Diff: X_NUCLEO_IKS01A1-f255a2c75ecb/x_nucleo_iks01a1.h

Revision:

0:5a49275457c6

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+++ b/X_NUCLEO_IKS01A1-f255a2c75ecb/x_nucleo_iks01a1.h	Tue May 17 15:40:45 2016 +0000
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+/**
+ ******************************************************************************
+ * @file    x_nucleo_iks01a1.h
+ * @author  AST / EST
+ * @version V0.0.1
+ * @date    13-April-2015
+ * @brief   Header file for class X_NUCLEO_IKS01A1 representing a X-NUCLEO-IKS01A1
+ *          expansion board
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ *   1. Redistributions of source code must retain the above copyright notice,
+ *      this list of conditions and the following disclaimer.
+ *   2. Redistributions in binary form must reproduce the above copyright notice,
+ *      this list of conditions and the following disclaimer in the documentation
+ *      and/or other materials provided with the distribution.
+ *   3. Neither the name of STMicroelectronics nor the names of its contributors
+ *      may be used to endorse or promote products derived from this software
+ *      without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ ******************************************************************************
+ */
+
+/* Define to prevent from recursive inclusion --------------------------------*/
+#ifndef __X_NUCLEO_IKS01A1_H
+#define __X_NUCLEO_IKS01A1_H
+
+/* Includes ------------------------------------------------------------------*/
+#include "mbed.h"
+#include "x_nucleo_iks01a1_targets.h"
+#include "hts221/hts221_class.h"
+#include "lis3mdl/lis3mdl_class.h"
+#include "lps25h/lps25h_class.h"
+#include "lsm6ds0/lsm6ds0_class.h"
+#include "lsm6ds3/lsm6ds3_class.h"
+#include "DevI2C.h"
+
+/* Macros -------------------------------------------------------------------*/
+#define CALL_METH(obj, meth, param, ret) ((obj == NULL) ?		\
+					  ((*(param) = (ret)), 0) :	\
+					  ((obj)->meth(param))		\
+					  )
+
+/* Classes -------------------------------------------------------------------*/
+/** Class X_NUCLEO_IKS01A1 is intended to represent the MEMS Inertial & Environmental 
+ *  Nucleo Expansion Board with the same name.
+ *
+ *  The expansion board is featuring basically four IPs:\n
+ *  -# a HTS221 Relative Humidity and Temperature Sensor\n
+ *  -# a LIS3MDL 3-Axis Magnetometer\n
+ *  -# a LPS25H MEMS Pressure Sensor (and Temperature Sensor)\n
+ *  -# and a LSM6DS0 3D Acceleromenter and 3D Gyroscope\n
+ *
+ * The expansion board features also a DIL 24-pin socket which makes it possible
+ * to add further MEMS adapters and other sensors (e.g. UV index). 
+ *
+ * It is intentionally implemented as a singleton because only one
+ * X_NUCLEO_IKS01A1 at a time might be deployed in a HW component stack.\n
+ * In order to get the singleton instance you have to call class method `Instance()`, 
+ * e.g.:
+ * @code
+ * // Inertial & Environmental expansion board singleton instance
+ * static X_NUCLEO_IKS01A1 *<TODO>_expansion_board = X_NUCLEO_IKS01A1::Instance();
+ * @endcode
+ */
+class X_NUCLEO_IKS01A1
+{
+ protected:
+	X_NUCLEO_IKS01A1(DevI2C *ext_i2c, PinName ff_irq_pin);
+
+	/**
+	 * @brief  Initialize the singleton's sensors to default settings
+	 * @retval true if initialization successful, 
+	 * @retval false otherwise
+	 */
+	bool Init(void) {
+		return (Init_HTS221() &&
+			Init_LIS3MDL() &&
+			Init_LPS25H() &&
+			Init_Gyro());
+	}
+	
+	/**
+	 * @brief  Initialize the singleton's gyroscope
+	 * @retval true if initialization successful, 
+	 * @retval false otherwise
+	 * @note   only one sensor among LSM6DS3 & LSM6DS0 will be instantiated
+	 *         with a preference on LSM6DS3 when available
+	 */
+	bool Init_Gyro(void) {
+		// Note: order is important!
+		return (Init_LSM6DS3() &&
+			Init_LSM6DS0());
+	}
+
+	bool Init_HTS221(void);
+	bool Init_LIS3MDL(void);
+	bool Init_LPS25H(void);
+	bool Init_LSM6DS0(void);
+	bool Init_LSM6DS3(void);
+
+ public:
+	static X_NUCLEO_IKS01A1* Instance(DevI2C *ext_i2c = NULL, 
+					  PinName ff_irq_pin = IKS01A1_PIN_FF);
+	static X_NUCLEO_IKS01A1* Instance(PinName sda, PinName scl, PinName ff_irq_pin = NC);
+
+	DevI2C  *dev_i2c;
+
+	HTS221  *ht_sensor;
+	LIS3MDL *magnetometer;
+	LPS25H  *pt_sensor;
+
+	GyroSensor *GetGyroscope(void) {
+		return ((gyro_lsm6ds3 == NULL) ? 
+			(GyroSensor*)gyro_lsm6ds0 : (GyroSensor*)gyro_lsm6ds3);
+	}
+	MotionSensor *GetAccelerometer(void) {
+		return ((gyro_lsm6ds3 == NULL) ? 
+			(MotionSensor*)gyro_lsm6ds0 : (MotionSensor*)gyro_lsm6ds3);
+	}
+	LSM6DS0 *gyro_lsm6ds0;
+	LSM6DS3 *gyro_lsm6ds3;
+
+ private:
+	static X_NUCLEO_IKS01A1 *_instance;
+};
+
+#endif /* __X_NUCLEO_IKS01A1_H */