Read and store X_NUCLEO_IKS01A1 data. Also calculates compass heading.
Dependencies: ST_INTERFACES X_NUCLEO_COMMON
Dependents: HelloWorld_IKS01A1
Fork of X_NUCLEO_IKS01A1 by
x_nucleo_iks01a1.cpp@71:78164ec41ad2, 2015-08-31 (annotated)
- Committer:
- Wolfgang Betz
- Date:
- Mon Aug 31 12:07:22 2015 +0200
- Revision:
- 71:78164ec41ad2
- Parent:
- 57:04563dd74269
- Child:
- 72:79a2a64c9b2f
Rename 'pressure_sensor' in 'pt_sensor'
Who changed what in which revision?
User | Revision | Line number | New 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>© 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 |
71:78164ec41ad2 | 53 | pt_sensor(new LPS25H(*dev_i2c)), |
Wolfgang Betz |
44:d757094f6229 | 54 | gyro_lsm6ds0(new LSM6DS0(*dev_i2c)), |
Wolfgang Betz |
52:54553fd15b50 | 55 | gyro_lsm6ds3(new LSM6DS3(*dev_i2c, IKS01A1_PIN_FF)) |
Wolfgang Betz |
3:088aa5839e0d | 56 | { |
Wolfgang Betz |
3:088aa5839e0d | 57 | } |
Wolfgang Betz |
3:088aa5839e0d | 58 | |
Wolfgang Betz |
3:088aa5839e0d | 59 | /** |
Wolfgang Betz |
57:04563dd74269 | 60 | * @brief Get singleton instance |
Wolfgang Betz |
57:04563dd74269 | 61 | * @return a pointer to the initialized singleton instance of class X_NUCLEO_IKS01A1 |
Wolfgang Betz |
57:04563dd74269 | 62 | * @param[in] ext_i2c (optional) pointer to an instance of DevI2C to be used |
Wolfgang Betz |
57:04563dd74269 | 63 | * for communication on the expansion board. |
Wolfgang Betz |
57:04563dd74269 | 64 | * Taken into account only on the very first call of this function. |
Wolfgang Betz |
57:04563dd74269 | 65 | * If not provided a new DevI2C will be created with standard |
Wolfgang Betz |
57:04563dd74269 | 66 | * configuration parameters. |
Wolfgang Betz |
57:04563dd74269 | 67 | * The used DevI2C object gets saved in instance variable dev_i2c. |
Wolfgang Betz |
3:088aa5839e0d | 68 | */ |
Wolfgang Betz |
3:088aa5839e0d | 69 | X_NUCLEO_IKS01A1* X_NUCLEO_IKS01A1::Instance(DevI2C *ext_i2c) { |
Wolfgang Betz |
3:088aa5839e0d | 70 | if(_instance == NULL) { |
Wolfgang Betz |
3:088aa5839e0d | 71 | if(ext_i2c == NULL) |
Wolfgang Betz |
3:088aa5839e0d | 72 | ext_i2c = new DevI2C(IKS01A1_PIN_I2C_SDA, IKS01A1_PIN_I2C_SCL); |
Wolfgang Betz |
10:cdf47a4b3f2f | 73 | |
Wolfgang Betz |
10:cdf47a4b3f2f | 74 | if(ext_i2c != NULL) |
Wolfgang Betz |
10:cdf47a4b3f2f | 75 | _instance = new X_NUCLEO_IKS01A1(ext_i2c); |
Wolfgang Betz |
8:d49db2c9d9c1 | 76 | |
Wolfgang Betz |
8:d49db2c9d9c1 | 77 | if(_instance != NULL) { |
Wolfgang Betz |
8:d49db2c9d9c1 | 78 | bool ret = _instance->Init(); |
Wolfgang Betz |
8:d49db2c9d9c1 | 79 | if(!ret) { |
Wolfgang Betz |
8:d49db2c9d9c1 | 80 | error("Failed to init X_NUCLEO_IKS01A1 expansion board!\n"); |
Wolfgang Betz |
8:d49db2c9d9c1 | 81 | } |
Wolfgang Betz |
8:d49db2c9d9c1 | 82 | } |
Wolfgang Betz |
3:088aa5839e0d | 83 | } |
Wolfgang Betz |
8:d49db2c9d9c1 | 84 | |
Wolfgang Betz |
3:088aa5839e0d | 85 | return _instance; |
Wolfgang Betz |
3:088aa5839e0d | 86 | } |
Wolfgang Betz |
8:d49db2c9d9c1 | 87 | |
Wolfgang Betz |
8:d49db2c9d9c1 | 88 | /** |
Wolfgang Betz |
44:d757094f6229 | 89 | * @brief Initialize the singleton's HT sensor |
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_HTS221(void) { |
Wolfgang Betz |
8:d49db2c9d9c1 | 94 | uint8_t ht_id = 0; |
Wolfgang Betz |
8:d49db2c9d9c1 | 95 | HUM_TEMP_InitTypeDef InitStructure; |
Wolfgang Betz |
8:d49db2c9d9c1 | 96 | |
Wolfgang Betz |
42:5490ac2d0a10 | 97 | /* Check presence */ |
Wolfgang Betz |
42:5490ac2d0a10 | 98 | if((ht_sensor->ReadID(&ht_id) != HUM_TEMP_OK) || |
Wolfgang Betz |
42:5490ac2d0a10 | 99 | (ht_id != I_AM_HTS221)) |
Wolfgang Betz |
42:5490ac2d0a10 | 100 | { |
Wolfgang Betz |
42:5490ac2d0a10 | 101 | delete ht_sensor; |
Wolfgang Betz |
42:5490ac2d0a10 | 102 | ht_sensor = NULL; |
Wolfgang Betz |
42:5490ac2d0a10 | 103 | return true; |
Wolfgang Betz |
42:5490ac2d0a10 | 104 | } |
Wolfgang Betz |
42:5490ac2d0a10 | 105 | |
Wolfgang Betz |
8:d49db2c9d9c1 | 106 | /* Configure sensor */ |
Wolfgang Betz |
8:d49db2c9d9c1 | 107 | InitStructure.OutputDataRate = HTS221_ODR_12_5Hz; |
Wolfgang Betz |
8:d49db2c9d9c1 | 108 | |
Wolfgang Betz |
42:5490ac2d0a10 | 109 | if(ht_sensor->Init(&InitStructure) != HUM_TEMP_OK) |
Wolfgang Betz |
8:d49db2c9d9c1 | 110 | { |
Wolfgang Betz |
8:d49db2c9d9c1 | 111 | return false; |
Wolfgang Betz |
8:d49db2c9d9c1 | 112 | } |
Wolfgang Betz |
8:d49db2c9d9c1 | 113 | |
Wolfgang Betz |
8:d49db2c9d9c1 | 114 | return true; |
Wolfgang Betz |
8:d49db2c9d9c1 | 115 | } |
Wolfgang Betz |
8:d49db2c9d9c1 | 116 | |
Wolfgang Betz |
8:d49db2c9d9c1 | 117 | /** |
Wolfgang Betz |
44:d757094f6229 | 118 | * @brief Initialize the singleton's magnetometer |
Wolfgang Betz |
44:d757094f6229 | 119 | * @retval true if initialization successful, |
Wolfgang Betz |
44:d757094f6229 | 120 | * @retval false otherwise |
Wolfgang Betz |
8:d49db2c9d9c1 | 121 | */ |
Wolfgang Betz |
42:5490ac2d0a10 | 122 | bool X_NUCLEO_IKS01A1::Init_LIS3MDL(void) { |
Wolfgang Betz |
8:d49db2c9d9c1 | 123 | uint8_t m_id = 0; |
Wolfgang Betz |
8:d49db2c9d9c1 | 124 | MAGNETO_InitTypeDef InitStructure; |
Wolfgang Betz |
8:d49db2c9d9c1 | 125 | |
Wolfgang Betz |
42:5490ac2d0a10 | 126 | /* Check presence */ |
Wolfgang Betz |
42:5490ac2d0a10 | 127 | if((magnetometer->ReadID(&m_id) != MAGNETO_OK) || |
Wolfgang Betz |
42:5490ac2d0a10 | 128 | (m_id != I_AM_LIS3MDL_M)) |
Wolfgang Betz |
42:5490ac2d0a10 | 129 | { |
Wolfgang Betz |
42:5490ac2d0a10 | 130 | delete magnetometer; |
Wolfgang Betz |
42:5490ac2d0a10 | 131 | magnetometer = NULL; |
Wolfgang Betz |
42:5490ac2d0a10 | 132 | return true; |
Wolfgang Betz |
42:5490ac2d0a10 | 133 | } |
Wolfgang Betz |
42:5490ac2d0a10 | 134 | |
Wolfgang Betz |
8:d49db2c9d9c1 | 135 | /* Configure sensor */ |
Wolfgang Betz |
8:d49db2c9d9c1 | 136 | InitStructure.M_FullScale = LIS3MDL_M_FS_4; |
Wolfgang Betz |
8:d49db2c9d9c1 | 137 | InitStructure.M_OperatingMode = LIS3MDL_M_MD_CONTINUOUS; |
Wolfgang Betz |
8:d49db2c9d9c1 | 138 | InitStructure.M_XYOperativeMode = LIS3MDL_M_OM_HP; |
Wolfgang Betz |
8:d49db2c9d9c1 | 139 | InitStructure.M_OutputDataRate = LIS3MDL_M_DO_80; |
Wolfgang Betz |
8:d49db2c9d9c1 | 140 | |
Wolfgang Betz |
42:5490ac2d0a10 | 141 | if(magnetometer->Init(&InitStructure) != MAGNETO_OK) |
Wolfgang Betz |
8:d49db2c9d9c1 | 142 | { |
Wolfgang Betz |
8:d49db2c9d9c1 | 143 | return false; |
Wolfgang Betz |
8:d49db2c9d9c1 | 144 | } |
Wolfgang Betz |
8:d49db2c9d9c1 | 145 | |
Wolfgang Betz |
8:d49db2c9d9c1 | 146 | return true; |
Wolfgang Betz |
8:d49db2c9d9c1 | 147 | } |
Wolfgang Betz |
8:d49db2c9d9c1 | 148 | |
Wolfgang Betz |
8:d49db2c9d9c1 | 149 | /** |
Wolfgang Betz |
44:d757094f6229 | 150 | * @brief Initialize the singleton's pressure sensor |
Wolfgang Betz |
44:d757094f6229 | 151 | * @retval true if initialization successful, |
Wolfgang Betz |
44:d757094f6229 | 152 | * @retval false otherwise |
Wolfgang Betz |
8:d49db2c9d9c1 | 153 | */ |
Wolfgang Betz |
42:5490ac2d0a10 | 154 | bool X_NUCLEO_IKS01A1::Init_LPS25H(void) { |
Wolfgang Betz |
8:d49db2c9d9c1 | 155 | uint8_t p_id = 0; |
Wolfgang Betz |
8:d49db2c9d9c1 | 156 | PRESSURE_InitTypeDef InitStructure; |
Wolfgang Betz |
8:d49db2c9d9c1 | 157 | |
Wolfgang Betz |
42:5490ac2d0a10 | 158 | /* Check presence */ |
Wolfgang Betz |
71:78164ec41ad2 | 159 | if((pt_sensor->ReadID(&p_id) != PRESSURE_OK) || |
Wolfgang Betz |
42:5490ac2d0a10 | 160 | (p_id != I_AM_LPS25H)) |
Wolfgang Betz |
42:5490ac2d0a10 | 161 | { |
Wolfgang Betz |
71:78164ec41ad2 | 162 | delete pt_sensor; |
Wolfgang Betz |
71:78164ec41ad2 | 163 | pt_sensor = NULL; |
Wolfgang Betz |
42:5490ac2d0a10 | 164 | return true; |
Wolfgang Betz |
42:5490ac2d0a10 | 165 | } |
Wolfgang Betz |
42:5490ac2d0a10 | 166 | |
Wolfgang Betz |
8:d49db2c9d9c1 | 167 | /* Configure sensor */ |
Wolfgang Betz |
8:d49db2c9d9c1 | 168 | InitStructure.OutputDataRate = LPS25H_ODR_1Hz; |
Wolfgang Betz |
8:d49db2c9d9c1 | 169 | InitStructure.BlockDataUpdate = LPS25H_BDU_CONT; |
Wolfgang Betz |
8:d49db2c9d9c1 | 170 | InitStructure.DiffEnable = LPS25H_DIFF_ENABLE; |
Wolfgang Betz |
8:d49db2c9d9c1 | 171 | InitStructure.SPIMode = LPS25H_SPI_SIM_3W; |
Wolfgang Betz |
8:d49db2c9d9c1 | 172 | InitStructure.PressureResolution = LPS25H_P_RES_AVG_32; |
Wolfgang Betz |
8:d49db2c9d9c1 | 173 | InitStructure.TemperatureResolution = LPS25H_T_RES_AVG_16; |
Wolfgang Betz |
8:d49db2c9d9c1 | 174 | |
Wolfgang Betz |
71:78164ec41ad2 | 175 | if(pt_sensor->Init(&InitStructure) != PRESSURE_OK) |
Wolfgang Betz |
8:d49db2c9d9c1 | 176 | { |
Wolfgang Betz |
8:d49db2c9d9c1 | 177 | return false; |
Wolfgang Betz |
8:d49db2c9d9c1 | 178 | } |
Wolfgang Betz |
8:d49db2c9d9c1 | 179 | |
Wolfgang Betz |
8:d49db2c9d9c1 | 180 | return true; |
Wolfgang Betz |
8:d49db2c9d9c1 | 181 | } |
Wolfgang Betz |
8:d49db2c9d9c1 | 182 | |
Wolfgang Betz |
8:d49db2c9d9c1 | 183 | /** |
Wolfgang Betz |
44:d757094f6229 | 184 | * @brief Initialize the singleton's LSM6DS0 gyroscope |
Wolfgang Betz |
44:d757094f6229 | 185 | * @retval true if initialization successful, |
Wolfgang Betz |
44:d757094f6229 | 186 | * @retval false otherwise |
Wolfgang Betz |
8:d49db2c9d9c1 | 187 | */ |
Wolfgang Betz |
42:5490ac2d0a10 | 188 | bool X_NUCLEO_IKS01A1::Init_LSM6DS0(void) { |
Wolfgang Betz |
8:d49db2c9d9c1 | 189 | IMU_6AXES_InitTypeDef InitStructure; |
Wolfgang Betz |
8:d49db2c9d9c1 | 190 | uint8_t xg_id = 0; |
Wolfgang Betz |
8:d49db2c9d9c1 | 191 | |
Wolfgang Betz |
42:5490ac2d0a10 | 192 | /* Check presence */ |
Wolfgang Betz |
46:badcff0675e8 | 193 | if((gyro_lsm6ds3 != NULL) || // by default do not instantiate two gyroscopes |
Wolfgang Betz |
44:d757094f6229 | 194 | (gyro_lsm6ds0->ReadID(&xg_id) != IMU_6AXES_OK) || |
Wolfgang Betz |
42:5490ac2d0a10 | 195 | (xg_id != I_AM_LSM6DS0_XG)) |
Wolfgang Betz |
42:5490ac2d0a10 | 196 | { |
Wolfgang Betz |
44:d757094f6229 | 197 | delete gyro_lsm6ds0; |
Wolfgang Betz |
44:d757094f6229 | 198 | gyro_lsm6ds0 = NULL; |
Wolfgang Betz |
42:5490ac2d0a10 | 199 | return true; |
Wolfgang Betz |
42:5490ac2d0a10 | 200 | } |
Wolfgang Betz |
42:5490ac2d0a10 | 201 | |
Wolfgang Betz |
8:d49db2c9d9c1 | 202 | /* Configure sensor */ |
Wolfgang Betz |
24:92cc9c6e4b2b | 203 | InitStructure.G_FullScale = 2000.0f; /* 2000DPS */ |
Wolfgang Betz |
24:92cc9c6e4b2b | 204 | InitStructure.G_OutputDataRate = 119.0f; /* 119HZ */ |
Wolfgang Betz |
24:92cc9c6e4b2b | 205 | InitStructure.G_X_Axis = 1; /* Enable */ |
Wolfgang Betz |
24:92cc9c6e4b2b | 206 | InitStructure.G_Y_Axis = 1; /* Enable */ |
Wolfgang Betz |
24:92cc9c6e4b2b | 207 | InitStructure.G_Z_Axis = 1; /* Enable */ |
Wolfgang Betz |
8:d49db2c9d9c1 | 208 | |
Wolfgang Betz |
24:92cc9c6e4b2b | 209 | InitStructure.X_FullScale = 2.0f; /* 2G */ |
Wolfgang Betz |
24:92cc9c6e4b2b | 210 | InitStructure.X_OutputDataRate = 119.0f; /* 119HZ */ |
Wolfgang Betz |
24:92cc9c6e4b2b | 211 | InitStructure.X_X_Axis = 1; /* Enable */ |
Wolfgang Betz |
24:92cc9c6e4b2b | 212 | InitStructure.X_Y_Axis = 1; /* Enable */ |
Wolfgang Betz |
24:92cc9c6e4b2b | 213 | InitStructure.X_Z_Axis = 1; /* Enable */ |
Wolfgang Betz |
8:d49db2c9d9c1 | 214 | |
Wolfgang Betz |
44:d757094f6229 | 215 | if(gyro_lsm6ds0->Init(&InitStructure) != IMU_6AXES_OK) |
Wolfgang Betz |
8:d49db2c9d9c1 | 216 | { |
Wolfgang Betz |
8:d49db2c9d9c1 | 217 | return false; |
Wolfgang Betz |
8:d49db2c9d9c1 | 218 | } |
Wolfgang Betz |
8:d49db2c9d9c1 | 219 | |
Wolfgang Betz |
8:d49db2c9d9c1 | 220 | return true; |
Wolfgang Betz |
8:d49db2c9d9c1 | 221 | } |
Wolfgang Betz |
44:d757094f6229 | 222 | |
Wolfgang Betz |
44:d757094f6229 | 223 | /** |
Wolfgang Betz |
44:d757094f6229 | 224 | * @brief Initialize the singleton's LSMDS3 gyroscope |
Wolfgang Betz |
44:d757094f6229 | 225 | * @retval true if initialization successful, |
Wolfgang Betz |
44:d757094f6229 | 226 | * @retval false otherwise |
Wolfgang Betz |
44:d757094f6229 | 227 | */ |
Wolfgang Betz |
44:d757094f6229 | 228 | bool X_NUCLEO_IKS01A1::Init_LSM6DS3(void) { |
Wolfgang Betz |
44:d757094f6229 | 229 | IMU_6AXES_InitTypeDef InitStructure; |
Wolfgang Betz |
44:d757094f6229 | 230 | uint8_t xg_id = 0; |
Wolfgang Betz |
44:d757094f6229 | 231 | |
Wolfgang Betz |
44:d757094f6229 | 232 | /* Check presence */ |
Wolfgang Betz |
44:d757094f6229 | 233 | if((gyro_lsm6ds3->ReadID(&xg_id) != IMU_6AXES_OK) || |
Wolfgang Betz |
44:d757094f6229 | 234 | (xg_id != I_AM_LSM6DS3_XG)) |
Wolfgang Betz |
44:d757094f6229 | 235 | { |
Wolfgang Betz |
44:d757094f6229 | 236 | delete gyro_lsm6ds3; |
Wolfgang Betz |
44:d757094f6229 | 237 | gyro_lsm6ds3 = NULL; |
Wolfgang Betz |
44:d757094f6229 | 238 | return true; |
Wolfgang Betz |
44:d757094f6229 | 239 | } |
Wolfgang Betz |
44:d757094f6229 | 240 | |
Wolfgang Betz |
44:d757094f6229 | 241 | /* Configure sensor */ |
Wolfgang Betz |
44:d757094f6229 | 242 | InitStructure.G_FullScale = 2000.0f; /* 2000DPS */ |
Wolfgang Betz |
44:d757094f6229 | 243 | InitStructure.G_OutputDataRate = 104.0f; /* 104HZ */ |
Wolfgang Betz |
44:d757094f6229 | 244 | InitStructure.G_X_Axis = 1; /* Enable */ |
Wolfgang Betz |
44:d757094f6229 | 245 | InitStructure.G_Y_Axis = 1; /* Enable */ |
Wolfgang Betz |
44:d757094f6229 | 246 | InitStructure.G_Z_Axis = 1; /* Enable */ |
Wolfgang Betz |
44:d757094f6229 | 247 | |
Wolfgang Betz |
44:d757094f6229 | 248 | InitStructure.X_FullScale = 2.0f; /* 2G */ |
Wolfgang Betz |
44:d757094f6229 | 249 | InitStructure.X_OutputDataRate = 104.0f; /* 104HZ */ |
Wolfgang Betz |
44:d757094f6229 | 250 | InitStructure.X_X_Axis = 1; /* Enable */ |
Wolfgang Betz |
44:d757094f6229 | 251 | InitStructure.X_Y_Axis = 1; /* Enable */ |
Wolfgang Betz |
44:d757094f6229 | 252 | InitStructure.X_Z_Axis = 1; /* Enable */ |
Wolfgang Betz |
44:d757094f6229 | 253 | |
Wolfgang Betz |
44:d757094f6229 | 254 | if(gyro_lsm6ds3->Init(&InitStructure) != IMU_6AXES_OK) |
Wolfgang Betz |
44:d757094f6229 | 255 | { |
Wolfgang Betz |
44:d757094f6229 | 256 | return false; |
Wolfgang Betz |
44:d757094f6229 | 257 | } |
Wolfgang Betz |
44:d757094f6229 | 258 | |
Wolfgang Betz |
44:d757094f6229 | 259 | return true; |
Wolfgang Betz |
44:d757094f6229 | 260 | } |