269 lines
8 KiB
C
269 lines
8 KiB
C
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/**
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* Simple example with one sensor connected to I2C or SPI. It demonstrates the
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* different approaches to fetch the data. Either one of the interrupt signals
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* is used or new data are fetched periodically.
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*
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* Harware configuration:
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*
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* I2C
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*
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* +-----------------+ +----------+
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* | ESP8266 / ESP32 | | LIS3MDL |
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* | | | |
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* | GPIO 14 (SCL) ----> SCL |
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* | GPIO 13 (SDA) <---> SDA |
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* | GPIO 5 <---- INT |
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* | GPIO 4 <---- DRDY |
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* +-----------------+ +----------+
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*
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* SPI
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*
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* +-----------------+ +----------+ +-----------------+ +----------+
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* | ESP8266 | | LIS3MDL | | ESP32 | | LIS3MDL |
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* | | | | | | | |
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* | GPIO 14 (SCK) ----> SCK | | GPIO 16 (SCK) ----> SCK |
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* | GPIO 13 (MOSI)----> SDI | | GPIO 17 (MOSI)----> SDI |
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* | GPIO 12 (MISO)<---- SDO | | GPIO 18 (MISO)<---- SDO |
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* | GPIO 2 (CS) ----> CS | | GPIO 19 (CS) ----> CS |
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* | GPIO 5 <---- INT | | GPIO 5 <---- INT |
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* | GPIO 4 <---- DRDY | | GPIO 4 <---- DRDY |
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* +-----------------+ +---------+ +-----------------+ +----------+
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*/
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/* -- use following constants to define the example mode ----------- */
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// #define SPI_USED // if defined SPI is used, otherwise I2C
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// #define INT_DATA // data ready interrupt used
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// #define INT_THRESH // threshold interrupt used
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#if defined(INT_DATA) || defined(INT_THRESH)
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#define INT_USED
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#endif
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/* -- includes ----------------------------------------------------- */
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#include "lis3mdl.h"
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/** -- platform dependent definitions ------------------------------ */
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#ifdef ESP_PLATFORM // ESP32 (ESP-IDF)
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// user task stack depth for ESP32
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#define TASK_STACK_DEPTH 2048
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// SPI interface definitions for ESP32
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#define SPI_BUS HSPI_HOST
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#define SPI_SCK_GPIO 16
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#define SPI_MOSI_GPIO 17
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#define SPI_MISO_GPIO 18
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#define SPI_CS_GPIO 19
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#else // ESP8266 (esp-open-rtos)
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// user task stack depth for ESP8266
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#define TASK_STACK_DEPTH 256
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// SPI interface definitions for ESP8266
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#define SPI_BUS 1
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#define SPI_SCK_GPIO 14
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#define SPI_MOSI_GPIO 13
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#define SPI_MISO_GPIO 12
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#define SPI_CS_GPIO 2 // GPIO 15, the default CS of SPI bus 1, can't be used
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#endif // ESP_PLATFORM
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// I2C interface defintions for ESP32 and ESP8266
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#define I2C_BUS 0
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#define I2C_SCL_PIN 14
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#define I2C_SDA_PIN 13
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#define I2C_FREQ I2C_FREQ_100K
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// interrupt GPIOs defintions for ESP8266 and ESP32
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#define PIN_INT 5
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#define PIN_DRDY 4
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/* -- user tasks --------------------------------------------------- */
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static lis3mdl_sensor_t* sensor;
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/**
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* Common function used to get sensor data.
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*/
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void read_data ()
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{
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lis3mdl_float_data_t data;
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if (lis3mdl_new_data (sensor) &&
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lis3mdl_get_float_data (sensor, &data))
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// max. full scale is +-16 g and best resolution is 1 mg, i.e. 5 digits
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printf("%.3f LIS3MDL (xyz)[Gs] mx=%+7.3f my=%+7.3f mz=%+7.3f\n",
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(double)sdk_system_get_time()*1e-3,
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data.mx, data.my, data.mz);
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}
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#ifdef INT_USED
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/**
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* In this case, any of the possible interrupts on interrupt signal *INT1* is
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* used to fetch the data.
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*
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* When interrupts are used, the user has to define interrupt handlers that
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* either fetches the data directly or triggers a task which is waiting to
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* fetch the data. In this example, the interrupt handler sends an event to
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* a waiting task to trigger the data gathering.
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*/
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static QueueHandle_t gpio_evt_queue = NULL;
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// User task that fetches the sensor values.
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void user_task_interrupt (void *pvParameters)
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{
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uint8_t gpio_num;
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while (1)
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if (xQueueReceive(gpio_evt_queue, &gpio_num, portMAX_DELAY))
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{
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if (gpio_num == PIN_DRDY)
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{
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read_data ();
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}
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else if (gpio_num == PIN_INT)
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{
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lis3mdl_int_source_t int_src;
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// get the source of the interrupt and reset INT signals
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lis3mdl_get_int_source (sensor, &int_src);
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// in case of DRDY interrupt or activity interrupt read one data sample
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if (int_src.active)
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read_data ();
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}
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}
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}
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// Interrupt handler which resumes user_task_interrupt on interrupt
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void IRAM int_signal_handler (uint8_t gpio)
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{
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// send an event with GPIO to the interrupt user task
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xQueueSendFromISR(gpio_evt_queue, &gpio, NULL);
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}
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#else // !INT_USED
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/*
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* In this example, user task fetches the sensor values every seconds.
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*/
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void user_task_periodic(void *pvParameters)
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{
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vTaskDelay (100/portTICK_PERIOD_MS);
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while (1)
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{
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// read sensor data
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read_data ();
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// passive waiting until 1 second is over
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vTaskDelay(100/portTICK_PERIOD_MS);
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}
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}
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#endif // INT_USED
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/* -- main program ------------------------------------------------- */
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void user_init(void)
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{
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// Set UART Parameter.
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uart_set_baud(0, 115200);
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// Give the UART some time to settle
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vTaskDelay(1);
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/** -- MANDATORY PART -- */
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#ifdef SPI_USED
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// init the sensor connnected to SPI
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spi_bus_init (SPI_BUS, SPI_SCK_GPIO, SPI_MISO_GPIO, SPI_MOSI_GPIO);
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// init the sensor connected to SPI_BUS with SPI_CS_GPIO as chip select.
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sensor = lis3mdl_init_sensor (SPI_BUS, 0, SPI_CS_GPIO);
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#else
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// init all I2C bus interfaces at which LIS3MDL sensors are connected
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i2c_init (I2C_BUS, I2C_SCL_PIN, I2C_SDA_PIN, I2C_FREQ);
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// init the sensor with slave address LIS3MDL_I2C_ADDRESS_2 connected to I2C_BUS.
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sensor = lis3mdl_init_sensor (I2C_BUS, LIS3MDL_I2C_ADDRESS_2, 0);
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#endif
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if (sensor)
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{
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#ifdef INT_USED
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/** --- INTERRUPT CONFIGURATION PART ---- */
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// Interrupt configuration has to be done before the sensor is set
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// into measurement mode to avoid losing interrupts
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// create an event queue to send interrupt events from interrupt
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// handler to the interrupt task
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gpio_evt_queue = xQueueCreate(10, sizeof(uint8_t));
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// configure interupt pins for *INT* and *DRDY* signals and set the interrupt handler
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gpio_enable(PIN_INT , GPIO_INPUT);
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gpio_enable(PIN_DRDY, GPIO_INPUT);
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gpio_set_interrupt(PIN_INT , GPIO_INTTYPE_EDGE_POS, int_signal_handler);
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gpio_set_interrupt(PIN_DRDY, GPIO_INTTYPE_EDGE_POS, int_signal_handler);
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#endif // !defined(INT_USED)
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// -- SENSOR CONFIGURATION PART ---
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// Interrupt configuration has to be done before the sensor is set
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// into measurement mode
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#ifdef INT_THRESH
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// enable threshold interrupts on INT1
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lis3mdl_int_config_t int_config;
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int_config.threshold = 1000;
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int_config.x_enabled = true;
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int_config.y_enabled = true;
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int_config.z_enabled = true;
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int_config.latch = true;
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int_config.signal_level= lis3mdl_high_active;
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lis3mdl_set_int_config (sensor, &int_config);
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#endif // INT_THRESH
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// LAST STEP: Finally set scale and mode to start measurements
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lis3mdl_set_scale(sensor, lis3mdl_scale_4_Gs);
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lis3mdl_set_mode (sensor, lis3mdl_lpm_10);
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/** -- TASK CREATION PART --- */
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// must be done last to avoid concurrency situations with the sensor
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// configuration part
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#ifdef INT_USED
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// create a task that is triggered only in case of interrupts to fetch the data
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xTaskCreate(user_task_interrupt, "user_task_interrupt", TASK_STACK_DEPTH, NULL, 2, NULL);
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#else // INT_USED
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// create a user task that fetches data from sensor periodically
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xTaskCreate(user_task_periodic, "user_task_periodic", TASK_STACK_DEPTH, NULL, 2, NULL);
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#endif
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}
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else
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printf("Could not initialize LIS3MDL sensor\n");
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}
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