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@33:7ba7fbf0503a, 2015-06-08 (annotated)

Committer:
Wolfgang Betz
Date:
Mon Jun 08 15:36:36 2015 +0200
Revision:
33:7ba7fbf0503a
Parent:
32:97bff5dadafd
Child:
40:f567538352e1
Add LSM6DS3 component

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 33:7ba7fbf0503a 55 #include "assert.h"
Wolfgang Betz 0:3e4f610a0689 56 #include "x_nucleo_iks01a1.h"
Wolfgang Betz 0:3e4f610a0689 57
Wolfgang Betz 0:3e4f610a0689 58 #include <Ticker.h>
Wolfgang Betz 0:3e4f610a0689 59
Wolfgang Betz 0:3e4f610a0689 60
Wolfgang Betz 0:3e4f610a0689 61 /*** Constants ---------------------------------------------------------------- ***/
Wolfgang Betz 0:3e4f610a0689 62 namespace {
Wolfgang Betz 0:3e4f610a0689 63 const int MS_INTERVALS = 1000;
Wolfgang Betz 0:3e4f610a0689 64 }
Wolfgang Betz 0:3e4f610a0689 65
Wolfgang Betz 0:3e4f610a0689 66
Wolfgang Betz 0:3e4f610a0689 67 /*** Macros ------------------------------------------------------------------- ***/
Wolfgang Betz 2:00f62b148a07 68 #define APP_LOOP_PERIOD 1300 // in ms
Wolfgang Betz 0:3e4f610a0689 69
Wolfgang Betz 4:81037ace7f27 70 #if defined(TARGET_STM)
Wolfgang Betz 4:81037ace7f27 71 #define LED_OFF (0)
Wolfgang Betz 4:81037ace7f27 72 #else
Wolfgang Betz 4:81037ace7f27 73 #define LED_OFF (1)
Wolfgang Betz 4:81037ace7f27 74 #endif
Wolfgang Betz 4:81037ace7f27 75 #define LED_ON (!LED_OFF)
Wolfgang Betz 4:81037ace7f27 76
Wolfgang Betz 0:3e4f610a0689 77
Wolfgang Betz 1:9458657e49ee 78 /*** Typedefs ----------------------------------------------------------------- ***/
Wolfgang Betz 1:9458657e49ee 79 typedef struct {
Wolfgang Betz 1:9458657e49ee 80 int32_t AXIS_X;
Wolfgang Betz 1:9458657e49ee 81 int32_t AXIS_Y;
Wolfgang Betz 1:9458657e49ee 82 int32_t AXIS_Z;
Wolfgang Betz 1:9458657e49ee 83 } AxesRaw_TypeDef;
Wolfgang Betz 1:9458657e49ee 84
Wolfgang Betz 1:9458657e49ee 85
Wolfgang Betz 0:3e4f610a0689 86 /*** Static variables --------------------------------------------------------- ***/
Wolfgang Betz 0:3e4f610a0689 87 #ifdef DBG_MCU
Wolfgang Betz 0:3e4f610a0689 88 /* betzw: enable debugging while using sleep modes */
Wolfgang Betz 0:3e4f610a0689 89 #include "DbgMCU.h"
Wolfgang Betz 0:3e4f610a0689 90 static DbgMCU enable_dbg;
Wolfgang Betz 0:3e4f610a0689 91 #endif // DBG_MCU
Wolfgang Betz 0:3e4f610a0689 92
Wolfgang Betz 1:9458657e49ee 93 static X_NUCLEO_IKS01A1 *mems_expansion_board = X_NUCLEO_IKS01A1::Instance();
Wolfgang Betz 33:7ba7fbf0503a 94 static GyroSensor *gyroscope = mems_expansion_board->GetGyroscope();
Wolfgang Betz 33:7ba7fbf0503a 95 static MotionSensor *accelerometer = mems_expansion_board->GetAccelerometer();
Wolfgang Betz 32:97bff5dadafd 96 static MagneticSensor *magnetometer = mems_expansion_board->magnetometer;
Wolfgang Betz 32:97bff5dadafd 97 static HumiditySensor *humidity_sensor = mems_expansion_board->ht_sensor;;
Wolfgang Betz 32:97bff5dadafd 98 static PressureSensor *pressure_sensor = mems_expansion_board->pressure_sensor;
Wolfgang Betz 32:97bff5dadafd 99 static TempSensor *temp_sensor1 = mems_expansion_board->ht_sensor;
Wolfgang Betz 32:97bff5dadafd 100 static TempSensor *temp_sensor2 = mems_expansion_board->pressure_sensor;
Wolfgang Betz 18:645c96f209c7 101
Wolfgang Betz 0:3e4f610a0689 102 static Ticker ticker;
Wolfgang Betz 0:3e4f610a0689 103 static volatile bool timer_irq_triggered = false;
Wolfgang Betz 4:81037ace7f27 104 static DigitalOut myled(LED1, LED_OFF);
Wolfgang Betz 4:81037ace7f27 105
Wolfgang Betz 0:3e4f610a0689 106
Wolfgang Betz 0:3e4f610a0689 107 /*** Helper Functions (1/2) ------------------------------------------------------------ ***/
Wolfgang Betz 0:3e4f610a0689 108
Wolfgang Betz 0:3e4f610a0689 109
Wolfgang Betz 0:3e4f610a0689 110 /*** Interrupt Handler Top-Halves ------------------------------------------------------ ***/
Wolfgang Betz 0:3e4f610a0689 111 /* Called in interrupt context, therefore just set a trigger variable */
Wolfgang Betz 0:3e4f610a0689 112 static void timer_irq(void) {
Wolfgang Betz 0:3e4f610a0689 113 timer_irq_triggered = true;
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
Wolfgang Betz 0:3e4f610a0689 119
Wolfgang Betz 0:3e4f610a0689 120 /*** Helper Functions (2/2) ------------------------------------------------------------ ***/
Wolfgang Betz 2:00f62b148a07 121 /* print floats & doubles */
Wolfgang Betz 2:00f62b148a07 122 static char *printDouble(char* str, double v, int decimalDigits=2)
Wolfgang Betz 2:00f62b148a07 123 {
Wolfgang Betz 2:00f62b148a07 124 int i = 1;
Wolfgang Betz 2:00f62b148a07 125 int intPart, fractPart;
Wolfgang Betz 2:00f62b148a07 126
Wolfgang Betz 2:00f62b148a07 127 for (;decimalDigits!=0; i*=10, decimalDigits--);
Wolfgang Betz 2:00f62b148a07 128 intPart = (int)v;
Wolfgang Betz 2:00f62b148a07 129 fractPart = (int)((v-(double)(int)v)*i);
Wolfgang Betz 2:00f62b148a07 130 sprintf(str, "%i.%i", intPart, fractPart);
Wolfgang Betz 2:00f62b148a07 131
Wolfgang Betz 2:00f62b148a07 132 return str;
Wolfgang Betz 2:00f62b148a07 133 }
Wolfgang Betz 2:00f62b148a07 134
Wolfgang Betz 0:3e4f610a0689 135 /* Initialization function */
Wolfgang Betz 0:3e4f610a0689 136 static void init(void) {
Wolfgang Betz 33:7ba7fbf0503a 137 uint8_t id1, id2;
Wolfgang Betz 1:9458657e49ee 138
Wolfgang Betz 11:e20efb4e8a98 139 /* Determine ID of Humidity & Temperature Sensor */
Wolfgang Betz 33:7ba7fbf0503a 140 CALL_METH(humidity_sensor, ReadID, &id1, 0x0);
Wolfgang Betz 33:7ba7fbf0503a 141 CALL_METH(temp_sensor1, ReadID, &id2, 0x0);
Wolfgang Betz 33:7ba7fbf0503a 142 printf("Humidity | Temperature Sensor ID = %s (0x%x | 0x%x)\n",
Wolfgang Betz 33:7ba7fbf0503a 143 ((id1 == I_AM_HTS221) ? "HTS221 " : "UNKNOWN"),
Wolfgang Betz 33:7ba7fbf0503a 144 id1, id2
Wolfgang Betz 33:7ba7fbf0503a 145 );
Wolfgang Betz 33:7ba7fbf0503a 146 assert(id1 == id2);
Wolfgang Betz 33:7ba7fbf0503a 147
Wolfgang Betz 33:7ba7fbf0503a 148 /* Determine ID of Gyro & Motion Sensor */
Wolfgang Betz 33:7ba7fbf0503a 149 assert((mems_expansion_board->gyro_lsm6ds0 == NULL) ||
Wolfgang Betz 33:7ba7fbf0503a 150 (mems_expansion_board->gyro_lsm6ds3 == NULL));
Wolfgang Betz 33:7ba7fbf0503a 151 CALL_METH(gyroscope, ReadID, &id1, 0x0);
Wolfgang Betz 33:7ba7fbf0503a 152 CALL_METH(accelerometer, ReadID, &id2, 0x0);
Wolfgang Betz 33:7ba7fbf0503a 153 printf("Gyroscope | Motion Sensor ID = %s (0x%x | 0x%x)\n",
Wolfgang Betz 33:7ba7fbf0503a 154 ((id1 == I_AM_LSM6DS3_XG) ? "LSM6DS3" :
Wolfgang Betz 33:7ba7fbf0503a 155 ((id1 == I_AM_LSM6DS0_XG) ? "LSM6DS0" : "UNKNOWN")),
Wolfgang Betz 33:7ba7fbf0503a 156 id1, id2
Wolfgang Betz 33:7ba7fbf0503a 157 );
Wolfgang Betz 33:7ba7fbf0503a 158 assert(id1 == id2);
Wolfgang Betz 33:7ba7fbf0503a 159
Wolfgang Betz 33:7ba7fbf0503a 160 wait(1.5);
Wolfgang Betz 1:9458657e49ee 161 }
Wolfgang Betz 1:9458657e49ee 162
Wolfgang Betz 1:9458657e49ee 163 /* Main cycle function */
Wolfgang Betz 1:9458657e49ee 164 static void main_cycle(void) {
Wolfgang Betz 1:9458657e49ee 165 float TEMPERATURE_Value;
Wolfgang Betz 1:9458657e49ee 166 float HUMIDITY_Value;
Wolfgang Betz 1:9458657e49ee 167 float PRESSURE_Value;
Wolfgang Betz 11:e20efb4e8a98 168 float PRESSURE_Temp_Value;
Wolfgang Betz 1:9458657e49ee 169 AxesRaw_TypeDef MAG_Value;
Wolfgang Betz 1:9458657e49ee 170 AxesRaw_TypeDef ACC_Value;
Wolfgang Betz 1:9458657e49ee 171 AxesRaw_TypeDef GYR_Value;
Wolfgang Betz 2:00f62b148a07 172 char buffer1[32];
Wolfgang Betz 2:00f62b148a07 173 char buffer2[32];
Wolfgang Betz 2:00f62b148a07 174 char buffer3[32];
Wolfgang Betz 11:e20efb4e8a98 175 char buffer4[32];
Wolfgang Betz 2:00f62b148a07 176
Wolfgang Betz 1:9458657e49ee 177 /* Switch LED On */
Wolfgang Betz 4:81037ace7f27 178 myled = LED_ON;
Wolfgang Betz 2:00f62b148a07 179 printf("===\n");
Wolfgang Betz 1:9458657e49ee 180
Wolfgang Betz 1:9458657e49ee 181 /* Determine Environmental Values */
Wolfgang Betz 32:97bff5dadafd 182 CALL_METH(temp_sensor1, GetTemperature, &TEMPERATURE_Value, 0.0f);
Wolfgang Betz 32:97bff5dadafd 183 CALL_METH(humidity_sensor, GetHumidity, &HUMIDITY_Value, 0.0f);
Wolfgang Betz 32:97bff5dadafd 184 CALL_METH(pressure_sensor, GetPressure, &PRESSURE_Value, 0.0f);
Wolfgang Betz 32:97bff5dadafd 185 CALL_METH(temp_sensor2, GetFahrenheit, &PRESSURE_Temp_Value, 0.0f);
Wolfgang Betz 32:97bff5dadafd 186 CALL_METH(magnetometer, Get_M_Axes, (int32_t *)&MAG_Value, 0);
Wolfgang Betz 32:97bff5dadafd 187 CALL_METH(accelerometer, Get_X_Axes, (int32_t *)&ACC_Value, 0);
Wolfgang Betz 32:97bff5dadafd 188 CALL_METH(gyroscope, Get_G_Axes, (int32_t *)&GYR_Value, 0);
Wolfgang Betz 1:9458657e49ee 189
Wolfgang Betz 1:9458657e49ee 190 /* Print Values Out */
Wolfgang Betz 29:25c8f7d4515a 191 printf(" X Y Z\n");
Wolfgang Betz 29:25c8f7d4515a 192 printf("MAG [mgauss]: %9ld %9ld %9ld\n",
Wolfgang Betz 29:25c8f7d4515a 193 MAG_Value.AXIS_X, MAG_Value.AXIS_Y, MAG_Value.AXIS_Z);
Wolfgang Betz 29:25c8f7d4515a 194 printf("ACC [mg]: %9ld %9ld %9ld\n",
Wolfgang Betz 29:25c8f7d4515a 195 ACC_Value.AXIS_X, ACC_Value.AXIS_Y, ACC_Value.AXIS_Z);
Wolfgang Betz 29:25c8f7d4515a 196 printf("GYR [mdps]: %9ld %9ld %9ld\n",
Wolfgang Betz 29:25c8f7d4515a 197 GYR_Value.AXIS_X, GYR_Value.AXIS_Y, GYR_Value.AXIS_Z);
Wolfgang Betz 29:25c8f7d4515a 198 printf("---\nTEMP | HUMIDITY: %s°C | %s%%\nTEMP | PRESSURE: %s°F | %smbar\n",
Wolfgang Betz 2:00f62b148a07 199 printDouble(buffer1, TEMPERATURE_Value),
Wolfgang Betz 2:00f62b148a07 200 printDouble(buffer2, HUMIDITY_Value),
Wolfgang Betz 29:25c8f7d4515a 201 printDouble(buffer4, PRESSURE_Temp_Value),
Wolfgang Betz 29:25c8f7d4515a 202 printDouble(buffer3, PRESSURE_Value));
Wolfgang Betz 1:9458657e49ee 203
Wolfgang Betz 1:9458657e49ee 204 /* Switch LED Off */
Wolfgang Betz 4:81037ace7f27 205 myled = LED_OFF;
Wolfgang Betz 0:3e4f610a0689 206 }
Wolfgang Betz 0:3e4f610a0689 207
Wolfgang Betz 0:3e4f610a0689 208
Wolfgang Betz 0:3e4f610a0689 209 /*** Main function ------------------------------------------------------------- ***/
Wolfgang Betz 0:3e4f610a0689 210 /* Generic main function/loop for enabling WFI in case of
Wolfgang Betz 0:3e4f610a0689 211 interrupt based cyclic execution
Wolfgang Betz 0:3e4f610a0689 212 */
Wolfgang Betz 0:3e4f610a0689 213 int main()
Wolfgang Betz 0:3e4f610a0689 214 {
Wolfgang Betz 0:3e4f610a0689 215 /* Start & initialize */
Wolfgang Betz 0:3e4f610a0689 216 printf("\n--- Starting new run ---\n");
Wolfgang Betz 0:3e4f610a0689 217 init();
Wolfgang Betz 0:3e4f610a0689 218
Wolfgang Betz 0:3e4f610a0689 219 /* Start timer irq */
Wolfgang Betz 0:3e4f610a0689 220 ticker.attach_us(timer_irq, MS_INTERVALS * APP_LOOP_PERIOD);
Wolfgang Betz 0:3e4f610a0689 221
Wolfgang Betz 0:3e4f610a0689 222 while (true) {
Wolfgang Betz 0:3e4f610a0689 223 __disable_irq();
Wolfgang Betz 0:3e4f610a0689 224 if(timer_irq_triggered) {
Wolfgang Betz 0:3e4f610a0689 225 timer_irq_triggered = false;
Wolfgang Betz 0:3e4f610a0689 226 __enable_irq();
Wolfgang Betz 1:9458657e49ee 227 main_cycle();
Wolfgang Betz 0:3e4f610a0689 228 } else {
Wolfgang Betz 0:3e4f610a0689 229 __WFI();
Wolfgang Betz 0:3e4f610a0689 230 __enable_irq(); /* do NOT enable irqs before WFI to avoid
Wolfgang Betz 0:3e4f610a0689 231 opening a window in which you can loose
Wolfgang Betz 0:3e4f610a0689 232 irq arrivals before going into WFI */
Wolfgang Betz 0:3e4f610a0689 233 }
Wolfgang Betz 0:3e4f610a0689 234 }
Wolfgang Betz 0:3e4f610a0689 235 }