File content as of revision 19:29d3c7caea66:

/**
 ******************************************************************************
 * @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>&copy; 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"
#include <iostream>
#include <cmath>



struct Vec3 {
    float x, y, z;
};

/* 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 LSM6DSLSensor *acc_gyro = mems_expansion_board->acc_gyro;
static LSM303AGRAccSensor *accelerometer = mems_expansion_board->accelerometer;




DigitalOut M1_step(D3);
DigitalOut M1_dir(D2);

DigitalOut M2_step(D5);
DigitalOut M2_dir(D4);

DigitalIn button1(D6);
DigitalIn button2(D7);

void delay(float time)      //delay function  debounce buttons
{
    volatile int i;
    for(i=0; i<1000000*time; i++);
}


Vec3 get_accel()
{
    Vec3 vec3;
    int32_t axes[3];
    acc_gyro->get_x_axes(axes);

    vec3.x = axes[0]/1000.0f + 0.013f;
    vec3.y = axes[1]/1000.0f + 0.004f;
    vec3.z = axes[2]/1000.0f - 0.032f;

    return vec3;
}

void print_vec3(const char* str, const Vec3& vec3)
{
    std::cout << str << vec3.x << " " << vec3.y << " " << vec3.z << "\r\n";
}






int main()
{
    /* Enable all sensors */
    magnetometer->enable();
    accelerometer->enable();
    acc_gyro->enable_x();
    acc_gyro->enable_g();

    //Timer t;
    //float dt = 0.02f;

    //std::cout << "\r\n--- Starting new run ---\r\n";

    //Vec3 orientation = {};

    //float sens = 0.488f;

    Vec3 vec3, tilt;

    // 180/pi -> converts radians to degrees.
    float rad_to_deg = 57.2957795131f;

    M1_dir = 1;
    M2_dir = 0;


    for(;;) {
        vec3 = get_accel();

        // We only need x or y; I left the others here for documentation.
        //tilt.x = atan(vec3.x / sqrtf(vec3.y*vec3.y + vec3.z*vec3.z)) * rad_to_deg;
        tilt.y = atan(vec3.y / sqrtf(vec3.x*vec3.x + vec3.z*vec3.z)) * rad_to_deg;
        //tilt.z = atan(sqrtf(vec3.y*vec3.y + vec3.x*vec3.x) / vec3.z) * rad_to_deg;

//control stepper motor 1

        float degree = std::abs(tilt.y);

        //print_vec3("acceleration: ", tilt);
        //std::cout << "\r\n" << std::flush;


        int numOfSteps = degree / 0.45;

        if(tilt.y > 0) {
            M1_dir = 0;
            M2_dir = 1;
        } else {
            M1_dir = 1;
            M2_dir = 0;
        }

        for(int i = 0; i < numOfSteps; i++) {
            M2_step = 1;
            M1_step = 1;
            delay(0.005);
            M1_step = 0;
            M2_step = 0;
            delay(0.005);
        }
    }

}



















































































//static const Vec3 gyro_calibrate = {-0.42f, -1.61f, 1.05f};

//Vec3 get_gyro()
//{
//    Vec3 vec3;

//    int32_t axes[3];
//    acc_gyro->get_g_axes(axes);

//    vec3.x = axes[0]/1000.0f - gyro_calibrate.x;
//    vec3.y = axes[1]/1000.0f - gyro_calibrate.y;
//    vec3.z = axes[2]/1000.0f - gyro_calibrate.z;

//   return vec3;
//}








/* Simple main function */
//int main()
//{




//for(;;) {
//t.start();


//Vec3 gyro_reading = get_gyro();

//orientation.x += (gyro_reading.x * dt * sens);
//orientation.y += (gyro_reading.y * dt * sens);
//orientation.z += (gyro_reading.z * dt * sens);

//print_vec3("orientation: ", orientation);











//tilt.x




//std::cout << "\r\n" << std::flush;

//t.stop();
//if (dt - t.read() > 0) wait(dt - t.read());
//dt = t.read();
//}









//for(;;) {
//-0.42 -1.61 1.05
//magnetometer->get_m_axes(axes);
//std::cout << "LSM303AGR [mag/gauss]: " << axes[0]/1000.0f << " " << axes[1]/1000.0f << " " << axes[2]/1000.0f << "\r\n";

//accelerometer->get_x_axes(axes);
//std::cout << "LSM303AGR [acc/g]: " << axes[0]/1000.0f << " " << axes[1]/1000.0f << " " << axes[2]/1000.0f << "\r\n";


//acc_gyro->get_x_axes(axes);
//std::cout << "LSM6DSL [acc/g]: " << axes[0]/1000.0f << " " << axes[1]/1000.0f << " " << axes[2]/1000.0f << "\r\n";


//acc_gyro->get_g_axes(axes);
//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";





//print_vec3("gyro/dps: ", get_gyro());
//


//wait(1.5);
//}
//}