Mike Fiore / Mbed OS unh-hackathon-example-raw

example using LOF sensor board and MEMS sensor board. not using senet packet format

Dependencies:   ST_INTERFACES Senet_Packet X_NUCLEO_53L0A1 X_NUCLEO_COMMON X_NUCLEO_IKS01A1 libmDot-mbed5

Fork of unh-hackathon-example by Mike Fiore

main.cpp@0:06fc5a68ead2, 2017-04-08 (annotated)

Committer:
mfiore
Date:
Sat Apr 08 04:15:22 2017 +0000
Revision:
0:06fc5a68ead2
Child:
1:a2c5a8a74527
both sensor boards not compiling ATM

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mfiore 0:06fc5a68ead2 1 #include "mbed.h"
mfiore 0:06fc5a68ead2 2 #include "rtos.h"
mfiore 0:06fc5a68ead2 3 #include "x_nucleo_iks01a1.h"
mfiore 0:06fc5a68ead2 4 #include "x_nucleo_53l0a1.h"
mfiore 0:06fc5a68ead2 5
mfiore 0:06fc5a68ead2 6 Thread mems_thread;
mfiore 0:06fc5a68ead2 7 Thread range_thread;
mfiore 0:06fc5a68ead2 8 Mutex serial_mutex;
mfiore 0:06fc5a68ead2 9
mfiore 0:06fc5a68ead2 10 DigitalOut led(D3);
mfiore 0:06fc5a68ead2 11
mfiore 0:06fc5a68ead2 12 DevI2C i2c(D14, D15);
mfiore 0:06fc5a68ead2 13
mfiore 0:06fc5a68ead2 14 /* Instantiate the expansion board */
mfiore 0:06fc5a68ead2 15 static X_NUCLEO_IKS01A1 *mems_expansion_board = X_NUCLEO_IKS01A1::Instance(&i2c);
mfiore 0:06fc5a68ead2 16 // MAKE SURE YOU JUMPER PIN D7 TO PIN D8!
mfiore 0:06fc5a68ead2 17 static X_NUCLEO_53L0A1 *range = X_NUCLEO_53L0A1::Instance(&i2c, A2, D7, D2);
mfiore 0:06fc5a68ead2 18
mfiore 0:06fc5a68ead2 19 /* Retrieve the composing elements of the expansion board */
mfiore 0:06fc5a68ead2 20 static GyroSensor *gyroscope = mems_expansion_board->GetGyroscope();
mfiore 0:06fc5a68ead2 21 static MotionSensor *accelerometer = mems_expansion_board->GetAccelerometer();
mfiore 0:06fc5a68ead2 22 static MagneticSensor *magnetometer = mems_expansion_board->magnetometer;
mfiore 0:06fc5a68ead2 23 static HumiditySensor *humidity_sensor = mems_expansion_board->ht_sensor;
mfiore 0:06fc5a68ead2 24 static PressureSensor *pressure_sensor = mems_expansion_board->pt_sensor;
mfiore 0:06fc5a68ead2 25 static TempSensor *temp_sensor1 = mems_expansion_board->ht_sensor;
mfiore 0:06fc5a68ead2 26 static TempSensor *temp_sensor2 = mems_expansion_board->pt_sensor;
mfiore 0:06fc5a68ead2 27
mfiore 0:06fc5a68ead2 28 /* Helper function for printing from multiple threads */
mfiore 0:06fc5a68ead2 29 void ts_printf() {
mfiore 0:06fc5a68ead2 30 serial_mutex.lock();
mfiore 0:06fc5a68ead2 31 printf();
mfiore 0:06fc5a68ead2 32 serial_mutex.unlock();
mfiore 0:06fc5a68ead2 33 }
mfiore 0:06fc5a68ead2 34
mfiore 0:06fc5a68ead2 35 /* Helper function for printing floats & doubles */
mfiore 0:06fc5a68ead2 36 static char *printDouble(char* str, double v, int decimalDigits=2) {
mfiore 0:06fc5a68ead2 37 int i = 1;
mfiore 0:06fc5a68ead2 38 int intPart, fractPart;
mfiore 0:06fc5a68ead2 39 int len;
mfiore 0:06fc5a68ead2 40 char *ptr;
mfiore 0:06fc5a68ead2 41
mfiore 0:06fc5a68ead2 42 /* prepare decimal digits multiplicator */
mfiore 0:06fc5a68ead2 43 for (;decimalDigits!=0; i*=10, decimalDigits--);
mfiore 0:06fc5a68ead2 44
mfiore 0:06fc5a68ead2 45 /* calculate integer & fractinal parts */
mfiore 0:06fc5a68ead2 46 intPart = (int)v;
mfiore 0:06fc5a68ead2 47 fractPart = (int)((v-(double)(int)v)*i);
mfiore 0:06fc5a68ead2 48
mfiore 0:06fc5a68ead2 49 /* fill in integer part */
mfiore 0:06fc5a68ead2 50 sprintf(str, "%i.", intPart);
mfiore 0:06fc5a68ead2 51
mfiore 0:06fc5a68ead2 52 /* prepare fill in of fractional part */
mfiore 0:06fc5a68ead2 53 len = strlen(str);
mfiore 0:06fc5a68ead2 54 ptr = &str[len];
mfiore 0:06fc5a68ead2 55
mfiore 0:06fc5a68ead2 56 /* fill in leading fractional zeros */
mfiore 0:06fc5a68ead2 57 for (i/=10;i>1; i/=10, ptr++) {
mfiore 0:06fc5a68ead2 58 if(fractPart >= i) break;
mfiore 0:06fc5a68ead2 59 *ptr = '0';
mfiore 0:06fc5a68ead2 60 }
mfiore 0:06fc5a68ead2 61
mfiore 0:06fc5a68ead2 62 /* fill in (rest of) fractional part */
mfiore 0:06fc5a68ead2 63 sprintf(ptr, "%i", fractPart);
mfiore 0:06fc5a68ead2 64
mfiore 0:06fc5a68ead2 65 return str;
mfiore 0:06fc5a68ead2 66 }
mfiore 0:06fc5a68ead2 67
mfiore 0:06fc5a68ead2 68 /* Function to run the mems board */
mfiore 0:06fc5a68ead2 69 void mems_func() {
mfiore 0:06fc5a68ead2 70 uint8_t id;
mfiore 0:06fc5a68ead2 71 float value1, value2;
mfiore 0:06fc5a68ead2 72 char buffer1[32], buffer2[32];
mfiore 0:06fc5a68ead2 73 int32_t axes[3];
mfiore 0:06fc5a68ead2 74
mfiore 0:06fc5a68ead2 75 ts_printf("\r\n--- Starting mems board ---\r\n");
mfiore 0:06fc5a68ead2 76
mfiore 0:06fc5a68ead2 77 humidity_sensor->read_id(&id);
mfiore 0:06fc5a68ead2 78 ts_printf("HTS221 humidity & temperature = 0x%X\r\n", id);
mfiore 0:06fc5a68ead2 79 pressure_sensor->read_id(&id);
mfiore 0:06fc5a68ead2 80 ts_printf("LPS25H pressure & temperature = 0x%X\r\n", id);
mfiore 0:06fc5a68ead2 81 magnetometer->read_id(&id);
mfiore 0:06fc5a68ead2 82 ts_printf("LIS3MDL magnetometer = 0x%X\r\n", id);
mfiore 0:06fc5a68ead2 83 gyroscope->read_id(&id);
mfiore 0:06fc5a68ead2 84 ts_printf("LSM6DS0 accelerometer & gyroscope = 0x%X\r\n", id);
mfiore 0:06fc5a68ead2 85
mfiore 0:06fc5a68ead2 86 wait(3);
mfiore 0:06fc5a68ead2 87
mfiore 0:06fc5a68ead2 88 while (true) {
mfiore 0:06fc5a68ead2 89 temp_sensor1->get_temperature(&value1);
mfiore 0:06fc5a68ead2 90 humidity_sensor->get_humidity(&value2);
mfiore 0:06fc5a68ead2 91 ts_printf("HTS221: [temp] %7s°C, [hum] %s%%\r\n", printDouble(buffer1, value1), printDouble(buffer2, value2));
mfiore 0:06fc5a68ead2 92
mfiore 0:06fc5a68ead2 93 temp_sensor2->get_fahrenheit(&value1);
mfiore 0:06fc5a68ead2 94 pressure_sensor->get_pressure(&value2);
mfiore 0:06fc5a68ead2 95 ts_printf("LPS25H: [temp] %7s°F, [press] %smbar\r\n", printDouble(buffer1, value1), printDouble(buffer2, value2));
mfiore 0:06fc5a68ead2 96
mfiore 0:06fc5a68ead2 97 magnetometer->get_m_axes(axes);
mfiore 0:06fc5a68ead2 98 ts_printf("LIS3MDL [mag/mgauss]: %7ld, %7ld, %7ld\r\n", axes[0], axes[1], axes[2]);
mfiore 0:06fc5a68ead2 99
mfiore 0:06fc5a68ead2 100 accelerometer->get_x_axes(axes);
mfiore 0:06fc5a68ead2 101 ts_printf("LSM6DS0 [acc/mg]: %7ld, %7ld, %7ld\r\n", axes[0], axes[1], axes[2]);
mfiore 0:06fc5a68ead2 102
mfiore 0:06fc5a68ead2 103 gyroscope->get_g_axes(axes);
mfiore 0:06fc5a68ead2 104 ts_printf("LSM6DS0 [gyro/mdps]: %7ld, %7ld, %7ld\r\n", axes[0], axes[1], axes[2]);
mfiore 0:06fc5a68ead2 105
mfiore 0:06fc5a68ead2 106 wait(1.5);
mfiore 0:06fc5a68ead2 107 }
mfiore 0:06fc5a68ead2 108 }
mfiore 0:06fc5a68ead2 109
mfiore 0:06fc5a68ead2 110 /* Function to run the range board */
mfiore 0:06fc5a68ead2 111 void range_func() {
mfiore 0:06fc5a68ead2 112 int status;
mfiore 0:06fc5a68ead2 113 uint32_t distance;
mfiore 0:06fc5a68ead2 114
mfiore 0:06fc5a68ead2 115 ts_printf("\r\n--- Starting range board ---\r\n");
mfiore 0:06fc5a68ead2 116
mfiore 0:06fc5a68ead2 117 /* init the 53L0A1 expansion board with default values */
mfiore 0:06fc5a68ead2 118 while (true) {
mfiore 0:06fc5a68ead2 119 status=board->InitBoard();
mfiore 0:06fc5a68ead2 120 if (status) {
mfiore 0:06fc5a68ead2 121 ts_printf("Failed to init range board!\r\n");
mfiore 0:06fc5a68ead2 122 wait(1);
mfiore 0:06fc5a68ead2 123 } else {
mfiore 0:06fc5a68ead2 124 ts_printf("Range board initialized\r\n");
mfiore 0:06fc5a68ead2 125 break;
mfiore 0:06fc5a68ead2 126 }
mfiore 0:06fc5a68ead2 127 }
mfiore 0:06fc5a68ead2 128
mfiore 0:06fc5a68ead2 129 while (true) {
mfiore 0:06fc5a68ead2 130 status = board->sensor_centre->GetDistance(&distance);
mfiore 0:06fc5a68ead2 131 if (status == VL53L0X_ERROR_NONE) {
mfiore 0:06fc5a68ead2 132 ts_printf("Distance : %ld\n", distance);
mfiore 0:06fc5a68ead2 133 }
mfiore 0:06fc5a68ead2 134
mfiore 0:06fc5a68ead2 135 wait(0.5);
mfiore 0:06fc5a68ead2 136 }
mfiore 0:06fc5a68ead2 137 }
mfiore 0:06fc5a68ead2 138
mfiore 0:06fc5a68ead2 139 int main() {
mfiore 0:06fc5a68ead2 140 ts_printf("\r\n--- Application starting up ---\r\n");
mfiore 0:06fc5a68ead2 141
mfiore 0:06fc5a68ead2 142 mems_thread.start(mems_func);
mfiore 0:06fc5a68ead2 143 range_thread.start(range_func);
mfiore 0:06fc5a68ead2 144
mfiore 0:06fc5a68ead2 145 while (true) {
mfiore 0:06fc5a68ead2 146 led = !led;
mfiore 0:06fc5a68ead2 147 wait(0.25);
mfiore 0:06fc5a68ead2 148 }
mfiore 0:06fc5a68ead2 149 }