File content as of revision 18:fde3070d9f93:

/**
 ******************************************************************************
 * @file    main.cpp
 * @author  CLab
 * @version V1.0.0
 * @date    2-December-2016
 * @brief   Simple Example application for using the X_NUCLEO_IKS01A1 
 *          MEMS Inertial & Environmental Sensor Nucleo expansion board.
 ******************************************************************************
 * @attention
 *
 * <h2><center>&copy; COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
 *
 * Redistribution and use in source and binary forms, with or without modification,
 * are permitted provided that the following conditions are met:
 *   1. Redistributions of source code must retain the above copyright notice,
 *      this list of conditions and the following disclaimer.
 *   2. Redistributions in binary form must reproduce the above copyright notice,
 *      this list of conditions and the following disclaimer in the documentation
 *      and/or other materials provided with the distribution.
 *   3. Neither the name of STMicroelectronics nor the names of its contributors
 *      may be used to endorse or promote products derived from this software
 *      without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
 *  SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 *
 ******************************************************************************
*/ 

/* Includes */
#include "mbed.h"
#include "XNucleoIKS01A2.h"

/* Instantiate the expansion board */
static XNucleoIKS01A2 *mems_expansion_board = XNucleoIKS01A2::instance(D14, D15, D4, D5);

/* Retrieve the LSM6DSL Object */
static LSM6DSLSensor *acc_gyro = mems_expansion_board->acc_gyro;

/*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;
  int intPart, fractPart;
  int len;
  char *ptr;

  /* prepare decimal digits multiplicator */
  for (;decimalDigits!=0; i*=10, decimalDigits--);

  /* calculate integer & fractinal parts */
  intPart = (int)v;
  fractPart = (int)((v-(double)(int)v)*i);

  /* fill in integer part */
  sprintf(str, "%i.", intPart);

  /* prepare fill in of fractional part */
  len = strlen(str);
  ptr = &str[len];

  /* fill in leading fractional zeros */
  for (i/=10;i>1; i/=10, ptr++) {
    if (fractPart >= i) {
      break;
    }
    *ptr = '0';
  }

  /* fill in (rest of) fractional part */
  sprintf(ptr, "%i", fractPart);

  return str;
}

/* Simple main function */
int main() {
  uint8_t id;
  //float value1, value2;
  //char buffer1[32], buffer2[32];
  int32_t a_axes[3];
  int32_t g_axes[3];
  
  /* Set port speed*/
  pc.baud(115200);
  
  /* Enable gyro and accel sensors */
  acc_gyro->enable_x();
  acc_gyro->enable_g();
  
  pc.printf("\r\n--- Starting new run ---\r\n");

  acc_gyro->read_id(&id);
  pc.printf("LSM6DSL accelerometer & gyroscope = 0x%X\r\n", id);\
  
  t.start();
 
  while(1) {
    
    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]);
    
    //wait_ms(10);
  }
}