[example] Add LSM6DSO imu example on Nucleo-G474RE

examples/nucleo_g474re/imu_lsm6dso/main.cpp

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+/*
+ * Copyright (c) 2023, Raphael Lehmann
+ *
+ * This file is part of the modm project.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+// ----------------------------------------------------------------------------
+
+#include <modm/board.hpp>
+#include <modm/platform/spi/spi_master_1.hpp>
+#include <modm/driver/inertial/lsm6dso.hpp>
+#include <optional>
+
+using namespace Board;
+
+using SpiMaster = SpiMaster1;
+using Mosi = GpioA7;
+using Miso = GpioA6;
+using Sck = GpioA5;
+using Cs = GpioC5;
+using Int1 = GpioC4;
+using ImuVdd = GpioA10;
+
+using Lsm6dso = modm::Lsm6dso<modm::Lsm6TransportSpi<SpiMaster, Cs>>;
+
+Lsm6dso imu{};
+
+int
+main()
+{
+	Board::initialize();
+	Leds::setOutput();
+
+	MODM_LOG_INFO << "LSM6DSO IMU demo on Nucleo-G474RE\n" << modm::endl;
+
+	SpiMaster::initialize<Board::SystemClock, 5300_kHz>();
+	SpiMaster::connect<Sck::Sck, Mosi::Mosi, Miso::Miso>();
+	Int1::setInput(Gpio::InputType::PullUp);
+
+	// The imu behaves weird when the pins are temporarily unconnected (e.g.
+	// while changing jumper wires) or after reprogramming the nucleo board,
+	// and a software reset does not work.
+	// Therefore the IMU can be powered through a GPIO pin (Vdd) which we
+	// switch on and off to reboot it completely.
+	ImuVdd::reset();
+	ImuVdd::setOutput();
+	modm::delay(10ms);
+	// Power up imu
+	ImuVdd::set();
+
+	// Give the sensor some time to boot...
+	modm::delay(10ms);
+
+	MODM_LOG_INFO << "Resetting and rebooting imu (BOOT | SW_RESET)..." << modm::endl;
+	// Write bits BOOT | SW_RESET (and IF_INC, because it default to 1) to reboot imu
+	if(!RF_CALL_BLOCKING(imu.writeRegister(modm::lsm6dso::Register::CTRL3_C, 0b1000'0101))) {
+		MODM_LOG_INFO.printf(" ... failed.");
+		Board::Leds::set();
+	}
+
+	MODM_LOG_INFO << "Initializing IMU..." << modm::endl;
+	RF_CALL_BLOCKING(imu.initialize());
+
+	MODM_LOG_INFO << "Enable IMU by configuring data rate and range" << modm::endl;
+	if(!RF_CALL_BLOCKING(imu.setOutputDataRateAndRange<12_Hz, 5_pct>(
+				modm::lsm6dso::LinearRange::G2,
+				modm::lsm6dso::AngularRange::dps125))) {
+		MODM_LOG_INFO.printf(" ... failed.");
+		Board::Leds::set();
+	}
+
+	// Reading CTRL1_XL register
+	std::optional<uint8_t> reg = RF_CALL_BLOCKING(imu.readRegister(modm::lsm6dso::Register::CTRL1_XL));
+	if (reg.has_value()) {
+		MODM_LOG_INFO << "Reading CTRL1_XL register = " << *reg << modm::endl;
+	}
+	else {
+		MODM_LOG_INFO << "Unable to CTRL1_XL register." << modm::endl;
+	}
+
+	MODM_LOG_INFO << "Enable accelerometer and gyroscope data-ready interrupts on INT1 pin" << modm::endl;
+	if(!RF_CALL_BLOCKING(imu.writeRegister(modm::lsm6dso::Register::INT1_CTRL, 0b0000'0011))) {
+		MODM_LOG_INFO.printf(" ... failed.");
+		Board::Leds::set();
+	}
+
+	std::array<uint8_t, 14> data;
+
+	while (true)
+	{
+		MODM_LOG_INFO.printf("\n\nIMU data: ");
+
+		// Wait for rising edge
+		while (Int1::read()) {}
+		while (!Int1::read()) {}
+
+		if(!RF_CALL_BLOCKING(imu.readRegisters(modm::lsm6dso::Register::OUT_TEMP_L, data))) {
+			MODM_LOG_INFO.printf("failed. ");
+			Board::Leds::set();
+		}
+
+		// print data anyways
+		MODM_LOG_INFO.printf("TEMP=%+2.1f degC, ", (static_cast<int16_t>(data[0] | data[1] << 8) / 256.f) + 25.f);
+		MODM_LOG_INFO.printf("G_X=%+05i, ", static_cast<int16_t>(data[ 2] | data[ 3] << 8));
+		MODM_LOG_INFO.printf("G_Y=%+05i, ", static_cast<int16_t>(data[ 4] | data[ 5] << 8));
+		MODM_LOG_INFO.printf("G_Z=%+05i, ", static_cast<int16_t>(data[ 6] | data[ 7] << 8));
+		MODM_LOG_INFO.printf("A_X=%+05i, ", static_cast<int16_t>(data[ 8] | data[ 9] << 8));
+		MODM_LOG_INFO.printf("A_Y=%+05i, ", static_cast<int16_t>(data[10] | data[11] << 8));
+		MODM_LOG_INFO.printf("A_Z=%+05i, ", static_cast<int16_t>(data[12] | data[13] << 8));
+
+		Board::Leds::toggle();
+	}
+
+	return 0;
+}

examples/nucleo_g474re/imu_lsm6dso/project.xml

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+<library>
+  <extends>modm:nucleo-g474re</extends>
+  <options>
+    <option name="modm:build:build.path">../../../build/nucleo_g474re/imu_lsm6dso</option>
+  </options>
+  <modules>
+    <module>modm:build:scons</module>
+    <module>modm:platform:spi:1</module>
+    <module>modm:driver:lsm6dso</module>
+  </modules>
+</library>