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@10:cdf47a4b3f2f, 2015-04-29 (annotated)

Committer:
Wolfgang Betz
Date:
Wed Apr 29 16:14:03 2015 +0200
Revision:
10:cdf47a4b3f2f
Parent:
8:d49db2c9d9c1
Child:
15:472cf58b9c11
Added some important safety checks

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 4:566f2c41dc1d 41 #include "hts221/hts221_class.h"
Wolfgang Betz 5:8bab0f419849 42 #include "lis3mdl/lis3mdl_class.h"
Wolfgang Betz 6:8d2abd695c52 43 #include "lps25h/lps25h_class.h"
Wolfgang Betz 7:a2bb3d5e12e9 44 #include "lsm6ds0/lsm6ds0_class.h"
Wolfgang Betz 3:088aa5839e0d 45
Wolfgang Betz 3:088aa5839e0d 46 /* Static variables ----------------------------------------------------------*/
Wolfgang Betz 3:088aa5839e0d 47 X_NUCLEO_IKS01A1* X_NUCLEO_IKS01A1::_instance = NULL;
Wolfgang Betz 3:088aa5839e0d 48
Wolfgang Betz 4:566f2c41dc1d 49
Wolfgang Betz 3:088aa5839e0d 50 /* Methods -------------------------------------------------------------------*/
Wolfgang Betz 3:088aa5839e0d 51 /**
Wolfgang Betz 3:088aa5839e0d 52 * @brief Constructor
Wolfgang Betz 3:088aa5839e0d 53 */
Wolfgang Betz 3:088aa5839e0d 54 X_NUCLEO_IKS01A1::X_NUCLEO_IKS01A1(DevI2C *ext_i2c) : dev_i2c(ext_i2c),
Wolfgang Betz 5:8bab0f419849 55 ht_sensor(*(new HTS221(*dev_i2c))),
Wolfgang Betz 6:8d2abd695c52 56 magnetometer(*(new LIS3MDL(*dev_i2c))),
Wolfgang Betz 7:a2bb3d5e12e9 57 pressure_sensor(*(new LPS25H(*dev_i2c))),
Wolfgang Betz 7:a2bb3d5e12e9 58 gyroscope(*(new LSM6DS0(*dev_i2c)))
Wolfgang Betz 3:088aa5839e0d 59 {
Wolfgang Betz 3:088aa5839e0d 60 }
Wolfgang Betz 3:088aa5839e0d 61
Wolfgang Betz 3:088aa5839e0d 62 /**
Wolfgang Betz 3:088aa5839e0d 63 * @brief Get singleton instance
Wolfgang Betz 8:d49db2c9d9c1 64 * @return a pointer to the initialized singleton instance of class X_NUCLEO_IKS01A1
Wolfgang Betz 3:088aa5839e0d 65 * @param (optional) ext_i2c pointer to instance of DevI2C to be used
Wolfgang Betz 3:088aa5839e0d 66 * for communication on the expansion board.
Wolfgang Betz 3:088aa5839e0d 67 * Taken into account only on the very first call of this function.
Wolfgang Betz 3:088aa5839e0d 68 * If not provided a new DevI2C will be created with standard
Wolfgang Betz 3:088aa5839e0d 69 * configuration parameters.
Wolfgang Betz 3:088aa5839e0d 70 * The used DevI2C object gets saved in instance variable dev_i2c.
Wolfgang Betz 3:088aa5839e0d 71 */
Wolfgang Betz 3:088aa5839e0d 72 X_NUCLEO_IKS01A1* X_NUCLEO_IKS01A1::Instance(DevI2C *ext_i2c) {
Wolfgang Betz 3:088aa5839e0d 73 if(_instance == NULL) {
Wolfgang Betz 3:088aa5839e0d 74 if(ext_i2c == NULL)
Wolfgang Betz 3:088aa5839e0d 75 ext_i2c = new DevI2C(IKS01A1_PIN_I2C_SDA, IKS01A1_PIN_I2C_SCL);
Wolfgang Betz 10:cdf47a4b3f2f 76
Wolfgang Betz 10:cdf47a4b3f2f 77 if(ext_i2c != NULL)
Wolfgang Betz 10:cdf47a4b3f2f 78 _instance = new X_NUCLEO_IKS01A1(ext_i2c);
Wolfgang Betz 8:d49db2c9d9c1 79
Wolfgang Betz 8:d49db2c9d9c1 80 if(_instance != NULL) {
Wolfgang Betz 8:d49db2c9d9c1 81 bool ret = _instance->Init();
Wolfgang Betz 8:d49db2c9d9c1 82 if(!ret) {
Wolfgang Betz 8:d49db2c9d9c1 83 error("Failed to init X_NUCLEO_IKS01A1 expansion board!\n");
Wolfgang Betz 8:d49db2c9d9c1 84 }
Wolfgang Betz 8:d49db2c9d9c1 85 }
Wolfgang Betz 3:088aa5839e0d 86 }
Wolfgang Betz 8:d49db2c9d9c1 87
Wolfgang Betz 3:088aa5839e0d 88 return _instance;
Wolfgang Betz 3:088aa5839e0d 89 }
Wolfgang Betz 8:d49db2c9d9c1 90
Wolfgang Betz 8:d49db2c9d9c1 91 /**
Wolfgang Betz 8:d49db2c9d9c1 92 * @brief Initialize the singelton HT sensor
Wolfgang Betz 8:d49db2c9d9c1 93 * @return true if initialization successful, false otherwise
Wolfgang Betz 8:d49db2c9d9c1 94 */
Wolfgang Betz 8:d49db2c9d9c1 95 bool X_NUCLEO_IKS01A1::Init_HT(void) {
Wolfgang Betz 8:d49db2c9d9c1 96 uint8_t ht_id = 0;
Wolfgang Betz 8:d49db2c9d9c1 97 HUM_TEMP_InitTypeDef InitStructure;
Wolfgang Betz 8:d49db2c9d9c1 98
Wolfgang Betz 8:d49db2c9d9c1 99 /* Configure sensor */
Wolfgang Betz 8:d49db2c9d9c1 100 InitStructure.OutputDataRate = HTS221_ODR_12_5Hz;
Wolfgang Betz 8:d49db2c9d9c1 101
Wolfgang Betz 8:d49db2c9d9c1 102 if(ht_sensor.Init(&InitStructure) != HUM_TEMP_OK)
Wolfgang Betz 8:d49db2c9d9c1 103 {
Wolfgang Betz 8:d49db2c9d9c1 104 return false;
Wolfgang Betz 8:d49db2c9d9c1 105 }
Wolfgang Betz 8:d49db2c9d9c1 106
Wolfgang Betz 8:d49db2c9d9c1 107 if(ht_sensor.ReadID(&ht_id) != HUM_TEMP_OK)
Wolfgang Betz 8:d49db2c9d9c1 108 {
Wolfgang Betz 8:d49db2c9d9c1 109 return false;
Wolfgang Betz 8:d49db2c9d9c1 110 }
Wolfgang Betz 8:d49db2c9d9c1 111
Wolfgang Betz 8:d49db2c9d9c1 112 if(ht_id != I_AM_HTS221)
Wolfgang Betz 8:d49db2c9d9c1 113 {
Wolfgang Betz 8:d49db2c9d9c1 114 return false;
Wolfgang Betz 8:d49db2c9d9c1 115 }
Wolfgang Betz 8:d49db2c9d9c1 116
Wolfgang Betz 8:d49db2c9d9c1 117 return true;
Wolfgang Betz 8:d49db2c9d9c1 118 }
Wolfgang Betz 8:d49db2c9d9c1 119
Wolfgang Betz 8:d49db2c9d9c1 120 /**
Wolfgang Betz 8:d49db2c9d9c1 121 * @brief Initialize the singelton magnetometer
Wolfgang Betz 8:d49db2c9d9c1 122 * @return true if initialization successful, false otherwise
Wolfgang Betz 8:d49db2c9d9c1 123 */
Wolfgang Betz 8:d49db2c9d9c1 124 bool X_NUCLEO_IKS01A1::Init_MAG(void) {
Wolfgang Betz 8:d49db2c9d9c1 125 uint8_t m_id = 0;
Wolfgang Betz 8:d49db2c9d9c1 126 MAGNETO_InitTypeDef InitStructure;
Wolfgang Betz 8:d49db2c9d9c1 127
Wolfgang Betz 8:d49db2c9d9c1 128 /* Configure sensor */
Wolfgang Betz 8:d49db2c9d9c1 129 InitStructure.M_FullScale = LIS3MDL_M_FS_4;
Wolfgang Betz 8:d49db2c9d9c1 130 InitStructure.M_OperatingMode = LIS3MDL_M_MD_CONTINUOUS;
Wolfgang Betz 8:d49db2c9d9c1 131 InitStructure.M_XYOperativeMode = LIS3MDL_M_OM_HP;
Wolfgang Betz 8:d49db2c9d9c1 132 InitStructure.M_OutputDataRate = LIS3MDL_M_DO_80;
Wolfgang Betz 8:d49db2c9d9c1 133
Wolfgang Betz 8:d49db2c9d9c1 134 if(magnetometer.Init(&InitStructure) != MAGNETO_OK)
Wolfgang Betz 8:d49db2c9d9c1 135 {
Wolfgang Betz 8:d49db2c9d9c1 136 return false;
Wolfgang Betz 8:d49db2c9d9c1 137 }
Wolfgang Betz 8:d49db2c9d9c1 138
Wolfgang Betz 8:d49db2c9d9c1 139 if(magnetometer.Read_M_ID(&m_id) != MAGNETO_OK)
Wolfgang Betz 8:d49db2c9d9c1 140 {
Wolfgang Betz 8:d49db2c9d9c1 141 return false;
Wolfgang Betz 8:d49db2c9d9c1 142 }
Wolfgang Betz 8:d49db2c9d9c1 143
Wolfgang Betz 8:d49db2c9d9c1 144 if(m_id != I_AM_LIS3MDL_M)
Wolfgang Betz 8:d49db2c9d9c1 145 {
Wolfgang Betz 8:d49db2c9d9c1 146 return false;
Wolfgang Betz 8:d49db2c9d9c1 147 }
Wolfgang Betz 8:d49db2c9d9c1 148
Wolfgang Betz 8:d49db2c9d9c1 149 return true;
Wolfgang Betz 8:d49db2c9d9c1 150 }
Wolfgang Betz 8:d49db2c9d9c1 151
Wolfgang Betz 8:d49db2c9d9c1 152 /**
Wolfgang Betz 8:d49db2c9d9c1 153 * @brief Initialize the singelton pressure sensor
Wolfgang Betz 8:d49db2c9d9c1 154 * @return true if initialization successful, false otherwise
Wolfgang Betz 8:d49db2c9d9c1 155 */
Wolfgang Betz 8:d49db2c9d9c1 156 bool X_NUCLEO_IKS01A1::Init_PRESS(void) {
Wolfgang Betz 8:d49db2c9d9c1 157 uint8_t p_id = 0;
Wolfgang Betz 8:d49db2c9d9c1 158 PRESSURE_InitTypeDef InitStructure;
Wolfgang Betz 8:d49db2c9d9c1 159
Wolfgang Betz 8:d49db2c9d9c1 160 /* Configure sensor */
Wolfgang Betz 8:d49db2c9d9c1 161 InitStructure.OutputDataRate = LPS25H_ODR_1Hz;
Wolfgang Betz 8:d49db2c9d9c1 162 InitStructure.BlockDataUpdate = LPS25H_BDU_CONT;
Wolfgang Betz 8:d49db2c9d9c1 163 InitStructure.DiffEnable = LPS25H_DIFF_ENABLE;
Wolfgang Betz 8:d49db2c9d9c1 164 InitStructure.SPIMode = LPS25H_SPI_SIM_3W;
Wolfgang Betz 8:d49db2c9d9c1 165 InitStructure.PressureResolution = LPS25H_P_RES_AVG_32;
Wolfgang Betz 8:d49db2c9d9c1 166 InitStructure.TemperatureResolution = LPS25H_T_RES_AVG_16;
Wolfgang Betz 8:d49db2c9d9c1 167
Wolfgang Betz 8:d49db2c9d9c1 168 if(pressure_sensor.Init(&InitStructure) != PRESSURE_OK)
Wolfgang Betz 8:d49db2c9d9c1 169 {
Wolfgang Betz 8:d49db2c9d9c1 170 return false;
Wolfgang Betz 8:d49db2c9d9c1 171 }
Wolfgang Betz 8:d49db2c9d9c1 172
Wolfgang Betz 8:d49db2c9d9c1 173 if(pressure_sensor.ReadID(&p_id) != PRESSURE_OK)
Wolfgang Betz 8:d49db2c9d9c1 174 {
Wolfgang Betz 8:d49db2c9d9c1 175 return false;
Wolfgang Betz 8:d49db2c9d9c1 176 }
Wolfgang Betz 8:d49db2c9d9c1 177
Wolfgang Betz 8:d49db2c9d9c1 178 if(p_id != I_AM_LPS25H)
Wolfgang Betz 8:d49db2c9d9c1 179 {
Wolfgang Betz 8:d49db2c9d9c1 180 return false;
Wolfgang Betz 8:d49db2c9d9c1 181 }
Wolfgang Betz 8:d49db2c9d9c1 182
Wolfgang Betz 8:d49db2c9d9c1 183 return true;
Wolfgang Betz 8:d49db2c9d9c1 184 }
Wolfgang Betz 8:d49db2c9d9c1 185
Wolfgang Betz 8:d49db2c9d9c1 186 /**
Wolfgang Betz 8:d49db2c9d9c1 187 * @brief Initialize the singelton gyroscope
Wolfgang Betz 8:d49db2c9d9c1 188 * @return true if initialization successful, false otherwise
Wolfgang Betz 8:d49db2c9d9c1 189 */
Wolfgang Betz 8:d49db2c9d9c1 190 bool X_NUCLEO_IKS01A1::Init_GYRO(void) {
Wolfgang Betz 8:d49db2c9d9c1 191 IMU_6AXES_InitTypeDef InitStructure;
Wolfgang Betz 8:d49db2c9d9c1 192 uint8_t xg_id = 0;
Wolfgang Betz 8:d49db2c9d9c1 193
Wolfgang Betz 8:d49db2c9d9c1 194 /* Configure sensor */
Wolfgang Betz 8:d49db2c9d9c1 195 InitStructure.G_FullScale = LSM6DS0_G_FS_2000;
Wolfgang Betz 8:d49db2c9d9c1 196 InitStructure.G_OutputDataRate = LSM6DS0_G_ODR_119HZ;
Wolfgang Betz 8:d49db2c9d9c1 197 InitStructure.G_X_Axis = LSM6DS0_G_XEN_ENABLE;
Wolfgang Betz 8:d49db2c9d9c1 198 InitStructure.G_Y_Axis = LSM6DS0_G_YEN_ENABLE;
Wolfgang Betz 8:d49db2c9d9c1 199 InitStructure.G_Z_Axis = LSM6DS0_G_ZEN_ENABLE;
Wolfgang Betz 8:d49db2c9d9c1 200
Wolfgang Betz 8:d49db2c9d9c1 201 InitStructure.X_FullScale = LSM6DS0_XL_FS_2G;
Wolfgang Betz 8:d49db2c9d9c1 202 InitStructure.X_OutputDataRate = LSM6DS0_XL_ODR_119HZ;
Wolfgang Betz 8:d49db2c9d9c1 203 InitStructure.X_X_Axis = LSM6DS0_XL_XEN_ENABLE;
Wolfgang Betz 8:d49db2c9d9c1 204 InitStructure.X_Y_Axis = LSM6DS0_XL_YEN_ENABLE;
Wolfgang Betz 8:d49db2c9d9c1 205 InitStructure.X_Z_Axis = LSM6DS0_XL_ZEN_ENABLE;
Wolfgang Betz 8:d49db2c9d9c1 206
Wolfgang Betz 8:d49db2c9d9c1 207 if(gyroscope.Init(&InitStructure) != IMU_6AXES_OK)
Wolfgang Betz 8:d49db2c9d9c1 208 {
Wolfgang Betz 8:d49db2c9d9c1 209 return false;
Wolfgang Betz 8:d49db2c9d9c1 210 }
Wolfgang Betz 8:d49db2c9d9c1 211
Wolfgang Betz 8:d49db2c9d9c1 212 if(gyroscope.Read_XG_ID(&xg_id) != IMU_6AXES_OK)
Wolfgang Betz 8:d49db2c9d9c1 213 {
Wolfgang Betz 8:d49db2c9d9c1 214 return false;
Wolfgang Betz 8:d49db2c9d9c1 215 }
Wolfgang Betz 8:d49db2c9d9c1 216
Wolfgang Betz 8:d49db2c9d9c1 217 if(xg_id != I_AM_LSM6DS0_XG)
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 }