ST / X_NUCLEO_IKS01A1

Firmware Library for X-NUCLEO-IKS01A1 (MEMS Inertial & Environmental Sensors) Expansion Board

Dependencies:   X_NUCLEO_COMMON ST_INTERFACES

Dependents:   MultiTech_Dragonfly_2015_ATT_Gov_Solutions_Hackathon_Example HelloWorld_IKS01A1 LoRaWAN-test-10secs ServoMotorDemo ... more

Fork of X_NUCLEO_IKS01A1 by ST Expansion SW Team

X-NUCLEO-IKS01A1 MEMS Inertial & Environmental Sensor Nucleo Expansion Board Firmware Package

Introduction

This firmware package includes Components Device Drivers and Board Support Package for STMicroelectronics' X-NUCLEO-IKS01A1 MEMS Inertial & Environmental Sensors Nucleo Expansion Board.

Firmware Library

Class X_NUCLEO_IKS01A1 is intended to represent the MEMS inertial & environmental sensors expansion board with the same name.

The expansion board is basically featuring four IPs:

  1. a HTS221 Relative Humidity and Temperature Sensor,
  2. a LIS3MDL 3-Axis Magnetometer,
  3. a LPS25H MEMS Pressure Sensor, and
  4. a LSM6DS0 3D Accelerometer and 3D Gyroscope

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. In order to get the singleton instance you have to call class method `Instance()`, e.g.:

// Sensors expansion board singleton instance
static X_NUCLEO_IKS01A1 *sensors_expansion_board = X_NUCLEO_IKS01A1::Instance();


Furthermore, library ST_INTERFACES contains all abstract classes which together constitute the common API to which all existing and future ST components will adhere to.

Example Applications

x_nucleo_iks01a1.cpp@57:04563dd74269, 2015-06-15 (annotated)

Committer:
Wolfgang Betz
Date:
Mon Jun 15 10:28:49 2015 +0200
Revision:
57:04563dd74269
Parent:
52:54553fd15b50
Child:
71:78164ec41ad2
Further fine-tuning of doxygen comments

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Wolfgang Betz 3:088aa5839e0d 1 /**
Wolfgang Betz 4:566f2c41dc1d 2 ******************************************************************************
Wolfgang Betz 4:566f2c41dc1d 3 * @file x_nucleo_iks01a1.cpp
Wolfgang Betz 4:566f2c41dc1d 4 * @author AST / EST
Wolfgang Betz 4:566f2c41dc1d 5 * @version V0.0.1
Wolfgang Betz 4:566f2c41dc1d 6 * @date 08-October-2014
Wolfgang Betz 4:566f2c41dc1d 7 * @brief Implementation file for the X_NUCLEO_IKS01A1 singleton class
Wolfgang Betz 4:566f2c41dc1d 8 ******************************************************************************
Wolfgang Betz 4:566f2c41dc1d 9 * @attention
Wolfgang Betz 4:566f2c41dc1d 10 *
Wolfgang Betz 4:566f2c41dc1d 11 * <h2><center>&copy; COPYRIGHT(c) 2014 STMicroelectronics</center></h2>
Wolfgang Betz 4:566f2c41dc1d 12 *
Wolfgang Betz 4:566f2c41dc1d 13 * Redistribution and use in source and binary forms, with or without modification,
Wolfgang Betz 4:566f2c41dc1d 14 * are permitted provided that the following conditions are met:
Wolfgang Betz 4:566f2c41dc1d 15 * 1. Redistributions of source code must retain the above copyright notice,
Wolfgang Betz 4:566f2c41dc1d 16 * this list of conditions and the following disclaimer.
Wolfgang Betz 4:566f2c41dc1d 17 * 2. Redistributions in binary form must reproduce the above copyright notice,
Wolfgang Betz 4:566f2c41dc1d 18 * this list of conditions and the following disclaimer in the documentation
Wolfgang Betz 4:566f2c41dc1d 19 * and/or other materials provided with the distribution.
Wolfgang Betz 4:566f2c41dc1d 20 * 3. Neither the name of STMicroelectronics nor the names of its contributors
Wolfgang Betz 4:566f2c41dc1d 21 * may be used to endorse or promote products derived from this software
Wolfgang Betz 4:566f2c41dc1d 22 * without specific prior written permission.
Wolfgang Betz 4:566f2c41dc1d 23 *
Wolfgang Betz 4:566f2c41dc1d 24 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
Wolfgang Betz 4:566f2c41dc1d 25 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
Wolfgang Betz 4:566f2c41dc1d 26 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
Wolfgang Betz 4:566f2c41dc1d 27 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
Wolfgang Betz 4:566f2c41dc1d 28 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
Wolfgang Betz 4:566f2c41dc1d 29 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
Wolfgang Betz 4:566f2c41dc1d 30 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
Wolfgang Betz 4:566f2c41dc1d 31 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
Wolfgang Betz 4:566f2c41dc1d 32 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
Wolfgang Betz 4:566f2c41dc1d 33 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
Wolfgang Betz 4:566f2c41dc1d 34 *
Wolfgang Betz 4:566f2c41dc1d 35 ******************************************************************************
Wolfgang Betz 3:088aa5839e0d 36 */
Wolfgang Betz 3:088aa5839e0d 37
Wolfgang Betz 3:088aa5839e0d 38 /* Includes ------------------------------------------------------------------*/
Wolfgang Betz 3:088aa5839e0d 39 #include "mbed.h"
Wolfgang Betz 3:088aa5839e0d 40 #include "x_nucleo_iks01a1.h"
Wolfgang Betz 3:088aa5839e0d 41
Wolfgang Betz 3:088aa5839e0d 42 /* Static variables ----------------------------------------------------------*/
Wolfgang Betz 3:088aa5839e0d 43 X_NUCLEO_IKS01A1* X_NUCLEO_IKS01A1::_instance = NULL;
Wolfgang Betz 3:088aa5839e0d 44
Wolfgang Betz 4:566f2c41dc1d 45
Wolfgang Betz 3:088aa5839e0d 46 /* Methods -------------------------------------------------------------------*/
Wolfgang Betz 3:088aa5839e0d 47 /**
Wolfgang Betz 3:088aa5839e0d 48 * @brief Constructor
Wolfgang Betz 3:088aa5839e0d 49 */
Wolfgang Betz 3:088aa5839e0d 50 X_NUCLEO_IKS01A1::X_NUCLEO_IKS01A1(DevI2C *ext_i2c) : dev_i2c(ext_i2c),
Wolfgang Betz 42:5490ac2d0a10 51 ht_sensor(new HTS221(*dev_i2c)),
Wolfgang Betz 42:5490ac2d0a10 52 magnetometer(new LIS3MDL(*dev_i2c)),
Wolfgang Betz 42:5490ac2d0a10 53 pressure_sensor(new LPS25H(*dev_i2c)),
Wolfgang Betz 44:d757094f6229 54 gyro_lsm6ds0(new LSM6DS0(*dev_i2c)),
Wolfgang Betz 52:54553fd15b50 55 gyro_lsm6ds3(new LSM6DS3(*dev_i2c, IKS01A1_PIN_FF))
Wolfgang Betz 3:088aa5839e0d 56 {
Wolfgang Betz 3:088aa5839e0d 57 }
Wolfgang Betz 3:088aa5839e0d 58
Wolfgang Betz 3:088aa5839e0d 59 /**
Wolfgang Betz 57:04563dd74269 60 * @brief Get singleton instance
Wolfgang Betz 57:04563dd74269 61 * @return a pointer to the initialized singleton instance of class X_NUCLEO_IKS01A1
Wolfgang Betz 57:04563dd74269 62 * @param[in] ext_i2c (optional) pointer to an instance of DevI2C to be used
Wolfgang Betz 57:04563dd74269 63 * for communication on the expansion board.
Wolfgang Betz 57:04563dd74269 64 * Taken into account only on the very first call of this function.
Wolfgang Betz 57:04563dd74269 65 * If not provided a new DevI2C will be created with standard
Wolfgang Betz 57:04563dd74269 66 * configuration parameters.
Wolfgang Betz 57:04563dd74269 67 * The used DevI2C object gets saved in instance variable dev_i2c.
Wolfgang Betz 3:088aa5839e0d 68 */
Wolfgang Betz 3:088aa5839e0d 69 X_NUCLEO_IKS01A1* X_NUCLEO_IKS01A1::Instance(DevI2C *ext_i2c) {
Wolfgang Betz 3:088aa5839e0d 70 if(_instance == NULL) {
Wolfgang Betz 3:088aa5839e0d 71 if(ext_i2c == NULL)
Wolfgang Betz 3:088aa5839e0d 72 ext_i2c = new DevI2C(IKS01A1_PIN_I2C_SDA, IKS01A1_PIN_I2C_SCL);
Wolfgang Betz 10:cdf47a4b3f2f 73
Wolfgang Betz 10:cdf47a4b3f2f 74 if(ext_i2c != NULL)
Wolfgang Betz 10:cdf47a4b3f2f 75 _instance = new X_NUCLEO_IKS01A1(ext_i2c);
Wolfgang Betz 8:d49db2c9d9c1 76
Wolfgang Betz 8:d49db2c9d9c1 77 if(_instance != NULL) {
Wolfgang Betz 8:d49db2c9d9c1 78 bool ret = _instance->Init();
Wolfgang Betz 8:d49db2c9d9c1 79 if(!ret) {
Wolfgang Betz 8:d49db2c9d9c1 80 error("Failed to init X_NUCLEO_IKS01A1 expansion board!\n");
Wolfgang Betz 8:d49db2c9d9c1 81 }
Wolfgang Betz 8:d49db2c9d9c1 82 }
Wolfgang Betz 3:088aa5839e0d 83 }
Wolfgang Betz 8:d49db2c9d9c1 84
Wolfgang Betz 3:088aa5839e0d 85 return _instance;
Wolfgang Betz 3:088aa5839e0d 86 }
Wolfgang Betz 8:d49db2c9d9c1 87
Wolfgang Betz 8:d49db2c9d9c1 88 /**
Wolfgang Betz 44:d757094f6229 89 * @brief Initialize the singleton's HT sensor
Wolfgang Betz 42:5490ac2d0a10 90 * @retval true if initialization successful,
Wolfgang Betz 42:5490ac2d0a10 91 * @retval false otherwise
Wolfgang Betz 42:5490ac2d0a10 92 */
Wolfgang Betz 42:5490ac2d0a10 93 bool X_NUCLEO_IKS01A1::Init_HTS221(void) {
Wolfgang Betz 8:d49db2c9d9c1 94 uint8_t ht_id = 0;
Wolfgang Betz 8:d49db2c9d9c1 95 HUM_TEMP_InitTypeDef InitStructure;
Wolfgang Betz 8:d49db2c9d9c1 96
Wolfgang Betz 42:5490ac2d0a10 97 /* Check presence */
Wolfgang Betz 42:5490ac2d0a10 98 if((ht_sensor->ReadID(&ht_id) != HUM_TEMP_OK) ||
Wolfgang Betz 42:5490ac2d0a10 99 (ht_id != I_AM_HTS221))
Wolfgang Betz 42:5490ac2d0a10 100 {
Wolfgang Betz 42:5490ac2d0a10 101 delete ht_sensor;
Wolfgang Betz 42:5490ac2d0a10 102 ht_sensor = NULL;
Wolfgang Betz 42:5490ac2d0a10 103 return true;
Wolfgang Betz 42:5490ac2d0a10 104 }
Wolfgang Betz 42:5490ac2d0a10 105
Wolfgang Betz 8:d49db2c9d9c1 106 /* Configure sensor */
Wolfgang Betz 8:d49db2c9d9c1 107 InitStructure.OutputDataRate = HTS221_ODR_12_5Hz;
Wolfgang Betz 8:d49db2c9d9c1 108
Wolfgang Betz 42:5490ac2d0a10 109 if(ht_sensor->Init(&InitStructure) != HUM_TEMP_OK)
Wolfgang Betz 8:d49db2c9d9c1 110 {
Wolfgang Betz 8:d49db2c9d9c1 111 return false;
Wolfgang Betz 8:d49db2c9d9c1 112 }
Wolfgang Betz 8:d49db2c9d9c1 113
Wolfgang Betz 8:d49db2c9d9c1 114 return true;
Wolfgang Betz 8:d49db2c9d9c1 115 }
Wolfgang Betz 8:d49db2c9d9c1 116
Wolfgang Betz 8:d49db2c9d9c1 117 /**
Wolfgang Betz 44:d757094f6229 118 * @brief Initialize the singleton's magnetometer
Wolfgang Betz 44:d757094f6229 119 * @retval true if initialization successful,
Wolfgang Betz 44:d757094f6229 120 * @retval false otherwise
Wolfgang Betz 8:d49db2c9d9c1 121 */
Wolfgang Betz 42:5490ac2d0a10 122 bool X_NUCLEO_IKS01A1::Init_LIS3MDL(void) {
Wolfgang Betz 8:d49db2c9d9c1 123 uint8_t m_id = 0;
Wolfgang Betz 8:d49db2c9d9c1 124 MAGNETO_InitTypeDef InitStructure;
Wolfgang Betz 8:d49db2c9d9c1 125
Wolfgang Betz 42:5490ac2d0a10 126 /* Check presence */
Wolfgang Betz 42:5490ac2d0a10 127 if((magnetometer->ReadID(&m_id) != MAGNETO_OK) ||
Wolfgang Betz 42:5490ac2d0a10 128 (m_id != I_AM_LIS3MDL_M))
Wolfgang Betz 42:5490ac2d0a10 129 {
Wolfgang Betz 42:5490ac2d0a10 130 delete magnetometer;
Wolfgang Betz 42:5490ac2d0a10 131 magnetometer = NULL;
Wolfgang Betz 42:5490ac2d0a10 132 return true;
Wolfgang Betz 42:5490ac2d0a10 133 }
Wolfgang Betz 42:5490ac2d0a10 134
Wolfgang Betz 8:d49db2c9d9c1 135 /* Configure sensor */
Wolfgang Betz 8:d49db2c9d9c1 136 InitStructure.M_FullScale = LIS3MDL_M_FS_4;
Wolfgang Betz 8:d49db2c9d9c1 137 InitStructure.M_OperatingMode = LIS3MDL_M_MD_CONTINUOUS;
Wolfgang Betz 8:d49db2c9d9c1 138 InitStructure.M_XYOperativeMode = LIS3MDL_M_OM_HP;
Wolfgang Betz 8:d49db2c9d9c1 139 InitStructure.M_OutputDataRate = LIS3MDL_M_DO_80;
Wolfgang Betz 8:d49db2c9d9c1 140
Wolfgang Betz 42:5490ac2d0a10 141 if(magnetometer->Init(&InitStructure) != MAGNETO_OK)
Wolfgang Betz 8:d49db2c9d9c1 142 {
Wolfgang Betz 8:d49db2c9d9c1 143 return false;
Wolfgang Betz 8:d49db2c9d9c1 144 }
Wolfgang Betz 8:d49db2c9d9c1 145
Wolfgang Betz 8:d49db2c9d9c1 146 return true;
Wolfgang Betz 8:d49db2c9d9c1 147 }
Wolfgang Betz 8:d49db2c9d9c1 148
Wolfgang Betz 8:d49db2c9d9c1 149 /**
Wolfgang Betz 44:d757094f6229 150 * @brief Initialize the singleton's pressure sensor
Wolfgang Betz 44:d757094f6229 151 * @retval true if initialization successful,
Wolfgang Betz 44:d757094f6229 152 * @retval false otherwise
Wolfgang Betz 8:d49db2c9d9c1 153 */
Wolfgang Betz 42:5490ac2d0a10 154 bool X_NUCLEO_IKS01A1::Init_LPS25H(void) {
Wolfgang Betz 8:d49db2c9d9c1 155 uint8_t p_id = 0;
Wolfgang Betz 8:d49db2c9d9c1 156 PRESSURE_InitTypeDef InitStructure;
Wolfgang Betz 8:d49db2c9d9c1 157
Wolfgang Betz 42:5490ac2d0a10 158 /* Check presence */
Wolfgang Betz 42:5490ac2d0a10 159 if((pressure_sensor->ReadID(&p_id) != PRESSURE_OK) ||
Wolfgang Betz 42:5490ac2d0a10 160 (p_id != I_AM_LPS25H))
Wolfgang Betz 42:5490ac2d0a10 161 {
Wolfgang Betz 42:5490ac2d0a10 162 delete pressure_sensor;
Wolfgang Betz 42:5490ac2d0a10 163 pressure_sensor = NULL;
Wolfgang Betz 42:5490ac2d0a10 164 return true;
Wolfgang Betz 42:5490ac2d0a10 165 }
Wolfgang Betz 42:5490ac2d0a10 166
Wolfgang Betz 8:d49db2c9d9c1 167 /* Configure sensor */
Wolfgang Betz 8:d49db2c9d9c1 168 InitStructure.OutputDataRate = LPS25H_ODR_1Hz;
Wolfgang Betz 8:d49db2c9d9c1 169 InitStructure.BlockDataUpdate = LPS25H_BDU_CONT;
Wolfgang Betz 8:d49db2c9d9c1 170 InitStructure.DiffEnable = LPS25H_DIFF_ENABLE;
Wolfgang Betz 8:d49db2c9d9c1 171 InitStructure.SPIMode = LPS25H_SPI_SIM_3W;
Wolfgang Betz 8:d49db2c9d9c1 172 InitStructure.PressureResolution = LPS25H_P_RES_AVG_32;
Wolfgang Betz 8:d49db2c9d9c1 173 InitStructure.TemperatureResolution = LPS25H_T_RES_AVG_16;
Wolfgang Betz 8:d49db2c9d9c1 174
Wolfgang Betz 42:5490ac2d0a10 175 if(pressure_sensor->Init(&InitStructure) != PRESSURE_OK)
Wolfgang Betz 8:d49db2c9d9c1 176 {
Wolfgang Betz 8:d49db2c9d9c1 177 return false;
Wolfgang Betz 8:d49db2c9d9c1 178 }
Wolfgang Betz 8:d49db2c9d9c1 179
Wolfgang Betz 8:d49db2c9d9c1 180 return true;
Wolfgang Betz 8:d49db2c9d9c1 181 }
Wolfgang Betz 8:d49db2c9d9c1 182
Wolfgang Betz 8:d49db2c9d9c1 183 /**
Wolfgang Betz 44:d757094f6229 184 * @brief Initialize the singleton's LSM6DS0 gyroscope
Wolfgang Betz 44:d757094f6229 185 * @retval true if initialization successful,
Wolfgang Betz 44:d757094f6229 186 * @retval false otherwise
Wolfgang Betz 8:d49db2c9d9c1 187 */
Wolfgang Betz 42:5490ac2d0a10 188 bool X_NUCLEO_IKS01A1::Init_LSM6DS0(void) {
Wolfgang Betz 8:d49db2c9d9c1 189 IMU_6AXES_InitTypeDef InitStructure;
Wolfgang Betz 8:d49db2c9d9c1 190 uint8_t xg_id = 0;
Wolfgang Betz 8:d49db2c9d9c1 191
Wolfgang Betz 42:5490ac2d0a10 192 /* Check presence */
Wolfgang Betz 46:badcff0675e8 193 if((gyro_lsm6ds3 != NULL) || // by default do not instantiate two gyroscopes
Wolfgang Betz 44:d757094f6229 194 (gyro_lsm6ds0->ReadID(&xg_id) != IMU_6AXES_OK) ||
Wolfgang Betz 42:5490ac2d0a10 195 (xg_id != I_AM_LSM6DS0_XG))
Wolfgang Betz 42:5490ac2d0a10 196 {
Wolfgang Betz 44:d757094f6229 197 delete gyro_lsm6ds0;
Wolfgang Betz 44:d757094f6229 198 gyro_lsm6ds0 = NULL;
Wolfgang Betz 42:5490ac2d0a10 199 return true;
Wolfgang Betz 42:5490ac2d0a10 200 }
Wolfgang Betz 42:5490ac2d0a10 201
Wolfgang Betz 8:d49db2c9d9c1 202 /* Configure sensor */
Wolfgang Betz 24:92cc9c6e4b2b 203 InitStructure.G_FullScale = 2000.0f; /* 2000DPS */
Wolfgang Betz 24:92cc9c6e4b2b 204 InitStructure.G_OutputDataRate = 119.0f; /* 119HZ */
Wolfgang Betz 24:92cc9c6e4b2b 205 InitStructure.G_X_Axis = 1; /* Enable */
Wolfgang Betz 24:92cc9c6e4b2b 206 InitStructure.G_Y_Axis = 1; /* Enable */
Wolfgang Betz 24:92cc9c6e4b2b 207 InitStructure.G_Z_Axis = 1; /* Enable */
Wolfgang Betz 8:d49db2c9d9c1 208
Wolfgang Betz 24:92cc9c6e4b2b 209 InitStructure.X_FullScale = 2.0f; /* 2G */
Wolfgang Betz 24:92cc9c6e4b2b 210 InitStructure.X_OutputDataRate = 119.0f; /* 119HZ */
Wolfgang Betz 24:92cc9c6e4b2b 211 InitStructure.X_X_Axis = 1; /* Enable */
Wolfgang Betz 24:92cc9c6e4b2b 212 InitStructure.X_Y_Axis = 1; /* Enable */
Wolfgang Betz 24:92cc9c6e4b2b 213 InitStructure.X_Z_Axis = 1; /* Enable */
Wolfgang Betz 8:d49db2c9d9c1 214
Wolfgang Betz 44:d757094f6229 215 if(gyro_lsm6ds0->Init(&InitStructure) != IMU_6AXES_OK)
Wolfgang Betz 8:d49db2c9d9c1 216 {
Wolfgang Betz 8:d49db2c9d9c1 217 return false;
Wolfgang Betz 8:d49db2c9d9c1 218 }
Wolfgang Betz 8:d49db2c9d9c1 219
Wolfgang Betz 8:d49db2c9d9c1 220 return true;
Wolfgang Betz 8:d49db2c9d9c1 221 }
Wolfgang Betz 44:d757094f6229 222
Wolfgang Betz 44:d757094f6229 223 /**
Wolfgang Betz 44:d757094f6229 224 * @brief Initialize the singleton's LSMDS3 gyroscope
Wolfgang Betz 44:d757094f6229 225 * @retval true if initialization successful,
Wolfgang Betz 44:d757094f6229 226 * @retval false otherwise
Wolfgang Betz 44:d757094f6229 227 */
Wolfgang Betz 44:d757094f6229 228 bool X_NUCLEO_IKS01A1::Init_LSM6DS3(void) {
Wolfgang Betz 44:d757094f6229 229 IMU_6AXES_InitTypeDef InitStructure;
Wolfgang Betz 44:d757094f6229 230 uint8_t xg_id = 0;
Wolfgang Betz 44:d757094f6229 231
Wolfgang Betz 44:d757094f6229 232 /* Check presence */
Wolfgang Betz 44:d757094f6229 233 if((gyro_lsm6ds3->ReadID(&xg_id) != IMU_6AXES_OK) ||
Wolfgang Betz 44:d757094f6229 234 (xg_id != I_AM_LSM6DS3_XG))
Wolfgang Betz 44:d757094f6229 235 {
Wolfgang Betz 44:d757094f6229 236 delete gyro_lsm6ds3;
Wolfgang Betz 44:d757094f6229 237 gyro_lsm6ds3 = NULL;
Wolfgang Betz 44:d757094f6229 238 return true;
Wolfgang Betz 44:d757094f6229 239 }
Wolfgang Betz 44:d757094f6229 240
Wolfgang Betz 44:d757094f6229 241 /* Configure sensor */
Wolfgang Betz 44:d757094f6229 242 InitStructure.G_FullScale = 2000.0f; /* 2000DPS */
Wolfgang Betz 44:d757094f6229 243 InitStructure.G_OutputDataRate = 104.0f; /* 104HZ */
Wolfgang Betz 44:d757094f6229 244 InitStructure.G_X_Axis = 1; /* Enable */
Wolfgang Betz 44:d757094f6229 245 InitStructure.G_Y_Axis = 1; /* Enable */
Wolfgang Betz 44:d757094f6229 246 InitStructure.G_Z_Axis = 1; /* Enable */
Wolfgang Betz 44:d757094f6229 247
Wolfgang Betz 44:d757094f6229 248 InitStructure.X_FullScale = 2.0f; /* 2G */
Wolfgang Betz 44:d757094f6229 249 InitStructure.X_OutputDataRate = 104.0f; /* 104HZ */
Wolfgang Betz 44:d757094f6229 250 InitStructure.X_X_Axis = 1; /* Enable */
Wolfgang Betz 44:d757094f6229 251 InitStructure.X_Y_Axis = 1; /* Enable */
Wolfgang Betz 44:d757094f6229 252 InitStructure.X_Z_Axis = 1; /* Enable */
Wolfgang Betz 44:d757094f6229 253
Wolfgang Betz 44:d757094f6229 254 if(gyro_lsm6ds3->Init(&InitStructure) != IMU_6AXES_OK)
Wolfgang Betz 44:d757094f6229 255 {
Wolfgang Betz 44:d757094f6229 256 return false;
Wolfgang Betz 44:d757094f6229 257 }
Wolfgang Betz 44:d757094f6229 258
Wolfgang Betz 44:d757094f6229 259 return true;
Wolfgang Betz 44:d757094f6229 260 }