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Example from X-NUCLEO-IKS01A3 to calibrate Magnetometer and use to read compass heading degrees without declination
Dependencies: X_NUCLEO_IKS01A3
main.cpp@6:94151942f287, 2020-06-04 (annotated)
- Committer:
- cparata
- Date:
- Thu Jun 04 16:25:19 2020 +0000
- Revision:
- 6:94151942f287
- Parent:
- 5:7c883cce2bc4
- Child:
- 9:3486ba668395
Update code to be compatible with mbed OS 6
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
cparata | 0:535249dc4bf5 | 1 | /** |
cparata | 0:535249dc4bf5 | 2 | ****************************************************************************** |
cparata | 0:535249dc4bf5 | 3 | * @file main.cpp |
cparata | 0:535249dc4bf5 | 4 | * @author SRA |
cparata | 0:535249dc4bf5 | 5 | * @version V1.0.0 |
cparata | 0:535249dc4bf5 | 6 | * @date 5-March-2019 |
cparata | 5:7c883cce2bc4 | 7 | * @brief Simple Example application for using the X_NUCLEO_IKS01A3 |
cparata | 0:535249dc4bf5 | 8 | * MEMS Inertial & Environmental Sensor Nucleo expansion board. |
cparata | 0:535249dc4bf5 | 9 | ****************************************************************************** |
cparata | 0:535249dc4bf5 | 10 | * @attention |
cparata | 0:535249dc4bf5 | 11 | * |
cparata | 0:535249dc4bf5 | 12 | * <h2><center>© COPYRIGHT(c) 2019 STMicroelectronics</center></h2> |
cparata | 0:535249dc4bf5 | 13 | * |
cparata | 0:535249dc4bf5 | 14 | * Redistribution and use in source and binary forms, with or without modification, |
cparata | 0:535249dc4bf5 | 15 | * are permitted provided that the following conditions are met: |
cparata | 0:535249dc4bf5 | 16 | * 1. Redistributions of source code must retain the above copyright notice, |
cparata | 0:535249dc4bf5 | 17 | * this list of conditions and the following disclaimer. |
cparata | 0:535249dc4bf5 | 18 | * 2. Redistributions in binary form must reproduce the above copyright notice, |
cparata | 0:535249dc4bf5 | 19 | * this list of conditions and the following disclaimer in the documentation |
cparata | 0:535249dc4bf5 | 20 | * and/or other materials provided with the distribution. |
cparata | 0:535249dc4bf5 | 21 | * 3. Neither the name of STMicroelectronics nor the names of its contributors |
cparata | 0:535249dc4bf5 | 22 | * may be used to endorse or promote products derived from this software |
cparata | 0:535249dc4bf5 | 23 | * without specific prior written permission. |
cparata | 0:535249dc4bf5 | 24 | * |
cparata | 0:535249dc4bf5 | 25 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
cparata | 0:535249dc4bf5 | 26 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
cparata | 0:535249dc4bf5 | 27 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE |
cparata | 0:535249dc4bf5 | 28 | * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE |
cparata | 0:535249dc4bf5 | 29 | * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL |
cparata | 0:535249dc4bf5 | 30 | * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR |
cparata | 0:535249dc4bf5 | 31 | * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
cparata | 0:535249dc4bf5 | 32 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, |
cparata | 0:535249dc4bf5 | 33 | * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
cparata | 0:535249dc4bf5 | 34 | * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
cparata | 0:535249dc4bf5 | 35 | * |
cparata | 0:535249dc4bf5 | 36 | ****************************************************************************** |
cparata | 5:7c883cce2bc4 | 37 | */ |
cparata | 0:535249dc4bf5 | 38 | |
cparata | 0:535249dc4bf5 | 39 | /* Includes */ |
cparata | 0:535249dc4bf5 | 40 | #include "mbed.h" |
cparata | 6:94151942f287 | 41 | #include "rtos.h" |
cparata | 0:535249dc4bf5 | 42 | #include "XNucleoIKS01A3.h" |
cparata | 0:535249dc4bf5 | 43 | |
cparata | 0:535249dc4bf5 | 44 | /* Instantiate the expansion board */ |
cparata | 0:535249dc4bf5 | 45 | static XNucleoIKS01A3 *mems_expansion_board = XNucleoIKS01A3::instance(D14, D15, D4, D5, A3, D6, A4); |
cparata | 0:535249dc4bf5 | 46 | |
cparata | 0:535249dc4bf5 | 47 | /* Retrieve the composing elements of the expansion board */ |
cparata | 0:535249dc4bf5 | 48 | static LIS2MDLSensor *magnetometer = mems_expansion_board->magnetometer; |
cparata | 0:535249dc4bf5 | 49 | static HTS221Sensor *hum_temp = mems_expansion_board->ht_sensor; |
cparata | 0:535249dc4bf5 | 50 | static LPS22HHSensor *press_temp = mems_expansion_board->pt_sensor; |
cparata | 0:535249dc4bf5 | 51 | static LSM6DSOSensor *acc_gyro = mems_expansion_board->acc_gyro; |
cparata | 0:535249dc4bf5 | 52 | static LIS2DW12Sensor *accelerometer = mems_expansion_board->accelerometer; |
cparata | 0:535249dc4bf5 | 53 | static STTS751Sensor *temp = mems_expansion_board->t_sensor; |
cparata | 0:535249dc4bf5 | 54 | |
cparata | 0:535249dc4bf5 | 55 | /* Helper function for printing floats & doubles */ |
cparata | 5:7c883cce2bc4 | 56 | static char *print_double(char *str, double v, int decimalDigits = 2) |
cparata | 0:535249dc4bf5 | 57 | { |
cparata | 5:7c883cce2bc4 | 58 | int i = 1; |
cparata | 5:7c883cce2bc4 | 59 | int intPart, fractPart; |
cparata | 5:7c883cce2bc4 | 60 | int len; |
cparata | 5:7c883cce2bc4 | 61 | char *ptr; |
cparata | 0:535249dc4bf5 | 62 | |
cparata | 5:7c883cce2bc4 | 63 | /* prepare decimal digits multiplicator */ |
cparata | 5:7c883cce2bc4 | 64 | for (; decimalDigits != 0; i *= 10, decimalDigits--); |
cparata | 0:535249dc4bf5 | 65 | |
cparata | 5:7c883cce2bc4 | 66 | /* calculate integer & fractinal parts */ |
cparata | 5:7c883cce2bc4 | 67 | intPart = (int)v; |
cparata | 5:7c883cce2bc4 | 68 | fractPart = (int)((v - (double)(int)v) * i); |
cparata | 0:535249dc4bf5 | 69 | |
cparata | 5:7c883cce2bc4 | 70 | /* fill in integer part */ |
cparata | 5:7c883cce2bc4 | 71 | sprintf(str, "%i.", intPart); |
cparata | 0:535249dc4bf5 | 72 | |
cparata | 5:7c883cce2bc4 | 73 | /* prepare fill in of fractional part */ |
cparata | 5:7c883cce2bc4 | 74 | len = strlen(str); |
cparata | 5:7c883cce2bc4 | 75 | ptr = &str[len]; |
cparata | 0:535249dc4bf5 | 76 | |
cparata | 5:7c883cce2bc4 | 77 | /* fill in leading fractional zeros */ |
cparata | 5:7c883cce2bc4 | 78 | for (i /= 10; i > 1; i /= 10, ptr++) { |
cparata | 5:7c883cce2bc4 | 79 | if (fractPart >= i) { |
cparata | 5:7c883cce2bc4 | 80 | break; |
cparata | 5:7c883cce2bc4 | 81 | } |
cparata | 5:7c883cce2bc4 | 82 | *ptr = '0'; |
cparata | 0:535249dc4bf5 | 83 | } |
cparata | 0:535249dc4bf5 | 84 | |
cparata | 5:7c883cce2bc4 | 85 | /* fill in (rest of) fractional part */ |
cparata | 5:7c883cce2bc4 | 86 | sprintf(ptr, "%i", fractPart); |
cparata | 0:535249dc4bf5 | 87 | |
cparata | 5:7c883cce2bc4 | 88 | return str; |
cparata | 0:535249dc4bf5 | 89 | } |
cparata | 0:535249dc4bf5 | 90 | |
cparata | 0:535249dc4bf5 | 91 | /* Simple main function */ |
cparata | 5:7c883cce2bc4 | 92 | int main() |
cparata | 5:7c883cce2bc4 | 93 | { |
cparata | 5:7c883cce2bc4 | 94 | uint8_t id; |
cparata | 5:7c883cce2bc4 | 95 | float value1, value2; |
cparata | 5:7c883cce2bc4 | 96 | char buffer1[32], buffer2[32]; |
cparata | 5:7c883cce2bc4 | 97 | int32_t axes[3]; |
cparata | 5:7c883cce2bc4 | 98 | |
cparata | 5:7c883cce2bc4 | 99 | /* Enable all sensors */ |
cparata | 5:7c883cce2bc4 | 100 | hum_temp->enable(); |
cparata | 5:7c883cce2bc4 | 101 | press_temp->enable(); |
cparata | 5:7c883cce2bc4 | 102 | temp->enable(); |
cparata | 5:7c883cce2bc4 | 103 | magnetometer->enable(); |
cparata | 5:7c883cce2bc4 | 104 | accelerometer->enable_x(); |
cparata | 5:7c883cce2bc4 | 105 | acc_gyro->enable_x(); |
cparata | 5:7c883cce2bc4 | 106 | acc_gyro->enable_g(); |
cparata | 5:7c883cce2bc4 | 107 | |
cparata | 5:7c883cce2bc4 | 108 | printf("\r\n--- Starting new run ---\r\n"); |
cparata | 5:7c883cce2bc4 | 109 | |
cparata | 5:7c883cce2bc4 | 110 | hum_temp->read_id(&id); |
cparata | 5:7c883cce2bc4 | 111 | printf("HTS221 humidity & temperature = 0x%X\r\n", id); |
cparata | 5:7c883cce2bc4 | 112 | press_temp->read_id(&id); |
cparata | 5:7c883cce2bc4 | 113 | printf("LPS22HH pressure & temperature = 0x%X\r\n", id); |
cparata | 5:7c883cce2bc4 | 114 | temp->read_id(&id); |
cparata | 5:7c883cce2bc4 | 115 | printf("STTS751 temperature = 0x%X\r\n", id); |
cparata | 5:7c883cce2bc4 | 116 | magnetometer->read_id(&id); |
cparata | 5:7c883cce2bc4 | 117 | printf("LIS2MDL magnetometer = 0x%X\r\n", id); |
cparata | 5:7c883cce2bc4 | 118 | accelerometer->read_id(&id); |
cparata | 5:7c883cce2bc4 | 119 | printf("LIS2DW12 accelerometer = 0x%X\r\n", id); |
cparata | 5:7c883cce2bc4 | 120 | acc_gyro->read_id(&id); |
cparata | 5:7c883cce2bc4 | 121 | printf("LSM6DSO accelerometer & gyroscope = 0x%X\r\n", id); |
cparata | 0:535249dc4bf5 | 122 | |
cparata | 5:7c883cce2bc4 | 123 | while (1) { |
cparata | 5:7c883cce2bc4 | 124 | printf("\r\n"); |
cparata | 5:7c883cce2bc4 | 125 | |
cparata | 5:7c883cce2bc4 | 126 | hum_temp->get_temperature(&value1); |
cparata | 5:7c883cce2bc4 | 127 | hum_temp->get_humidity(&value2); |
cparata | 5:7c883cce2bc4 | 128 | printf("HTS221: [temp] %7s C, [hum] %s%%\r\n", print_double(buffer1, value1), print_double(buffer2, value2)); |
cparata | 5:7c883cce2bc4 | 129 | |
cparata | 5:7c883cce2bc4 | 130 | press_temp->get_temperature(&value1); |
cparata | 5:7c883cce2bc4 | 131 | press_temp->get_pressure(&value2); |
cparata | 5:7c883cce2bc4 | 132 | printf("LPS22HH: [temp] %7s C, [press] %s mbar\r\n", print_double(buffer1, value1), print_double(buffer2, value2)); |
cparata | 5:7c883cce2bc4 | 133 | |
cparata | 5:7c883cce2bc4 | 134 | temp->get_temperature(&value1); |
cparata | 5:7c883cce2bc4 | 135 | printf("STTS751: [temp] %7s C\r\n", print_double(buffer1, value1)); |
cparata | 5:7c883cce2bc4 | 136 | |
cparata | 5:7c883cce2bc4 | 137 | printf("---\r\n"); |
cparata | 0:535249dc4bf5 | 138 | |
cparata | 5:7c883cce2bc4 | 139 | magnetometer->get_m_axes(axes); |
cparata | 5:7c883cce2bc4 | 140 | printf("LIS2MDL [mag/mgauss]: %6d, %6d, %6d\r\n", axes[0], axes[1], axes[2]); |
cparata | 0:535249dc4bf5 | 141 | |
cparata | 5:7c883cce2bc4 | 142 | accelerometer->get_x_axes(axes); |
cparata | 5:7c883cce2bc4 | 143 | printf("LIS2DW12 [acc/mg]: %6d, %6d, %6d\r\n", axes[0], axes[1], axes[2]); |
cparata | 0:535249dc4bf5 | 144 | |
cparata | 5:7c883cce2bc4 | 145 | acc_gyro->get_x_axes(axes); |
cparata | 5:7c883cce2bc4 | 146 | printf("LSM6DSO [acc/mg]: %6d, %6d, %6d\r\n", axes[0], axes[1], axes[2]); |
cparata | 0:535249dc4bf5 | 147 | |
cparata | 5:7c883cce2bc4 | 148 | acc_gyro->get_g_axes(axes); |
cparata | 5:7c883cce2bc4 | 149 | printf("LSM6DSO [gyro/mdps]: %6d, %6d, %6d\r\n", axes[0], axes[1], axes[2]); |
cparata | 0:535249dc4bf5 | 150 | |
cparata | 6:94151942f287 | 151 | ThisThread::sleep_for(1500); |
cparata | 5:7c883cce2bc4 | 152 | } |
cparata | 0:535249dc4bf5 | 153 | } |