main.cpp

00001 /**
00002  ******************************************************************************
00003  * @file    main.cpp
00004  * @author  CLab
00005  * @version V1.0.0
00006  * @date    2-December-2016
00007  * @brief   Simple Example application for using the X_NUCLEO_IKS01A2 
00008  *          MEMS Inertial & Environmental Sensor Nucleo expansion board.
00009  ******************************************************************************
00010  * @attention
00011  *
00012  * <h2><center>&copy; COPYRIGHT(c) 2016 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 /* Includes */
00040 #include "mbed.h"
00041 #include "XNucleoIKS01A2.h"
00042 
00043 /* Instantiate the expansion board */
00044 static XNucleoIKS01A2 *mems_expansion_board = XNucleoIKS01A2::instance(D14, D15, D4, D5);
00045 
00046 /* Retrieve the composing elements of the expansion board */
00047 static LSM6DSLSensor *acc_gyro = mems_expansion_board->acc_gyro;
00048 
00049 InterruptIn mybutton(USER_BUTTON);
00050 DigitalOut myled(LED1);
00051 
00052 volatile int mems_event = 0;
00053 volatile int send_orientation_request = 0;
00054 
00055 /* User button callback. */
00056 void pressed_cb() {
00057   send_orientation_request = 1;
00058 }
00059 
00060 /* Interrupt 1 callback. */
00061 void int1_cb() {
00062   mems_event = 1;
00063 }
00064 
00065 /* Print the orientation. */
00066 void send_orientation() {
00067   uint8_t xl = 0;
00068   uint8_t xh = 0;
00069   uint8_t yl = 0;
00070   uint8_t yh = 0;
00071   uint8_t zl = 0;
00072   uint8_t zh = 0;
00073   
00074   acc_gyro->get_6d_orientation_xl(&xl);
00075   acc_gyro->get_6d_orientation_xh(&xh);
00076   acc_gyro->get_6d_orientation_yl(&yl);
00077   acc_gyro->get_6d_orientation_yh(&yh);
00078   acc_gyro->get_6d_orientation_zl(&zl);
00079   acc_gyro->get_6d_orientation_zh(&zh);
00080   
00081   if ( xl == 0 && yl == 0 && zl == 0 && xh == 0 && yh == 1 && zh == 0 ) {
00082     printf( "\r\n  ________________  " \
00083             "\r\n |                | " \
00084             "\r\n |  *             | " \
00085             "\r\n |                | " \
00086             "\r\n |                | " \
00087             "\r\n |                | " \
00088             "\r\n |                | " \
00089             "\r\n |________________| \r\n" );
00090   }
00091 
00092   else if ( xl == 1 && yl == 0 && zl == 0 && xh == 0 && yh == 0 && zh == 0 ) {
00093     printf( "\r\n  ________________  " \
00094             "\r\n |                | " \
00095             "\r\n |             *  | " \
00096             "\r\n |                | " \
00097             "\r\n |                | " \
00098             "\r\n |                | " \
00099             "\r\n |                | " \
00100             "\r\n |________________| \r\n" );
00101   }
00102   
00103   else if ( xl == 0 && yl == 0 && zl == 0 && xh == 1 && yh == 0 && zh == 0 ) {
00104     printf( "\r\n  ________________  " \
00105             "\r\n |                | " \
00106             "\r\n |                | " \
00107             "\r\n |                | " \
00108             "\r\n |                | " \
00109             "\r\n |                | " \
00110             "\r\n |  *             | " \
00111             "\r\n |________________| \r\n" );
00112   }
00113   
00114   else if ( xl == 0 && yl == 1 && zl == 0 && xh == 0 && yh == 0 && zh == 0 ) {
00115     printf( "\r\n  ________________  " \
00116             "\r\n |                | " \
00117             "\r\n |                | " \
00118             "\r\n |                | " \
00119             "\r\n |                | " \
00120             "\r\n |                | " \
00121             "\r\n |             *  | " \
00122             "\r\n |________________| \r\n" );
00123   }
00124   
00125   else if ( xl == 0 && yl == 0 && zl == 0 && xh == 0 && yh == 0 && zh == 1 ) {
00126     printf( "\r\n  __*_____________  " \
00127             "\r\n |________________| \r\n" );
00128   }
00129   
00130   else if ( xl == 0 && yl == 0 && zl == 1 && xh == 0 && yh == 0 && zh == 0 ) {
00131     printf( "\r\n  ________________  " \
00132             "\r\n |________________| " \
00133             "\r\n    *               \r\n" );
00134   }
00135   
00136   else {
00137     printf( "None of the 6D orientation axes is set in LSM6DSL - accelerometer.\r\n" );
00138   }
00139 }
00140 
00141 /* Simple main function */
00142 int main() {
00143   /* Attach callback to User button press */
00144   mybutton.fall(&pressed_cb);
00145   /* Attach callback to LSM6DSL INT1 */
00146   acc_gyro->attach_int1_irq(&int1_cb);
00147 
00148   /* Enable LSM6DSL accelerometer */
00149   acc_gyro->enable_x();
00150   /* Enable 6D Orientation. */
00151   acc_gyro->enable_6d_orientation();
00152   
00153   printf("\r\n--- Starting new run ---\r\n");
00154  
00155   while(1) {
00156     if (mems_event) {
00157       mems_event = 0;
00158       LSM6DSL_Event_Status_t status;
00159       acc_gyro->get_event_status(&status);
00160       if (status.D6DOrientationStatus) {
00161         /* Send 6D Orientation */
00162         send_orientation();
00163         
00164         /* Led blinking. */
00165         myled = 1;
00166         wait(0.2);
00167         myled = 0;
00168       }
00169     }
00170 
00171     if(send_orientation_request) {
00172       send_orientation_request = 0;
00173       send_orientation();
00174     }
00175   }
00176 }