///////////////////////////////////
//
// ikso_1 project
//
// created 6/14/21 by tj
// rev 0
//
///////////////////////////////////
//
// ikso example file for class
//
// Simple reads
//
// modified from STM example
//
///////////////////////////////////

#include "mbed.h"
#include <stdio.h>
#include "XNucleoIKS01A3.h"     // for IKSO

//#include "rtos.h"

void enable_sensors(void);

///////////////////////////////////
// setup the IKSO board
// Required pins are in the documentation
static XNucleoIKS01A3 * ikso_board = XNucleoIKS01A3::instance(D14, D15, D4, D5, A3, D6, A4);
//
// Assign pointers to each part - only include parts being used
// note: 2 ways to code the access to these
// (*ikso_board).SENSOR or ikso_board->SENSOR
static LIS2MDLSensor * magnetometer = (*ikso_board).magnetometer;
static HTS221Sensor * humidity_temp = (*ikso_board).ht_sensor;
static LPS22HHSensor * pressure_temp = (*ikso_board).pt_sensor;
static LSM6DSOSensor * accelerometer_gyro = ikso_board->acc_gyro;
static LIS2DW12Sensor * accelerometer = ikso_board->accelerometer;
static STTS751Sensor * temp = ikso_board->t_sensor;
//////////////////////////////////////

void splash(void);
void enable_sensors();
void sensor_id();

int main(void){
    setbuf(stdout, NULL);   // disable buffering

    // temporary variables
    float val1;
    float val2;
    int axis[3];

    splash();

    // enable the sensors
    enable_sensors();

    // print sensor IDs
    sensor_id();

    printf("\n\n........Reading Sensors .......\n\n");

    magnetometer->get_m_axes(axis);
    printf("LIS2MDL [mag/mgauss]:\t%6i, %6i, %6i\n\n", axis[0], axis[1], axis[2]);

    temp->get_temperature(&val1);
    printf("STTS751:\t[temp] %.1f C\n", val1);

    humidity_temp->get_temperature(&val1);
    humidity_temp->get_humidity(&val2);
    printf("HTS221:\t\t[temp] %.1f C,\t[hum]   %.1f mbar\n", val1, val2);

    pressure_temp->get_temperature(&val1);
    pressure_temp->get_pressure(&val2);
    printf("LPS22HH:\t[temp] %.1f C,\t[press] %.0f mbar\n\n", val1, val2);

    accelerometer->get_x_axes(axis);
    printf("LIS2DW12 [acc/mg]:\t%6i, %6i, %6i\n", axis[0], axis[1], axis[2]);

    accelerometer_gyro->get_x_axes(axis);
    printf("LSM6DSO [acc/mg]:\t%6i, %6i, %6i\n", axis[0], axis[1], axis[2]);

    accelerometer_gyro->get_g_axes(axis);
    printf("LSM6DSO [gyro/mdps]:\t%6i, %6i, %6i\n", axis[0], axis[1], axis[2]);

    printf("\n\n.............................\n\n");

            printf("\t\t\tX\tY\tZ\n");
while (1) {
        accelerometer_gyro->get_x_axes(axis);
        printf("LSM6DSO [acc/mg]:\t%-6i %-6i %-6i\r", axis[0], axis[1], axis[2]);
    
        wait_us(100000);
    }// end while

    return 0;
}// end main
 

void splash(void){
    printf("\n\nikso_1 - example for EE2905\n");
    printf("Using Mbed OS version %d.%d.%d\n\n", 
            MBED_MAJOR_VERSION, MBED_MINOR_VERSION, MBED_PATCH_VERSION);

            return;
}// end splash

void enable_sensors(void){
    printf("Sensors Enabled\n");
    magnetometer->enable();
    temp->enable();
    humidity_temp->enable();
    pressure_temp->enable();
    accelerometer->enable_x();
    accelerometer_gyro->enable_x();
    accelerometer_gyro->enable_g();

    return;
}// end enable_sensors

void sensor_id(void){
    uint8_t id;
    printf("=======================\n");
    printf("Sensor IDs:\n");
    magnetometer->read_id(&id);
    printf("LIS2MDL magnetometer\t\t\t= 0x%X\n", id);
    temp->read_id(&id);
    printf("STTS751 temperature\t\t\t= 0x%X\n", id);
    humidity_temp->read_id(&id);
    printf("HTS221  humidity & temperature\t\t= 0x%X\n", id);
    pressure_temp->read_id(&id);
    printf("LPS22HH  pressure & temperature\t\t= 0x%X\n", id);
    accelerometer->read_id(&id);
    printf("LIS2DW12 accelerometer\t\t\t= 0x%X\n", id);
    accelerometer_gyro->read_id(&id);
    printf("LSM6DSO accelerometer & gyroscope\t= 0x%X\n", id);
    printf("=======================\n");

    return;
}// end sensor_id