main.cpp

00001 /**
00002  ******************************************************************************
00003  * @file    main.cpp
00004  * @author  CLab
00005  * @version V1.0.0
00006  * @date    2-December-2016
00007  * @brief   Simple Example application for using the X_NUCLEO_IKS01A1 
00008  *          MEMS Inertial & Environmental Sensor Nucleo expansion board.
00009  ******************************************************************************
00010  * @attention
00011  *
00012  * <h2><center>&copy; COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
00013  *
00014  * Redistribution and use in source and binary forms, with or without modification,
00015  * are permitted provided that the following conditions are met:
00016  *   1. Redistributions of source code must retain the above copyright notice,
00017  *      this list of conditions and the following disclaimer.
00018  *   2. Redistributions in binary form must reproduce the above copyright notice,
00019  *      this list of conditions and the following disclaimer in the documentation
00020  *      and/or other materials provided with the distribution.
00021  *   3. Neither the name of STMicroelectronics nor the names of its contributors
00022  *      may be used to endorse or promote products derived from this software
00023  *      without specific prior written permission.
00024  *
00025  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00026  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00027  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00028  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
00029  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
00030  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
00031  *  SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00032  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
00033  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
00034  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00035  *
00036  ******************************************************************************
00037 */ 
00038 
00039 /* Includes */
00040 #include "mbed.h"
00041 #include "XNucleoIKS01A2.h"
00042 
00043 /* Instantiate the expansion board */
00044 static XNucleoIKS01A2 *mems_expansion_board = XNucleoIKS01A2::instance(D14, D15, D4, D5);
00045 
00046 /* Retrieve the composing elements of the expansion board */
00047 static LSM303AGRMagSensor *magnetometer = mems_expansion_board->magnetometer;
00048 static HTS221Sensor *hum_temp = mems_expansion_board->ht_sensor;
00049 static LPS22HBSensor *press_temp = mems_expansion_board->pt_sensor;
00050 static LSM6DSLSensor *acc_gyro = mems_expansion_board->acc_gyro;
00051 static LSM303AGRAccSensor *accelerometer = mems_expansion_board->accelerometer;
00052 
00053 DigitalOut myLed(LED1);
00054 
00055 /* Helper function for printing floats & doubles */
00056 static char *print_double(char* str, double v, int decimalDigits=2)
00057 {
00058   int i = 1;
00059   int intPart, fractPart;
00060   int len;
00061   char *ptr;
00062 
00063   /* prepare decimal digits multiplicator */
00064   for (;decimalDigits!=0; i*=10, decimalDigits--);
00065 
00066   /* calculate integer & fractinal parts */
00067   intPart = (int)v;
00068   fractPart = (int)((v-(double)(int)v)*i);
00069 
00070   /* fill in integer part */
00071   sprintf(str, "%i.", intPart);
00072 
00073   /* prepare fill in of fractional part */
00074   len = strlen(str);
00075   ptr = &str[len];
00076 
00077   /* fill in leading fractional zeros */
00078   for (i/=10;i>1; i/=10, ptr++) {
00079     if (fractPart >= i) {
00080       break;
00081     }
00082     *ptr = '0';
00083   }
00084 
00085   /* fill in (rest of) fractional part */
00086   sprintf(ptr, "%i", fractPart);
00087 
00088   return str;
00089 }
00090 
00091 /* Simple main function */
00092 int main() {
00093   uint8_t id;
00094   float value1, value2;
00095   char buffer1[32], buffer2[32];
00096   int32_t axes[3];
00097   int32_t axes0,axes1;
00098   /* Enable all sensors */
00099   hum_temp->enable();
00100   press_temp->enable();
00101   magnetometer->enable();
00102   accelerometer->enable();
00103   acc_gyro->enable_x();
00104   acc_gyro->enable_g();
00105   
00106   printf("\r\n--- Starting new run ---\r\n");
00107  /*
00108   hum_temp->read_id(&id);
00109  printf("HTS221  humidity & temperature    = 0x%X\r\n", id);
00110   press_temp->read_id(&id);
00111  printf("LPS22HB  pressure & temperature   = 0x%X\r\n", id);
00112   magnetometer->read_id(&id);
00113   printf("LSM303AGR magnetometer            = 0x%X\r\n", id);
00114   accelerometer->read_id(&id);
00115   printf("LSM303AGR accelerometer           = 0x%X\r\n", id);
00116   */
00117   acc_gyro->read_id(&id);
00118   printf("LSM6DSL accelerometer & gyroscope = 0x%X\r\n", id);
00119  
00120   while(1) {
00121     printf("\r\n");
00122 /*
00123     hum_temp->get_temperature(&value1);
00124     hum_temp->get_humidity(&value2);
00125     printf("HTS221: [temp] %7s C,   [hum] %s%%\r\n", print_double(buffer1, value1), print_double(buffer2, value2));
00126     
00127     press_temp->get_temperature(&value1);
00128     press_temp->get_pressure(&value2);
00129     printf("LPS22HB: [temp] %7s C, [press] %s mbar\r\n", print_double(buffer1, value1), print_double(buffer2, value2));
00130 
00131     printf("---\r\n");
00132 
00133     magnetometer->get_m_axes(axes);
00134     printf("LSM303AGR [mag/mgauss]:  %6ld, %6ld, %6ld\r\n", axes[0], axes[1], axes[2]);
00135     
00136     accelerometer->get_x_axes(axes);
00137     printf("LSM303AGR [acc/mg]:  %6ld, %6ld, %6ld\r\n", axes[0], axes[1], axes[2]);
00138 */
00139     acc_gyro->get_x_axes(axes);
00140     printf("LSM6DSL [acc/mg]:      %6ld, %6ld, %6ld\r\n", axes[0], axes[1], axes[2]);
00141  /*
00142     acc_gyro->get_g_axes(axes);
00143     printf("LSM6DSL [gyro/mdps]:   %6ld, %6ld, %6ld\r\n", axes[0], axes[1], axes[2]);
00144  */
00145     if((axes[1]>150)||(axes[1]<-150))
00146       //accendi led
00147       axes1=0; //sbagliato
00148       
00149       else axes1=1; //ok
00150       
00151     if((axes[0]>150)||(axes[0]<-150))
00152       axes0=0;//sbagliato
00153       
00154       
00155       else axes0=1;//ok
00156       //spegni led
00157       
00158       if(axes0&&axes1) myLed=1;
00159       else myLed=0;
00160     wait(0.5);
00161     
00162     
00163   }
00164 }