/ Mbed 2 deprecated TAU_Studets_Motion_IKS01A1

Sensors sample code , Sample Acc gyro at 200 hz

Dependencies:   X_NUCLEO_IKS01A1_Local mbed

Fork of HelloWorld_IKS01A1 by ST

main.cpp@12:73fd70c4e857, 2017-05-21 (annotated)

Committer:
Arkadi
Date:
Sun May 21 13:01:32 2017 +0000
Revision:
12:73fd70c4e857
Parent:
11:4a99e73b88cc 
Local changes to increase sample rate

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Wolfgang Betz 0:c71c9af137dd 1 /**
Wolfgang Betz 0:c71c9af137dd 2 ******************************************************************************
Wolfgang Betz 0:c71c9af137dd 3 * @file main.cpp
Wolfgang Betz 0:c71c9af137dd 4 * @author AST / EST
Wolfgang Betz 0:c71c9af137dd 5 * @version V0.0.1
Wolfgang Betz 0:c71c9af137dd 6 * @date 14-August-2015
Arkadi 11:4a99e73b88cc 7 * @brief Simple Example application for using the X_NUCLEO_IKS01A1
Wolfgang Betz 0:c71c9af137dd 8 * MEMS Inertial & Environmental Sensor Nucleo expansion board.
Wolfgang Betz 0:c71c9af137dd 9 ******************************************************************************
Wolfgang Betz 0:c71c9af137dd 10 * @attention
Wolfgang Betz 0:c71c9af137dd 11 *
Wolfgang Betz 0:c71c9af137dd 12 * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
Wolfgang Betz 0:c71c9af137dd 13 *
Wolfgang Betz 0:c71c9af137dd 14 * Redistribution and use in source and binary forms, with or without modification,
Wolfgang Betz 0:c71c9af137dd 15 * are permitted provided that the following conditions are met:
Wolfgang Betz 0:c71c9af137dd 16 * 1. Redistributions of source code must retain the above copyright notice,
Wolfgang Betz 0:c71c9af137dd 17 * this list of conditions and the following disclaimer.
Wolfgang Betz 0:c71c9af137dd 18 * 2. Redistributions in binary form must reproduce the above copyright notice,
Wolfgang Betz 0:c71c9af137dd 19 * this list of conditions and the following disclaimer in the documentation
Wolfgang Betz 0:c71c9af137dd 20 * and/or other materials provided with the distribution.
Wolfgang Betz 0:c71c9af137dd 21 * 3. Neither the name of STMicroelectronics nor the names of its contributors
Wolfgang Betz 0:c71c9af137dd 22 * may be used to endorse or promote products derived from this software
Wolfgang Betz 0:c71c9af137dd 23 * without specific prior written permission.
Wolfgang Betz 0:c71c9af137dd 24 *
Wolfgang Betz 0:c71c9af137dd 25 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
Wolfgang Betz 0:c71c9af137dd 26 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
Wolfgang Betz 0:c71c9af137dd 27 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
Wolfgang Betz 0:c71c9af137dd 28 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
Wolfgang Betz 0:c71c9af137dd 29 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
Wolfgang Betz 0:c71c9af137dd 30 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
Wolfgang Betz 0:c71c9af137dd 31 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
Wolfgang Betz 0:c71c9af137dd 32 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
Wolfgang Betz 0:c71c9af137dd 33 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
Wolfgang Betz 0:c71c9af137dd 34 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
Wolfgang Betz 0:c71c9af137dd 35 *
Wolfgang Betz 0:c71c9af137dd 36 ******************************************************************************
Arkadi 11:4a99e73b88cc 37 */
Wolfgang Betz 0:c71c9af137dd 38
Wolfgang Betz 0:c71c9af137dd 39 /* Includes */
Wolfgang Betz 0:c71c9af137dd 40 #include "mbed.h"
Wolfgang Betz 0:c71c9af137dd 41 #include "x_nucleo_iks01a1.h"
Wolfgang Betz 0:c71c9af137dd 42
Arkadi 11:4a99e73b88cc 43 // define sample frequency
Arkadi 11:4a99e73b88cc 44 #define SAMPLES_DELAY 5000
Wolfgang Betz 0:c71c9af137dd 45 /* Instantiate the expansion board */
Wolfgang Betz 4:b1526d074d83 46 static X_NUCLEO_IKS01A1 *mems_expansion_board = X_NUCLEO_IKS01A1::Instance(D14, D15);
Wolfgang Betz 0:c71c9af137dd 47
Wolfgang Betz 0:c71c9af137dd 48 /* Retrieve the composing elements of the expansion board */
Wolfgang Betz 0:c71c9af137dd 49 static GyroSensor *gyroscope = mems_expansion_board->GetGyroscope();
Wolfgang Betz 0:c71c9af137dd 50 static MotionSensor *accelerometer = mems_expansion_board->GetAccelerometer();
Arkadi 11:4a99e73b88cc 51
Arkadi 11:4a99e73b88cc 52 // sensor sample rate: x_nucleo_iks01a1.cpp ; lsm6ds0_class.cpp
Wolfgang Betz 0:c71c9af137dd 53
Wolfgang Betz 0:c71c9af137dd 54
Arkadi 11:4a99e73b88cc 55 // define uart
Arkadi 11:4a99e73b88cc 56 Serial pc(USBTX, USBRX);
Wolfgang Betz 0:c71c9af137dd 57
Arkadi 11:4a99e73b88cc 58 // timer object
Arkadi 11:4a99e73b88cc 59 Timer timer;
Wolfgang Betz 0:c71c9af137dd 60
Arkadi 11:4a99e73b88cc 61 // send data
Arkadi 11:4a99e73b88cc 62 bool flagData=0;
Wolfgang Betz 0:c71c9af137dd 63
Arkadi 11:4a99e73b88cc 64 // time stamp
Arkadi 11:4a99e73b88cc 65 int timeStamp_us=0;
Arkadi 11:4a99e73b88cc 66 int sampleStamp=0;
Wolfgang Betz 0:c71c9af137dd 67
Wolfgang Betz 0:c71c9af137dd 68 /* Simple main function */
Arkadi 11:4a99e73b88cc 69 int main()
Arkadi 11:4a99e73b88cc 70 {
Arkadi 11:4a99e73b88cc 71 pc.baud(921600);
Arkadi 11:4a99e73b88cc 72 timer.start();
Arkadi 11:4a99e73b88cc 73 timeStamp_us = timer.read_us();
Arkadi 11:4a99e73b88cc 74 uint8_t id;
Arkadi 11:4a99e73b88cc 75 int32_t Acc_axes[3];
Arkadi 11:4a99e73b88cc 76 int32_t Gyro_axes[3];
Wolfgang Betz 0:c71c9af137dd 77
Arkadi 11:4a99e73b88cc 78 pc.printf("\r\n--- Starting new run ---\r\n");
Arkadi 11:4a99e73b88cc 79
Arkadi 11:4a99e73b88cc 80 gyroscope->read_id(&id);
Arkadi 11:4a99e73b88cc 81 pc.printf("LSM6DS0 accelerometer & gyroscope = 0x%X\r\n", id);
Arkadi 11:4a99e73b88cc 82
Arkadi 11:4a99e73b88cc 83 wait(0.5);
Wolfgang Betz 0:c71c9af137dd 84
Arkadi 11:4a99e73b88cc 85 while(1) {
Arkadi 11:4a99e73b88cc 86 // get time stamp
Arkadi 11:4a99e73b88cc 87 timeStamp_us = timer.read_us();
Arkadi 11:4a99e73b88cc 88 // sample delay
Arkadi 11:4a99e73b88cc 89 if ((timeStamp_us-sampleStamp)>SAMPLES_DELAY) {
Arkadi 11:4a99e73b88cc 90 sampleStamp=timeStamp_us;
Arkadi 11:4a99e73b88cc 91 // get raw data
Arkadi 11:4a99e73b88cc 92 accelerometer->get_x_axes(Acc_axes);
Arkadi 11:4a99e73b88cc 93 gyroscope->get_g_axes(Gyro_axes);
Arkadi 11:4a99e73b88cc 94 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]);
Arkadi 11:4a99e73b88cc 95 //pc.printf("D:%7ld,%7ld,%7ld,%7ld\r\n", sampleStamp, Acc_axes[0], Acc_axes[1], Acc_axes[2]);
Arkadi 11:4a99e73b88cc 96 // stability delay to finish sending data
Arkadi 11:4a99e73b88cc 97 //wait_us(10);
Arkadi 11:4a99e73b88cc 98 }// end get & send samples
Wolfgang Betz 0:c71c9af137dd 99
Arkadi 11:4a99e73b88cc 100 }// end loop
Arkadi 11:4a99e73b88cc 101 }// end main