STM Imu acquisition setup using ethernet
Dependencies: F7_Ethernet mbed HTS221 LPS22HB LSM303AGR LSM6DSL
Fork of Nucleo_F746ZG_Ethernet by
X_NUCLEO_IKS01A2/XNucleoIKS01A2.cpp
- Committer:
- nirnakern
- Date:
- 2018-01-26
- Revision:
- 3:758e8ed30819
File content as of revision 3:758e8ed30819:
/** ****************************************************************************** * @file XNucleoIKS01A2.cpp * @author CLab * @version V1.0.0 * @date 9-August-2016 * @brief Implementation file for the X_NUCLEO_IKS01A2 singleton class ****************************************************************************** * @attention * * <h2><center>© COPYRIGHT(c) 2016 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 "XNucleoIKS01A2.h" /* Static variables ----------------------------------------------------------*/ XNucleoIKS01A2 *XNucleoIKS01A2::_instance = NULL; /* Methods -------------------------------------------------------------------*/ /** * @brief Constructor */ XNucleoIKS01A2::XNucleoIKS01A2(DevI2C *ext_i2c, PinName int1, PinName int2) : dev_i2c(ext_i2c), ht_sensor(new HTS221Sensor(dev_i2c)), magnetometer(new LSM303AGRMagSensor(dev_i2c)), accelerometer(new LSM303AGRAccSensor(dev_i2c)), pt_sensor(new LPS22HBSensor(dev_i2c)), acc_gyro(new LSM6DSLSensor(dev_i2c, LSM6DSL_ACC_GYRO_I2C_ADDRESS_HIGH, int1, int2)) { ht_sensor->init(NULL); magnetometer->init(NULL); accelerometer->init(NULL); pt_sensor->init(NULL); acc_gyro->init(NULL); } /** * @brief Get singleton instance * @return a pointer to the initialized singleton instance of class XNucleoIKS01A2. * 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] int1 LSM6DSL INT1 pin. * Taken into account only on the very first call of one of the 'Instance' functions. * It maps the INT1 pin for LSM6DSL. Defaults to IKS01A2_PIN_LSM6DSL_INT1. * @param[in] int2 LSM6DSL INT1 pin. * Taken into account only on the very first call of one of the 'Instance' functions. * It maps the INT2 pin for LSM6DSL. Defaults to IKS01A2_PIN_LSM6DSL_INT2. */ XNucleoIKS01A2 *XNucleoIKS01A2::instance(DevI2C *ext_i2c, PinName int1, PinName int2) { if(_instance == NULL) { if(ext_i2c == NULL) ext_i2c = new DevI2C(IKS01A2_PIN_I2C_SDA, IKS01A2_PIN_I2C_SCL); if(ext_i2c != NULL) _instance = new XNucleoIKS01A2(ext_i2c, int1, int2); } 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] int1 LSM6DSL INT1 pin. * Taken into account only on the very first call of one of the 'Instance' functions. * It maps the INT1 pin for LSM6DSL. Defaults to IKS01A2_PIN_LSM6DSL_INT1. * @param[in] int2 LSM6DSL INT1 pin. * Taken into account only on the very first call of one of the 'Instance' functions. * It maps the INT2 pin for LSM6DSL. Defaults to IKS01A2_PIN_LSM6DSL_INT2. */ XNucleoIKS01A2 *XNucleoIKS01A2::instance(PinName sda, PinName scl, PinName int1, PinName int2) { if(_instance == NULL) { DevI2C *ext_i2c = new DevI2C(sda, scl); if(ext_i2c != NULL) _instance = new XNucleoIKS01A2(ext_i2c, int1, int2); } return _instance; }