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@72:79a2a64c9b2f, 2015-09-03 (annotated)

Committer:
Wolfgang Betz
Date:
Thu Sep 03 10:46:55 2015 +0200
Revision:
72:79a2a64c9b2f
Parent:
71:78164ec41ad2
Child:
73:e5b028bdd350
Integrate mbed "hello world" giudelines

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 72:79a2a64c9b2f 50 X_NUCLEO_IKS01A1::X_NUCLEO_IKS01A1(DevI2C *ext_i2c, PinName ff_irq_pin) : 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 71:78164ec41ad2 53 pt_sensor(new LPS25H(*dev_i2c)),
Wolfgang Betz 72:79a2a64c9b2f 54 gyro_lsm6ds0(new LSM6DS0(*dev_i2c))
Wolfgang Betz 3:088aa5839e0d 55 {
Wolfgang Betz 72:79a2a64c9b2f 56 if(ff_irq_pin == NC) {
Wolfgang Betz 72:79a2a64c9b2f 57 gyro_lsm6ds3 = NULL;
Wolfgang Betz 72:79a2a64c9b2f 58 } else {
Wolfgang Betz 72:79a2a64c9b2f 59 gyro_lsm6ds3 = new LSM6DS3(*dev_i2c, ff_irq_pin);
Wolfgang Betz 72:79a2a64c9b2f 60 }
Wolfgang Betz 3:088aa5839e0d 61 }
Wolfgang Betz 3:088aa5839e0d 62
Wolfgang Betz 3:088aa5839e0d 63 /**
Wolfgang Betz 57:04563dd74269 64 * @brief Get singleton instance
Wolfgang Betz 57:04563dd74269 65 * @return a pointer to the initialized singleton instance of class X_NUCLEO_IKS01A1
Wolfgang Betz 57:04563dd74269 66 * @param[in] ext_i2c (optional) pointer to an instance of DevI2C to be used
Wolfgang Betz 57:04563dd74269 67 * for communication on the expansion board.
Wolfgang Betz 72:79a2a64c9b2f 68 * Taken into account only on the very first call of one of the 'Instance' functions.
Wolfgang Betz 57:04563dd74269 69 * If not provided a new DevI2C will be created with standard
Wolfgang Betz 57:04563dd74269 70 * configuration parameters.
Wolfgang Betz 57:04563dd74269 71 * The used DevI2C object gets saved in instance variable dev_i2c.
Wolfgang Betz 72:79a2a64c9b2f 72 * @param[in] ff_irq_pin (optional) PinName of the pin associated to asynchronous
Wolfgang Betz 72:79a2a64c9b2f 73 * (i.e. interrupt based) free fall detection in case a LSM6DS3 3D
Wolfgang Betz 72:79a2a64c9b2f 74 * Acceleromenter and 3D Gyroscope is mounted on top of the DIL 24-pin socket.
Wolfgang Betz 72:79a2a64c9b2f 75 * A value of 'NC' will avoid instantiation of the LSM6DS3 even if present.
Wolfgang Betz 3:088aa5839e0d 76 */
Wolfgang Betz 72:79a2a64c9b2f 77 X_NUCLEO_IKS01A1* X_NUCLEO_IKS01A1::Instance(DevI2C *ext_i2c, PinName ff_irq_pin) {
Wolfgang Betz 3:088aa5839e0d 78 if(_instance == NULL) {
Wolfgang Betz 3:088aa5839e0d 79 if(ext_i2c == NULL)
Wolfgang Betz 3:088aa5839e0d 80 ext_i2c = new DevI2C(IKS01A1_PIN_I2C_SDA, IKS01A1_PIN_I2C_SCL);
Wolfgang Betz 10:cdf47a4b3f2f 81
Wolfgang Betz 10:cdf47a4b3f2f 82 if(ext_i2c != NULL)
Wolfgang Betz 72:79a2a64c9b2f 83 _instance = new X_NUCLEO_IKS01A1(ext_i2c, ff_irq_pin);
Wolfgang Betz 72:79a2a64c9b2f 84
Wolfgang Betz 72:79a2a64c9b2f 85 if(_instance != NULL) {
Wolfgang Betz 72:79a2a64c9b2f 86 bool ret = _instance->Init();
Wolfgang Betz 72:79a2a64c9b2f 87 if(!ret) {
Wolfgang Betz 72:79a2a64c9b2f 88 error("Failed to init X_NUCLEO_IKS01A1 expansion board!\n");
Wolfgang Betz 72:79a2a64c9b2f 89 }
Wolfgang Betz 72:79a2a64c9b2f 90 }
Wolfgang Betz 72:79a2a64c9b2f 91 }
Wolfgang Betz 72:79a2a64c9b2f 92
Wolfgang Betz 72:79a2a64c9b2f 93 return _instance;
Wolfgang Betz 72:79a2a64c9b2f 94 }
Wolfgang Betz 72:79a2a64c9b2f 95
Wolfgang Betz 72:79a2a64c9b2f 96 /**
Wolfgang Betz 72:79a2a64c9b2f 97 * @brief Get singleton instance
Wolfgang Betz 72:79a2a64c9b2f 98 * @return a pointer to the initialized singleton instance of class X_NUCLEO_IKS01A1
Wolfgang Betz 72:79a2a64c9b2f 99 * @param[in] sda I2C data line pin.
Wolfgang Betz 72:79a2a64c9b2f 100 * Taken into account only on the very first call of one of the 'Instance' functions.
Wolfgang Betz 72:79a2a64c9b2f 101 * A new DevI2C will be created based on parameters 'sda' and 'scl'.
Wolfgang Betz 72:79a2a64c9b2f 102 * The used DevI2C object gets saved in instance variable dev_i2c.
Wolfgang Betz 72:79a2a64c9b2f 103 * @param[in] scl I2C clock line pin.
Wolfgang Betz 72:79a2a64c9b2f 104 * Taken into account only on the very first call of one of the 'Instance' functions.
Wolfgang Betz 72:79a2a64c9b2f 105 * A new DevI2C will be created based on parameters 'sda' and 'scl'.
Wolfgang Betz 72:79a2a64c9b2f 106 * The used DevI2C object gets saved in instance variable dev_i2c.
Wolfgang Betz 72:79a2a64c9b2f 107 * @param[in] ff_irq_pin (optional) PinName of the pin associated to asynchronous
Wolfgang Betz 72:79a2a64c9b2f 108 * (i.e. interrupt based) free fall detection in case a LSM6DS3 3D
Wolfgang Betz 72:79a2a64c9b2f 109 * Acceleromenter and 3D Gyroscope is mounted on top of the DIL 24-pin socket.
Wolfgang Betz 72:79a2a64c9b2f 110 * A value of 'NC' will avoid instantiation of the LSM6DS3 even if present.
Wolfgang Betz 72:79a2a64c9b2f 111 */
Wolfgang Betz 72:79a2a64c9b2f 112 X_NUCLEO_IKS01A1* X_NUCLEO_IKS01A1::Instance(PinName sda, PinName scl, PinName ff_irq_pin) {
Wolfgang Betz 72:79a2a64c9b2f 113 if(_instance == NULL) {
Wolfgang Betz 72:79a2a64c9b2f 114 DevI2C *ext_i2c = new DevI2C(sda, scl);
Wolfgang Betz 72:79a2a64c9b2f 115
Wolfgang Betz 72:79a2a64c9b2f 116 if(ext_i2c != NULL)
Wolfgang Betz 72:79a2a64c9b2f 117 _instance = new X_NUCLEO_IKS01A1(ext_i2c, ff_irq_pin);
Wolfgang Betz 8:d49db2c9d9c1 118
Wolfgang Betz 8:d49db2c9d9c1 119 if(_instance != NULL) {
Wolfgang Betz 8:d49db2c9d9c1 120 bool ret = _instance->Init();
Wolfgang Betz 8:d49db2c9d9c1 121 if(!ret) {
Wolfgang Betz 8:d49db2c9d9c1 122 error("Failed to init X_NUCLEO_IKS01A1 expansion board!\n");
Wolfgang Betz 8:d49db2c9d9c1 123 }
Wolfgang Betz 8:d49db2c9d9c1 124 }
Wolfgang Betz 3:088aa5839e0d 125 }
Wolfgang Betz 8:d49db2c9d9c1 126
Wolfgang Betz 3:088aa5839e0d 127 return _instance;
Wolfgang Betz 3:088aa5839e0d 128 }
Wolfgang Betz 8:d49db2c9d9c1 129
Wolfgang Betz 8:d49db2c9d9c1 130 /**
Wolfgang Betz 44:d757094f6229 131 * @brief Initialize the singleton's HT sensor
Wolfgang Betz 42:5490ac2d0a10 132 * @retval true if initialization successful,
Wolfgang Betz 42:5490ac2d0a10 133 * @retval false otherwise
Wolfgang Betz 42:5490ac2d0a10 134 */
Wolfgang Betz 42:5490ac2d0a10 135 bool X_NUCLEO_IKS01A1::Init_HTS221(void) {
Wolfgang Betz 8:d49db2c9d9c1 136 uint8_t ht_id = 0;
Wolfgang Betz 8:d49db2c9d9c1 137 HUM_TEMP_InitTypeDef InitStructure;
Wolfgang Betz 8:d49db2c9d9c1 138
Wolfgang Betz 42:5490ac2d0a10 139 /* Check presence */
Wolfgang Betz 42:5490ac2d0a10 140 if((ht_sensor->ReadID(&ht_id) != HUM_TEMP_OK) ||
Wolfgang Betz 42:5490ac2d0a10 141 (ht_id != I_AM_HTS221))
Wolfgang Betz 42:5490ac2d0a10 142 {
Wolfgang Betz 42:5490ac2d0a10 143 delete ht_sensor;
Wolfgang Betz 42:5490ac2d0a10 144 ht_sensor = NULL;
Wolfgang Betz 42:5490ac2d0a10 145 return true;
Wolfgang Betz 42:5490ac2d0a10 146 }
Wolfgang Betz 42:5490ac2d0a10 147
Wolfgang Betz 8:d49db2c9d9c1 148 /* Configure sensor */
Wolfgang Betz 8:d49db2c9d9c1 149 InitStructure.OutputDataRate = HTS221_ODR_12_5Hz;
Wolfgang Betz 8:d49db2c9d9c1 150
Wolfgang Betz 42:5490ac2d0a10 151 if(ht_sensor->Init(&InitStructure) != HUM_TEMP_OK)
Wolfgang Betz 8:d49db2c9d9c1 152 {
Wolfgang Betz 8:d49db2c9d9c1 153 return false;
Wolfgang Betz 8:d49db2c9d9c1 154 }
Wolfgang Betz 8:d49db2c9d9c1 155
Wolfgang Betz 8:d49db2c9d9c1 156 return true;
Wolfgang Betz 8:d49db2c9d9c1 157 }
Wolfgang Betz 8:d49db2c9d9c1 158
Wolfgang Betz 8:d49db2c9d9c1 159 /**
Wolfgang Betz 44:d757094f6229 160 * @brief Initialize the singleton's magnetometer
Wolfgang Betz 44:d757094f6229 161 * @retval true if initialization successful,
Wolfgang Betz 44:d757094f6229 162 * @retval false otherwise
Wolfgang Betz 8:d49db2c9d9c1 163 */
Wolfgang Betz 42:5490ac2d0a10 164 bool X_NUCLEO_IKS01A1::Init_LIS3MDL(void) {
Wolfgang Betz 8:d49db2c9d9c1 165 uint8_t m_id = 0;
Wolfgang Betz 8:d49db2c9d9c1 166 MAGNETO_InitTypeDef InitStructure;
Wolfgang Betz 8:d49db2c9d9c1 167
Wolfgang Betz 42:5490ac2d0a10 168 /* Check presence */
Wolfgang Betz 42:5490ac2d0a10 169 if((magnetometer->ReadID(&m_id) != MAGNETO_OK) ||
Wolfgang Betz 42:5490ac2d0a10 170 (m_id != I_AM_LIS3MDL_M))
Wolfgang Betz 42:5490ac2d0a10 171 {
Wolfgang Betz 42:5490ac2d0a10 172 delete magnetometer;
Wolfgang Betz 42:5490ac2d0a10 173 magnetometer = NULL;
Wolfgang Betz 42:5490ac2d0a10 174 return true;
Wolfgang Betz 42:5490ac2d0a10 175 }
Wolfgang Betz 42:5490ac2d0a10 176
Wolfgang Betz 8:d49db2c9d9c1 177 /* Configure sensor */
Wolfgang Betz 8:d49db2c9d9c1 178 InitStructure.M_FullScale = LIS3MDL_M_FS_4;
Wolfgang Betz 8:d49db2c9d9c1 179 InitStructure.M_OperatingMode = LIS3MDL_M_MD_CONTINUOUS;
Wolfgang Betz 8:d49db2c9d9c1 180 InitStructure.M_XYOperativeMode = LIS3MDL_M_OM_HP;
Wolfgang Betz 8:d49db2c9d9c1 181 InitStructure.M_OutputDataRate = LIS3MDL_M_DO_80;
Wolfgang Betz 8:d49db2c9d9c1 182
Wolfgang Betz 42:5490ac2d0a10 183 if(magnetometer->Init(&InitStructure) != MAGNETO_OK)
Wolfgang Betz 8:d49db2c9d9c1 184 {
Wolfgang Betz 8:d49db2c9d9c1 185 return false;
Wolfgang Betz 8:d49db2c9d9c1 186 }
Wolfgang Betz 8:d49db2c9d9c1 187
Wolfgang Betz 8:d49db2c9d9c1 188 return true;
Wolfgang Betz 8:d49db2c9d9c1 189 }
Wolfgang Betz 8:d49db2c9d9c1 190
Wolfgang Betz 8:d49db2c9d9c1 191 /**
Wolfgang Betz 44:d757094f6229 192 * @brief Initialize the singleton's pressure sensor
Wolfgang Betz 44:d757094f6229 193 * @retval true if initialization successful,
Wolfgang Betz 44:d757094f6229 194 * @retval false otherwise
Wolfgang Betz 8:d49db2c9d9c1 195 */
Wolfgang Betz 42:5490ac2d0a10 196 bool X_NUCLEO_IKS01A1::Init_LPS25H(void) {
Wolfgang Betz 8:d49db2c9d9c1 197 uint8_t p_id = 0;
Wolfgang Betz 8:d49db2c9d9c1 198 PRESSURE_InitTypeDef InitStructure;
Wolfgang Betz 8:d49db2c9d9c1 199
Wolfgang Betz 42:5490ac2d0a10 200 /* Check presence */
Wolfgang Betz 71:78164ec41ad2 201 if((pt_sensor->ReadID(&p_id) != PRESSURE_OK) ||
Wolfgang Betz 42:5490ac2d0a10 202 (p_id != I_AM_LPS25H))
Wolfgang Betz 42:5490ac2d0a10 203 {
Wolfgang Betz 71:78164ec41ad2 204 delete pt_sensor;
Wolfgang Betz 71:78164ec41ad2 205 pt_sensor = NULL;
Wolfgang Betz 42:5490ac2d0a10 206 return true;
Wolfgang Betz 42:5490ac2d0a10 207 }
Wolfgang Betz 42:5490ac2d0a10 208
Wolfgang Betz 8:d49db2c9d9c1 209 /* Configure sensor */
Wolfgang Betz 8:d49db2c9d9c1 210 InitStructure.OutputDataRate = LPS25H_ODR_1Hz;
Wolfgang Betz 8:d49db2c9d9c1 211 InitStructure.BlockDataUpdate = LPS25H_BDU_CONT;
Wolfgang Betz 8:d49db2c9d9c1 212 InitStructure.DiffEnable = LPS25H_DIFF_ENABLE;
Wolfgang Betz 8:d49db2c9d9c1 213 InitStructure.SPIMode = LPS25H_SPI_SIM_3W;
Wolfgang Betz 8:d49db2c9d9c1 214 InitStructure.PressureResolution = LPS25H_P_RES_AVG_32;
Wolfgang Betz 8:d49db2c9d9c1 215 InitStructure.TemperatureResolution = LPS25H_T_RES_AVG_16;
Wolfgang Betz 8:d49db2c9d9c1 216
Wolfgang Betz 71:78164ec41ad2 217 if(pt_sensor->Init(&InitStructure) != PRESSURE_OK)
Wolfgang Betz 8:d49db2c9d9c1 218 {
Wolfgang Betz 8:d49db2c9d9c1 219 return false;
Wolfgang Betz 8:d49db2c9d9c1 220 }
Wolfgang Betz 8:d49db2c9d9c1 221
Wolfgang Betz 8:d49db2c9d9c1 222 return true;
Wolfgang Betz 8:d49db2c9d9c1 223 }
Wolfgang Betz 8:d49db2c9d9c1 224
Wolfgang Betz 8:d49db2c9d9c1 225 /**
Wolfgang Betz 44:d757094f6229 226 * @brief Initialize the singleton's LSM6DS0 gyroscope
Wolfgang Betz 44:d757094f6229 227 * @retval true if initialization successful,
Wolfgang Betz 44:d757094f6229 228 * @retval false otherwise
Wolfgang Betz 8:d49db2c9d9c1 229 */
Wolfgang Betz 42:5490ac2d0a10 230 bool X_NUCLEO_IKS01A1::Init_LSM6DS0(void) {
Wolfgang Betz 8:d49db2c9d9c1 231 IMU_6AXES_InitTypeDef InitStructure;
Wolfgang Betz 8:d49db2c9d9c1 232 uint8_t xg_id = 0;
Wolfgang Betz 8:d49db2c9d9c1 233
Wolfgang Betz 42:5490ac2d0a10 234 /* Check presence */
Wolfgang Betz 46:badcff0675e8 235 if((gyro_lsm6ds3 != NULL) || // by default do not instantiate two gyroscopes
Wolfgang Betz 44:d757094f6229 236 (gyro_lsm6ds0->ReadID(&xg_id) != IMU_6AXES_OK) ||
Wolfgang Betz 42:5490ac2d0a10 237 (xg_id != I_AM_LSM6DS0_XG))
Wolfgang Betz 42:5490ac2d0a10 238 {
Wolfgang Betz 44:d757094f6229 239 delete gyro_lsm6ds0;
Wolfgang Betz 44:d757094f6229 240 gyro_lsm6ds0 = NULL;
Wolfgang Betz 42:5490ac2d0a10 241 return true;
Wolfgang Betz 42:5490ac2d0a10 242 }
Wolfgang Betz 42:5490ac2d0a10 243
Wolfgang Betz 8:d49db2c9d9c1 244 /* Configure sensor */
Wolfgang Betz 24:92cc9c6e4b2b 245 InitStructure.G_FullScale = 2000.0f; /* 2000DPS */
Wolfgang Betz 24:92cc9c6e4b2b 246 InitStructure.G_OutputDataRate = 119.0f; /* 119HZ */
Wolfgang Betz 24:92cc9c6e4b2b 247 InitStructure.G_X_Axis = 1; /* Enable */
Wolfgang Betz 24:92cc9c6e4b2b 248 InitStructure.G_Y_Axis = 1; /* Enable */
Wolfgang Betz 24:92cc9c6e4b2b 249 InitStructure.G_Z_Axis = 1; /* Enable */
Wolfgang Betz 8:d49db2c9d9c1 250
Wolfgang Betz 24:92cc9c6e4b2b 251 InitStructure.X_FullScale = 2.0f; /* 2G */
Wolfgang Betz 24:92cc9c6e4b2b 252 InitStructure.X_OutputDataRate = 119.0f; /* 119HZ */
Wolfgang Betz 24:92cc9c6e4b2b 253 InitStructure.X_X_Axis = 1; /* Enable */
Wolfgang Betz 24:92cc9c6e4b2b 254 InitStructure.X_Y_Axis = 1; /* Enable */
Wolfgang Betz 24:92cc9c6e4b2b 255 InitStructure.X_Z_Axis = 1; /* Enable */
Wolfgang Betz 8:d49db2c9d9c1 256
Wolfgang Betz 44:d757094f6229 257 if(gyro_lsm6ds0->Init(&InitStructure) != IMU_6AXES_OK)
Wolfgang Betz 8:d49db2c9d9c1 258 {
Wolfgang Betz 8:d49db2c9d9c1 259 return false;
Wolfgang Betz 8:d49db2c9d9c1 260 }
Wolfgang Betz 8:d49db2c9d9c1 261
Wolfgang Betz 8:d49db2c9d9c1 262 return true;
Wolfgang Betz 8:d49db2c9d9c1 263 }
Wolfgang Betz 44:d757094f6229 264
Wolfgang Betz 44:d757094f6229 265 /**
Wolfgang Betz 44:d757094f6229 266 * @brief Initialize the singleton's LSMDS3 gyroscope
Wolfgang Betz 44:d757094f6229 267 * @retval true if initialization successful,
Wolfgang Betz 44:d757094f6229 268 * @retval false otherwise
Wolfgang Betz 44:d757094f6229 269 */
Wolfgang Betz 44:d757094f6229 270 bool X_NUCLEO_IKS01A1::Init_LSM6DS3(void) {
Wolfgang Betz 44:d757094f6229 271 IMU_6AXES_InitTypeDef InitStructure;
Wolfgang Betz 44:d757094f6229 272 uint8_t xg_id = 0;
Wolfgang Betz 44:d757094f6229 273
Wolfgang Betz 44:d757094f6229 274 /* Check presence */
Wolfgang Betz 72:79a2a64c9b2f 275 if(gyro_lsm6ds3 == NULL) return true;
Wolfgang Betz 72:79a2a64c9b2f 276
Wolfgang Betz 44:d757094f6229 277 if((gyro_lsm6ds3->ReadID(&xg_id) != IMU_6AXES_OK) ||
Wolfgang Betz 44:d757094f6229 278 (xg_id != I_AM_LSM6DS3_XG))
Wolfgang Betz 44:d757094f6229 279 {
Wolfgang Betz 44:d757094f6229 280 delete gyro_lsm6ds3;
Wolfgang Betz 44:d757094f6229 281 gyro_lsm6ds3 = NULL;
Wolfgang Betz 44:d757094f6229 282 return true;
Wolfgang Betz 44:d757094f6229 283 }
Wolfgang Betz 44:d757094f6229 284
Wolfgang Betz 44:d757094f6229 285 /* Configure sensor */
Wolfgang Betz 44:d757094f6229 286 InitStructure.G_FullScale = 2000.0f; /* 2000DPS */
Wolfgang Betz 44:d757094f6229 287 InitStructure.G_OutputDataRate = 104.0f; /* 104HZ */
Wolfgang Betz 44:d757094f6229 288 InitStructure.G_X_Axis = 1; /* Enable */
Wolfgang Betz 44:d757094f6229 289 InitStructure.G_Y_Axis = 1; /* Enable */
Wolfgang Betz 44:d757094f6229 290 InitStructure.G_Z_Axis = 1; /* Enable */
Wolfgang Betz 44:d757094f6229 291
Wolfgang Betz 44:d757094f6229 292 InitStructure.X_FullScale = 2.0f; /* 2G */
Wolfgang Betz 44:d757094f6229 293 InitStructure.X_OutputDataRate = 104.0f; /* 104HZ */
Wolfgang Betz 44:d757094f6229 294 InitStructure.X_X_Axis = 1; /* Enable */
Wolfgang Betz 44:d757094f6229 295 InitStructure.X_Y_Axis = 1; /* Enable */
Wolfgang Betz 44:d757094f6229 296 InitStructure.X_Z_Axis = 1; /* Enable */
Wolfgang Betz 44:d757094f6229 297
Wolfgang Betz 44:d757094f6229 298 if(gyro_lsm6ds3->Init(&InitStructure) != IMU_6AXES_OK)
Wolfgang Betz 44:d757094f6229 299 {
Wolfgang Betz 44:d757094f6229 300 return false;
Wolfgang Betz 44:d757094f6229 301 }
Wolfgang Betz 44:d757094f6229 302
Wolfgang Betz 44:d757094f6229 303 return true;
Wolfgang Betz 44:d757094f6229 304 }