/**
******************************************************************************
* @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
*
*
© COPYRIGHT(c) 2016 STMicroelectronics
*
* 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 "XNucleoIKS01A2.h"
/* Instantiate the expansion board */
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;
InterruptIn mybutton(USER_BUTTON);
DigitalOut myled(LED1);
volatile int mems_event = 0;
volatile int send_orientation_request = 0;
/* 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->attach_int1_irq(&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 */
send_orientation();
/* Led blinking. */
myled = 1;
wait(0.2);
myled = 0;
}
}
if(send_orientation_request) {
send_orientation_request = 0;
send_orientation();
}
}
}