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Dependencies:   X_NUCLEO_COMMON

Fork of X_NUCLEO_IKS01A1 by ST

x_nucleo_iks01a1.cpp@42:5490ac2d0a10, 2015-06-08 (annotated)

Committer:
Wolfgang Betz
Date:
Mon Jun 08 13:46:20 2015 +0200
Revision:
42:5490ac2d0a10
Parent:
24:92cc9c6e4b2b
Child:
44:d757094f6229
Prepare expansion board for having individually removable sensors

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 42:5490ac2d0a10 54 gyroscope(new LSM6DS0(*dev_i2c))
Wolfgang Betz 3:088aa5839e0d 55 {
Wolfgang Betz 3:088aa5839e0d 56 }
Wolfgang Betz 3:088aa5839e0d 57
Wolfgang Betz 3:088aa5839e0d 58 /**
Wolfgang Betz 3:088aa5839e0d 59 * @brief Get singleton instance
Wolfgang Betz 8:d49db2c9d9c1 60 * @return a pointer to the initialized singleton instance of class X_NUCLEO_IKS01A1
Wolfgang Betz 3:088aa5839e0d 61 * @param (optional) ext_i2c pointer to instance of DevI2C to be used
Wolfgang Betz 3:088aa5839e0d 62 * for communication on the expansion board.
Wolfgang Betz 3:088aa5839e0d 63 * Taken into account only on the very first call of this function.
Wolfgang Betz 3:088aa5839e0d 64 * If not provided a new DevI2C will be created with standard
Wolfgang Betz 3:088aa5839e0d 65 * configuration parameters.
Wolfgang Betz 3:088aa5839e0d 66 * The used DevI2C object gets saved in instance variable dev_i2c.
Wolfgang Betz 3:088aa5839e0d 67 */
Wolfgang Betz 3:088aa5839e0d 68 X_NUCLEO_IKS01A1* X_NUCLEO_IKS01A1::Instance(DevI2C *ext_i2c) {
Wolfgang Betz 3:088aa5839e0d 69 if(_instance == NULL) {
Wolfgang Betz 3:088aa5839e0d 70 if(ext_i2c == NULL)
Wolfgang Betz 3:088aa5839e0d 71 ext_i2c = new DevI2C(IKS01A1_PIN_I2C_SDA, IKS01A1_PIN_I2C_SCL);
Wolfgang Betz 10:cdf47a4b3f2f 72
Wolfgang Betz 10:cdf47a4b3f2f 73 if(ext_i2c != NULL)
Wolfgang Betz 10:cdf47a4b3f2f 74 _instance = new X_NUCLEO_IKS01A1(ext_i2c);
Wolfgang Betz 8:d49db2c9d9c1 75
Wolfgang Betz 8:d49db2c9d9c1 76 if(_instance != NULL) {
Wolfgang Betz 8:d49db2c9d9c1 77 bool ret = _instance->Init();
Wolfgang Betz 8:d49db2c9d9c1 78 if(!ret) {
Wolfgang Betz 8:d49db2c9d9c1 79 error("Failed to init X_NUCLEO_IKS01A1 expansion board!\n");
Wolfgang Betz 8:d49db2c9d9c1 80 }
Wolfgang Betz 8:d49db2c9d9c1 81 }
Wolfgang Betz 3:088aa5839e0d 82 }
Wolfgang Betz 8:d49db2c9d9c1 83
Wolfgang Betz 3:088aa5839e0d 84 return _instance;
Wolfgang Betz 3:088aa5839e0d 85 }
Wolfgang Betz 8:d49db2c9d9c1 86
Wolfgang Betz 8:d49db2c9d9c1 87 /**
Wolfgang Betz 42:5490ac2d0a10 88 * @brief Initialize the singelton's sensors to default settings
Wolfgang Betz 42:5490ac2d0a10 89 * @return true if initialization successful, false otherwise
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(void) {
Wolfgang Betz 42:5490ac2d0a10 94 return (Init_HTS221() &&
Wolfgang Betz 42:5490ac2d0a10 95 Init_LIS3MDL() &&
Wolfgang Betz 42:5490ac2d0a10 96 Init_LPS25H() &&
Wolfgang Betz 42:5490ac2d0a10 97 Init_LSM6DS0());
Wolfgang Betz 42:5490ac2d0a10 98 }
Wolfgang Betz 42:5490ac2d0a10 99
Wolfgang Betz 42:5490ac2d0a10 100 /**
Wolfgang Betz 8:d49db2c9d9c1 101 * @brief Initialize the singelton HT sensor
Wolfgang Betz 8:d49db2c9d9c1 102 * @return true if initialization successful, false otherwise
Wolfgang Betz 8:d49db2c9d9c1 103 */
Wolfgang Betz 42:5490ac2d0a10 104 bool X_NUCLEO_IKS01A1::Init_HTS221(void) {
Wolfgang Betz 8:d49db2c9d9c1 105 uint8_t ht_id = 0;
Wolfgang Betz 8:d49db2c9d9c1 106 HUM_TEMP_InitTypeDef InitStructure;
Wolfgang Betz 8:d49db2c9d9c1 107
Wolfgang Betz 42:5490ac2d0a10 108 /* Check presence */
Wolfgang Betz 42:5490ac2d0a10 109 if((ht_sensor->ReadID(&ht_id) != HUM_TEMP_OK) ||
Wolfgang Betz 42:5490ac2d0a10 110 (ht_id != I_AM_HTS221))
Wolfgang Betz 42:5490ac2d0a10 111 {
Wolfgang Betz 42:5490ac2d0a10 112 delete ht_sensor;
Wolfgang Betz 42:5490ac2d0a10 113 ht_sensor = NULL;
Wolfgang Betz 42:5490ac2d0a10 114 return true;
Wolfgang Betz 42:5490ac2d0a10 115 }
Wolfgang Betz 42:5490ac2d0a10 116
Wolfgang Betz 8:d49db2c9d9c1 117 /* Configure sensor */
Wolfgang Betz 8:d49db2c9d9c1 118 InitStructure.OutputDataRate = HTS221_ODR_12_5Hz;
Wolfgang Betz 8:d49db2c9d9c1 119
Wolfgang Betz 42:5490ac2d0a10 120 if(ht_sensor->Init(&InitStructure) != HUM_TEMP_OK)
Wolfgang Betz 8:d49db2c9d9c1 121 {
Wolfgang Betz 8:d49db2c9d9c1 122 return false;
Wolfgang Betz 8:d49db2c9d9c1 123 }
Wolfgang Betz 8:d49db2c9d9c1 124
Wolfgang Betz 8:d49db2c9d9c1 125 return true;
Wolfgang Betz 8:d49db2c9d9c1 126 }
Wolfgang Betz 8:d49db2c9d9c1 127
Wolfgang Betz 8:d49db2c9d9c1 128 /**
Wolfgang Betz 8:d49db2c9d9c1 129 * @brief Initialize the singelton magnetometer
Wolfgang Betz 8:d49db2c9d9c1 130 * @return true if initialization successful, false otherwise
Wolfgang Betz 8:d49db2c9d9c1 131 */
Wolfgang Betz 42:5490ac2d0a10 132 bool X_NUCLEO_IKS01A1::Init_LIS3MDL(void) {
Wolfgang Betz 8:d49db2c9d9c1 133 uint8_t m_id = 0;
Wolfgang Betz 8:d49db2c9d9c1 134 MAGNETO_InitTypeDef InitStructure;
Wolfgang Betz 8:d49db2c9d9c1 135
Wolfgang Betz 42:5490ac2d0a10 136 /* Check presence */
Wolfgang Betz 42:5490ac2d0a10 137 if((magnetometer->ReadID(&m_id) != MAGNETO_OK) ||
Wolfgang Betz 42:5490ac2d0a10 138 (m_id != I_AM_LIS3MDL_M))
Wolfgang Betz 42:5490ac2d0a10 139 {
Wolfgang Betz 42:5490ac2d0a10 140 delete magnetometer;
Wolfgang Betz 42:5490ac2d0a10 141 magnetometer = NULL;
Wolfgang Betz 42:5490ac2d0a10 142 return true;
Wolfgang Betz 42:5490ac2d0a10 143 }
Wolfgang Betz 42:5490ac2d0a10 144
Wolfgang Betz 8:d49db2c9d9c1 145 /* Configure sensor */
Wolfgang Betz 8:d49db2c9d9c1 146 InitStructure.M_FullScale = LIS3MDL_M_FS_4;
Wolfgang Betz 8:d49db2c9d9c1 147 InitStructure.M_OperatingMode = LIS3MDL_M_MD_CONTINUOUS;
Wolfgang Betz 8:d49db2c9d9c1 148 InitStructure.M_XYOperativeMode = LIS3MDL_M_OM_HP;
Wolfgang Betz 8:d49db2c9d9c1 149 InitStructure.M_OutputDataRate = LIS3MDL_M_DO_80;
Wolfgang Betz 8:d49db2c9d9c1 150
Wolfgang Betz 42:5490ac2d0a10 151 if(magnetometer->Init(&InitStructure) != MAGNETO_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 8:d49db2c9d9c1 160 * @brief Initialize the singelton pressure sensor
Wolfgang Betz 8:d49db2c9d9c1 161 * @return true if initialization successful, false otherwise
Wolfgang Betz 8:d49db2c9d9c1 162 */
Wolfgang Betz 42:5490ac2d0a10 163 bool X_NUCLEO_IKS01A1::Init_LPS25H(void) {
Wolfgang Betz 8:d49db2c9d9c1 164 uint8_t p_id = 0;
Wolfgang Betz 8:d49db2c9d9c1 165 PRESSURE_InitTypeDef InitStructure;
Wolfgang Betz 8:d49db2c9d9c1 166
Wolfgang Betz 42:5490ac2d0a10 167 /* Check presence */
Wolfgang Betz 42:5490ac2d0a10 168 if((pressure_sensor->ReadID(&p_id) != PRESSURE_OK) ||
Wolfgang Betz 42:5490ac2d0a10 169 (p_id != I_AM_LPS25H))
Wolfgang Betz 42:5490ac2d0a10 170 {
Wolfgang Betz 42:5490ac2d0a10 171 delete pressure_sensor;
Wolfgang Betz 42:5490ac2d0a10 172 pressure_sensor = NULL;
Wolfgang Betz 42:5490ac2d0a10 173 return true;
Wolfgang Betz 42:5490ac2d0a10 174 }
Wolfgang Betz 42:5490ac2d0a10 175
Wolfgang Betz 8:d49db2c9d9c1 176 /* Configure sensor */
Wolfgang Betz 8:d49db2c9d9c1 177 InitStructure.OutputDataRate = LPS25H_ODR_1Hz;
Wolfgang Betz 8:d49db2c9d9c1 178 InitStructure.BlockDataUpdate = LPS25H_BDU_CONT;
Wolfgang Betz 8:d49db2c9d9c1 179 InitStructure.DiffEnable = LPS25H_DIFF_ENABLE;
Wolfgang Betz 8:d49db2c9d9c1 180 InitStructure.SPIMode = LPS25H_SPI_SIM_3W;
Wolfgang Betz 8:d49db2c9d9c1 181 InitStructure.PressureResolution = LPS25H_P_RES_AVG_32;
Wolfgang Betz 8:d49db2c9d9c1 182 InitStructure.TemperatureResolution = LPS25H_T_RES_AVG_16;
Wolfgang Betz 8:d49db2c9d9c1 183
Wolfgang Betz 42:5490ac2d0a10 184 if(pressure_sensor->Init(&InitStructure) != PRESSURE_OK)
Wolfgang Betz 8:d49db2c9d9c1 185 {
Wolfgang Betz 8:d49db2c9d9c1 186 return false;
Wolfgang Betz 8:d49db2c9d9c1 187 }
Wolfgang Betz 8:d49db2c9d9c1 188
Wolfgang Betz 8:d49db2c9d9c1 189 return true;
Wolfgang Betz 8:d49db2c9d9c1 190 }
Wolfgang Betz 8:d49db2c9d9c1 191
Wolfgang Betz 8:d49db2c9d9c1 192 /**
Wolfgang Betz 8:d49db2c9d9c1 193 * @brief Initialize the singelton gyroscope
Wolfgang Betz 8:d49db2c9d9c1 194 * @return true if initialization successful, false otherwise
Wolfgang Betz 8:d49db2c9d9c1 195 */
Wolfgang Betz 42:5490ac2d0a10 196 bool X_NUCLEO_IKS01A1::Init_LSM6DS0(void) {
Wolfgang Betz 8:d49db2c9d9c1 197 IMU_6AXES_InitTypeDef InitStructure;
Wolfgang Betz 8:d49db2c9d9c1 198 uint8_t xg_id = 0;
Wolfgang Betz 8:d49db2c9d9c1 199
Wolfgang Betz 42:5490ac2d0a10 200 /* Check presence */
Wolfgang Betz 42:5490ac2d0a10 201 if((gyroscope->ReadID(&xg_id) != IMU_6AXES_OK) ||
Wolfgang Betz 42:5490ac2d0a10 202 (xg_id != I_AM_LSM6DS0_XG))
Wolfgang Betz 42:5490ac2d0a10 203 {
Wolfgang Betz 42:5490ac2d0a10 204 delete gyroscope;
Wolfgang Betz 42:5490ac2d0a10 205 gyroscope = 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 24:92cc9c6e4b2b 210 InitStructure.G_FullScale = 2000.0f; /* 2000DPS */
Wolfgang Betz 24:92cc9c6e4b2b 211 InitStructure.G_OutputDataRate = 119.0f; /* 119HZ */
Wolfgang Betz 24:92cc9c6e4b2b 212 InitStructure.G_X_Axis = 1; /* Enable */
Wolfgang Betz 24:92cc9c6e4b2b 213 InitStructure.G_Y_Axis = 1; /* Enable */
Wolfgang Betz 24:92cc9c6e4b2b 214 InitStructure.G_Z_Axis = 1; /* Enable */
Wolfgang Betz 8:d49db2c9d9c1 215
Wolfgang Betz 24:92cc9c6e4b2b 216 InitStructure.X_FullScale = 2.0f; /* 2G */
Wolfgang Betz 24:92cc9c6e4b2b 217 InitStructure.X_OutputDataRate = 119.0f; /* 119HZ */
Wolfgang Betz 24:92cc9c6e4b2b 218 InitStructure.X_X_Axis = 1; /* Enable */
Wolfgang Betz 24:92cc9c6e4b2b 219 InitStructure.X_Y_Axis = 1; /* Enable */
Wolfgang Betz 24:92cc9c6e4b2b 220 InitStructure.X_Z_Axis = 1; /* Enable */
Wolfgang Betz 8:d49db2c9d9c1 221
Wolfgang Betz 42:5490ac2d0a10 222 if(gyroscope->Init(&InitStructure) != IMU_6AXES_OK)
Wolfgang Betz 8:d49db2c9d9c1 223 {
Wolfgang Betz 8:d49db2c9d9c1 224 return false;
Wolfgang Betz 8:d49db2c9d9c1 225 }
Wolfgang Betz 8:d49db2c9d9c1 226
Wolfgang Betz 8:d49db2c9d9c1 227 return true;
Wolfgang Betz 8:d49db2c9d9c1 228 }