ST
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.
Diff: X_NUCLEO_IKS01A2/x_nucleo_iks01a2.cpp
- Revision:
- 8:459b84a5287b
- Parent:
- 7:d598eeaedcbd
- Child:
- 9:048d33f56997
--- a/X_NUCLEO_IKS01A2/x_nucleo_iks01a2.cpp Thu Nov 24 16:44:18 2016 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,110 +0,0 @@
-/**
- ******************************************************************************
- * @file x_nucleo_iks01a2.cpp
- * @author AST / EST
- * @version V0.0.1
- * @date 9-August-2016
- * @brief Implementation file for the X_NUCLEO_IKS01A2 singleton class
- ******************************************************************************
- * @attention
- *
- * <h2><center>© COPYRIGHT(c) 2016 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.
- *
- ******************************************************************************
-*/
-
-/* Includes ------------------------------------------------------------------*/
-#include "mbed.h"
-#include "x_nucleo_iks01a2.h"
-
-/* Static variables ----------------------------------------------------------*/
-X_NUCLEO_IKS01A2* X_NUCLEO_IKS01A2::_instance = NULL;
-
-
-/* Methods -------------------------------------------------------------------*/
-/**
- * @brief Constructor
- */
-X_NUCLEO_IKS01A2::X_NUCLEO_IKS01A2(DevI2C *ext_i2c) : dev_i2c(ext_i2c),
- ht_sensor(new HTS221Sensor(*dev_i2c)),
- magnetometer(new LSM303AGR_MAG_Sensor(*dev_i2c)),
- accelerometer(new LSM303AGR_ACC_Sensor(*dev_i2c)),
- pt_sensor(new LPS22HBSensor(*dev_i2c)),
- acc_gyro(new LSM6DSLSensor(*dev_i2c, IKS01A2_PIN_LSM6DSL_INT1, IKS01A2_PIN_LSM6DSL_INT2))
-{
- ht_sensor->Init(NULL);
- magnetometer->Init(NULL);
- accelerometer->Init(NULL);
- pt_sensor->Init(NULL);
- acc_gyro->Init(NULL);
-}
-
-/**
- * @brief Get singleton instance
- * @return a pointer to the initialized singleton instance of class X_NUCLEO_IKS01A2.
- * A return value of NULL indicates an out of memory situation.
- * @param[in] ext_i2c (optional) pointer to an instance of DevI2C to be used
- * for communication on the expansion board.
- * Defaults to NULL.
- * Taken into account only on the very first call of one of the 'Instance' functions.
- * If not provided a new DevI2C will be created with standard
- * configuration parameters.
- * The used DevI2C object gets saved in instance variable dev_i2c.
- */
-X_NUCLEO_IKS01A2* X_NUCLEO_IKS01A2::Instance(DevI2C *ext_i2c) {
- if(_instance == NULL) {
- if(ext_i2c == NULL)
- ext_i2c = new DevI2C(IKS01A2_PIN_I2C_SDA, IKS01A2_PIN_I2C_SCL);
-
- if(ext_i2c != NULL)
- _instance = new X_NUCLEO_IKS01A2(ext_i2c);
- }
-
- return _instance;
-}
-
-/**
- * @brief Get singleton instance
- * @return a pointer to the initialized singleton instance of class X_NUCLEO_IKS01A1.
- * A return value of NULL indicates an out of memory situation.
- * @param[in] sda I2C data line pin.
- * Taken into account only on the very first call of one of the 'Instance' functions.
- * A new DevI2C will be created based on parameters 'sda' and 'scl'.
- * The used DevI2C object gets saved in instance variable dev_i2c.
- * @param[in] scl I2C clock line pin.
- * Taken into account only on the very first call of one of the 'Instance' functions.
- * A new DevI2C will be created based on parameters 'sda' and 'scl'.
- * The used DevI2C object gets saved in instance variable dev_i2c.
- */
-X_NUCLEO_IKS01A2* X_NUCLEO_IKS01A2::Instance(PinName sda, PinName scl) {
- if(_instance == NULL) {
- DevI2C *ext_i2c = new DevI2C(sda, scl);
-
- if(ext_i2c != NULL)
- _instance = new X_NUCLEO_IKS01A2(ext_i2c);
- }
-
- return _instance;
-}