Mike Fiore / Mbed OS unh-hackathon-example

example using LOF sensor board and MEMS sensor board

Dependencies:   ST_INTERFACES X_NUCLEO_53L0A1 X_NUCLEO_COMMON X_NUCLEO_IKS01A1 Senet_Packet libmDot-mbed5

main.cpp@1:a2c5a8a74527, 2017-04-08 (annotated)

Committer:
Mike Fiore
Date:
Sat Apr 08 08:10:19 2017 -0400
Revision:
1:a2c5a8a74527
Parent:
0:06fc5a68ead2
Child:
2:a0fb0b785bd6
finish custom printf. add mutex to protect sensors

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mfiore 0:06fc5a68ead2 1 #include "mbed.h"
mfiore 0:06fc5a68ead2 2 #include "rtos.h"
mfiore 0:06fc5a68ead2 3 #include "x_nucleo_iks01a1.h"
mfiore 0:06fc5a68ead2 4 #include "x_nucleo_53l0a1.h"
mfiore 0:06fc5a68ead2 5
mfiore 0:06fc5a68ead2 6 Thread mems_thread;
mfiore 0:06fc5a68ead2 7 Thread range_thread;
mfiore 0:06fc5a68ead2 8 Mutex serial_mutex;
Mike Fiore 1:a2c5a8a74527 9 //Mutex sensor_mutex;
mfiore 0:06fc5a68ead2 10
mfiore 0:06fc5a68ead2 11 DigitalOut led(D3);
mfiore 0:06fc5a68ead2 12
mfiore 0:06fc5a68ead2 13 DevI2C i2c(D14, D15);
mfiore 0:06fc5a68ead2 14
mfiore 0:06fc5a68ead2 15 /* Instantiate the expansion board */
mfiore 0:06fc5a68ead2 16 static X_NUCLEO_IKS01A1 *mems_expansion_board = X_NUCLEO_IKS01A1::Instance(&i2c);
mfiore 0:06fc5a68ead2 17 // MAKE SURE YOU JUMPER PIN D7 TO PIN D8!
Mike Fiore 1:a2c5a8a74527 18 static X_NUCLEO_53L0A1 *range_board = X_NUCLEO_53L0A1::Instance(&i2c, A2, D7, D2);
mfiore 0:06fc5a68ead2 19
mfiore 0:06fc5a68ead2 20 /* Retrieve the composing elements of the expansion board */
mfiore 0:06fc5a68ead2 21 static GyroSensor *gyroscope = mems_expansion_board->GetGyroscope();
mfiore 0:06fc5a68ead2 22 static MotionSensor *accelerometer = mems_expansion_board->GetAccelerometer();
mfiore 0:06fc5a68ead2 23 static MagneticSensor *magnetometer = mems_expansion_board->magnetometer;
mfiore 0:06fc5a68ead2 24 static HumiditySensor *humidity_sensor = mems_expansion_board->ht_sensor;
mfiore 0:06fc5a68ead2 25 static PressureSensor *pressure_sensor = mems_expansion_board->pt_sensor;
mfiore 0:06fc5a68ead2 26 static TempSensor *temp_sensor1 = mems_expansion_board->ht_sensor;
mfiore 0:06fc5a68ead2 27 static TempSensor *temp_sensor2 = mems_expansion_board->pt_sensor;
mfiore 0:06fc5a68ead2 28
mfiore 0:06fc5a68ead2 29 /* Helper function for printing from multiple threads */
Mike Fiore 1:a2c5a8a74527 30 void ts_printf(const char* format, ...) {
mfiore 0:06fc5a68ead2 31 serial_mutex.lock();
Mike Fiore 1:a2c5a8a74527 32 va_list args;
Mike Fiore 1:a2c5a8a74527 33 va_start(args, format);
Mike Fiore 1:a2c5a8a74527 34 printf(format, args);
mfiore 0:06fc5a68ead2 35 serial_mutex.unlock();
mfiore 0:06fc5a68ead2 36 }
mfiore 0:06fc5a68ead2 37
mfiore 0:06fc5a68ead2 38 /* Helper function for printing floats & doubles */
mfiore 0:06fc5a68ead2 39 static char *printDouble(char* str, double v, int decimalDigits=2) {
mfiore 0:06fc5a68ead2 40 int i = 1;
mfiore 0:06fc5a68ead2 41 int intPart, fractPart;
mfiore 0:06fc5a68ead2 42 int len;
mfiore 0:06fc5a68ead2 43 char *ptr;
mfiore 0:06fc5a68ead2 44
mfiore 0:06fc5a68ead2 45 /* prepare decimal digits multiplicator */
mfiore 0:06fc5a68ead2 46 for (;decimalDigits!=0; i*=10, decimalDigits--);
mfiore 0:06fc5a68ead2 47
mfiore 0:06fc5a68ead2 48 /* calculate integer & fractinal parts */
mfiore 0:06fc5a68ead2 49 intPart = (int)v;
mfiore 0:06fc5a68ead2 50 fractPart = (int)((v-(double)(int)v)*i);
mfiore 0:06fc5a68ead2 51
mfiore 0:06fc5a68ead2 52 /* fill in integer part */
mfiore 0:06fc5a68ead2 53 sprintf(str, "%i.", intPart);
mfiore 0:06fc5a68ead2 54
mfiore 0:06fc5a68ead2 55 /* prepare fill in of fractional part */
mfiore 0:06fc5a68ead2 56 len = strlen(str);
mfiore 0:06fc5a68ead2 57 ptr = &str[len];
mfiore 0:06fc5a68ead2 58
mfiore 0:06fc5a68ead2 59 /* fill in leading fractional zeros */
mfiore 0:06fc5a68ead2 60 for (i/=10;i>1; i/=10, ptr++) {
mfiore 0:06fc5a68ead2 61 if(fractPart >= i) break;
mfiore 0:06fc5a68ead2 62 *ptr = '0';
mfiore 0:06fc5a68ead2 63 }
mfiore 0:06fc5a68ead2 64
mfiore 0:06fc5a68ead2 65 /* fill in (rest of) fractional part */
mfiore 0:06fc5a68ead2 66 sprintf(ptr, "%i", fractPart);
mfiore 0:06fc5a68ead2 67
mfiore 0:06fc5a68ead2 68 return str;
mfiore 0:06fc5a68ead2 69 }
mfiore 0:06fc5a68ead2 70
mfiore 0:06fc5a68ead2 71 /* Function to run the mems board */
mfiore 0:06fc5a68ead2 72 void mems_func() {
mfiore 0:06fc5a68ead2 73 uint8_t id;
mfiore 0:06fc5a68ead2 74 float value1, value2;
mfiore 0:06fc5a68ead2 75 char buffer1[32], buffer2[32];
mfiore 0:06fc5a68ead2 76 int32_t axes[3];
Mike Fiore 1:a2c5a8a74527 77 int ret;
mfiore 0:06fc5a68ead2 78
mfiore 0:06fc5a68ead2 79 ts_printf("\r\n--- Starting mems board ---\r\n");
mfiore 0:06fc5a68ead2 80
Mike Fiore 1:a2c5a8a74527 81 //sensor_mutex.lock();
mfiore 0:06fc5a68ead2 82 humidity_sensor->read_id(&id);
Mike Fiore 1:a2c5a8a74527 83 //sensor_mutex.unlock();
mfiore 0:06fc5a68ead2 84 ts_printf("HTS221 humidity & temperature = 0x%X\r\n", id);
Mike Fiore 1:a2c5a8a74527 85
Mike Fiore 1:a2c5a8a74527 86 //sensor_mutex.lock();
mfiore 0:06fc5a68ead2 87 pressure_sensor->read_id(&id);
Mike Fiore 1:a2c5a8a74527 88 //sensor_mutex.unlock();
mfiore 0:06fc5a68ead2 89 ts_printf("LPS25H pressure & temperature = 0x%X\r\n", id);
Mike Fiore 1:a2c5a8a74527 90
Mike Fiore 1:a2c5a8a74527 91 //sensor_mutex.lock();
mfiore 0:06fc5a68ead2 92 magnetometer->read_id(&id);
Mike Fiore 1:a2c5a8a74527 93 //sensor_mutex.unlock();
mfiore 0:06fc5a68ead2 94 ts_printf("LIS3MDL magnetometer = 0x%X\r\n", id);
Mike Fiore 1:a2c5a8a74527 95
Mike Fiore 1:a2c5a8a74527 96 //sensor_mutex.lock();
mfiore 0:06fc5a68ead2 97 gyroscope->read_id(&id);
Mike Fiore 1:a2c5a8a74527 98 //sensor_mutex.unlock();
mfiore 0:06fc5a68ead2 99 ts_printf("LSM6DS0 accelerometer & gyroscope = 0x%X\r\n", id);
mfiore 0:06fc5a68ead2 100
mfiore 0:06fc5a68ead2 101 wait(3);
mfiore 0:06fc5a68ead2 102
mfiore 0:06fc5a68ead2 103 while (true) {
Mike Fiore 1:a2c5a8a74527 104 //sensor_mutex.lock();
Mike Fiore 1:a2c5a8a74527 105 ret = temp_sensor1->get_temperature(&value1);
Mike Fiore 1:a2c5a8a74527 106 //sensor_mutex.unlock();
Mike Fiore 1:a2c5a8a74527 107 if (ret) {
Mike Fiore 1:a2c5a8a74527 108 ts_printf("failed to get temp C\r\n");
Mike Fiore 1:a2c5a8a74527 109 }
Mike Fiore 1:a2c5a8a74527 110 //sensor_mutex.lock();
Mike Fiore 1:a2c5a8a74527 111 ret = humidity_sensor->get_humidity(&value2);
Mike Fiore 1:a2c5a8a74527 112 //sensor_mutex.unlock();
Mike Fiore 1:a2c5a8a74527 113 if (ret) {
Mike Fiore 1:a2c5a8a74527 114 ts_printf("failed to get humidity\r\n");
Mike Fiore 1:a2c5a8a74527 115 }
Mike Fiore 1:a2c5a8a74527 116 //ts_printf("HTS221: [temp] %7s°C, [hum] %s%%\r\n", printDouble(buffer1, value1), printDouble(buffer2, value2));
Mike Fiore 1:a2c5a8a74527 117 ts_printf("HTS221: [temp] %f°C\r\n", value1);
Mike Fiore 1:a2c5a8a74527 118 ts_printf("HTS221: [hum] %f%%\r\n", value2);
mfiore 0:06fc5a68ead2 119
Mike Fiore 1:a2c5a8a74527 120 //sensor_mutex.lock();
Mike Fiore 1:a2c5a8a74527 121 ret = temp_sensor2->get_fahrenheit(&value1);
Mike Fiore 1:a2c5a8a74527 122 //sensor_mutex.unlock();
Mike Fiore 1:a2c5a8a74527 123 if (ret) {
Mike Fiore 1:a2c5a8a74527 124 ts_printf("failed to get temp F\r\n");
Mike Fiore 1:a2c5a8a74527 125 }
Mike Fiore 1:a2c5a8a74527 126 //sensor_mutex.lock();
Mike Fiore 1:a2c5a8a74527 127 ret = pressure_sensor->get_pressure(&value2);
Mike Fiore 1:a2c5a8a74527 128 //sensor_mutex.unlock();
Mike Fiore 1:a2c5a8a74527 129 if (ret) {
Mike Fiore 1:a2c5a8a74527 130 ts_printf("failed to get pressure F\r\n");
Mike Fiore 1:a2c5a8a74527 131 }
Mike Fiore 1:a2c5a8a74527 132 //ts_printf("LPS25H: [temp] %7s°F, [press] %smbar\r\n", printDouble(buffer1, value1), printDouble(buffer2, value2));
Mike Fiore 1:a2c5a8a74527 133 ts_printf("LPS25H: [temp] %f°F\r\n", value1);
Mike Fiore 1:a2c5a8a74527 134 ts_printf("LPS25H: [press] %fmbar\r\n", value2);
mfiore 0:06fc5a68ead2 135
Mike Fiore 1:a2c5a8a74527 136 //sensor_mutex.lock();
Mike Fiore 1:a2c5a8a74527 137 ret = magnetometer->get_m_axes(axes);
Mike Fiore 1:a2c5a8a74527 138 //sensor_mutex.unlock();
Mike Fiore 1:a2c5a8a74527 139 if (ret) {
Mike Fiore 1:a2c5a8a74527 140 ts_printf("failed to get magnetometer\r\n");
Mike Fiore 1:a2c5a8a74527 141 }
mfiore 0:06fc5a68ead2 142 ts_printf("LIS3MDL [mag/mgauss]: %7ld, %7ld, %7ld\r\n", axes[0], axes[1], axes[2]);
mfiore 0:06fc5a68ead2 143
Mike Fiore 1:a2c5a8a74527 144 //sensor_mutex.lock();
Mike Fiore 1:a2c5a8a74527 145 ret = accelerometer->get_x_axes(axes);
Mike Fiore 1:a2c5a8a74527 146 //sensor_mutex.unlock();
Mike Fiore 1:a2c5a8a74527 147 if (ret) {
Mike Fiore 1:a2c5a8a74527 148 ts_printf("failed to get accelerometer\r\n");
Mike Fiore 1:a2c5a8a74527 149 }
mfiore 0:06fc5a68ead2 150 ts_printf("LSM6DS0 [acc/mg]: %7ld, %7ld, %7ld\r\n", axes[0], axes[1], axes[2]);
mfiore 0:06fc5a68ead2 151
Mike Fiore 1:a2c5a8a74527 152 //sensor_mutex.lock();
Mike Fiore 1:a2c5a8a74527 153 ret = gyroscope->get_g_axes(axes);
Mike Fiore 1:a2c5a8a74527 154 //sensor_mutex.unlock();
Mike Fiore 1:a2c5a8a74527 155 if (ret) {
Mike Fiore 1:a2c5a8a74527 156 ts_printf("failed to get gyroscope\r\n");
Mike Fiore 1:a2c5a8a74527 157 }
mfiore 0:06fc5a68ead2 158 ts_printf("LSM6DS0 [gyro/mdps]: %7ld, %7ld, %7ld\r\n", axes[0], axes[1], axes[2]);
mfiore 0:06fc5a68ead2 159
mfiore 0:06fc5a68ead2 160 wait(1.5);
mfiore 0:06fc5a68ead2 161 }
mfiore 0:06fc5a68ead2 162 }
mfiore 0:06fc5a68ead2 163
mfiore 0:06fc5a68ead2 164 /* Function to run the range board */
mfiore 0:06fc5a68ead2 165 void range_func() {
mfiore 0:06fc5a68ead2 166 int status;
mfiore 0:06fc5a68ead2 167 uint32_t distance;
mfiore 0:06fc5a68ead2 168
mfiore 0:06fc5a68ead2 169 ts_printf("\r\n--- Starting range board ---\r\n");
mfiore 0:06fc5a68ead2 170
mfiore 0:06fc5a68ead2 171 /* init the 53L0A1 expansion board with default values */
mfiore 0:06fc5a68ead2 172 while (true) {
Mike Fiore 1:a2c5a8a74527 173 //sensor_mutex.lock();
Mike Fiore 1:a2c5a8a74527 174 status=range_board->InitBoard();
Mike Fiore 1:a2c5a8a74527 175 //sensor_mutex.unlock();
mfiore 0:06fc5a68ead2 176 if (status) {
mfiore 0:06fc5a68ead2 177 ts_printf("Failed to init range board!\r\n");
mfiore 0:06fc5a68ead2 178 wait(1);
mfiore 0:06fc5a68ead2 179 } else {
mfiore 0:06fc5a68ead2 180 ts_printf("Range board initialized\r\n");
mfiore 0:06fc5a68ead2 181 break;
mfiore 0:06fc5a68ead2 182 }
mfiore 0:06fc5a68ead2 183 }
mfiore 0:06fc5a68ead2 184
mfiore 0:06fc5a68ead2 185 while (true) {
Mike Fiore 1:a2c5a8a74527 186 //sensor_mutex.lock();
Mike Fiore 1:a2c5a8a74527 187 status = range_board->sensor_centre->GetDistance(&distance);
Mike Fiore 1:a2c5a8a74527 188 //sensor_mutex.unlock();
mfiore 0:06fc5a68ead2 189 if (status == VL53L0X_ERROR_NONE) {
mfiore 0:06fc5a68ead2 190 ts_printf("Distance : %ld\n", distance);
mfiore 0:06fc5a68ead2 191 }
mfiore 0:06fc5a68ead2 192
Mike Fiore 1:a2c5a8a74527 193 wait(0.8);
mfiore 0:06fc5a68ead2 194 }
mfiore 0:06fc5a68ead2 195 }
mfiore 0:06fc5a68ead2 196
mfiore 0:06fc5a68ead2 197 int main() {
mfiore 0:06fc5a68ead2 198 ts_printf("\r\n--- Application starting up ---\r\n");
mfiore 0:06fc5a68ead2 199
Mike Fiore 1:a2c5a8a74527 200 mems_thread.start(mbed::Callback<void()> (mems_func));
Mike Fiore 1:a2c5a8a74527 201 range_thread.start(mbed::Callback<void()> (range_func));
mfiore 0:06fc5a68ead2 202
mfiore 0:06fc5a68ead2 203 while (true) {
mfiore 0:06fc5a68ead2 204 led = !led;
mfiore 0:06fc5a68ead2 205 wait(0.25);
mfiore 0:06fc5a68ead2 206 }
Mike Fiore 1:a2c5a8a74527 207 }