LELEC2811 - I&S
2019-2020 LIS2DW12 Accelerometer Project
Dependencies: X_NUCLEO_IKS01A3
Diff: main.cpp
- Revision:
- 6:b2e247935342
- Parent:
- 5:7c883cce2bc4
- Child:
- 7:4a3b6202963e
--- a/main.cpp Wed Jul 24 14:22:13 2019 +0000
+++ b/main.cpp Thu Sep 05 13:49:08 2019 +0000
@@ -36,9 +36,32 @@
******************************************************************************
*/
+/*
+ LELEC2811 Magnetometer LIS2MDL Project
+ M. Lefebvre - 2019
+*/
+
/* Includes */
+#include <stdlib.h>
#include "mbed.h"
#include "XNucleoIKS01A3.h"
+#include "stm32l073xx.h"
+#include "stm32l0xx_hal_flash.h"
+
+/* Defines */
+#define LIS2MDL_ODR 50.0 // Output data rate (10, 20, 50 or 100 Hz)
+#define LIS2MDL_LP 1 // Power mode (0 for high-resolution mode, 1 for low-power mode)
+#define LIS2MDL_LPF 0 // Bandwidht (0 for ODR/2, 1 for ODR/4)
+#define FS 10.0 // Sampling frequency (Hz)
+
+/* Serial link */
+Serial pc(SERIAL_TX, SERIAL_RX);
+
+/* Button */
+InterruptIn button1(USER_BUTTON);
+volatile bool button1_pressed = false; // Used in the main loop
+volatile bool button1_enabled = true; // Used for debouncing
+Timeout button1_timeout; // Used for debouncing
/* Instantiate the expansion board */
static XNucleoIKS01A3 *mems_expansion_board = XNucleoIKS01A3::instance(D14, D15, D4, D5, A3, D6, A4);
@@ -51,102 +74,232 @@
static LIS2DW12Sensor *accelerometer = mems_expansion_board->accelerometer;
static STTS751Sensor *temp = mems_expansion_board->t_sensor;
-/* Helper function for printing floats & doubles */
-static char *print_double(char *str, double v, int decimalDigits = 2)
+/* Erase content of Flash memory */
+bool erase_flash(bool verbose)
{
- int i = 1;
- int intPart, fractPart;
- int len;
- char *ptr;
+ printf("Erasing Flash memory...\r\n");
+
+ // Unlock Flash memory
+ HAL_FLASH_Unlock();
- /* prepare decimal digits multiplicator */
- for (; decimalDigits != 0; i *= 10, decimalDigits--);
-
- /* calculate integer & fractinal parts */
- intPart = (int)v;
- fractPart = (int)((v - (double)(int)v) * i);
+ // Erase Flash memory
+ FLASH_EraseInitTypeDef eraser;
+ uint32_t Flash_addr = FLASH_BANK2_BASE;
+ uint32_t page_error = 0;
+ int32_t page = 1;
+
+ while (Flash_addr < FLASH_BANK2_END) {
+ eraser.TypeErase = FLASH_TYPEERASE_PAGES;
+ eraser.PageAddress = Flash_addr;
+ eraser.NbPages = 1;
+ if(HAL_OK != HAL_FLASHEx_Erase(&eraser, &page_error)) {
+ if (verbose) {printf("Flash erase failed!\r\n");}
+ printf("Error 0x%X\r\n", page_error);
+ HAL_FLASH_Lock();
+ return false;
+ }
+ if (verbose) {printf("Erased page %d at address: 0x%X\r\n", page, Flash_addr);}
+ Flash_addr += FLASH_PAGE_SIZE;
+ page++;
+ }
+
+ if (verbose) {printf("Flash erase succesful!\r\n");}
+ return true;
+}
- /* fill in integer part */
- sprintf(str, "%i.", intPart);
-
- /* prepare fill in of fractional part */
- len = strlen(str);
- ptr = &str[len];
+/* Write Flash memory */
+bool write_flash(uint32_t Flash_addr, uint32_t Flash_wdata, bool verbose)
+{
+ // Unlock Flash memory
+ HAL_FLASH_Unlock();
+
+ // Write Flash memory
+ if (HAL_OK != HAL_FLASH_Program(FLASH_TYPEPROGRAM_WORD, Flash_addr, Flash_wdata)) {
+ if (verbose) {printf("Flash write failed!\r\n");}
+ HAL_FLASH_Lock();
+ return false;
+ }
+ if (verbose) {printf("Flash write succesful!\r\n");}
+ HAL_FLASH_Lock();
+ return true;
+}
- /* fill in leading fractional zeros */
- for (i /= 10; i > 1; i /= 10, ptr++) {
- if (fractPart >= i) {
- break;
- }
- *ptr = '0';
- }
+/* Read Flash memory */
+void read_flash(uint32_t Flash_addr, uint32_t* Flash_rdata, uint32_t n_bytes)
+{
+ memcpy(Flash_rdata, (uint32_t*) Flash_addr, n_bytes);
+}
- /* fill in (rest of) fractional part */
- sprintf(ptr, "%i", fractPart);
+/* Print Flash memory info */
+void print_flash_info()
+{
+ printf("**************************************************\n\r");
+ printf("/***** Flash memory info *****/\r\n");
+ printf("Flash size: %d [B]\r\n", FLASH_SIZE);
+ printf("Flash page size: %d [B]\r\n", FLASH_PAGE_SIZE);
+ printf("Flash nb of pages: %d \r\n", FLASH_SIZE/FLASH_PAGE_SIZE);
+ printf("Flash bank 1 base address: 0x%X\r\n", FLASH_BASE);
+ printf("Flash bank 1 end address: 0x%X\r\n", FLASH_BANK1_END);
+ printf("Flash bank 2 base address: 0x%X\r\n", FLASH_BANK2_BASE);
+ printf("Flash bank 2 end address: 0x%X\r\n", FLASH_BANK2_END);
+ printf("**************************************************\n\r");
+}
- return str;
+/* Enables button when bouncing is over */
+void button1_enabled_cb(void)
+{
+ button1_enabled = true;
}
-/* Simple main function */
+/* ISR handling button pressed event */
+void button1_onpressed_cb(void)
+{
+ if (button1_enabled) { // Disabled while the button is bouncing
+ button1_enabled = false;
+ button1_pressed = true; // To be read by the main loop
+ button1_timeout.attach(callback(button1_enabled_cb), 0.3); // Debounce time 300 ms
+ }
+}
+
+/* Acquisition task */
+bool acquisition_task(uint32_t* Flash_addr)
+{
+ int32_t m_axes[3];
+
+ while (*Flash_addr < FLASH_BANK2_END) {
+ // Read magnetometer data
+ magnetometer->get_m_axes(m_axes);
+
+ // Save data to Flash memory
+ for (int i=0; i<3; i++) {
+ //printf("Writing to address: 0x%X\r\n", *Flash_addr);
+ write_flash(*Flash_addr, (uint32_t) m_axes[i], false);
+ *Flash_addr += 4;
+ }
+
+ // Print data in terminal
+ //printf("LIS2MDL [mag/mgauss]: %6d, %6d, %6d\r\n", ((uint32_t) m_axes[0]), ((uint32_t) m_axes[1]), ((uint32_t) m_axes[2]));
+
+ // Wait for acquisition period
+ wait(1/FS);
+
+ // Stop saving data when button is pushed
+ if (button1_pressed) {
+ button1_pressed = false;
+ printf("Data acquisition stopped\r\n");
+ printf("Press 'R' to read the data\r\n");
+
+ // Save last address in Flash memory
+ write_flash(FLASH_BANK2_BASE, *Flash_addr, false);
+ return false;
+ }
+ }
+ return false;
+}
+
+/* Read task */
+void read_task()
+{
+ char pc_input;
+ uint32_t Flash_rdata[3];
+ uint32_t Flash_addr;
+
+ // Read terminal input
+ if (pc.readable()) {
+ pc_input = pc.getc();
+ //printf("Read character: %c\r\n", pc_input);
+ }
+ else {
+ pc_input = 'a';
+ }
+
+ // Read Flash memory if 'R' is pressed
+ if ((pc_input == 'r') || (pc_input == 'R')) {
+ // Read last written Flash address in Flash memory
+ read_flash(FLASH_BANK2_BASE, &Flash_addr, 4);
+
+ // Data names
+ printf("mag_X\tmag_Y\tmag_Z\r\n");
+
+ // Read Flash data
+ uint32_t Flash_addr_temp = FLASH_BANK2_BASE + 4;
+ while (Flash_addr_temp < Flash_addr) {
+ //printf("Reading from address: 0x%X\r\n", Flash_addr_temp);
+ read_flash(Flash_addr_temp, &Flash_rdata[0], 12);
+ Flash_addr_temp += 12;
+ printf("%6d\t%6d\t%6d\r\n", Flash_rdata[0], Flash_rdata[1], Flash_rdata[2]);
+ }
+ }
+}
+
+/* Main */
int main()
{
uint8_t id;
- float value1, value2;
- char buffer1[32], buffer2[32];
- int32_t axes[3];
-
- /* Enable all sensors */
- hum_temp->enable();
- press_temp->enable();
- temp->enable();
- magnetometer->enable();
- accelerometer->enable_x();
- acc_gyro->enable_x();
- acc_gyro->enable_g();
+ float read_reg;
+ uint8_t read_reg_int;
+
+ bool save_data = false;
+ uint32_t Flash_addr = FLASH_BANK2_BASE;
- printf("\r\n--- Starting new run ---\r\n");
-
- hum_temp->read_id(&id);
- printf("HTS221 humidity & temperature = 0x%X\r\n", id);
- press_temp->read_id(&id);
- printf("LPS22HH pressure & temperature = 0x%X\r\n", id);
- temp->read_id(&id);
- printf("STTS751 temperature = 0x%X\r\n", id);
- magnetometer->read_id(&id);
- printf("LIS2MDL magnetometer = 0x%X\r\n", id);
- accelerometer->read_id(&id);
- printf("LIS2DW12 accelerometer = 0x%X\r\n", id);
- acc_gyro->read_id(&id);
- printf("LSM6DSO accelerometer & gyroscope = 0x%X\r\n", id);
+ /* Serial link configuration */
+ pc.baud(115200);
+
+ /* Button configuration */
+ button1.fall(callback(button1_onpressed_cb)); // Attach ISR to handle button press event
+
+ // Reset message
+ printf("\n\r**************************************************\n\r");
+ printf("LELEC2811 LIS2MDL Magnetometer Program\n\r");
+ printf("**************************************************\n\r");
- while (1) {
- printf("\r\n");
-
- hum_temp->get_temperature(&value1);
- hum_temp->get_humidity(&value2);
- printf("HTS221: [temp] %7s C, [hum] %s%%\r\n", print_double(buffer1, value1), print_double(buffer2, value2));
-
- press_temp->get_temperature(&value1);
- press_temp->get_pressure(&value2);
- printf("LPS22HH: [temp] %7s C, [press] %s mbar\r\n", print_double(buffer1, value1), print_double(buffer2, value2));
-
- temp->get_temperature(&value1);
- printf("STTS751: [temp] %7s C\r\n", print_double(buffer1, value1));
-
- printf("---\r\n");
-
- magnetometer->get_m_axes(axes);
- printf("LIS2MDL [mag/mgauss]: %6d, %6d, %6d\r\n", axes[0], axes[1], axes[2]);
-
- accelerometer->get_x_axes(axes);
- printf("LIS2DW12 [acc/mg]: %6d, %6d, %6d\r\n", axes[0], axes[1], axes[2]);
-
- acc_gyro->get_x_axes(axes);
- printf("LSM6DSO [acc/mg]: %6d, %6d, %6d\r\n", axes[0], axes[1], axes[2]);
-
- acc_gyro->get_g_axes(axes);
- printf("LSM6DSO [gyro/mdps]: %6d, %6d, %6d\r\n", axes[0], axes[1], axes[2]);
-
- wait(1.5);
+ /* Enable LIS2MDL magnetometer sensor */
+ magnetometer->enable();
+
+ /* LIS2MDL magnetometer sensor configuration */
+ printf("/***** LIS2MDL magnetometer configuration *****/\r\n");
+
+ magnetometer->read_id(&id);
+ printf("LIS2MDL magnetometer = 0x%X\r\n", id);
+
+ magnetometer->set_m_odr(LIS2MDL_ODR);
+ magnetometer->get_m_odr(&read_reg);
+ printf("LIS2MDL ODR = %1.1f [Hz]\r\n", read_reg);
+
+ magnetometer->set_m_lp(LIS2MDL_LP);
+ magnetometer->get_m_lp(&read_reg_int);
+ printf("LIS2MDL LP = %1d\r\n", read_reg_int);
+
+ magnetometer->set_m_lpf(LIS2MDL_LPF);
+ magnetometer->get_m_lpf(&read_reg_int);
+ printf("LIS2MDL LPF = %1d\r\n", read_reg_int);
+
+ /* Print Flash memory information */
+ print_flash_info();
+
+ /* Information for the user */
+ printf("Press blue button to start data acquisition\r\n");
+ printf("Press 'R' to read previously measured data\r\n");
+
+ /* Acquisition loop */
+ while(1) {
+ // Start saving data when button is pushed
+ if (button1_pressed) {
+ button1_pressed = false;
+ save_data = true;
+ erase_flash(false);
+ printf("Acquiring data...\r\n");
+ printf("Press blue button to stop data acquisition\r\n");
+ Flash_addr = FLASH_BANK2_BASE + 4;
+ }
+
+ if (save_data) {
+ // Acquisition task
+ save_data = acquisition_task(&Flash_addr);
+ }
+ else {
+ // Read task
+ read_task();
+ }
}
-}
+}
\ No newline at end of file