/** * 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 | | LIS3MDL | * | | | | * | GPIO 14 (SCL) ----> SCL | * | GPIO 13 (SDA) <---> SDA | * | GPIO 5 <---- INT | * | GPIO 4 <---- DRDY | * +-----------------+ +----------+ * * SPI * * +-----------------+ +----------+ +-----------------+ +----------+ * | ESP8266 | | LIS3MDL | | ESP32 | | LIS3MDL | * | | | | | | | | * | 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 <---- INT | | GPIO 5 <---- INT | * | GPIO 4 <---- DRDY | | GPIO 4 <---- DRDY | * +-----------------+ +---------+ +-----------------+ +----------+ */ /* -- use following constants to define the example mode ----------- */ // #define SPI_USED // if defined SPI is used, otherwise I2C // #define INT_DATA // data ready interrupt used // #define INT_THRESH // threshold interrupt used #if defined(INT_DATA) || defined(INT_THRESH) #define INT_USED #endif /* -- includes ----------------------------------------------------- */ #include "lis3mdl.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 PIN_INT 5 #define PIN_DRDY 4 /* -- user tasks --------------------------------------------------- */ static lis3mdl_sensor_t* sensor; /** * Common function used to get sensor data. */ void read_data () { lis3mdl_float_data_t data; if (lis3mdl_new_data (sensor) && lis3mdl_get_float_data (sensor, &data)) // max. full scale is +-16 g and best resolution is 1 mg, i.e. 5 digits printf("%.3f LIS3MDL (xyz)[Gs] mx=%+7.3f my=%+7.3f mz=%+7.3f\n", (double)sdk_system_get_time()*1e-3, data.mx, data.my, data.mz); } #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_num; while (1) if (xQueueReceive(gpio_evt_queue, &gpio_num, portMAX_DELAY)) { if (gpio_num == PIN_DRDY) { read_data (); } else if (gpio_num == PIN_INT) { lis3mdl_int_source_t int_src; // get the source of the interrupt and reset INT signals lis3mdl_get_int_source (sensor, &int_src); // in case of DRDY interrupt or activity interrupt read one data sample if (int_src.active) read_data (); } } } // 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(100/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 sensor connnected to SPI 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 = lis3mdl_init_sensor (SPI_BUS, 0, SPI_CS_GPIO); #else // init all I2C bus interfaces at which LIS3MDL sensors are connected i2c_init (I2C_BUS, I2C_SCL_PIN, I2C_SDA_PIN, I2C_FREQ); // init the sensor with slave address LIS3MDL_I2C_ADDRESS_2 connected to I2C_BUS. sensor = lis3mdl_init_sensor (I2C_BUS, LIS3MDL_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 *INT* and *DRDY* signals and set the interrupt handler gpio_enable(PIN_INT , GPIO_INPUT); gpio_enable(PIN_DRDY, GPIO_INPUT); gpio_set_interrupt(PIN_INT , GPIO_INTTYPE_EDGE_POS, int_signal_handler); gpio_set_interrupt(PIN_DRDY, GPIO_INTTYPE_EDGE_POS, int_signal_handler); #endif // !defined(INT_USED) // -- SENSOR CONFIGURATION PART --- // Interrupt configuration has to be done before the sensor is set // into measurement mode #ifdef INT_THRESH // enable threshold interrupts on INT1 lis3mdl_int_config_t int_config; int_config.threshold = 1000; int_config.x_enabled = true; int_config.y_enabled = true; int_config.z_enabled = true; int_config.latch = true; int_config.signal_level= lis3mdl_high_active; lis3mdl_set_int_config (sensor, &int_config); #endif // INT_THRESH // LAST STEP: Finally set scale and mode to start measurements lis3mdl_set_scale(sensor, lis3mdl_scale_4_Gs); lis3mdl_set_mode (sensor, lis3mdl_lpm_10); /** -- 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 LIS3MDL sensor\n"); }