Sensors - Tests & Drivers

[ladislas]

The goal of this story is to list all the sensors used by Leka, find the relevant drivers, test them, compare them if more than one is available and report findings here.

[YannLocatelli]

List of sensors to try:

• Accelerometer and Gyroscope (on motherboard)
• Magnetometer (on motherboard)
• Microphone (on motherboard)
• Temperature sensor (on motherboard)
• Light sensor (on motherboard)
• Capacitive sensor (on flex)
• [optional] Accelerometer + Magnetometer + Temperature sensor (on flex)

[YannLocatelli]

For now, I will focus only on sensors available on Nucleo and on Steval.

Accelerometer

Reference : LSM6DSOX

Present on Steval, it is connected on the I2C of the Nucleo (I2C1 of STM32F769) at address D5 (or D4, both are hex value)

On robot, it will be connected on I2C1 of STM32F769 at address D5 (or D4, both are hex value)

Drivers available :

• on mbed by ST : Link
• on github by ST : Link
• on github by stm32duino : Link

For later, a repo about the Machine Learning Core feature of LSM6DSOX : Link

Magnetometer

Reference : LSM303AGR (only magnetic sensor)

Present and connected on the I2C of the Nucleo (I2C1 of STM32F769) at address 3C (or 3D, both are hex value)

On robot, it will be connected on I2C1 of STM32F769 at address 3C (or 3D, both are hex value)

Drivers available :

• on mbed by ST : Link
• on github by ST : Link
• on github by stm32duino : Link

Temperature sensor

Reference : HTS221

Present and connected on the I2C of the Nucleo (I2C1 of STM32F769) at address BE (or BF, both are hex value)

On robot, it will be connected on I2C1 of STM32F769 at address BE (or BF, both are hex value)

Drivers available :

• on mbed by ST : Link
• on github by ST : Link
• on github by stm32duino : Link

---

Mentions of "Nucleo" referring to X-Nucleo-IKS01A2
Mentions of "Steval" referring to STEVAL-MKI197V1

Any suggestion of other driver are welcomed.

[YannLocatelli]

Other sensors on motherboard have analog input.

Microphone

Reference : ICS-40181

On robot, it will be connected on analog input ADC3_IN8 of STM32F769

Drivers available : None

Driver can be built with AnalogIn API of mbed and at least 2 values to determine the scale.

Light sensor

Reference : 1540601NBA500

On robot, it will be connected on analog input ADC[1/2]_IN9 of STM32F769

Drivers available : None

Recommendations are same as Microphone.

[YannLocatelli]

Flex communicate with STM32F769 by I2C

Capacitive sensor

Reference : MTCH101

They are 6 of them and are not directly drived. In fact they are linked to DAC as input and multiplexer as output.

Reference DAC : MCP4728
Reference multiplexer : MCP23017

On robot, both will be connected on I2C3 of STM32F769 and both have programmable address (DAC from C0 to CF and multiplexer from 40 to 4F)

Drivers available :

• MTCH101 : None
• DAC on mbed by wimbeaumont : Link
• Multiplexer on mbed by Takuya Urakawa : Link

[optional] Accelerometer + Magnetometer + Temperature sensor

Reference : IIS2MDC

On robot, it will be connected on I2C3 of STM32F769 at address 3D (or 3C, both are hex value)

Drivers available :

• on github by ST : Link
• on github by stm32duino : Link

[ladislas]

@YannLocatelli cette issue était juste une tâche pour faire un test avec mbed et LSM6DSOX sans le BSP, sans les autres capteurs.

Je refais une nouvelle issue/task pour ça: #6

Suite à tes commentaires, je transforme ça en story avec tous les capteurs à tester comme tu l'as écrit.

Je un test

et je rajoute