Diff: main.cpp

Revision:

8:39ecd15538f9

Parent:

5:2fdca1624a33

Child:

11:3695280eeffd

--- a/main.cpp	Tue Oct 03 16:35:18 2017 +0200
+++ b/main.cpp	Wed Oct 04 13:29:18 2017 +0000
@@ -44,52 +44,52 @@
 #include "LSM6DSLSensor.h"
 
 #ifdef TARGET_DISCO_L475VG_IOT01A
+
 #include "lis3mdl_class.h"
-#else // X-Nucleo-IKS01A2
+#include "VL53L0X.h"
+
+#else // Nucleo-XXX + X-Nucleo-IKS01A2 or SensorTile
+
+#ifdef TARGET_NUCLEO_L476RG
+#define TARGET_SENSOR_TILE   // comment out to use actual NUCLEO-L476RG instead of SensorTile
+#endif
+
 #include "LSM303AGRMagSensor.h"
 #include "LSM303AGRAccSensor.h"
+
 #endif
 
 
 /* Retrieve the composing elements of the expansion board */
 
+/* Interface definition */
 #ifdef TARGET_DISCO_L475VG_IOT01A
 static DevI2C devI2c(PB_11,PB_10);
 #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 SPI_TYPE_LPS22HB   LPS22HBSensor::SPI3W
+#define SPI_TYPE_LSM6DSL   LSM6DSLSensor::SPI3W
+SPI devSPI(PB_15, NC, PB_13);  // 3-wires SPI on SensorTile  
+static Serial ser(PC_12,PD_2); // Serial with SensorTile Cradle Exp. Board + Nucleo   
 #define printf(...) ser.printf(__VA_ARGS__)     
-#else 
-#ifdef SPI4W_TEST  
-SPI devSPI(PB_15, PB_14, PB_13); // 4W
-#else  // IKS01A2 + Nucleo
+#else  // Nucleo-XXX + X-Nucleo-IKS01A2 
 static DevI2C devI2c(D14,D15);
-//static HTS221Sensor hum_temp(&devI2c);
-#endif
 #endif
 #endif
 
-
-#if defined (TARGET_SENSOR_TILE) || defined (SPI4W_TEST)
+/* Environmental sensors */
 #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_3, NC, SPI_TYPE_LPS22HB); 
-#else  // target Nucleoxxx + IKS01A2
+#else  // Nucleo-XXX + X-Nucleo-IKS01A2 or B-L475E-IOT01A2
 static LPS22HBSensor press_temp(&devI2c);
 static HTS221Sensor hum_temp(&devI2c);
 #endif
 
+/* Motion sensors */
 #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 or SensTile
+#else // X-NUCLEO-IKS01A2 or SensorTile
 #if defined (TARGET_SENSOR_TILE)
 static LSM6DSLSensor acc_gyro(&devSPI,PB_12, NC, PA_2, SPI_TYPE_LSM6DSL); 
 static LSM303AGRMagSensor magnetometer(&devSPI, PB_1);
@@ -101,6 +101,12 @@
 #endif
 #endif
 
+/* Range sensor - B-L475E-IOT01A2 only */
+#ifdef TARGET_DISCO_L475VG_IOT01A
+static DigitalOut shutdown_pin(PC_6);
+static VL53L0X range(&devI2c, &shutdown_pin, PC_7);
+#endif
+
 /* Simple main function */
 int main() {
   uint8_t id;
@@ -112,12 +118,18 @@
 #ifndef TARGET_SENSOR_TILE
   hum_temp.init(NULL);
 #endif  
+
   press_temp.init(NULL);
-#ifndef TARGET_DISCO_L475VG_IOT01A
   magnetometer.init(NULL);
+  acc_gyro.init(NULL);
+  
+#ifdef TARGET_DISCO_L475VG_IOT01A
+  range.init_sensor(VL53L0X_DEFAULT_ADDRESS);
+#else // X-NUCLEO-IKS01A2 or SensorTile
   accelerometer.init(NULL);
 #endif
-  acc_gyro.init(NULL);
+
+
   
   /* Enable all sensors */
 #ifndef TARGET_SENSOR_TILE  
@@ -143,7 +155,7 @@
   magnetometer.read_id(&id);
 #ifdef TARGET_DISCO_L475VG_IOT01A
   printf("LIS3MDL magnetometer              = 0x%X\r\n", id);
-#else // X-NUCLEO-IKS01A2
+#else // X-NUCLEO-IKS01A2 or SensorTile
   printf("LSM303AGR magnetometer            = 0x%X\r\n", id);
   accelerometer.read_id(&id);
   printf("LSM303AGR accelerometer           = 0x%X\r\n", id); 
@@ -159,19 +171,19 @@
 #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);
+    printf("HTS221:  [temp] %.2f C, [hum]   %.2f%%\r\n", value1, value2);
 #endif    
     value1=value2=0;    
     press_temp.get_temperature(&value1);
     press_temp.get_pressure(&value2);
-    printf("LPS22HB: [temp] %7f C, [press] %f mbar\r\n", value1, value2);
+    printf("LPS22HB: [temp] %.2f C, [press] %.2f mbar\r\n", value1, 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
+#else // X-NUCLEO-IKS01A2 or SensorTile
     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]);    
@@ -183,11 +195,21 @@
     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)  
+#ifdef TARGET_DISCO_L475VG_IOT01A
+    uint32_t distance;
+    int status = range.get_distance(&distance);
+    if (status == VL53L0X_ERROR_NONE) {
+        printf("VL53L0X [mm]:            %6ld\r\n", distance);
+    } else {
+        printf("VL53L0X [mm]:                --\r\n");
+    }
+#endif
+
+#if defined (TARGET_SENSOR_TILE)  
     printf("\033[7A");
 #else    
     printf("\033[8A");
 #endif
-    wait(1);
+    wait(0.5);
   }
 }