File content as of revision 3:82e8968382d6:

/**
 ******************************************************************************
 * @file    main.cpp
 * @author  CLab
 * @version V1.0.0
 * @date    5-September-2017
 * @brief   Simple Example application for using X_NUCLEO_IKS01A2  
 *          MEMS Inertial & Environmental Sensor Nucleo expansion and 
 *          B-L475E-IOT01A2 boards.
 ******************************************************************************
 * @attention
 *
 * <h2><center>&copy; COPYRIGHT(c) 2017 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.
 *
 ******************************************************************************
*/ 

/* Includes */
#include "mbed.h"
#include "HTS221Sensor.h"
#include "LPS22HBSensor.h"
#include "LSM6DSLSensor.h"

#ifdef TARGET_DISCO_L475VG_IOT01A
#include "lis3mdl_class.h"
#else // X-Nucleo-IKS01A2
#include "LSM303AGRMagSensor.h"
#endif


/* Retrieve the composing elements of the expansion board */

#ifdef TARGET_DISCO_L475VG_IOT01A
static DevI2C devI2c = DevI2C(PB_11,PB_10);
#else // X-Nucleo-IKS01A2
static DevI2C devI2c(D14,D15);
#endif

//static HTS221Sensor hum_temp = HTS221Sensor(&devI2c);
static HTS221Sensor hum_temp(&devI2c);
static LPS22HBSensor press_temp(&devI2c);

#ifdef TARGET_DISCO_L475VG_IOT01A
static LSM6DSLSensor acc_gyro(&devI2c,LSM6DSL_ACC_GYRO_I2C_ADDRESS_LOW,PD_11); // low address
static LIS3MDL magnetometer(&devI2c);
#else // X-NUCLEO_IKS01A2
static LSM6DSLSensor acc_gyro(&devI2c,LSM6DSL_ACC_GYRO_I2C_ADDRESS_HIGH,D4,D5); // high address
static LSM303AGRMagSensor magnetometer(&devI2c);
#endif

/* Helper function for printing floats & doubles */
static char *print_double(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;
}

/* Simple main function */
int main() {
  uint8_t id;
  float value1, value2;
  char buffer1[32], buffer2[32];
  int32_t axes[3];
  
  /* Init all sensors with default params */
  hum_temp.init(NULL);
  press_temp.init(NULL);
  magnetometer.init(NULL);
  acc_gyro.init(NULL);
  
  /* Enable all sensors */
  hum_temp.enable();
  press_temp.enable();
#ifndef TARGET_DISCO_L475VG_IOT01A // X-NUCLEO-IKS01A2
  magnetometer.enable();
#endif
  acc_gyro.enable_x();
  acc_gyro.enable_g();
  
  printf("\033[2J\033[20A");
  printf ("\r\n--- Starting new run ---\r\n\r\n");

  hum_temp.read_id(&id);
  printf("HTS221  humidity & temperature    = 0x%X\r\n", id);
  press_temp.read_id(&id);
  printf("LPS22HB  pressure & temperature   = 0x%X\r\n", id);
  magnetometer.read_id(&id);
#ifdef TARGET_DISCO_L475VG_IOT01A
  printf("LIS3MDL magnetometer              = 0x%X\r\n", id);
#else // X-NUCLEO-IKS01A2
  printf("LSM303AGR magnetometer            = 0x%X\r\n", id);
#endif
  acc_gyro.read_id(&id);
  printf("LSM6DSL accelerometer & gyroscope = 0x%X\r\n", id);
  
  printf("\n\r--- Reading sensor values ---\n\r"); ;
 
  while(1) {
    printf("\r\n");

    hum_temp.get_temperature(&value1);
    hum_temp.get_humidity(&value2);
    printf("HTS221: [temp] %7s C,   [hum] %s%%\r\n", print_double(buffer1, value1), print_double(buffer2, value2));
    
    press_temp.get_temperature(&value1);
    press_temp.get_pressure(&value2);
    printf("LPS22HB: [temp] %7s C, [press] %s mbar\r\n", print_double(buffer1, value1), print_double(buffer2, value2));

    printf("---\r\n");

    magnetometer.get_m_axes(axes);
#ifdef TARGET_DISCO_L475VG_IOT01A
    printf("LIS3MDL [mag/mgauss]:    %6ld, %6ld, %6ld\r\n", axes[0], axes[1], axes[2]);
#else // X-NUCLEO-IKS01A2
    printf("LSM303AGR [mag/mgauss]:  %6ld, %6ld, %6ld\r\n", axes[0], axes[1], axes[2]);
#endif    

    acc_gyro.get_x_axes(axes);
    printf("LSM6DSL [acc/mg]:        %6ld, %6ld, %6ld\r\n", axes[0], axes[1], axes[2]);

    acc_gyro.get_g_axes(axes);
    printf("LSM6DSL [gyro/mdps]:     %6ld, %6ld, %6ld\r\n", axes[0], axes[1], axes[2]);

    printf("\033[7A");
    wait(1);
  }
}