ROHMUSDC » Code » MultiTech_DragonFly_ROHMSensorShield_SampleApplication

ROHMUSDC / Mbed 2 deprecated MultiTech_DragonFly_ROHMSensorShield_SampleApplication

First Revision of sample code for interfacing ROHM Multi-Sensor Shield board with MultiTech's DragonFly Host Board

Dependencies: mbed

Fork of ROHM-DragonFly-MultiSensorShield_Interface by Francis Lee

Code Example for ROHM Mutli-Sensor Shield interfaced onto the MultiTech DragonFly Host Cell Board

This code was written to be used with the MultiTech DragonFly Evaluation Kit.

This is the basic example code for interfacing ROHM's Multi-sensor Shield Board onto this board.

Additional information about the ROHM MultiSensor Shield Board can be found at the following link: https://github.com/ROHMUSDC/ROHM_SensorPlatform_Multi-Sensor-Shield

Operation

Ultimately, this code will initialize all the sensors on the Multi-sensor shield board and then poll the sensors. The sensor data will then be returned through the on-board USB to UART interface and can be viewable on any PC with a standard COM port reader (Terminal, TeraTerm, HyperTerm, etc...)

Supported ROHM Sensor Devices

BDE0600G Temperature Sensor
BM1383GLV Pressure Sensor
BU52014 Hall Sensor
ML8511 UV Sensor
RPR-0521 ALS/PROX Sensor
BH1745NUC Color Sensor
KMX62 Accel/Mag Sensor
KX122 Accel Sensor
KXG03 Gyro/Accel Sensor

Sensor Applicable Code Sections

All functionality can be found in the function main()
Ultimately code is split up into an "initalization" and "main loop" section
Specific sensor information can be found using the #ifdef statements at the beginning of the code

Questions/Feedback

Please feel free to let us know any questions/feedback/comments/concerns you may have by addressing the following e-mail:

engineering@rohmsemiconductor.com

Files at this revision

API Documentation at this revision

Revision 7:ae40e49391c8, committed 2015-12-18

Comitter:: kbahar3
Date:: Fri Dec 18 00:23:19 2015 +0000
Parent:: 6:872eb454b3c4
Child:: 8:9ab9b42c3be4
Commit message:: Added code for KXG03

Changed in this revision

main.cpp

Show annotated file Show diff for this revision Revisions of this file

--- a/main.cpp	Mon Sep 28 18:36:57 2015 +0000
+++ b/main.cpp	Fri Dec 18 00:23:19 2015 +0000
@@ -15,12 +15,13 @@
 //Macros for checking each of the different Sensor Devices
 #define AnalogTemp  //BDE0600
 #define AnalogUV    //ML8511
-#define HallSensor  //BU52011
+#define HallSensor  //BU52014
 #define RPR0521     //RPR0521
 #define KMX62       //KMX61, Accel/Mag         
 #define COLOR       //BH1745
-#define KX022       //KX022, Accel Only
+#define KX122       //KX122, Accel Only
 #define Pressure    //BM1383
+#define KXG03        //KXG03
 
 //Define Pins for I2C Interface
 I2C i2c(I2C_SDA, I2C_SCL);
@@ -99,28 +100,66 @@
 int         BH1745_Green;
 #endif
 
-#ifdef KX022
-int         KX022_addr_w = 0x3C;   //write 
-int         KX022_addr_r = 0x3D;   //read 
-char        KX022_Accel_CNTL1[2] = {0x18, 0x41};
-char        KX022_Accel_ODCNTL[2] = {0x1B, 0x02};
-char        KX022_Accel_CNTL3[2] = {0x1A, 0xD8};
-char        KX022_Accel_TILT_TIMER[2] = {0x22, 0x01};
-char        KX022_Accel_CNTL2[2] = {0x18, 0xC1};
-char        KX022_Content_ReadData[6];
-char        KX022_Addr_Accel_ReadData = 0x06;           
-float       KX022_Accel_X;
-float       KX022_Accel_Y;                               
-float       KX022_Accel_Z;
-short int   KX022_Accel_X_RawOUT = 0;
-short int   KX022_Accel_Y_RawOUT = 0;
-short int   KX022_Accel_Z_RawOUT = 0;
-int         KX022_Accel_X_LB = 0;
-int         KX022_Accel_X_HB = 0;
-int         KX022_Accel_Y_LB = 0;
-int         KX022_Accel_Y_HB = 0;
-int         KX022_Accel_Z_LB = 0;
-int         KX022_Accel_Z_HB = 0;
+#ifdef KX122
+int         KX122_addr_w = 0x3C;   //write 
+int         KX122_addr_r = 0x3D;   //read 
+char        KX122_Accel_CNTL1[2] = {0x18, 0x41};
+char        KX122_Accel_ODCNTL[2] = {0x1B, 0x02};
+char        KX122_Accel_CNTL3[2] = {0x1A, 0xD8};
+char        KX122_Accel_TILT_TIMER[2] = {0x22, 0x01};
+char        KX122_Accel_CNTL2[2] = {0x18, 0xC1};
+char        KX122_Content_ReadData[6];
+char        KX122_Addr_Accel_ReadData = 0x06;           
+float       KX122_Accel_X;
+float       KX122_Accel_Y;                               
+float       KX122_Accel_Z;
+short int   KX122_Accel_X_RawOUT = 0;
+short int   KX122_Accel_Y_RawOUT = 0;
+short int   KX122_Accel_Z_RawOUT = 0;
+int         KX122_Accel_X_LB = 0;
+int         KX122_Accel_X_HB = 0;
+int         KX122_Accel_Y_LB = 0;
+int         KX122_Accel_Y_HB = 0;
+int         KX122_Accel_Z_LB = 0;
+int         KX122_Accel_Z_HB = 0;
+#endif
+
+#ifdef KXG03
+int         i = 11;
+int         t = 1;
+short int   aveX = 0;
+short int   aveX2 = 0;
+short int   aveX3 = 0;
+short int   aveY = 0;
+short int   aveY2 = 0;
+short int   aveY3 = 0;
+short int   aveZ = 0;
+short int   aveZ2 = 0;
+short int   aveZ3 = 0;
+float       ave22;
+float       ave33;
+int         KXG03_addr_w = 0x9C;   //write 
+int         KXG03_addr_r = 0x9D;   //read 
+char        KXG03_STBY_REG[2] = {0x43, 0x00};
+char        KXG03_Content_Gyro_ReadData[6];
+char        KXG03_Content_Accel_ReadData[6];
+char        KXG03_Addr_Gyro_ReadData = 0x02;
+char        KXG03_Addr_Accel_ReadData = 0x08;
+float       KXG03_Gyro_X;
+float       KXG03_Gyro_Y;                               
+float       KXG03_Gyro_Z;
+short int   KXG03_Gyro_X_RawOUT = 0;
+short int   KXG03_Gyro_Y_RawOUT = 0; 
+short int   KXG03_Gyro_Z_RawOUT = 0;
+short int   KXG03_Gyro_X_RawOUT2 = 0;
+short int   KXG03_Gyro_Y_RawOUT2 = 0; 
+short int   KXG03_Gyro_Z_RawOUT2 = 0;  
+float       KXG03_Accel_X;
+float       KXG03_Accel_Y;                               
+float       KXG03_Accel_Z;  
+short int   KXG03_Accel_X_RawOUT = 0;
+short int   KXG03_Accel_Y_RawOUT = 0;
+short int   KXG03_Accel_Z_RawOUT = 0;       
 #endif
 
 #ifdef Pressure
@@ -166,12 +205,16 @@
     i2c.write(BH1745_addr_w, &BH1745_mode3[0], 2, false);
 #endif
 
-#ifdef KX022
-    i2c.write(KX022_addr_w, &KX022_Accel_CNTL1[0], 2, false);
-    i2c.write(KX022_addr_w, &KX022_Accel_ODCNTL[0], 2, false);
-    i2c.write(KX022_addr_w, &KX022_Accel_CNTL3[0], 2, false);
-    i2c.write(KX022_addr_w, &KX022_Accel_TILT_TIMER[0], 2, false);
-    i2c.write(KX022_addr_w, &KX022_Accel_CNTL2[0], 2, false);
+#ifdef KX122
+    i2c.write(KX122_addr_w, &KX122_Accel_CNTL1[0], 2, false);
+    i2c.write(KX122_addr_w, &KX122_Accel_ODCNTL[0], 2, false);
+    i2c.write(KX122_addr_w, &KX122_Accel_CNTL3[0], 2, false);
+    i2c.write(KX122_addr_w, &KX122_Accel_TILT_TIMER[0], 2, false);
+    i2c.write(KX122_addr_w, &KX122_Accel_CNTL2[0], 2, false);
+#endif
+
+#ifdef KXG03
+    i2c.write(KXG03_addr_w, &KXG03_STBY_REG[0], 2, false);        
 #endif
 
 #ifdef Pressure
@@ -192,7 +235,7 @@
         BDE0600_output = (BDE0600_output-(float)1.753)/((float)-0.01068) + (float)30;
         
         printf("BDE0600 Analog Temp Sensor Data:\r\n");
-        printf(" Temp = %.2f C\r\n", BDE0600_output);
+        printf(" Temp = %.2f degC\r\n", BDE0600_output);
         #endif
 
         #ifdef AnalogUV
@@ -308,26 +351,115 @@
         printf(" MagZ= %0.2f uT\r\n", MEMS_Mag_Conv_Zout);
         #endif
      
-        #ifdef KX022
-        //Read KX022 Portion from the IC
-        i2c.write(KX022_addr_w, &KX022_Addr_Accel_ReadData, 1, RepStart);
-        i2c.read(KX022_addr_r, &KX022_Content_ReadData[0], 6, NoRepStart);
+        #ifdef KX122
+        //Read KX122 Portion from the IC
+        i2c.write(KX122_addr_w, &KX122_Addr_Accel_ReadData, 1, RepStart);
+        i2c.read(KX122_addr_r, &KX122_Content_ReadData[0], 6, NoRepStart);
                     
         //Format Data
-        KX022_Accel_X_RawOUT = (KX022_Content_ReadData[1]<<8) | (KX022_Content_ReadData[0]);
-        KX022_Accel_Y_RawOUT = (KX022_Content_ReadData[3]<<8) | (KX022_Content_ReadData[2]);
-        KX022_Accel_Z_RawOUT = (KX022_Content_ReadData[5]<<8) | (KX022_Content_ReadData[4]);       
+        KX122_Accel_X_RawOUT = (KX122_Content_ReadData[1]<<8) | (KX122_Content_ReadData[0]);
+        KX122_Accel_Y_RawOUT = (KX122_Content_ReadData[3]<<8) | (KX122_Content_ReadData[2]);
+        KX122_Accel_Z_RawOUT = (KX122_Content_ReadData[5]<<8) | (KX122_Content_ReadData[4]);       
 
         //Scale Data
-        KX022_Accel_X = (float)KX022_Accel_X_RawOUT / 16384;
-        KX022_Accel_Y = (float)KX022_Accel_Y_RawOUT / 16384;
-        KX022_Accel_Z = (float)KX022_Accel_Z_RawOUT / 16384;
+        KX122_Accel_X = (float)KX122_Accel_X_RawOUT / 16384;
+        KX122_Accel_Y = (float)KX122_Accel_Y_RawOUT / 16384;
+        KX122_Accel_Z = (float)KX122_Accel_Z_RawOUT / 16384;
         
         //Return Data through UART
-        printf("KX022 Accelerometer Sensor Data: \r\n");
-        printf(" AccX= %0.2f g\r\n", KX022_Accel_X);
-        printf(" AccY= %0.2f g\r\n", KX022_Accel_Y);
-        printf(" AccZ= %0.2f g\r\n", KX022_Accel_Z);
+        printf("KX122 Accelerometer Sensor Data: \r\n");
+        printf(" AccX= %0.2f g\r\n", KX122_Accel_X);
+        printf(" AccY= %0.2f g\r\n", KX122_Accel_Y);
+        printf(" AccZ= %0.2f g\r\n", KX122_Accel_Z);
+        #endif
+        
+        #ifdef KXG03
+        //Read KXG03 Gyro Portion from the IC
+        i2c.write(KXG03_addr_w, &KXG03_Addr_Gyro_ReadData, 1, RepStart);
+        i2c.read(KXG03_addr_r, &KXG03_Content_Gyro_ReadData[0], 6, NoRepStart);
+        
+        if (t == 1){    
+            int i = 11;
+            while(--i) 
+            {
+                //Read KXG03 Gyro Portion from the IC
+                i2c.write(KXG03_addr_w, &KXG03_Addr_Gyro_ReadData, 1, RepStart);
+                i2c.read(KXG03_addr_r, &KXG03_Content_Gyro_ReadData[0], 6, NoRepStart);
+      
+                //Format Data
+                KXG03_Gyro_X_RawOUT = (KXG03_Content_Gyro_ReadData[1]<<8) | (KXG03_Content_Gyro_ReadData[0]);
+                KXG03_Gyro_Y_RawOUT = (KXG03_Content_Gyro_ReadData[3]<<8) | (KXG03_Content_Gyro_ReadData[2]);
+                KXG03_Gyro_Z_RawOUT = (KXG03_Content_Gyro_ReadData[5]<<8) | (KXG03_Content_Gyro_ReadData[4]);
+                aveX = KXG03_Gyro_X_RawOUT;
+                aveY = KXG03_Gyro_Y_RawOUT;
+                aveZ = KXG03_Gyro_Z_RawOUT;
+                aveX2 = aveX2 + aveX;
+                aveY2 = aveY2 + aveY;
+                aveZ2 = aveZ2 + aveZ;  
+             } 
+        aveX3 = aveX2 / 10;
+        aveY3 = aveY2 / 10;
+        aveZ3 = aveZ2 / 10;
+        printf("KXG03 Gyroscopic Sensor Data: \r\n");
+        printf("KXG03 Gyroscopic Offset Calculation: \r\n");      
+        printf(" aveX2= %d \r\n", aveX2);        
+        printf(" aveY2= %d \r\n", aveY2);
+        printf(" aveZ2= %d \r\n", aveZ2);
+        printf(" aveX3= %d \r\n", aveX3);  
+        printf(" aveY3= %d \r\n", aveY3);  
+        printf(" aveZ3= %d \r\n", aveZ3);       
+        t = 0;
+        }                  
+        
+        else {
+        //Read KXG03 Gyro Portion from the IC
+        i2c.write(KXG03_addr_w, &KXG03_Addr_Gyro_ReadData, 1, RepStart);
+        i2c.read(KXG03_addr_r, &KXG03_Content_Gyro_ReadData[0], 6, NoRepStart);
+                            
+        //Format Data
+        KXG03_Gyro_X_RawOUT = (KXG03_Content_Gyro_ReadData[1]<<8) | (KXG03_Content_Gyro_ReadData[0]);
+        KXG03_Gyro_Y_RawOUT = (KXG03_Content_Gyro_ReadData[3]<<8) | (KXG03_Content_Gyro_ReadData[2]);
+        KXG03_Gyro_Z_RawOUT = (KXG03_Content_Gyro_ReadData[5]<<8) | (KXG03_Content_Gyro_ReadData[4]);  
+        
+        //printf(" aveX3= %d \r\n", aveX3);  
+        //printf(" aveY3= %d \r\n", aveY3);  
+        //printf(" aveZ3= %d \r\n", aveZ3);
+
+        KXG03_Gyro_X_RawOUT2 = KXG03_Gyro_X_RawOUT - aveX3;
+        KXG03_Gyro_Y_RawOUT2 = KXG03_Gyro_Y_RawOUT - aveY3;
+        KXG03_Gyro_Z_RawOUT2 = KXG03_Gyro_Z_RawOUT - aveZ3;
+        
+        //Scale Data
+        KXG03_Gyro_X = (float)KXG03_Gyro_X_RawOUT2 * (float)0.007813 + (float)0.000004;
+        KXG03_Gyro_Y = (float)KXG03_Gyro_Y_RawOUT2 * (float)0.007813 + (float)0.000004;
+        KXG03_Gyro_Z = (float)KXG03_Gyro_Z_RawOUT2 * (float)0.007813 + (float)0.000004;           
+        
+        printf("KXG03 Gyroscopic Sensor Data: \r\n");
+        printf(" GyroX= %0.2f deg/sec\r\n", KXG03_Gyro_X);
+        printf(" GyroY= %0.2f deg/sec\r\n", KXG03_Gyro_Y);
+        printf(" GyroZ= %0.2f deg/sec\r\n", KXG03_Gyro_Z);        
+        
+        //Read KXG03 Accel Portion from the IC
+        i2c.write(KXG03_addr_w, &KXG03_Addr_Accel_ReadData, 1, RepStart);
+        i2c.read(KXG03_addr_r, &KXG03_Content_Accel_ReadData[0], 6, NoRepStart); 
+        
+        KXG03_Accel_X_RawOUT = (KXG03_Content_Accel_ReadData[1]<<8) | (KXG03_Content_Accel_ReadData[0]);
+        KXG03_Accel_Y_RawOUT = (KXG03_Content_Accel_ReadData[3]<<8) | (KXG03_Content_Accel_ReadData[2]);
+        KXG03_Accel_Z_RawOUT = (KXG03_Content_Accel_ReadData[5]<<8) | (KXG03_Content_Accel_ReadData[4]);        
+         
+        //Scale Data
+        KXG03_Accel_X = (float)KXG03_Accel_X_RawOUT * (float)0.000061 + (float)0.000017;
+        KXG03_Accel_Y = (float)KXG03_Accel_Y_RawOUT * (float)0.000061 + (float)0.000017;
+        KXG03_Accel_Z = (float)KXG03_Accel_Z_RawOUT * (float)0.000061 + (float)0.000017;        
+                            
+        //Return Data through UART
+        printf(" AccX= %0.2f g\r\n", KXG03_Accel_X);
+        printf(" AccY= %0.2f g\r\n", KXG03_Accel_Y);
+        printf(" AccZ= %0.2f g\r\n", KXG03_Accel_Z);   
+        aveX2 = 0;
+        aveY2 = 0;
+        aveZ2 = 0;
+        }              
         #endif
      
         #ifdef Pressure
@@ -343,7 +475,7 @@
         BM1383_Pres_Conv_Out = (BM1383_Var + BM1383_Deci);   //question pending here...
         
         printf("BM1383 Pressure Sensor Data:\r\n");
-        printf(" Temperature= %0.2f C\r\n", BM1383_Temp_Conv_Out);
+        printf(" Temperature= %0.2f degC\r\n", BM1383_Temp_Conv_Out);
         printf(" Pressure   = %0.2f hPa\r\n", BM1383_Pres_Conv_Out);
         #endif
         //*********************************************************************

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	25 Sep 2015
Imports:	70
Forks:	0
Commits:	9
Dependents:	0
Dependencies:	1
Followers:	7