Dependencies:
X_NUCLEO_COMMON
Diff: X_NUCLEO_IKS01A1-f255a2c75ecb/x_nucleo_iks01a1.cpp
- Revision:
- 0:5a49275457c6
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/X_NUCLEO_IKS01A1-f255a2c75ecb/x_nucleo_iks01a1.cpp Tue May 17 15:40:45 2016 +0000
@@ -0,0 +1,311 @@
+/**
+ ******************************************************************************
+ * @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"
+
+/* Static variables ----------------------------------------------------------*/
+X_NUCLEO_IKS01A1* X_NUCLEO_IKS01A1::_instance = NULL;
+
+
+/* Methods -------------------------------------------------------------------*/
+/**
+ * @brief Constructor
+ */
+X_NUCLEO_IKS01A1::X_NUCLEO_IKS01A1(DevI2C *ext_i2c, PinName ff_irq_pin) : dev_i2c(ext_i2c),
+ ht_sensor(new HTS221(*dev_i2c)),
+ magnetometer(new LIS3MDL(*dev_i2c)),
+ pt_sensor(new LPS25H(*dev_i2c)),
+ gyro_lsm6ds0(new LSM6DS0(*dev_i2c))
+{
+ if(ff_irq_pin == NC) {
+ gyro_lsm6ds3 = NULL;
+ } else {
+ gyro_lsm6ds3 = new LSM6DS3(*dev_i2c, ff_irq_pin);
+ }
+}
+
+/**
+ * @brief Get singleton instance
+ * @return a pointer to the initialized singleton instance of class X_NUCLEO_IKS01A1.
+ * A return value of NULL indicates an out of memory situation.
+ * @param[in] ext_i2c (optional) pointer to an instance of DevI2C to be used
+ * for communication on the expansion board.
+ * Defaults to NULL.
+ * Taken into account only on the very first call of one of the 'Instance' functions.
+ * If not provided a new DevI2C will be created with standard
+ * configuration parameters.
+ * The used DevI2C object gets saved in instance variable dev_i2c.
+ * @param[in] ff_irq_pin (optional) PinName of the pin associated to asynchronous
+ * (i.e. interrupt based) free fall detection in case a LSM6DS3 3D
+ * Acceleromenter and 3D Gyroscope is mounted on top of the DIL 24-pin socket.
+ * Defaults to IKS01A1_PIN_FF.
+ * Taken into account only on the very first call of one of the 'Instance' functions.
+ * A value of 'NC' will avoid instantiation of the LSM6DS3 even if present.
+ */
+X_NUCLEO_IKS01A1* X_NUCLEO_IKS01A1::Instance(DevI2C *ext_i2c, PinName ff_irq_pin) {
+ 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, ff_irq_pin);
+
+ if(_instance != NULL) {
+ bool ret = _instance->Init();
+ if(!ret) {
+ error("Failed to init X_NUCLEO_IKS01A1 expansion board!\n");
+ }
+ }
+ }
+
+ return _instance;
+}
+
+/**
+ * @brief Get singleton instance
+ * @return a pointer to the initialized singleton instance of class X_NUCLEO_IKS01A1.
+ * A return value of NULL indicates an out of memory situation.
+ * @param[in] sda I2C data line pin.
+ * Taken into account only on the very first call of one of the 'Instance' functions.
+ * A new DevI2C will be created based on parameters 'sda' and 'scl'.
+ * The used DevI2C object gets saved in instance variable dev_i2c.
+ * @param[in] scl I2C clock line pin.
+ * Taken into account only on the very first call of one of the 'Instance' functions.
+ * A new DevI2C will be created based on parameters 'sda' and 'scl'.
+ * The used DevI2C object gets saved in instance variable dev_i2c.
+ * @param[in] ff_irq_pin (optional) PinName of the pin associated to asynchronous
+ * (i.e. interrupt based) free fall detection in case a LSM6DS3 3D
+ * Acceleromenter and 3D Gyroscope is mounted on top of the DIL 24-pin socket.
+ * Defaults to NC.
+ * Taken into account only on the very first call of one of the 'Instance' functions.
+ * A value of 'NC' will avoid instantiation of the LSM6DS3 even if present.
+ */
+X_NUCLEO_IKS01A1* X_NUCLEO_IKS01A1::Instance(PinName sda, PinName scl, PinName ff_irq_pin) {
+ if(_instance == NULL) {
+ DevI2C *ext_i2c = new DevI2C(sda, scl);
+
+ if(ext_i2c != NULL)
+ _instance = new X_NUCLEO_IKS01A1(ext_i2c, ff_irq_pin);
+
+ if(_instance != NULL) {
+ bool ret = _instance->Init();
+ if(!ret) {
+ error("Failed to init X_NUCLEO_IKS01A1 expansion board!\n");
+ }
+ }
+ }
+
+ return _instance;
+}
+
+/**
+ * @brief Initialize the singleton's HT sensor
+ * @retval true if initialization successful,
+ * @retval false otherwise
+ */
+bool X_NUCLEO_IKS01A1::Init_HTS221(void) {
+ uint8_t ht_id = 0;
+ HUM_TEMP_InitTypeDef InitStructure;
+
+ /* Check presence */
+ if((ht_sensor->ReadID(&ht_id) != HUM_TEMP_OK) ||
+ (ht_id != I_AM_HTS221))
+ {
+ delete ht_sensor;
+ ht_sensor = NULL;
+ return true;
+ }
+
+ /* Configure sensor */
+ InitStructure.OutputDataRate = HTS221_ODR_12_5Hz;
+
+ if(ht_sensor->Init(&InitStructure) != HUM_TEMP_OK)
+ {
+ return false;
+ }
+
+ return true;
+}
+
+/**
+ * @brief Initialize the singleton's magnetometer
+ * @retval true if initialization successful,
+ * @retval false otherwise
+ */
+bool X_NUCLEO_IKS01A1::Init_LIS3MDL(void) {
+ uint8_t m_id = 0;
+ MAGNETO_InitTypeDef InitStructure;
+
+ /* Check presence */
+ if((magnetometer->ReadID(&m_id) != MAGNETO_OK) ||
+ (m_id != I_AM_LIS3MDL_M))
+ {
+ delete magnetometer;
+ magnetometer = NULL;
+ return true;
+ }
+
+ /* 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;
+ }
+
+ return true;
+}
+
+/**
+ * @brief Initialize the singleton's pressure sensor
+ * @retval true if initialization successful,
+ * @retval false otherwise
+ */
+bool X_NUCLEO_IKS01A1::Init_LPS25H(void) {
+ uint8_t p_id = 0;
+ PRESSURE_InitTypeDef InitStructure;
+
+ /* Check presence */
+ if((pt_sensor->ReadID(&p_id) != PRESSURE_OK) ||
+ (p_id != I_AM_LPS25H))
+ {
+ delete pt_sensor;
+ pt_sensor = NULL;
+ return true;
+ }
+
+ /* 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(pt_sensor->Init(&InitStructure) != PRESSURE_OK)
+ {
+ return false;
+ }
+
+ return true;
+}
+
+/**
+ * @brief Initialize the singleton's LSM6DS0 gyroscope
+ * @retval true if initialization successful,
+ * @retval false otherwise
+ */
+bool X_NUCLEO_IKS01A1::Init_LSM6DS0(void) {
+ IMU_6AXES_InitTypeDef InitStructure;
+ uint8_t xg_id = 0;
+
+ /* Check presence */
+ if((gyro_lsm6ds3 != NULL) || // by default do not instantiate two gyroscopes
+ (gyro_lsm6ds0->ReadID(&xg_id) != IMU_6AXES_OK) ||
+ (xg_id != I_AM_LSM6DS0_XG))
+ {
+ delete gyro_lsm6ds0;
+ gyro_lsm6ds0 = NULL;
+ return true;
+ }
+
+ /* Configure sensor */
+ InitStructure.G_FullScale = 2000.0f; /* 2000DPS */
+ InitStructure.G_OutputDataRate = 119.0f; /* 119HZ */
+ InitStructure.G_X_Axis = 1; /* Enable */
+ InitStructure.G_Y_Axis = 1; /* Enable */
+ InitStructure.G_Z_Axis = 1; /* Enable */
+
+ InitStructure.X_FullScale = 2.0f; /* 2G */
+ InitStructure.X_OutputDataRate = 119.0f; /* 119HZ */
+ InitStructure.X_X_Axis = 1; /* Enable */
+ InitStructure.X_Y_Axis = 1; /* Enable */
+ InitStructure.X_Z_Axis = 1; /* Enable */
+
+ if(gyro_lsm6ds0->Init(&InitStructure) != IMU_6AXES_OK)
+ {
+ return false;
+ }
+
+ return true;
+}
+
+/**
+ * @brief Initialize the singleton's LSMDS3 gyroscope
+ * @retval true if initialization successful,
+ * @retval false otherwise
+ */
+bool X_NUCLEO_IKS01A1::Init_LSM6DS3(void) {
+ IMU_6AXES_InitTypeDef InitStructure;
+ uint8_t xg_id = 0;
+
+ /* Check presence */
+ if(gyro_lsm6ds3 == NULL) return true;
+
+ if((gyro_lsm6ds3->ReadID(&xg_id) != IMU_6AXES_OK) ||
+ (xg_id != I_AM_LSM6DS3_XG))
+ {
+ delete gyro_lsm6ds3;
+ gyro_lsm6ds3 = NULL;
+ return true;
+ }
+
+ /* Configure sensor */
+ InitStructure.G_FullScale = 2000.0f; /* 2000DPS */
+ InitStructure.G_OutputDataRate = 104.0f; /* 104HZ */
+ InitStructure.G_X_Axis = 1; /* Enable */
+ InitStructure.G_Y_Axis = 1; /* Enable */
+ InitStructure.G_Z_Axis = 1; /* Enable */
+
+ InitStructure.X_FullScale = 2.0f; /* 2G */
+ InitStructure.X_OutputDataRate = 104.0f; /* 104HZ */
+ InitStructure.X_X_Axis = 1; /* Enable */
+ InitStructure.X_Y_Axis = 1; /* Enable */
+ InitStructure.X_Z_Axis = 1; /* Enable */
+
+ if(gyro_lsm6ds3->Init(&InitStructure) != IMU_6AXES_OK)
+ {
+ return false;
+ }
+
+ return true;
+}
Ant Robinson