Diff: main.cpp

Revision:

18:fde3070d9f93

Parent:

13:fc873da5b445

--- a/main.cpp	Wed Sep 27 15:48:21 2017 +0000
+++ b/main.cpp	Tue Jul 24 17:23:44 2018 +0000
@@ -43,14 +43,14 @@
 /* Instantiate the expansion board */
 static XNucleoIKS01A2 *mems_expansion_board = XNucleoIKS01A2::instance(D14, D15, D4, D5);
 
-/* Retrieve the composing elements of the expansion board */
-static LSM303AGRMagSensor *magnetometer = mems_expansion_board->magnetometer;
-static HTS221Sensor *hum_temp = mems_expansion_board->ht_sensor;
-static LPS22HBSensor *press_temp = mems_expansion_board->pt_sensor;
+/* Retrieve the LSM6DSL Object */
 static LSM6DSLSensor *acc_gyro = mems_expansion_board->acc_gyro;
-static LSM303AGRAccSensor *accelerometer = mems_expansion_board->accelerometer;
 
-/* Helper function for printing floats & doubles */
+/*Initialize Serial port object*/
+Serial pc(USBTX, USBRX);
+Timer t;
+
+/* Helper function for printing floats & doubles. Not using at the moment! */
 static char *print_double(char* str, double v, int decimalDigits=2)
 {
   int i = 1;
@@ -89,56 +89,31 @@
 /* Simple main function */
 int main() {
   uint8_t id;
-  float value1, value2;
-  char buffer1[32], buffer2[32];
-  int32_t axes[3];
+  //float value1, value2;
+  //char buffer1[32], buffer2[32];
+  int32_t a_axes[3];
+  int32_t g_axes[3];
   
-  /* Enable all sensors */
-  hum_temp->enable();
-  press_temp->enable();
-  magnetometer->enable();
-  accelerometer->enable();
+  /* Set port speed*/
+  pc.baud(115200);
+  
+  /* Enable gyro and accel sensors */
   acc_gyro->enable_x();
   acc_gyro->enable_g();
   
-  printf("\r\n--- Starting new run ---\r\n");
+  pc.printf("\r\n--- Starting new run ---\r\n");
 
-  hum_temp->read_id(&id);
-  printf("HTS221  humidity & temperature    = 0x%X\r\n", id);
-  press_temp->read_id(&id);
-  printf("LPS22HB  pressure & temperature   = 0x%X\r\n", id);
-  magnetometer->read_id(&id);
-  printf("LSM303AGR magnetometer            = 0x%X\r\n", id);
-  accelerometer->read_id(&id);
-  printf("LSM303AGR accelerometer           = 0x%X\r\n", id);
   acc_gyro->read_id(&id);
-  printf("LSM6DSL accelerometer & gyroscope = 0x%X\r\n", id);
+  pc.printf("LSM6DSL accelerometer & gyroscope = 0x%X\r\n", id);\
+  
+  t.start();
  
   while(1) {
-    printf("\r\n");
-
-    hum_temp->get_temperature(&value1);
-    hum_temp->get_humidity(&value2);
-    printf("HTS221: [temp] %7s C,   [hum] %s%%\r\n", print_double(buffer1, value1), print_double(buffer2, value2));
     
-    press_temp->get_temperature(&value1);
-    press_temp->get_pressure(&value2);
-    printf("LPS22HB: [temp] %7s C, [press] %s mbar\r\n", print_double(buffer1, value1), print_double(buffer2, value2));
-
-    printf("---\r\n");
-
-    magnetometer->get_m_axes(axes);
-    printf("LSM303AGR [mag/mgauss]:  %6ld, %6ld, %6ld\r\n", axes[0], axes[1], axes[2]);
+    acc_gyro->get_x_axes(a_axes);
+    acc_gyro->get_g_axes(g_axes);
+    pc.printf("mg ,mdps:  %d %6ld, %6ld, %6ld, %6ld, %6ld, %6ld,\r\n", t.read_ms(), a_axes[0], a_axes[1], a_axes[2],g_axes[0], g_axes[1], g_axes[2]);
     
-    accelerometer->get_x_axes(axes);
-    printf("LSM303AGR [acc/mg]:  %6ld, %6ld, %6ld\r\n", axes[0], axes[1], axes[2]);
-
-    acc_gyro->get_x_axes(axes);
-    printf("LSM6DSL [acc/mg]:      %6ld, %6ld, %6ld\r\n", axes[0], axes[1], axes[2]);
-
-    acc_gyro->get_g_axes(axes);
-    printf("LSM6DSL [gyro/mdps]:   %6ld, %6ld, %6ld\r\n", axes[0], axes[1], axes[2]);
-
-    wait(1.5);
+    //wait_ms(10);
   }
 }