Tarek Lule / ToF-Only-Tryout

Tryout the TOF sensor Only

Dependencies:   VL53L0X_Condensed

main.cpp@5:2fdca1624a33, 2017-10-03 (annotated)

Committer:
mapellil
Date:
Tue Oct 03 14:05:43 2017 +0200
Revision:
5:2fdca1624a33
Parent:
4:a876fbe13688
Child:
8:39ecd15538f9
Added support for targets SensorTile (through define; set target NUCLEO_L476RG), DISCO_L475VG_IOT01A, Nucleoxx+IKS01A2

Who changed what in which revision?

UserRevisionLine numberNew contents of line
nikapov 0:6a97487a0ab3 1 /**
nikapov 0:6a97487a0ab3 2 ******************************************************************************
nikapov 0:6a97487a0ab3 3 * @file main.cpp
nikapov 0:6a97487a0ab3 4 * @author CLab
nikapov 0:6a97487a0ab3 5 * @version V1.0.0
nikapov 0:6a97487a0ab3 6 * @date 5-September-2017
nikapov 0:6a97487a0ab3 7 * @brief Simple Example application for using X_NUCLEO_IKS01A2
nikapov 0:6a97487a0ab3 8 * MEMS Inertial & Environmental Sensor Nucleo expansion and
nikapov 0:6a97487a0ab3 9 * B-L475E-IOT01A2 boards.
nikapov 0:6a97487a0ab3 10 ******************************************************************************
nikapov 0:6a97487a0ab3 11 * @attention
nikapov 0:6a97487a0ab3 12 *
nikapov 0:6a97487a0ab3 13 * <h2><center>&copy; COPYRIGHT(c) 2017 STMicroelectronics</center></h2>
nikapov 0:6a97487a0ab3 14 *
nikapov 0:6a97487a0ab3 15 * Redistribution and use in source and binary forms, with or without modification,
nikapov 0:6a97487a0ab3 16 * are permitted provided that the following conditions are met:
nikapov 0:6a97487a0ab3 17 * 1. Redistributions of source code must retain the above copyright notice,
nikapov 0:6a97487a0ab3 18 * this list of conditions and the following disclaimer.
nikapov 0:6a97487a0ab3 19 * 2. Redistributions in binary form must reproduce the above copyright notice,
nikapov 0:6a97487a0ab3 20 * this list of conditions and the following disclaimer in the documentation
nikapov 0:6a97487a0ab3 21 * and/or other materials provided with the distribution.
nikapov 0:6a97487a0ab3 22 * 3. Neither the name of STMicroelectronics nor the names of its contributors
nikapov 0:6a97487a0ab3 23 * may be used to endorse or promote products derived from this software
nikapov 0:6a97487a0ab3 24 * without specific prior written permission.
nikapov 0:6a97487a0ab3 25 *
nikapov 0:6a97487a0ab3 26 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
nikapov 0:6a97487a0ab3 27 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
nikapov 0:6a97487a0ab3 28 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
nikapov 0:6a97487a0ab3 29 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
nikapov 0:6a97487a0ab3 30 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
nikapov 0:6a97487a0ab3 31 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
nikapov 0:6a97487a0ab3 32 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
nikapov 0:6a97487a0ab3 33 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
nikapov 0:6a97487a0ab3 34 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
nikapov 0:6a97487a0ab3 35 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
nikapov 0:6a97487a0ab3 36 *
nikapov 0:6a97487a0ab3 37 ******************************************************************************
nikapov 0:6a97487a0ab3 38 */
nikapov 0:6a97487a0ab3 39
nikapov 0:6a97487a0ab3 40 /* Includes */
nikapov 0:6a97487a0ab3 41 #include "mbed.h"
nikapov 0:6a97487a0ab3 42 #include "HTS221Sensor.h"
nikapov 0:6a97487a0ab3 43 #include "LPS22HBSensor.h"
nikapov 0:6a97487a0ab3 44 #include "LSM6DSLSensor.h"
nikapov 0:6a97487a0ab3 45
nikapov 0:6a97487a0ab3 46 #ifdef TARGET_DISCO_L475VG_IOT01A
nikapov 0:6a97487a0ab3 47 #include "lis3mdl_class.h"
nikapov 0:6a97487a0ab3 48 #else // X-Nucleo-IKS01A2
nikapov 0:6a97487a0ab3 49 #include "LSM303AGRMagSensor.h"
mapellil 5:2fdca1624a33 50 #include "LSM303AGRAccSensor.h"
nikapov 0:6a97487a0ab3 51 #endif
nikapov 0:6a97487a0ab3 52
nikapov 0:6a97487a0ab3 53
nikapov 0:6a97487a0ab3 54 /* Retrieve the composing elements of the expansion board */
nikapov 0:6a97487a0ab3 55
nikapov 0:6a97487a0ab3 56 #ifdef TARGET_DISCO_L475VG_IOT01A
mapellil 4:a876fbe13688 57 static DevI2C devI2c(PB_11,PB_10);
mapellil 5:2fdca1624a33 58 #else // X-Nucleo-IKS01A2 or SensorTile
mapellil 5:2fdca1624a33 59 #define TARGET_SENSOR_TILE // to be compiled as NUCLEO_L476RG until the target sensor tile will be created
mapellil 5:2fdca1624a33 60 #ifdef TARGET_SENSOR_TILE
mapellil 5:2fdca1624a33 61 SPI devSPI(PB_15, NC, PB_13); // 3W on SensorTile + Arduino Cradle + Nucleo (compiled as Nucleo_L476RG)
mapellil 5:2fdca1624a33 62 static Serial ser(PC_12,PD_2);
mapellil 5:2fdca1624a33 63 #define printf(...) ser.printf(__VA_ARGS__)
mapellil 5:2fdca1624a33 64 #else
mapellil 5:2fdca1624a33 65 #ifdef SPI4W_TEST
mapellil 4:a876fbe13688 66 SPI devSPI(PB_15, PB_14, PB_13); // 4W
mapellil 5:2fdca1624a33 67 #else // IKS01A2 + Nucleo
mapellil 2:4d4fa82dbc59 68 static DevI2C devI2c(D14,D15);
mapellil 5:2fdca1624a33 69 //static HTS221Sensor hum_temp(&devI2c);
nikapov 0:6a97487a0ab3 70 #endif
mapellil 4:a876fbe13688 71 #endif
mapellil 4:a876fbe13688 72 #endif
nikapov 0:6a97487a0ab3 73
mapellil 4:a876fbe13688 74
mapellil 5:2fdca1624a33 75 #if defined (TARGET_SENSOR_TILE) || defined (SPI4W_TEST)
mapellil 5:2fdca1624a33 76 #ifdef TARGET_SENSOR_TILE
mapellil 5:2fdca1624a33 77 #define SPI_TYPE_LPS22HB LPS22HBSensor::SPI3W
mapellil 5:2fdca1624a33 78 #define SPI_TYPE_LSM6DSL LSM6DSLSensor::SPI3W
mapellil 4:a876fbe13688 79 #else
mapellil 4:a876fbe13688 80 #define SPI_TYPE LPS22HBSensor::SPI4W
mapellil 4:a876fbe13688 81 #endif
mapellil 5:2fdca1624a33 82 //static LPS22HBSensor press_temp(&devSPI, PA_10, NC, SPI_TYPE);
mapellil 5:2fdca1624a33 83 static LPS22HBSensor press_temp(&devSPI, PA_3, NC, SPI_TYPE_LPS22HB);
mapellil 4:a876fbe13688 84 #else // target Nucleoxxx + IKS01A2
mapellil 2:4d4fa82dbc59 85 static LPS22HBSensor press_temp(&devI2c);
mapellil 5:2fdca1624a33 86 static HTS221Sensor hum_temp(&devI2c);
mapellil 4:a876fbe13688 87 #endif
nikapov 0:6a97487a0ab3 88
nikapov 0:6a97487a0ab3 89 #ifdef TARGET_DISCO_L475VG_IOT01A
nikapov 3:82e8968382d6 90 static LSM6DSLSensor acc_gyro(&devI2c,LSM6DSL_ACC_GYRO_I2C_ADDRESS_LOW,PD_11); // low address
mapellil 2:4d4fa82dbc59 91 static LIS3MDL magnetometer(&devI2c);
mapellil 5:2fdca1624a33 92 #else // X-NUCLEO_IKS01A2 or SensTile
mapellil 5:2fdca1624a33 93 #if defined (TARGET_SENSOR_TILE)
mapellil 5:2fdca1624a33 94 static LSM6DSLSensor acc_gyro(&devSPI,PB_12, NC, PA_2, SPI_TYPE_LSM6DSL);
mapellil 5:2fdca1624a33 95 static LSM303AGRMagSensor magnetometer(&devSPI, PB_1);
mapellil 5:2fdca1624a33 96 static LSM303AGRAccSensor accelerometer(&devSPI, PC_4);
mapellil 5:2fdca1624a33 97 #else
nikapov 3:82e8968382d6 98 static LSM6DSLSensor acc_gyro(&devI2c,LSM6DSL_ACC_GYRO_I2C_ADDRESS_HIGH,D4,D5); // high address
mapellil 2:4d4fa82dbc59 99 static LSM303AGRMagSensor magnetometer(&devI2c);
mapellil 5:2fdca1624a33 100 static LSM303AGRAccSensor accelerometer(&devI2c);
nikapov 0:6a97487a0ab3 101 #endif
mapellil 5:2fdca1624a33 102 #endif
nikapov 0:6a97487a0ab3 103
nikapov 0:6a97487a0ab3 104 /* Simple main function */
nikapov 0:6a97487a0ab3 105 int main() {
nikapov 0:6a97487a0ab3 106 uint8_t id;
nikapov 0:6a97487a0ab3 107 float value1, value2;
mapellil 5:2fdca1624a33 108 // char buffer1[32], buffer2[32];
nikapov 0:6a97487a0ab3 109 int32_t axes[3];
nikapov 0:6a97487a0ab3 110
nikapov 0:6a97487a0ab3 111 /* Init all sensors with default params */
mapellil 5:2fdca1624a33 112 #ifndef TARGET_SENSOR_TILE
nikapov 0:6a97487a0ab3 113 hum_temp.init(NULL);
mapellil 5:2fdca1624a33 114 #endif
nikapov 0:6a97487a0ab3 115 press_temp.init(NULL);
mapellil 5:2fdca1624a33 116 #ifndef TARGET_DISCO_L475VG_IOT01A
nikapov 0:6a97487a0ab3 117 magnetometer.init(NULL);
mapellil 5:2fdca1624a33 118 accelerometer.init(NULL);
mapellil 5:2fdca1624a33 119 #endif
nikapov 0:6a97487a0ab3 120 acc_gyro.init(NULL);
nikapov 0:6a97487a0ab3 121
nikapov 0:6a97487a0ab3 122 /* Enable all sensors */
mapellil 5:2fdca1624a33 123 #ifndef TARGET_SENSOR_TILE
nikapov 0:6a97487a0ab3 124 hum_temp.enable();
mapellil 5:2fdca1624a33 125 #endif
nikapov 0:6a97487a0ab3 126 press_temp.enable();
nikapov 0:6a97487a0ab3 127 #ifndef TARGET_DISCO_L475VG_IOT01A // X-NUCLEO-IKS01A2
nikapov 0:6a97487a0ab3 128 magnetometer.enable();
mapellil 5:2fdca1624a33 129 accelerometer.enable();
nikapov 0:6a97487a0ab3 130 #endif
nikapov 0:6a97487a0ab3 131 acc_gyro.enable_x();
nikapov 0:6a97487a0ab3 132 acc_gyro.enable_g();
nikapov 0:6a97487a0ab3 133
nikapov 1:0f7838527fef 134 printf("\033[2J\033[20A");
nikapov 1:0f7838527fef 135 printf ("\r\n--- Starting new run ---\r\n\r\n");
nikapov 0:6a97487a0ab3 136
mapellil 5:2fdca1624a33 137 #ifndef TARGET_SENSOR_TILE
nikapov 0:6a97487a0ab3 138 hum_temp.read_id(&id);
nikapov 0:6a97487a0ab3 139 printf("HTS221 humidity & temperature = 0x%X\r\n", id);
mapellil 5:2fdca1624a33 140 #endif
nikapov 0:6a97487a0ab3 141 press_temp.read_id(&id);
mapellil 5:2fdca1624a33 142 printf("LPS22HB pressure & temperature = 0x%X\r\n", id);
nikapov 0:6a97487a0ab3 143 magnetometer.read_id(&id);
nikapov 0:6a97487a0ab3 144 #ifdef TARGET_DISCO_L475VG_IOT01A
nikapov 1:0f7838527fef 145 printf("LIS3MDL magnetometer = 0x%X\r\n", id);
nikapov 0:6a97487a0ab3 146 #else // X-NUCLEO-IKS01A2
nikapov 0:6a97487a0ab3 147 printf("LSM303AGR magnetometer = 0x%X\r\n", id);
mapellil 5:2fdca1624a33 148 accelerometer.read_id(&id);
mapellil 5:2fdca1624a33 149 printf("LSM303AGR accelerometer = 0x%X\r\n", id);
nikapov 0:6a97487a0ab3 150 #endif
nikapov 0:6a97487a0ab3 151 acc_gyro.read_id(&id);
nikapov 0:6a97487a0ab3 152 printf("LSM6DSL accelerometer & gyroscope = 0x%X\r\n", id);
nikapov 1:0f7838527fef 153
nikapov 1:0f7838527fef 154 printf("\n\r--- Reading sensor values ---\n\r"); ;
nikapov 0:6a97487a0ab3 155
nikapov 0:6a97487a0ab3 156 while(1) {
nikapov 0:6a97487a0ab3 157 printf("\r\n");
nikapov 0:6a97487a0ab3 158
mapellil 5:2fdca1624a33 159 #ifndef TARGET_SENSOR_TILE
nikapov 0:6a97487a0ab3 160 hum_temp.get_temperature(&value1);
nikapov 0:6a97487a0ab3 161 hum_temp.get_humidity(&value2);
mapellil 4:a876fbe13688 162 printf("HTS221: [temp] %7f C, [hum] %f%%\r\n", value1, value2);
mapellil 5:2fdca1624a33 163 #endif
mapellil 4:a876fbe13688 164 value1=value2=0;
nikapov 0:6a97487a0ab3 165 press_temp.get_temperature(&value1);
nikapov 0:6a97487a0ab3 166 press_temp.get_pressure(&value2);
mapellil 4:a876fbe13688 167 printf("LPS22HB: [temp] %7f C, [press] %f mbar\r\n", value1, value2);
nikapov 0:6a97487a0ab3 168
nikapov 0:6a97487a0ab3 169 printf("---\r\n");
nikapov 0:6a97487a0ab3 170
nikapov 0:6a97487a0ab3 171 magnetometer.get_m_axes(axes);
nikapov 0:6a97487a0ab3 172 #ifdef TARGET_DISCO_L475VG_IOT01A
nikapov 1:0f7838527fef 173 printf("LIS3MDL [mag/mgauss]: %6ld, %6ld, %6ld\r\n", axes[0], axes[1], axes[2]);
nikapov 0:6a97487a0ab3 174 #else // X-NUCLEO-IKS01A2
nikapov 0:6a97487a0ab3 175 printf("LSM303AGR [mag/mgauss]: %6ld, %6ld, %6ld\r\n", axes[0], axes[1], axes[2]);
mapellil 5:2fdca1624a33 176 accelerometer.get_x_axes(axes);
mapellil 5:2fdca1624a33 177 printf("LSM303AGR [acc/mg]: %6ld, %6ld, %6ld\r\n", axes[0], axes[1], axes[2]);
nikapov 0:6a97487a0ab3 178 #endif
nikapov 0:6a97487a0ab3 179
nikapov 0:6a97487a0ab3 180 acc_gyro.get_x_axes(axes);
nikapov 1:0f7838527fef 181 printf("LSM6DSL [acc/mg]: %6ld, %6ld, %6ld\r\n", axes[0], axes[1], axes[2]);
nikapov 0:6a97487a0ab3 182
nikapov 0:6a97487a0ab3 183 acc_gyro.get_g_axes(axes);
nikapov 1:0f7838527fef 184 printf("LSM6DSL [gyro/mdps]: %6ld, %6ld, %6ld\r\n", axes[0], axes[1], axes[2]);
nikapov 0:6a97487a0ab3 185
mapellil 5:2fdca1624a33 186 #if defined (TARGET_SENSOR_TILE) || defined (TARGET_DISCO_L475VG_IOT01A)
nikapov 1:0f7838527fef 187 printf("\033[7A");
mapellil 5:2fdca1624a33 188 #else
mapellil 5:2fdca1624a33 189 printf("\033[8A");
mapellil 5:2fdca1624a33 190 #endif
nikapov 1:0f7838527fef 191 wait(1);
nikapov 0:6a97487a0ab3 192 }
nikapov 0:6a97487a0ab3 193 }