ST / HelloWorld_ST_Sensors

Simple application to test ST motion and environmental MEMS sensors. Supports NUCLEO+X-NUCLEO-IKS01A2 , STEVAL-STLKT01V1 (a.k.a. SensorTile) and B-L475E-IOT01A boards.

Dependencies:   HTS221 LIS3MDL LPS22HB LSM303AGR LSM6DSL VL53L0X

Supports NUCLEO+X-NUCLEO-IKS01A2 , STEVAL-STLKT01V1 (a.k.a. SensorTile) and B-L475E-IOT01A boards.

main.cpp@10:55795f30572e, 2017-10-18 (annotated)

Committer:
nikapov
Date:
Wed Oct 18 12:59:14 2017 +0000
Revision:
10:55795f30572e
Parent:
8:39ecd15538f9 
Update sensor libs.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
nikapov 0:6a97487a0ab3 1 /**
nikapov 0:6a97487a0ab3 2 ******************************************************************************
nikapov 0:6a97487a0ab3 3 * @file main.cpp
nikapov 0:6a97487a0ab3 4 * @author CLab
nikapov 0:6a97487a0ab3 5 * @version V1.0.0
nikapov 0:6a97487a0ab3 6 * @date 5-September-2017
nikapov 0:6a97487a0ab3 7 * @brief Simple Example application for using X_NUCLEO_IKS01A2
nikapov 0:6a97487a0ab3 8 * MEMS Inertial & Environmental Sensor Nucleo expansion and
nikapov 0:6a97487a0ab3 9 * B-L475E-IOT01A2 boards.
nikapov 0:6a97487a0ab3 10 ******************************************************************************
nikapov 0:6a97487a0ab3 11 * @attention
nikapov 0:6a97487a0ab3 12 *
nikapov 0:6a97487a0ab3 13 * <h2><center>&copy; COPYRIGHT(c) 2017 STMicroelectronics</center></h2>
nikapov 0:6a97487a0ab3 14 *
nikapov 0:6a97487a0ab3 15 * Redistribution and use in source and binary forms, with or without modification,
nikapov 0:6a97487a0ab3 16 * are permitted provided that the following conditions are met:
nikapov 0:6a97487a0ab3 17 * 1. Redistributions of source code must retain the above copyright notice,
nikapov 0:6a97487a0ab3 18 * this list of conditions and the following disclaimer.
nikapov 0:6a97487a0ab3 19 * 2. Redistributions in binary form must reproduce the above copyright notice,
nikapov 0:6a97487a0ab3 20 * this list of conditions and the following disclaimer in the documentation
nikapov 0:6a97487a0ab3 21 * and/or other materials provided with the distribution.
nikapov 0:6a97487a0ab3 22 * 3. Neither the name of STMicroelectronics nor the names of its contributors
nikapov 0:6a97487a0ab3 23 * may be used to endorse or promote products derived from this software
nikapov 0:6a97487a0ab3 24 * without specific prior written permission.
nikapov 0:6a97487a0ab3 25 *
nikapov 0:6a97487a0ab3 26 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
nikapov 0:6a97487a0ab3 27 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
nikapov 0:6a97487a0ab3 28 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
nikapov 0:6a97487a0ab3 29 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
nikapov 0:6a97487a0ab3 30 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
nikapov 0:6a97487a0ab3 31 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
nikapov 0:6a97487a0ab3 32 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
nikapov 0:6a97487a0ab3 33 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
nikapov 0:6a97487a0ab3 34 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
nikapov 0:6a97487a0ab3 35 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
nikapov 0:6a97487a0ab3 36 *
nikapov 0:6a97487a0ab3 37 ******************************************************************************
nikapov 0:6a97487a0ab3 38 */
nikapov 0:6a97487a0ab3 39
nikapov 0:6a97487a0ab3 40 /* Includes */
nikapov 0:6a97487a0ab3 41 #include "mbed.h"
nikapov 0:6a97487a0ab3 42 #include "HTS221Sensor.h"
nikapov 0:6a97487a0ab3 43 #include "LPS22HBSensor.h"
nikapov 0:6a97487a0ab3 44 #include "LSM6DSLSensor.h"
nikapov 0:6a97487a0ab3 45
nikapov 0:6a97487a0ab3 46 #ifdef TARGET_DISCO_L475VG_IOT01A
nikapov 8:39ecd15538f9 47
nikapov 0:6a97487a0ab3 48 #include "lis3mdl_class.h"
nikapov 8:39ecd15538f9 49 #include "VL53L0X.h"
nikapov 8:39ecd15538f9 50
nikapov 8:39ecd15538f9 51 #else // Nucleo-XXX + X-Nucleo-IKS01A2 or SensorTile
nikapov 8:39ecd15538f9 52
nikapov 8:39ecd15538f9 53 #ifdef TARGET_NUCLEO_L476RG
nikapov 8:39ecd15538f9 54 #define TARGET_SENSOR_TILE // comment out to use actual NUCLEO-L476RG instead of SensorTile
nikapov 8:39ecd15538f9 55 #endif
nikapov 8:39ecd15538f9 56
nikapov 0:6a97487a0ab3 57 #include "LSM303AGRMagSensor.h"
mapellil 5:2fdca1624a33 58 #include "LSM303AGRAccSensor.h"
nikapov 8:39ecd15538f9 59
nikapov 0:6a97487a0ab3 60 #endif
nikapov 0:6a97487a0ab3 61
nikapov 0:6a97487a0ab3 62
nikapov 0:6a97487a0ab3 63 /* Retrieve the composing elements of the expansion board */
nikapov 0:6a97487a0ab3 64
nikapov 8:39ecd15538f9 65 /* Interface definition */
nikapov 0:6a97487a0ab3 66 #ifdef TARGET_DISCO_L475VG_IOT01A
mapellil 4:a876fbe13688 67 static DevI2C devI2c(PB_11,PB_10);
mapellil 5:2fdca1624a33 68 #else // X-Nucleo-IKS01A2 or SensorTile
mapellil 5:2fdca1624a33 69 #ifdef TARGET_SENSOR_TILE
nikapov 8:39ecd15538f9 70 #define SPI_TYPE_LPS22HB LPS22HBSensor::SPI3W
nikapov 8:39ecd15538f9 71 #define SPI_TYPE_LSM6DSL LSM6DSLSensor::SPI3W
nikapov 8:39ecd15538f9 72 SPI devSPI(PB_15, NC, PB_13); // 3-wires SPI on SensorTile
nikapov 8:39ecd15538f9 73 static Serial ser(PC_12,PD_2); // Serial with SensorTile Cradle Exp. Board + Nucleo
mapellil 5:2fdca1624a33 74 #define printf(...) ser.printf(__VA_ARGS__)
nikapov 8:39ecd15538f9 75 #else // Nucleo-XXX + X-Nucleo-IKS01A2
mapellil 2:4d4fa82dbc59 76 static DevI2C devI2c(D14,D15);
mapellil 4:a876fbe13688 77 #endif
mapellil 4:a876fbe13688 78 #endif
nikapov 0:6a97487a0ab3 79
nikapov 8:39ecd15538f9 80 /* Environmental sensors */
mapellil 5:2fdca1624a33 81 #ifdef TARGET_SENSOR_TILE
mapellil 5:2fdca1624a33 82 static LPS22HBSensor press_temp(&devSPI, PA_3, NC, SPI_TYPE_LPS22HB);
nikapov 8:39ecd15538f9 83 #else // Nucleo-XXX + X-Nucleo-IKS01A2 or B-L475E-IOT01A2
mapellil 2:4d4fa82dbc59 84 static LPS22HBSensor press_temp(&devI2c);
mapellil 5:2fdca1624a33 85 static HTS221Sensor hum_temp(&devI2c);
mapellil 4:a876fbe13688 86 #endif
nikapov 0:6a97487a0ab3 87
nikapov 8:39ecd15538f9 88 /* Motion sensors */
nikapov 0:6a97487a0ab3 89 #ifdef TARGET_DISCO_L475VG_IOT01A
nikapov 3:82e8968382d6 90 static LSM6DSLSensor acc_gyro(&devI2c,LSM6DSL_ACC_GYRO_I2C_ADDRESS_LOW,PD_11); // low address
mapellil 2:4d4fa82dbc59 91 static LIS3MDL magnetometer(&devI2c);
nikapov 8:39ecd15538f9 92 #else // X-NUCLEO-IKS01A2 or SensorTile
mapellil 5:2fdca1624a33 93 #if defined (TARGET_SENSOR_TILE)
mapellil 5:2fdca1624a33 94 static LSM6DSLSensor acc_gyro(&devSPI,PB_12, NC, PA_2, SPI_TYPE_LSM6DSL);
mapellil 5:2fdca1624a33 95 static LSM303AGRMagSensor magnetometer(&devSPI, PB_1);
mapellil 5:2fdca1624a33 96 static LSM303AGRAccSensor accelerometer(&devSPI, PC_4);
mapellil 5:2fdca1624a33 97 #else
nikapov 3:82e8968382d6 98 static LSM6DSLSensor acc_gyro(&devI2c,LSM6DSL_ACC_GYRO_I2C_ADDRESS_HIGH,D4,D5); // high address
mapellil 2:4d4fa82dbc59 99 static LSM303AGRMagSensor magnetometer(&devI2c);
mapellil 5:2fdca1624a33 100 static LSM303AGRAccSensor accelerometer(&devI2c);
nikapov 0:6a97487a0ab3 101 #endif
mapellil 5:2fdca1624a33 102 #endif
nikapov 0:6a97487a0ab3 103
nikapov 8:39ecd15538f9 104 /* Range sensor - B-L475E-IOT01A2 only */
nikapov 8:39ecd15538f9 105 #ifdef TARGET_DISCO_L475VG_IOT01A
nikapov 8:39ecd15538f9 106 static DigitalOut shutdown_pin(PC_6);
nikapov 8:39ecd15538f9 107 static VL53L0X range(&devI2c, &shutdown_pin, PC_7);
nikapov 8:39ecd15538f9 108 #endif
nikapov 8:39ecd15538f9 109
nikapov 0:6a97487a0ab3 110 /* Simple main function */
nikapov 0:6a97487a0ab3 111 int main() {
nikapov 0:6a97487a0ab3 112 uint8_t id;
nikapov 0:6a97487a0ab3 113 float value1, value2;
mapellil 5:2fdca1624a33 114 // char buffer1[32], buffer2[32];
nikapov 0:6a97487a0ab3 115 int32_t axes[3];
nikapov 0:6a97487a0ab3 116
nikapov 0:6a97487a0ab3 117 /* Init all sensors with default params */
mapellil 5:2fdca1624a33 118 #ifndef TARGET_SENSOR_TILE
nikapov 0:6a97487a0ab3 119 hum_temp.init(NULL);
mapellil 5:2fdca1624a33 120 #endif
nikapov 8:39ecd15538f9 121
nikapov 0:6a97487a0ab3 122 press_temp.init(NULL);
nikapov 0:6a97487a0ab3 123 magnetometer.init(NULL);
nikapov 8:39ecd15538f9 124 acc_gyro.init(NULL);
nikapov 8:39ecd15538f9 125
nikapov 8:39ecd15538f9 126 #ifdef TARGET_DISCO_L475VG_IOT01A
nikapov 8:39ecd15538f9 127 range.init_sensor(VL53L0X_DEFAULT_ADDRESS);
nikapov 8:39ecd15538f9 128 #else // X-NUCLEO-IKS01A2 or SensorTile
mapellil 5:2fdca1624a33 129 accelerometer.init(NULL);
mapellil 5:2fdca1624a33 130 #endif
nikapov 8:39ecd15538f9 131
nikapov 8:39ecd15538f9 132
nikapov 0:6a97487a0ab3 133
nikapov 0:6a97487a0ab3 134 /* Enable all sensors */
mapellil 5:2fdca1624a33 135 #ifndef TARGET_SENSOR_TILE
nikapov 0:6a97487a0ab3 136 hum_temp.enable();
mapellil 5:2fdca1624a33 137 #endif
nikapov 0:6a97487a0ab3 138 press_temp.enable();
nikapov 0:6a97487a0ab3 139 #ifndef TARGET_DISCO_L475VG_IOT01A // X-NUCLEO-IKS01A2
nikapov 0:6a97487a0ab3 140 magnetometer.enable();
mapellil 5:2fdca1624a33 141 accelerometer.enable();
nikapov 0:6a97487a0ab3 142 #endif
nikapov 0:6a97487a0ab3 143 acc_gyro.enable_x();
nikapov 0:6a97487a0ab3 144 acc_gyro.enable_g();
nikapov 0:6a97487a0ab3 145
nikapov 1:0f7838527fef 146 printf("\033[2J\033[20A");
nikapov 1:0f7838527fef 147 printf ("\r\n--- Starting new run ---\r\n\r\n");
nikapov 0:6a97487a0ab3 148
mapellil 5:2fdca1624a33 149 #ifndef TARGET_SENSOR_TILE
nikapov 0:6a97487a0ab3 150 hum_temp.read_id(&id);
nikapov 0:6a97487a0ab3 151 printf("HTS221 humidity & temperature = 0x%X\r\n", id);
mapellil 5:2fdca1624a33 152 #endif
nikapov 0:6a97487a0ab3 153 press_temp.read_id(&id);
mapellil 5:2fdca1624a33 154 printf("LPS22HB pressure & temperature = 0x%X\r\n", id);
nikapov 0:6a97487a0ab3 155 magnetometer.read_id(&id);
nikapov 0:6a97487a0ab3 156 #ifdef TARGET_DISCO_L475VG_IOT01A
nikapov 1:0f7838527fef 157 printf("LIS3MDL magnetometer = 0x%X\r\n", id);
nikapov 8:39ecd15538f9 158 #else // X-NUCLEO-IKS01A2 or SensorTile
nikapov 0:6a97487a0ab3 159 printf("LSM303AGR magnetometer = 0x%X\r\n", id);
mapellil 5:2fdca1624a33 160 accelerometer.read_id(&id);
mapellil 5:2fdca1624a33 161 printf("LSM303AGR accelerometer = 0x%X\r\n", id);
nikapov 0:6a97487a0ab3 162 #endif
nikapov 0:6a97487a0ab3 163 acc_gyro.read_id(&id);
nikapov 0:6a97487a0ab3 164 printf("LSM6DSL accelerometer & gyroscope = 0x%X\r\n", id);
nikapov 1:0f7838527fef 165
nikapov 1:0f7838527fef 166 printf("\n\r--- Reading sensor values ---\n\r"); ;
nikapov 0:6a97487a0ab3 167
nikapov 0:6a97487a0ab3 168 while(1) {
nikapov 0:6a97487a0ab3 169 printf("\r\n");
nikapov 0:6a97487a0ab3 170
mapellil 5:2fdca1624a33 171 #ifndef TARGET_SENSOR_TILE
nikapov 0:6a97487a0ab3 172 hum_temp.get_temperature(&value1);
nikapov 0:6a97487a0ab3 173 hum_temp.get_humidity(&value2);
nikapov 8:39ecd15538f9 174 printf("HTS221: [temp] %.2f C, [hum] %.2f%%\r\n", value1, value2);
mapellil 5:2fdca1624a33 175 #endif
mapellil 4:a876fbe13688 176 value1=value2=0;
nikapov 0:6a97487a0ab3 177 press_temp.get_temperature(&value1);
nikapov 0:6a97487a0ab3 178 press_temp.get_pressure(&value2);
nikapov 8:39ecd15538f9 179 printf("LPS22HB: [temp] %.2f C, [press] %.2f mbar\r\n", value1, value2);
nikapov 0:6a97487a0ab3 180
nikapov 0:6a97487a0ab3 181 printf("---\r\n");
nikapov 0:6a97487a0ab3 182
nikapov 0:6a97487a0ab3 183 magnetometer.get_m_axes(axes);
nikapov 0:6a97487a0ab3 184 #ifdef TARGET_DISCO_L475VG_IOT01A
nikapov 1:0f7838527fef 185 printf("LIS3MDL [mag/mgauss]: %6ld, %6ld, %6ld\r\n", axes[0], axes[1], axes[2]);
nikapov 8:39ecd15538f9 186 #else // X-NUCLEO-IKS01A2 or SensorTile
nikapov 0:6a97487a0ab3 187 printf("LSM303AGR [mag/mgauss]: %6ld, %6ld, %6ld\r\n", axes[0], axes[1], axes[2]);
mapellil 5:2fdca1624a33 188 accelerometer.get_x_axes(axes);
mapellil 5:2fdca1624a33 189 printf("LSM303AGR [acc/mg]: %6ld, %6ld, %6ld\r\n", axes[0], axes[1], axes[2]);
nikapov 0:6a97487a0ab3 190 #endif
nikapov 0:6a97487a0ab3 191
nikapov 0:6a97487a0ab3 192 acc_gyro.get_x_axes(axes);
nikapov 1:0f7838527fef 193 printf("LSM6DSL [acc/mg]: %6ld, %6ld, %6ld\r\n", axes[0], axes[1], axes[2]);
nikapov 0:6a97487a0ab3 194
nikapov 0:6a97487a0ab3 195 acc_gyro.get_g_axes(axes);
nikapov 1:0f7838527fef 196 printf("LSM6DSL [gyro/mdps]: %6ld, %6ld, %6ld\r\n", axes[0], axes[1], axes[2]);
nikapov 0:6a97487a0ab3 197
nikapov 8:39ecd15538f9 198 #ifdef TARGET_DISCO_L475VG_IOT01A
nikapov 8:39ecd15538f9 199 uint32_t distance;
nikapov 8:39ecd15538f9 200 int status = range.get_distance(&distance);
nikapov 8:39ecd15538f9 201 if (status == VL53L0X_ERROR_NONE) {
nikapov 8:39ecd15538f9 202 printf("VL53L0X [mm]: %6ld\r\n", distance);
nikapov 8:39ecd15538f9 203 } else {
nikapov 8:39ecd15538f9 204 printf("VL53L0X [mm]: --\r\n");
nikapov 8:39ecd15538f9 205 }
nikapov 8:39ecd15538f9 206 #endif
nikapov 8:39ecd15538f9 207
nikapov 8:39ecd15538f9 208 #if defined (TARGET_SENSOR_TILE)
nikapov 1:0f7838527fef 209 printf("\033[7A");
mapellil 5:2fdca1624a33 210 #else
mapellil 5:2fdca1624a33 211 printf("\033[8A");
mapellil 5:2fdca1624a33 212 #endif
nikapov 8:39ecd15538f9 213 wait(0.5);
nikapov 0:6a97487a0ab3 214 }
nikapov 0:6a97487a0ab3 215 }