Cyrill Zoller / Mbed 2 deprecated calculate

calculate

Dependencies:   mbed X_NUCLEO_IKS01A3 Mahony_Algorithm

CalculateData.cpp@0:313fbc3a198a, 2020-04-01 (annotated)

Committer:
zollecy1
Date:
Wed Apr 01 16:47:06 2020 +0000
Revision:
0:313fbc3a198a
Child:
1:48e219526d0f
test

Who changed what in which revision?

UserRevisionLine numberNew contents of line
zollecy1 0:313fbc3a198a 1 /**
zollecy1 0:313fbc3a198a 2 |**********************************************************************;
zollecy1 0:313fbc3a198a 3 * Project : Projektarbeit Systemtechnik PES4
zollecy1 0:313fbc3a198a 4 *
zollecy1 0:313fbc3a198a 5 * Program name : Beispiel
zollecy1 0:313fbc3a198a 6 *
zollecy1 0:313fbc3a198a 7 * Author : PES4 Team1
zollecy1 0:313fbc3a198a 8 *
zollecy1 0:313fbc3a198a 9 * Team : **Team 1**
zollecy1 0:313fbc3a198a 10 * Fabio Bernard
zollecy1 0:313fbc3a198a 11 * Lukas Egli
zollecy1 0:313fbc3a198a 12 * Matthias Ott
zollecy1 0:313fbc3a198a 13 * Pascal Novacki
zollecy1 0:313fbc3a198a 14 * Robin Wanner
zollecy1 0:313fbc3a198a 15 * Vincent Vescoli
zollecy1 0:313fbc3a198a 16 * Cyrill Zoller
zollecy1 0:313fbc3a198a 17 *
zollecy1 0:313fbc3a198a 18 * Date created : 20.02.2020
zollecy1 0:313fbc3a198a 19 *
zollecy1 0:313fbc3a198a 20 * Purpose : Beispiel
zollecy1 0:313fbc3a198a 21 *
zollecy1 0:313fbc3a198a 22 |**********************************************************************;
zollecy1 0:313fbc3a198a 23 **/
zollecy1 0:313fbc3a198a 24
zollecy1 0:313fbc3a198a 25 #include "CalculateData.h"
zollecy1 0:313fbc3a198a 26 #include "mbed.h"
zollecy1 0:313fbc3a198a 27 #include "XNucleoIKS01A3.h"
zollecy1 0:313fbc3a198a 28
zollecy1 0:313fbc3a198a 29 using namespace std;
zollecy1 0:313fbc3a198a 30
zollecy1 0:313fbc3a198a 31 const float CalculateData::PERIOD = 0.01f; //Periode von 10 ms
zollecy1 0:313fbc3a198a 32
zollecy1 0:313fbc3a198a 33
zollecy1 0:313fbc3a198a 34 static XNucleoIKS01A3 *mems_expansion_board;
zollecy1 0:313fbc3a198a 35 static LIS2MDLSensor *magnetometer;
zollecy1 0:313fbc3a198a 36 static HTS221Sensor *hum_temp;
zollecy1 0:313fbc3a198a 37 static LPS22HHSensor *press_temp;
zollecy1 0:313fbc3a198a 38 static LSM6DSOSensor *acc_gyro;
zollecy1 0:313fbc3a198a 39 static LIS2DW12Sensor *accelerometer;
zollecy1 0:313fbc3a198a 40 static STTS751Sensor *temp;
zollecy1 0:313fbc3a198a 41 float value1, value2;
zollecy1 0:313fbc3a198a 42 int32_t axes[3];
zollecy1 0:313fbc3a198a 43
zollecy1 0:313fbc3a198a 44
zollecy1 0:313fbc3a198a 45
zollecy1 0:313fbc3a198a 46 CalculateData::CalculateData(PinName p0, PinName p1, PinName p2, PinName p3,
zollecy1 0:313fbc3a198a 47 PinName p4, PinName p5, PinName p6){
zollecy1 0:313fbc3a198a 48
zollecy1 0:313fbc3a198a 49 /* Instantiate the expansion board */
zollecy1 0:313fbc3a198a 50 mems_expansion_board = XNucleoIKS01A3::instance(p0, p1, p2, p3, p4, p5, p6);
zollecy1 0:313fbc3a198a 51
zollecy1 0:313fbc3a198a 52 /* Retrieve the composing elements of the expansion board */
zollecy1 0:313fbc3a198a 53 magnetometer = mems_expansion_board->magnetometer;
zollecy1 0:313fbc3a198a 54 hum_temp = mems_expansion_board->ht_sensor;
zollecy1 0:313fbc3a198a 55 press_temp = mems_expansion_board->pt_sensor;
zollecy1 0:313fbc3a198a 56 acc_gyro = mems_expansion_board->acc_gyro;
zollecy1 0:313fbc3a198a 57 accelerometer = mems_expansion_board->accelerometer;
zollecy1 0:313fbc3a198a 58 temp = mems_expansion_board->t_sensor;
zollecy1 0:313fbc3a198a 59
zollecy1 0:313fbc3a198a 60 /* Enable all sensors */
zollecy1 0:313fbc3a198a 61 hum_temp->enable();
zollecy1 0:313fbc3a198a 62 press_temp->enable();
zollecy1 0:313fbc3a198a 63 temp->enable();
zollecy1 0:313fbc3a198a 64 magnetometer->enable();
zollecy1 0:313fbc3a198a 65 accelerometer->enable_x();
zollecy1 0:313fbc3a198a 66 acc_gyro->enable_x();
zollecy1 0:313fbc3a198a 67 acc_gyro->enable_g();
zollecy1 0:313fbc3a198a 68
zollecy1 0:313fbc3a198a 69 /*while(1){
zollecy1 0:313fbc3a198a 70 printf("\r\n");
zollecy1 0:313fbc3a198a 71
zollecy1 0:313fbc3a198a 72 hum_temp->get_temperature(&value1);
zollecy1 0:313fbc3a198a 73 hum_temp->get_humidity(&value2);
zollecy1 0:313fbc3a198a 74 printf("HTS221: [temp] %4.2f C, [hum] %4.2f%%\r\n", value1, value2);
zollecy1 0:313fbc3a198a 75
zollecy1 0:313fbc3a198a 76 press_temp->get_temperature(&value1);
zollecy1 0:313fbc3a198a 77 press_temp->get_pressure(&value2);
zollecy1 0:313fbc3a198a 78 printf("LPS22HH: [temp] %4.2f C, [press] %6.2f mbar\r\n", value1, value2);
zollecy1 0:313fbc3a198a 79
zollecy1 0:313fbc3a198a 80 temp->get_temperature(&value1);
zollecy1 0:313fbc3a198a 81 printf("STTS751: [temp] %4.2f C\r\n", value1);
zollecy1 0:313fbc3a198a 82
zollecy1 0:313fbc3a198a 83 printf("---\r\n");
zollecy1 0:313fbc3a198a 84
zollecy1 0:313fbc3a198a 85 magnetometer->get_m_axes(axes);
zollecy1 0:313fbc3a198a 86 printf("LIS2MDL [mag/mgauss]: %6d, %6d, %6d\r\n", axes[0], axes[1], axes[2]);
zollecy1 0:313fbc3a198a 87
zollecy1 0:313fbc3a198a 88 accelerometer->get_x_axes(axes);
zollecy1 0:313fbc3a198a 89 printf("LIS2DW12 [acc/mg]: %6d, %6d, %6d\r\n", axes[0], axes[1], axes[2]);
zollecy1 0:313fbc3a198a 90
zollecy1 0:313fbc3a198a 91 acc_gyro->get_x_axes(axes);
zollecy1 0:313fbc3a198a 92 printf("LSM6DSO [acc/mg]: %6d, %6d, %6d\r\n", axes[0], axes[1], axes[2]);
zollecy1 0:313fbc3a198a 93
zollecy1 0:313fbc3a198a 94 acc_gyro->get_g_axes(axes);
zollecy1 0:313fbc3a198a 95 printf("LSM6DSO [gyro/mdps]: %6d, %6d, %6d\r\n", axes[0], axes[1], axes[2]);
zollecy1 0:313fbc3a198a 96 }*/
zollecy1 0:313fbc3a198a 97 }
zollecy1 0:313fbc3a198a 98
zollecy1 0:313fbc3a198a 99
zollecy1 0:313fbc3a198a 100 CalculateData::~CalculateData() {
zollecy1 0:313fbc3a198a 101
zollecy1 0:313fbc3a198a 102 }
zollecy1 0:313fbc3a198a 103
zollecy1 0:313fbc3a198a 104
zollecy1 0:313fbc3a198a 105 void CalculateData::enable(){
zollecy1 0:313fbc3a198a 106 //Starten des periodischen Task
zollecy1 0:313fbc3a198a 107 ticker.attach(callback(this, &CalculateData::run), PERIOD);
zollecy1 0:313fbc3a198a 108
zollecy1 0:313fbc3a198a 109
zollecy1 0:313fbc3a198a 110 }
zollecy1 0:313fbc3a198a 111
zollecy1 0:313fbc3a198a 112 void CalculateData::disable(){
zollecy1 0:313fbc3a198a 113 ticker.detach(); // Stoppt den periodischen Task
zollecy1 0:313fbc3a198a 114 }
zollecy1 0:313fbc3a198a 115
zollecy1 0:313fbc3a198a 116 void CalculateData::getData(){
zollecy1 0:313fbc3a198a 117 printf("\r\n");
zollecy1 0:313fbc3a198a 118
zollecy1 0:313fbc3a198a 119 hum_temp->get_temperature(&value1);
zollecy1 0:313fbc3a198a 120 hum_temp->get_humidity(&value2);
zollecy1 0:313fbc3a198a 121 printf("HTS221: [temp] %4.2f C, [hum] %4.2f%%\r\n", value1, value2);
zollecy1 0:313fbc3a198a 122
zollecy1 0:313fbc3a198a 123 press_temp->get_temperature(&value1);
zollecy1 0:313fbc3a198a 124 press_temp->get_pressure(&value2);
zollecy1 0:313fbc3a198a 125 printf("LPS22HH: [temp] %4.2f C, [press] %6.2f mbar\r\n", value1, value2);
zollecy1 0:313fbc3a198a 126
zollecy1 0:313fbc3a198a 127 temp->get_temperature(&value1);
zollecy1 0:313fbc3a198a 128 printf("STTS751: [temp] %4.2f C\r\n", value1);
zollecy1 0:313fbc3a198a 129
zollecy1 0:313fbc3a198a 130 printf("---\r\n");
zollecy1 0:313fbc3a198a 131
zollecy1 0:313fbc3a198a 132 magnetometer->get_m_axes(axes);
zollecy1 0:313fbc3a198a 133 printf("LIS2MDL [mag/mgauss]: %6d, %6d, %6d\r\n", axes[0], axes[1], axes[2]);
zollecy1 0:313fbc3a198a 134
zollecy1 0:313fbc3a198a 135 accelerometer->get_x_axes(axes);
zollecy1 0:313fbc3a198a 136 printf("LIS2DW12 [acc/mg]: %6d, %6d, %6d\r\n", axes[0], axes[1], axes[2]);
zollecy1 0:313fbc3a198a 137
zollecy1 0:313fbc3a198a 138 acc_gyro->get_x_axes(axes);
zollecy1 0:313fbc3a198a 139 printf("LSM6DSO [acc/mg]: %6d, %6d, %6d\r\n", axes[0], axes[1], axes[2]);
zollecy1 0:313fbc3a198a 140
zollecy1 0:313fbc3a198a 141 acc_gyro->get_g_axes(axes);
zollecy1 0:313fbc3a198a 142 printf("LSM6DSO [gyro/mdps]: %6d, %6d, %6d\r\n", axes[0], axes[1], axes[2]);
zollecy1 0:313fbc3a198a 143
zollecy1 0:313fbc3a198a 144 }
zollecy1 0:313fbc3a198a 145
zollecy1 0:313fbc3a198a 146
zollecy1 0:313fbc3a198a 147 //Periodischer Task
zollecy1 0:313fbc3a198a 148 void CalculateData::run() {
zollecy1 0:313fbc3a198a 149
zollecy1 0:313fbc3a198a 150 getData();
zollecy1 0:313fbc3a198a 151
zollecy1 0:313fbc3a198a 152 }
zollecy1 0:313fbc3a198a 153
zollecy1 0:313fbc3a198a 154
zollecy1 0:313fbc3a198a 155
zollecy1 0:313fbc3a198a 156
zollecy1 0:313fbc3a198a 157
zollecy1 0:313fbc3a198a 158
zollecy1 0:313fbc3a198a 159
zollecy1 0:313fbc3a198a 160
zollecy1 0:313fbc3a198a 161
zollecy1 0:313fbc3a198a 162
zollecy1 0:313fbc3a198a 163