NEHSROBOT / selfbalansingcar_V1

STILL DEBUGGING

Dependencies:   ST_INTERFACES X_NUCLEO_COMMON

Fork of X_NUCLEO_IKS01A1 by ST

x_nucleo_iks01a1.h@76:88d48e64bac2, 2016-05-31 (annotated)

Committer:
mapellil
Date:
Tue May 31 13:22:48 2016 +0000
Revision:
76:88d48e64bac2
Parent:
72:79a2a64c9b2f
Child:
84:7e38323c9488
Added X_NUCLEO_IKS01A1 to fix memory leak

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Wolfgang Betz 0:0feaa2a2d9ff 1 /**
Wolfgang Betz 0:0feaa2a2d9ff 2 ******************************************************************************
Wolfgang Betz 0:0feaa2a2d9ff 3 * @file x_nucleo_iks01a1.h
Wolfgang Betz 0:0feaa2a2d9ff 4 * @author AST / EST
Wolfgang Betz 0:0feaa2a2d9ff 5 * @version V0.0.1
Wolfgang Betz 0:0feaa2a2d9ff 6 * @date 13-April-2015
Wolfgang Betz 3:088aa5839e0d 7 * @brief Header file for class X_NUCLEO_IKS01A1 representing a X-NUCLEO-IKS01A1
Wolfgang Betz 0:0feaa2a2d9ff 8 * expansion board
Wolfgang Betz 0:0feaa2a2d9ff 9 ******************************************************************************
Wolfgang Betz 0:0feaa2a2d9ff 10 * @attention
Wolfgang Betz 0:0feaa2a2d9ff 11 *
Wolfgang Betz 3:088aa5839e0d 12 * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
Wolfgang Betz 0:0feaa2a2d9ff 13 *
Wolfgang Betz 0:0feaa2a2d9ff 14 * Redistribution and use in source and binary forms, with or without modification,
Wolfgang Betz 0:0feaa2a2d9ff 15 * are permitted provided that the following conditions are met:
Wolfgang Betz 0:0feaa2a2d9ff 16 * 1. Redistributions of source code must retain the above copyright notice,
Wolfgang Betz 0:0feaa2a2d9ff 17 * this list of conditions and the following disclaimer.
Wolfgang Betz 0:0feaa2a2d9ff 18 * 2. Redistributions in binary form must reproduce the above copyright notice,
Wolfgang Betz 0:0feaa2a2d9ff 19 * this list of conditions and the following disclaimer in the documentation
Wolfgang Betz 0:0feaa2a2d9ff 20 * and/or other materials provided with the distribution.
Wolfgang Betz 0:0feaa2a2d9ff 21 * 3. Neither the name of STMicroelectronics nor the names of its contributors
Wolfgang Betz 0:0feaa2a2d9ff 22 * may be used to endorse or promote products derived from this software
Wolfgang Betz 0:0feaa2a2d9ff 23 * without specific prior written permission.
Wolfgang Betz 0:0feaa2a2d9ff 24 *
Wolfgang Betz 0:0feaa2a2d9ff 25 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
Wolfgang Betz 0:0feaa2a2d9ff 26 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
Wolfgang Betz 0:0feaa2a2d9ff 27 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
Wolfgang Betz 0:0feaa2a2d9ff 28 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
Wolfgang Betz 0:0feaa2a2d9ff 29 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
Wolfgang Betz 0:0feaa2a2d9ff 30 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
Wolfgang Betz 0:0feaa2a2d9ff 31 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
Wolfgang Betz 0:0feaa2a2d9ff 32 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
Wolfgang Betz 0:0feaa2a2d9ff 33 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
Wolfgang Betz 0:0feaa2a2d9ff 34 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
Wolfgang Betz 0:0feaa2a2d9ff 35 *
Wolfgang Betz 0:0feaa2a2d9ff 36 ******************************************************************************
Wolfgang Betz 0:0feaa2a2d9ff 37 */
Wolfgang Betz 0:0feaa2a2d9ff 38
Wolfgang Betz 0:0feaa2a2d9ff 39 /* Define to prevent from recursive inclusion --------------------------------*/
Wolfgang Betz 0:0feaa2a2d9ff 40 #ifndef __X_NUCLEO_IKS01A1_H
Wolfgang Betz 0:0feaa2a2d9ff 41 #define __X_NUCLEO_IKS01A1_H
Wolfgang Betz 0:0feaa2a2d9ff 42
Wolfgang Betz 0:0feaa2a2d9ff 43 /* Includes ------------------------------------------------------------------*/
Wolfgang Betz 0:0feaa2a2d9ff 44 #include "mbed.h"
Wolfgang Betz 0:0feaa2a2d9ff 45 #include "x_nucleo_iks01a1_targets.h"
Wolfgang Betz 15:472cf58b9c11 46 #include "hts221/hts221_class.h"
Wolfgang Betz 15:472cf58b9c11 47 #include "lis3mdl/lis3mdl_class.h"
Wolfgang Betz 15:472cf58b9c11 48 #include "lps25h/lps25h_class.h"
Wolfgang Betz 15:472cf58b9c11 49 #include "lsm6ds0/lsm6ds0_class.h"
Wolfgang Betz 44:d757094f6229 50 #include "lsm6ds3/lsm6ds3_class.h"
Wolfgang Betz 0:0feaa2a2d9ff 51 #include "DevI2C.h"
Wolfgang Betz 0:0feaa2a2d9ff 52
Wolfgang Betz 42:5490ac2d0a10 53 /* Macros -------------------------------------------------------------------*/
Wolfgang Betz 42:5490ac2d0a10 54 #define CALL_METH(obj, meth, param, ret) ((obj == NULL) ? \
Wolfgang Betz 42:5490ac2d0a10 55 ((*(param) = (ret)), 0) : \
Wolfgang Betz 42:5490ac2d0a10 56 ((obj)->meth(param)) \
Wolfgang Betz 42:5490ac2d0a10 57 )
Wolfgang Betz 42:5490ac2d0a10 58
Wolfgang Betz 0:0feaa2a2d9ff 59 /* Classes -------------------------------------------------------------------*/
Wolfgang Betz 4:566f2c41dc1d 60 /** Class X_NUCLEO_IKS01A1 is intended to represent the MEMS Inertial & Environmental
Wolfgang Betz 4:566f2c41dc1d 61 * Nucleo Expansion Board with the same name.
Wolfgang Betz 0:0feaa2a2d9ff 62 *
Wolfgang Betz 3:088aa5839e0d 63 * The expansion board is featuring basically four IPs:\n
Wolfgang Betz 3:088aa5839e0d 64 * -# a HTS221 Relative Humidity and Temperature Sensor\n
Wolfgang Betz 3:088aa5839e0d 65 * -# a LIS3MDL 3-Axis Magnetometer\n
Wolfgang Betz 71:78164ec41ad2 66 * -# a LPS25H MEMS Pressure Sensor (and Temperature Sensor)\n
Wolfgang Betz 3:088aa5839e0d 67 * -# and a LSM6DS0 3D Acceleromenter and 3D Gyroscope\n
Wolfgang Betz 0:0feaa2a2d9ff 68 *
Wolfgang Betz 44:d757094f6229 69 * The expansion board features also a DIL 24-pin socket which makes it possible
Wolfgang Betz 44:d757094f6229 70 * to add further MEMS adapters and other sensors (e.g. UV index).
Wolfgang Betz 44:d757094f6229 71 *
Wolfgang Betz 0:0feaa2a2d9ff 72 * It is intentionally implemented as a singleton because only one
Wolfgang Betz 0:0feaa2a2d9ff 73 * X_NUCLEO_IKS01A1 at a time might be deployed in a HW component stack.\n
Wolfgang Betz 0:0feaa2a2d9ff 74 * In order to get the singleton instance you have to call class method `Instance()`,
Wolfgang Betz 0:0feaa2a2d9ff 75 * e.g.:
Wolfgang Betz 0:0feaa2a2d9ff 76 * @code
Wolfgang Betz 3:088aa5839e0d 77 * // Inertial & Environmental expansion board singleton instance
Wolfgang Betz 0:0feaa2a2d9ff 78 * static X_NUCLEO_IKS01A1 *<TODO>_expansion_board = X_NUCLEO_IKS01A1::Instance();
Wolfgang Betz 0:0feaa2a2d9ff 79 * @endcode
Wolfgang Betz 0:0feaa2a2d9ff 80 */
Wolfgang Betz 0:0feaa2a2d9ff 81 class X_NUCLEO_IKS01A1
Wolfgang Betz 0:0feaa2a2d9ff 82 {
Wolfgang Betz 0:0feaa2a2d9ff 83 protected:
Wolfgang Betz 72:79a2a64c9b2f 84 X_NUCLEO_IKS01A1(DevI2C *ext_i2c, PinName ff_irq_pin);
Wolfgang Betz 0:0feaa2a2d9ff 85
Wolfgang Betz 44:d757094f6229 86 /**
Wolfgang Betz 44:d757094f6229 87 * @brief Initialize the singleton's sensors to default settings
Wolfgang Betz 44:d757094f6229 88 * @retval true if initialization successful,
Wolfgang Betz 44:d757094f6229 89 * @retval false otherwise
Wolfgang Betz 44:d757094f6229 90 */
Wolfgang Betz 44:d757094f6229 91 bool Init(void) {
Wolfgang Betz 44:d757094f6229 92 return (Init_HTS221() &&
Wolfgang Betz 44:d757094f6229 93 Init_LIS3MDL() &&
Wolfgang Betz 44:d757094f6229 94 Init_LPS25H() &&
Wolfgang Betz 44:d757094f6229 95 Init_Gyro());
Wolfgang Betz 44:d757094f6229 96 }
Wolfgang Betz 44:d757094f6229 97
Wolfgang Betz 44:d757094f6229 98 /**
Wolfgang Betz 44:d757094f6229 99 * @brief Initialize the singleton's gyroscope
Wolfgang Betz 44:d757094f6229 100 * @retval true if initialization successful,
Wolfgang Betz 44:d757094f6229 101 * @retval false otherwise
Wolfgang Betz 44:d757094f6229 102 * @note only one sensor among LSM6DS3 & LSM6DS0 will be instantiated
Wolfgang Betz 44:d757094f6229 103 * with a preference on LSM6DS3 when available
Wolfgang Betz 44:d757094f6229 104 */
Wolfgang Betz 44:d757094f6229 105 bool Init_Gyro(void) {
Wolfgang Betz 44:d757094f6229 106 // Note: order is important!
Wolfgang Betz 44:d757094f6229 107 return (Init_LSM6DS3() &&
Wolfgang Betz 44:d757094f6229 108 Init_LSM6DS0());
Wolfgang Betz 44:d757094f6229 109 }
Wolfgang Betz 44:d757094f6229 110
Wolfgang Betz 42:5490ac2d0a10 111 bool Init_HTS221(void);
Wolfgang Betz 42:5490ac2d0a10 112 bool Init_LIS3MDL(void);
Wolfgang Betz 42:5490ac2d0a10 113 bool Init_LPS25H(void);
Wolfgang Betz 42:5490ac2d0a10 114 bool Init_LSM6DS0(void);
Wolfgang Betz 44:d757094f6229 115 bool Init_LSM6DS3(void);
Wolfgang Betz 8:d49db2c9d9c1 116
Wolfgang Betz 0:0feaa2a2d9ff 117 public:
Wolfgang Betz 72:79a2a64c9b2f 118 static X_NUCLEO_IKS01A1* Instance(DevI2C *ext_i2c = NULL,
Wolfgang Betz 72:79a2a64c9b2f 119 PinName ff_irq_pin = IKS01A1_PIN_FF);
Wolfgang Betz 72:79a2a64c9b2f 120 static X_NUCLEO_IKS01A1* Instance(PinName sda, PinName scl, PinName ff_irq_pin = NC);
Wolfgang Betz 0:0feaa2a2d9ff 121
mapellil 76:88d48e64bac2 122 /**
mapellil 76:88d48e64bac2 123 * @brief Destructor
mapellil 76:88d48e64bac2 124 */
mapellil 76:88d48e64bac2 125 ~X_NUCLEO_IKS01A1(){
mapellil 76:88d48e64bac2 126 //if(dev_i2c!=NULL){ delete dev_i2c; dev_i2c=0; } how to understand if dev_i2c is locally allocated (so it must be deleted) or comes from constructors args?
mapellil 76:88d48e64bac2 127 if(ht_sensor!=NULL){ delete ht_sensor; ht_sensor=NULL; }
mapellil 76:88d48e64bac2 128 if(magnetometer!=NULL){ delete magnetometer; magnetometer=NULL; }
mapellil 76:88d48e64bac2 129 if(pt_sensor!=NULL){ delete pt_sensor; pt_sensor=NULL; }
mapellil 76:88d48e64bac2 130 }
mapellil 76:88d48e64bac2 131
Wolfgang Betz 42:5490ac2d0a10 132 DevI2C *dev_i2c;
Wolfgang Betz 0:0feaa2a2d9ff 133
Wolfgang Betz 42:5490ac2d0a10 134 HTS221 *ht_sensor;
Wolfgang Betz 42:5490ac2d0a10 135 LIS3MDL *magnetometer;
Wolfgang Betz 71:78164ec41ad2 136 LPS25H *pt_sensor;
Wolfgang Betz 44:d757094f6229 137
Wolfgang Betz 44:d757094f6229 138 GyroSensor *GetGyroscope(void) {
Wolfgang Betz 44:d757094f6229 139 return ((gyro_lsm6ds3 == NULL) ?
Wolfgang Betz 44:d757094f6229 140 (GyroSensor*)gyro_lsm6ds0 : (GyroSensor*)gyro_lsm6ds3);
Wolfgang Betz 44:d757094f6229 141 }
Wolfgang Betz 44:d757094f6229 142 MotionSensor *GetAccelerometer(void) {
Wolfgang Betz 44:d757094f6229 143 return ((gyro_lsm6ds3 == NULL) ?
Wolfgang Betz 44:d757094f6229 144 (MotionSensor*)gyro_lsm6ds0 : (MotionSensor*)gyro_lsm6ds3);
Wolfgang Betz 44:d757094f6229 145 }
Wolfgang Betz 44:d757094f6229 146 LSM6DS0 *gyro_lsm6ds0;
Wolfgang Betz 44:d757094f6229 147 LSM6DS3 *gyro_lsm6ds3;
Wolfgang Betz 3:088aa5839e0d 148
Wolfgang Betz 0:0feaa2a2d9ff 149 private:
Wolfgang Betz 0:0feaa2a2d9ff 150 static X_NUCLEO_IKS01A1 *_instance;
Wolfgang Betz 0:0feaa2a2d9ff 151 };
Wolfgang Betz 0:0feaa2a2d9ff 152
Wolfgang Betz 0:0feaa2a2d9ff 153 #endif /* __X_NUCLEO_IKS01A1_H */