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
- Committer:
- Wolfgang Betz
- Date:
- 2015-04-29
- Revision:
- 10:cdf47a4b3f2f
- Parent:
- 8:d49db2c9d9c1
- Child:
- 15:472cf58b9c11
File content as of revision 10:cdf47a4b3f2f:
/** ****************************************************************************** * @file x_nucleo_iks01a1.cpp * @author AST / EST * @version V0.0.1 * @date 08-October-2014 * @brief Implementation file for the X_NUCLEO_IKS01A1 singleton class ****************************************************************************** * @attention * * <h2><center>© COPYRIGHT(c) 2014 STMicroelectronics</center></h2> * * Redistribution and use in source and binary forms, with or without modification, * are permitted provided that the following conditions are met: * 1. Redistributions of source code must retain the above copyright notice, * this list of conditions and the following disclaimer. * 2. Redistributions in binary form must reproduce the above copyright notice, * this list of conditions and the following disclaimer in the documentation * and/or other materials provided with the distribution. * 3. Neither the name of STMicroelectronics nor the names of its contributors * may be used to endorse or promote products derived from this software * without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * ****************************************************************************** */ /* Includes ------------------------------------------------------------------*/ #include "mbed.h" #include "x_nucleo_iks01a1.h" #include "hts221/hts221_class.h" #include "lis3mdl/lis3mdl_class.h" #include "lps25h/lps25h_class.h" #include "lsm6ds0/lsm6ds0_class.h" /* Static variables ----------------------------------------------------------*/ X_NUCLEO_IKS01A1* X_NUCLEO_IKS01A1::_instance = NULL; /* Methods -------------------------------------------------------------------*/ /** * @brief Constructor */ X_NUCLEO_IKS01A1::X_NUCLEO_IKS01A1(DevI2C *ext_i2c) : dev_i2c(ext_i2c), ht_sensor(*(new HTS221(*dev_i2c))), magnetometer(*(new LIS3MDL(*dev_i2c))), pressure_sensor(*(new LPS25H(*dev_i2c))), gyroscope(*(new LSM6DS0(*dev_i2c))) { } /** * @brief Get singleton instance * @return a pointer to the initialized singleton instance of class X_NUCLEO_IKS01A1 * @param (optional) ext_i2c pointer to instance of DevI2C to be used * for communication on the expansion board. * Taken into account only on the very first call of this function. * If not provided a new DevI2C will be created with standard * configuration parameters. * The used DevI2C object gets saved in instance variable dev_i2c. */ X_NUCLEO_IKS01A1* X_NUCLEO_IKS01A1::Instance(DevI2C *ext_i2c) { if(_instance == NULL) { if(ext_i2c == NULL) ext_i2c = new DevI2C(IKS01A1_PIN_I2C_SDA, IKS01A1_PIN_I2C_SCL); if(ext_i2c != NULL) _instance = new X_NUCLEO_IKS01A1(ext_i2c); if(_instance != NULL) { bool ret = _instance->Init(); if(!ret) { error("Failed to init X_NUCLEO_IKS01A1 expansion board!\n"); } } } return _instance; } /** * @brief Initialize the singelton HT sensor * @return true if initialization successful, false otherwise */ bool X_NUCLEO_IKS01A1::Init_HT(void) { uint8_t ht_id = 0; HUM_TEMP_InitTypeDef InitStructure; /* Configure sensor */ InitStructure.OutputDataRate = HTS221_ODR_12_5Hz; if(ht_sensor.Init(&InitStructure) != HUM_TEMP_OK) { return false; } if(ht_sensor.ReadID(&ht_id) != HUM_TEMP_OK) { return false; } if(ht_id != I_AM_HTS221) { return false; } return true; } /** * @brief Initialize the singelton magnetometer * @return true if initialization successful, false otherwise */ bool X_NUCLEO_IKS01A1::Init_MAG(void) { uint8_t m_id = 0; MAGNETO_InitTypeDef InitStructure; /* Configure sensor */ InitStructure.M_FullScale = LIS3MDL_M_FS_4; InitStructure.M_OperatingMode = LIS3MDL_M_MD_CONTINUOUS; InitStructure.M_XYOperativeMode = LIS3MDL_M_OM_HP; InitStructure.M_OutputDataRate = LIS3MDL_M_DO_80; if(magnetometer.Init(&InitStructure) != MAGNETO_OK) { return false; } if(magnetometer.Read_M_ID(&m_id) != MAGNETO_OK) { return false; } if(m_id != I_AM_LIS3MDL_M) { return false; } return true; } /** * @brief Initialize the singelton pressure sensor * @return true if initialization successful, false otherwise */ bool X_NUCLEO_IKS01A1::Init_PRESS(void) { uint8_t p_id = 0; PRESSURE_InitTypeDef InitStructure; /* Configure sensor */ InitStructure.OutputDataRate = LPS25H_ODR_1Hz; InitStructure.BlockDataUpdate = LPS25H_BDU_CONT; InitStructure.DiffEnable = LPS25H_DIFF_ENABLE; InitStructure.SPIMode = LPS25H_SPI_SIM_3W; InitStructure.PressureResolution = LPS25H_P_RES_AVG_32; InitStructure.TemperatureResolution = LPS25H_T_RES_AVG_16; if(pressure_sensor.Init(&InitStructure) != PRESSURE_OK) { return false; } if(pressure_sensor.ReadID(&p_id) != PRESSURE_OK) { return false; } if(p_id != I_AM_LPS25H) { return false; } return true; } /** * @brief Initialize the singelton gyroscope * @return true if initialization successful, false otherwise */ bool X_NUCLEO_IKS01A1::Init_GYRO(void) { IMU_6AXES_InitTypeDef InitStructure; uint8_t xg_id = 0; /* Configure sensor */ InitStructure.G_FullScale = LSM6DS0_G_FS_2000; InitStructure.G_OutputDataRate = LSM6DS0_G_ODR_119HZ; InitStructure.G_X_Axis = LSM6DS0_G_XEN_ENABLE; InitStructure.G_Y_Axis = LSM6DS0_G_YEN_ENABLE; InitStructure.G_Z_Axis = LSM6DS0_G_ZEN_ENABLE; InitStructure.X_FullScale = LSM6DS0_XL_FS_2G; InitStructure.X_OutputDataRate = LSM6DS0_XL_ODR_119HZ; InitStructure.X_X_Axis = LSM6DS0_XL_XEN_ENABLE; InitStructure.X_Y_Axis = LSM6DS0_XL_YEN_ENABLE; InitStructure.X_Z_Axis = LSM6DS0_XL_ZEN_ENABLE; if(gyroscope.Init(&InitStructure) != IMU_6AXES_OK) { return false; } if(gyroscope.Read_XG_ID(&xg_id) != IMU_6AXES_OK) { return false; } if(xg_id != I_AM_LSM6DS0_XG) { return false; } return true; }