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Dependencies: TextLCD X_NUCLEO_IKS01A1 func mbed-src mbed
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main.cpp
- Committer:
- herenvarno
- Date:
- 2016-08-23
- Revision:
- 5:100310ea8fba
- Parent:
- 4:3fecfc9eeadd
File content as of revision 5:100310ea8fba:
/** ****************************************************************************** * @file main.cpp * @author AST / EST * @version V0.0.1 * @date 14-August-2015 * @brief Simple Example application for using the X_NUCLEO_IKS01A1 * MEMS Inertial & Environmental Sensor Nucleo expansion board. ****************************************************************************** * @attention * * <h2><center>© COPYRIGHT(c) 2015 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 "main.h" /* Instantiate the expansion board */ static X_NUCLEO_IKS01A1 *mems_expansion_board = X_NUCLEO_IKS01A1::Instance(D14, D15); /* Retrieve the composing elements of the expansion board */ static GyroSensor *gyroscope = mems_expansion_board->GetGyroscope(); static MotionSensor *accelerometer = mems_expansion_board->GetAccelerometer(); static MagneticSensor *magnetometer = mems_expansion_board->magnetometer; static HumiditySensor *humidity_sensor = mems_expansion_board->ht_sensor; static PressureSensor *pressure_sensor = mems_expansion_board->pt_sensor; static TempSensor *temp_sensor1 = mems_expansion_board->ht_sensor; static TempSensor *temp_sensor2 = mems_expansion_board->pt_sensor; /* Helper function for printing floats & doubles */ static char *printDouble(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; } DigitalOut myled(LED1); DigitalIn mybutton(USER_BUTTON); Display mydisplay; RawData myrawdata; uint8_t fbtn=BTN_RELEASED; uint8_t fbtn_counter=0; uint8_t mode=MODE_NORMAL; uint8_t func=FUNC_DATETIME; uint8_t config_index=0; uint8_t flag_flash=0; /** * FUNC: wait_action * DESC: wait for pressing button action, update the global flag for next polling cycle */ void wait_action() { fbtn=BTN_RELEASED; for(int i=0; i<5; i++) { if(fbtn==BTN_RELEASED) { if(mybutton==1 and fbtn==BTN_RELEASED) { if(fbtn_counter>0 and fbtn_counter<=20) { fbtn=BTN_PRESSED; } else if(fbtn_counter>20 and fbtn_counter<=50) { fbtn=BTN_PRESSED_LONG; } else if(fbtn_counter>50) { fbtn=BTN_PRESSED_VERY_LONG; } fbtn_counter=0; } else { fbtn_counter+=1; } } wait(0.1); } } /* Simple main function */ int main() { myled=0; uint8_t func=0; uint8_t button_mem=0; uint8_t id; float value1, value2; char buffer0[16]; char buffer1[32], buffer2[32]; int32_t axes[3]; int16_t axxx[3]; /* PersistorStorage ps=PersistorStorage(); strcpy(ps.storage, "hello"); ps.writeStorageToFlash(); PersistorStorage ps1=PersistorStorage(); ps1.ReadStorageFromFlash(); printf("%s", ps1.storage); */ /*HAL_Init(); __HAL_FLASH_CLEAR_FLAG( FLASH_FLAG_EOP | FLASH_FLAG_OPERR |FLASH_FLAG_WRPERR | FLASH_FLAG_PGAERR | FLASH_FLAG_PGSERR ); printf("hello\n"); uint64_t a=124; uint32_t pageerr = 100; HAL_FLASH_Unlock(); FLASH_EraseInitTypeDef es; es.TypeErase=FLASH_TYPEERASE_MASSERASE; es.Banks=FLASH_BANK_2; es.Page=0; es.NbPages=1; if( HAL_OK != (HAL_FLASHEx_Erase_IT( &es))) { printf("ERROR %d\n", pageerr); HAL_FLASH_Lock(); } __HAL_FLASH_CLEAR_FLAG( FLASH_FLAG_EOP | FLASH_FLAG_OPERR |FLASH_FLAG_WRPERR | FLASH_FLAG_PGAERR | FLASH_FLAG_PGSERR ); HAL_FLASH_Unlock(); printf("%d\n", HAL_FLASH_Program(FLASH_TYPEPROGRAM_DOUBLEWORD, 0x08080000, a)); printf("hello\n"); printf("%d\n", HAL_FLASH_GetError()); HAL_FLASH_Lock(); static const int StorageSize = 64; static unsigned int storage[ StorageSize ] __attribute__((aligned(32))); HAL_FLASH_Unlock(); memcpy( (uint32_t*)storage, (uint32_t*)(0x08080000), StorageSize); HAL_FLASH_Lock(); for(int i=0; i<StorageSize; i++) { printf("%4x ",storage[i]); } printf("\n"); */ /* printf("\r\n--- Starting new run ---\r\n"); humidity_sensor->ReadID(&id); printf("HTS221 humidity & temperature = 0x%X\r\n", id); pressure_sensor->ReadID(&id); printf("LPS25H pressure & temperature = 0x%X\r\n", id); magnetometer->ReadID(&id); printf("LIS3MDL magnetometer = 0x%X\r\n", id); gyroscope->ReadID(&id); printf("LSM6DS0 accelerometer & gyroscope = 0x%X\r\n", id); */ float pressure=0; while(1) { // MEASURE AND DISPLAY if(mode==MODE_NORMAL) { myled=0; if(func==FUNC_DATETIME) { myrawdata.__time=time(NULL); myrawdata.str_date(buffer0); myrawdata.str_time(buffer1); } else if(func==FUNC_TEMPHUMI) { temp_sensor1->GetTemperature(&myrawdata.__temp); humidity_sensor->GetHumidity(&myrawdata.__humi); myrawdata.str_temperature(buffer0); myrawdata.str_humidity(buffer1); } else if(func==FUNC_ALTICDIR) { pressure_sensor->GetPressure(&pressure); myrawdata.__prss = pressure * 10; magnetometer->Get_M_Axes(myrawdata.__mag); accelerometer->Get_X_Axes(myrawdata.__acc); gyroscope->Get_G_Axes(myrawdata.__gyr); myrawdata.str_altitude(buffer0); myrawdata.str_direction(buffer1); } mydisplay.show(buffer0, buffer1); } else if(mode==MODE_CONFIG) { myled=1; if(func==FUNC_DATETIME) { myrawdata.str_date(buffer0); myrawdata.str_time(buffer1); if(flag_flash) { if(config_index==0) { buffer0[0]=0xff; } else if(config_index==1) { buffer0[1]=0xff; } else if(config_index==2) { buffer0[3]=0xff; buffer0[4]=0xff; } else if(config_index==3) { buffer0[6]=0xff; buffer0[7]=0xff; } else if(config_index==4) { buffer1[0]=0xff; buffer1[1]=0xff; } else if(config_index==5) { buffer1[3]=0xff; } else if(config_index==6) { buffer1[4]=0xff; } else if(config_index==7) { buffer1[6]=0xff; } else if(config_index==8) { buffer1[7]=0xff; } } } if(func==FUNC_TEMPHUMI) { myrawdata.str_temperature(buffer0); myrawdata.str_humidity(buffer1); if(flag_flash) { if(config_index==0) { buffer0[2]=0xff; } else if(config_index==1) { buffer0[3]=0xff; } else if(config_index==2) { buffer0[4]=0xff; } else if(config_index==3) { buffer0[6]=0xff; } else if(config_index==4) { buffer1[3]=0xff; } else if(config_index==5) { buffer1[4]=0xff; } else if(config_index==6) { buffer1[6]=0xff; } } } else if(func==FUNC_ALTICDIR) { myrawdata.str_altitude(buffer0); myrawdata.str_direction(buffer1); if(flag_flash) { if(config_index==0) { buffer0[3]=0xff; } else if(config_index==1) { buffer0[4]=0xff; } else if(config_index==2) { buffer0[5]=0xff; } else if(config_index==3) { buffer0[6]=0xff; } } } if(flag_flash) { flag_flash=0; } else { flag_flash=1; } mydisplay.show(buffer0, buffer1); } else { mydisplay.show("CALIBRATION", "START IN 3s ..."); wait(1); mydisplay.show("CALIBRATION", "START IN 2s ..."); wait(1); mydisplay.show("CALIBRATION", "START IN 1s ..."); wait(1); mydisplay.show("CALIBRATION", "PHASE 1 ..."); int32_t acc[3]={0}, gyr[3]={0}; for(int i=0;i<100;i++) { int32_t acc_tmp[3]={0}, gyr_tmp[3]={0}; accelerometer->Get_X_Axes(acc_tmp); gyroscope->Get_G_Axes(gyr_tmp); acc[0] += acc_tmp[0]; acc[1] += acc_tmp[1]; acc[2] += acc_tmp[2]; gyr[0] += gyr_tmp[0]; gyr[1] += gyr_tmp[1]; gyr[2] += gyr_tmp[2]; wait(0.02); } myrawdata.__gyr_offset[0]=-gyr[0]/100; myrawdata.__gyr_offset[1]=-gyr[1]/100; myrawdata.__gyr_offset[2]=-gyr[2]/100; myrawdata.__acc_offset[0]=-acc[0]/100; myrawdata.__acc_offset[1]=-acc[1]/100; myrawdata.__acc_offset[2]=1-acc[2]/100; // gravaty mydisplay.show("CALIBRATION", "PHASE 2 ..."); int32_t mag_max[3]={-10000}, mag_min[3]={10000}; for(int i=0;i<500;i++) { int32_t mag_tmp[3]={0}; magnetometer->Get_M_Axes(mag_tmp); mag_max[0]=mag_tmp[0]>mag_max[0]?mag_tmp[0]:mag_max[0]; mag_max[1]=mag_tmp[1]>mag_max[1]?mag_tmp[1]:mag_max[1]; mag_max[2]=mag_tmp[2]>mag_max[2]?mag_tmp[2]:mag_max[2]; mag_min[0]=mag_tmp[0]<mag_min[0]?mag_tmp[0]:mag_min[0]; mag_min[1]=mag_tmp[1]<mag_min[1]?mag_tmp[1]:mag_min[1]; mag_min[2]=mag_tmp[2]<mag_min[2]?mag_tmp[2]:mag_min[2]; wait(0.02); } myrawdata.__mag_offset[0]=-((mag_max[0]+mag_min[0])/2); myrawdata.__mag_offset[1]=-((mag_max[1]+mag_min[1])/2); myrawdata.__mag_offset[2]=-((mag_max[2]+mag_min[2])/2); mode=MODE_NORMAL; } // NEXT STATE if(mode==MODE_NORMAL) { if(fbtn==BTN_PRESSED_LONG) { mode=MODE_CONFIG; } else if(fbtn==BTN_PRESSED) { func=func+1; if(func>FUNC_ALTICDIR) func=FUNC_DATETIME; } else if(fbtn==BTN_PRESSED_VERY_LONG) { mode=MODE_CONFIG_AUTO; } } else if(mode==MODE_CONFIG) { if(fbtn==BTN_PRESSED_VERY_LONG) { config_index=0; mode=MODE_NORMAL; } else if(fbtn==BTN_PRESSED_LONG) { config_index+=1; if(func==FUNC_DATETIME){ if(config_index>8) { config_index=0; } } else if(func== FUNC_TEMPHUMI){ if(config_index>6) { config_index=0; } } else if(func==FUNC_ALTICDIR){ if(config_index>3) { config_index=0; } } } else if(fbtn==BTN_PRESSED) { if(func==FUNC_DATETIME) { if(config_index==0) { myrawdata.add_year_10(); } else if(config_index==1) { myrawdata.add_year_1(); } else if(config_index==2) { myrawdata.add_month(); } else if(config_index==3) { myrawdata.add_day(); } else if(config_index==4) { myrawdata.add_hour(); } else if(config_index==5) { myrawdata.add_min_10(); } else if(config_index==6) { myrawdata.add_min_1(); } else if(config_index==7) { myrawdata.add_sec_10(); } else if(config_index==8) { myrawdata.add_sec_1(); } } else if(func==FUNC_TEMPHUMI) { if(config_index==0) { myrawdata.add_temp_sign(); } else if(config_index==1) { myrawdata.add_temp_10(); } else if(config_index==2) { myrawdata.add_temp_1(); } else if(config_index==3) { myrawdata.add_temp_1_10(); } else if(config_index==4) { myrawdata.add_humi_10(); } else if(config_index==5) { myrawdata.add_humi_1(); } else if(config_index==6) { myrawdata.add_humi_1_10(); } } else if(func==FUNC_ALTICDIR) { if(config_index==0) { myrawdata.add_altitude_1000(); } else if(config_index==1) { myrawdata.add_altitude_100(); } else if(config_index==2) { myrawdata.add_altitude_10(); } else if(config_index==3) { myrawdata.add_altitude_1(); } } } } else { ; } wait_action(); } /* raise_error(ERROR_CONFIG); printf("START CALIBRATION\n"); int32_t m_max[3]={0}; int32_t m_min[3]={0}; for (int i=0; i<1000; i++) { magnetometer->Get_M_Axes(axes); if(i==0) { for(int j=0; j<3; j++) { m_max[j]=axes[j]; m_min[j]=axes[j]; } } else { for(int j=0; j<3; j++) { if(axes[j]>m_max[j]) m_max[j]=axes[j]; if(axes[j]<m_min[j]) m_min[j]=axes[j]; } } wait(0.05); } printf("MAX : %d, %d, %d\n", m_max[0], m_max[1], m_max[2]); printf("MIN : %d, %d, %d\n", m_min[0], m_min[1], m_min[2]); while(1) { if((mybutton!=0) && (button_mem==0)) { func++; if(func>=6) func=0; } button_mem=mybutton; printf("func: %d\r\n", func); printf("\r\n"); if(func==0) { time_t seconds = time(NULL); printf("Time as a basic string = %s\r\n", ctime(&seconds)); } else if(func==1) { temp_sensor1->GetTemperature(&value1); humidity_sensor->GetHumidity(&value2); if(value2 > 70) myled=1; else myled=0; printf("HTS221: [temp] %7s C, [hum] %s%%\r\n", printDouble(buffer1, value1), printDouble(buffer2, value2)); } else if(func==2) { temp_sensor2->GetFahrenheit(&value1); pressure_sensor->GetPressure(&value2); printf("LPS25H: [temp] %7s F, [press] %smbar\r\n", printDouble(buffer1, value1), printDouble(buffer2, value2)); printf("Altitude: %s m\r\n", printDouble(buffer1, 44300-44300*pow((value2/1013.25), 0.00019))); } else if(func==3) { magnetometer->Get_M_Axes(axes); axxx[0]=axes[0]-((m_max[0]+m_min[0])/2); axxx[1]=axes[1]-((m_max[1]+m_min[1])/2); axxx[2]=axes[2]-((m_max[2]+m_min[2])/2); printf("LIS3MDL [mag/mgauss]: %6ld, %6ld, %6ld\r\n", axxx[0], axxx[1], axxx[2]); printf("DIR: %s deg\r\n", printDouble(buffer1, 90-atan(float(axxx[0])/float(axxx[1])/3.1416))); } else if(func==4) { accelerometer->Get_X_Axes(axes); printf("LSM6DS0 [acc/mg]: %6ld, %6ld, %6ld\r\n", axes[0], axes[1], axes[2]); } else if(func==5) { gyroscope ->Get_G_Axes(axes); printf("LSM6DS0 [gyro/mdps]: %6ld, %6ld, %6ld\r\n", axes[0], axes[1], axes[2]); } wait(1.5); }*/ }