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.
main.cpp
- Committer:
- cparata
- Date:
- 2016-12-02
- Revision:
- 8:459b84a5287b
- Parent:
- 7:d598eeaedcbd
- Child:
- 13:446c314ac03f
File content as of revision 8:459b84a5287b:
/** ****************************************************************************** * @file main.cpp * @author CLab * @version V1.0.0 * @date 2-December-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, D4, D5); /* Retrieve the composing elements of the expansion board */ static LSM6DSLSensor *acc_gyro = mems_expansion_board->acc_gyro; InterruptIn mybutton(USER_BUTTON); DigitalOut myled(LED1); volatile int mems_event = 0; volatile int send_orientation_request = 0; void pressed_cb(); void INT1_cb(); void sendOrientation(); /* 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); /* 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 (mems_event) { mems_event = 0; LSM6DSL_Event_Status_t status; acc_gyro->Get_Event_Status(&status); if (status.D6DOrientationStatus) { /* Send 6D Orientation */ sendOrientation(); /* Led blinking. */ myled = 1; wait(0.2); myled = 0; } } if(send_orientation_request) { send_orientation_request = 0; sendOrientation(); } } } 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" ); } }