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

File content as of revision 48:9631c81e1d87:

/**
 ******************************************************************************
 * @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;

  for (;decimalDigits!=0; i*=10, decimalDigits--);
  intPart = (int)v;
  fractPart = (int)((v-(double)(int)v)*i);
  sprintf(str, "%i.%i", intPart, 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];

	/* Switch LED On */
	myled = LED_ON;
	printf("===\n");

	/* Determine Environmental Values */
	CALL_METH(temp_sensor1, GetTemperature, &TEMPERATURE_Value, 0.0f);
	CALL_METH(humidity_sensor, GetHumidity, &HUMIDITY_Value, 0.0f);
	CALL_METH(pressure_sensor, GetPressure, &PRESSURE_Value, 0.0f);
	CALL_METH(temp_sensor2, GetFahrenheit, &PRESSURE_Temp_Value, 0.0f);
	CALL_METH(magnetometer, Get_M_Axes, (int32_t *)&MAG_Value, 0);
	CALL_METH(accelerometer, Get_X_Axes, (int32_t *)&ACC_Value, 0);
	CALL_METH(gyroscope, Get_G_Axes, (int32_t *)&GYR_Value, 0);

	/* Print Values Out */
        printf("                      X         Y         Z\n"); 
        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 | %smbar\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 ------------------------------------------------------------- ***/
#define D_SLEEP_VERSION 4

/* Generic main function/loop for enabling WFI 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);

#if D_SLEEP_VERSION == 1 // version without WFI/WFE and without IRQ synchronization
	while (true) {
		if(timer_irq_triggered) {
			timer_irq_triggered = false;
			main_cycle();
		} else if(ff_irq_triggered) {
			ff_irq_triggered = false;
			handle_ff_irq();
		}
	}
#elif D_SLEEP_VERSION == 2 // classical version with WFI and with IRQ synchronization
	while (true) {
		__disable_irq();
		if(timer_irq_triggered) {
			timer_irq_triggered = false;
			__enable_irq();
			main_cycle();
		} else if(ff_irq_triggered) {
			ff_irq_triggered = false;
			__enable_irq();
			handle_ff_irq();
		} else {
			__WFI();
                        __enable_irq(); /* do NOT enable irqs before WFI to avoid
					   opening a window in which you can loose
					   irq arrivals before going into WFI */
		}
	}
#elif D_SLEEP_VERSION == 3 // version with WFE and with IRQ synchronization
	while (true) {
		__disable_irq();
		if(timer_irq_triggered) {
			timer_irq_triggered = false;
			__enable_irq();
			main_cycle();
		} else if(ff_irq_triggered) {
			ff_irq_triggered = false;
			__enable_irq();
			handle_ff_irq();
		} else {
                        __enable_irq();
			__WFE(); /* assuming that SEVONPEND in the System Control Register is NOT set */
		}
	}
#elif D_SLEEP_VERSION == 4 // version with WFE and without IRQ synchronization
	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(); /* assuming that SEVONPEND in the System Control Register is NOT set */
		}
	}
#else  // D_SLEEP_VERSION != [1|2|3|4]
#error "Unsupported D_SLEEP_VERSION selected!"
#endif // D_SLEEP_VERSION != [1|2|3|4]
}