ST / Mbed 2 deprecated Sensors_Reader

"Sensors Reader" Sample Application for X-NUCLEO-IKS01A1 Expansion Board

Dependencies:   X_NUCLEO_IKS01A1 mbed

Fork of Sensors_Reader by ST Expansion SW Team

X-NUCLEO-IKS01A1 MEMS Inertial & Environmental Sensor Nucleo Expansion Board Firmware Package

Introduction

This firmware package includes Components Device Drivers, Board Support Package and example applications for STMicroelectronics X-NUCLEO-IKS01A1 MEMS Inertial & Environmental Nucleo Expansion Board.

Example Application

First of all, the example application outputs information retrieved from the Expansion Board over UART. Launch a terminal application (e.g.: PuTTY on Windows, Minicom on Linux) and set the UART port to 9600 bps, 8 bit, No Parity, 1 stop bit.

The "Sensors Reader" program is a more complex example of how to use the X-NUCLEO-IKS01A1 expansion board featuring among others:

  • Support for LSM6DS3 3D Accelerometer & Gyroscope (on DIL 24-pin socket) including free-fall detection
  • Usage of LED & Ticker
  • Exploitation of wait for event
  • (Top-/Bottom-Half) Interrupt handling

main.cpp@2:00f62b148a07, 2015-04-16 (annotated)

Committer:
Wolfgang Betz
Date:
Thu Apr 16 10:38:54 2015 +0200
Revision:
2:00f62b148a07
Parent:
1:9458657e49ee
Child:
3:c35414b03a65
Support for double/float printing

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Wolfgang Betz 0:3e4f610a0689 1 /**
Wolfgang Betz 0:3e4f610a0689 2 ******************************************************************************
Wolfgang Betz 0:3e4f610a0689 3 * @file main.cpp
Wolfgang Betz 0:3e4f610a0689 4 * @author AST / EST
Wolfgang Betz 0:3e4f610a0689 5 * @version V0.0.1
Wolfgang Betz 0:3e4f610a0689 6 * @date 14-April-2015
Wolfgang Betz 0:3e4f610a0689 7 * @brief Example application for using the X_NUCLEO_IKS01A1
Wolfgang Betz 0:3e4f610a0689 8 * MEMS Inertial & Environmental Nucleo expansion board.
Wolfgang Betz 0:3e4f610a0689 9 ******************************************************************************
Wolfgang Betz 0:3e4f610a0689 10 * @attention
Wolfgang Betz 0:3e4f610a0689 11 *
Wolfgang Betz 0:3e4f610a0689 12 * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
Wolfgang Betz 0:3e4f610a0689 13 *
Wolfgang Betz 0:3e4f610a0689 14 * Redistribution and use in source and binary forms, with or without modification,
Wolfgang Betz 0:3e4f610a0689 15 * are permitted provided that the following conditions are met:
Wolfgang Betz 0:3e4f610a0689 16 * 1. Redistributions of source code must retain the above copyright notice,
Wolfgang Betz 0:3e4f610a0689 17 * this list of conditions and the following disclaimer.
Wolfgang Betz 0:3e4f610a0689 18 * 2. Redistributions in binary form must reproduce the above copyright notice,
Wolfgang Betz 0:3e4f610a0689 19 * this list of conditions and the following disclaimer in the documentation
Wolfgang Betz 0:3e4f610a0689 20 * and/or other materials provided with the distribution.
Wolfgang Betz 0:3e4f610a0689 21 * 3. Neither the name of STMicroelectronics nor the names of its contributors
Wolfgang Betz 0:3e4f610a0689 22 * may be used to endorse or promote products derived from this software
Wolfgang Betz 0:3e4f610a0689 23 * without specific prior written permission.
Wolfgang Betz 0:3e4f610a0689 24 *
Wolfgang Betz 0:3e4f610a0689 25 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
Wolfgang Betz 0:3e4f610a0689 26 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
Wolfgang Betz 0:3e4f610a0689 27 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
Wolfgang Betz 0:3e4f610a0689 28 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
Wolfgang Betz 0:3e4f610a0689 29 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
Wolfgang Betz 0:3e4f610a0689 30 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
Wolfgang Betz 0:3e4f610a0689 31 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
Wolfgang Betz 0:3e4f610a0689 32 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
Wolfgang Betz 0:3e4f610a0689 33 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
Wolfgang Betz 0:3e4f610a0689 34 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
Wolfgang Betz 0:3e4f610a0689 35 *
Wolfgang Betz 0:3e4f610a0689 36 ******************************************************************************
Wolfgang Betz 0:3e4f610a0689 37 */
Wolfgang Betz 0:3e4f610a0689 38
Wolfgang Betz 0:3e4f610a0689 39 /**
Wolfgang Betz 0:3e4f610a0689 40 * @mainpage X_NUCLEO_IKS01A1 MEMS Inertial & Environmental Nucleo Expansion Board firmware package
Wolfgang Betz 0:3e4f610a0689 41 *
Wolfgang Betz 0:3e4f610a0689 42 * <b>Introduction</b>
Wolfgang Betz 0:3e4f610a0689 43 *
Wolfgang Betz 0:3e4f610a0689 44 * This firmware package includes Components Device Drivers, Board Support Package
Wolfgang Betz 0:3e4f610a0689 45 * and example application for STMicroelectronics X_NUCLEO_IKS01A1 MEMS Inertial & Environmental Nucleo
Wolfgang Betz 0:3e4f610a0689 46 * Expansion Board
Wolfgang Betz 0:3e4f610a0689 47 *
Wolfgang Betz 0:3e4f610a0689 48 * <b>Example Application</b>
Wolfgang Betz 0:3e4f610a0689 49 *
Wolfgang Betz 0:3e4f610a0689 50 */
Wolfgang Betz 0:3e4f610a0689 51
Wolfgang Betz 0:3e4f610a0689 52
Wolfgang Betz 0:3e4f610a0689 53 /*** Includes ----------------------------------------------------------------- ***/
Wolfgang Betz 0:3e4f610a0689 54 #include "mbed.h"
Wolfgang Betz 0:3e4f610a0689 55 #include "x_nucleo_iks01a1.h"
Wolfgang Betz 0:3e4f610a0689 56
Wolfgang Betz 0:3e4f610a0689 57 #include <Ticker.h>
Wolfgang Betz 0:3e4f610a0689 58
Wolfgang Betz 0:3e4f610a0689 59
Wolfgang Betz 0:3e4f610a0689 60 /*** Constants ---------------------------------------------------------------- ***/
Wolfgang Betz 0:3e4f610a0689 61 namespace {
Wolfgang Betz 0:3e4f610a0689 62 const int MS_INTERVALS = 1000;
Wolfgang Betz 0:3e4f610a0689 63 }
Wolfgang Betz 0:3e4f610a0689 64
Wolfgang Betz 0:3e4f610a0689 65
Wolfgang Betz 0:3e4f610a0689 66 /*** Macros ------------------------------------------------------------------- ***/
Wolfgang Betz 2:00f62b148a07 67 #define APP_LOOP_PERIOD 1300 // in ms
Wolfgang Betz 0:3e4f610a0689 68
Wolfgang Betz 0:3e4f610a0689 69 #if defined(TARGET_K64F)
Wolfgang Betz 0:3e4f610a0689 70 #define USER_BUTTON (SW2)
Wolfgang Betz 0:3e4f610a0689 71 #elif defined(TARGET_LPC11U68)
Wolfgang Betz 0:3e4f610a0689 72 #define USER_BUTTON (P0_16)
Wolfgang Betz 0:3e4f610a0689 73 #endif // !TARGET_MCU_K64F
Wolfgang Betz 0:3e4f610a0689 74
Wolfgang Betz 0:3e4f610a0689 75
Wolfgang Betz 1:9458657e49ee 76 /*** Typedefs ----------------------------------------------------------------- ***/
Wolfgang Betz 1:9458657e49ee 77 typedef struct {
Wolfgang Betz 1:9458657e49ee 78 int32_t AXIS_X;
Wolfgang Betz 1:9458657e49ee 79 int32_t AXIS_Y;
Wolfgang Betz 1:9458657e49ee 80 int32_t AXIS_Z;
Wolfgang Betz 1:9458657e49ee 81 } AxesRaw_TypeDef;
Wolfgang Betz 1:9458657e49ee 82
Wolfgang Betz 1:9458657e49ee 83
Wolfgang Betz 0:3e4f610a0689 84 /*** Static variables --------------------------------------------------------- ***/
Wolfgang Betz 0:3e4f610a0689 85 #ifdef DBG_MCU
Wolfgang Betz 0:3e4f610a0689 86 /* betzw: enable debugging while using sleep modes */
Wolfgang Betz 0:3e4f610a0689 87 #include "DbgMCU.h"
Wolfgang Betz 0:3e4f610a0689 88 static DbgMCU enable_dbg;
Wolfgang Betz 0:3e4f610a0689 89 #endif // DBG_MCU
Wolfgang Betz 0:3e4f610a0689 90
Wolfgang Betz 1:9458657e49ee 91 static X_NUCLEO_IKS01A1 *mems_expansion_board = X_NUCLEO_IKS01A1::Instance();
Wolfgang Betz 0:3e4f610a0689 92
Wolfgang Betz 0:3e4f610a0689 93 static Ticker ticker;
Wolfgang Betz 0:3e4f610a0689 94 static InterruptIn button(USER_BUTTON);
Wolfgang Betz 0:3e4f610a0689 95
Wolfgang Betz 0:3e4f610a0689 96 static volatile bool timer_irq_triggered = false;
Wolfgang Betz 0:3e4f610a0689 97 static volatile bool button_irq_triggered = false;
Wolfgang Betz 0:3e4f610a0689 98
Wolfgang Betz 1:9458657e49ee 99 static DigitalOut myled(LED1);
Wolfgang Betz 0:3e4f610a0689 100
Wolfgang Betz 0:3e4f610a0689 101 /*** Helper Functions (1/2) ------------------------------------------------------------ ***/
Wolfgang Betz 0:3e4f610a0689 102
Wolfgang Betz 0:3e4f610a0689 103
Wolfgang Betz 0:3e4f610a0689 104 /*** Interrupt Handler Top-Halves ------------------------------------------------------ ***/
Wolfgang Betz 0:3e4f610a0689 105 /* Called in interrupt context, therefore just set a trigger variable */
Wolfgang Betz 0:3e4f610a0689 106 static void timer_irq(void) {
Wolfgang Betz 0:3e4f610a0689 107 timer_irq_triggered = true;
Wolfgang Betz 0:3e4f610a0689 108 }
Wolfgang Betz 0:3e4f610a0689 109
Wolfgang Betz 0:3e4f610a0689 110 /* Called in interrupt context, therefore just set a trigger variable */
Wolfgang Betz 0:3e4f610a0689 111 static void button_irq(void) {
Wolfgang Betz 0:3e4f610a0689 112 button_irq_triggered = true;
Wolfgang Betz 0:3e4f610a0689 113 button.disable_irq();
Wolfgang Betz 0:3e4f610a0689 114 }
Wolfgang Betz 0:3e4f610a0689 115
Wolfgang Betz 0:3e4f610a0689 116
Wolfgang Betz 0:3e4f610a0689 117 /*** Interrupt Handler Bottom-Halves ------------------------------------------------- ***/
Wolfgang Betz 0:3e4f610a0689 118 /* Handle button irq
Wolfgang Betz 0:3e4f610a0689 119 (here we are in "normal" context, i.e. not in IRQ context)
Wolfgang Betz 0:3e4f610a0689 120 */
Wolfgang Betz 0:3e4f610a0689 121 static void handle_button_irq(void) {
Wolfgang Betz 0:3e4f610a0689 122 /* TODO */
Wolfgang Betz 0:3e4f610a0689 123
Wolfgang Betz 0:3e4f610a0689 124 /* Re-enable button irq */
Wolfgang Betz 0:3e4f610a0689 125 button.enable_irq();
Wolfgang Betz 0:3e4f610a0689 126 }
Wolfgang Betz 0:3e4f610a0689 127
Wolfgang Betz 0:3e4f610a0689 128
Wolfgang Betz 0:3e4f610a0689 129 /*** Helper Functions (2/2) ------------------------------------------------------------ ***/
Wolfgang Betz 2:00f62b148a07 130 /* print floats & doubles */
Wolfgang Betz 2:00f62b148a07 131 static char *printDouble(char* str, double v, int decimalDigits=2)
Wolfgang Betz 2:00f62b148a07 132 {
Wolfgang Betz 2:00f62b148a07 133 int i = 1;
Wolfgang Betz 2:00f62b148a07 134 int intPart, fractPart;
Wolfgang Betz 2:00f62b148a07 135
Wolfgang Betz 2:00f62b148a07 136 for (;decimalDigits!=0; i*=10, decimalDigits--);
Wolfgang Betz 2:00f62b148a07 137 intPart = (int)v;
Wolfgang Betz 2:00f62b148a07 138 fractPart = (int)((v-(double)(int)v)*i);
Wolfgang Betz 2:00f62b148a07 139 sprintf(str, "%i.%i", intPart, fractPart);
Wolfgang Betz 2:00f62b148a07 140
Wolfgang Betz 2:00f62b148a07 141 return str;
Wolfgang Betz 2:00f62b148a07 142 }
Wolfgang Betz 2:00f62b148a07 143
Wolfgang Betz 0:3e4f610a0689 144 /* Initialization function */
Wolfgang Betz 0:3e4f610a0689 145 static void init(void) {
Wolfgang Betz 1:9458657e49ee 146 uint8_t hts221_id;
Wolfgang Betz 1:9458657e49ee 147
Wolfgang Betz 0:3e4f610a0689 148 /* Set mode & irq handler for button */
Wolfgang Betz 0:3e4f610a0689 149 button.mode(PullNone);
Wolfgang Betz 0:3e4f610a0689 150 button.fall(button_irq);
Wolfgang Betz 0:3e4f610a0689 151
Wolfgang Betz 1:9458657e49ee 152 /* Determine ID of Humidity & Tempreture Sensor */
Wolfgang Betz 1:9458657e49ee 153 mems_expansion_board->ht_sensor.ReadID(&hts221_id);
Wolfgang Betz 2:00f62b148a07 154 printf("HTS221_ID = 0x%x (%u)\n", hts221_id, hts221_id);
Wolfgang Betz 1:9458657e49ee 155 }
Wolfgang Betz 1:9458657e49ee 156
Wolfgang Betz 1:9458657e49ee 157 /* Main cycle function */
Wolfgang Betz 1:9458657e49ee 158 static void main_cycle(void) {
Wolfgang Betz 1:9458657e49ee 159 float TEMPERATURE_Value;
Wolfgang Betz 1:9458657e49ee 160 float HUMIDITY_Value;
Wolfgang Betz 1:9458657e49ee 161 float PRESSURE_Value;
Wolfgang Betz 1:9458657e49ee 162 AxesRaw_TypeDef MAG_Value;
Wolfgang Betz 1:9458657e49ee 163 AxesRaw_TypeDef ACC_Value;
Wolfgang Betz 1:9458657e49ee 164 AxesRaw_TypeDef GYR_Value;
Wolfgang Betz 2:00f62b148a07 165 char buffer1[32];
Wolfgang Betz 2:00f62b148a07 166 char buffer2[32];
Wolfgang Betz 2:00f62b148a07 167 char buffer3[32];
Wolfgang Betz 2:00f62b148a07 168
Wolfgang Betz 1:9458657e49ee 169 /* Switch LED On */
Wolfgang Betz 1:9458657e49ee 170 myled = 1;
Wolfgang Betz 2:00f62b148a07 171 printf("===\n");
Wolfgang Betz 1:9458657e49ee 172
Wolfgang Betz 1:9458657e49ee 173 /* Determine Environmental Values */
Wolfgang Betz 1:9458657e49ee 174 mems_expansion_board->ht_sensor.GetTemperature(&TEMPERATURE_Value);
Wolfgang Betz 1:9458657e49ee 175 mems_expansion_board->ht_sensor.GetHumidity(&HUMIDITY_Value);
Wolfgang Betz 1:9458657e49ee 176 mems_expansion_board->pressure_sensor.GetPressure(&PRESSURE_Value);
Wolfgang Betz 1:9458657e49ee 177 mems_expansion_board->magnetometer.Get_M_Axes((int32_t *)&MAG_Value);
Wolfgang Betz 1:9458657e49ee 178 mems_expansion_board->gyroscope.Get_X_Axes((int32_t *)&ACC_Value);
Wolfgang Betz 1:9458657e49ee 179 mems_expansion_board->gyroscope.Get_G_Axes((int32_t *)&GYR_Value);
Wolfgang Betz 1:9458657e49ee 180
Wolfgang Betz 1:9458657e49ee 181 /* Print Values Out */
Wolfgang Betz 2:00f62b148a07 182 printf("TEMP: %s, HUMIDITY: %s, PRESSURE: %s\n",
Wolfgang Betz 2:00f62b148a07 183 printDouble(buffer1, TEMPERATURE_Value),
Wolfgang Betz 2:00f62b148a07 184 printDouble(buffer2, HUMIDITY_Value),
Wolfgang Betz 2:00f62b148a07 185 printDouble(buffer3, PRESSURE_Value));
Wolfgang Betz 2:00f62b148a07 186 printf("X_MAG: %ld, Y_MAG: %ld, Z_MAG: %ld\n",
Wolfgang Betz 1:9458657e49ee 187 MAG_Value.AXIS_X, MAG_Value.AXIS_Y, MAG_Value.AXIS_Z);
Wolfgang Betz 2:00f62b148a07 188 printf("X_ACC: %ld, Y_ACC: %ld, Z_ACC: %ld\n",
Wolfgang Betz 1:9458657e49ee 189 ACC_Value.AXIS_X, ACC_Value.AXIS_Y, ACC_Value.AXIS_Z);
Wolfgang Betz 2:00f62b148a07 190 printf("X_GYR: %ld, Y_GYR: %ld, Z_GYR: %ld\n",
Wolfgang Betz 1:9458657e49ee 191 GYR_Value.AXIS_X, GYR_Value.AXIS_Y, GYR_Value.AXIS_Z);
Wolfgang Betz 1:9458657e49ee 192
Wolfgang Betz 1:9458657e49ee 193 /* Switch LED Off */
Wolfgang Betz 1:9458657e49ee 194 myled = 0;
Wolfgang Betz 0:3e4f610a0689 195 }
Wolfgang Betz 0:3e4f610a0689 196
Wolfgang Betz 0:3e4f610a0689 197
Wolfgang Betz 0:3e4f610a0689 198 /*** Main function ------------------------------------------------------------- ***/
Wolfgang Betz 0:3e4f610a0689 199 /* Generic main function/loop for enabling WFI in case of
Wolfgang Betz 0:3e4f610a0689 200 interrupt based cyclic execution
Wolfgang Betz 0:3e4f610a0689 201 */
Wolfgang Betz 0:3e4f610a0689 202 int main()
Wolfgang Betz 0:3e4f610a0689 203 {
Wolfgang Betz 0:3e4f610a0689 204 /* Start & initialize */
Wolfgang Betz 0:3e4f610a0689 205 printf("\n--- Starting new run ---\n");
Wolfgang Betz 0:3e4f610a0689 206 init();
Wolfgang Betz 0:3e4f610a0689 207
Wolfgang Betz 0:3e4f610a0689 208 /* Start timer irq */
Wolfgang Betz 0:3e4f610a0689 209 ticker.attach_us(timer_irq, MS_INTERVALS * APP_LOOP_PERIOD);
Wolfgang Betz 0:3e4f610a0689 210
Wolfgang Betz 0:3e4f610a0689 211 while (true) {
Wolfgang Betz 0:3e4f610a0689 212 __disable_irq();
Wolfgang Betz 0:3e4f610a0689 213 if(timer_irq_triggered) {
Wolfgang Betz 0:3e4f610a0689 214 timer_irq_triggered = false;
Wolfgang Betz 0:3e4f610a0689 215 __enable_irq();
Wolfgang Betz 1:9458657e49ee 216 main_cycle();
Wolfgang Betz 0:3e4f610a0689 217 } else if(button_irq_triggered) {
Wolfgang Betz 0:3e4f610a0689 218 button_irq_triggered = false;
Wolfgang Betz 0:3e4f610a0689 219 __enable_irq();
Wolfgang Betz 0:3e4f610a0689 220 handle_button_irq();
Wolfgang Betz 0:3e4f610a0689 221 } else {
Wolfgang Betz 0:3e4f610a0689 222 __WFI();
Wolfgang Betz 0:3e4f610a0689 223 __enable_irq(); /* do NOT enable irqs before WFI to avoid
Wolfgang Betz 0:3e4f610a0689 224 opening a window in which you can loose
Wolfgang Betz 0:3e4f610a0689 225 irq arrivals before going into WFI */
Wolfgang Betz 0:3e4f610a0689 226 }
Wolfgang Betz 0:3e4f610a0689 227 }
Wolfgang Betz 0:3e4f610a0689 228 }