Diff: x_nucleo_iks01a1.cpp

Revision:

8:d49db2c9d9c1

Parent:

7:a2bb3d5e12e9

Child:

10:cdf47a4b3f2f

--- a/x_nucleo_iks01a1.cpp	Wed Apr 15 14:08:20 2015 +0200
+++ b/x_nucleo_iks01a1.cpp	Wed Apr 15 15:56:11 2015 +0200
@@ -61,7 +61,7 @@
 
 /**
  * @brief  Get singleton instance
- * @return a pointer to the singleton instance of class X_NUCLEO_IKS01A1
+ * @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.
@@ -74,6 +74,148 @@
 		if(ext_i2c == NULL)
 			ext_i2c = new DevI2C(IKS01A1_PIN_I2C_SDA, IKS01A1_PIN_I2C_SCL);
 		_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;
+}