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

Diff: main.cpp

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+/**
+ ******************************************************************************
+ * @file    main.cpp
+ * @author  AST / EST
+ * @version V0.0.1
+ * @date    14-April-2015
+ * @brief   Example application for using the X_NUCLEO_IKS01A1 
+ *          MEMS Inertial & Environmental Sensor Nucleo expansion board.
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ *   1. Redistributions of source code must retain the above copyright notice,
+ *      this list of conditions and the following disclaimer.
+ *   2. Redistributions in binary form must reproduce the above copyright notice,
+ *      this list of conditions and the following disclaimer in the documentation
+ *      and/or other materials provided with the distribution.
+ *   3. Neither the name of STMicroelectronics nor the names of its contributors
+ *      may be used to endorse or promote products derived from this software
+ *      without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ *  SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ ******************************************************************************
+*/ 
+
+/**
+ * @mainpage X_NUCLEO_IKS01A1 MEMS Inertial & Environmental Sensor Nucleo Expansion Board Firmware Package
+ *
+ * <b>Introduction</b>
+ *
+ * This firmware package includes Components Device Drivers, Board Support Package
+ * and example application for STMicroelectronics X_NUCLEO_IKS01A1 MEMS Inertial & Environmental Nucleo
+ * Expansion Board
+ * 
+ * <b>Example Application</b>
+ *
+ */
+
+
+/*** Includes ----------------------------------------------------------------- ***/
+#include "mbed.h"
+#include "assert.h"
+#include "x_nucleo_iks01a1.h"
+
+#include <Ticker.h>
+
+
+/*** Constants ---------------------------------------------------------------- ***/
+namespace {
+	const int MS_INTERVALS = 1000;
+}
+
+
+/*** Macros ------------------------------------------------------------------- ***/
+#define APP_LOOP_PERIOD 3000 // in ms
+
+#if defined(TARGET_STM)
+#define LED_OFF (0)
+#else
+#define LED_OFF (1)
+#endif
+#define LED_ON  (!LED_OFF)
+
+
+/*** Typedefs ----------------------------------------------------------------- ***/
+typedef struct {
+    int32_t AXIS_X;
+    int32_t AXIS_Y;
+    int32_t AXIS_Z;
+} AxesRaw_TypeDef;
+
+
+/*** Static variables --------------------------------------------------------- ***/
+#ifdef DBG_MCU
+/* betzw: enable debugging while using sleep modes */
+#include "DbgMCU.h"
+static DbgMCU enable_dbg;
+#endif // DBG_MCU
+
+static X_NUCLEO_IKS01A1 *mems_expansion_board = X_NUCLEO_IKS01A1::Instance();
+static GyroSensor *gyroscope = mems_expansion_board->GetGyroscope();
+static MotionSensor *accelerometer = mems_expansion_board->GetAccelerometer();
+static MagneticSensor *magnetometer = mems_expansion_board->magnetometer;
+static HumiditySensor *humidity_sensor = mems_expansion_board->ht_sensor;;
+static PressureSensor *pressure_sensor = mems_expansion_board->pressure_sensor;
+static TempSensor *temp_sensor1 = mems_expansion_board->ht_sensor;
+static TempSensor *temp_sensor2 = mems_expansion_board->pressure_sensor;
+
+static Ticker ticker;
+static DigitalOut myled(LED1, LED_OFF);
+
+static volatile bool timer_irq_triggered = false;
+static volatile bool ff_irq_triggered = false;
+
+
+/*** Helper Functions (1/2) ------------------------------------------------------------ ***/
+
+
+/*** Interrupt Handler Top-Halves ------------------------------------------------------ ***/
+/* Called in interrupt context, therefore just set a trigger variable */
+static void timer_irq(void) {
+	timer_irq_triggered = true;
+}
+
+/* Called in interrupt context, therefore just set a trigger variable */
+static void ff_irq(void) {
+	ff_irq_triggered = true;
+
+	/* Disable IRQ until handled */
+	mems_expansion_board->gyro_lsm6ds3->Disable_Free_Fall_Detection_IRQ();
+}
+
+
+/*** Interrupt Handler Bottom-Halves ------------------------------------------------- ***/
+/* Handle Free Fall Interrupt
+   (here we are in "normal" context, i.e. not in IRQ context)
+*/
+static void handle_ff_irq(void) {
+    printf("\nFree Fall Detected!\n\n");
+
+    /* Re-enable IRQ */
+    mems_expansion_board->gyro_lsm6ds3->Enable_Free_Fall_Detection_IRQ();
+}
+
+
+/*** Helper Functions (2/2) ------------------------------------------------------------ ***/
+/* print floats & doubles */
+static char *printDouble(char* str, double v, int decimalDigits=2)
+{
+  int i = 1;
+  int intPart, fractPart;
+  int len;
+  char *ptr;
+
+  /* prepare decimal digits multiplicator */
+  for (;decimalDigits!=0; i*=10, decimalDigits--);
+
+  /* calculate integer & fractinal parts */
+  intPart = (int)v;
+  fractPart = (int)((v-(double)(int)v)*i);
+
+  /* fill in integer part */
+  sprintf(str, "%i.", intPart);
+
+  /* prepare fill in of fractional part */
+  len = strlen(str);
+  ptr = &str[len];
+
+  /* fill in leading fractional zeros */
+  for (i/=10;i>1; i/=10, ptr++) {
+	  if(fractPart >= i) break;
+	  *ptr = '0';
+  }
+
+  /* fill in (rest of) fractional part */
+  sprintf(ptr, "%i", fractPart);
+
+  return str;
+}
+
+/* Initialization function */
+static void init(void) {
+	uint8_t id1, id2;
+
+	/* Determine ID of Humidity & Temperature Sensor */
+	CALL_METH(humidity_sensor, ReadID, &id1, 0x0);
+	CALL_METH(temp_sensor1, ReadID, &id2, 0x0);
+    	printf("Humidity  | Temperature Sensor ID = %s (0x%x | 0x%x)\n", 
+	       ((id1 == I_AM_HTS221) ? "HTS221 " : "UNKNOWN"),
+	       id1, id2
+	       );
+	assert(id1 == id2);
+
+	/* Determine ID of Gyro & Motion Sensor */
+	assert((mems_expansion_board->gyro_lsm6ds0 == NULL) ||
+	       (mems_expansion_board->gyro_lsm6ds3 == NULL));
+	CALL_METH(gyroscope, ReadID, &id1, 0x0);
+	CALL_METH(accelerometer, ReadID, &id2, 0x0);
+    	printf("Gyroscope | Motion Sensor ID      = %s (0x%x | 0x%x)\n", 
+	       ((id1 == I_AM_LSM6DS3_XG) ? "LSM6DS3" : 
+		((id1 == I_AM_LSM6DS0_XG) ? "LSM6DS0" : "UNKNOWN")),
+	       id1, id2
+	       );
+	assert(id1 == id2);
+
+	/* Register Free Fall Detection IRQ Handler & Enable Detection */
+	if(mems_expansion_board->gyro_lsm6ds3 != NULL) {
+		mems_expansion_board->gyro_lsm6ds3->Attach_Free_Fall_Detection_IRQ(ff_irq);
+		mems_expansion_board->gyro_lsm6ds3->Enable_Free_Fall_Detection();
+	}
+}
+
+/* Main cycle function */
+static void main_cycle(void) {
+	float TEMPERATURE_Value;
+	float HUMIDITY_Value;
+	float PRESSURE_Value;
+	float PRESSURE_Temp_Value;
+	AxesRaw_TypeDef MAG_Value;
+	AxesRaw_TypeDef ACC_Value;
+	AxesRaw_TypeDef GYR_Value;
+	char buffer1[32];
+	char buffer2[32];
+	char buffer3[32];
+	char buffer4[32];
+	unsigned int ret = 0;
+	
+	/* Switch LED On */
+	myled = LED_ON;
+	printf("===\n");
+
+	/* Determine Environmental Values */
+	ret |= (!CALL_METH(temp_sensor1, GetTemperature, &TEMPERATURE_Value, 0.0f) ? 0x0 : 0x1);
+	ret |= (!CALL_METH(humidity_sensor, GetHumidity, &HUMIDITY_Value, 0.0f) ? 0x0 : 0x2);;
+	ret |= (!CALL_METH(pressure_sensor, GetPressure, &PRESSURE_Value, 0.0f) ? 0x0 : 0x4);;
+	ret |= (!CALL_METH(temp_sensor2, GetFahrenheit, &PRESSURE_Temp_Value, 0.0f) ? 0x0 : 0x8);;
+	ret |= (!CALL_METH(magnetometer, Get_M_Axes, (int32_t *)&MAG_Value, 0) ? 0x0 : 0x10);;
+	ret |= (!CALL_METH(accelerometer, Get_X_Axes, (int32_t *)&ACC_Value, 0) ? 0x0 : 0x20);;
+	ret |= (!CALL_METH(gyroscope, Get_G_Axes, (int32_t *)&GYR_Value, 0) ? 0x0 : 0x40);
+
+	/* Print Values Out */
+        printf("I2C [errors]: 0x%.2x    X         Y         Z\n", ret); 
+        printf("MAG [mgauss]: %9ld %9ld %9ld\n", 
+	       MAG_Value.AXIS_X, MAG_Value.AXIS_Y, MAG_Value.AXIS_Z);
+        printf("ACC [mg]:     %9ld %9ld %9ld\n", 
+	       ACC_Value.AXIS_X, ACC_Value.AXIS_Y, ACC_Value.AXIS_Z);
+        printf("GYR [mdps]:   %9ld %9ld %9ld\n", 
+	       GYR_Value.AXIS_X, GYR_Value.AXIS_Y, GYR_Value.AXIS_Z);
+        printf("---\nTEMP | HUMIDITY: %s°C |  %s%%\nTEMP | PRESSURE: %s°F | %4smbar\n", 
+	       printDouble(buffer1, TEMPERATURE_Value), 
+	       printDouble(buffer2, HUMIDITY_Value), 
+	       printDouble(buffer4, PRESSURE_Temp_Value),
+	       printDouble(buffer3, PRESSURE_Value));
+	
+	/* Switch LED Off */
+	myled = LED_OFF;
+}
+
+
+/*** Main function ------------------------------------------------------------- ***/
+/* Generic main function/loop for enabling WFE in case of 
+   interrupt based cyclic execution
+*/
+int main()
+{
+	/* Start & initialize */
+	printf("\n--- Starting new run ---\n");
+	init();
+
+	/* Start timer irq */
+	ticker.attach_us(timer_irq, MS_INTERVALS * APP_LOOP_PERIOD);
+
+	while (true) {
+		if(timer_irq_triggered) {
+			timer_irq_triggered = false;
+			main_cycle();
+		} else if(ff_irq_triggered) {
+			ff_irq_triggered = false;
+			handle_ff_irq();
+		} else {
+			__WFE(); /* it is recommended that SEVONPEND in the 
+				    System Control Register is NOT set */
+		}
+	}
+}