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@2:ae74845fa96a, 2016-08-19 (annotated)

Committer:
cparata
Date:
Fri Aug 19 12:23:23 2016 +0000
Revision:
2:ae74845fa96a
Child:
6:f215defe10e4
Add interfaces to all components

Who changed what in which revision?

UserRevisionLine numberNew contents of line
cparata 2:ae74845fa96a 1 /**
cparata 2:ae74845fa96a 2 ******************************************************************************
cparata 2:ae74845fa96a 3 * @file x_nucleo_iks01a2.cpp
cparata 2:ae74845fa96a 4 * @author AST / EST
cparata 2:ae74845fa96a 5 * @version V0.0.1
cparata 2:ae74845fa96a 6 * @date 9-August-2016
cparata 2:ae74845fa96a 7 * @brief Implementation file for the X_NUCLEO_IKS01A2 singleton class
cparata 2:ae74845fa96a 8 ******************************************************************************
cparata 2:ae74845fa96a 9 * @attention
cparata 2:ae74845fa96a 10 *
cparata 2:ae74845fa96a 11 * <h2><center>&copy; COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
cparata 2:ae74845fa96a 12 *
cparata 2:ae74845fa96a 13 * Redistribution and use in source and binary forms, with or without modification,
cparata 2:ae74845fa96a 14 * are permitted provided that the following conditions are met:
cparata 2:ae74845fa96a 15 * 1. Redistributions of source code must retain the above copyright notice,
cparata 2:ae74845fa96a 16 * this list of conditions and the following disclaimer.
cparata 2:ae74845fa96a 17 * 2. Redistributions in binary form must reproduce the above copyright notice,
cparata 2:ae74845fa96a 18 * this list of conditions and the following disclaimer in the documentation
cparata 2:ae74845fa96a 19 * and/or other materials provided with the distribution.
cparata 2:ae74845fa96a 20 * 3. Neither the name of STMicroelectronics nor the names of its contributors
cparata 2:ae74845fa96a 21 * may be used to endorse or promote products derived from this software
cparata 2:ae74845fa96a 22 * without specific prior written permission.
cparata 2:ae74845fa96a 23 *
cparata 2:ae74845fa96a 24 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
cparata 2:ae74845fa96a 25 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
cparata 2:ae74845fa96a 26 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
cparata 2:ae74845fa96a 27 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
cparata 2:ae74845fa96a 28 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
cparata 2:ae74845fa96a 29 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
cparata 2:ae74845fa96a 30 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
cparata 2:ae74845fa96a 31 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
cparata 2:ae74845fa96a 32 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
cparata 2:ae74845fa96a 33 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
cparata 2:ae74845fa96a 34 *
cparata 2:ae74845fa96a 35 ******************************************************************************
cparata 2:ae74845fa96a 36 */
cparata 2:ae74845fa96a 37
cparata 2:ae74845fa96a 38 /* Includes ------------------------------------------------------------------*/
cparata 2:ae74845fa96a 39 #include "mbed.h"
cparata 2:ae74845fa96a 40 #include "x_nucleo_iks01a2.h"
cparata 2:ae74845fa96a 41
cparata 2:ae74845fa96a 42 /* Static variables ----------------------------------------------------------*/
cparata 2:ae74845fa96a 43 X_NUCLEO_IKS01A2* X_NUCLEO_IKS01A2::_instance = NULL;
cparata 2:ae74845fa96a 44
cparata 2:ae74845fa96a 45
cparata 2:ae74845fa96a 46 /* Methods -------------------------------------------------------------------*/
cparata 2:ae74845fa96a 47 /**
cparata 2:ae74845fa96a 48 * @brief Constructor
cparata 2:ae74845fa96a 49 */
cparata 2:ae74845fa96a 50 X_NUCLEO_IKS01A2::X_NUCLEO_IKS01A2(DevI2C *ext_i2c) : dev_i2c(ext_i2c),
cparata 2:ae74845fa96a 51 ht_sensor(new HTS221Sensor(*dev_i2c)),
cparata 2:ae74845fa96a 52 magnetometer(new LSM303AGR_MAG_Sensor(*dev_i2c)),
cparata 2:ae74845fa96a 53 accelerometer(new LSM303AGR_ACC_Sensor(*dev_i2c)),
cparata 2:ae74845fa96a 54 pt_sensor(new LPS22HBSensor(*dev_i2c)),
cparata 2:ae74845fa96a 55 acc_gyro(new LSM6DSLSensor(*dev_i2c))
cparata 2:ae74845fa96a 56 {
cparata 2:ae74845fa96a 57 ht_sensor->Init(NULL);
cparata 2:ae74845fa96a 58 magnetometer->Init(NULL);
cparata 2:ae74845fa96a 59 accelerometer->Init(NULL);
cparata 2:ae74845fa96a 60 pt_sensor->Init(NULL);
cparata 2:ae74845fa96a 61 acc_gyro->Init(NULL);
cparata 2:ae74845fa96a 62 }
cparata 2:ae74845fa96a 63
cparata 2:ae74845fa96a 64 /**
cparata 2:ae74845fa96a 65 * @brief Get singleton instance
cparata 2:ae74845fa96a 66 * @return a pointer to the initialized singleton instance of class X_NUCLEO_IKS01A2.
cparata 2:ae74845fa96a 67 * A return value of NULL indicates an out of memory situation.
cparata 2:ae74845fa96a 68 * @param[in] ext_i2c (optional) pointer to an instance of DevI2C to be used
cparata 2:ae74845fa96a 69 * for communication on the expansion board.
cparata 2:ae74845fa96a 70 * Defaults to NULL.
cparata 2:ae74845fa96a 71 * Taken into account only on the very first call of one of the 'Instance' functions.
cparata 2:ae74845fa96a 72 * If not provided a new DevI2C will be created with standard
cparata 2:ae74845fa96a 73 * configuration parameters.
cparata 2:ae74845fa96a 74 * The used DevI2C object gets saved in instance variable dev_i2c.
cparata 2:ae74845fa96a 75 */
cparata 2:ae74845fa96a 76 X_NUCLEO_IKS01A2* X_NUCLEO_IKS01A2::Instance(DevI2C *ext_i2c) {
cparata 2:ae74845fa96a 77 if(_instance == NULL) {
cparata 2:ae74845fa96a 78 if(ext_i2c == NULL)
cparata 2:ae74845fa96a 79 ext_i2c = new DevI2C(IKS01A2_PIN_I2C_SDA, IKS01A2_PIN_I2C_SCL);
cparata 2:ae74845fa96a 80
cparata 2:ae74845fa96a 81 if(ext_i2c != NULL)
cparata 2:ae74845fa96a 82 _instance = new X_NUCLEO_IKS01A2(ext_i2c);
cparata 2:ae74845fa96a 83 }
cparata 2:ae74845fa96a 84
cparata 2:ae74845fa96a 85 return _instance;
cparata 2:ae74845fa96a 86 }
cparata 2:ae74845fa96a 87
cparata 2:ae74845fa96a 88 /**
cparata 2:ae74845fa96a 89 * @brief Get singleton instance
cparata 2:ae74845fa96a 90 * @return a pointer to the initialized singleton instance of class X_NUCLEO_IKS01A1.
cparata 2:ae74845fa96a 91 * A return value of NULL indicates an out of memory situation.
cparata 2:ae74845fa96a 92 * @param[in] sda I2C data line pin.
cparata 2:ae74845fa96a 93 * Taken into account only on the very first call of one of the 'Instance' functions.
cparata 2:ae74845fa96a 94 * A new DevI2C will be created based on parameters 'sda' and 'scl'.
cparata 2:ae74845fa96a 95 * The used DevI2C object gets saved in instance variable dev_i2c.
cparata 2:ae74845fa96a 96 * @param[in] scl I2C clock line pin.
cparata 2:ae74845fa96a 97 * Taken into account only on the very first call of one of the 'Instance' functions.
cparata 2:ae74845fa96a 98 * A new DevI2C will be created based on parameters 'sda' and 'scl'.
cparata 2:ae74845fa96a 99 * The used DevI2C object gets saved in instance variable dev_i2c.
cparata 2:ae74845fa96a 100 */
cparata 2:ae74845fa96a 101 X_NUCLEO_IKS01A2* X_NUCLEO_IKS01A2::Instance(PinName sda, PinName scl) {
cparata 2:ae74845fa96a 102 if(_instance == NULL) {
cparata 2:ae74845fa96a 103 DevI2C *ext_i2c = new DevI2C(sda, scl);
cparata 2:ae74845fa96a 104
cparata 2:ae74845fa96a 105 if(ext_i2c != NULL)
cparata 2:ae74845fa96a 106 _instance = new X_NUCLEO_IKS01A2(ext_i2c);
cparata 2:ae74845fa96a 107 }
cparata 2:ae74845fa96a 108
cparata 2:ae74845fa96a 109 return _instance;
cparata 2:ae74845fa96a 110 }