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Dependencies: FXAS21002 FXOS8700Q
Diff: main.cpp
- Revision:
- 2:fba2c7066355
- Parent:
- 1:42d51cf7cebe
- Child:
- 3:2231338197f2
diff -r 42d51cf7cebe -r fba2c7066355 main.cpp --- a/main.cpp Mon Mar 25 17:18:30 2019 +0000 +++ b/main.cpp Tue Mar 26 13:29:05 2019 +0000 @@ -22,10 +22,19 @@ #include "FATFileSystem.h" #include "LittleFileSystem.h" #include "FXOS8700Q.h" +#include "FXAS21002.h" -I2C sen_i2c(PTE25, PTE24); -FXOS8700QAccelerometer sen_acc(sen_i2c, FXOS8700CQ_SLAVE_ADDR1); // Configured for the FRDM-K64F with onboard sensors -FXOS8700QMagnetometer sen_mag(sen_i2c, FXOS8700CQ_SLAVE_ADDR1); +#ifdef TARGET_K66F +I2C sens_i2c(PTD9, PTD8); +#else +I2C sens_i2c(PTE25, PTE24); +#endif /* TARGET_K66F */ + +FXOS8700QAccelerometer sens_acc(sens_i2c, FXOS8700CQ_SLAVE_ADDR1); // Configured for the FRDM-K64F with onboard sensors +FXOS8700QMagnetometer sens_mag(sens_i2c, FXOS8700CQ_SLAVE_ADDR1); +#ifdef TARGET_K66F +FXAS21002 sens_gyro(PTD9, PTD8, 0x20); +#endif /* TARGET_K66F */ #define SENSORS_POLL_INTERVAL 1.0 #define SEND_ALL_SENSORS @@ -38,10 +47,10 @@ #if COMPONENT_SD || COMPONENT_NUSD // Use FATFileSystem for SD card type blockdevices -FATFileSystem fs("fs", bd); +FATFileSystem fs("fs"); #else // Use LittleFileSystem for non-SD block devices to enable wear leveling and other functions -LittleFileSystem fs("fs", bd); +LittleFileSystem fs("fs"); #endif #if USE_BUTTON == 1 @@ -52,9 +61,9 @@ DigitalOut led(LED1); // Declaring pointers for access to Pelion Device Management Client resources outside of main() -MbedCloudClientResource *button_res; -MbedCloudClientResource *led_res; -MbedCloudClientResource *post_res; +MbedCloudClientResource *res_button; +MbedCloudClientResource *res_led; +MbedCloudClientResource *res_post; #ifdef SEND_ALL_SENSORS MbedCloudClientResource *res_magnometer_x; MbedCloudClientResource *res_magnometer_y; @@ -62,6 +71,11 @@ MbedCloudClientResource *res_accelerometer_x; MbedCloudClientResource *res_accelerometer_y; MbedCloudClientResource *res_accelerometer_z; +#ifdef TARGET_K66F +MbedCloudClientResource *res_gyroscope_x; +MbedCloudClientResource *res_gyroscope_y; +MbedCloudClientResource *res_gyroscope_z; +#endif /* TARGET_K66F */ #endif /* SEND_ALL_SENSORS */ // An event queue is a very useful structure to debounce information between contexts (e.g. ISR and normal threads) @@ -77,7 +91,7 @@ * @param newValue Updated value for the resource */ void put_callback(MbedCloudClientResource *resource, m2m::String newValue) { - printf("PUT received. New value: %s\n", newValue.c_str()); + printf("*** PUT received, new value: %s \n", newValue.c_str()); led = atoi(newValue.c_str()); } @@ -89,7 +103,7 @@ * @param size Size of the body */ void post_callback(MbedCloudClientResource *resource, const uint8_t *buffer, uint16_t size) { - printf("POST received (length %u). Payload: ", size); + printf("*** POST received (length %u). Payload: ", size); for (size_t ix = 0; ix < size; ix++) { printf("%02x ", buffer[ix]); } @@ -101,9 +115,9 @@ * This function will be triggered either by a physical button press or by a ticker every 5 seconds (see below) */ void button_press() { - int v = button_res->get_value_int() + 1; - button_res->set_value(v); - printf("Button clicked %d times\n", v); + int v = res_button->get_value_int() + 1; + res_button->set_value(v); + printf("*** Button clicked %d times \n", v); } /** @@ -112,7 +126,7 @@ * @param status The delivery status of the notification */ void button_callback(MbedCloudClientResource *resource, const NoticationDeliveryStatus status) { - printf("Button notification, status %s (%d)\n", MbedCloudClientResource::delivery_status_to_string(status), status); + printf("*** Button notification, status %s (%d) \n", MbedCloudClientResource::delivery_status_to_string(status), status); } /** @@ -129,11 +143,17 @@ void sensors_init() { printf ("\nSensors configuration:\n"); - sen_acc.enable(); - sen_mag.enable(); + sens_acc.enable(); + sens_mag.enable(); +#ifdef TARGET_K66F + sens_gyro.activate(true); +#endif /* TARGET_K66F */ - printf("FXOS8700Q accelerometer = 0x%X\n", sen_acc.whoAmI()); - printf("FXOS8700Q magnetometer = 0x%X\n", sen_mag.whoAmI()); + printf("FXOS8700Q accelerometer = 0x%X\n", sens_acc.whoAmI()); + printf("FXOS8700Q magnetometer = 0x%X\n", sens_mag.whoAmI()); +#ifdef TARGET_K66F + printf("FXAS21002 gyroscope = 0x%X\n", sens_gyro.getStatus()); +#endif /* TARGET_K66F */ printf("\n"); ; } @@ -145,24 +165,38 @@ void sensors_update() { motion_data_counts_t acc_raw, mag_raw; - printf(" \n"); + sens_acc.getAxis(acc_raw); + sens_mag.getAxis(mag_raw); - sen_acc.getAxis(acc_raw); - sen_mag.getAxis(mag_raw); + float mag_x = (double)mag_raw.x / 1000.0, mag_y = (double)mag_raw.y / 1000.0, mag_z = (double)mag_raw.z / 1000.0; + float acc_x = (double)acc_raw.x / 1000.0, acc_y = (double)acc_raw.y / 1000.0, acc_z = (double)acc_raw.z / 1000.0; +#ifdef TARGET_K66F + float gyro_x = (double)sens_gyro.getX() / 1000.0, gyro_y = (double)sens_gyro.getY() / 1000.0, gyro_z = (double)sens_gyro.getZ() / 1000.0; +#endif /* TARGET_K66F */ - printf("FXOS8700Q mag: %7ld x, %7ld y, %7ld z [mgauss] \n", mag_raw.x, mag_raw.y, mag_raw.z); - printf("FXOS8700Q acc: %7ld x, %7ld y, %7ld z [mg] \n", acc_raw.x, acc_raw.y, acc_raw.z); - + printf(" \n"); + printf("FXOS8700Q mag: %7.3f x, %7.3f y, %7.3f z [gauss] \n", mag_x, mag_y, mag_z); + printf("FXOS8700Q acc: %7.3f x, %7.3f y, %7.3f z [g] \n", acc_x, acc_y, acc_z); +#ifdef TARGET_K66F + printf("FXAS21002 gryo: %7.3f x, %7.3f y, %7.3f z [dps] \n", gyro_x, gyro_y, gyro_z); + printf("\r\033[4A"); +#else printf("\r\033[3A"); +#endif /* TARGET_K66F */ if (endpointInfo) { #ifdef SEND_ALL_SENSORS - res_magnometer_x->set_value((int)mag_raw.x); - res_magnometer_y->set_value((int)mag_raw.y); - res_magnometer_z->set_value((int)mag_raw.z); - res_accelerometer_x->set_value((int)acc_raw.x); - res_accelerometer_y->set_value((int)acc_raw.y); - res_accelerometer_z->set_value((int)acc_raw.z); + res_magnometer_x->set_value(mag_x); + res_magnometer_y->set_value(mag_y); + res_magnometer_z->set_value(mag_z); + res_accelerometer_x->set_value(acc_x); + res_accelerometer_y->set_value(acc_y); + res_accelerometer_z->set_value(acc_z); +#ifdef TARGET_K66F + res_gyroscope_x->set_value(gyro_x); + res_gyroscope_y->set_value(gyro_y); + res_gyroscope_z->set_value(gyro_z); +#endif /* TARGET_K66F */ #endif /* SEND_ALL_SENSORS */ } } @@ -170,10 +204,22 @@ int main(void) { printf("\nStarting Simple Pelion Device Management Client example\n"); + int storage_status = fs.mount(bd); + if (storage_status != 0) { + printf("Storage mounting failed.\n"); + } #if USE_BUTTON == 1 // If the User button is pressed ons start, then format storage. - if (button.read() == MBED_CONF_APP_BUTTON_PRESSED_STATE) { - printf("User button is pushed on start. Formatting the storage...\n"); + bool btn_pressed = (button.read() == MBED_CONF_APP_BUTTON_PRESSED_STATE); + if (btn_pressed) { + printf("User button is pushed on start...\n"); + } +#else + bool btn_pressed = FALSE; +#endif /* USE_BUTTON */ + + if (storage_status || btn_pressed) { + printf("Formatting the storage...\n"); int storage_status = StorageHelper::format(&fs, bd); if (storage_status != 0) { printf("ERROR: Failed to reformat the storage (%d).\n", storage_status); @@ -181,7 +227,6 @@ } else { printf("You can hold the user button during boot to format the storage and change the device identity.\n"); } -#endif /* USE_BUTTON */ sensors_init(); @@ -207,20 +252,69 @@ } // Creating resources, which can be written or read from the cloud - button_res = client.create_resource("3200/0/5501", "button_count"); - button_res->set_value(0); - button_res->methods(M2MMethod::GET); - button_res->observable(true); - button_res->attach_notification_callback(button_callback); + res_button = client.create_resource("3200/0/5501", "button_count"); + res_button->set_value(0); + res_button->methods(M2MMethod::GET); + res_button->observable(true); + res_button->attach_notification_callback(button_callback); + + res_led = client.create_resource("3201/0/5853", "led_state"); + res_led->set_value(led.read()); + res_led->methods(M2MMethod::GET | M2MMethod::PUT); + res_led->attach_put_callback(put_callback); + + res_post = client.create_resource("3300/0/5605", "execute_function"); + res_post->methods(M2MMethod::POST); + res_post->attach_post_callback(post_callback); + +#ifdef SEND_ALL_SENSORS + res_accelerometer_x = client.create_resource("3313/0/5702", "Accelerometer X"); + res_accelerometer_x->set_value(0); + res_accelerometer_x->methods(M2MMethod::GET); + res_accelerometer_x->observable(true); + + res_accelerometer_y = client.create_resource("3313/0/5703", "Accelerometer Y"); + res_accelerometer_y->set_value(0); + res_accelerometer_y->methods(M2MMethod::GET); + res_accelerometer_y->observable(true); + + res_accelerometer_z = client.create_resource("3313/0/5704", "Accelerometer Z"); + res_accelerometer_z->set_value(0); + res_accelerometer_z->methods(M2MMethod::GET); + res_accelerometer_z->observable(true); - led_res = client.create_resource("3201/0/5853", "led_state"); - led_res->set_value(led.read()); - led_res->methods(M2MMethod::GET | M2MMethod::PUT); - led_res->attach_put_callback(put_callback); + res_magnometer_x = client.create_resource("3314/0/5702", "Magnometer X"); + res_magnometer_x->set_value(0); + res_magnometer_x->methods(M2MMethod::GET); + res_magnometer_x->observable(true); + + res_magnometer_y = client.create_resource("3314/0/5703", "Magnometer Y"); + res_magnometer_y->set_value(0); + res_magnometer_y->methods(M2MMethod::GET); + res_magnometer_y->observable(true); + + res_magnometer_z = client.create_resource("3314/0/5704", "Magnometer Z"); + res_magnometer_z->set_value(0); + res_magnometer_z->methods(M2MMethod::GET); + res_magnometer_z->observable(true); - post_res = client.create_resource("3300/0/5605", "execute_function"); - post_res->methods(M2MMethod::POST); - post_res->attach_post_callback(post_callback); +#ifdef TARGET_K66F + res_gyroscope_x = client.create_resource("3334/0/5702", "Gyroscope X"); + res_gyroscope_x->set_value(0); + res_gyroscope_x->methods(M2MMethod::GET); + res_gyroscope_x->observable(true); + + res_gyroscope_y = client.create_resource("3334/0/5703", "Gyroscope Y"); + res_gyroscope_y->set_value(0); + res_gyroscope_y->methods(M2MMethod::GET); + res_gyroscope_y->observable(true); + + res_gyroscope_z = client.create_resource("3334/0/5704", "Gyroscope Z"); + res_gyroscope_z->set_value(0); + res_gyroscope_z->methods(M2MMethod::GET); + res_gyroscope_z->observable(true); +#endif /* TARGET_K66F */ +#endif /* SEND_ALL_SENSORS */ printf("Initialized Pelion Device Management Client. Registering...\n");