Simone Mentasti / Mbed 2 deprecated AcquisizioneIMU

STM Imu acquisition setup using ethernet

Dependencies:   F7_Ethernet mbed HTS221 LPS22HB LSM303AGR LSM6DSL

Fork of Nucleo_F746ZG_Ethernet by Dieter Graef

X_NUCLEO_IKS01A2/XNucleoIKS01A2.cpp@9:45a96c88754d, 2018-10-15 (annotated)

Committer:
nirnakern
Date:
Mon Oct 15 14:41:19 2018 +0000
Revision:
9:45a96c88754d
Parent:
3:758e8ed30819 
First Commit

Who changed what in which revision?

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nirnakern 3:758e8ed30819 1 /**
nirnakern 3:758e8ed30819 2 ******************************************************************************
nirnakern 3:758e8ed30819 3 * @file XNucleoIKS01A2.cpp
nirnakern 3:758e8ed30819 4 * @author CLab
nirnakern 3:758e8ed30819 5 * @version V1.0.0
nirnakern 3:758e8ed30819 6 * @date 9-August-2016
nirnakern 3:758e8ed30819 7 * @brief Implementation file for the X_NUCLEO_IKS01A2 singleton class
nirnakern 3:758e8ed30819 8 ******************************************************************************
nirnakern 3:758e8ed30819 9 * @attention
nirnakern 3:758e8ed30819 10 *
nirnakern 3:758e8ed30819 11 * <h2><center>&copy; COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
nirnakern 3:758e8ed30819 12 *
nirnakern 3:758e8ed30819 13 * Redistribution and use in source and binary forms, with or without modification,
nirnakern 3:758e8ed30819 14 * are permitted provided that the following conditions are met:
nirnakern 3:758e8ed30819 15 * 1. Redistributions of source code must retain the above copyright notice,
nirnakern 3:758e8ed30819 16 * this list of conditions and the following disclaimer.
nirnakern 3:758e8ed30819 17 * 2. Redistributions in binary form must reproduce the above copyright notice,
nirnakern 3:758e8ed30819 18 * this list of conditions and the following disclaimer in the documentation
nirnakern 3:758e8ed30819 19 * and/or other materials provided with the distribution.
nirnakern 3:758e8ed30819 20 * 3. Neither the name of STMicroelectronics nor the names of its contributors
nirnakern 3:758e8ed30819 21 * may be used to endorse or promote products derived from this software
nirnakern 3:758e8ed30819 22 * without specific prior written permission.
nirnakern 3:758e8ed30819 23 *
nirnakern 3:758e8ed30819 24 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
nirnakern 3:758e8ed30819 25 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
nirnakern 3:758e8ed30819 26 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
nirnakern 3:758e8ed30819 27 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
nirnakern 3:758e8ed30819 28 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
nirnakern 3:758e8ed30819 29 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
nirnakern 3:758e8ed30819 30 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
nirnakern 3:758e8ed30819 31 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
nirnakern 3:758e8ed30819 32 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
nirnakern 3:758e8ed30819 33 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
nirnakern 3:758e8ed30819 34 *
nirnakern 3:758e8ed30819 35 ******************************************************************************
nirnakern 3:758e8ed30819 36 */
nirnakern 3:758e8ed30819 37
nirnakern 3:758e8ed30819 38 /* Includes ------------------------------------------------------------------*/
nirnakern 3:758e8ed30819 39 #include "mbed.h"
nirnakern 3:758e8ed30819 40 #include "XNucleoIKS01A2.h"
nirnakern 3:758e8ed30819 41
nirnakern 3:758e8ed30819 42 /* Static variables ----------------------------------------------------------*/
nirnakern 3:758e8ed30819 43 XNucleoIKS01A2 *XNucleoIKS01A2::_instance = NULL;
nirnakern 3:758e8ed30819 44
nirnakern 3:758e8ed30819 45
nirnakern 3:758e8ed30819 46 /* Methods -------------------------------------------------------------------*/
nirnakern 3:758e8ed30819 47 /**
nirnakern 3:758e8ed30819 48 * @brief Constructor
nirnakern 3:758e8ed30819 49 */
nirnakern 3:758e8ed30819 50 XNucleoIKS01A2::XNucleoIKS01A2(DevI2C *ext_i2c, PinName int1, PinName int2) : dev_i2c(ext_i2c),
nirnakern 3:758e8ed30819 51 ht_sensor(new HTS221Sensor(dev_i2c)),
nirnakern 3:758e8ed30819 52 magnetometer(new LSM303AGRMagSensor(dev_i2c)),
nirnakern 3:758e8ed30819 53 accelerometer(new LSM303AGRAccSensor(dev_i2c)),
nirnakern 3:758e8ed30819 54 pt_sensor(new LPS22HBSensor(dev_i2c)),
nirnakern 3:758e8ed30819 55 acc_gyro(new LSM6DSLSensor(dev_i2c, LSM6DSL_ACC_GYRO_I2C_ADDRESS_HIGH, int1, int2))
nirnakern 3:758e8ed30819 56 {
nirnakern 3:758e8ed30819 57 ht_sensor->init(NULL);
nirnakern 3:758e8ed30819 58 magnetometer->init(NULL);
nirnakern 3:758e8ed30819 59 accelerometer->init(NULL);
nirnakern 3:758e8ed30819 60 pt_sensor->init(NULL);
nirnakern 3:758e8ed30819 61 acc_gyro->init(NULL);
nirnakern 3:758e8ed30819 62 }
nirnakern 3:758e8ed30819 63
nirnakern 3:758e8ed30819 64 /**
nirnakern 3:758e8ed30819 65 * @brief Get singleton instance
nirnakern 3:758e8ed30819 66 * @return a pointer to the initialized singleton instance of class XNucleoIKS01A2.
nirnakern 3:758e8ed30819 67 * A return value of NULL indicates an out of memory situation.
nirnakern 3:758e8ed30819 68 * @param[in] ext_i2c (optional) pointer to an instance of DevI2C to be used
nirnakern 3:758e8ed30819 69 * for communication on the expansion board.
nirnakern 3:758e8ed30819 70 * Defaults to NULL.
nirnakern 3:758e8ed30819 71 * Taken into account only on the very first call of one of the 'Instance' functions.
nirnakern 3:758e8ed30819 72 * If not provided a new DevI2C will be created with standard
nirnakern 3:758e8ed30819 73 * configuration parameters.
nirnakern 3:758e8ed30819 74 * The used DevI2C object gets saved in instance variable dev_i2c.
nirnakern 3:758e8ed30819 75 * @param[in] int1 LSM6DSL INT1 pin.
nirnakern 3:758e8ed30819 76 * Taken into account only on the very first call of one of the 'Instance' functions.
nirnakern 3:758e8ed30819 77 * It maps the INT1 pin for LSM6DSL. Defaults to IKS01A2_PIN_LSM6DSL_INT1.
nirnakern 3:758e8ed30819 78 * @param[in] int2 LSM6DSL INT1 pin.
nirnakern 3:758e8ed30819 79 * Taken into account only on the very first call of one of the 'Instance' functions.
nirnakern 3:758e8ed30819 80 * It maps the INT2 pin for LSM6DSL. Defaults to IKS01A2_PIN_LSM6DSL_INT2.
nirnakern 3:758e8ed30819 81 */
nirnakern 3:758e8ed30819 82 XNucleoIKS01A2 *XNucleoIKS01A2::instance(DevI2C *ext_i2c, PinName int1, PinName int2) {
nirnakern 3:758e8ed30819 83 if(_instance == NULL) {
nirnakern 3:758e8ed30819 84 if(ext_i2c == NULL)
nirnakern 3:758e8ed30819 85 ext_i2c = new DevI2C(IKS01A2_PIN_I2C_SDA, IKS01A2_PIN_I2C_SCL);
nirnakern 3:758e8ed30819 86
nirnakern 3:758e8ed30819 87 if(ext_i2c != NULL)
nirnakern 3:758e8ed30819 88 _instance = new XNucleoIKS01A2(ext_i2c, int1, int2);
nirnakern 3:758e8ed30819 89 }
nirnakern 3:758e8ed30819 90
nirnakern 3:758e8ed30819 91 return _instance;
nirnakern 3:758e8ed30819 92 }
nirnakern 3:758e8ed30819 93
nirnakern 3:758e8ed30819 94 /**
nirnakern 3:758e8ed30819 95 * @brief Get singleton instance
nirnakern 3:758e8ed30819 96 * @return a pointer to the initialized singleton instance of class X_NUCLEO_IKS01A1.
nirnakern 3:758e8ed30819 97 * A return value of NULL indicates an out of memory situation.
nirnakern 3:758e8ed30819 98 * @param[in] sda I2C data line pin.
nirnakern 3:758e8ed30819 99 * Taken into account only on the very first call of one of the 'Instance' functions.
nirnakern 3:758e8ed30819 100 * A new DevI2C will be created based on parameters 'sda' and 'scl'.
nirnakern 3:758e8ed30819 101 * The used DevI2C object gets saved in instance variable dev_i2c.
nirnakern 3:758e8ed30819 102 * @param[in] scl I2C clock line pin.
nirnakern 3:758e8ed30819 103 * Taken into account only on the very first call of one of the 'Instance' functions.
nirnakern 3:758e8ed30819 104 * A new DevI2C will be created based on parameters 'sda' and 'scl'.
nirnakern 3:758e8ed30819 105 * The used DevI2C object gets saved in instance variable dev_i2c.
nirnakern 3:758e8ed30819 106 * @param[in] int1 LSM6DSL INT1 pin.
nirnakern 3:758e8ed30819 107 * Taken into account only on the very first call of one of the 'Instance' functions.
nirnakern 3:758e8ed30819 108 * It maps the INT1 pin for LSM6DSL. Defaults to IKS01A2_PIN_LSM6DSL_INT1.
nirnakern 3:758e8ed30819 109 * @param[in] int2 LSM6DSL INT1 pin.
nirnakern 3:758e8ed30819 110 * Taken into account only on the very first call of one of the 'Instance' functions.
nirnakern 3:758e8ed30819 111 * It maps the INT2 pin for LSM6DSL. Defaults to IKS01A2_PIN_LSM6DSL_INT2.
nirnakern 3:758e8ed30819 112 */
nirnakern 3:758e8ed30819 113 XNucleoIKS01A2 *XNucleoIKS01A2::instance(PinName sda, PinName scl, PinName int1, PinName int2) {
nirnakern 3:758e8ed30819 114 if(_instance == NULL) {
nirnakern 3:758e8ed30819 115 DevI2C *ext_i2c = new DevI2C(sda, scl);
nirnakern 3:758e8ed30819 116
nirnakern 3:758e8ed30819 117 if(ext_i2c != NULL)
nirnakern 3:758e8ed30819 118 _instance = new XNucleoIKS01A2(ext_i2c, int1, int2);
nirnakern 3:758e8ed30819 119 }
nirnakern 3:758e8ed30819 120
nirnakern 3:758e8ed30819 121 return _instance;
nirnakern 3:758e8ed30819 122 }