Sensors sample code , Sample Acc gyro at 200 hz
Dependencies: X_NUCLEO_IKS01A1_Local mbed
Fork of HelloWorld_IKS01A1 by
main.cpp
- Committer:
- Arkadi
- Date:
- 2017-05-21
- Revision:
- 12:73fd70c4e857
- Parent:
- 11:4a99e73b88cc
File content as of revision 12:73fd70c4e857:
/** ****************************************************************************** * @file main.cpp * @author AST / EST * @version V0.0.1 * @date 14-August-2015 * @brief Simple Example application for using the X_NUCLEO_IKS01A1 * MEMS Inertial & Environmental Sensor Nucleo expansion board. ****************************************************************************** * @attention * * <h2><center>© COPYRIGHT(c) 2015 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 "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(); // sensor sample rate: x_nucleo_iks01a1.cpp ; lsm6ds0_class.cpp // define uart Serial pc(USBTX, USBRX); // timer object Timer timer; // send data bool flagData=0; // time stamp int timeStamp_us=0; int sampleStamp=0; /* Simple main function */ 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]; 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); 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 }// end loop }// end main