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

Diff: x_nucleo_iks01a1.h

Revision:
44:d757094f6229
Parent:
42:5490ac2d0a10
Child:
71:78164ec41ad2
--- a/x_nucleo_iks01a1.h	Mon Jun 08 13:57:32 2015 +0200
+++ b/x_nucleo_iks01a1.h	Mon Jun 08 15:36:36 2015 +0200
@@ -47,6 +47,7 @@
 #include "lis3mdl/lis3mdl_class.h"
 #include "lps25h/lps25h_class.h"
 #include "lsm6ds0/lsm6ds0_class.h"
+#include "lsm6ds3/lsm6ds3_class.h"
 #include "DevI2C.h"
 
 /* Macros -------------------------------------------------------------------*/
@@ -65,6 +66,9 @@
  *  -# a LPS25H MEMS Pressure Sensor\n
  *  -# and a LSM6DS0 3D Acceleromenter and 3D Gyroscope\n
  *
+ * 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.\n
  * In order to get the singleton instance you have to call class method `Instance()`, 
@@ -79,11 +83,36 @@
  protected:
 	X_NUCLEO_IKS01A1(DevI2C *ext_i2c);
 
-	bool Init(void);
+	/**
+	 * @brief  Initialize the singleton's sensors to default settings
+	 * @retval true if initialization successful, 
+	 * @retval false otherwise
+	 */
+	bool Init(void) {
+		return (Init_HTS221() &&
+			Init_LIS3MDL() &&
+			Init_LPS25H() &&
+			Init_Gyro());
+	}
+	
+	/**
+	 * @brief  Initialize the singleton's gyroscope
+	 * @retval true if initialization successful, 
+	 * @retval false otherwise
+	 * @note   only one sensor among LSM6DS3 & LSM6DS0 will be instantiated
+	 *         with a preference on LSM6DS3 when available
+	 */
+	bool Init_Gyro(void) {
+		// Note: order is important!
+		return (Init_LSM6DS3() &&
+			Init_LSM6DS0());
+	}
+
 	bool Init_HTS221(void);
 	bool Init_LIS3MDL(void);
 	bool Init_LPS25H(void);
 	bool Init_LSM6DS0(void);
+	bool Init_LSM6DS3(void);
 
  public:
 	static X_NUCLEO_IKS01A1* Instance(DevI2C *ext_i2c = NULL);
@@ -93,7 +122,17 @@
 	HTS221  *ht_sensor;
 	LIS3MDL *magnetometer;
 	LPS25H  *pressure_sensor;
-	LSM6DS0 *gyroscope;
+
+	GyroSensor *GetGyroscope(void) {
+		return ((gyro_lsm6ds3 == NULL) ? 
+			(GyroSensor*)gyro_lsm6ds0 : (GyroSensor*)gyro_lsm6ds3);
+	}
+	MotionSensor *GetAccelerometer(void) {
+		return ((gyro_lsm6ds3 == NULL) ? 
+			(MotionSensor*)gyro_lsm6ds0 : (MotionSensor*)gyro_lsm6ds3);
+	}
+	LSM6DS0 *gyro_lsm6ds0;
+	LSM6DS3 *gyro_lsm6ds3;
 
  private:
 	static X_NUCLEO_IKS01A1 *_instance;