Sensors Tlera Documentation¶

This is the main library of the project and is comoposed by two files:

SensorsTlera.h: Header of the main class.
SensorsTlera.cpp: Source file of the main class.

Those files describes a class which is SensorsTlera and declare some structs which are useful to manage data from sensors. Those declarations could be divided in two groups, the mangnitud structs and the sensor type structs which are explanined as follows.

1. Type declarations¶

1.1. Magnitude type declarations¶

These declarations are centered on the type of magnitude measured by sensors.

1.1.1. Acelerometer type¶

struct accel_t¶

Acceleration type.

Public Functions

operator uint8_t*()¶

Operator to convert into uint8_t array.

This operator save the result in the bytes array. It could be used to cast data to bytes.

The resulting array is:

    [ax1, ax2, ay1, ay2, az1, az2]

operator String()¶

Operator to convert into String type.

This operator returns a string type. Could be used to print data for debugging purposes.

The resulting string is:

   AX:axvalue;AY:ayvalue;AZ:azvalue

Public Members

int16_t ax¶: acceleration in x axis

int16_t ay¶: acceleration in y axis

int16_t az¶: acceleration in z axis

uint8_t bytes[6]¶: array of acceleration in bytes

1.1.2. Gyroscope type¶

struct gyro_t¶

Gyroscopo type.

Public Functions

operator uint8_t*()¶

Operator to convert into uint8_t array.

This operator save the result in the bytes array. It could be used to cast data to bytes.

The resulting array is:

    [avx1, avx2, avy1, avy2, avz1, avz2]

operator String()¶

Operator to convert into String type.

This operator returns a string type. Could be used to print data for debugging purposes.

The resulting string is:

   AVX:avxvalue;AVY:avyvalue;AVZ:avzvalue

Public Members

int16_t avx¶: angular velocity in x axis

int16_t avy¶: angular velocity in y axis

int16_t avz¶: angular velocity in z axis

uint8_t bytes[6]¶: array of angular velocity in bytes

1.1.3. Magnetometer type¶

struct mag_t¶

Magnetometer type.

Public Functions

operator uint8_t*()¶

Operator to convert into uint8_t array.

This operator save the result in the bytes array. It could be used to cast data to bytes.

The resulting array is:

    [mx1, mx2, my1, my2, mz1, mz2]

operator String()¶

Operator to convert into String type.

This operator returns a string type. Could be used to print data for debugging purposes.

The resulting string is:

   MX:mxvalue;MY:myvalue;MZ:mzvalue

Public Members

int16_t mx¶: magnetic field intensity in x axis

int16_t my¶: magnetic field intensity in y axis

int16_t mz¶: magnetic field intensity in z axis

uint8_t bytes[6]¶: array of magnetic field values

1.1.4. Temperature type¶

struct temp_t¶

Temperature type.

Public Functions

operator int16_t()¶: Operator to convert into uint16_t value.

operator uint8_t*()¶

Operator to convert into uint8_t array.

This operator save the result in the bytes array. It could be used to cast temperature to bytes.

The resulting array is:

    [tempc1, tempc2]

operator String()¶

Operator to convert into String type.

This operator returns a string type. Could be used to print data for debugging purposes.

The resulting string is:

   TEMPC:tempcvalue;TEMPF:tempfvalue

Public Members

int32_t raw¶: raw temperature value

int32_t compensated¶: compensated temperature value

float temp_C¶: temperature value in C degrees

float temp_F¶: temperature value in F degrees

uint8_t bytes[2]¶: byte array for temperature

1.1.5. Humidity type¶

struct hum_t¶

Humidity type.

Public Functions

operator int16_t()¶: Operator to convert into uint16_t value.

operator uint8_t*()¶

Operator to convert into uint8_t array.

This operator save the result in the bytes array. It could be used to cast humidity value to bytes.

The resulting array is:

    [hum1, hum2]

operator String()¶

Operator to convert into String type.

This operator returns a string type. Could be used to print data for debugging purposes.

The resulting string is:

   HUM:humidityvalue

Public Members

int32_t raw¶: Raw humidity value.

uint32_t compensated¶: Compensated humidity value.

float hum_relative¶: Relative humidity.

uint8_t bytes[2]¶: byte array for relative humidity value

1.1.6. Pressure type¶

struct press_t¶

Pressure type.

Public Functions

operator int16_t()¶: Operator to convert into uint16_t value.

operator uint8_t*()¶

Operator to convert into uint8_t array.

This operator save the result in the bytes array. It could be used to cast pressure value to bytes.

The resulting array is:

    [altitude_mts1, altitude_mts2]

operator String()¶

Operator to convert into String type.

This operator returns a string type. Could be used to print data for debugging purposes.

The resulting string is:

   PRESS:pressure_mbar;ALTITUDE:altitude_mts

Public Members

int32_t raw¶: Raw pressure value.

uint32_t compensated¶: Compensated pressure value.

float press_mbar¶: Pressure value in mbar.

float altitude¶: Altitude value.

float altitude_mts¶: Altitude value in meters.

uint8_t bytes[2]¶: Byte array to hold altitude.

1.1.7. Battery type¶

struct batt_t¶

Battery type.

Public Functions

operator String()¶

Operator to convert into String type.

This operator returns a string type. Could be used to print data for debugging purposes.

The resulting string is:

   VBAT:vbatvalue

operator int16_t()¶: Operator to convert into uint16_t value.

operator uint8_t*()¶

Operator to convert into uint8_t array.

This operator save the result in the bytes array. It could be used to cast battery voltage to bytes.

The resulting array is:

    [vbat1, vbat2]

Public Members

float vdda¶: Voltage value at VDDA.

float vbus¶: Voltage value at VBUS.

float vbat¶: Voltage value at VBAT.

float STM32L0Temp¶: Chip temperature.

uint8_t bytes[2]¶: Byte array for VBAT value.

1.2. Sensor type declarations¶

These declarations are oriented to hold the information by sensors.

1.2.1. GNSS type¶

struct GNSS_t¶

GNSS type.

Public Functions

operator uint8_t*()¶

Operator to convert into uint8_t array.

This operator save the result in the bytes array. It could be used to cast GPS information to bytes.

The resulting array is:

    [altitude1, altitude2,
     latitude1, latitude2, latitude3, latitude4,
     longitude1, longitude2, longitude3, longitude4,
    ]

Where: altitude is in meters*10, altitude is float and longitude is float.

Public Members

bool isSpatial = false¶: Holds if it has spatial values.

GNSSLocation location¶: GNSSLocation object to manage location.

double latitude¶: Latitude value.

double longitude¶: Longitude value.

float altitude¶: Altitude value.

uint8_t bytes[10]¶: Byte array for GPS information.

1.2.2. BMA400 type¶

struct BMA400_t¶

BMA400 type.

Public Members

status_t status¶: sensor status

accel_t values¶: acceleration structure

float resolution¶: scale resolutions per LSB for the sensor

float offset[3]¶: accel bias offsets

1.2.3. BME280 type¶

struct BME280_t¶

BME280 type.

Public Functions

operator uint8_t*()¶

Operator to convert into uint8_t array.

This operator save the result in the bytes array. It could be used to cast sensor values to bytes.

The resulting array is:

    [temperature1, temperature2,
     humidity1, humidity2,
    ]

operator String()¶

Operator to convert into String type.

This operator returns a string type. Could be used to print data for debugging purposes.

The resulting string is:

    TEMP::temperature 
    HUM::humidity
    PRESS::pressure

Public Members

status_t status¶: sensor status

temp_t temperature¶: temperature structure

hum_t humidity¶: humidity structure

press_t pressure¶: pressure structure

uint8_t bytes[4]¶: byte array to hold sensor values

1.2.4. ADXL345 type¶

struct ADXL345_t¶

ADXL345 type.

Public Functions

operator uint8_t*()¶

Operator to convert into uint8_t array.

This operator save the acceleration in the byte array.

The resulting array is:

    [accel1, accel2, accel3, accel4, accel5, accel6]

operator String()¶

Operator to convert into String type.

This operator returns a string type. Could be used to print data for debugging purposes.

The resulting string is:

    ACCEL::accelerationvalues

Public Members

status_t status¶: sensor status

accel_t values¶: acceleration structure

uint8_t bytes[6]¶: byte array to hold acceleration

1.2.5. L3G4200D type¶

struct L3G4200D_t¶

L3G4200D type.

Public Functions

operator uint8_t*()¶

Operator to convert into uint8_t array.

This operator save the gyroscope in the byte array.

The resulting array is:

    [gyro1, gyro2, gyro3, gyro4, gyro5, gyro6]

operator String()¶

Operator to convert into String type.

This operator returns a string type. Could be used to print data for debugging purposes.

The resulting string is:

    GYRO::gyroscopevalues

Public Members

status_t status¶: sensor status

gyro_t values¶: gyroscope structure

uint8_t bytes[6]¶: byte array to hold gyroscope value

1.2.6. HMC5883L type¶

struct HMC5883L_t¶

HMC5883L type.

Public Functions

operator uint8_t*()¶

Operator to convert into uint8_t array.

This operator save the magnetometer in the byte array.

The resulting array is:

    [mag1, mag2, mag3, mag4, mag5, mag6]

operator String()¶

Operator to convert into String type.

This operator returns a string type. Could be used to print data for debugging purposes.

The resulting string is:

    MAG::magnetometervalues

Public Members

status_t status¶: sensor status

mag_t values¶: magnetometer structure

float heading¶: heading value

uint8_t bytes[6]¶: byte array to hold magnetometer values

2. Class declaration¶

The main class is SensorsTlera, which is explored as follows:

class SensorsTlera¶

Class for Tlera Corp sensors.

Public Functions

SensorsTlera()¶: Constructor for Tlera Corp.

mcuid_t getUID()¶

Obtain UID from device.

Return Value

this->reg_ID: return the uid

void initialize_board()¶: Initialize onboard elements.

void initialize_GNSS()¶

Initialize GNSS sensor.

Initialize the pins for GNSS, establishes the constellation, and the antenna type.

void initialize_BMA400()¶: Initialize BMA400 sensor.

void initialize_BME280()¶: Initialize BME280 sensor.

void initialize_ADXL345(ADXL345 sensorADXL345)¶

Initialize ADXL345 sensor.

Parameters

sensorADXL345: object of ADXL345 sensor

void initialize_L3G4200D(L3G4200D sensorL3G4200D)¶

Initialize L3G4200D sensor.

Parameters

sensorL3G4200D: object of L3G4200D sensor

void initialize_HMC5883L(HMC5883L sensorHMC5883L)¶

Initialize HMC5883L sensor.

Parameters

sensorHMC5883L: object of HMC5883L sensor

void callibrate_BMA400()¶

Callibrate BMA400 sensor.

Reset sensor and self test, apply compensation parameters and initialize it.

void callibrate_BME280()¶

Callibrate BME280 sensor.

Reset sensor and initialize the sensor according to pre-defined values.

batt_t readSensors_batmon()¶

Obtain voltage values.

Obtain values from microcrontroller internal functions.

Return Value

this->battery_info: Returns structure with battery information.

batt_t readSensors_batmon_average()¶

Obtain average voltage values.

Apply average and saves to internal battery_info structure.

Return Value

this->battery_info: Returns structure with battery information.

BME280_t readSensors_BME280()¶

Read values from BME280 sensor.

Obtain value of temperature, humidity and pressure and save them to BME280_t structure.

Return Value

this->reg_BME280: Returns structure with BME280 values.

ADXL345_t readSensors_ADXL345(ADXL345 sensorADXL345)¶

Read values from ADXL345 sensor.

Obtain value of acceleration and save them to ADXL345_t structure.

Parameters

sensorADXL345: object of ADXL345 type

Return Value

this->reg_ADXL345: Returns structure with ADXL345 values.

L3G4200D_t readSensors_L3G4200D(L3G4200D sensorL3G4200D)¶

Read values from L3G4200D sensor.

Obtain value of gyroscope and save them to L3G4200D_t structure.

Parameters

sensorL3G4200D: object of L3G4200D type

Return Value

this->reg_L3G4200D: Returns structure with L3G4200D values.

HMC5883L_t readSensors_HMC5883L(HMC5883L sensorHMC5883L)¶

Read values from HMC5883L sensor.

Obtain value of magnetometer and save them to HMC5883L_t structure.

Parameters

sensorHMC5883L: object of HMC5883L type

Return Value

this->reg_HMC5883L: Returns structure with HMC5883L values.

GNSS_t readSensors_GNSS()¶

Read values from GNSS sensor.

Obtain value from GPS and print according if It has spatial values.

Return Value

this->reg_GNSS: Returns structure with GPS values.

bool GNSS_isSpatial()¶: Detects if GPS has spatial values.

void scanI2CDevices()¶

Scan I2C devices.

Method copied from BME280 library created by Kris Winer 06/16/2017 Copyright Tlera Corporation