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:
- 0:485458fca2bd
- Child:
- 4:1adb1ce17b05
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main.cpp Fri Aug 12 13:37:49 2016 +0000 @@ -0,0 +1,185 @@ +/** + ****************************************************************************** + * @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>© 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 lsm6dsl_int1(IKS01A2_PIN_LSM6DSL_INT1); +InterruptIn mybutton(USER_BUTTON); +DigitalOut myled(LED1); + +volatile int orientation = 0; +volatile int send_orientation_request = 0; + +void pressed(); +void orientation_cb(); +void sendOrientation( void ); + +/* Simple main function */ +int main() { + /* Attach callback to User button press */ + mybutton.fall(&pressed); + /* Attach callback to LSM6DSL INT1 */ + lsm6dsl_int1.rise(&orientation_cb); + + /* Enable LSM6DSL accelerometer */ + acc_gyro->Enable_X(); + /* Enable 6D Orientation. */ + acc_gyro->Enable_6D_Orientation(); + + printf("\r\n--- Starting new run ---\r\n"); + + while(1) { + if (orientation) { + orientation = 0; + uint8_t status = 0; + acc_gyro->Get_Status_6D_Orientation(&status); + if (status) { + /* Send 6D Orientation */ + sendOrientation(); + + /* Led blinking. */ + myled = 1; + wait(0.2); + myled = 0; + } + } + + if(send_orientation_request) { + send_orientation_request = 0; + sendOrientation(); + } + } +} + +void pressed() { + send_orientation_request = 1; +} + +void orientation_cb() { + orientation = 1; +} + +void sendOrientation( void ) { + 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" ); + } +}