ST / Mbed 2 deprecated MultiEvent_IKS01A2

Example of multiple event detection for LSM6DSL in X-NUCLEO-IKS01A2

Dependencies:   X_NUCLEO_IKS01A2 mbed

Fork of MultiEvent_IKS01A2 by ST Expansion SW Team

Multi Event Demo Application based on sensor expansion board X-NUCLEO-IKS01A2

Main function is to show how to detect the free fall, tap, double tap, tilt, wake up, 6D Orientation and step events using the sensor expansion board and send a notification using UART to a connected PC or Desktop and display it on terminal applications like TeraTerm.
After connection has been established:
- the user can simulate all the events and then view the notification using an hyper terminal.
- the user button can be used to enable/disable all hardware features.

X_NUCLEO_IKS01A2/Components/LSM303AGRSensor/LSM303AGR_MAG_Sensor.cpp@0:763b80993db4, 2016-11-24 (annotated)

Committer:
cparata
Date:
Thu Nov 24 15:42:24 2016 +0000
Revision:
0:763b80993db4
Add multi event example

Who changed what in which revision?

UserRevisionLine numberNew contents of line
cparata 0:763b80993db4 1 /**
cparata 0:763b80993db4 2 ******************************************************************************
cparata 0:763b80993db4 3 * @file LSM303AGR_MAG_Sensor.cpp
cparata 0:763b80993db4 4 * @author AST
cparata 0:763b80993db4 5 * @version V1.0.0
cparata 0:763b80993db4 6 * @date 5 August 2016
cparata 0:763b80993db4 7 * @brief Implementation an LSM303AGR magnetometer sensor.
cparata 0:763b80993db4 8 ******************************************************************************
cparata 0:763b80993db4 9 * @attention
cparata 0:763b80993db4 10 *
cparata 0:763b80993db4 11 * <h2><center>&copy; COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
cparata 0:763b80993db4 12 *
cparata 0:763b80993db4 13 * Redistribution and use in source and binary forms, with or without modification,
cparata 0:763b80993db4 14 * are permitted provided that the following conditions are met:
cparata 0:763b80993db4 15 * 1. Redistributions of source code must retain the above copyright notice,
cparata 0:763b80993db4 16 * this list of conditions and the following disclaimer.
cparata 0:763b80993db4 17 * 2. Redistributions in binary form must reproduce the above copyright notice,
cparata 0:763b80993db4 18 * this list of conditions and the following disclaimer in the documentation
cparata 0:763b80993db4 19 * and/or other materials provided with the distribution.
cparata 0:763b80993db4 20 * 3. Neither the name of STMicroelectronics nor the names of its contributors
cparata 0:763b80993db4 21 * may be used to endorse or promote products derived from this software
cparata 0:763b80993db4 22 * without specific prior written permission.
cparata 0:763b80993db4 23 *
cparata 0:763b80993db4 24 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
cparata 0:763b80993db4 25 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
cparata 0:763b80993db4 26 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
cparata 0:763b80993db4 27 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
cparata 0:763b80993db4 28 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
cparata 0:763b80993db4 29 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
cparata 0:763b80993db4 30 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
cparata 0:763b80993db4 31 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
cparata 0:763b80993db4 32 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
cparata 0:763b80993db4 33 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
cparata 0:763b80993db4 34 *
cparata 0:763b80993db4 35 ******************************************************************************
cparata 0:763b80993db4 36 */
cparata 0:763b80993db4 37
cparata 0:763b80993db4 38
cparata 0:763b80993db4 39 /* Includes ------------------------------------------------------------------*/
cparata 0:763b80993db4 40
cparata 0:763b80993db4 41 #include "mbed.h"
cparata 0:763b80993db4 42 #include "DevI2C.h"
cparata 0:763b80993db4 43 #include "LSM303AGR_MAG_Sensor.h"
cparata 0:763b80993db4 44 #include "LSM303AGR_MAG_driver.h"
cparata 0:763b80993db4 45
cparata 0:763b80993db4 46
cparata 0:763b80993db4 47 /* Class Implementation ------------------------------------------------------*/
cparata 0:763b80993db4 48
cparata 0:763b80993db4 49 /** Constructor
cparata 0:763b80993db4 50 * @param i2c object of an helper class which handles the I2C peripheral
cparata 0:763b80993db4 51 * @param address the address of the component's instance
cparata 0:763b80993db4 52 */
cparata 0:763b80993db4 53 LSM303AGR_MAG_Sensor::LSM303AGR_MAG_Sensor(DevI2C &i2c) : dev_i2c(i2c)
cparata 0:763b80993db4 54 {
cparata 0:763b80993db4 55 address = LSM303AGR_MAG_I2C_ADDRESS;
cparata 0:763b80993db4 56 };
cparata 0:763b80993db4 57
cparata 0:763b80993db4 58 /** Constructor
cparata 0:763b80993db4 59 * @param i2c object of an helper class which handles the I2C peripheral
cparata 0:763b80993db4 60 * @param address the address of the component's instance
cparata 0:763b80993db4 61 */
cparata 0:763b80993db4 62 LSM303AGR_MAG_Sensor::LSM303AGR_MAG_Sensor(DevI2C &i2c, uint8_t address) : dev_i2c(i2c), address(address)
cparata 0:763b80993db4 63 {
cparata 0:763b80993db4 64
cparata 0:763b80993db4 65 };
cparata 0:763b80993db4 66
cparata 0:763b80993db4 67 /**
cparata 0:763b80993db4 68 * @brief Initializing the component.
cparata 0:763b80993db4 69 * @param[in] init pointer to device specific initalization structure.
cparata 0:763b80993db4 70 * @retval "0" in case of success, an error code otherwise.
cparata 0:763b80993db4 71 */
cparata 0:763b80993db4 72 int LSM303AGR_MAG_Sensor::Init(void *init)
cparata 0:763b80993db4 73 {
cparata 0:763b80993db4 74 /* Operating mode selection - power down */
cparata 0:763b80993db4 75 if ( LSM303AGR_MAG_W_MD( (void *)this, LSM303AGR_MAG_MD_IDLE1_MODE ) == MEMS_ERROR )
cparata 0:763b80993db4 76 {
cparata 0:763b80993db4 77 return 1;
cparata 0:763b80993db4 78 }
cparata 0:763b80993db4 79
cparata 0:763b80993db4 80 /* Enable BDU */
cparata 0:763b80993db4 81 if ( LSM303AGR_MAG_W_BDU( (void *)this, LSM303AGR_MAG_BDU_ENABLED ) == MEMS_ERROR )
cparata 0:763b80993db4 82 {
cparata 0:763b80993db4 83 return 1;
cparata 0:763b80993db4 84 }
cparata 0:763b80993db4 85
cparata 0:763b80993db4 86 if ( Set_M_ODR( 100.0f ) == 1 )
cparata 0:763b80993db4 87 {
cparata 0:763b80993db4 88 return 1;
cparata 0:763b80993db4 89 }
cparata 0:763b80993db4 90
cparata 0:763b80993db4 91 if ( Set_M_FS( 50.0f ) == 1 )
cparata 0:763b80993db4 92 {
cparata 0:763b80993db4 93 return 1;
cparata 0:763b80993db4 94 }
cparata 0:763b80993db4 95
cparata 0:763b80993db4 96 if ( LSM303AGR_MAG_W_ST( (void *)this, LSM303AGR_MAG_ST_DISABLED ) == MEMS_ERROR )
cparata 0:763b80993db4 97 {
cparata 0:763b80993db4 98 return 1;
cparata 0:763b80993db4 99 }
cparata 0:763b80993db4 100
cparata 0:763b80993db4 101 return 0;
cparata 0:763b80993db4 102 }
cparata 0:763b80993db4 103
cparata 0:763b80993db4 104 /**
cparata 0:763b80993db4 105 * @brief Enable LSM303AGR magnetometer
cparata 0:763b80993db4 106 * @retval 0 in case of success, an error code otherwise
cparata 0:763b80993db4 107 */
cparata 0:763b80993db4 108 int LSM303AGR_MAG_Sensor::Enable(void)
cparata 0:763b80993db4 109 {
cparata 0:763b80993db4 110 /* Operating mode selection */
cparata 0:763b80993db4 111 if ( LSM303AGR_MAG_W_MD( (void *)this, LSM303AGR_MAG_MD_CONTINUOS_MODE ) == MEMS_ERROR )
cparata 0:763b80993db4 112 {
cparata 0:763b80993db4 113 return 1;
cparata 0:763b80993db4 114 }
cparata 0:763b80993db4 115
cparata 0:763b80993db4 116 return 0;
cparata 0:763b80993db4 117 }
cparata 0:763b80993db4 118
cparata 0:763b80993db4 119 /**
cparata 0:763b80993db4 120 * @brief Disable LSM303AGR magnetometer
cparata 0:763b80993db4 121 * @retval 0 in case of success, an error code otherwise
cparata 0:763b80993db4 122 */
cparata 0:763b80993db4 123 int LSM303AGR_MAG_Sensor::Disable(void)
cparata 0:763b80993db4 124 {
cparata 0:763b80993db4 125 /* Operating mode selection - power down */
cparata 0:763b80993db4 126 if ( LSM303AGR_MAG_W_MD( (void *)this, LSM303AGR_MAG_MD_IDLE1_MODE ) == MEMS_ERROR )
cparata 0:763b80993db4 127 {
cparata 0:763b80993db4 128 return 1;
cparata 0:763b80993db4 129 }
cparata 0:763b80993db4 130
cparata 0:763b80993db4 131 return 0;
cparata 0:763b80993db4 132 }
cparata 0:763b80993db4 133
cparata 0:763b80993db4 134 /**
cparata 0:763b80993db4 135 * @brief Read ID of LSM303AGR Magnetometer
cparata 0:763b80993db4 136 * @param p_id the pointer where the ID of the device is stored
cparata 0:763b80993db4 137 * @retval 0 in case of success, an error code otherwise
cparata 0:763b80993db4 138 */
cparata 0:763b80993db4 139 int LSM303AGR_MAG_Sensor::ReadID(uint8_t *id)
cparata 0:763b80993db4 140 {
cparata 0:763b80993db4 141 if(!id)
cparata 0:763b80993db4 142 {
cparata 0:763b80993db4 143 return 1;
cparata 0:763b80993db4 144 }
cparata 0:763b80993db4 145
cparata 0:763b80993db4 146 /* Read WHO AM I register */
cparata 0:763b80993db4 147 if ( LSM303AGR_MAG_R_WHO_AM_I( (void *)this, id ) == MEMS_ERROR )
cparata 0:763b80993db4 148 {
cparata 0:763b80993db4 149 return 1;
cparata 0:763b80993db4 150 }
cparata 0:763b80993db4 151
cparata 0:763b80993db4 152 return 0;
cparata 0:763b80993db4 153 }
cparata 0:763b80993db4 154
cparata 0:763b80993db4 155 /**
cparata 0:763b80993db4 156 * @brief Read data from LSM303AGR Magnetometer
cparata 0:763b80993db4 157 * @param pData the pointer where the magnetometer data are stored
cparata 0:763b80993db4 158 * @retval 0 in case of success, an error code otherwise
cparata 0:763b80993db4 159 */
cparata 0:763b80993db4 160 int LSM303AGR_MAG_Sensor::Get_M_Axes(int32_t *pData)
cparata 0:763b80993db4 161 {
cparata 0:763b80993db4 162 int16_t pDataRaw[3];
cparata 0:763b80993db4 163 float sensitivity = 0;
cparata 0:763b80993db4 164
cparata 0:763b80993db4 165 /* Read raw data from LSM303AGR output register. */
cparata 0:763b80993db4 166 if ( Get_M_AxesRaw( pDataRaw ) == 1 )
cparata 0:763b80993db4 167 {
cparata 0:763b80993db4 168 return 1;
cparata 0:763b80993db4 169 }
cparata 0:763b80993db4 170
cparata 0:763b80993db4 171 /* Get LSM303AGR actual sensitivity. */
cparata 0:763b80993db4 172 if ( Get_M_Sensitivity( &sensitivity ) == 1 )
cparata 0:763b80993db4 173 {
cparata 0:763b80993db4 174 return 1;
cparata 0:763b80993db4 175 }
cparata 0:763b80993db4 176
cparata 0:763b80993db4 177 /* Calculate the data. */
cparata 0:763b80993db4 178 pData[0] = ( int32_t )( pDataRaw[0] * sensitivity );
cparata 0:763b80993db4 179 pData[1] = ( int32_t )( pDataRaw[1] * sensitivity );
cparata 0:763b80993db4 180 pData[2] = ( int32_t )( pDataRaw[2] * sensitivity );
cparata 0:763b80993db4 181
cparata 0:763b80993db4 182 return 0;
cparata 0:763b80993db4 183 }
cparata 0:763b80993db4 184
cparata 0:763b80993db4 185 /**
cparata 0:763b80993db4 186 * @brief Read Magnetometer Sensitivity
cparata 0:763b80993db4 187 * @param pfData the pointer where the magnetometer sensitivity is stored
cparata 0:763b80993db4 188 * @retval 0 in case of success, an error code otherwise
cparata 0:763b80993db4 189 */
cparata 0:763b80993db4 190 int LSM303AGR_MAG_Sensor::Get_M_Sensitivity(float *pfData)
cparata 0:763b80993db4 191 {
cparata 0:763b80993db4 192 *pfData = 1.5f;
cparata 0:763b80993db4 193
cparata 0:763b80993db4 194 return 0;
cparata 0:763b80993db4 195 }
cparata 0:763b80993db4 196
cparata 0:763b80993db4 197 /**
cparata 0:763b80993db4 198 * @brief Read raw data from LSM303AGR Magnetometer
cparata 0:763b80993db4 199 * @param pData the pointer where the magnetomer raw data are stored
cparata 0:763b80993db4 200 * @retval 0 in case of success, an error code otherwise
cparata 0:763b80993db4 201 */
cparata 0:763b80993db4 202 int LSM303AGR_MAG_Sensor::Get_M_AxesRaw(int16_t *pData)
cparata 0:763b80993db4 203 {
cparata 0:763b80993db4 204 uint8_t regValue[6] = {0, 0, 0, 0, 0, 0};
cparata 0:763b80993db4 205 int16_t *regValueInt16;
cparata 0:763b80993db4 206
cparata 0:763b80993db4 207 /* Read output registers from LSM303AGR_MAG_OUTX_L to LSM303AGR_MAG_OUTZ_H. */
cparata 0:763b80993db4 208 if ( LSM303AGR_MAG_Get_Raw_Magnetic( (void *)this, regValue ) == MEMS_ERROR )
cparata 0:763b80993db4 209 {
cparata 0:763b80993db4 210 return 1;
cparata 0:763b80993db4 211 }
cparata 0:763b80993db4 212
cparata 0:763b80993db4 213 regValueInt16 = (int16_t *)regValue;
cparata 0:763b80993db4 214
cparata 0:763b80993db4 215 /* Format the data. */
cparata 0:763b80993db4 216 pData[0] = regValueInt16[0];
cparata 0:763b80993db4 217 pData[1] = regValueInt16[1];
cparata 0:763b80993db4 218 pData[2] = regValueInt16[2];
cparata 0:763b80993db4 219
cparata 0:763b80993db4 220 return 0;
cparata 0:763b80993db4 221 }
cparata 0:763b80993db4 222
cparata 0:763b80993db4 223 /**
cparata 0:763b80993db4 224 * @brief Read LSM303AGR Magnetometer output data rate
cparata 0:763b80993db4 225 * @param odr the pointer to the output data rate
cparata 0:763b80993db4 226 * @retval 0 in case of success, an error code otherwise
cparata 0:763b80993db4 227 */
cparata 0:763b80993db4 228 int LSM303AGR_MAG_Sensor::Get_M_ODR(float* odr)
cparata 0:763b80993db4 229 {
cparata 0:763b80993db4 230 LSM303AGR_MAG_ODR_t odr_low_level;
cparata 0:763b80993db4 231
cparata 0:763b80993db4 232 if ( LSM303AGR_MAG_R_ODR( (void *)this, &odr_low_level ) == MEMS_ERROR )
cparata 0:763b80993db4 233 {
cparata 0:763b80993db4 234 return 1;
cparata 0:763b80993db4 235 }
cparata 0:763b80993db4 236
cparata 0:763b80993db4 237 switch( odr_low_level )
cparata 0:763b80993db4 238 {
cparata 0:763b80993db4 239 case LSM303AGR_MAG_ODR_10Hz:
cparata 0:763b80993db4 240 *odr = 10.000f;
cparata 0:763b80993db4 241 break;
cparata 0:763b80993db4 242 case LSM303AGR_MAG_ODR_20Hz:
cparata 0:763b80993db4 243 *odr = 20.000f;
cparata 0:763b80993db4 244 break;
cparata 0:763b80993db4 245 case LSM303AGR_MAG_ODR_50Hz:
cparata 0:763b80993db4 246 *odr = 50.000f;
cparata 0:763b80993db4 247 break;
cparata 0:763b80993db4 248 case LSM303AGR_MAG_ODR_100Hz:
cparata 0:763b80993db4 249 *odr = 100.000f;
cparata 0:763b80993db4 250 break;
cparata 0:763b80993db4 251 default:
cparata 0:763b80993db4 252 *odr = -1.000f;
cparata 0:763b80993db4 253 return 1;
cparata 0:763b80993db4 254 }
cparata 0:763b80993db4 255 return 0;
cparata 0:763b80993db4 256 }
cparata 0:763b80993db4 257
cparata 0:763b80993db4 258 /**
cparata 0:763b80993db4 259 * @brief Set ODR
cparata 0:763b80993db4 260 * @param odr the output data rate to be set
cparata 0:763b80993db4 261 * @retval 0 in case of success, an error code otherwise
cparata 0:763b80993db4 262 */
cparata 0:763b80993db4 263 int LSM303AGR_MAG_Sensor::Set_M_ODR(float odr)
cparata 0:763b80993db4 264 {
cparata 0:763b80993db4 265 LSM303AGR_MAG_ODR_t new_odr;
cparata 0:763b80993db4 266
cparata 0:763b80993db4 267 new_odr = ( odr <= 10.000f ) ? LSM303AGR_MAG_ODR_10Hz
cparata 0:763b80993db4 268 : ( odr <= 20.000f ) ? LSM303AGR_MAG_ODR_20Hz
cparata 0:763b80993db4 269 : ( odr <= 50.000f ) ? LSM303AGR_MAG_ODR_50Hz
cparata 0:763b80993db4 270 : LSM303AGR_MAG_ODR_100Hz;
cparata 0:763b80993db4 271
cparata 0:763b80993db4 272 if ( LSM303AGR_MAG_W_ODR( (void *)this, new_odr ) == MEMS_ERROR )
cparata 0:763b80993db4 273 {
cparata 0:763b80993db4 274 return 1;
cparata 0:763b80993db4 275 }
cparata 0:763b80993db4 276
cparata 0:763b80993db4 277 return 0;
cparata 0:763b80993db4 278 }
cparata 0:763b80993db4 279
cparata 0:763b80993db4 280
cparata 0:763b80993db4 281 /**
cparata 0:763b80993db4 282 * @brief Read LSM303AGR Magnetometer full scale
cparata 0:763b80993db4 283 * @param fullScale the pointer to the output data rate
cparata 0:763b80993db4 284 * @retval 0 in case of success, an error code otherwise
cparata 0:763b80993db4 285 */
cparata 0:763b80993db4 286 int LSM303AGR_MAG_Sensor::Get_M_FS(float* fullScale)
cparata 0:763b80993db4 287 {
cparata 0:763b80993db4 288 *fullScale = 50.0f;
cparata 0:763b80993db4 289
cparata 0:763b80993db4 290 return 0;
cparata 0:763b80993db4 291 }
cparata 0:763b80993db4 292
cparata 0:763b80993db4 293 /**
cparata 0:763b80993db4 294 * @brief Set full scale
cparata 0:763b80993db4 295 * @param fullScale the full scale to be set
cparata 0:763b80993db4 296 * @retval 0 in case of success, an error code otherwise
cparata 0:763b80993db4 297 */
cparata 0:763b80993db4 298 int LSM303AGR_MAG_Sensor::Set_M_FS(float fullScale)
cparata 0:763b80993db4 299 {
cparata 0:763b80993db4 300 return 0;
cparata 0:763b80993db4 301 }
cparata 0:763b80993db4 302
cparata 0:763b80993db4 303
cparata 0:763b80993db4 304 /**
cparata 0:763b80993db4 305 * @brief Read magnetometer data from register
cparata 0:763b80993db4 306 * @param reg register address
cparata 0:763b80993db4 307 * @param data register data
cparata 0:763b80993db4 308 * @retval 0 in case of success
cparata 0:763b80993db4 309 * @retval 1 in case of failure
cparata 0:763b80993db4 310 */
cparata 0:763b80993db4 311 int LSM303AGR_MAG_Sensor::ReadReg( uint8_t reg, uint8_t *data )
cparata 0:763b80993db4 312 {
cparata 0:763b80993db4 313 if ( LSM303AGR_MAG_ReadReg( (void *)this, reg, data ) == MEMS_ERROR )
cparata 0:763b80993db4 314 {
cparata 0:763b80993db4 315 return 1;
cparata 0:763b80993db4 316 }
cparata 0:763b80993db4 317
cparata 0:763b80993db4 318 return 0;
cparata 0:763b80993db4 319 }
cparata 0:763b80993db4 320
cparata 0:763b80993db4 321
cparata 0:763b80993db4 322 /**
cparata 0:763b80993db4 323 * @brief Write magnetometer data to register
cparata 0:763b80993db4 324 * @param reg register address
cparata 0:763b80993db4 325 * @param data register data
cparata 0:763b80993db4 326 * @retval 0 in case of success
cparata 0:763b80993db4 327 * @retval 1 in case of failure
cparata 0:763b80993db4 328 */
cparata 0:763b80993db4 329 int LSM303AGR_MAG_Sensor::WriteReg( uint8_t reg, uint8_t data )
cparata 0:763b80993db4 330 {
cparata 0:763b80993db4 331 if ( LSM303AGR_MAG_WriteReg( (void *)this, reg, data ) == MEMS_ERROR )
cparata 0:763b80993db4 332 {
cparata 0:763b80993db4 333 return 1;
cparata 0:763b80993db4 334 }
cparata 0:763b80993db4 335
cparata 0:763b80993db4 336 return 0;
cparata 0:763b80993db4 337 }
cparata 0:763b80993db4 338
cparata 0:763b80993db4 339 uint8_t LSM303AGR_MAG_IO_Write( void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite )
cparata 0:763b80993db4 340 {
cparata 0:763b80993db4 341 return ((LSM303AGR_MAG_Sensor *)handle)->IO_Write(pBuffer, WriteAddr, nBytesToWrite);
cparata 0:763b80993db4 342 }
cparata 0:763b80993db4 343
cparata 0:763b80993db4 344 uint8_t LSM303AGR_MAG_IO_Read( void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead )
cparata 0:763b80993db4 345 {
cparata 0:763b80993db4 346 return ((LSM303AGR_MAG_Sensor *)handle)->IO_Read(pBuffer, ReadAddr, nBytesToRead);
cparata 0:763b80993db4 347 }