Example of 6D orientation recognition for LSM6DSL in X-NUCLEO-IKS01A2
Dependencies: X_NUCLEO_IKS01A2 mbed
Fork of 6DOrientation_IKS01A2 by
6D Orientation Demo Application based on sensor expansion board X-NUCLEO-IKS01A2
Main function is to show how to use sensor expansion board to find out the 6D orientation and send data using UART to a connected PC or Desktop and display it on terminal applications like TeraTerm.
After connection has been established:
- the user can rotate the board to change the 6D orientation and then view the data using an hyper terminal.
- the user button can be used to display the current 6D orientation.
Diff: main.cpp
- Revision:
- 13:446c314ac03f
- Parent:
- 8:459b84a5287b
--- a/main.cpp Fri Dec 16 10:03:54 2016 +0000 +++ b/main.cpp Tue Mar 14 13:42:53 2017 +0100 @@ -38,10 +38,10 @@ /* Includes */ #include "mbed.h" -#include "x_nucleo_iks01a2.h" +#include "XNucleoIKS01A2.h" /* Instantiate the expansion board */ -static X_NUCLEO_IKS01A2 *mems_expansion_board = X_NUCLEO_IKS01A2::Instance(D14, D15, D4, D5); +static XNucleoIKS01A2 *mems_expansion_board = XNucleoIKS01A2::instance(D14, D15, D4, D5); /* Retrieve the composing elements of the expansion board */ static LSM6DSLSensor *acc_gyro = mems_expansion_board->acc_gyro; @@ -52,21 +52,103 @@ volatile int mems_event = 0; volatile int send_orientation_request = 0; -void pressed_cb(); -void INT1_cb(); -void sendOrientation(); +/* User button callback. */ +void pressed_cb() { + send_orientation_request = 1; +} + +/* Interrupt 1 callback. */ +void int1_cb() { + mems_event = 1; +} + +/* Print the orientation. */ +void send_orientation() { + 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" ); + } +} /* Simple main function */ int main() { /* Attach callback to User button press */ mybutton.fall(&pressed_cb); /* Attach callback to LSM6DSL INT1 */ - acc_gyro->AttachINT1IRQ(&INT1_cb); + acc_gyro->attach_int1_irq(&int1_cb); /* Enable LSM6DSL accelerometer */ - acc_gyro->Enable_X(); + acc_gyro->enable_x(); /* Enable 6D Orientation. */ - acc_gyro->Enable_6D_Orientation(); + acc_gyro->enable_6d_orientation(); printf("\r\n--- Starting new run ---\r\n"); @@ -74,10 +156,10 @@ if (mems_event) { mems_event = 0; LSM6DSL_Event_Status_t status; - acc_gyro->Get_Event_Status(&status); + acc_gyro->get_event_status(&status); if (status.D6DOrientationStatus) { /* Send 6D Orientation */ - sendOrientation(); + send_orientation(); /* Led blinking. */ myled = 1; @@ -88,97 +170,7 @@ if(send_orientation_request) { send_orientation_request = 0; - sendOrientation(); + send_orientation(); } } } - -void pressed_cb() { - send_orientation_request = 1; -} - -void INT1_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" ); - } -}