File content as of revision 1:a2c5a8a74527:

#include "mbed.h"
#include "rtos.h"
#include "x_nucleo_iks01a1.h"
#include "x_nucleo_53l0a1.h"

Thread mems_thread;
Thread range_thread;
Mutex serial_mutex;
//Mutex sensor_mutex;

DigitalOut led(D3);

DevI2C i2c(D14, D15);

/* Instantiate the expansion board */
static X_NUCLEO_IKS01A1 *mems_expansion_board = X_NUCLEO_IKS01A1::Instance(&i2c);
// MAKE SURE YOU JUMPER PIN D7 TO PIN D8!
static X_NUCLEO_53L0A1 *range_board = X_NUCLEO_53L0A1::Instance(&i2c, A2, D7, D2);

/* Retrieve the composing elements of the expansion board */
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->pt_sensor;
static TempSensor *temp_sensor1 = mems_expansion_board->ht_sensor;
static TempSensor *temp_sensor2 = mems_expansion_board->pt_sensor;

/* Helper function for printing from multiple threads */
void ts_printf(const char* format, ...) {
    serial_mutex.lock();
    va_list args;
    va_start(args, format);
    printf(format, args);
    serial_mutex.unlock();
}

/* Helper function for printing 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;
}

/* Function to run the mems board */
void mems_func() {
    uint8_t id;
    float value1, value2;
    char buffer1[32], buffer2[32];
    int32_t axes[3];
    int ret;

    ts_printf("\r\n--- Starting mems board ---\r\n");

    //sensor_mutex.lock();
    humidity_sensor->read_id(&id);
    //sensor_mutex.unlock();
    ts_printf("HTS221  humidity & temperature    = 0x%X\r\n", id);

    //sensor_mutex.lock();
    pressure_sensor->read_id(&id);
    //sensor_mutex.unlock();
    ts_printf("LPS25H  pressure & temperature    = 0x%X\r\n", id);

    //sensor_mutex.lock();
    magnetometer->read_id(&id);
    //sensor_mutex.unlock();
    ts_printf("LIS3MDL magnetometer              = 0x%X\r\n", id);

    //sensor_mutex.lock();
    gyroscope->read_id(&id);
    //sensor_mutex.unlock();
    ts_printf("LSM6DS0 accelerometer & gyroscope = 0x%X\r\n", id);

    wait(3);

    while (true) {
        //sensor_mutex.lock();
        ret = temp_sensor1->get_temperature(&value1);
        //sensor_mutex.unlock();
        if (ret) {
            ts_printf("failed to get temp C\r\n");
        }
        //sensor_mutex.lock();
        ret = humidity_sensor->get_humidity(&value2);
        //sensor_mutex.unlock();
        if (ret) {
            ts_printf("failed to get humidity\r\n");
        }
        //ts_printf("HTS221: [temp] %7s°C,   [hum] %s%%\r\n", printDouble(buffer1, value1), printDouble(buffer2, value2));
        ts_printf("HTS221: [temp] %f°C\r\n", value1);
        ts_printf("HTS221: [hum] %f%%\r\n", value2);

        //sensor_mutex.lock();
        ret = temp_sensor2->get_fahrenheit(&value1);
        //sensor_mutex.unlock();
        if (ret) {
            ts_printf("failed to get temp F\r\n");
        }
        //sensor_mutex.lock();
        ret = pressure_sensor->get_pressure(&value2);
        //sensor_mutex.unlock();
        if (ret) {
            ts_printf("failed to get pressure F\r\n");
        }
        //ts_printf("LPS25H: [temp] %7s°F, [press] %smbar\r\n", printDouble(buffer1, value1), printDouble(buffer2, value2));
        ts_printf("LPS25H: [temp] %f°F\r\n", value1);
        ts_printf("LPS25H: [press] %fmbar\r\n", value2);

        //sensor_mutex.lock();
        ret = magnetometer->get_m_axes(axes);
        //sensor_mutex.unlock();
        if (ret) {
            ts_printf("failed to get magnetometer\r\n");
        }
        ts_printf("LIS3MDL [mag/mgauss]:  %7ld, %7ld, %7ld\r\n", axes[0], axes[1], axes[2]);
        
        //sensor_mutex.lock();
        ret = accelerometer->get_x_axes(axes);
        //sensor_mutex.unlock();
        if (ret) {
            ts_printf("failed to get accelerometer\r\n");
        }
        ts_printf("LSM6DS0 [acc/mg]:      %7ld, %7ld, %7ld\r\n", axes[0], axes[1], axes[2]);

        //sensor_mutex.lock();
        ret = gyroscope->get_g_axes(axes);
        //sensor_mutex.unlock();
        if (ret) {
            ts_printf("failed to get gyroscope\r\n");
        }
        ts_printf("LSM6DS0 [gyro/mdps]:   %7ld, %7ld, %7ld\r\n", axes[0], axes[1], axes[2]);

        wait(1.5);
    }
}

/* Function to run the range board */
void range_func() {
    int status;
    uint32_t distance;

    ts_printf("\r\n--- Starting range board ---\r\n");

    /* init the 53L0A1 expansion board with default values */
    while (true) {
        //sensor_mutex.lock();
        status=range_board->InitBoard();
        //sensor_mutex.unlock();
        if (status) {
            ts_printf("Failed to init range board!\r\n");
            wait(1);
        } else {
            ts_printf("Range board initialized\r\n");
            break;
        }
    }

    while (true) {
        //sensor_mutex.lock();
        status = range_board->sensor_centre->GetDistance(&distance);
        //sensor_mutex.unlock();
        if (status == VL53L0X_ERROR_NONE) {
            ts_printf("Distance : %ld\n", distance);
        }

        wait(0.8);
    }
}

int main() {
    ts_printf("\r\n--- Application starting up ---\r\n");

    mems_thread.start(mbed::Callback<void()> (mems_func));
    range_thread.start(mbed::Callback<void()> (range_func));

    while (true) {
        led = !led;
        wait(0.25);
    }
}