Diff: main.cpp

Revision:

0:763b80993db4

Child:

1:4b4e6a89adce

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Nov 24 15:42:24 2016 +0000
@@ -0,0 +1,243 @@
+/**
+ ******************************************************************************
+ * @file    main.cpp
+ * @author  AST / EST
+ * @version V0.0.1
+ * @date    9-August-2016
+ * @brief   Simple Example application for using the X_NUCLEO_IKS01A2 
+ *          MEMS Inertial & Environmental Sensor Nucleo expansion board.
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>&copy; 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 "x_nucleo_iks01a2.h"
+
+/* Instantiate the expansion board */
+static X_NUCLEO_IKS01A2 *mems_expansion_board = X_NUCLEO_IKS01A2::Instance(D14, D15);
+
+/* Retrieve the composing elements of the expansion board */
+static LSM6DSLSensor *acc_gyro = mems_expansion_board->acc_gyro;
+
+InterruptIn mybutton(USER_BUTTON);
+
+volatile int mems_event = 0;
+volatile int toggle_hw_event_enable = 0;
+static int hw_event_is_enabled = 1;
+uint16_t step_count = 0;
+
+void pressed();
+void INT1_cb();
+void INT2_cb();
+void sendOrientation();
+
+/* Simple main function */
+int main() {
+  /* Attach callback to User button press */
+  mybutton.fall(&pressed);
+  /* Attach callback to LSM6DSL INT1 */
+  acc_gyro->AttachINT1IRQ(&INT1_cb);
+  /* Attach callback to LSM6DSL INT2 */
+  acc_gyro->AttachINT2IRQ(&INT2_cb);
+  
+  /* Enable LSM6DSL accelerometer */
+  acc_gyro->Enable_X();
+  /* Enable HW events. */
+  acc_gyro->Enable_Pedometer();
+  acc_gyro->Enable_Tilt_Detection();
+  acc_gyro->Enable_Free_Fall_Detection();
+  acc_gyro->Enable_Single_Tap_Detection();
+  acc_gyro->Enable_Double_Tap_Detection();
+  acc_gyro->Enable_6D_Orientation();
+  acc_gyro->Enable_Wake_Up_Detection();
+  
+  printf("\r\n--- Starting new run ---\r\n");
+ 
+  while(1) {
+    if (mems_event) {
+      mems_event = 0;
+      LSM6DSL_Event_Status_t status;
+      acc_gyro->Get_Event_Status(&status);
+      if (status.StepStatus) {
+        /* New step detected, so print the step counter */
+        acc_gyro->Get_Step_Counter(&step_count);
+        printf("Step counter: %d\r\n", step_count);
+      }
+
+      if (status.FreeFallStatus) {
+        /* Output data. */
+        printf("Free Fall Detected!\r\n");
+      }
+
+      if (status.TapStatus) {
+        /* Output data. */
+        printf("Single Tap Detected!\r\n");
+      }
+
+      if (status.DoubleTapStatus) {
+        /* Output data. */
+        printf("Double Tap Detected!\r\n");
+      }
+
+      if (status.D6DOrientationStatus) {
+        /* Send 6D Orientation */
+        sendOrientation();
+      }
+
+      if (status.TiltStatus) {
+        /* Output data. */
+        printf("Tilt Detected!\r\n");
+      }
+
+      if (status.WakeUpStatus) {
+        /* Output data. */
+        printf("Wake Up Detected!\r\n");
+      }
+    }
+
+    if(toggle_hw_event_enable) {
+      toggle_hw_event_enable = 0;
+      if(hw_event_is_enabled == 0) {
+        /* Enable HW events. */
+        acc_gyro->Enable_Pedometer();
+        acc_gyro->Enable_Tilt_Detection();
+        acc_gyro->Enable_Free_Fall_Detection();
+        acc_gyro->Enable_Single_Tap_Detection();
+        acc_gyro->Enable_Double_Tap_Detection();
+        acc_gyro->Enable_6D_Orientation();
+        acc_gyro->Enable_Wake_Up_Detection();
+        hw_event_is_enabled = 1;
+      } else {
+        acc_gyro->Disable_Pedometer();
+        acc_gyro->Disable_Tilt_Detection();
+        acc_gyro->Disable_Free_Fall_Detection();
+        acc_gyro->Disable_Single_Tap_Detection();
+        acc_gyro->Disable_Double_Tap_Detection();
+        acc_gyro->Disable_6D_Orientation();
+        acc_gyro->Disable_Wake_Up_Detection();
+        hw_event_is_enabled = 0;
+      }
+    }
+  }
+}
+
+void pressed() {
+  toggle_hw_event_enable = 1;
+}
+
+void INT1_cb() {
+  mems_event = 1;
+}
+
+void INT2_cb() {
+  mems_event = 1;
+}
+
+void sendOrientation() {
+  uint8_t xl = 0;
+  uint8_t xh = 0;
+  uint8_t yl = 0;
+  uint8_t yh = 0;
+  uint8_t zl = 0;
+  uint8_t zh = 0;
+  
+  acc_gyro->Get_6D_Orientation_XL(&xl);
+  acc_gyro->Get_6D_Orientation_XH(&xh);
+  acc_gyro->Get_6D_Orientation_YL(&yl);
+  acc_gyro->Get_6D_Orientation_YH(&yh);
+  acc_gyro->Get_6D_Orientation_ZL(&zl);
+  acc_gyro->Get_6D_Orientation_ZH(&zh);
+  
+  if ( xl == 0 && yl == 0 && zl == 0 && xh == 0 && yh == 1 && zh == 0 )
+  {
+    printf( "\r\n  ________________  " \
+            "\r\n |                | " \
+            "\r\n |  *             | " \
+            "\r\n |                | " \
+            "\r\n |                | " \
+            "\r\n |                | " \
+            "\r\n |                | " \
+            "\r\n |________________| \r\n" );
+  }
+  
+  else if ( xl == 1 && yl == 0 && zl == 0 && xh == 0 && yh == 0 && zh == 0 )
+  {
+    printf( "\r\n  ________________  " \
+            "\r\n |                | " \
+            "\r\n |             *  | " \
+            "\r\n |                | " \
+            "\r\n |                | " \
+            "\r\n |                | " \
+            "\r\n |                | " \
+            "\r\n |________________| \r\n" );
+  }
+  
+  else if ( xl == 0 && yl == 0 && zl == 0 && xh == 1 && yh == 0 && zh == 0 )
+  {
+    printf( "\r\n  ________________  " \
+            "\r\n |                | " \
+            "\r\n |                | " \
+            "\r\n |                | " \
+            "\r\n |                | " \
+            "\r\n |                | " \
+            "\r\n |  *             | " \
+            "\r\n |________________| \r\n" );
+  }
+  
+  else if ( xl == 0 && yl == 1 && zl == 0 && xh == 0 && yh == 0 && zh == 0 )
+  {
+    printf( "\r\n  ________________  " \
+            "\r\n |                | " \
+            "\r\n |                | " \
+            "\r\n |                | " \
+            "\r\n |                | " \
+            "\r\n |                | " \
+            "\r\n |             *  | " \
+            "\r\n |________________| \r\n" );
+  }
+  
+  else if ( xl == 0 && yl == 0 && zl == 0 && xh == 0 && yh == 0 && zh == 1 )
+  {
+    printf( "\r\n  __*_____________  " \
+            "\r\n |________________| \r\n" );
+  }
+  
+  else if ( xl == 0 && yl == 0 && zl == 1 && xh == 0 && yh == 0 && zh == 0 )
+  {
+    printf( "\r\n  ________________  " \
+            "\r\n |________________| " \
+            "\r\n    *               \r\n" );
+  }
+  
+  else
+  {
+    printf( "None of the 6D orientation axes is set in LSM6DSL - accelerometer.\r\n" );
+  }
+}