Diff: main.cpp

Revision:

5:2fdca1624a33

Parent:

4:a876fbe13688

Child:

8:39ecd15538f9

--- a/main.cpp	Mon Oct 02 09:30:24 2017 +0200
+++ b/main.cpp	Tue Oct 03 14:05:43 2017 +0200
@@ -47,6 +47,7 @@
 #include "lis3mdl_class.h"
 #else // X-Nucleo-IKS01A2
 #include "LSM303AGRMagSensor.h"
+#include "LSM303AGRAccSensor.h"
 #endif
 
 
@@ -54,95 +55,78 @@
 
 #ifdef TARGET_DISCO_L475VG_IOT01A
 static DevI2C devI2c(PB_11,PB_10);
-#else // X-Nucleo-IKS01A2
-//#define SPI3W_TEST  // or SPI4W_TEST
-#ifdef SPI3W_TEST
-SPI devSPI(PB_15, NC, PB_13);  // 3W
-#else
-#ifdef SPI4W_TEST
+#else // X-Nucleo-IKS01A2 or SensorTile
+#define TARGET_SENSOR_TILE   // to be compiled as NUCLEO_L476RG until the target sensor tile will be created
+#ifdef TARGET_SENSOR_TILE
+SPI devSPI(PB_15, NC, PB_13);  // 3W on SensorTile + Arduino Cradle + Nucleo (compiled as Nucleo_L476RG)
+static Serial ser(PC_12,PD_2);    
+#define printf(...) ser.printf(__VA_ARGS__)     
+#else 
+#ifdef SPI4W_TEST  
 SPI devSPI(PB_15, PB_14, PB_13); // 4W
-#else
+#else  // IKS01A2 + Nucleo
 static DevI2C devI2c(D14,D15);
+//static HTS221Sensor hum_temp(&devI2c);
 #endif
 #endif
 #endif
 
-//static DevI2C devI2c(D14,D15);  /** FIXME temporary **/
 
-static HTS221Sensor hum_temp(&devI2c);
-#if defined (SPI3W_TEST) || defined (SPI4W_TEST)
-#ifdef SPI3W_TEST
-#define SPI_TYPE LPS22HBSensor::SPI3W
+#if defined (TARGET_SENSOR_TILE) || defined (SPI4W_TEST)
+#ifdef TARGET_SENSOR_TILE
+#define SPI_TYPE_LPS22HB   LPS22HBSensor::SPI3W
+#define SPI_TYPE_LSM6DSL   LSM6DSLSensor::SPI3W
 #else
 #define SPI_TYPE LPS22HBSensor::SPI4W    
 #endif
-static LPS22HBSensor press_temp(&devSPI, PA_10, NC, SPI_TYPE); 
+//static LPS22HBSensor press_temp(&devSPI, PA_10, NC, SPI_TYPE); 
+static LPS22HBSensor press_temp(&devSPI, PA_3, NC, SPI_TYPE_LPS22HB); 
 #else  // target Nucleoxxx + IKS01A2
 static LPS22HBSensor press_temp(&devI2c);
+static HTS221Sensor hum_temp(&devI2c);
 #endif
 
 #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
+#else // X-NUCLEO_IKS01A2 or SensTile
+#if defined (TARGET_SENSOR_TILE)
+static LSM6DSLSensor acc_gyro(&devSPI,PB_12, NC, PA_2, SPI_TYPE_LSM6DSL); 
+static LSM303AGRMagSensor magnetometer(&devSPI, PB_1);
+static LSM303AGRAccSensor accelerometer(&devSPI, PC_4);
+#else
 static LSM6DSLSensor acc_gyro(&devI2c,LSM6DSL_ACC_GYRO_I2C_ADDRESS_HIGH,D4,D5); // high address
 static LSM303AGRMagSensor magnetometer(&devI2c);
+static LSM303AGRAccSensor accelerometer(&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;
-}
+#endif
 
 /* Simple main function */
 int main() {
   uint8_t id;
   float value1, value2;
-  char buffer1[32], buffer2[32];
+//  char buffer1[32], buffer2[32];
   int32_t axes[3];
   
   /* Init all sensors with default params */
+#ifndef TARGET_SENSOR_TILE
   hum_temp.init(NULL);
+#endif  
   press_temp.init(NULL);
+#ifndef TARGET_DISCO_L475VG_IOT01A
   magnetometer.init(NULL);
+  accelerometer.init(NULL);
+#endif
   acc_gyro.init(NULL);
   
   /* Enable all sensors */
+#ifndef TARGET_SENSOR_TILE  
   hum_temp.enable();
+#endif  
   press_temp.enable();
 #ifndef TARGET_DISCO_L475VG_IOT01A // X-NUCLEO-IKS01A2
   magnetometer.enable();
+  accelerometer.enable();
 #endif
   acc_gyro.enable_x();
   acc_gyro.enable_g();
@@ -150,15 +134,19 @@
   printf("\033[2J\033[20A");
   printf ("\r\n--- Starting new run ---\r\n\r\n");
 
+#ifndef TARGET_SENSOR_TILE
   hum_temp.read_id(&id);
   printf("HTS221  humidity & temperature    = 0x%X\r\n", id);
+#endif  
   press_temp.read_id(&id);
-  printf("LPS22HB  pressure & temperature   = 0x%X\r\n", 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);
+  accelerometer.read_id(&id);
+  printf("LSM303AGR accelerometer           = 0x%X\r\n", id); 
 #endif
   acc_gyro.read_id(&id);
   printf("LSM6DSL accelerometer & gyroscope = 0x%X\r\n", id);
@@ -168,9 +156,11 @@
   while(1) {
     printf("\r\n");
 
+#ifndef TARGET_SENSOR_TILE    
     hum_temp.get_temperature(&value1);
     hum_temp.get_humidity(&value2);
     printf("HTS221: [temp] %7f C,   [hum] %f%%\r\n", value1, value2);
+#endif    
     value1=value2=0;    
     press_temp.get_temperature(&value1);
     press_temp.get_pressure(&value2);
@@ -183,6 +173,8 @@
     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]);
+    accelerometer.get_x_axes(axes);
+    printf("LSM303AGR [acc/mg]:      %6ld, %6ld, %6ld\r\n", axes[0], axes[1], axes[2]);    
 #endif    
 
     acc_gyro.get_x_axes(axes);
@@ -191,7 +183,11 @@
     acc_gyro.get_g_axes(axes);
     printf("LSM6DSL [gyro/mdps]:     %6ld, %6ld, %6ld\r\n", axes[0], axes[1], axes[2]);
 
+#if defined (TARGET_SENSOR_TILE) || defined (TARGET_DISCO_L475VG_IOT01A)  
     printf("\033[7A");
+#else    
+    printf("\033[8A");
+#endif
     wait(1);
   }
 }