/**
* Simple example with one sensor connected to I2C or SPI. It demonstrates the
* different approaches to fetch the data. Either one of the interrupt signals
* is used or new data are fetched periodically.
*
* Harware configuration:
*
* I2C
*
* +-----------------+ +----------+
* | ESP8266 / ESP32 | | LSM303D |
* | | | |
* | GPIO 14 (SCL) ----> SCL |
* | GPIO 13 (SDA) <---> SDA |
* | GPIO 5 <---- INT1 |
* | GPIO 4 <---- INT2 |
* +-----------------+ +----------+
*
* SPI
*
* +-----------------+ +----------+ +-----------------+ +----------+
* | ESP8266 | | LSM303D | | ESP32 | | LSM303D |
* | | | | | | | |
* | GPIO 14 (SCK) ----> SCK | | GPIO 16 (SCK) ----> SCK |
* | GPIO 13 (MOSI)----> SDI | | GPIO 17 (MOSI)----> SDI |
* | GPIO 12 (MISO)<---- SDO | | GPIO 18 (MISO)<---- SDO |
* | GPIO 2 (CS) ----> CS | | GPIO 19 (CS) ----> CS |
* | GPIO 5 <---- INT1 | | GPIO 5 <---- INT1 |
* | GPIO 4 <---- INT2 | | GPIO 4 <---- INT2 |
* +-----------------+ +---------+ +-----------------+ +----------+
*/
/* -- use following constants to define the example mode ----------- */
// #define SPI_USED // SPI interface is used, otherwise I2C
// #define FIFO_MODE // multiple sample read mode
// #define TEMP_USED // temperature sensor used
// #define INT_DATA // data interrupts used (data ready and FIFO status)
// #define INT_EVENT // inertial event interrupts used (axis movement or 6D/4D orientation)
// #define INT_CLICK // click detection interrupts used
// #define INT_THRESH // magnetic value exceeds threshold interrupt used
#if defined(INT_DATA) || defined(INT_EVENT) || defined(INT_CLICK) || defined(INT_THRESH)
#define INT_USED
#endif
/* -- includes ----------------------------------------------------- */
#include "lsm303d.h"
/** -- platform dependent definitions ------------------------------ */
#ifdef ESP_PLATFORM // ESP32 (ESP-IDF)
// user task stack depth for ESP32
#define TASK_STACK_DEPTH 2048
// SPI interface definitions for ESP32
#define SPI_BUS HSPI_HOST
#define SPI_SCK_GPIO 16
#define SPI_MOSI_GPIO 17
#define SPI_MISO_GPIO 18
#define SPI_CS_GPIO 19
#else // ESP8266 (esp-open-rtos)
// user task stack depth for ESP8266
#define TASK_STACK_DEPTH 256
// SPI interface definitions for ESP8266
#define SPI_BUS 1
#define SPI_SCK_GPIO 14
#define SPI_MOSI_GPIO 13
#define SPI_MISO_GPIO 12
#define SPI_CS_GPIO 2 // GPIO 15, the default CS of SPI bus 1, can't be used
#endif // ESP_PLATFORM
// I2C interface defintions for ESP32 and ESP8266
#define I2C_BUS 0
#define I2C_SCL_PIN 14
#define I2C_SDA_PIN 13
#define I2C_FREQ I2C_FREQ_100K
// interrupt GPIOs defintions for ESP8266 and ESP32
#define INT1_PIN 5
#define INT2_PIN 4
/* -- user tasks --------------------------------------------------- */
static lsm303d_sensor_t* sensor;
/**
* Common function used to get sensor data.
*/
void read_data ()
{
#ifdef FIFO_MODE
lsm303d_float_a_data_fifo_t fifo;
// test for new accelerator data data
if (lsm303d_new_a_data (sensor))
{
// fetch the accelerator data stored in FIFO
uint8_t num = lsm303d_get_float_a_data_fifo (sensor, fifo);
printf("%.3f LSM303D num=%d\n", (double)sdk_system_get_time()*1e-3, num);
for (int i=0; i < num; i++)
// max. full scale is +-16 g and best resolution is 1 mg, i.e. 5 digits
printf("%.3f LSM303D (xyz)[g] ax=%+7.3f ay=%+7.3f az=%+7.3f\n",
(double)sdk_system_get_time()*1e-3,
fifo[i].ax, fifo[i].ay, fifo[i].az);
}
#else
lsm303d_float_a_data_t a_data;
// test for new accelerator data and fetch them
if (lsm303d_new_a_data (sensor) &&
lsm303d_get_float_a_data (sensor, &a_data))
// max. full scale is +-16 g and best resolution is 1 mg, i.e. 5 digits
printf("%.3f LSM303D (xyz)[g] ax=%+7.3f ay=%+7.3f az=%+7.3f\n",
(double)sdk_system_get_time()*1e-3,
a_data.ax, a_data.ay, a_data.az);
#endif // FIFO_MODE
lsm303d_float_m_data_t m_data;
// test for new magnetometer data and fetch them
if (lsm303d_new_m_data (sensor) &&
lsm303d_get_float_m_data (sensor, &m_data))
// max. full scale is +-12 Gs and best resolution is 1 mGs, i.e. 5 digits
printf("%.3f LSM303D (xyz)[Gs] mx=%+7.3f my=%+7.3f mz=%+7.3f\n",
(double)sdk_system_get_time()*1e-3,
m_data.mx, m_data.my, m_data.mz);
#ifdef TEMP_USED
float temp = lsm303d_get_temperature (sensor);
printf("%.3f LSM303D (tmp)[°C] %+7.3f\n", (double)sdk_system_get_time()*1e-3, temp);
#endif
}
#ifdef INT_USED
/**
* In this case, any of the possible interrupts on interrupt signal *INT1* is
* used to fetch the data.
*
* When interrupts are used, the user has to define interrupt handlers that
* either fetches the data directly or triggers a task which is waiting to
* fetch the data. In this example, the interrupt handler sends an event to
* a waiting task to trigger the data gathering.
*/
static QueueHandle_t gpio_evt_queue = NULL;
// User task that fetches the sensor values.
void user_task_interrupt (void *pvParameters)
{
uint8_t gpio;
while (1)
{
if (xQueueReceive(gpio_evt_queue, &gpio, portMAX_DELAY))
{
lsm303d_int_data_source_t data_src = {};
lsm303d_int_event_source_t event_src = {};
lsm303d_int_click_source_t click_src = {};
lsm303d_int_m_thresh_source_t thresh_src = {};
// get the source of the interrupt that reset *INTx* signals
#ifdef INT_DATA
lsm303d_get_int_data_source (sensor, &data_src);
#endif
#ifdef INT_THRESH
lsm303d_get_int_m_thresh_source(sensor, &thresh_src);
#endif
#ifdef INT_EVENT
lsm303d_get_int_event_source (sensor, &event_src, lsm303d_int_event1_gen);
#endif
#ifdef INT_CLICK
lsm303d_get_int_click_source (sensor, &click_src);
#endif
// in case of DRDY interrupt
if (data_src.a_data_ready || data_src.m_data_ready)
read_data ();
// in case of FIFO interrupts read the whole FIFO
else if (data_src.fifo_thresh || data_src.fifo_overrun)
read_data ();
// in case of magnetic threshold interrupt
else if (thresh_src.active)
{
printf("%.3f LSM303D ", (double)sdk_system_get_time()*1e-3);
if (thresh_src.x_pos) printf("x exceeds threshold on positive side\n");
if (thresh_src.y_pos) printf("y exceeds threshold on positive side\n");
if (thresh_src.z_pos) printf("z exceeds threshold on positive side\n");
if (thresh_src.x_neg) printf("x exceeds threshold on negative side\n");
if (thresh_src.y_neg) printf("y exceeds threshold on negative side\n");
if (thresh_src.z_neg) printf("z exceeds threshold on negative side\n");
}
// in case of event interrupt
else if (event_src.active)
{
printf("%.3f LSM303D ", (double)sdk_system_get_time()*1e-3);
if (event_src.x_low) printf("x is lower than threshold\n");
if (event_src.y_low) printf("y is lower than threshold\n");
if (event_src.z_low) printf("z is lower than threshold\n");
if (event_src.x_high) printf("x is higher than threshold\n");
if (event_src.y_high) printf("y is higher than threshold\n");
if (event_src.z_high) printf("z is higher than threshold\n");
}
// in case of click detection interrupt
else if (click_src.active)
printf("%.3f LSM303D %s\n", (double)sdk_system_get_time()*1e-3,
click_src.s_click ? "single click" : "double click");
}
}
}
// Interrupt handler which resumes user_task_interrupt on interrupt
void IRAM int_signal_handler (uint8_t gpio)
{
// send an event with GPIO to the interrupt user task
xQueueSendFromISR(gpio_evt_queue, &gpio, NULL);
}
#else // !INT_USED
/*
* In this example, user task fetches the sensor values every seconds.
*/
void user_task_periodic(void *pvParameters)
{
vTaskDelay (100/portTICK_PERIOD_MS);
while (1)
{
// read sensor data
read_data ();
// passive waiting until 1 second is over
vTaskDelay(200/portTICK_PERIOD_MS);
}
}
#endif // INT_USED
/* -- main program ------------------------------------------------- */
void user_init(void)
{
// Set UART Parameter.
uart_set_baud(0, 115200);
// Give the UART some time to settle
vTaskDelay(1);
/** -- MANDATORY PART -- */
#ifdef SPI_USED
// init the SPI interface at which LMS303D sensors are connected
spi_bus_init (SPI_BUS, SPI_SCK_GPIO, SPI_MISO_GPIO, SPI_MOSI_GPIO);
// init the sensor connected to SPI_BUS with SPI_CS_GPIO as chip select.
sensor = lsm303d_init_sensor (SPI_BUS, 0, SPI_CS_GPIO);
#else
// init all I2C busses at which LSM303D sensors are connected
i2c_init (I2C_BUS, I2C_SCL_PIN, I2C_SDA_PIN, I2C_FREQ);
// init the sensor with slave address LSM303D_I2C_ADDRESS_2 connected to I2C_BUS.
sensor = lsm303d_init_sensor (I2C_BUS, LSM303D_I2C_ADDRESS_2, 0);
#endif
if (sensor)
{
#ifdef INT_USED
/** --- INTERRUPT CONFIGURATION PART ---- */
// Interrupt configuration has to be done before the sensor is set
// into measurement mode to avoid losing interrupts
// create an event queue to send interrupt events from interrupt
// handler to the interrupt task
gpio_evt_queue = xQueueCreate(10, sizeof(uint8_t));
// configure interupt pins for *INT1* and *INT2* signals and set the interrupt handler
gpio_enable(INT1_PIN, GPIO_INPUT);
gpio_enable(INT2_PIN, GPIO_INPUT);
gpio_set_interrupt(INT1_PIN, GPIO_INTTYPE_EDGE_POS, int_signal_handler);
gpio_set_interrupt(INT2_PIN, GPIO_INTTYPE_EDGE_POS, int_signal_handler);
#endif // INT_USED
/** -- SENSOR CONFIGURATION PART --- */
// set the type of INTx signals if necessary
// lsm303d_config_int_signals (sensor, lsm303d_push_pull);
#ifdef INT_DATA
// enable data interrupts on *INT2* (data ready or FIFO overrun and FIFO threshold)
// data ready and FIFO status interrupts must not be enabled at the same time
#ifdef FIFO_MODE
lsm303d_enable_int (sensor, lsm303d_int_fifo_overrun, lsm303d_int2_signal, true);
lsm303d_enable_int (sensor, lsm303d_int_fifo_thresh , lsm303d_int2_signal, true);
#else
lsm303d_enable_int (sensor, lsm303d_int_a_data_ready, lsm303d_int2_signal, true);
lsm303d_enable_int (sensor, lsm303d_int_m_data_ready, lsm303d_int2_signal, true);
#endif // FIFO_MODE
#endif // INT_DATA
#ifdef INT_THRESH
// enable magnetic threshold interrupts on signal *INT1*
lsm303d_int_m_thresh_config_t m_thresh_config;
m_thresh_config.threshold = 2000;
m_thresh_config.x_enabled = true;
m_thresh_config.y_enabled = true;
m_thresh_config.z_enabled = true;
m_thresh_config.latch = true;
m_thresh_config.signal_level = lsm303d_high_active;
lsm303d_set_int_m_thresh_config (sensor, &m_thresh_config);
lsm303d_enable_int (sensor, lsm303d_int_m_thresh, lsm303d_int1_signal, true);
#endif // INT_THRESH
#ifdef INT_EVENT
// enable inertial event interrupts on *INT1*
lsm303d_int_event_config_t event_config;
event_config.mode = lsm303d_or; // axes movement wake-up
// event_config.mode = lsm303d_and; // free fall
// event_config.mode = lsm303d_6d_movement;
// event_config.mode = lsm303d_6d_position;
// event_config.mode = lsm303d_4d_movement;
// event_config.mode = lsm303d_4d_position;
event_config.threshold = 50;
event_config.x_low_enabled = false;
event_config.x_high_enabled = true;
event_config.y_low_enabled = false;
event_config.y_high_enabled = true;
event_config.z_low_enabled = false;
event_config.z_high_enabled = true;
event_config.duration = 0;
event_config.latch = true;
lsm303d_set_int_event_config (sensor, &event_config, lsm303d_int_event1_gen);
lsm303d_enable_int (sensor, lsm303d_int_event1, lsm303d_int1_signal, true);
#endif // INT_EVENT
#ifdef INT_CLICK
// enable single click interrupt for z-axis on signal *INT1*
lsm303d_int_click_config_t click_config;
click_config.threshold = 10;
click_config.x_single = false;
click_config.x_double = false;
click_config.y_single = false;
click_config.y_double = false;
click_config.z_single = true;
click_config.z_double = false;
click_config.latch = true;
click_config.time_limit = 1;
click_config.time_latency = 1;
click_config.time_window = 3;
lsm303d_set_int_click_config (sensor, &click_config);
lsm303d_enable_int (sensor, lsm303d_int_click, lsm303d_int1_signal, true);
#endif // INT_CLICK
#ifdef FIFO_MODE
// clear the FIFO
lsm303d_set_fifo_mode (sensor, lsm303d_bypass, 0);
// activate the FIFO with a threshold of 10 samples (max. 31); if
// interrupt *lsm303d_fifo_thresh* is enabled, an interrupt is
// generated when the FIFO content exceeds this threshold, i.e.,
// when 11 samples are stored in FIFO
lsm303d_set_fifo_mode (sensor, lsm303d_stream, 10);
#endif
// configure HPF and implicitly reset the reference by a dummy read
lsm303d_config_a_hpf (sensor, lsm303d_hpf_normal, true, true, true, true);
#ifdef TEMP_USED
// enable the temperature sensor
lsm303d_enable_temperature (sensor, true);
#endif
// LAST STEP: Finally set scale and mode to start measurements
lsm303d_set_a_scale(sensor, lsm303d_a_scale_2_g);
lsm303d_set_m_scale(sensor, lsm303d_m_scale_4_Gs);
lsm303d_set_a_mode (sensor, lsm303d_a_odr_12_5, lsm303d_a_aaf_bw_773, true, true, true);
lsm303d_set_m_mode (sensor, lsm303d_m_odr_12_5, lsm303d_m_low_res, lsm303d_m_continuous);
/** -- TASK CREATION PART --- */
// must be done last to avoid concurrency situations with the sensor
// configuration part
#ifdef INT_USED
// create a task that is triggered only in case of interrupts to fetch the data
xTaskCreate(user_task_interrupt, "user_task_interrupt", TASK_STACK_DEPTH, NULL, 2, NULL);
#else // INT_USED
// create a user task that fetches data from sensor periodically
xTaskCreate(user_task_periodic, "user_task_periodic", TASK_STACK_DEPTH, NULL, 2, NULL);
#endif
}
else
printf("Could not initialize LSM303D sensor\n");
}