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@18:645c96f209c7, 2015-05-29 (annotated)

Committer:
Wolfgang Betz
Date:
Fri May 29 16:29:31 2015 +0200
Revision:
18:645c96f209c7
Parent:
11:e20efb4e8a98
Child:
29:25c8f7d4515a
Use multiple inheritance for combianed sensor components

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 5:a1de9dcb0f41 8 * MEMS Inertial & Environmental Sensor 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 5:a1de9dcb0f41 40 * @mainpage X_NUCLEO_IKS01A1 MEMS Inertial & Environmental Sensor 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 4:81037ace7f27 69 #if defined(TARGET_STM)
Wolfgang Betz 4:81037ace7f27 70 #define LED_OFF (0)
Wolfgang Betz 4:81037ace7f27 71 #else
Wolfgang Betz 4:81037ace7f27 72 #define LED_OFF (1)
Wolfgang Betz 4:81037ace7f27 73 #endif
Wolfgang Betz 4:81037ace7f27 74 #define LED_ON (!LED_OFF)
Wolfgang Betz 4:81037ace7f27 75
Wolfgang Betz 0:3e4f610a0689 76
Wolfgang Betz 1:9458657e49ee 77 /*** Typedefs ----------------------------------------------------------------- ***/
Wolfgang Betz 1:9458657e49ee 78 typedef struct {
Wolfgang Betz 1:9458657e49ee 79 int32_t AXIS_X;
Wolfgang Betz 1:9458657e49ee 80 int32_t AXIS_Y;
Wolfgang Betz 1:9458657e49ee 81 int32_t AXIS_Z;
Wolfgang Betz 1:9458657e49ee 82 } AxesRaw_TypeDef;
Wolfgang Betz 1:9458657e49ee 83
Wolfgang Betz 1:9458657e49ee 84
Wolfgang Betz 0:3e4f610a0689 85 /*** Static variables --------------------------------------------------------- ***/
Wolfgang Betz 0:3e4f610a0689 86 #ifdef DBG_MCU
Wolfgang Betz 0:3e4f610a0689 87 /* betzw: enable debugging while using sleep modes */
Wolfgang Betz 0:3e4f610a0689 88 #include "DbgMCU.h"
Wolfgang Betz 0:3e4f610a0689 89 static DbgMCU enable_dbg;
Wolfgang Betz 0:3e4f610a0689 90 #endif // DBG_MCU
Wolfgang Betz 0:3e4f610a0689 91
Wolfgang Betz 1:9458657e49ee 92 static X_NUCLEO_IKS01A1 *mems_expansion_board = X_NUCLEO_IKS01A1::Instance();
Wolfgang Betz 18:645c96f209c7 93 static GyroSensor &gyroscope = mems_expansion_board->gyroscope;
Wolfgang Betz 18:645c96f209c7 94 static MotionSensor &accelerometer = mems_expansion_board->gyroscope;
Wolfgang Betz 18:645c96f209c7 95 static MagneticSensor &magnetometer = mems_expansion_board->magnetometer;
Wolfgang Betz 18:645c96f209c7 96 static HumiditySensor &humidity_sensor = mems_expansion_board->ht_sensor;;
Wolfgang Betz 18:645c96f209c7 97 static PressureSensor &pressure_sensor = mems_expansion_board->pressure_sensor;
Wolfgang Betz 18:645c96f209c7 98 static TempSensor &temp_sensor1 = mems_expansion_board->ht_sensor;
Wolfgang Betz 18:645c96f209c7 99 static TempSensor &temp_sensor2 = mems_expansion_board->pressure_sensor;
Wolfgang Betz 18:645c96f209c7 100
Wolfgang Betz 0:3e4f610a0689 101 static Ticker ticker;
Wolfgang Betz 0:3e4f610a0689 102 static volatile bool timer_irq_triggered = false;
Wolfgang Betz 4:81037ace7f27 103 static DigitalOut myled(LED1, LED_OFF);
Wolfgang Betz 4:81037ace7f27 104
Wolfgang Betz 0:3e4f610a0689 105
Wolfgang Betz 0:3e4f610a0689 106 /*** Helper Functions (1/2) ------------------------------------------------------------ ***/
Wolfgang Betz 0:3e4f610a0689 107
Wolfgang Betz 0:3e4f610a0689 108
Wolfgang Betz 0:3e4f610a0689 109 /*** Interrupt Handler Top-Halves ------------------------------------------------------ ***/
Wolfgang Betz 0:3e4f610a0689 110 /* Called in interrupt context, therefore just set a trigger variable */
Wolfgang Betz 0:3e4f610a0689 111 static void timer_irq(void) {
Wolfgang Betz 0:3e4f610a0689 112 timer_irq_triggered = true;
Wolfgang Betz 0:3e4f610a0689 113 }
Wolfgang Betz 0:3e4f610a0689 114
Wolfgang Betz 0:3e4f610a0689 115
Wolfgang Betz 0:3e4f610a0689 116 /*** Interrupt Handler Bottom-Halves ------------------------------------------------- ***/
Wolfgang Betz 0:3e4f610a0689 117
Wolfgang Betz 0:3e4f610a0689 118
Wolfgang Betz 0:3e4f610a0689 119 /*** Helper Functions (2/2) ------------------------------------------------------------ ***/
Wolfgang Betz 2:00f62b148a07 120 /* print floats & doubles */
Wolfgang Betz 2:00f62b148a07 121 static char *printDouble(char* str, double v, int decimalDigits=2)
Wolfgang Betz 2:00f62b148a07 122 {
Wolfgang Betz 2:00f62b148a07 123 int i = 1;
Wolfgang Betz 2:00f62b148a07 124 int intPart, fractPart;
Wolfgang Betz 2:00f62b148a07 125
Wolfgang Betz 2:00f62b148a07 126 for (;decimalDigits!=0; i*=10, decimalDigits--);
Wolfgang Betz 2:00f62b148a07 127 intPart = (int)v;
Wolfgang Betz 2:00f62b148a07 128 fractPart = (int)((v-(double)(int)v)*i);
Wolfgang Betz 2:00f62b148a07 129 sprintf(str, "%i.%i", intPart, fractPart);
Wolfgang Betz 2:00f62b148a07 130
Wolfgang Betz 2:00f62b148a07 131 return str;
Wolfgang Betz 2:00f62b148a07 132 }
Wolfgang Betz 2:00f62b148a07 133
Wolfgang Betz 0:3e4f610a0689 134 /* Initialization function */
Wolfgang Betz 0:3e4f610a0689 135 static void init(void) {
Wolfgang Betz 18:645c96f209c7 136 uint8_t hts221_id_hum;
Wolfgang Betz 18:645c96f209c7 137 uint8_t hts221_id_temp;
Wolfgang Betz 1:9458657e49ee 138
Wolfgang Betz 11:e20efb4e8a98 139 /* Determine ID of Humidity & Temperature Sensor */
Wolfgang Betz 18:645c96f209c7 140 humidity_sensor.ReadID(&hts221_id_hum);
Wolfgang Betz 18:645c96f209c7 141 temp_sensor1.ReadID(&hts221_id_temp);
Wolfgang Betz 18:645c96f209c7 142 printf("HTS221_ID (Humidity) = 0x%x (%u)\n", hts221_id_hum, hts221_id_hum);
Wolfgang Betz 18:645c96f209c7 143 printf("HTS221_ID (Temperature) = 0x%x (%u)\n", hts221_id_temp, hts221_id_temp);
Wolfgang Betz 1:9458657e49ee 144 }
Wolfgang Betz 1:9458657e49ee 145
Wolfgang Betz 1:9458657e49ee 146 /* Main cycle function */
Wolfgang Betz 1:9458657e49ee 147 static void main_cycle(void) {
Wolfgang Betz 1:9458657e49ee 148 float TEMPERATURE_Value;
Wolfgang Betz 1:9458657e49ee 149 float HUMIDITY_Value;
Wolfgang Betz 1:9458657e49ee 150 float PRESSURE_Value;
Wolfgang Betz 11:e20efb4e8a98 151 float PRESSURE_Temp_Value;
Wolfgang Betz 1:9458657e49ee 152 AxesRaw_TypeDef MAG_Value;
Wolfgang Betz 1:9458657e49ee 153 AxesRaw_TypeDef ACC_Value;
Wolfgang Betz 1:9458657e49ee 154 AxesRaw_TypeDef GYR_Value;
Wolfgang Betz 2:00f62b148a07 155 char buffer1[32];
Wolfgang Betz 2:00f62b148a07 156 char buffer2[32];
Wolfgang Betz 2:00f62b148a07 157 char buffer3[32];
Wolfgang Betz 11:e20efb4e8a98 158 char buffer4[32];
Wolfgang Betz 2:00f62b148a07 159
Wolfgang Betz 1:9458657e49ee 160 /* Switch LED On */
Wolfgang Betz 4:81037ace7f27 161 myled = LED_ON;
Wolfgang Betz 2:00f62b148a07 162 printf("===\n");
Wolfgang Betz 1:9458657e49ee 163
Wolfgang Betz 1:9458657e49ee 164 /* Determine Environmental Values */
Wolfgang Betz 18:645c96f209c7 165 temp_sensor1.GetTemperature(&TEMPERATURE_Value);
Wolfgang Betz 18:645c96f209c7 166 humidity_sensor.GetHumidity(&HUMIDITY_Value);
Wolfgang Betz 18:645c96f209c7 167 pressure_sensor.GetPressure(&PRESSURE_Value);
Wolfgang Betz 18:645c96f209c7 168 temp_sensor2.GetTemperature(&PRESSURE_Temp_Value);
Wolfgang Betz 18:645c96f209c7 169 magnetometer.Get_M_Axes((int32_t *)&MAG_Value);
Wolfgang Betz 18:645c96f209c7 170 accelerometer.Get_X_Axes((int32_t *)&ACC_Value);
Wolfgang Betz 18:645c96f209c7 171 gyroscope.Get_G_Axes((int32_t *)&GYR_Value);
Wolfgang Betz 1:9458657e49ee 172
Wolfgang Betz 1:9458657e49ee 173 /* Print Values Out */
Wolfgang Betz 11:e20efb4e8a98 174 printf("TEMP: %s, HUMIDITY: %s, PRESSURE (TEMP): %s (%s)\n",
Wolfgang Betz 2:00f62b148a07 175 printDouble(buffer1, TEMPERATURE_Value),
Wolfgang Betz 2:00f62b148a07 176 printDouble(buffer2, HUMIDITY_Value),
Wolfgang Betz 11:e20efb4e8a98 177 printDouble(buffer3, PRESSURE_Value),
Wolfgang Betz 11:e20efb4e8a98 178 printDouble(buffer4, PRESSURE_Temp_Value));
Wolfgang Betz 2:00f62b148a07 179 printf("X_MAG: %ld, Y_MAG: %ld, Z_MAG: %ld\n",
Wolfgang Betz 1:9458657e49ee 180 MAG_Value.AXIS_X, MAG_Value.AXIS_Y, MAG_Value.AXIS_Z);
Wolfgang Betz 2:00f62b148a07 181 printf("X_ACC: %ld, Y_ACC: %ld, Z_ACC: %ld\n",
Wolfgang Betz 1:9458657e49ee 182 ACC_Value.AXIS_X, ACC_Value.AXIS_Y, ACC_Value.AXIS_Z);
Wolfgang Betz 2:00f62b148a07 183 printf("X_GYR: %ld, Y_GYR: %ld, Z_GYR: %ld\n",
Wolfgang Betz 1:9458657e49ee 184 GYR_Value.AXIS_X, GYR_Value.AXIS_Y, GYR_Value.AXIS_Z);
Wolfgang Betz 1:9458657e49ee 185
Wolfgang Betz 1:9458657e49ee 186 /* Switch LED Off */
Wolfgang Betz 4:81037ace7f27 187 myled = LED_OFF;
Wolfgang Betz 0:3e4f610a0689 188 }
Wolfgang Betz 0:3e4f610a0689 189
Wolfgang Betz 0:3e4f610a0689 190
Wolfgang Betz 0:3e4f610a0689 191 /*** Main function ------------------------------------------------------------- ***/
Wolfgang Betz 0:3e4f610a0689 192 /* Generic main function/loop for enabling WFI in case of
Wolfgang Betz 0:3e4f610a0689 193 interrupt based cyclic execution
Wolfgang Betz 0:3e4f610a0689 194 */
Wolfgang Betz 0:3e4f610a0689 195 int main()
Wolfgang Betz 0:3e4f610a0689 196 {
Wolfgang Betz 0:3e4f610a0689 197 /* Start & initialize */
Wolfgang Betz 0:3e4f610a0689 198 printf("\n--- Starting new run ---\n");
Wolfgang Betz 0:3e4f610a0689 199 init();
Wolfgang Betz 0:3e4f610a0689 200
Wolfgang Betz 0:3e4f610a0689 201 /* Start timer irq */
Wolfgang Betz 0:3e4f610a0689 202 ticker.attach_us(timer_irq, MS_INTERVALS * APP_LOOP_PERIOD);
Wolfgang Betz 0:3e4f610a0689 203
Wolfgang Betz 0:3e4f610a0689 204 while (true) {
Wolfgang Betz 0:3e4f610a0689 205 __disable_irq();
Wolfgang Betz 0:3e4f610a0689 206 if(timer_irq_triggered) {
Wolfgang Betz 0:3e4f610a0689 207 timer_irq_triggered = false;
Wolfgang Betz 0:3e4f610a0689 208 __enable_irq();
Wolfgang Betz 1:9458657e49ee 209 main_cycle();
Wolfgang Betz 0:3e4f610a0689 210 } else {
Wolfgang Betz 0:3e4f610a0689 211 __WFI();
Wolfgang Betz 0:3e4f610a0689 212 __enable_irq(); /* do NOT enable irqs before WFI to avoid
Wolfgang Betz 0:3e4f610a0689 213 opening a window in which you can loose
Wolfgang Betz 0:3e4f610a0689 214 irq arrivals before going into WFI */
Wolfgang Betz 0:3e4f610a0689 215 }
Wolfgang Betz 0:3e4f610a0689 216 }
Wolfgang Betz 0:3e4f610a0689 217 }