Diff: main.cpp

Revision:

11:4a99e73b88cc

Parent:

10:211cd9c27d5e

--- a/main.cpp	Fri Mar 24 10:14:11 2017 +0000
+++ b/main.cpp	Sun May 21 12:54:14 2017 +0000
@@ -4,7 +4,7 @@
  * @author  AST / EST
  * @version V0.0.1
  * @date    14-August-2015
- * @brief   Simple Example application for using the X_NUCLEO_IKS01A1 
+ * @brief   Simple Example application for using the X_NUCLEO_IKS01A1
  *          MEMS Inertial & Environmental Sensor Nucleo expansion board.
  ******************************************************************************
  * @attention
@@ -34,101 +34,68 @@
  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  *
  ******************************************************************************
-*/ 
+*/
 
 /* Includes */
 #include "mbed.h"
 #include "x_nucleo_iks01a1.h"
 
+// define sample frequency
+#define SAMPLES_DELAY 5000
 /* Instantiate the expansion board */
 static X_NUCLEO_IKS01A1 *mems_expansion_board = X_NUCLEO_IKS01A1::Instance(D14, D15);
 
 /* Retrieve the composing elements of the expansion board */
 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;
+
+// sensor sample rate: x_nucleo_iks01a1.cpp ; lsm6ds0_class.cpp
 
-/* Helper function for printing 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--);
+// define uart
+Serial pc(USBTX, USBRX);
 
-  /* 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];
+// timer object
+Timer timer;
 
-  /* fill in leading fractional zeros */
-  for (i/=10;i>1; i/=10, ptr++) {
-    if(fractPart >= i) break;
-    *ptr = '0';
-  }
+// send data
+bool flagData=0;
 
-  /* fill in (rest of) fractional part */
-  sprintf(ptr, "%i", fractPart);
-
-  return str;
-}
-
+// time stamp
+int timeStamp_us=0;
+int sampleStamp=0;
 
 /* Simple main function */
-int main() {
-  uint8_t id;
-  float value1, value2;
-  char buffer1[32], buffer2[32];
-  int32_t axes[3];
-  
-  printf("\r\n--- Starting new run ---\r\n");
+int main()
+{
+    pc.baud(921600);
+    timer.start();
+    timeStamp_us = timer.read_us();
+    uint8_t id;
+    int32_t Acc_axes[3];
+    int32_t Gyro_axes[3];
 
-  humidity_sensor->read_id(&id);
-  printf("HTS221  humidity & temperature    = 0x%X\r\n", id);
-  pressure_sensor->read_id(&id);
-  printf("LPS25H  pressure & temperature    = 0x%X\r\n", id);
-  magnetometer->read_id(&id);
-  printf("LIS3MDL magnetometer              = 0x%X\r\n", id);
-  gyroscope->read_id(&id);
-  printf("LSM6DS0 accelerometer & gyroscope = 0x%X\r\n", id);
-  
-  wait(3);
- 
-  while(1) {
-    printf("\r\n");
+    pc.printf("\r\n--- Starting new run ---\r\n");
+
+    gyroscope->read_id(&id);
+    pc.printf("LSM6DS0 accelerometer & gyroscope = 0x%X\r\n", id);
+
+    wait(0.5);
 
-    temp_sensor1->get_temperature(&value1);
-    humidity_sensor->get_humidity(&value2);
-    printf("HTS221: [temp] %7s°C,   [hum] %s%%\r\n", printDouble(buffer1, value1), printDouble(buffer2, value2));
-    
-    temp_sensor2->get_fahrenheit(&value1);
-    pressure_sensor->get_pressure(&value2);
-    printf("LPS25H: [temp] %7s°F, [press] %smbar\r\n", printDouble(buffer1, value1), printDouble(buffer2, value2));
-
-    printf("---\r\n");
+    while(1) {
+        // get time stamp
+        timeStamp_us = timer.read_us();
+        // sample delay
+        if ((timeStamp_us-sampleStamp)>SAMPLES_DELAY) {
+            sampleStamp=timeStamp_us;
+            // get raw data
+            accelerometer->get_x_axes(Acc_axes);
+            gyroscope->get_g_axes(Gyro_axes);
+            pc.printf("D:%7ld,%7ld,%7ld,%7ld,%7ld,%7ld,%7ld\r\n", sampleStamp, Acc_axes[0], Acc_axes[1], Acc_axes[2], Gyro_axes[0], Gyro_axes[1], Gyro_axes[2]);
+            //pc.printf("D:%7ld,%7ld,%7ld,%7ld\r\n", sampleStamp, Acc_axes[0], Acc_axes[1], Acc_axes[2]);
+            // stability delay to finish sending data
+            //wait_us(10);
+        }// end get & send samples
 
-    magnetometer->get_m_axes(axes);
-    printf("LIS3MDL [mag/mgauss]:  %7ld, %7ld, %7ld\r\n", axes[0], axes[1], axes[2]);
-
-    accelerometer->get_x_axes(axes);
-    printf("LSM6DS0 [acc/mg]:      %7ld, %7ld, %7ld\r\n", axes[0], axes[1], axes[2]);
-
-    gyroscope->get_g_axes(axes);
-    printf("LSM6DS0 [gyro/mdps]:   %7ld, %7ld, %7ld\r\n", axes[0], axes[1], axes[2]);
-
-    wait(1.5);
-  }
-}
+    }// end loop
+}// end main