Revision 15:7d938eef43c4, committed 2019-09-24

Comitter:

martlefebvre94

Date:

Tue Sep 24 10:11:03 2019 +0000

Parent:

14:8b7ce0fc3971

Commit message:

LIS2DW12 accelerometer project

Changed in this revision

--- a/main.cpp	Mon Sep 23 13:08:23 2019 +0000
+++ b/main.cpp	Tue Sep 24 10:11:03 2019 +0000
@@ -37,7 +37,7 @@
 */
 
 /*
-    LELEC2811 Multisensor IKS01A3 Project
+    LELEC2811 Accelerometer LIS2DW12 Project
     M. Lefebvre - 2019-2020
 */
 
@@ -50,53 +50,20 @@
 #include "stm32l0xx_hal_flash.h"
 
 /* Defines */
-#define FS                      25.0    // Readout frequency (Hz)
-
-// LIS2MDL Magnetometer
-#define LIS2MDL_ODR             50.0    // Output data rate (10, 20, 50 or 100 Hz)
-#define LIS2MDL_LP              0       // Power mode (0 for high-resolution mode, 1 for low-power mode)
-#define LIS2MDL_LPF             0       // Bandwidth (0 for ODR/2, 1 for ODR/4)
-#define LIS2MDL_COMP_TEMP_EN    1       // Temperature compensation (0 disabled, 1 enabled)
-#define LIS2MDL_OFF_CANC        1       // Offset cancellation (0 for no offset cancellation, 1 for offset cancellation, 2 for set pulse only at power-on)
-#define LIS2MDL_DATA_SIZE       12      // Number of bytes for LIS2MDL magnetometer data
-
-// LPS22HH Pressure sensor
-#define P0                      1013.26 // Sea level pressure (hPa)
-#define LPS22HH_ODR             50.0    // Output data rate (one-shot, 1, 10, 25, 50, 75, 100, 200 Hz)
-#define LPS22HH_LOW_NOISE_EN    1       // Low-noise (0 disabled, 1 enabled)
-#define LPS22HH_LPF_CFG         3       // Device bandwidth (0 for ODR/2, 2 for ODR/9, 3 for ODR/20)
-#define LPS22HH_DATA_SIZE       8       // Number of bytes for LPS22HH pressure sensor data
+#define FS                      12.5    // Readout frequency (Hz) - /!\ Must be below 100Hz
+#define FLASH_WRITE_TIME        0.00328 // Flash write time (s)
 
 // LIS2DW12 Accelerometer
-#define LIS2DW12_ODR            4       // Output data rate (0 power down, 1 HP 12.5Hz/LP 1.6Hz, 2 for 12.5Hz, 3 for 25Hz, 4 for 50Hz, 5 for 100Hz, 6 for 200Hz, 7 for HP 400Hz/LP 200Hz, 8 for HP 800Hz/LP 200Hz, 9 for HP 1600Hz/LP 200Hz)
-#define LIS2DW12_FS             4       // Full-scale +-(2, 4, 8 or 16 g)
-#define LIS2DW12_BW_FILT        2       // Filter bandwidth (0 for ODR/2, 1 for ODR/4, 2 for ODR/10, 3 for ODR/20)
-#define LIS2DW12_LP_MODE        0       // Low-power modes 1 to 4 (1 gives the max. rms noise, 4 gives the min. rms noise)
-#define LIS2DW12_MODE           1       // Mode (0 for low-power, 1 for high-performance, 2 for single data conversion)
-#define LIS2DW12_LOW_NOISE      1       // Low-noise (0 disable, 1 enabled)
+#define LIS2DW12_ODR            3       // Output data rate (0 power down, 1 HP 12.5Hz/LP 1.6Hz, 2 for 12.5Hz, 3 for 25Hz, 4 for 50Hz, 5 for 100Hz, 6 for 200Hz, 7 for HP 400Hz/LP 200Hz, 8 for HP 800Hz/LP 200Hz, 9 for HP 1600Hz/LP 200Hz)
+#define LIS2DW12_FS             16      // Full-scale +-(2, 4, 8 or 16 g)
+#define LIS2DW12_BW_FILT        0       // Filter bandwidth (0 for ODR/2, 1 for ODR/4, 2 for ODR/10, 3 for ODR/20)
+#define LIS2DW12_LP_MODE        1       // Low-power modes 1 to 4 (1 gives the max. rms noise, 4 gives the min. rms noise)
+#define LIS2DW12_MODE           0       // Mode (0 for low-power, 1 for high-performance, 2 for single data conversion)
+#define LIS2DW12_LOW_NOISE      0       // Low-noise (0 disabled, 1 enabled)
 #define LIS2DW12_POWER_MODE     LIS2DW12_LP_MODE + (LIS2DW12_MODE << 2) + (LIS2DW12_LOW_NOISE << 4)
-
-// HTS221 Relative humidity and temperature sensor
-#define HTS221_ODR              1       // Output data rate (one-shot, 1Hz, 7Hz, 12.5Hz)
-#define HTS221_HEATER           0       // Heater configuration (0 disabled, 1 enabled)
-#define HTS221_AVGH             32      // Humidity averaging (4 to 512)
-#define HTS221_AVGT             16      // Temperature averaging (2 to 256)
+#define LIS2DW12_DATA_SIZE      12      // Number of bytes for LIS2DW12 accelerometer sensor data
 
-// LSM6DSO Accelerometer + gyroscope
-#define LSM6DSO_ODR_XL          12.5    // Accelerometer output data rate (12.5, 26, 52, 104, 208, 416, 833, 1.66k, 3.33k, 6.66kHz)
-#define LSM6DSO_FS_XL           4       // Accelerometer full scale (2, 4, 8, 16g)
-#define LSM6DSO_XL_HM_MODE      1       // Accelerometer high-performance mode (0 enabled, 1 disabled)
-#define LSM6DSO_XL_ULP_EN       0       // Accelerometer ultra-low-power configuration (0 disabled, 1 enabled)
-#define LSM6DSO_LPF2_XL_EN      1       // Accelerometer high-resolution selection (0 for 1st stage of digital filtering, 1 for 2nd stage)
-#define LSM6DSO_HP_SLOPE_XL_EN  0       // Accelerometer high-pass filter selection (0 for low-pass, 1 for high-pass)
-#define LSM6DSO_HPCF_XL         2       // Accelerometer filter configuration and cutoff setting (0 for ODR/4, 1 for ODR/10, 2 for ODR/20, 3 for ODR/45, 4 for ODR/100, 5 for ODR/200, 6 for ODR/400, 7 for ODR/800)      
-#define LSM6DSO_ODR_G           16      // Gyroscope output data rate (12.5, 26, 52, 104, 208, 416, 833, 1.66k, 3.33k, 6.66kHz)
-#define LSM6DSO_FS_G            1000    // Gyroscope full scale (250, 500, 1000, 2000dps)
-#define LSM6DSO_G_HM_MODE       1       // Gyroscope high-performance mode (0 enabled, 1 disabled)
-#define LSM6DSO_LPF1_SEL_G      1       // Gyroscope digital LPF1 enable (0 disabled, 1 enabled)
-#define LSM6DSO_FTYPE           3       // Gyroscope LPF1 bandwidth selection (0 ultra light, 1 very light, 2 light, 3 medium, 4 strong, 5 very strong, 6 aggressive, 7 xtreme)
-#define LSM6DSO_HP_EN_G         1       // Gyroscope digital HPF enable (0 HPF disabled, 1 HPF enabled)
-#define LSM6DSO_HPM_G           2       // Gyroscope HPF cutoff selection (0 for 16mHz, 1 for 65mHz, 10 for 260 mHz, 11 for 1.04Hz)
+#define TS                      (1/FS)-((LIS2DW12_DATA_SIZE/4)*FLASH_WRITE_TIME)
 
 /* Functions definition */
 bool acquisition_task(bool verbose);
@@ -108,7 +75,6 @@
 void button1_enabled_cb(void);
 void button1_onpressed_cb(void);
 static char *print_double(char *str, double v);
-float pressure_to_altitude(double pressure);
 uint32_t FloatToUint(float n);
 float UintToFloat(uint32_t n);
 
@@ -150,52 +116,9 @@
     
     /* Reset message */
     printf("\n\r**************************************************\n\r");
-    printf("LELEC2811 IKS01A3 Multisensor Program\n\r");
+    printf("LELEC2811 LIS2DW12 Accelerometer Program\n\r");
     printf("**************************************************\n\r");
     
-    /* LIS2MDL magnetometer sensor configuration */
-    magnetometer->enable();
-    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);
-    
-    magnetometer->set_m_comp_temp_en(LIS2MDL_COMP_TEMP_EN);
-    magnetometer->get_m_comp_temp_en(&read_reg_int);
-    printf("LIS2MDL COMP_TEMP_EN = %1d\r\n", read_reg_int);
-    
-    magnetometer->set_m_off_canc(LIS2MDL_OFF_CANC);
-    magnetometer->get_m_off_canc(&read_reg_int);
-    printf("LIS2MDL OFF_CANC = %1d\r\n", read_reg_int);
-    
-    /* LPS22HH pressure sensor configuration */
-    press_temp->enable();
-    printf("/***** LPS22HH pressure sensor configuration *****/\r\n");
-    
-    press_temp->read_id(&id);
-    printf("LPS22HH pressure = 0x%X\r\n", id);
-    
-    press_temp->set_odr(LPS22HH_ODR, LPS22HH_LOW_NOISE_EN);
-    press_temp->get_odr(&read_reg, &read_reg_int);
-    printf("LPS22HH ODR = %1.1f [Hz]\r\n", read_reg);
-    printf("LPS22HH LOW_NOISE_EN = %1d\r\n", read_reg_int);
-    
-    press_temp->set_lpfp_cfg(LPS22HH_LPF_CFG);
-    press_temp->get_lpfp_cfg(&read_reg_int);
-    printf("LPS22HH LPF_CFG = %1d\r\n", read_reg_int);
-    
     /* LIS2DW12 accelerometer sensor configuration */
     accelerometer->enable_x();
     printf("/***** LIS2DW12 accelerometer sensor configuration *****/\r\n");
@@ -221,85 +144,6 @@
     printf("LIS2DW12 MODE = %1d\r\n", read_reg_int_1);
     printf("LIS2DW12 LOW_NOISE = %1d\r\n", read_reg_int_2);
     
-    /* HTS221 relative humidity and temperature sensor configuration */
-    hum_temp->enable();    
-    printf("/***** HTS221 humidity sensor configuration *****/\r\n");
-    
-    hum_temp->read_id(&id);
-    printf("HTS221 humidity & temperature = 0x%X\r\n", id);
-    
-    hum_temp->set_odr(HTS221_ODR);
-    hum_temp->get_odr(&read_reg);
-    printf("HTS221 ODR = %1.3f [Hz]\r\n", read_reg);
-    
-    hum_temp->set_heater(HTS221_HEATER);
-    hum_temp->get_heater(&read_reg_int);
-    printf("HTS221 HEATER = %1d\r\n", read_reg_int);
-    
-    hum_temp->set_avg(HTS221_AVGH, HTS221_AVGT);
-    hum_temp->get_avg(&read_reg, &read_reg_1);
-    printf("HTS221 AVGH = %1.0f\r\n", read_reg);
-    printf("HTS221 AVGT = %1.0f\r\n", read_reg_1);
-    
-    /* STTS751 Temperature sensor configuration */
-    temp->enable();
-    printf("/***** STTS751 temperature sensor configuration *****/\r\n");
-    
-    temp->read_id(&id);
-    printf("STTS751 temperature = 0x%X\r\n", id);
-    
-    /* LSM6DSO Accelerometer and gyroscope configuration */
-    acc_gyro->enable_x();
-    acc_gyro->enable_g();
-    printf("/***** LSM6DSO accelerometer and gyroscope sensor configuration *****/\r\n");
-    
-    acc_gyro->read_id(&id);
-    printf("LSM6DSO accelerometer & gyroscope = 0x%X\r\n", id);
-    
-    acc_gyro->set_x_odr(LSM6DSO_ODR_XL);
-    acc_gyro->get_x_odr(&read_reg);
-    printf("LSM6DSO ODR_XL = %1.3f [Hz]\r\n", read_reg);
-    
-    acc_gyro->set_x_fs(LSM6DSO_FS_XL);
-    acc_gyro->get_x_fs(&read_reg);
-    printf("LSM6DSO FS_XL = %1.3f [g]\r\n", read_reg);
-    
-    acc_gyro->set_x_power_mode(LSM6DSO_XL_HM_MODE, LSM6DSO_XL_ULP_EN);
-    acc_gyro->get_x_power_mode(&read_reg_int, &read_reg_int_1);
-    printf("LSM6DSO XL_HM_MODE = %1d\r\n", read_reg_int);
-    printf("LSM6DSO XL_ULP_EN = %1d\r\n", read_reg_int_1);
-    
-    acc_gyro->set_x_lpf2_en(LSM6DSO_LPF2_XL_EN);
-    acc_gyro->get_x_lpf2_en(&read_reg_int);
-    printf("LSM6DSO LPF2_XL_EN = %1d\r\n", read_reg_int);
-    
-    acc_gyro->set_x_filter_config(LSM6DSO_HP_SLOPE_XL_EN, LSM6DSO_HPCF_XL);
-    acc_gyro->get_x_filter_config(&read_reg_int, &read_reg_int_1);
-    printf("LSM6DSO HP_SLOPE_XL_EN = %1d\r\n", read_reg_int);
-    printf("LSM6DSO HPCF_XL = %1d\r\n", read_reg_int_1);
-    
-    acc_gyro->set_g_odr(LSM6DSO_ODR_G);
-    acc_gyro->get_g_odr(&read_reg);
-    printf("LSM6DSO ODR_G = %1.3f [Hz]\r\n", read_reg);
-    
-    acc_gyro->set_g_fs(LSM6DSO_FS_XL);
-    acc_gyro->get_g_fs(&read_reg);
-    printf("LSM6DSO FS_G = %1.3f [dps]\r\n", read_reg);
-    
-    acc_gyro->set_g_power_mode(LSM6DSO_G_HM_MODE);
-    acc_gyro->get_g_power_mode(&read_reg_int);
-    printf("LSM6DSO G_HM_MODE = %1d\r\n", read_reg_int);
-    
-    acc_gyro->set_g_lpf_config(LSM6DSO_LPF1_SEL_G, LSM6DSO_FTYPE);
-    acc_gyro->get_g_lpf_config(&read_reg_int, &read_reg_int_1);
-    printf("LSM6DSO LPF1_SEL_G = %1d\r\n", read_reg_int);
-    printf("LSM6DSO FTYPE = %1d\r\n", read_reg_int_1);
-    
-    acc_gyro->set_g_hpf_config(LSM6DSO_HP_EN_G, LSM6DSO_HPM_G);
-    acc_gyro->get_g_hpf_config(&read_reg_int, &read_reg_int_1);
-    printf("LSM6DSO HP_EN_G = %1d\r\n", read_reg_int);
-    printf("LSM6DSO HPM_G = %1d\r\n", read_reg_int_1);
-    
     /* Print Flash memory information */
     print_flash_info();
     
@@ -321,7 +165,7 @@
         
         if (save_data) {
             // Acquisition task
-            save_data = acquisition_task(true);
+            save_data = acquisition_task(false);
         }
         else {
             // Read task
@@ -333,63 +177,28 @@
 /* Acquisition task */
 bool acquisition_task(bool verbose)
 {
-    int32_t m_axes[3];
     int32_t acc_axes[3];
-    int32_t acc_axes_1[3];
-    int32_t gyro_axes[3];
-    float pressure_value, hum_value, temp_value, temp_value_1;
-    char buffer[32];
-    
-    uint32_t buffer_size = FLASH_PAGE_SIZE/4;
-    uint32_t data_ind = 0;
-    uint32_t data_buffer[buffer_size];
-    
     uint32_t Flash_addr = FLASH_BANK2_BASE;
 
     while (Flash_addr <= FLASH_BANK2_END-FLASH_PAGE_SIZE+1) {
         // Read sensors data
-        magnetometer->get_m_axes(m_axes);
-        press_temp->get_pressure(&pressure_value);
         accelerometer->get_x_axes(acc_axes);
-        hum_temp->get_temperature(&temp_value);
-        hum_temp->get_humidity(&hum_value);
-        temp->get_temperature(&temp_value_1);
-        acc_gyro->get_x_axes(acc_axes_1);
-        acc_gyro->get_g_axes(gyro_axes);
         
         // Save data to Flash memory
-        for (int i=0; i<3; i++) {
-            // Write page in Flash memory
-            if (data_ind >= buffer_size) {
-                write_flash(Flash_addr, &data_buffer[0], buffer_size, false);
-                Flash_addr += FLASH_PAGE_SIZE;
-                data_ind = 0;
-            }
-            
-            // Write data to buffer
-            data_buffer[data_ind] = (uint32_t) m_axes[i];
-            data_ind++;
-        }
+        write_flash(Flash_addr, (uint32_t*) &acc_axes[0], 3, false);
+        Flash_addr += LIS2DW12_DATA_SIZE;
         
         // Print data in terminal
         if (verbose) {
-            printf("LIS2MDL: [mag/mgauss] %6d, %6d, %6d\r\n", ((uint32_t) m_axes[0]), ((uint32_t) m_axes[1]), ((uint32_t) m_axes[2]));
-            printf("LPS22HH: [press/mbar] %1.3f, [alt/m] %1.3f\r\n", pressure_value, pressure_to_altitude(pressure_value));
-            printf("HTS221: [temp/deg C] %1.3f, [hum/%%] %1.3f\r\n", temp_value, hum_value);
-            printf("STTS751 [temp/deg C] %1.3f\r\n", temp_value_1);
             printf("LIS2DW12: [acc/mg] %6d, %6d, %6d\r\n", ((uint32_t) acc_axes[0]), ((uint32_t) acc_axes[1]), ((uint32_t) acc_axes[2]));
-            printf("LSM6DSO: [acc/mg] %6d, %6d, %6d\r\n", ((uint32_t) acc_axes_1[0]), ((uint32_t) acc_axes_1[1]), ((uint32_t) acc_axes_1[2]));
-            printf("LSM6DSO: [gyro/mdps] %6d, %6d, %6d\r\n", ((uint32_t) gyro_axes[0]), ((uint32_t) gyro_axes[1]), ((uint32_t) gyro_axes[2]));
         }
         
         // Wait for acquisition period
-        wait(1/FS);
+        wait(TS);
         
         // Stop saving data when button is pushed
         if (button1_pressed) {
             button1_pressed = false;
-            // Save remaining data to Flash memory
-            write_flash(Flash_addr, &data_buffer[0], data_ind, false);
             printf("Data acquisition stopped\r\n");
             printf("Press 'R' to read the data\r\n");
             return false;
@@ -418,21 +227,21 @@
     // Read Flash memory if 'R' is pressed
     if ((pc_input == 'r') || (pc_input == 'R')) {
         // Data labels
-        printf("mag_X\tmag_Y\tmag_Z\r\n");
+        printf("acc_X\tacc_Y\tacc_Z\r\n");
         
         // Read 1st Flash data
         uint32_t Flash_addr_temp = FLASH_BANK2_BASE;
-        read_flash(Flash_addr_temp, &Flash_rdata[0], LIS2MDL_DATA_SIZE);
+        read_flash(Flash_addr_temp, &Flash_rdata[0], LIS2DW12_DATA_SIZE);
         
         // Read Flash data
-        while ((Flash_addr_temp <= FLASH_BANK2_END-LIS2MDL_DATA_SIZE+1) && !flash_empty) {
+        while ((Flash_addr_temp <= FLASH_BANK2_END-LIS2DW12_DATA_SIZE+1) && !flash_empty) {
             // Print read data in the terminal
             printf("%6d\t%6d\t%6d\r\n", Flash_rdata[0], Flash_rdata[1], Flash_rdata[2]);
-            Flash_addr_temp += LIS2MDL_DATA_SIZE;
+            Flash_addr_temp += LIS2DW12_DATA_SIZE;
             
             // Check if the next address is not empty (erased Flash only contains 0)
-            if (Flash_addr_temp <= FLASH_BANK2_END-LIS2MDL_DATA_SIZE+1) {
-                read_flash(Flash_addr_temp, &Flash_rdata[0], LIS2MDL_DATA_SIZE);
+            if (Flash_addr_temp <= FLASH_BANK2_END-LIS2DW12_DATA_SIZE+1) {
+                read_flash(Flash_addr_temp, &Flash_rdata[0], LIS2DW12_DATA_SIZE);
                 if ((Flash_rdata[0] == 0) && (Flash_rdata[1] == 0) && (Flash_rdata[2] == 0)) {
                     flash_empty = true;
                 }
@@ -578,12 +387,6 @@
     return str;
 }
 
-/* Pressure to altitude conversion */
-float pressure_to_altitude(double pressure)
-{
-    return 44330.77 * (1-pow(pressure/P0, 0.1902632));
-}
-
 uint32_t FloatToUint(float n)
 {
    return (uint32_t)(*(uint32_t*)&n);