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Finished project.
Fork of ReferredCoursework2016 by
x_nucleo_iks01a1.h@91:cd9fcd45ecf6, 2017-08-17 (annotated)
- Committer:
- J_Satchell
- Date:
- Thu Aug 17 06:58:29 2017 +0000
- Revision:
- 91:cd9fcd45ecf6
- Parent:
- 87:f4fa3dad9ec4
Added mutex
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Wolfgang Betz |
0:0feaa2a2d9ff | 1 | /** |
Wolfgang Betz |
0:0feaa2a2d9ff | 2 | ****************************************************************************** |
Wolfgang Betz |
0:0feaa2a2d9ff | 3 | * @file x_nucleo_iks01a1.h |
Wolfgang Betz |
0:0feaa2a2d9ff | 4 | * @author AST / EST |
Wolfgang Betz |
0:0feaa2a2d9ff | 5 | * @version V0.0.1 |
Wolfgang Betz |
0:0feaa2a2d9ff | 6 | * @date 13-April-2015 |
Wolfgang Betz |
3:088aa5839e0d | 7 | * @brief Header file for class X_NUCLEO_IKS01A1 representing a X-NUCLEO-IKS01A1 |
Wolfgang Betz |
0:0feaa2a2d9ff | 8 | * expansion board |
Wolfgang Betz |
0:0feaa2a2d9ff | 9 | ****************************************************************************** |
Wolfgang Betz |
0:0feaa2a2d9ff | 10 | * @attention |
Wolfgang Betz |
0:0feaa2a2d9ff | 11 | * |
Wolfgang Betz |
3:088aa5839e0d | 12 | * <h2><center>© COPYRIGHT(c) 2015 STMicroelectronics</center></h2> |
Wolfgang Betz |
0:0feaa2a2d9ff | 13 | * |
Wolfgang Betz |
0:0feaa2a2d9ff | 14 | * Redistribution and use in source and binary forms, with or without modification, |
Wolfgang Betz |
0:0feaa2a2d9ff | 15 | * are permitted provided that the following conditions are met: |
Wolfgang Betz |
0:0feaa2a2d9ff | 16 | * 1. Redistributions of source code must retain the above copyright notice, |
Wolfgang Betz |
0:0feaa2a2d9ff | 17 | * this list of conditions and the following disclaimer. |
Wolfgang Betz |
0:0feaa2a2d9ff | 18 | * 2. Redistributions in binary form must reproduce the above copyright notice, |
Wolfgang Betz |
0:0feaa2a2d9ff | 19 | * this list of conditions and the following disclaimer in the documentation |
Wolfgang Betz |
0:0feaa2a2d9ff | 20 | * and/or other materials provided with the distribution. |
Wolfgang Betz |
0:0feaa2a2d9ff | 21 | * 3. Neither the name of STMicroelectronics nor the names of its contributors |
Wolfgang Betz |
0:0feaa2a2d9ff | 22 | * may be used to endorse or promote products derived from this software |
Wolfgang Betz |
0:0feaa2a2d9ff | 23 | * without specific prior written permission. |
Wolfgang Betz |
0:0feaa2a2d9ff | 24 | * |
Wolfgang Betz |
0:0feaa2a2d9ff | 25 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
Wolfgang Betz |
0:0feaa2a2d9ff | 26 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
Wolfgang Betz |
0:0feaa2a2d9ff | 27 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE |
Wolfgang Betz |
0:0feaa2a2d9ff | 28 | * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE |
Wolfgang Betz |
0:0feaa2a2d9ff | 29 | * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL |
Wolfgang Betz |
0:0feaa2a2d9ff | 30 | * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR |
Wolfgang Betz |
0:0feaa2a2d9ff | 31 | * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
Wolfgang Betz |
0:0feaa2a2d9ff | 32 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, |
Wolfgang Betz |
0:0feaa2a2d9ff | 33 | * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
Wolfgang Betz |
0:0feaa2a2d9ff | 34 | * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
Wolfgang Betz |
0:0feaa2a2d9ff | 35 | * |
Wolfgang Betz |
0:0feaa2a2d9ff | 36 | ****************************************************************************** |
Wolfgang Betz |
0:0feaa2a2d9ff | 37 | */ |
Wolfgang Betz |
0:0feaa2a2d9ff | 38 | |
Wolfgang Betz |
0:0feaa2a2d9ff | 39 | /* Define to prevent from recursive inclusion --------------------------------*/ |
Wolfgang Betz |
0:0feaa2a2d9ff | 40 | #ifndef __X_NUCLEO_IKS01A1_H |
Wolfgang Betz |
0:0feaa2a2d9ff | 41 | #define __X_NUCLEO_IKS01A1_H |
Wolfgang Betz |
0:0feaa2a2d9ff | 42 | |
Wolfgang Betz |
0:0feaa2a2d9ff | 43 | /* Includes ------------------------------------------------------------------*/ |
Wolfgang Betz |
0:0feaa2a2d9ff | 44 | #include "mbed.h" |
Wolfgang Betz |
0:0feaa2a2d9ff | 45 | #include "x_nucleo_iks01a1_targets.h" |
Wolfgang Betz |
15:472cf58b9c11 | 46 | #include "hts221/hts221_class.h" |
Wolfgang Betz |
15:472cf58b9c11 | 47 | #include "lis3mdl/lis3mdl_class.h" |
Wolfgang Betz |
15:472cf58b9c11 | 48 | #include "lps25h/lps25h_class.h" |
Wolfgang Betz |
15:472cf58b9c11 | 49 | #include "lsm6ds0/lsm6ds0_class.h" |
Wolfgang Betz |
44:d757094f6229 | 50 | #include "lsm6ds3/lsm6ds3_class.h" |
Wolfgang Betz |
0:0feaa2a2d9ff | 51 | #include "DevI2C.h" |
Wolfgang Betz |
0:0feaa2a2d9ff | 52 | |
Wolfgang Betz |
42:5490ac2d0a10 | 53 | /* Macros -------------------------------------------------------------------*/ |
Wolfgang Betz |
42:5490ac2d0a10 | 54 | #define CALL_METH(obj, meth, param, ret) ((obj == NULL) ? \ |
Wolfgang Betz |
42:5490ac2d0a10 | 55 | ((*(param) = (ret)), 0) : \ |
Wolfgang Betz |
42:5490ac2d0a10 | 56 | ((obj)->meth(param)) \ |
Wolfgang Betz |
42:5490ac2d0a10 | 57 | ) |
Wolfgang Betz |
42:5490ac2d0a10 | 58 | |
Wolfgang Betz |
0:0feaa2a2d9ff | 59 | /* Classes -------------------------------------------------------------------*/ |
Wolfgang Betz |
4:566f2c41dc1d | 60 | /** Class X_NUCLEO_IKS01A1 is intended to represent the MEMS Inertial & Environmental |
Wolfgang Betz |
4:566f2c41dc1d | 61 | * Nucleo Expansion Board with the same name. |
Wolfgang Betz |
0:0feaa2a2d9ff | 62 | * |
Wolfgang Betz |
3:088aa5839e0d | 63 | * The expansion board is featuring basically four IPs:\n |
Wolfgang Betz |
3:088aa5839e0d | 64 | * -# a HTS221 Relative Humidity and Temperature Sensor\n |
Wolfgang Betz |
3:088aa5839e0d | 65 | * -# a LIS3MDL 3-Axis Magnetometer\n |
Wolfgang Betz |
71:78164ec41ad2 | 66 | * -# a LPS25H MEMS Pressure Sensor (and Temperature Sensor)\n |
Wolfgang Betz |
3:088aa5839e0d | 67 | * -# and a LSM6DS0 3D Acceleromenter and 3D Gyroscope\n |
Wolfgang Betz |
0:0feaa2a2d9ff | 68 | * |
Wolfgang Betz |
44:d757094f6229 | 69 | * The expansion board features also a DIL 24-pin socket which makes it possible |
Wolfgang Betz |
44:d757094f6229 | 70 | * to add further MEMS adapters and other sensors (e.g. UV index). |
Wolfgang Betz |
44:d757094f6229 | 71 | * |
Wolfgang Betz |
0:0feaa2a2d9ff | 72 | * It is intentionally implemented as a singleton because only one |
Wolfgang Betz |
0:0feaa2a2d9ff | 73 | * X_NUCLEO_IKS01A1 at a time might be deployed in a HW component stack.\n |
Wolfgang Betz |
0:0feaa2a2d9ff | 74 | * In order to get the singleton instance you have to call class method `Instance()`, |
Wolfgang Betz |
0:0feaa2a2d9ff | 75 | * e.g.: |
Wolfgang Betz |
0:0feaa2a2d9ff | 76 | * @code |
Wolfgang Betz |
3:088aa5839e0d | 77 | * // Inertial & Environmental expansion board singleton instance |
Wolfgang Betz |
0:0feaa2a2d9ff | 78 | * static X_NUCLEO_IKS01A1 *<TODO>_expansion_board = X_NUCLEO_IKS01A1::Instance(); |
Wolfgang Betz |
0:0feaa2a2d9ff | 79 | * @endcode |
Wolfgang Betz |
0:0feaa2a2d9ff | 80 | */ |
Wolfgang Betz |
0:0feaa2a2d9ff | 81 | class X_NUCLEO_IKS01A1 |
Wolfgang Betz |
0:0feaa2a2d9ff | 82 | { |
Wolfgang Betz |
0:0feaa2a2d9ff | 83 | protected: |
Wolfgang Betz |
72:79a2a64c9b2f | 84 | X_NUCLEO_IKS01A1(DevI2C *ext_i2c, PinName ff_irq_pin); |
Wolfgang Betz |
0:0feaa2a2d9ff | 85 | |
Wolfgang Betz |
85:cb636b531652 | 86 | ~X_NUCLEO_IKS01A1(void) { |
Wolfgang Betz |
85:cb636b531652 | 87 | /* should never be called */ |
Wolfgang Betz |
85:cb636b531652 | 88 | error("Trial to delete X_NUCLEO_IKS01A1 singleton!\n"); |
Wolfgang Betz |
85:cb636b531652 | 89 | } |
Wolfgang Betz |
85:cb636b531652 | 90 | |
Wolfgang Betz |
44:d757094f6229 | 91 | /** |
Wolfgang Betz |
44:d757094f6229 | 92 | * @brief Initialize the singleton's sensors to default settings |
Wolfgang Betz |
44:d757094f6229 | 93 | * @retval true if initialization successful, |
Wolfgang Betz |
44:d757094f6229 | 94 | * @retval false otherwise |
Wolfgang Betz |
44:d757094f6229 | 95 | */ |
Wolfgang Betz |
44:d757094f6229 | 96 | bool Init(void) { |
Wolfgang Betz |
44:d757094f6229 | 97 | return (Init_HTS221() && |
Wolfgang Betz |
44:d757094f6229 | 98 | Init_LIS3MDL() && |
Wolfgang Betz |
44:d757094f6229 | 99 | Init_LPS25H() && |
Wolfgang Betz |
44:d757094f6229 | 100 | Init_Gyro()); |
Wolfgang Betz |
44:d757094f6229 | 101 | } |
Wolfgang Betz |
44:d757094f6229 | 102 | |
Wolfgang Betz |
44:d757094f6229 | 103 | /** |
Wolfgang Betz |
44:d757094f6229 | 104 | * @brief Initialize the singleton's gyroscope |
Wolfgang Betz |
44:d757094f6229 | 105 | * @retval true if initialization successful, |
Wolfgang Betz |
44:d757094f6229 | 106 | * @retval false otherwise |
Wolfgang Betz |
44:d757094f6229 | 107 | * @note only one sensor among LSM6DS3 & LSM6DS0 will be instantiated |
Wolfgang Betz |
44:d757094f6229 | 108 | * with a preference on LSM6DS3 when available |
Wolfgang Betz |
44:d757094f6229 | 109 | */ |
Wolfgang Betz |
44:d757094f6229 | 110 | bool Init_Gyro(void) { |
Wolfgang Betz |
44:d757094f6229 | 111 | // Note: order is important! |
Wolfgang Betz |
44:d757094f6229 | 112 | return (Init_LSM6DS3() && |
Wolfgang Betz |
44:d757094f6229 | 113 | Init_LSM6DS0()); |
Wolfgang Betz |
44:d757094f6229 | 114 | } |
Wolfgang Betz |
44:d757094f6229 | 115 | |
Wolfgang Betz |
42:5490ac2d0a10 | 116 | bool Init_HTS221(void); |
Wolfgang Betz |
42:5490ac2d0a10 | 117 | bool Init_LIS3MDL(void); |
Wolfgang Betz |
42:5490ac2d0a10 | 118 | bool Init_LPS25H(void); |
Wolfgang Betz |
42:5490ac2d0a10 | 119 | bool Init_LSM6DS0(void); |
Wolfgang Betz |
44:d757094f6229 | 120 | bool Init_LSM6DS3(void); |
Wolfgang Betz |
8:d49db2c9d9c1 | 121 | |
Wolfgang Betz |
0:0feaa2a2d9ff | 122 | public: |
Wolfgang Betz |
72:79a2a64c9b2f | 123 | static X_NUCLEO_IKS01A1* Instance(DevI2C *ext_i2c = NULL, |
Wolfgang Betz |
72:79a2a64c9b2f | 124 | PinName ff_irq_pin = IKS01A1_PIN_FF); |
Wolfgang Betz |
72:79a2a64c9b2f | 125 | static X_NUCLEO_IKS01A1* Instance(PinName sda, PinName scl, PinName ff_irq_pin = NC); |
Wolfgang Betz |
0:0feaa2a2d9ff | 126 | |
Wolfgang Betz |
42:5490ac2d0a10 | 127 | DevI2C *dev_i2c; |
Wolfgang Betz |
0:0feaa2a2d9ff | 128 | |
Wolfgang Betz |
42:5490ac2d0a10 | 129 | HTS221 *ht_sensor; |
Wolfgang Betz |
42:5490ac2d0a10 | 130 | LIS3MDL *magnetometer; |
Wolfgang Betz |
71:78164ec41ad2 | 131 | LPS25H *pt_sensor; |
Wolfgang Betz |
44:d757094f6229 | 132 | |
Wolfgang Betz |
44:d757094f6229 | 133 | GyroSensor *GetGyroscope(void) { |
Wolfgang Betz |
44:d757094f6229 | 134 | return ((gyro_lsm6ds3 == NULL) ? |
Wolfgang Betz |
44:d757094f6229 | 135 | (GyroSensor*)gyro_lsm6ds0 : (GyroSensor*)gyro_lsm6ds3); |
Wolfgang Betz |
44:d757094f6229 | 136 | } |
Wolfgang Betz |
44:d757094f6229 | 137 | MotionSensor *GetAccelerometer(void) { |
Wolfgang Betz |
44:d757094f6229 | 138 | return ((gyro_lsm6ds3 == NULL) ? |
Wolfgang Betz |
44:d757094f6229 | 139 | (MotionSensor*)gyro_lsm6ds0 : (MotionSensor*)gyro_lsm6ds3); |
Wolfgang Betz |
44:d757094f6229 | 140 | } |
Wolfgang Betz |
44:d757094f6229 | 141 | LSM6DS0 *gyro_lsm6ds0; |
Wolfgang Betz |
44:d757094f6229 | 142 | LSM6DS3 *gyro_lsm6ds3; |
Wolfgang Betz |
3:088aa5839e0d | 143 | |
Wolfgang Betz |
0:0feaa2a2d9ff | 144 | private: |
Wolfgang Betz |
0:0feaa2a2d9ff | 145 | static X_NUCLEO_IKS01A1 *_instance; |
Wolfgang Betz |
0:0feaa2a2d9ff | 146 | }; |
Wolfgang Betz |
0:0feaa2a2d9ff | 147 | |
Wolfgang Betz |
0:0feaa2a2d9ff | 148 | #endif /* __X_NUCLEO_IKS01A1_H */ |