ST / Mbed 2 deprecated 6DOrientation_IKS01A2

Example of 6D orientation recognition for LSM6DSL in X-NUCLEO-IKS01A2

Dependencies:   X_NUCLEO_IKS01A2 mbed

Fork of 6DOrientation_IKS01A2 by ST Expansion SW Team

6D Orientation Demo Application based on sensor expansion board X-NUCLEO-IKS01A2

Main function is to show how to use sensor expansion board to find out the 6D orientation and send data using UART to a connected PC or Desktop and display it on terminal applications like TeraTerm.
After connection has been established:
- the user can rotate the board to change the 6D orientation and then view the data using an hyper terminal.
- the user button can be used to display the current 6D orientation.

X_NUCLEO_IKS01A2/Components/HTS221Sensor/HTS221Sensor.cpp@0:485458fca2bd, 2016-08-12 (annotated)

Committer:
cparata
Date:
Fri Aug 12 13:37:49 2016 +0000
Revision:
0:485458fca2bd
First release of 6D orientation for LSM6DSL in IKS01A2

Who changed what in which revision?

UserRevisionLine numberNew contents of line
cparata 0:485458fca2bd 1 /**
cparata 0:485458fca2bd 2 ******************************************************************************
cparata 0:485458fca2bd 3 * @file HTS221Sensor.cpp
cparata 0:485458fca2bd 4 * @author AST
cparata 0:485458fca2bd 5 * @version V1.0.0
cparata 0:485458fca2bd 6 * @date 5 August 2016
cparata 0:485458fca2bd 7 * @brief Implementation of an HTS221 Humidity and Temperature sensor.
cparata 0:485458fca2bd 8 ******************************************************************************
cparata 0:485458fca2bd 9 * @attention
cparata 0:485458fca2bd 10 *
cparata 0:485458fca2bd 11 * <h2><center>&copy; COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
cparata 0:485458fca2bd 12 *
cparata 0:485458fca2bd 13 * Redistribution and use in source and binary forms, with or without modification,
cparata 0:485458fca2bd 14 * are permitted provided that the following conditions are met:
cparata 0:485458fca2bd 15 * 1. Redistributions of source code must retain the above copyright notice,
cparata 0:485458fca2bd 16 * this list of conditions and the following disclaimer.
cparata 0:485458fca2bd 17 * 2. Redistributions in binary form must reproduce the above copyright notice,
cparata 0:485458fca2bd 18 * this list of conditions and the following disclaimer in the documentation
cparata 0:485458fca2bd 19 * and/or other materials provided with the distribution.
cparata 0:485458fca2bd 20 * 3. Neither the name of STMicroelectronics nor the names of its contributors
cparata 0:485458fca2bd 21 * may be used to endorse or promote products derived from this software
cparata 0:485458fca2bd 22 * without specific prior written permission.
cparata 0:485458fca2bd 23 *
cparata 0:485458fca2bd 24 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
cparata 0:485458fca2bd 25 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
cparata 0:485458fca2bd 26 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
cparata 0:485458fca2bd 27 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
cparata 0:485458fca2bd 28 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
cparata 0:485458fca2bd 29 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
cparata 0:485458fca2bd 30 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
cparata 0:485458fca2bd 31 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
cparata 0:485458fca2bd 32 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
cparata 0:485458fca2bd 33 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
cparata 0:485458fca2bd 34 *
cparata 0:485458fca2bd 35 ******************************************************************************
cparata 0:485458fca2bd 36 */
cparata 0:485458fca2bd 37
cparata 0:485458fca2bd 38
cparata 0:485458fca2bd 39 /* Includes ------------------------------------------------------------------*/
cparata 0:485458fca2bd 40
cparata 0:485458fca2bd 41 #include "mbed.h"
cparata 0:485458fca2bd 42 #include "DevI2C.h"
cparata 0:485458fca2bd 43 #include "HTS221Sensor.h"
cparata 0:485458fca2bd 44 #include "HTS221_Driver.h"
cparata 0:485458fca2bd 45
cparata 0:485458fca2bd 46
cparata 0:485458fca2bd 47 /* Class Implementation ------------------------------------------------------*/
cparata 0:485458fca2bd 48
cparata 0:485458fca2bd 49 /** Constructor
cparata 0:485458fca2bd 50 * @param i2c object of an helper class which handles the I2C peripheral
cparata 0:485458fca2bd 51 * @param address the address of the component's instance
cparata 0:485458fca2bd 52 */
cparata 0:485458fca2bd 53 HTS221Sensor::HTS221Sensor(DevI2C &i2c) : dev_i2c(i2c)
cparata 0:485458fca2bd 54 {
cparata 0:485458fca2bd 55 address = HTS221_I2C_ADDRESS;
cparata 0:485458fca2bd 56
cparata 0:485458fca2bd 57 /* Power down the device */
cparata 0:485458fca2bd 58 if ( HTS221_DeActivate( (void *)this ) == HTS221_ERROR )
cparata 0:485458fca2bd 59 {
cparata 0:485458fca2bd 60 return;
cparata 0:485458fca2bd 61 }
cparata 0:485458fca2bd 62
cparata 0:485458fca2bd 63 /* Enable BDU */
cparata 0:485458fca2bd 64 if ( HTS221_Set_BduMode( (void *)this, HTS221_ENABLE ) == HTS221_ERROR )
cparata 0:485458fca2bd 65 {
cparata 0:485458fca2bd 66 return;
cparata 0:485458fca2bd 67 }
cparata 0:485458fca2bd 68
cparata 0:485458fca2bd 69 if(SetODR(1.0f) == HTS221_STATUS_ERROR)
cparata 0:485458fca2bd 70 {
cparata 0:485458fca2bd 71 return;
cparata 0:485458fca2bd 72 }
cparata 0:485458fca2bd 73 };
cparata 0:485458fca2bd 74
cparata 0:485458fca2bd 75
cparata 0:485458fca2bd 76 /** Constructor
cparata 0:485458fca2bd 77 * @param i2c object of an helper class which handles the I2C peripheral
cparata 0:485458fca2bd 78 * @param address the address of the component's instance
cparata 0:485458fca2bd 79 */
cparata 0:485458fca2bd 80 HTS221Sensor::HTS221Sensor(DevI2C &i2c, uint8_t address) : dev_i2c(i2c), address(address)
cparata 0:485458fca2bd 81 {
cparata 0:485458fca2bd 82 /* Power down the device */
cparata 0:485458fca2bd 83 if ( HTS221_DeActivate( (void *)this ) == HTS221_ERROR )
cparata 0:485458fca2bd 84 {
cparata 0:485458fca2bd 85 return;
cparata 0:485458fca2bd 86 }
cparata 0:485458fca2bd 87
cparata 0:485458fca2bd 88 /* Enable BDU */
cparata 0:485458fca2bd 89 if ( HTS221_Set_BduMode( (void *)this, HTS221_ENABLE ) == HTS221_ERROR )
cparata 0:485458fca2bd 90 {
cparata 0:485458fca2bd 91 return;
cparata 0:485458fca2bd 92 }
cparata 0:485458fca2bd 93
cparata 0:485458fca2bd 94 if(SetODR(1.0f) == HTS221_STATUS_ERROR)
cparata 0:485458fca2bd 95 {
cparata 0:485458fca2bd 96 return;
cparata 0:485458fca2bd 97 }
cparata 0:485458fca2bd 98 };
cparata 0:485458fca2bd 99
cparata 0:485458fca2bd 100 /**
cparata 0:485458fca2bd 101 * @brief Enable HTS221
cparata 0:485458fca2bd 102 * @retval HTS221_STATUS_OK in case of success, an error code otherwise
cparata 0:485458fca2bd 103 */
cparata 0:485458fca2bd 104 HTS221StatusTypeDef HTS221Sensor::Enable(void)
cparata 0:485458fca2bd 105 {
cparata 0:485458fca2bd 106 /* Power up the device */
cparata 0:485458fca2bd 107 if ( HTS221_Activate( (void *)this ) == HTS221_ERROR )
cparata 0:485458fca2bd 108 {
cparata 0:485458fca2bd 109 return HTS221_STATUS_ERROR;
cparata 0:485458fca2bd 110 }
cparata 0:485458fca2bd 111
cparata 0:485458fca2bd 112 return HTS221_STATUS_OK;
cparata 0:485458fca2bd 113 }
cparata 0:485458fca2bd 114
cparata 0:485458fca2bd 115 /**
cparata 0:485458fca2bd 116 * @brief Disable HTS221
cparata 0:485458fca2bd 117 * @retval HTS221_STATUS_OK in case of success, an error code otherwise
cparata 0:485458fca2bd 118 */
cparata 0:485458fca2bd 119 HTS221StatusTypeDef HTS221Sensor::Disable(void)
cparata 0:485458fca2bd 120 {
cparata 0:485458fca2bd 121 /* Power up the device */
cparata 0:485458fca2bd 122 if ( HTS221_DeActivate( (void *)this ) == HTS221_ERROR )
cparata 0:485458fca2bd 123 {
cparata 0:485458fca2bd 124 return HTS221_STATUS_ERROR;
cparata 0:485458fca2bd 125 }
cparata 0:485458fca2bd 126
cparata 0:485458fca2bd 127 return HTS221_STATUS_OK;
cparata 0:485458fca2bd 128 }
cparata 0:485458fca2bd 129
cparata 0:485458fca2bd 130 /**
cparata 0:485458fca2bd 131 * @brief Read ID address of HTS221
cparata 0:485458fca2bd 132 * @param ht_id the pointer where the ID of the device is stored
cparata 0:485458fca2bd 133 * @retval HTS221_STATUS_OK in case of success, an error code otherwise
cparata 0:485458fca2bd 134 */
cparata 0:485458fca2bd 135 HTS221StatusTypeDef HTS221Sensor::ReadID(uint8_t *ht_id)
cparata 0:485458fca2bd 136 {
cparata 0:485458fca2bd 137 /* Read WHO AM I register */
cparata 0:485458fca2bd 138 if ( HTS221_Get_DeviceID( (void *)this, ht_id ) == HTS221_ERROR )
cparata 0:485458fca2bd 139 {
cparata 0:485458fca2bd 140 return HTS221_STATUS_ERROR;
cparata 0:485458fca2bd 141 }
cparata 0:485458fca2bd 142
cparata 0:485458fca2bd 143 return HTS221_STATUS_OK;
cparata 0:485458fca2bd 144 }
cparata 0:485458fca2bd 145
cparata 0:485458fca2bd 146 /**
cparata 0:485458fca2bd 147 * @brief Reboot memory content of HTS221
cparata 0:485458fca2bd 148 * @param None
cparata 0:485458fca2bd 149 * @retval HTS221_STATUS_OK in case of success, an error code otherwise
cparata 0:485458fca2bd 150 */
cparata 0:485458fca2bd 151 HTS221StatusTypeDef HTS221Sensor::Reset(void)
cparata 0:485458fca2bd 152 {
cparata 0:485458fca2bd 153 uint8_t tmpreg;
cparata 0:485458fca2bd 154
cparata 0:485458fca2bd 155 /* Read CTRL_REG2 register */
cparata 0:485458fca2bd 156 if (ReadReg(HTS221_CTRL_REG2, &tmpreg) != HTS221_STATUS_OK)
cparata 0:485458fca2bd 157 {
cparata 0:485458fca2bd 158 return HTS221_STATUS_ERROR;
cparata 0:485458fca2bd 159 }
cparata 0:485458fca2bd 160
cparata 0:485458fca2bd 161 /* Enable or Disable the reboot memory */
cparata 0:485458fca2bd 162 tmpreg |= (0x01 << HTS221_BOOT_BIT);
cparata 0:485458fca2bd 163
cparata 0:485458fca2bd 164 /* Write value to MEMS CTRL_REG2 regsister */
cparata 0:485458fca2bd 165 if (WriteReg(HTS221_CTRL_REG2, tmpreg) != HTS221_STATUS_OK)
cparata 0:485458fca2bd 166 {
cparata 0:485458fca2bd 167 return HTS221_STATUS_ERROR;
cparata 0:485458fca2bd 168 }
cparata 0:485458fca2bd 169
cparata 0:485458fca2bd 170 return HTS221_STATUS_OK;
cparata 0:485458fca2bd 171 }
cparata 0:485458fca2bd 172
cparata 0:485458fca2bd 173 /**
cparata 0:485458fca2bd 174 * @brief Read HTS221 output register, and calculate the humidity
cparata 0:485458fca2bd 175 * @param pfData the pointer to data output
cparata 0:485458fca2bd 176 * @retval HTS221_STATUS_OK in case of success, an error code otherwise
cparata 0:485458fca2bd 177 */
cparata 0:485458fca2bd 178 HTS221StatusTypeDef HTS221Sensor::GetHumidity(float* pfData)
cparata 0:485458fca2bd 179 {
cparata 0:485458fca2bd 180 uint16_t uint16data = 0;
cparata 0:485458fca2bd 181
cparata 0:485458fca2bd 182 /* Read data from HTS221. */
cparata 0:485458fca2bd 183 if ( HTS221_Get_Humidity( (void *)this, &uint16data ) == HTS221_ERROR )
cparata 0:485458fca2bd 184 {
cparata 0:485458fca2bd 185 return HTS221_STATUS_ERROR;
cparata 0:485458fca2bd 186 }
cparata 0:485458fca2bd 187
cparata 0:485458fca2bd 188 *pfData = ( float )uint16data / 10.0f;
cparata 0:485458fca2bd 189
cparata 0:485458fca2bd 190 return HTS221_STATUS_OK;
cparata 0:485458fca2bd 191 }
cparata 0:485458fca2bd 192
cparata 0:485458fca2bd 193 /**
cparata 0:485458fca2bd 194 * @brief Read HTS221 output register, and calculate the temperature
cparata 0:485458fca2bd 195 * @param pfData the pointer to data output
cparata 0:485458fca2bd 196 * @retval HTS221_STATUS_OK in case of success, an error code otherwise
cparata 0:485458fca2bd 197 */
cparata 0:485458fca2bd 198 HTS221StatusTypeDef HTS221Sensor::GetTemperature(float* pfData)
cparata 0:485458fca2bd 199 {
cparata 0:485458fca2bd 200 int16_t int16data = 0;
cparata 0:485458fca2bd 201
cparata 0:485458fca2bd 202 /* Read data from HTS221. */
cparata 0:485458fca2bd 203 if ( HTS221_Get_Temperature( (void *)this, &int16data ) == HTS221_ERROR )
cparata 0:485458fca2bd 204 {
cparata 0:485458fca2bd 205 return HTS221_STATUS_ERROR;
cparata 0:485458fca2bd 206 }
cparata 0:485458fca2bd 207
cparata 0:485458fca2bd 208 *pfData = ( float )int16data / 10.0f;
cparata 0:485458fca2bd 209
cparata 0:485458fca2bd 210 return HTS221_STATUS_OK;
cparata 0:485458fca2bd 211 }
cparata 0:485458fca2bd 212
cparata 0:485458fca2bd 213 /**
cparata 0:485458fca2bd 214 * @brief Read HTS221 output register, and calculate the humidity
cparata 0:485458fca2bd 215 * @param odr the pointer to the output data rate
cparata 0:485458fca2bd 216 * @retval HTS221_STATUS_OK in case of success, an error code otherwise
cparata 0:485458fca2bd 217 */
cparata 0:485458fca2bd 218 HTS221StatusTypeDef HTS221Sensor::GetODR(float* odr)
cparata 0:485458fca2bd 219 {
cparata 0:485458fca2bd 220 HTS221_Odr_et odr_low_level;
cparata 0:485458fca2bd 221
cparata 0:485458fca2bd 222 if ( HTS221_Get_Odr( (void *)this, &odr_low_level ) == HTS221_ERROR )
cparata 0:485458fca2bd 223 {
cparata 0:485458fca2bd 224 return HTS221_STATUS_ERROR;
cparata 0:485458fca2bd 225 }
cparata 0:485458fca2bd 226
cparata 0:485458fca2bd 227 switch( odr_low_level )
cparata 0:485458fca2bd 228 {
cparata 0:485458fca2bd 229 case HTS221_ODR_ONE_SHOT:
cparata 0:485458fca2bd 230 *odr = 0.0f;
cparata 0:485458fca2bd 231 break;
cparata 0:485458fca2bd 232 case HTS221_ODR_1HZ :
cparata 0:485458fca2bd 233 *odr = 1.0f;
cparata 0:485458fca2bd 234 break;
cparata 0:485458fca2bd 235 case HTS221_ODR_7HZ :
cparata 0:485458fca2bd 236 *odr = 7.0f;
cparata 0:485458fca2bd 237 break;
cparata 0:485458fca2bd 238 case HTS221_ODR_12_5HZ :
cparata 0:485458fca2bd 239 *odr = 12.5f;
cparata 0:485458fca2bd 240 break;
cparata 0:485458fca2bd 241 default :
cparata 0:485458fca2bd 242 *odr = -1.0f;
cparata 0:485458fca2bd 243 return HTS221_STATUS_ERROR;
cparata 0:485458fca2bd 244 }
cparata 0:485458fca2bd 245
cparata 0:485458fca2bd 246 return HTS221_STATUS_OK;
cparata 0:485458fca2bd 247 }
cparata 0:485458fca2bd 248
cparata 0:485458fca2bd 249 /**
cparata 0:485458fca2bd 250 * @brief Set ODR
cparata 0:485458fca2bd 251 * @param odr the output data rate to be set
cparata 0:485458fca2bd 252 * @retval HTS221_STATUS_OK in case of success, an error code otherwise
cparata 0:485458fca2bd 253 */
cparata 0:485458fca2bd 254 HTS221StatusTypeDef HTS221Sensor::SetODR(float odr)
cparata 0:485458fca2bd 255 {
cparata 0:485458fca2bd 256 HTS221_Odr_et new_odr;
cparata 0:485458fca2bd 257
cparata 0:485458fca2bd 258 new_odr = ( odr <= 1.0f ) ? HTS221_ODR_1HZ
cparata 0:485458fca2bd 259 : ( odr <= 7.0f ) ? HTS221_ODR_7HZ
cparata 0:485458fca2bd 260 : HTS221_ODR_12_5HZ;
cparata 0:485458fca2bd 261
cparata 0:485458fca2bd 262 if ( HTS221_Set_Odr( (void *)this, new_odr ) == HTS221_ERROR )
cparata 0:485458fca2bd 263 {
cparata 0:485458fca2bd 264 return HTS221_STATUS_ERROR;
cparata 0:485458fca2bd 265 }
cparata 0:485458fca2bd 266
cparata 0:485458fca2bd 267 return HTS221_STATUS_OK;
cparata 0:485458fca2bd 268 }
cparata 0:485458fca2bd 269
cparata 0:485458fca2bd 270
cparata 0:485458fca2bd 271 /**
cparata 0:485458fca2bd 272 * @brief Read the data from register
cparata 0:485458fca2bd 273 * @param reg register address
cparata 0:485458fca2bd 274 * @param data register data
cparata 0:485458fca2bd 275 * @retval HTS221_STATUS_OK in case of success
cparata 0:485458fca2bd 276 * @retval HTS221_STATUS_ERROR in case of failure
cparata 0:485458fca2bd 277 */
cparata 0:485458fca2bd 278 HTS221StatusTypeDef HTS221Sensor::ReadReg( uint8_t reg, uint8_t *data )
cparata 0:485458fca2bd 279 {
cparata 0:485458fca2bd 280
cparata 0:485458fca2bd 281 if ( HTS221_ReadReg( (void *)this, reg, 1, data ) == HTS221_ERROR )
cparata 0:485458fca2bd 282 {
cparata 0:485458fca2bd 283 return HTS221_STATUS_ERROR;
cparata 0:485458fca2bd 284 }
cparata 0:485458fca2bd 285
cparata 0:485458fca2bd 286 return HTS221_STATUS_OK;
cparata 0:485458fca2bd 287 }
cparata 0:485458fca2bd 288
cparata 0:485458fca2bd 289 /**
cparata 0:485458fca2bd 290 * @brief Write the data to register
cparata 0:485458fca2bd 291 * @param reg register address
cparata 0:485458fca2bd 292 * @param data register data
cparata 0:485458fca2bd 293 * @retval HTS221_STATUS_OK in case of success
cparata 0:485458fca2bd 294 * @retval HTS221_STATUS_ERROR in case of failure
cparata 0:485458fca2bd 295 */
cparata 0:485458fca2bd 296 HTS221StatusTypeDef HTS221Sensor::WriteReg( uint8_t reg, uint8_t data )
cparata 0:485458fca2bd 297 {
cparata 0:485458fca2bd 298
cparata 0:485458fca2bd 299 if ( HTS221_WriteReg( (void *)this, reg, 1, &data ) == HTS221_ERROR )
cparata 0:485458fca2bd 300 {
cparata 0:485458fca2bd 301 return HTS221_STATUS_ERROR;
cparata 0:485458fca2bd 302 }
cparata 0:485458fca2bd 303
cparata 0:485458fca2bd 304 return HTS221_STATUS_OK;
cparata 0:485458fca2bd 305 }
cparata 0:485458fca2bd 306
cparata 0:485458fca2bd 307 uint8_t HTS221_IO_Write( void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite )
cparata 0:485458fca2bd 308 {
cparata 0:485458fca2bd 309 return ((HTS221Sensor *)handle)->IO_Write(pBuffer, WriteAddr, nBytesToWrite);
cparata 0:485458fca2bd 310 }
cparata 0:485458fca2bd 311
cparata 0:485458fca2bd 312 uint8_t HTS221_IO_Read( void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead )
cparata 0:485458fca2bd 313 {
cparata 0:485458fca2bd 314 return ((HTS221Sensor *)handle)->IO_Read(pBuffer, ReadAddr, nBytesToRead);
cparata 0:485458fca2bd 315 }