Alex Block
/
test
ergwrthsgfhrtxhs
main.cpp@20:babcf777607b, 2019-11-22 (annotated)
- Committer:
- mitch092
- Date:
- Fri Nov 22 23:54:51 2019 +0000
- Revision:
- 20:babcf777607b
- Parent:
- 19:29d3c7caea66
- Child:
- 21:b0e9b4d19d4d
Made some changes.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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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 | |
mitch092 | 20:babcf777607b | 45 | const float MAX_SPEED = .002; |
mitch092 | 20:babcf777607b | 46 | const float MIN_SPEED = .003; |
mitch092 | 20:babcf777607b | 47 | const float MAX_DEGREES = 3.0; |
mitch092 | 20:babcf777607b | 48 | const float MIN_DEGREES = .5; |
mitch092 | 20:babcf777607b | 49 | const float MAX_TILT = (MIN_SPEED - MAX_SPEED) / MAX_DEGREES; |
mitch092 | 20:babcf777607b | 50 | |
mitch092 | 19:29d3c7caea66 | 51 | |
mitch092 | 19:29d3c7caea66 | 52 | |
mitch092 | 19:29d3c7caea66 | 53 | struct Vec3 { |
mitch092 | 19:29d3c7caea66 | 54 | float x, y, z; |
mitch092 | 19:29d3c7caea66 | 55 | }; |
mitch092 | 19:29d3c7caea66 | 56 | |
cparata | 0:69566eea0fba | 57 | /* Instantiate the expansion board */ |
davide.aliprandi@st.com | 13:fc873da5b445 | 58 | static XNucleoIKS01A2 *mems_expansion_board = XNucleoIKS01A2::instance(D14, D15, D4, D5); |
cparata | 0:69566eea0fba | 59 | |
cparata | 0:69566eea0fba | 60 | /* Retrieve the composing elements of the expansion board */ |
davide.aliprandi@st.com | 13:fc873da5b445 | 61 | static LSM303AGRMagSensor *magnetometer = mems_expansion_board->magnetometer; |
cparata | 0:69566eea0fba | 62 | static LSM6DSLSensor *acc_gyro = mems_expansion_board->acc_gyro; |
davide.aliprandi@st.com | 13:fc873da5b445 | 63 | static LSM303AGRAccSensor *accelerometer = mems_expansion_board->accelerometer; |
cparata | 0:69566eea0fba | 64 | |
mitch092 | 18:9b9ec0b35b45 | 65 | |
mitch092 | 18:9b9ec0b35b45 | 66 | |
mitch092 | 18:9b9ec0b35b45 | 67 | |
mitch092 | 19:29d3c7caea66 | 68 | DigitalOut M1_step(D3); |
mitch092 | 19:29d3c7caea66 | 69 | DigitalOut M1_dir(D2); |
mitch092 | 18:9b9ec0b35b45 | 70 | |
mitch092 | 19:29d3c7caea66 | 71 | DigitalOut M2_step(D5); |
mitch092 | 19:29d3c7caea66 | 72 | DigitalOut M2_dir(D4); |
mitch092 | 18:9b9ec0b35b45 | 73 | |
cparata | 0:69566eea0fba | 74 | |
cparata | 0:69566eea0fba | 75 | |
mitch092 | 18:9b9ec0b35b45 | 76 | |
mitch092 | 18:9b9ec0b35b45 | 77 | Vec3 get_accel() |
mitch092 | 18:9b9ec0b35b45 | 78 | { |
mitch092 | 18:9b9ec0b35b45 | 79 | Vec3 vec3; |
mitch092 | 18:9b9ec0b35b45 | 80 | int32_t axes[3]; |
mitch092 | 18:9b9ec0b35b45 | 81 | acc_gyro->get_x_axes(axes); |
cparata | 0:69566eea0fba | 82 | |
mitch092 | 18:9b9ec0b35b45 | 83 | vec3.x = axes[0]/1000.0f + 0.013f; |
mitch092 | 18:9b9ec0b35b45 | 84 | vec3.y = axes[1]/1000.0f + 0.004f; |
mitch092 | 18:9b9ec0b35b45 | 85 | vec3.z = axes[2]/1000.0f - 0.032f; |
mitch092 | 18:9b9ec0b35b45 | 86 | |
mitch092 | 18:9b9ec0b35b45 | 87 | return vec3; |
mitch092 | 18:9b9ec0b35b45 | 88 | } |
cparata | 0:69566eea0fba | 89 | |
mitch092 | 18:9b9ec0b35b45 | 90 | void print_vec3(const char* str, const Vec3& vec3) |
mitch092 | 18:9b9ec0b35b45 | 91 | { |
mitch092 | 18:9b9ec0b35b45 | 92 | std::cout << str << vec3.x << " " << vec3.y << " " << vec3.z << "\r\n"; |
cparata | 0:69566eea0fba | 93 | } |
cparata | 0:69566eea0fba | 94 | |
mitch092 | 20:babcf777607b | 95 | float rad_to_deg(float radians) |
mitch092 | 20:babcf777607b | 96 | { |
mitch092 | 20:babcf777607b | 97 | return radians * 57.2957795131f; |
mitch092 | 20:babcf777607b | 98 | } |
mitch092 | 19:29d3c7caea66 | 99 | |
mitch092 | 19:29d3c7caea66 | 100 | |
mitch092 | 19:29d3c7caea66 | 101 | |
mitch092 | 19:29d3c7caea66 | 102 | |
mitch092 | 18:9b9ec0b35b45 | 103 | int main() |
mitch092 | 18:9b9ec0b35b45 | 104 | { |
mitch092 | 18:9b9ec0b35b45 | 105 | /* Enable all sensors */ |
mitch092 | 18:9b9ec0b35b45 | 106 | magnetometer->enable(); |
mitch092 | 18:9b9ec0b35b45 | 107 | accelerometer->enable(); |
mitch092 | 18:9b9ec0b35b45 | 108 | acc_gyro->enable_x(); |
mitch092 | 18:9b9ec0b35b45 | 109 | acc_gyro->enable_g(); |
mitch092 | 18:9b9ec0b35b45 | 110 | |
mitch092 | 20:babcf777607b | 111 | Vec3 vec3; |
mitch092 | 20:babcf777607b | 112 | int numOfSteps; |
mitch092 | 18:9b9ec0b35b45 | 113 | |
mitch092 | 19:29d3c7caea66 | 114 | M1_dir = 1; |
mitch092 | 19:29d3c7caea66 | 115 | M2_dir = 0; |
mitch092 | 19:29d3c7caea66 | 116 | |
mitch092 | 20:babcf777607b | 117 | float given; |
mitch092 | 20:babcf777607b | 118 | |
mitch092 | 18:9b9ec0b35b45 | 119 | |
mitch092 | 18:9b9ec0b35b45 | 120 | for(;;) { |
mitch092 | 19:29d3c7caea66 | 121 | vec3 = get_accel(); |
mitch092 | 20:babcf777607b | 122 | given = rad_to_deg(atan(vec3.y / sqrtf(vec3.x*vec3.x + vec3.z*vec3.z))); |
mitch092 | 18:9b9ec0b35b45 | 123 | |
mitch092 | 20:babcf777607b | 124 | numOfSteps = given / 0.055f; |
mitch092 | 19:29d3c7caea66 | 125 | |
mitch092 | 18:9b9ec0b35b45 | 126 | |
mitch092 | 20:babcf777607b | 127 | if (std::abs(given) > MIN_DEGREES) { |
mitch092 | 20:babcf777607b | 128 | //Change direction. |
mitch092 | 20:babcf777607b | 129 | if(given > 0) { |
mitch092 | 20:babcf777607b | 130 | M1_dir = 0; |
mitch092 | 20:babcf777607b | 131 | M2_dir = 1; |
mitch092 | 20:babcf777607b | 132 | } else { |
mitch092 | 20:babcf777607b | 133 | M1_dir = 1; |
mitch092 | 20:babcf777607b | 134 | M2_dir = 0; |
mitch092 | 20:babcf777607b | 135 | } |
mitch092 | 19:29d3c7caea66 | 136 | |
mitch092 | 20:babcf777607b | 137 | float stepTime; |
mitch092 | 20:babcf777607b | 138 | given = std::abs(given); |
mitch092 | 20:babcf777607b | 139 | |
mitch092 | 20:babcf777607b | 140 | if (given > MAX_DEGREES){ |
mitch092 | 20:babcf777607b | 141 | stepTime = MAX_SPEED; |
mitch092 | 20:babcf777607b | 142 | } |
mitch092 | 20:babcf777607b | 143 | else{ |
mitch092 | 20:babcf777607b | 144 | stepTime = (MAX_TILT * given) + MIN_SPEED; |
mitch092 | 20:babcf777607b | 145 | } |
mitch092 | 20:babcf777607b | 146 | //Control stepper motor. |
mitch092 | 20:babcf777607b | 147 | for(int i = 0; i < numOfSteps; ++i) { |
mitch092 | 20:babcf777607b | 148 | M2_step = 1; |
mitch092 | 20:babcf777607b | 149 | M1_step = 1; |
mitch092 | 20:babcf777607b | 150 | wait(0.0014); |
mitch092 | 20:babcf777607b | 151 | M1_step = 0; |
mitch092 | 20:babcf777607b | 152 | M2_step = 0; |
mitch092 | 20:babcf777607b | 153 | wait(0.0014); |
mitch092 | 20:babcf777607b | 154 | } |
mitch092 | 20:babcf777607b | 155 | } |
mitch092 | 19:29d3c7caea66 | 156 | |
cparata | 0:69566eea0fba | 157 | |
mitch092 | 19:29d3c7caea66 | 158 | |
mitch092 | 20:babcf777607b | 159 | } |
mitch092 | 20:babcf777607b | 160 | } |