************************** |
cparata | 0:69566eea0fba | 3 | * @file main.cpp |
cparata | 8:8f495e604424 | 4 | * @author CLab |
cparata | 8:8f495e604424 | 5 | * @version V1.0.0 |
cparata | 8:8f495e604424 | 6 | * @date 2-December-2016 |
mitch092 | 18:9b9ec0b35b45 | 7 | * @brief Simple Example application for using the X_NUCLEO_IKS01A1 |
cparata | 0:69566eea0fba | 8 | * MEMS Inertial & Environmental Sensor Nucleo expansion board. |
cparata | 0:69566eea0fba | 9 | ****************************************************************************** |
cparata | 0:69566eea0fba | 10 | * @attention |
cparata | 0:69566eea0fba | 11 | * |
cparata | 0:69566eea0fba | 12 | * <h2><center>© COPYRIGHT(c) 2016 STMicroelectronics</center></h2> |
cparata | 0:69566eea0fba | 13 | * |
cparata | 0:69566eea0fba | 14 | * Redistribution and use in source and binary forms, with or without modification, |
cparata | 0:69566eea0fba | 15 | * are permitted provided that the following conditions are met: |
cparata | 0:69566eea0fba | 16 | * 1. Redistributions of source code must retain the above copyright notice, |
cparata | 0:69566eea0fba | 17 | * this list of conditions and the following disclaimer. |
cparata | 0:69566eea0fba | 18 | * 2. Redistributions in binary form must reproduce the above copyright notice, |
cparata | 0:69566eea0fba | 19 | * this list of conditions and the following disclaimer in the documentation |
cparata | 0:69566eea0fba | 20 | * and/or other materials provided with the distribution. |
cparata | 0:69566eea0fba | 21 | * 3. Neither the name of STMicroelectronics nor the names of its contributors |
cparata | 0:69566eea0fba | 22 | * may be used to endorse or promote products derived from this software |
cparata | 0:69566eea0fba | 23 | * without specific prior written permission. |
cparata | 0:69566eea0fba | 24 | * |
cparata | 0:69566eea0fba | 25 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
cparata | 0:69566eea0fba | 26 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
cparata | 0:69566eea0fba | 27 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE |
cparata | 0:69566eea0fba | 28 | * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE |
cparata | 0:69566eea0fba | 29 | * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL |
cparata | 0:69566eea0fba | 30 | * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR |
cparata | 0:69566eea0fba | 31 | * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
cparata | 0:69566eea0fba | 32 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, |
cparata | 0:69566eea0fba | 33 | * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
cparata | 0:69566eea0fba | 34 | * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
cparata | 0:69566eea0fba | 35 | * |
cparata | 0:69566eea0fba | 36 | ****************************************************************************** |
mitch092 | 18:9b9ec0b35b45 | 37 | */ |
cparata | 0:69566eea0fba | 38 | |
cparata | 0:69566eea0fba | 39 | /* Includes */ |
cparata | 0:69566eea0fba | 40 | #include "mbed.h" |
davide.aliprandi@st.com | 13:fc873da5b445 | 41 | #include "XNucleoIKS01A2.h" |
mitch092 | 18:9b9ec0b35b45 | 42 | #include <iostream> |
mitch092 | 18:9b9ec0b35b45 | 43 | #include <cmath> |
cparata | 0:69566eea0fba | 44 | |
cparata | 0:69566eea0fba | 45 | /* Instantiate the expansion board */ |
davide.aliprandi@st.com | 13:fc873da5b445 | 46 | static XNucleoIKS01A2 *mems_expansion_board = XNucleoIKS01A2::instance(D14, D15, D4, D5); |
cparata | 0:69566eea0fba | 47 | |
cparata | 0:69566eea0fba | 48 | /* Retrieve the composing elements of the expansion board */ |
davide.aliprandi@st.com | 13:fc873da5b445 | 49 | static LSM303AGRMagSensor *magnetometer = mems_expansion_board->magnetometer; |
cparata | 0:69566eea0fba | 50 | static LSM6DSLSensor *acc_gyro = mems_expansion_board->acc_gyro; |
davide.aliprandi@st.com | 13:fc873da5b445 | 51 | static LSM303AGRAccSensor *accelerometer = mems_expansion_board->accelerometer; |
cparata | 0:69566eea0fba | 52 | |
mitch092 | 18:9b9ec0b35b45 | 53 | |
mitch092 | 18:9b9ec0b35b45 | 54 | |
mitch092 | 18:9b9ec0b35b45 | 55 | |
mitch092 | 18:9b9ec0b35b45 | 56 | |
mitch092 | 18:9b9ec0b35b45 | 57 | struct Vec3 { |
mitch092 | 18:9b9ec0b35b45 | 58 | float x, y, z; |
mitch092 | 18:9b9ec0b35b45 | 59 | }; |
mitch092 | 18:9b9ec0b35b45 | 60 | |
mitch092 | 18:9b9ec0b35b45 | 61 | |
mitch092 | 18:9b9ec0b35b45 | 62 | static const Vec3 gyro_calibrate = {-0.42f, -1.61f, 1.05f}; |
cparata | 0:69566eea0fba | 63 | |
mitch092 | 18:9b9ec0b35b45 | 64 | Vec3 get_gyro() |
mitch092 | 18:9b9ec0b35b45 | 65 | { |
mitch092 | 18:9b9ec0b35b45 | 66 | Vec3 vec3; |
cparata | 0:69566eea0fba | 67 | |
mitch092 | 18:9b9ec0b35b45 | 68 | int32_t axes[3]; |
mitch092 | 18:9b9ec0b35b45 | 69 | acc_gyro->get_g_axes(axes); |
cparata | 0:69566eea0fba | 70 | |
mitch092 | 18:9b9ec0b35b45 | 71 | vec3.x = axes[0]/1000.0f - gyro_calibrate.x; |
mitch092 | 18:9b9ec0b35b45 | 72 | vec3.y = axes[1]/1000.0f - gyro_calibrate.y; |
mitch092 | 18:9b9ec0b35b45 | 73 | vec3.z = axes[2]/1000.0f - gyro_calibrate.z; |
cparata | 0:69566eea0fba | 74 | |
mitch092 | 18:9b9ec0b35b45 | 75 | return vec3; |
mitch092 | 18:9b9ec0b35b45 | 76 | } |
mitch092 | 18:9b9ec0b35b45 | 77 | |
mitch092 | 18:9b9ec0b35b45 | 78 | Vec3 get_accel() |
mitch092 | 18:9b9ec0b35b45 | 79 | { |
mitch092 | 18:9b9ec0b35b45 | 80 | Vec3 vec3; |
mitch092 | 18:9b9ec0b35b45 | 81 | int32_t axes[3]; |
mitch092 | 18:9b9ec0b35b45 | 82 | acc_gyro->get_x_axes(axes); |
cparata | 0:69566eea0fba | 83 | |
mitch092 | 18:9b9ec0b35b45 | 84 | vec3.x = axes[0]/1000.0f + 0.013f; |
mitch092 | 18:9b9ec0b35b45 | 85 | vec3.y = axes[1]/1000.0f + 0.004f; |
mitch092 | 18:9b9ec0b35b45 | 86 | vec3.z = axes[2]/1000.0f - 0.032f; |
mitch092 | 18:9b9ec0b35b45 | 87 | |
mitch092 | 18:9b9ec0b35b45 | 88 | return vec3; |
mitch092 | 18:9b9ec0b35b45 | 89 | } |
cparata | 0:69566eea0fba | 90 | |
mitch092 | 18:9b9ec0b35b45 | 91 | |
cparata | 0:69566eea0fba | 92 | |
mitch092 | 18:9b9ec0b35b45 | 93 | void print_vec3(const char* str, const Vec3& vec3) |
mitch092 | 18:9b9ec0b35b45 | 94 | { |
mitch092 | 18:9b9ec0b35b45 | 95 | std::cout << str << vec3.x << " " << vec3.y << " " << vec3.z << "\r\n"; |
cparata | 0:69566eea0fba | 96 | } |
cparata | 0:69566eea0fba | 97 | |
mitch092 | 18:9b9ec0b35b45 | 98 | |
cparata | 0:69566eea0fba | 99 | /* Simple main function */ |
mitch092 | 18:9b9ec0b35b45 | 100 | int main() |
mitch092 | 18:9b9ec0b35b45 | 101 | { |
mitch092 | 18:9b9ec0b35b45 | 102 | |
mitch092 | 18:9b9ec0b35b45 | 103 | /* Enable all sensors */ |
mitch092 | 18:9b9ec0b35b45 | 104 | magnetometer->enable(); |
mitch092 | 18:9b9ec0b35b45 | 105 | accelerometer->enable(); |
mitch092 | 18:9b9ec0b35b45 | 106 | acc_gyro->enable_x(); |
mitch092 | 18:9b9ec0b35b45 | 107 | acc_gyro->enable_g(); |
mitch092 | 18:9b9ec0b35b45 | 108 | |
mitch092 | 18:9b9ec0b35b45 | 109 | //Timer t; |
mitch092 | 18:9b9ec0b35b45 | 110 | //float dt = 0.02f; |
mitch092 | 18:9b9ec0b35b45 | 111 | |
mitch092 | 18:9b9ec0b35b45 | 112 | std::cout << "\r\n--- Starting new run ---\r\n"; |
mitch092 | 18:9b9ec0b35b45 | 113 | |
mitch092 | 18:9b9ec0b35b45 | 114 | //Vec3 orientation = {}; |
mitch092 | 18:9b9ec0b35b45 | 115 | |
mitch092 | 18:9b9ec0b35b45 | 116 | //float sens = 0.488f; |
mitch092 | 18:9b9ec0b35b45 | 117 | |
mitch092 | 18:9b9ec0b35b45 | 118 | Vec3 vec3, tilt; |
mitch092 | 18:9b9ec0b35b45 | 119 | |
mitch092 | 18:9b9ec0b35b45 | 120 | // 180/pi -> converts radians to degrees. |
mitch092 | 18:9b9ec0b35b45 | 121 | float rad_to_deg = 57.2957795131f; |
mitch092 | 18:9b9ec0b35b45 | 122 | |
mitch092 | 18:9b9ec0b35b45 | 123 | |
mitch092 | 18:9b9ec0b35b45 | 124 | for(;;) { |
mitch092 | 18:9b9ec0b35b45 | 125 | //t.start(); |
mitch092 | 18:9b9ec0b35b45 | 126 | |
mitch092 | 18:9b9ec0b35b45 | 127 | |
mitch092 | 18:9b9ec0b35b45 | 128 | //Vec3 gyro_reading = get_gyro(); |
mitch092 | 18:9b9ec0b35b45 | 129 | |
mitch092 | 18:9b9ec0b35b45 | 130 | //orientation.x += (gyro_reading.x * dt * sens); |
mitch092 | 18:9b9ec0b35b45 | 131 | //orientation.y += (gyro_reading.y * dt * sens); |
mitch092 | 18:9b9ec0b35b45 | 132 | //orientation.z += (gyro_reading.z * dt * sens); |
mitch092 | 18:9b9ec0b35b45 | 133 | |
mitch092 | 18:9b9ec0b35b45 | 134 | //print_vec3("orientation: ", orientation); |
mitch092 | 18:9b9ec0b35b45 | 135 | |
mitch092 | 18:9b9ec0b35b45 | 136 | |
mitch092 | 18:9b9ec0b35b45 | 137 | |
mitch092 | 18:9b9ec0b35b45 | 138 | vec3 = get_accel(); |
mitch092 | 18:9b9ec0b35b45 | 139 | |
mitch092 | 18:9b9ec0b35b45 | 140 | tilt.x = atan(vec3.x / sqrtf(vec3.y*vec3.y + vec3.z*vec3.z)) * rad_to_deg; |
mitch092 | 18:9b9ec0b35b45 | 141 | tilt.y = atan(vec3.y / sqrtf(vec3.x*vec3.x + vec3.z*vec3.z)) * rad_to_deg; |
mitch092 | 18:9b9ec0b35b45 | 142 | tilt.z = atan(sqrtf(vec3.y*vec3.y + vec3.x*vec3.x) / vec3.z) * rad_to_deg; |
mitch092 | 18:9b9ec0b35b45 | 143 | |
mitch092 | 18:9b9ec0b35b45 | 144 | |
cparata | 0:69566eea0fba | 145 | |
mitch092 | 18:9b9ec0b35b45 | 146 | |
mitch092 | 18:9b9ec0b35b45 | 147 | print_vec3("acceleration: ", tilt); |
mitch092 | 18:9b9ec0b35b45 | 148 | |
mitch092 | 18:9b9ec0b35b45 | 149 | std::cout << "\r\n" << std::flush; |
mitch092 | 18:9b9ec0b35b45 | 150 | |
mitch092 | 18:9b9ec0b35b45 | 151 | t.stop(); |
mitch092 | 18:9b9ec0b35b45 | 152 | if (dt - t.read() > 0) wait(dt - t.read()); |
mitch092 | 18:9b9ec0b35b45 | 153 | dt = t.read(); |
mitch092 | 18:9b9ec0b35b45 | 154 | } |
mitch092 | 18:9b9ec0b35b45 | 155 | |
mitch092 | 18:9b9ec0b35b45 | 156 | |
mitch092 | 18:9b9ec0b35b45 | 157 | |
mitch092 | 18:9b9ec0b35b45 | 158 | |
mitch092 | 18:9b9ec0b35b45 | 159 | |
mitch092 | 18:9b9ec0b35b45 | 160 | |
mitch092 | 18:9b9ec0b35b45 | 161 | |
mitch092 | 18:9b9ec0b35b45 | 162 | |
mitch092 | 18:9b9ec0b35b45 | 163 | |
mitch092 | 18:9b9ec0b35b45 | 164 | //for(;;) { |
mitch092 | 18:9b9ec0b35b45 | 165 | //-0.42 -1.61 1.05 |
mitch092 | 18:9b9ec0b35b45 | 166 | //magnetometer->get_m_axes(axes); |
mitch092 | 18:9b9ec0b35b45 | 167 | //std::cout << "LSM303AGR [mag/gauss]: " << axes[0]/1000.0f << " " << axes[1]/1000.0f << " " << axes[2]/1000.0f << "\r\n"; |
cparata | 0:69566eea0fba | 168 | |
mitch092 | 18:9b9ec0b35b45 | 169 | //accelerometer->get_x_axes(axes); |
mitch092 | 18:9b9ec0b35b45 | 170 | //std::cout << "LSM303AGR [acc/g]: " << axes[0]/1000.0f << " " << axes[1]/1000.0f << " " << axes[2]/1000.0f << "\r\n"; |
mitch092 | 18:9b9ec0b35b45 | 171 | |
cparata | 0:69566eea0fba | 172 | |
mitch092 | 18:9b9ec0b35b45 | 173 | //acc_gyro->get_x_axes(axes); |
mitch092 | 18:9b9ec0b35b45 | 174 | //std::cout << "LSM6DSL [acc/g]: " << axes[0]/1000.0f << " " << axes[1]/1000.0f << " " << axes[2]/1000.0f << "\r\n"; |
mitch092 | 18:9b9ec0b35b45 | 175 | |
mitch092 | 18:9b9ec0b35b45 | 176 | |
mitch092 | 18:9b9ec0b35b45 | 177 | //acc_gyro->get_g_axes(axes); |
mitch092 | 18:9b9ec0b35b45 | 178 | //std::cout << "LSM6DSL [gyro/dps]: " << axes[0]/1000.0f + 0.42f << " " << axes[1]/1000.0f + 1.61f << " " << axes[2]/1000.0f-1.05f << "\r\n"; |
cparata | 0:69566eea0fba | 179 | |
mitch092 | 18:9b9ec0b35b45 | 180 | |
mitch092 | 18:9b9ec0b35b45 | 181 | |
mitch092 | 18:9b9ec0b35b45 | 182 | |
cparata | 0:69566eea0fba | 183 | |
mitch092 | 18:9b9ec0b35b45 | 184 | //print_vec3("gyro/dps: ", get_gyro()); |
mitch092 | 18:9b9ec0b35b45 | 185 | //std::cout << "\r\n" << std::flush; |
mitch092 | 18:9b9ec0b35b45 | 186 | |
cparata | 0:69566eea0fba | 187 | |
mitch092 | 18:9b9ec0b35b45 | 188 | //wait(1.5); |
mitch092 | 18:9b9ec0b35b45 | 189 | //} |
cparata | 0:69566eea0fba | 190 | } |