x_nucleo_iks01a1.h

00001 /**
00002  ******************************************************************************
00003  * @file    x_nucleo_iks01a1.h
00004  * @author  AST / EST
00005  * @version V0.0.1
00006  * @date    13-April-2015
00007  * @brief   Header file for class X_NUCLEO_IKS01A1 representing a X-NUCLEO-IKS01A1
00008  *          expansion board
00009  ******************************************************************************
00010  * @attention
00011  *
00012  * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
00013  *
00014  * Redistribution and use in source and binary forms, with or without modification,
00015  * are permitted provided that the following conditions are met:
00016  *   1. Redistributions of source code must retain the above copyright notice,
00017  *      this list of conditions and the following disclaimer.
00018  *   2. Redistributions in binary form must reproduce the above copyright notice,
00019  *      this list of conditions and the following disclaimer in the documentation
00020  *      and/or other materials provided with the distribution.
00021  *   3. Neither the name of STMicroelectronics nor the names of its contributors
00022  *      may be used to endorse or promote products derived from this software
00023  *      without specific prior written permission.
00024  *
00025  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00026  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00027  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00028  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
00029  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
00030  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
00031  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00032  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
00033  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
00034  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00035  *
00036  ******************************************************************************
00037  */
00038 
00039 /* Define to prevent from recursive inclusion --------------------------------*/
00040 #ifndef __X_NUCLEO_IKS01A1_H
00041 #define __X_NUCLEO_IKS01A1_H
00042 
00043 /* Includes ------------------------------------------------------------------*/
00044 #include "mbed.h"
00045 #include "x_nucleo_iks01a1_targets.h"
00046 #include "hts221/hts221_class.h"
00047 #include "lis3mdl/lis3mdl_class.h"
00048 #include "lps25h/lps25h_class.h"
00049 #include "lsm6ds0/lsm6ds0_class.h"
00050 #include "lsm6ds3/lsm6ds3_class.h"
00051 #include "DevI2C.h"
00052 
00053 /* Macros -------------------------------------------------------------------*/
00054 #define CALL_METH(obj, meth, param, ret) ((obj == NULL) ?       \
00055                       ((*(param) = (ret)), 0) : \
00056                       ((obj)->meth(param))      \
00057                       )
00058 
00059 /* Classes -------------------------------------------------------------------*/
00060 /** Class X_NUCLEO_IKS01A1 is intended to represent the MEMS Inertial & Environmental 
00061  *  Nucleo Expansion Board with the same name.
00062  *
00063  *  The expansion board is featuring basically four IPs:\n
00064  *  -# a HTS221 Relative Humidity and Temperature Sensor\n
00065  *  -# a LIS3MDL 3-Axis Magnetometer\n
00066  *  -# a LPS25H MEMS Pressure Sensor (and Temperature Sensor)\n
00067  *  -# and a LSM6DS0 3D Acceleromenter and 3D Gyroscope\n
00068  *
00069  * The expansion board features also a DIL 24-pin socket which makes it possible
00070  * to add further MEMS adapters and other sensors (e.g. UV index). 
00071  *
00072  * It is intentionally implemented as a singleton because only one
00073  * X_NUCLEO_IKS01A1 at a time might be deployed in a HW component stack.\n
00074  * In order to get the singleton instance you have to call class method `Instance()`, 
00075  * e.g.:
00076  * @code
00077  * // Inertial & Environmental expansion board singleton instance
00078  * static X_NUCLEO_IKS01A1 *<TODO>_expansion_board = X_NUCLEO_IKS01A1::Instance();
00079  * @endcode
00080  */
00081 class X_NUCLEO_IKS01A1
00082 {
00083  protected:
00084     X_NUCLEO_IKS01A1(DevI2C *ext_i2c, PinName ff_irq_pin);
00085 
00086     /**
00087      * @brief  Initialize the singleton's sensors to default settings
00088      * @retval true if initialization successful, 
00089      * @retval false otherwise
00090      */
00091     bool Init(void) {
00092         return (Init_HTS221() &&
00093             Init_LIS3MDL() &&
00094             Init_LPS25H() &&
00095             Init_Gyro());
00096     }
00097     
00098     /**
00099      * @brief  Initialize the singleton's gyroscope
00100      * @retval true if initialization successful, 
00101      * @retval false otherwise
00102      * @note   only one sensor among LSM6DS3 & LSM6DS0 will be instantiated
00103      *         with a preference on LSM6DS3 when available
00104      */
00105     bool Init_Gyro(void) {
00106         // Note: order is important!
00107         return (Init_LSM6DS3() &&
00108             Init_LSM6DS0());
00109     }
00110 
00111     bool Init_HTS221(void);
00112     bool Init_LIS3MDL(void);
00113     bool Init_LPS25H(void);
00114     bool Init_LSM6DS0(void);
00115     bool Init_LSM6DS3(void);
00116 
00117  public:
00118     static X_NUCLEO_IKS01A1* Instance(DevI2C *ext_i2c = NULL, 
00119                       PinName ff_irq_pin = IKS01A1_PIN_FF);
00120     static X_NUCLEO_IKS01A1* Instance(PinName sda, PinName scl, PinName ff_irq_pin = NC);
00121 
00122     DevI2C  *dev_i2c;
00123 
00124     HTS221  *ht_sensor;
00125     LIS3MDL *magnetometer;
00126     LPS25H  *pt_sensor;
00127 
00128     GyroSensor *GetGyroscope(void) {
00129         return ((gyro_lsm6ds3 == NULL) ? 
00130             (GyroSensor*)gyro_lsm6ds0 : (GyroSensor*)gyro_lsm6ds3);
00131     }
00132     MotionSensor *GetAccelerometer(void) {
00133         return ((gyro_lsm6ds3 == NULL) ? 
00134             (MotionSensor*)gyro_lsm6ds0 : (MotionSensor*)gyro_lsm6ds3);
00135     }
00136     LSM6DS0 *gyro_lsm6ds0;
00137     LSM6DS3 *gyro_lsm6ds3;
00138 
00139  private:
00140     static X_NUCLEO_IKS01A1 *_instance;
00141 };
00142 
00143 #endif /* __X_NUCLEO_IKS01A1_H */