main.cpp

00001 /**
00002  ******************************************************************************
00003  * @file    main.cpp
00004  * @author  SRA
00005  * @version V1.0.0
00006  * @date    5-March-2019
00007  * @brief   Simple Example application for using the X_NUCLEO_IKS01A3
00008  *          MEMS Inertial & Environmental Sensor Nucleo expansion board.
00009  ******************************************************************************
00010  * @attention
00011  *
00012  * <h2><center>&copy; COPYRIGHT(c) 2019 STMicroelectronics</center></h2>
00013  *
00014  * Redistribution and use in source and binary forms, with or without modification,
00015  * are permitted provided that the following conditions are met:
00016  *   1. Redistributions of source code must retain the above copyright notice,
00017  *      this list of conditions and the following disclaimer.
00018  *   2. Redistributions in binary form must reproduce the above copyright notice,
00019  *      this list of conditions and the following disclaimer in the documentation
00020  *      and/or other materials provided with the distribution.
00021  *   3. Neither the name of STMicroelectronics nor the names of its contributors
00022  *      may be used to endorse or promote products derived from this software
00023  *      without specific prior written permission.
00024  *
00025  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00026  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00027  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00028  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
00029  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
00030  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
00031  *  SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00032  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
00033  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
00034  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00035  *
00036  ******************************************************************************
00037 */
00038 
00039 /* Includes */
00040 #include "mbed.h"
00041 #include "rtos.h"
00042 #include "XNucleoIKS01A3.h"
00043 
00044 #define PI 3.14159
00045 int32_t minx,miny,minz,maxx,maxy,maxz;
00046 
00047 
00048 /* Instantiate the expansion board */
00049 static XNucleoIKS01A3 *mems_expansion_board = XNucleoIKS01A3::instance(D14, D15);//, D4, D5, A3, D6, A4);
00050 
00051 /* Retrieve the composing elements of the expansion board */
00052 static LIS2MDLSensor *magnetometer = mems_expansion_board->magnetometer;
00053 
00054 
00055 void calibra()
00056 {
00057     int32_t axes[3];
00058 
00059     magnetometer->get_m_axes(axes);
00060     
00061     //setto tutti i valori alla prima lettura
00062     minx=axes[0];
00063     miny=axes[1];
00064     minz=axes[2];
00065     maxx=minx;
00066     maxy=miny;
00067     maxz=minz;
00068     //imposto un timer per leggere per 10 secondi
00069     Timer t;
00070     t.start();
00071     while(t.read()<10){
00072        
00073         magnetometer->get_m_axes(axes);
00074     
00075         if (minx>axes[0])minx=axes[0];      
00076         if (miny>axes[1])miny=axes[1];
00077         if (minz>axes[2])minz=axes[2];
00078         if (maxx<axes[0])maxx=axes[0];      
00079         if (maxy<axes[1])maxy=axes[1];
00080         if (maxz<axes[2])maxz=axes[2];
00081     }
00082     t.stop();
00083     printf("LIS2MDL [mag/mgauss]:  minx %6d, maxx %6d, miny %6d maxy %6d\r\n", minx,maxx,miny,maxy);
00084     
00085 }
00086 void normalizza(int32_t axes[]){
00087     int32_t max,min;
00088     
00089     if (minx>axes[0])max=minx;
00090     else max=axes[0];
00091     if (max<maxx)min=max;
00092     else min=maxx;
00093     axes[0]=(min-minx)*200/(maxx-minx)-100;
00094     
00095     if (miny>axes[1])max=miny;
00096     else max=axes[1];
00097     if (max<maxy)min=max;
00098     else min=maxy;
00099     axes[1]=(min-miny)*200/(maxy-miny)-100;
00100    
00101     }
00102     
00103 /* Simple main function */
00104 int main()
00105 {
00106     uint8_t id;
00107     //float value1, value2;
00108     //char buffer1[32], buffer2[32];
00109     int32_t axes[3];
00110     int direzione=0;
00111     
00112     /* Enable all sensors */
00113     magnetometer->enable();
00114     magnetometer->read_id(&id);
00115     calibra();
00116   
00117   //  magnetometer->get_m_axes(axes);
00118    // printf("LIS2MDL [mag/mgauss]:  %6d, %6d, %6d\r\n", axes[0], axes[1], axes[2]);
00119         
00120     while (1) {
00121         
00122         magnetometer->get_m_axes(axes);
00123         normalizza(axes);
00124         direzione = atan2(axes[1], axes[0]) * 180.0 / PI;
00125         direzione+=180;
00126         printf("gradi=%d\r\n",direzione);
00127         ThisThread::sleep_for(500);
00128     }
00129     
00130     
00131 }