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@2:ae74845fa96a, 2016-08-19 (annotated)

Committer:
cparata
Date:
Fri Aug 19 12:23:23 2016 +0000
Revision:
2:ae74845fa96a
Add interfaces to all components

Who changed what in which revision?

UserRevisionLine numberNew contents of line
cparata 2:ae74845fa96a 1 /**
cparata 2:ae74845fa96a 2 ******************************************************************************
cparata 2:ae74845fa96a 3 * @file HTS221Sensor.cpp
cparata 2:ae74845fa96a 4 * @author AST
cparata 2:ae74845fa96a 5 * @version V1.0.0
cparata 2:ae74845fa96a 6 * @date 5 August 2016
cparata 2:ae74845fa96a 7 * @brief Implementation of an HTS221 Humidity and Temperature sensor.
cparata 2:ae74845fa96a 8 ******************************************************************************
cparata 2:ae74845fa96a 9 * @attention
cparata 2:ae74845fa96a 10 *
cparata 2:ae74845fa96a 11 * <h2><center>&copy; COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
cparata 2:ae74845fa96a 12 *
cparata 2:ae74845fa96a 13 * Redistribution and use in source and binary forms, with or without modification,
cparata 2:ae74845fa96a 14 * are permitted provided that the following conditions are met:
cparata 2:ae74845fa96a 15 * 1. Redistributions of source code must retain the above copyright notice,
cparata 2:ae74845fa96a 16 * this list of conditions and the following disclaimer.
cparata 2:ae74845fa96a 17 * 2. Redistributions in binary form must reproduce the above copyright notice,
cparata 2:ae74845fa96a 18 * this list of conditions and the following disclaimer in the documentation
cparata 2:ae74845fa96a 19 * and/or other materials provided with the distribution.
cparata 2:ae74845fa96a 20 * 3. Neither the name of STMicroelectronics nor the names of its contributors
cparata 2:ae74845fa96a 21 * may be used to endorse or promote products derived from this software
cparata 2:ae74845fa96a 22 * without specific prior written permission.
cparata 2:ae74845fa96a 23 *
cparata 2:ae74845fa96a 24 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
cparata 2:ae74845fa96a 25 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
cparata 2:ae74845fa96a 26 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
cparata 2:ae74845fa96a 27 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
cparata 2:ae74845fa96a 28 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
cparata 2:ae74845fa96a 29 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
cparata 2:ae74845fa96a 30 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
cparata 2:ae74845fa96a 31 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
cparata 2:ae74845fa96a 32 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
cparata 2:ae74845fa96a 33 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
cparata 2:ae74845fa96a 34 *
cparata 2:ae74845fa96a 35 ******************************************************************************
cparata 2:ae74845fa96a 36 */
cparata 2:ae74845fa96a 37
cparata 2:ae74845fa96a 38
cparata 2:ae74845fa96a 39 /* Includes ------------------------------------------------------------------*/
cparata 2:ae74845fa96a 40
cparata 2:ae74845fa96a 41 #include "mbed.h"
cparata 2:ae74845fa96a 42 #include "DevI2C.h"
cparata 2:ae74845fa96a 43 #include "HTS221Sensor.h"
cparata 2:ae74845fa96a 44 #include "HTS221_Driver.h"
cparata 2:ae74845fa96a 45
cparata 2:ae74845fa96a 46
cparata 2:ae74845fa96a 47 /* Class Implementation ------------------------------------------------------*/
cparata 2:ae74845fa96a 48
cparata 2:ae74845fa96a 49 /** Constructor
cparata 2:ae74845fa96a 50 * @param i2c object of an helper class which handles the I2C peripheral
cparata 2:ae74845fa96a 51 * @param address the address of the component's instance
cparata 2:ae74845fa96a 52 */
cparata 2:ae74845fa96a 53 HTS221Sensor::HTS221Sensor(DevI2C &i2c) : dev_i2c(i2c)
cparata 2:ae74845fa96a 54 {
cparata 2:ae74845fa96a 55 address = HTS221_I2C_ADDRESS;
cparata 2:ae74845fa96a 56 };
cparata 2:ae74845fa96a 57
cparata 2:ae74845fa96a 58
cparata 2:ae74845fa96a 59 /** Constructor
cparata 2:ae74845fa96a 60 * @param i2c object of an helper class which handles the I2C peripheral
cparata 2:ae74845fa96a 61 * @param address the address of the component's instance
cparata 2:ae74845fa96a 62 */
cparata 2:ae74845fa96a 63 HTS221Sensor::HTS221Sensor(DevI2C &i2c, uint8_t address) : dev_i2c(i2c), address(address)
cparata 2:ae74845fa96a 64 {
cparata 2:ae74845fa96a 65
cparata 2:ae74845fa96a 66 };
cparata 2:ae74845fa96a 67
cparata 2:ae74845fa96a 68 /**
cparata 2:ae74845fa96a 69 * @brief Initializing the component.
cparata 2:ae74845fa96a 70 * @param[in] init pointer to device specific initalization structure.
cparata 2:ae74845fa96a 71 * @retval "0" in case of success, an error code otherwise.
cparata 2:ae74845fa96a 72 */
cparata 2:ae74845fa96a 73 int HTS221Sensor::Init(void *init)
cparata 2:ae74845fa96a 74 {
cparata 2:ae74845fa96a 75 /* Power down the device */
cparata 2:ae74845fa96a 76 if ( HTS221_DeActivate( (void *)this ) == HTS221_ERROR )
cparata 2:ae74845fa96a 77 {
cparata 2:ae74845fa96a 78 return 1;
cparata 2:ae74845fa96a 79 }
cparata 2:ae74845fa96a 80
cparata 2:ae74845fa96a 81 /* Enable BDU */
cparata 2:ae74845fa96a 82 if ( HTS221_Set_BduMode( (void *)this, HTS221_ENABLE ) == HTS221_ERROR )
cparata 2:ae74845fa96a 83 {
cparata 2:ae74845fa96a 84 return 1;
cparata 2:ae74845fa96a 85 }
cparata 2:ae74845fa96a 86
cparata 2:ae74845fa96a 87 if(Set_ODR(1.0f) == 1)
cparata 2:ae74845fa96a 88 {
cparata 2:ae74845fa96a 89 return 1;
cparata 2:ae74845fa96a 90 }
cparata 2:ae74845fa96a 91
cparata 2:ae74845fa96a 92 return 0;
cparata 2:ae74845fa96a 93 }
cparata 2:ae74845fa96a 94
cparata 2:ae74845fa96a 95 /**
cparata 2:ae74845fa96a 96 * @brief Enable HTS221
cparata 2:ae74845fa96a 97 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 98 */
cparata 2:ae74845fa96a 99 int HTS221Sensor::Enable(void)
cparata 2:ae74845fa96a 100 {
cparata 2:ae74845fa96a 101 /* Power up the device */
cparata 2:ae74845fa96a 102 if ( HTS221_Activate( (void *)this ) == HTS221_ERROR )
cparata 2:ae74845fa96a 103 {
cparata 2:ae74845fa96a 104 return 1;
cparata 2:ae74845fa96a 105 }
cparata 2:ae74845fa96a 106
cparata 2:ae74845fa96a 107 return 0;
cparata 2:ae74845fa96a 108 }
cparata 2:ae74845fa96a 109
cparata 2:ae74845fa96a 110 /**
cparata 2:ae74845fa96a 111 * @brief Disable HTS221
cparata 2:ae74845fa96a 112 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 113 */
cparata 2:ae74845fa96a 114 int HTS221Sensor::Disable(void)
cparata 2:ae74845fa96a 115 {
cparata 2:ae74845fa96a 116 /* Power up the device */
cparata 2:ae74845fa96a 117 if ( HTS221_DeActivate( (void *)this ) == HTS221_ERROR )
cparata 2:ae74845fa96a 118 {
cparata 2:ae74845fa96a 119 return 1;
cparata 2:ae74845fa96a 120 }
cparata 2:ae74845fa96a 121
cparata 2:ae74845fa96a 122 return 0;
cparata 2:ae74845fa96a 123 }
cparata 2:ae74845fa96a 124
cparata 2:ae74845fa96a 125 /**
cparata 2:ae74845fa96a 126 * @brief Read ID address of HTS221
cparata 2:ae74845fa96a 127 * @param id the pointer where the ID of the device is stored
cparata 2:ae74845fa96a 128 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 129 */
cparata 2:ae74845fa96a 130 int HTS221Sensor::ReadID(uint8_t *id)
cparata 2:ae74845fa96a 131 {
cparata 2:ae74845fa96a 132 if(!id)
cparata 2:ae74845fa96a 133 {
cparata 2:ae74845fa96a 134 return 1;
cparata 2:ae74845fa96a 135 }
cparata 2:ae74845fa96a 136
cparata 2:ae74845fa96a 137 /* Read WHO AM I register */
cparata 2:ae74845fa96a 138 if ( HTS221_Get_DeviceID( (void *)this, id ) == HTS221_ERROR )
cparata 2:ae74845fa96a 139 {
cparata 2:ae74845fa96a 140 return 1;
cparata 2:ae74845fa96a 141 }
cparata 2:ae74845fa96a 142
cparata 2:ae74845fa96a 143 return 0;
cparata 2:ae74845fa96a 144 }
cparata 2:ae74845fa96a 145
cparata 2:ae74845fa96a 146 /**
cparata 2:ae74845fa96a 147 * @brief Reboot memory content of HTS221
cparata 2:ae74845fa96a 148 * @param None
cparata 2:ae74845fa96a 149 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 150 */
cparata 2:ae74845fa96a 151 int HTS221Sensor::Reset(void)
cparata 2:ae74845fa96a 152 {
cparata 2:ae74845fa96a 153 uint8_t tmpreg;
cparata 2:ae74845fa96a 154
cparata 2:ae74845fa96a 155 /* Read CTRL_REG2 register */
cparata 2:ae74845fa96a 156 if (ReadReg(HTS221_CTRL_REG2, &tmpreg) != 0)
cparata 2:ae74845fa96a 157 {
cparata 2:ae74845fa96a 158 return 1;
cparata 2:ae74845fa96a 159 }
cparata 2:ae74845fa96a 160
cparata 2:ae74845fa96a 161 /* Enable or Disable the reboot memory */
cparata 2:ae74845fa96a 162 tmpreg |= (0x01 << HTS221_BOOT_BIT);
cparata 2:ae74845fa96a 163
cparata 2:ae74845fa96a 164 /* Write value to MEMS CTRL_REG2 regsister */
cparata 2:ae74845fa96a 165 if (WriteReg(HTS221_CTRL_REG2, tmpreg) != 0)
cparata 2:ae74845fa96a 166 {
cparata 2:ae74845fa96a 167 return 1;
cparata 2:ae74845fa96a 168 }
cparata 2:ae74845fa96a 169
cparata 2:ae74845fa96a 170 return 0;
cparata 2:ae74845fa96a 171 }
cparata 2:ae74845fa96a 172
cparata 2:ae74845fa96a 173 /**
cparata 2:ae74845fa96a 174 * @brief Read HTS221 output register, and calculate the humidity
cparata 2:ae74845fa96a 175 * @param pfData the pointer to data output
cparata 2:ae74845fa96a 176 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 177 */
cparata 2:ae74845fa96a 178 int HTS221Sensor::GetHumidity(float* pfData)
cparata 2:ae74845fa96a 179 {
cparata 2:ae74845fa96a 180 uint16_t uint16data = 0;
cparata 2:ae74845fa96a 181
cparata 2:ae74845fa96a 182 /* Read data from HTS221. */
cparata 2:ae74845fa96a 183 if ( HTS221_Get_Humidity( (void *)this, &uint16data ) == HTS221_ERROR )
cparata 2:ae74845fa96a 184 {
cparata 2:ae74845fa96a 185 return 1;
cparata 2:ae74845fa96a 186 }
cparata 2:ae74845fa96a 187
cparata 2:ae74845fa96a 188 *pfData = ( float )uint16data / 10.0f;
cparata 2:ae74845fa96a 189
cparata 2:ae74845fa96a 190 return 0;
cparata 2:ae74845fa96a 191 }
cparata 2:ae74845fa96a 192
cparata 2:ae74845fa96a 193 /**
cparata 2:ae74845fa96a 194 * @brief Read HTS221 output register, and calculate the temperature
cparata 2:ae74845fa96a 195 * @param pfData the pointer to data output
cparata 2:ae74845fa96a 196 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 197 */
cparata 2:ae74845fa96a 198 int HTS221Sensor::GetTemperature(float* pfData)
cparata 2:ae74845fa96a 199 {
cparata 2:ae74845fa96a 200 int16_t int16data = 0;
cparata 2:ae74845fa96a 201
cparata 2:ae74845fa96a 202 /* Read data from HTS221. */
cparata 2:ae74845fa96a 203 if ( HTS221_Get_Temperature( (void *)this, &int16data ) == HTS221_ERROR )
cparata 2:ae74845fa96a 204 {
cparata 2:ae74845fa96a 205 return 1;
cparata 2:ae74845fa96a 206 }
cparata 2:ae74845fa96a 207
cparata 2:ae74845fa96a 208 *pfData = ( float )int16data / 10.0f;
cparata 2:ae74845fa96a 209
cparata 2:ae74845fa96a 210 return 0;
cparata 2:ae74845fa96a 211 }
cparata 2:ae74845fa96a 212
cparata 2:ae74845fa96a 213 /**
cparata 2:ae74845fa96a 214 * @brief Read HTS221 output register, and calculate the humidity
cparata 2:ae74845fa96a 215 * @param odr the pointer to the output data rate
cparata 2:ae74845fa96a 216 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 217 */
cparata 2:ae74845fa96a 218 int HTS221Sensor::Get_ODR(float* odr)
cparata 2:ae74845fa96a 219 {
cparata 2:ae74845fa96a 220 HTS221_Odr_et odr_low_level;
cparata 2:ae74845fa96a 221
cparata 2:ae74845fa96a 222 if ( HTS221_Get_Odr( (void *)this, &odr_low_level ) == HTS221_ERROR )
cparata 2:ae74845fa96a 223 {
cparata 2:ae74845fa96a 224 return 1;
cparata 2:ae74845fa96a 225 }
cparata 2:ae74845fa96a 226
cparata 2:ae74845fa96a 227 switch( odr_low_level )
cparata 2:ae74845fa96a 228 {
cparata 2:ae74845fa96a 229 case HTS221_ODR_ONE_SHOT:
cparata 2:ae74845fa96a 230 *odr = 0.0f;
cparata 2:ae74845fa96a 231 break;
cparata 2:ae74845fa96a 232 case HTS221_ODR_1HZ :
cparata 2:ae74845fa96a 233 *odr = 1.0f;
cparata 2:ae74845fa96a 234 break;
cparata 2:ae74845fa96a 235 case HTS221_ODR_7HZ :
cparata 2:ae74845fa96a 236 *odr = 7.0f;
cparata 2:ae74845fa96a 237 break;
cparata 2:ae74845fa96a 238 case HTS221_ODR_12_5HZ :
cparata 2:ae74845fa96a 239 *odr = 12.5f;
cparata 2:ae74845fa96a 240 break;
cparata 2:ae74845fa96a 241 default :
cparata 2:ae74845fa96a 242 *odr = -1.0f;
cparata 2:ae74845fa96a 243 return 1;
cparata 2:ae74845fa96a 244 }
cparata 2:ae74845fa96a 245
cparata 2:ae74845fa96a 246 return 0;
cparata 2:ae74845fa96a 247 }
cparata 2:ae74845fa96a 248
cparata 2:ae74845fa96a 249 /**
cparata 2:ae74845fa96a 250 * @brief Set ODR
cparata 2:ae74845fa96a 251 * @param odr the output data rate to be set
cparata 2:ae74845fa96a 252 * @retval 0 in case of success, an error code otherwise
cparata 2:ae74845fa96a 253 */
cparata 2:ae74845fa96a 254 int HTS221Sensor::Set_ODR(float odr)
cparata 2:ae74845fa96a 255 {
cparata 2:ae74845fa96a 256 HTS221_Odr_et new_odr;
cparata 2:ae74845fa96a 257
cparata 2:ae74845fa96a 258 new_odr = ( odr <= 1.0f ) ? HTS221_ODR_1HZ
cparata 2:ae74845fa96a 259 : ( odr <= 7.0f ) ? HTS221_ODR_7HZ
cparata 2:ae74845fa96a 260 : HTS221_ODR_12_5HZ;
cparata 2:ae74845fa96a 261
cparata 2:ae74845fa96a 262 if ( HTS221_Set_Odr( (void *)this, new_odr ) == HTS221_ERROR )
cparata 2:ae74845fa96a 263 {
cparata 2:ae74845fa96a 264 return 1;
cparata 2:ae74845fa96a 265 }
cparata 2:ae74845fa96a 266
cparata 2:ae74845fa96a 267 return 0;
cparata 2:ae74845fa96a 268 }
cparata 2:ae74845fa96a 269
cparata 2:ae74845fa96a 270
cparata 2:ae74845fa96a 271 /**
cparata 2:ae74845fa96a 272 * @brief Read the data from register
cparata 2:ae74845fa96a 273 * @param reg register address
cparata 2:ae74845fa96a 274 * @param data register data
cparata 2:ae74845fa96a 275 * @retval 0 in case of success
cparata 2:ae74845fa96a 276 * @retval 1 in case of failure
cparata 2:ae74845fa96a 277 */
cparata 2:ae74845fa96a 278 int HTS221Sensor::ReadReg( uint8_t reg, uint8_t *data )
cparata 2:ae74845fa96a 279 {
cparata 2:ae74845fa96a 280
cparata 2:ae74845fa96a 281 if ( HTS221_ReadReg( (void *)this, reg, 1, data ) == HTS221_ERROR )
cparata 2:ae74845fa96a 282 {
cparata 2:ae74845fa96a 283 return 1;
cparata 2:ae74845fa96a 284 }
cparata 2:ae74845fa96a 285
cparata 2:ae74845fa96a 286 return 0;
cparata 2:ae74845fa96a 287 }
cparata 2:ae74845fa96a 288
cparata 2:ae74845fa96a 289 /**
cparata 2:ae74845fa96a 290 * @brief Write the data to register
cparata 2:ae74845fa96a 291 * @param reg register address
cparata 2:ae74845fa96a 292 * @param data register data
cparata 2:ae74845fa96a 293 * @retval 0 in case of success
cparata 2:ae74845fa96a 294 * @retval 1 in case of failure
cparata 2:ae74845fa96a 295 */
cparata 2:ae74845fa96a 296 int HTS221Sensor::WriteReg( uint8_t reg, uint8_t data )
cparata 2:ae74845fa96a 297 {
cparata 2:ae74845fa96a 298
cparata 2:ae74845fa96a 299 if ( HTS221_WriteReg( (void *)this, reg, 1, &data ) == HTS221_ERROR )
cparata 2:ae74845fa96a 300 {
cparata 2:ae74845fa96a 301 return 1;
cparata 2:ae74845fa96a 302 }
cparata 2:ae74845fa96a 303
cparata 2:ae74845fa96a 304 return 0;
cparata 2:ae74845fa96a 305 }
cparata 2:ae74845fa96a 306
cparata 2:ae74845fa96a 307 uint8_t HTS221_IO_Write( void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite )
cparata 2:ae74845fa96a 308 {
cparata 2:ae74845fa96a 309 return ((HTS221Sensor *)handle)->IO_Write(pBuffer, WriteAddr, nBytesToWrite);
cparata 2:ae74845fa96a 310 }
cparata 2:ae74845fa96a 311
cparata 2:ae74845fa96a 312 uint8_t HTS221_IO_Read( void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead )
cparata 2:ae74845fa96a 313 {
cparata 2:ae74845fa96a 314 return ((HTS221Sensor *)handle)->IO_Read(pBuffer, ReadAddr, nBytesToRead);
cparata 2:ae74845fa96a 315 }