Diff: main.cpp

Revision:

66:99e34b1e9038

Parent:

62:67e2353604be

diff -r 5c2a0c6aad5e -r 99e34b1e9038 main.cpp
--- a/main.cpp	Thu Dec 17 11:03:25 2015 +0000
+++ b/main.cpp	Fri Mar 04 21:30:15 2016 +0000
@@ -59,22 +59,10 @@
 
 
 /*** Constants ---------------------------------------------------------------- ***/
-namespace {
-	const int MS_INTERVALS = 1000;
-}
-
 
 /*** Macros ------------------------------------------------------------------- ***/
 #define APP_LOOP_PERIOD 3000 // in ms
 
-#if defined(TARGET_STM)
-#define LED_OFF (0)
-#else
-#define LED_OFF (1)
-#endif
-#define LED_ON  (!LED_OFF)
-
-
 /*** Typedefs ----------------------------------------------------------------- ***/
 typedef struct {
     int32_t AXIS_X;
@@ -91,23 +79,12 @@
 #endif // DBG_MCU
 
 static X_NUCLEO_IKS01A1 *mems_expansion_board = X_NUCLEO_IKS01A1::Instance();
-static GyroSensor *gyroscope = mems_expansion_board->GetGyroscope();
 static MotionSensor *accelerometer = mems_expansion_board->GetAccelerometer();
-static MagneticSensor *magnetometer = mems_expansion_board->magnetometer;
-static HumiditySensor *humidity_sensor = mems_expansion_board->ht_sensor;;
-static PressureSensor *pressure_sensor = mems_expansion_board->pt_sensor;
-static TempSensor *temp_sensor1 = mems_expansion_board->ht_sensor;
-static TempSensor *temp_sensor2 = mems_expansion_board->pt_sensor;
 
 static Ticker ticker;
-static DigitalOut myled(LED1, LED_OFF);
+//static DigitalOut myled(LED1, LED_OFF);
 
 static volatile bool timer_irq_triggered = false;
-static volatile bool ff_irq_triggered = false;
-
-
-/*** Helper Functions (1/2) ------------------------------------------------------------ ***/
-
 
 /*** Interrupt Handler Top-Halves ------------------------------------------------------ ***/
 /* Called in interrupt context, therefore just set a trigger variable */
@@ -115,138 +92,16 @@
 	timer_irq_triggered = true;
 }
 
-/* Called in interrupt context, therefore just set a trigger variable */
-static void ff_irq(void) {
-	ff_irq_triggered = true;
-
-	/* Disable IRQ until handled */
-	mems_expansion_board->gyro_lsm6ds3->Disable_Free_Fall_Detection_IRQ();
-}
-
-
-/*** Interrupt Handler Bottom-Halves ------------------------------------------------- ***/
-/* Handle Free Fall Interrupt
-   (here we are in "normal" context, i.e. not in IRQ context)
-*/
-static void handle_ff_irq(void) {
-    printf("\nFree Fall Detected!\n\n");
-
-    /* Re-enable IRQ */
-    mems_expansion_board->gyro_lsm6ds3->Enable_Free_Fall_Detection_IRQ();
-}
-
-
-/*** Helper Functions (2/2) ------------------------------------------------------------ ***/
-/* print floats & doubles */
-static char *printDouble(char* str, double v, int decimalDigits=2)
-{
-  int i = 1;
-  int intPart, fractPart;
-  int len;
-  char *ptr;
-
-  /* prepare decimal digits multiplicator */
-  for (;decimalDigits!=0; i*=10, decimalDigits--);
-
-  /* calculate integer & fractinal parts */
-  intPart = (int)v;
-  fractPart = (int)((v-(double)(int)v)*i);
-
-  /* fill in integer part */
-  sprintf(str, "%i.", intPart);
-
-  /* prepare fill in of fractional part */
-  len = strlen(str);
-  ptr = &str[len];
-
-  /* fill in leading fractional zeros */
-  for (i/=10;i>1; i/=10, ptr++) {
-	  if(fractPart >= i) break;
-	  *ptr = '0';
-  }
-
-  /* fill in (rest of) fractional part */
-  sprintf(ptr, "%i", fractPart);
-
-  return str;
-}
-
-/* Initialization function */
-static void init(void) {
-	uint8_t id1, id2;
-
-	/* Determine ID of Humidity & Temperature Sensor */
-	CALL_METH(humidity_sensor, ReadID, &id1, 0x0);
-	CALL_METH(temp_sensor1, ReadID, &id2, 0x0);
-    	printf("Humidity  | Temperature Sensor ID = %s (0x%x | 0x%x)\n", 
-	       ((id1 == I_AM_HTS221) ? "HTS221 " : "UNKNOWN"),
-	       id1, id2
-	       );
-	assert(id1 == id2);
-
-	/* Determine ID of Gyro & Motion Sensor */
-	assert((mems_expansion_board->gyro_lsm6ds0 == NULL) ||
-	       (mems_expansion_board->gyro_lsm6ds3 == NULL));
-	CALL_METH(gyroscope, ReadID, &id1, 0x0);
-	CALL_METH(accelerometer, ReadID, &id2, 0x0);
-    	printf("Gyroscope | Motion Sensor ID      = %s (0x%x | 0x%x)\n", 
-	       ((id1 == I_AM_LSM6DS3_XG) ? "LSM6DS3" : 
-		((id1 == I_AM_LSM6DS0_XG) ? "LSM6DS0" : "UNKNOWN")),
-	       id1, id2
-	       );
-	assert(id1 == id2);
-
-	/* Register Free Fall Detection IRQ Handler & Enable Detection */
-	if(mems_expansion_board->gyro_lsm6ds3 != NULL) {
-		mems_expansion_board->gyro_lsm6ds3->Attach_Free_Fall_Detection_IRQ(ff_irq);
-		mems_expansion_board->gyro_lsm6ds3->Enable_Free_Fall_Detection();
-	}
-}
-
 /* Main cycle function */
 static void main_cycle(void) {
-	float TEMPERATURE_Value;
-	float HUMIDITY_Value;
-	float PRESSURE_Value;
-	float PRESSURE_Temp_Value;
-	AxesRaw_TypeDef MAG_Value;
 	AxesRaw_TypeDef ACC_Value;
-	AxesRaw_TypeDef GYR_Value;
-	char buffer1[32];
-	char buffer2[32];
-	char buffer3[32];
-	char buffer4[32];
 	unsigned int ret = 0;
-	
-	/* Switch LED On */
-	myled = LED_ON;
-	printf("===\n");
 
 	/* Determine Environmental Values */
-	ret |= (!CALL_METH(temp_sensor1, GetTemperature, &TEMPERATURE_Value, 0.0f) ? 0x0 : 0x1);
-	ret |= (!CALL_METH(humidity_sensor, GetHumidity, &HUMIDITY_Value, 0.0f) ? 0x0 : 0x2);;
-	ret |= (!CALL_METH(pressure_sensor, GetPressure, &PRESSURE_Value, 0.0f) ? 0x0 : 0x4);;
-	ret |= (!CALL_METH(temp_sensor2, GetFahrenheit, &PRESSURE_Temp_Value, 0.0f) ? 0x0 : 0x8);;
-	ret |= (!CALL_METH(magnetometer, Get_M_Axes, (int32_t *)&MAG_Value, 0) ? 0x0 : 0x10);;
 	ret |= (!CALL_METH(accelerometer, Get_X_Axes, (int32_t *)&ACC_Value, 0) ? 0x0 : 0x20);;
-	ret |= (!CALL_METH(gyroscope, Get_G_Axes, (int32_t *)&GYR_Value, 0) ? 0x0 : 0x40);
 
 	/* Print Values Out */
-        printf("I2C [errors]: 0x%.2x    X         Y         Z\n", ret); 
-        printf("MAG [mgauss]: %9ld %9ld %9ld\n", 
-	       MAG_Value.AXIS_X, MAG_Value.AXIS_Y, MAG_Value.AXIS_Z);
-        printf("ACC [mg]:     %9ld %9ld %9ld\n", 
-	       ACC_Value.AXIS_X, ACC_Value.AXIS_Y, ACC_Value.AXIS_Z);
-        printf("GYR [mdps]:   %9ld %9ld %9ld\n", 
-	       GYR_Value.AXIS_X, GYR_Value.AXIS_Y, GYR_Value.AXIS_Z);
-        printf("---\nTEMP | HUMIDITY: %s°C | %s%%\nTEMP | PRESSURE: %s°F | %smbar\n", 
-	       printDouble(buffer1, TEMPERATURE_Value), 
-	       printDouble(buffer2, HUMIDITY_Value), 
-	       printDouble(buffer4, PRESSURE_Temp_Value),
-	       printDouble(buffer3, PRESSURE_Value));
-	
-	/* Switch LED Off */
-	myled = LED_OFF;
+	printf("ACC [mg]:     X:%9ld Y:%9ld Z:%9ld\n", ACC_Value.AXIS_X, ACC_Value.AXIS_Y, ACC_Value.AXIS_Z);
 }
 
 
@@ -256,20 +111,19 @@
 */
 int main()
 {
+	uint8_t id2;
 	/* Start & initialize */
 	printf("\n--- Starting new run ---\n");
-	init();
+	CALL_METH(accelerometer, ReadID, &id2, 0x0);	
 
 	/* Start timer irq */
-	ticker.attach_us(timer_irq, MS_INTERVALS * APP_LOOP_PERIOD);
+	//ticker.attach_us(timer_irq, MS_INTERVALS * APP_LOOP_PERIOD);
+	ticker.attach_us(timer_irq, 200000);
 
 	while (true) {
 		if(timer_irq_triggered) {
 			timer_irq_triggered = false;
 			main_cycle();
-		} else if(ff_irq_triggered) {
-			ff_irq_triggered = false;
-			handle_ff_irq();
 		} else {
 			__WFE(); /* it is recommended that SEVONPEND in the 
 				    System Control Register is NOT set */