ST / Mbed 2 deprecated 6DOrientation_IKS01A2

Example of 6D orientation recognition for LSM6DSL in X-NUCLEO-IKS01A2

Dependencies:   X_NUCLEO_IKS01A2 mbed

Fork of 6DOrientation_IKS01A2 by ST Expansion SW Team

6D Orientation Demo Application based on sensor expansion board X-NUCLEO-IKS01A2

Main function is to show how to use sensor expansion board to find out the 6D orientation and send data using UART to a connected PC or Desktop and display it on terminal applications like TeraTerm.
After connection has been established:
- the user can rotate the board to change the 6D orientation and then view the data using an hyper terminal.
- the user button can be used to display the current 6D orientation.

X_NUCLEO_IKS01A2/x_nucleo_iks01a2.cpp@0:485458fca2bd, 2016-08-12 (annotated)

Committer:
cparata
Date:
Fri Aug 12 13:37:49 2016 +0000
Revision:
0:485458fca2bd
First release of 6D orientation for LSM6DSL in IKS01A2

Who changed what in which revision?

UserRevisionLine numberNew contents of line
cparata 0:485458fca2bd 1 /**
cparata 0:485458fca2bd 2 ******************************************************************************
cparata 0:485458fca2bd 3 * @file x_nucleo_iks01a2.cpp
cparata 0:485458fca2bd 4 * @author AST / EST
cparata 0:485458fca2bd 5 * @version V0.0.1
cparata 0:485458fca2bd 6 * @date 9-August-2016
cparata 0:485458fca2bd 7 * @brief Implementation file for the X_NUCLEO_IKS01A2 singleton class
cparata 0:485458fca2bd 8 ******************************************************************************
cparata 0:485458fca2bd 9 * @attention
cparata 0:485458fca2bd 10 *
cparata 0:485458fca2bd 11 * <h2><center>&copy; COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
cparata 0:485458fca2bd 12 *
cparata 0:485458fca2bd 13 * Redistribution and use in source and binary forms, with or without modification,
cparata 0:485458fca2bd 14 * are permitted provided that the following conditions are met:
cparata 0:485458fca2bd 15 * 1. Redistributions of source code must retain the above copyright notice,
cparata 0:485458fca2bd 16 * this list of conditions and the following disclaimer.
cparata 0:485458fca2bd 17 * 2. Redistributions in binary form must reproduce the above copyright notice,
cparata 0:485458fca2bd 18 * this list of conditions and the following disclaimer in the documentation
cparata 0:485458fca2bd 19 * and/or other materials provided with the distribution.
cparata 0:485458fca2bd 20 * 3. Neither the name of STMicroelectronics nor the names of its contributors
cparata 0:485458fca2bd 21 * may be used to endorse or promote products derived from this software
cparata 0:485458fca2bd 22 * without specific prior written permission.
cparata 0:485458fca2bd 23 *
cparata 0:485458fca2bd 24 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
cparata 0:485458fca2bd 25 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
cparata 0:485458fca2bd 26 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
cparata 0:485458fca2bd 27 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
cparata 0:485458fca2bd 28 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
cparata 0:485458fca2bd 29 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
cparata 0:485458fca2bd 30 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
cparata 0:485458fca2bd 31 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
cparata 0:485458fca2bd 32 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
cparata 0:485458fca2bd 33 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
cparata 0:485458fca2bd 34 *
cparata 0:485458fca2bd 35 ******************************************************************************
cparata 0:485458fca2bd 36 */
cparata 0:485458fca2bd 37
cparata 0:485458fca2bd 38 /* Includes ------------------------------------------------------------------*/
cparata 0:485458fca2bd 39 #include "mbed.h"
cparata 0:485458fca2bd 40 #include "x_nucleo_iks01a2.h"
cparata 0:485458fca2bd 41
cparata 0:485458fca2bd 42 /* Static variables ----------------------------------------------------------*/
cparata 0:485458fca2bd 43 X_NUCLEO_IKS01A2* X_NUCLEO_IKS01A2::_instance = NULL;
cparata 0:485458fca2bd 44
cparata 0:485458fca2bd 45
cparata 0:485458fca2bd 46 /* Methods -------------------------------------------------------------------*/
cparata 0:485458fca2bd 47 /**
cparata 0:485458fca2bd 48 * @brief Constructor
cparata 0:485458fca2bd 49 */
cparata 0:485458fca2bd 50 X_NUCLEO_IKS01A2::X_NUCLEO_IKS01A2(DevI2C *ext_i2c) : dev_i2c(ext_i2c),
cparata 0:485458fca2bd 51 ht_sensor(new HTS221Sensor(*dev_i2c)),
cparata 0:485458fca2bd 52 magnetometer(new LSM303AGR_MAG_Sensor(*dev_i2c)),
cparata 0:485458fca2bd 53 accelerometer(new LSM303AGR_ACC_Sensor(*dev_i2c)),
cparata 0:485458fca2bd 54 pt_sensor(new LPS22HBSensor(*dev_i2c)),
cparata 0:485458fca2bd 55 acc_gyro(new LSM6DSLSensor(*dev_i2c))
cparata 0:485458fca2bd 56 {
cparata 0:485458fca2bd 57
cparata 0:485458fca2bd 58 }
cparata 0:485458fca2bd 59
cparata 0:485458fca2bd 60 /**
cparata 0:485458fca2bd 61 * @brief Get singleton instance
cparata 0:485458fca2bd 62 * @return a pointer to the initialized singleton instance of class X_NUCLEO_IKS01A2.
cparata 0:485458fca2bd 63 * A return value of NULL indicates an out of memory situation.
cparata 0:485458fca2bd 64 * @param[in] ext_i2c (optional) pointer to an instance of DevI2C to be used
cparata 0:485458fca2bd 65 * for communication on the expansion board.
cparata 0:485458fca2bd 66 * Defaults to NULL.
cparata 0:485458fca2bd 67 * Taken into account only on the very first call of one of the 'Instance' functions.
cparata 0:485458fca2bd 68 * If not provided a new DevI2C will be created with standard
cparata 0:485458fca2bd 69 * configuration parameters.
cparata 0:485458fca2bd 70 * The used DevI2C object gets saved in instance variable dev_i2c.
cparata 0:485458fca2bd 71 */
cparata 0:485458fca2bd 72 X_NUCLEO_IKS01A2* X_NUCLEO_IKS01A2::Instance(DevI2C *ext_i2c) {
cparata 0:485458fca2bd 73 if(_instance == NULL) {
cparata 0:485458fca2bd 74 if(ext_i2c == NULL)
cparata 0:485458fca2bd 75 ext_i2c = new DevI2C(IKS01A2_PIN_I2C_SDA, IKS01A2_PIN_I2C_SCL);
cparata 0:485458fca2bd 76
cparata 0:485458fca2bd 77 if(ext_i2c != NULL)
cparata 0:485458fca2bd 78 _instance = new X_NUCLEO_IKS01A2(ext_i2c);
cparata 0:485458fca2bd 79 }
cparata 0:485458fca2bd 80
cparata 0:485458fca2bd 81 return _instance;
cparata 0:485458fca2bd 82 }
cparata 0:485458fca2bd 83
cparata 0:485458fca2bd 84 /**
cparata 0:485458fca2bd 85 * @brief Get singleton instance
cparata 0:485458fca2bd 86 * @return a pointer to the initialized singleton instance of class X_NUCLEO_IKS01A1.
cparata 0:485458fca2bd 87 * A return value of NULL indicates an out of memory situation.
cparata 0:485458fca2bd 88 * @param[in] sda I2C data line pin.
cparata 0:485458fca2bd 89 * Taken into account only on the very first call of one of the 'Instance' functions.
cparata 0:485458fca2bd 90 * A new DevI2C will be created based on parameters 'sda' and 'scl'.
cparata 0:485458fca2bd 91 * The used DevI2C object gets saved in instance variable dev_i2c.
cparata 0:485458fca2bd 92 * @param[in] scl I2C clock line pin.
cparata 0:485458fca2bd 93 * Taken into account only on the very first call of one of the 'Instance' functions.
cparata 0:485458fca2bd 94 * A new DevI2C will be created based on parameters 'sda' and 'scl'.
cparata 0:485458fca2bd 95 * The used DevI2C object gets saved in instance variable dev_i2c.
cparata 0:485458fca2bd 96 */
cparata 0:485458fca2bd 97 X_NUCLEO_IKS01A2* X_NUCLEO_IKS01A2::Instance(PinName sda, PinName scl) {
cparata 0:485458fca2bd 98 if(_instance == NULL) {
cparata 0:485458fca2bd 99 DevI2C *ext_i2c = new DevI2C(sda, scl);
cparata 0:485458fca2bd 100
cparata 0:485458fca2bd 101 if(ext_i2c != NULL)
cparata 0:485458fca2bd 102 _instance = new X_NUCLEO_IKS01A2(ext_i2c);
cparata 0:485458fca2bd 103 }
cparata 0:485458fca2bd 104
cparata 0:485458fca2bd 105 return _instance;
cparata 0:485458fca2bd 106 }