Shih-Ho Hsieh / AltIMU_10_v5

test for a library

altimu_10_v5.h@0:43f2f3301904, 2018-08-15 (annotated)

Committer:
hober
Date:
Wed Aug 15 02:12:10 2018 +0000
Revision:
0:43f2f3301904
2018/08/15 convert to library

Who changed what in which revision?

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hober 0:43f2f3301904 1 /**
hober 0:43f2f3301904 2 ******************************************************************************
hober 0:43f2f3301904 3 * @file altimu_10_v5.h
hober 0:43f2f3301904 4 * @author AST / EST
hober 0:43f2f3301904 5 * @version V0.0.1
hober 0:43f2f3301904 6 * @date 13-April-2015
hober 0:43f2f3301904 7 * @brief Header file for class AltIMU_10_v5 representing a AltIMU-10 v5
hober 0:43f2f3301904 8 * expansion board
hober 0:43f2f3301904 9 ******************************************************************************
hober 0:43f2f3301904 10 * @attention
hober 0:43f2f3301904 11 *
hober 0:43f2f3301904 12 * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
hober 0:43f2f3301904 13 *
hober 0:43f2f3301904 14 * Redistribution and use in source and binary forms, with or without modification,
hober 0:43f2f3301904 15 * are permitted provided that the following conditions are met:
hober 0:43f2f3301904 16 * 1. Redistributions of source code must retain the above copyright notice,
hober 0:43f2f3301904 17 * this list of conditions and the following disclaimer.
hober 0:43f2f3301904 18 * 2. Redistributions in binary form must reproduce the above copyright notice,
hober 0:43f2f3301904 19 * this list of conditions and the following disclaimer in the documentation
hober 0:43f2f3301904 20 * and/or other materials provided with the distribution.
hober 0:43f2f3301904 21 * 3. Neither the name of STMicroelectronics nor the names of its contributors
hober 0:43f2f3301904 22 * may be used to endorse or promote products derived from this software
hober 0:43f2f3301904 23 * without specific prior written permission.
hober 0:43f2f3301904 24 *
hober 0:43f2f3301904 25 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
hober 0:43f2f3301904 26 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
hober 0:43f2f3301904 27 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
hober 0:43f2f3301904 28 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
hober 0:43f2f3301904 29 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
hober 0:43f2f3301904 30 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
hober 0:43f2f3301904 31 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
hober 0:43f2f3301904 32 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
hober 0:43f2f3301904 33 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
hober 0:43f2f3301904 34 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
hober 0:43f2f3301904 35 *
hober 0:43f2f3301904 36 ******************************************************************************
hober 0:43f2f3301904 37 */
hober 0:43f2f3301904 38
hober 0:43f2f3301904 39 /* Define to prevent from recursive inclusion --------------------------------*/
hober 0:43f2f3301904 40 #ifndef __ALTIMU_10_V5_H
hober 0:43f2f3301904 41 #define __ALTIMU_10_V5_H
hober 0:43f2f3301904 42
hober 0:43f2f3301904 43 /* Includes ------------------------------------------------------------------*/
hober 0:43f2f3301904 44 #include "mbed.h"
hober 0:43f2f3301904 45 #include "altimu_10_v5_targets.h"
hober 0:43f2f3301904 46 #include "lis3mdl/lis3mdl_class.h"
hober 0:43f2f3301904 47 #include "lps25h/lps25h_class.h"
hober 0:43f2f3301904 48 #include "lsm6ds33/lsm6ds33_class.h"
hober 0:43f2f3301904 49 #include "DevI2C.h"
hober 0:43f2f3301904 50
hober 0:43f2f3301904 51 /* Macros -------------------------------------------------------------------*/
hober 0:43f2f3301904 52 #define CALL_METH(obj, meth, param, ret) ((obj == NULL) ? \
hober 0:43f2f3301904 53 ((*(param) = (ret)), 0) : \
hober 0:43f2f3301904 54 ((obj)->meth(param)) \
hober 0:43f2f3301904 55 )
hober 0:43f2f3301904 56
hober 0:43f2f3301904 57 /* Classes -------------------------------------------------------------------*/
hober 0:43f2f3301904 58 /** Class AltIMU_10_v5 is intended to represent the MEMS Inertial & Environmental
hober 0:43f2f3301904 59 * Nucleo Expansion Board with the same name.
hober 0:43f2f3301904 60 *
hober 0:43f2f3301904 61 * The expansion board is featuring basically four IPs:\n
hober 0:43f2f3301904 62 * -# a HTS221 Relative Humidity and Temperature Sensor\n
hober 0:43f2f3301904 63 * -# a LIS3MDL 3-Axis Magnetometer\n
hober 0:43f2f3301904 64 * -# a LPS25H MEMS Pressure Sensor (and Temperature Sensor)\n
hober 0:43f2f3301904 65 * -# and a LSM6DS33 3D Acceleromenter and 3D Gyroscope\n
hober 0:43f2f3301904 66 *
hober 0:43f2f3301904 67 * The expansion board features also a DIL 24-pin socket which makes it possible
hober 0:43f2f3301904 68 * to add further MEMS adapters and other sensors (e.g. UV index).
hober 0:43f2f3301904 69 *
hober 0:43f2f3301904 70 * It is intentionally implemented as a singleton because only one
hober 0:43f2f3301904 71 * AltIMU_10_v5 at a time might be deployed in a HW component stack.\n
hober 0:43f2f3301904 72 * In order to get the singleton instance you have to call class method `Instance()`,
hober 0:43f2f3301904 73 * e.g.:
hober 0:43f2f3301904 74 * @code
hober 0:43f2f3301904 75 * // Inertial & Environmental expansion board singleton instance
hober 0:43f2f3301904 76 * static AltIMU_10_v5 *<TODO>_expansion_board = AltIMU_10_v5::Instance();
hober 0:43f2f3301904 77 * @endcode
hober 0:43f2f3301904 78 */
hober 0:43f2f3301904 79 class AltIMU_10_v5
hober 0:43f2f3301904 80 {
hober 0:43f2f3301904 81 protected:
hober 0:43f2f3301904 82 AltIMU_10_v5(DevI2C *ext_i2c, uint8_t SA0=1);
hober 0:43f2f3301904 83
hober 0:43f2f3301904 84 ~AltIMU_10_v5(void) {
hober 0:43f2f3301904 85 /* should never be called */
hober 0:43f2f3301904 86 error("Trial to delete AltIMU_10_v5 singleton!\n");
hober 0:43f2f3301904 87 }
hober 0:43f2f3301904 88
hober 0:43f2f3301904 89 /**
hober 0:43f2f3301904 90 * @brief Initialize the singleton's sensors to default settings
hober 0:43f2f3301904 91 * @retval true if initialization successful,
hober 0:43f2f3301904 92 * @retval false otherwise
hober 0:43f2f3301904 93 */
hober 0:43f2f3301904 94 bool Init(void) {
hober 0:43f2f3301904 95 return (Init_LIS3MDL() &&
hober 0:43f2f3301904 96 Init_LPS25H() &&
hober 0:43f2f3301904 97 Init_LSM6DS33());
hober 0:43f2f3301904 98 }
hober 0:43f2f3301904 99
hober 0:43f2f3301904 100 bool Init_LIS3MDL(void);
hober 0:43f2f3301904 101 bool Init_LPS25H(void);
hober 0:43f2f3301904 102 bool Init_LSM6DS33(void);
hober 0:43f2f3301904 103
hober 0:43f2f3301904 104 public:
hober 0:43f2f3301904 105 static AltIMU_10_v5* Instance(DevI2C *ext_i2c = NULL, uint8_t SA0 = 1);
hober 0:43f2f3301904 106 static AltIMU_10_v5* Instance(PinName sda, PinName scl, uint8_t SA0 = 1);
hober 0:43f2f3301904 107
hober 0:43f2f3301904 108 DevI2C *dev_i2c;
hober 0:43f2f3301904 109
hober 0:43f2f3301904 110 LIS3MDL *magnetometer;
hober 0:43f2f3301904 111 LPS25H *pt_sensor;
hober 0:43f2f3301904 112
hober 0:43f2f3301904 113 GyroSensor *GetGyroscope(void) {
hober 0:43f2f3301904 114 return gyro_lsm6ds33;
hober 0:43f2f3301904 115 }
hober 0:43f2f3301904 116 MotionSensor *GetAccelerometer(void) {
hober 0:43f2f3301904 117 return gyro_lsm6ds33;
hober 0:43f2f3301904 118 }
hober 0:43f2f3301904 119 LSM6DS33 *gyro_lsm6ds33;
hober 0:43f2f3301904 120
hober 0:43f2f3301904 121
hober 0:43f2f3301904 122 void setI2cFrequency(int hz){ dev_i2c->frequency(hz); }
hober 0:43f2f3301904 123
hober 0:43f2f3301904 124 private:
hober 0:43f2f3301904 125 static AltIMU_10_v5 *_instance0;
hober 0:43f2f3301904 126 static AltIMU_10_v5 *_instance1;
hober 0:43f2f3301904 127 };
hober 0:43f2f3301904 128
hober 0:43f2f3301904 129 #endif /* __ALTIMU_10_V5_H */