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
x_nucleo_iks01a1.cpp
00001 /** 00002 ****************************************************************************** 00003 * @file x_nucleo_iks01a1.cpp 00004 * @author AST / EST 00005 * @version V0.0.1 00006 * @date 08-October-2014 00007 * @brief Implementation file for the X_NUCLEO_IKS01A1 singleton class 00008 ****************************************************************************** 00009 * @attention 00010 * 00011 * <h2><center>© COPYRIGHT(c) 2014 STMicroelectronics</center></h2> 00012 * 00013 * Redistribution and use in source and binary forms, with or without modification, 00014 * are permitted provided that the following conditions are met: 00015 * 1. Redistributions of source code must retain the above copyright notice, 00016 * this list of conditions and the following disclaimer. 00017 * 2. Redistributions in binary form must reproduce the above copyright notice, 00018 * this list of conditions and the following disclaimer in the documentation 00019 * and/or other materials provided with the distribution. 00020 * 3. Neither the name of STMicroelectronics nor the names of its contributors 00021 * may be used to endorse or promote products derived from this software 00022 * without specific prior written permission. 00023 * 00024 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00025 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00026 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 00027 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE 00028 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL 00029 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR 00030 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00031 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, 00032 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 00033 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 00034 * 00035 ****************************************************************************** 00036 */ 00037 00038 /* Includes ------------------------------------------------------------------*/ 00039 #include "mbed.h" 00040 #include "x_nucleo_iks01a1.h" 00041 00042 /* Static variables ----------------------------------------------------------*/ 00043 X_NUCLEO_IKS01A1* X_NUCLEO_IKS01A1::_instance = NULL; 00044 00045 00046 /* Methods -------------------------------------------------------------------*/ 00047 /** 00048 * @brief Constructor 00049 */ 00050 X_NUCLEO_IKS01A1::X_NUCLEO_IKS01A1(DevI2C *ext_i2c, PinName ff_irq_pin) : dev_i2c(ext_i2c), 00051 ht_sensor(new HTS221(*dev_i2c)), 00052 magnetometer(new LIS3MDL(*dev_i2c)), 00053 pt_sensor(new LPS25H(*dev_i2c)), 00054 gyro_lsm6ds0(new LSM6DS0(*dev_i2c)) 00055 { 00056 if(ff_irq_pin == NC) { 00057 gyro_lsm6ds3 = NULL; 00058 } else { 00059 gyro_lsm6ds3 = new LSM6DS3(*dev_i2c, ff_irq_pin); 00060 } 00061 } 00062 00063 /** 00064 * @brief Get singleton instance 00065 * @return a pointer to the initialized singleton instance of class X_NUCLEO_IKS01A1. 00066 * A return value of NULL indicates an out of memory situation. 00067 * @param[in] ext_i2c (optional) pointer to an instance of DevI2C to be used 00068 * for communication on the expansion board. 00069 * Defaults to NULL. 00070 * Taken into account only on the very first call of one of the 'Instance' functions. 00071 * If not provided a new DevI2C will be created with standard 00072 * configuration parameters. 00073 * The used DevI2C object gets saved in instance variable dev_i2c. 00074 * @param[in] ff_irq_pin (optional) PinName of the pin associated to asynchronous 00075 * (i.e. interrupt based) free fall detection in case a LSM6DS3 3D 00076 * Acceleromenter and 3D Gyroscope is mounted on top of the DIL 24-pin socket. 00077 * Defaults to IKS01A1_PIN_FF. 00078 * Taken into account only on the very first call of one of the 'Instance' functions. 00079 * A value of 'NC' will avoid instantiation of the LSM6DS3 even if present. 00080 */ 00081 X_NUCLEO_IKS01A1* X_NUCLEO_IKS01A1::Instance(DevI2C *ext_i2c, PinName ff_irq_pin) { 00082 if(_instance == NULL) { 00083 if(ext_i2c == NULL) 00084 ext_i2c = new DevI2C(IKS01A1_PIN_I2C_SDA, IKS01A1_PIN_I2C_SCL); 00085 00086 if(ext_i2c != NULL) 00087 _instance = new X_NUCLEO_IKS01A1(ext_i2c, ff_irq_pin); 00088 00089 if(_instance != NULL) { 00090 bool ret = _instance->Init(); 00091 if(!ret) { 00092 error("Failed to init X_NUCLEO_IKS01A1 expansion board!\n"); 00093 } 00094 } 00095 } 00096 00097 return _instance; 00098 } 00099 00100 /** 00101 * @brief Get singleton instance 00102 * @return a pointer to the initialized singleton instance of class X_NUCLEO_IKS01A1. 00103 * A return value of NULL indicates an out of memory situation. 00104 * @param[in] sda I2C data line pin. 00105 * Taken into account only on the very first call of one of the 'Instance' functions. 00106 * A new DevI2C will be created based on parameters 'sda' and 'scl'. 00107 * The used DevI2C object gets saved in instance variable dev_i2c. 00108 * @param[in] scl I2C clock line pin. 00109 * Taken into account only on the very first call of one of the 'Instance' functions. 00110 * A new DevI2C will be created based on parameters 'sda' and 'scl'. 00111 * The used DevI2C object gets saved in instance variable dev_i2c. 00112 * @param[in] ff_irq_pin (optional) PinName of the pin associated to asynchronous 00113 * (i.e. interrupt based) free fall detection in case a LSM6DS3 3D 00114 * Acceleromenter and 3D Gyroscope is mounted on top of the DIL 24-pin socket. 00115 * Defaults to NC. 00116 * Taken into account only on the very first call of one of the 'Instance' functions. 00117 * A value of 'NC' will avoid instantiation of the LSM6DS3 even if present. 00118 */ 00119 X_NUCLEO_IKS01A1* X_NUCLEO_IKS01A1::Instance(PinName sda, PinName scl, PinName ff_irq_pin) { 00120 if(_instance == NULL) { 00121 DevI2C *ext_i2c = new DevI2C(sda, scl); 00122 00123 if(ext_i2c != NULL) 00124 _instance = new X_NUCLEO_IKS01A1(ext_i2c, ff_irq_pin); 00125 00126 if(_instance != NULL) { 00127 bool ret = _instance->Init(); 00128 if(!ret) { 00129 error("Failed to init X_NUCLEO_IKS01A1 expansion board!\n"); 00130 } 00131 } 00132 } 00133 00134 return _instance; 00135 } 00136 00137 /** 00138 * @brief Initialize the singleton's HT sensor 00139 * @retval true if initialization successful, 00140 * @retval false otherwise 00141 */ 00142 bool X_NUCLEO_IKS01A1::Init_HTS221(void) { 00143 uint8_t ht_id = 0; 00144 HUM_TEMP_InitTypeDef InitStructure; 00145 00146 /* Check presence */ 00147 if((ht_sensor->read_id(&ht_id) != HUM_TEMP_OK) || 00148 (ht_id != I_AM_HTS221)) 00149 { 00150 delete ht_sensor; 00151 ht_sensor = NULL; 00152 return true; 00153 } 00154 00155 /* Configure sensor */ 00156 InitStructure.OutputDataRate = HTS221_ODR_12_5Hz; 00157 00158 if(ht_sensor->init(&InitStructure) != HUM_TEMP_OK) 00159 { 00160 return false; 00161 } 00162 00163 return true; 00164 } 00165 00166 /** 00167 * @brief Initialize the singleton's magnetometer 00168 * @retval true if initialization successful, 00169 * @retval false otherwise 00170 */ 00171 bool X_NUCLEO_IKS01A1::Init_LIS3MDL(void) { 00172 uint8_t m_id = 0; 00173 MAGNETO_InitTypeDef InitStructure; 00174 00175 /* Check presence */ 00176 if((magnetometer->read_id(&m_id) != MAGNETO_OK) || 00177 (m_id != I_AM_LIS3MDL_M)) 00178 { 00179 delete magnetometer; 00180 magnetometer = NULL; 00181 return true; 00182 } 00183 00184 /* Configure sensor */ 00185 InitStructure.M_FullScale = LIS3MDL_M_FS_4; 00186 InitStructure.M_OperatingMode = LIS3MDL_M_MD_CONTINUOUS; 00187 InitStructure.M_XYOperativeMode = LIS3MDL_M_OM_HP; 00188 InitStructure.M_OutputDataRate = LIS3MDL_M_DO_80; 00189 00190 if(magnetometer->init(&InitStructure) != MAGNETO_OK) 00191 { 00192 return false; 00193 } 00194 00195 return true; 00196 } 00197 00198 /** 00199 * @brief Initialize the singleton's pressure sensor 00200 * @retval true if initialization successful, 00201 * @retval false otherwise 00202 */ 00203 bool X_NUCLEO_IKS01A1::Init_LPS25H(void) { 00204 uint8_t p_id = 0; 00205 PRESSURE_InitTypeDef InitStructure; 00206 00207 /* Check presence */ 00208 if((pt_sensor->read_id(&p_id) != PRESSURE_OK) || 00209 (p_id != I_AM_LPS25H)) 00210 { 00211 delete pt_sensor; 00212 pt_sensor = NULL; 00213 return true; 00214 } 00215 00216 /* Configure sensor */ 00217 InitStructure.OutputDataRate = LPS25H_ODR_1Hz; 00218 InitStructure.BlockDataUpdate = LPS25H_BDU_CONT; 00219 InitStructure.DiffEnable = LPS25H_DIFF_ENABLE; 00220 InitStructure.SPIMode = LPS25H_SPI_SIM_3W; 00221 InitStructure.PressureResolution = LPS25H_P_RES_AVG_32; 00222 InitStructure.TemperatureResolution = LPS25H_T_RES_AVG_16; 00223 00224 if(pt_sensor->init(&InitStructure) != PRESSURE_OK) 00225 { 00226 return false; 00227 } 00228 00229 return true; 00230 } 00231 00232 /** 00233 * @brief Initialize the singleton's LSM6DS0 gyroscope 00234 * @retval true if initialization successful, 00235 * @retval false otherwise 00236 */ 00237 bool X_NUCLEO_IKS01A1::Init_LSM6DS0(void) { 00238 IMU_6AXES_InitTypeDef InitStructure; 00239 uint8_t xg_id = 0; 00240 00241 /* Check presence */ 00242 if((gyro_lsm6ds3 != NULL) || // by default do not instantiate two gyroscopes 00243 (gyro_lsm6ds0->read_id(&xg_id) != IMU_6AXES_OK) || 00244 (xg_id != I_AM_LSM6DS0_XG)) 00245 { 00246 delete gyro_lsm6ds0; 00247 gyro_lsm6ds0 = NULL; 00248 return true; 00249 } 00250 00251 /* Configure sensor */ 00252 InitStructure.G_FullScale = 2000.0f; /* 2000DPS */ 00253 InitStructure.G_OutputDataRate = 119.0f; /* 119HZ */ 00254 InitStructure.G_X_Axis = 1; /* Enable */ 00255 InitStructure.G_Y_Axis = 1; /* Enable */ 00256 InitStructure.G_Z_Axis = 1; /* Enable */ 00257 00258 InitStructure.X_FullScale = 2.0f; /* 2G */ 00259 InitStructure.X_OutputDataRate = 119.0f; /* 119HZ */ 00260 InitStructure.X_X_Axis = 1; /* Enable */ 00261 InitStructure.X_Y_Axis = 1; /* Enable */ 00262 InitStructure.X_Z_Axis = 1; /* Enable */ 00263 00264 if(gyro_lsm6ds0->init(&InitStructure) != IMU_6AXES_OK) 00265 { 00266 return false; 00267 } 00268 00269 return true; 00270 } 00271 00272 /** 00273 * @brief Initialize the singleton's LSMDS3 gyroscope 00274 * @retval true if initialization successful, 00275 * @retval false otherwise 00276 */ 00277 bool X_NUCLEO_IKS01A1::Init_LSM6DS3(void) { 00278 IMU_6AXES_InitTypeDef InitStructure; 00279 uint8_t xg_id = 0; 00280 00281 /* Check presence */ 00282 if(gyro_lsm6ds3 == NULL) return true; 00283 00284 if((gyro_lsm6ds3->read_id(&xg_id) != IMU_6AXES_OK) || 00285 (xg_id != I_AM_LSM6DS3_XG)) 00286 { 00287 delete gyro_lsm6ds3; 00288 gyro_lsm6ds3 = NULL; 00289 return true; 00290 } 00291 00292 /* Configure sensor */ 00293 InitStructure.G_FullScale = 2000.0f; /* 2000DPS */ 00294 InitStructure.G_OutputDataRate = 104.0f; /* 104HZ */ 00295 InitStructure.G_X_Axis = 1; /* Enable */ 00296 InitStructure.G_Y_Axis = 1; /* Enable */ 00297 InitStructure.G_Z_Axis = 1; /* Enable */ 00298 00299 InitStructure.X_FullScale = 2.0f; /* 2G */ 00300 InitStructure.X_OutputDataRate = 104.0f; /* 104HZ */ 00301 InitStructure.X_X_Axis = 1; /* Enable */ 00302 InitStructure.X_Y_Axis = 1; /* Enable */ 00303 InitStructure.X_Z_Axis = 1; /* Enable */ 00304 00305 if(gyro_lsm6ds3->init(&InitStructure) != IMU_6AXES_OK) 00306 { 00307 return false; 00308 } 00309 00310 return true; 00311 }
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