ST / Mbed 2 deprecated 6DOrientation_IKS01A2

Example of 6D orientation recognition for LSM6DSL in X-NUCLEO-IKS01A2

Dependencies:   X_NUCLEO_IKS01A2 mbed

Fork of 6DOrientation_IKS01A2 by ST Expansion SW Team

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@13:446c314ac03f, 2017-03-14 (annotated)

Committer:
davide.aliprandi@st.com
Date:
Tue Mar 14 13:42:53 2017 +0100
Revision:
13:446c314ac03f
Parent:
8:459b84a5287b 
Aligning to ARM mbed coding style.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
cparata 0:485458fca2bd 1 /**
cparata 0:485458fca2bd 2 ******************************************************************************
cparata 0:485458fca2bd 3 * @file main.cpp
cparata 8:459b84a5287b 4 * @author CLab
cparata 8:459b84a5287b 5 * @version V1.0.0
cparata 8:459b84a5287b 6 * @date 2-December-2016
cparata 0:485458fca2bd 7 * @brief Simple Example application for using the X_NUCLEO_IKS01A2
cparata 0:485458fca2bd 8 * MEMS Inertial & Environmental Sensor Nucleo expansion board.
cparata 0:485458fca2bd 9 ******************************************************************************
cparata 0:485458fca2bd 10 * @attention
cparata 0:485458fca2bd 11 *
cparata 0:485458fca2bd 12 * <h2><center>&copy; COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
cparata 0:485458fca2bd 13 *
cparata 0:485458fca2bd 14 * Redistribution and use in source and binary forms, with or without modification,
cparata 0:485458fca2bd 15 * are permitted provided that the following conditions are met:
cparata 0:485458fca2bd 16 * 1. Redistributions of source code must retain the above copyright notice,
cparata 0:485458fca2bd 17 * this list of conditions and the following disclaimer.
cparata 0:485458fca2bd 18 * 2. Redistributions in binary form must reproduce the above copyright notice,
cparata 0:485458fca2bd 19 * this list of conditions and the following disclaimer in the documentation
cparata 0:485458fca2bd 20 * and/or other materials provided with the distribution.
cparata 0:485458fca2bd 21 * 3. Neither the name of STMicroelectronics nor the names of its contributors
cparata 0:485458fca2bd 22 * may be used to endorse or promote products derived from this software
cparata 0:485458fca2bd 23 * without specific prior written permission.
cparata 0:485458fca2bd 24 *
cparata 0:485458fca2bd 25 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
cparata 0:485458fca2bd 26 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
cparata 0:485458fca2bd 27 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
cparata 0:485458fca2bd 28 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
cparata 0:485458fca2bd 29 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
cparata 0:485458fca2bd 30 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
cparata 0:485458fca2bd 31 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
cparata 0:485458fca2bd 32 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
cparata 0:485458fca2bd 33 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
cparata 0:485458fca2bd 34 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
cparata 0:485458fca2bd 35 *
cparata 0:485458fca2bd 36 ******************************************************************************
cparata 0:485458fca2bd 37 */
cparata 0:485458fca2bd 38
cparata 0:485458fca2bd 39 /* Includes */
cparata 0:485458fca2bd 40 #include "mbed.h"
davide.aliprandi@st.com 13:446c314ac03f 41 #include "XNucleoIKS01A2.h"
cparata 0:485458fca2bd 42
cparata 0:485458fca2bd 43 /* Instantiate the expansion board */
davide.aliprandi@st.com 13:446c314ac03f 44 static XNucleoIKS01A2 *mems_expansion_board = XNucleoIKS01A2::instance(D14, D15, D4, D5);
cparata 0:485458fca2bd 45
cparata 0:485458fca2bd 46 /* Retrieve the composing elements of the expansion board */
cparata 0:485458fca2bd 47 static LSM6DSLSensor *acc_gyro = mems_expansion_board->acc_gyro;
cparata 0:485458fca2bd 48
cparata 0:485458fca2bd 49 InterruptIn mybutton(USER_BUTTON);
cparata 0:485458fca2bd 50 DigitalOut myled(LED1);
cparata 0:485458fca2bd 51
cparata 7:d598eeaedcbd 52 volatile int mems_event = 0;
cparata 0:485458fca2bd 53 volatile int send_orientation_request = 0;
cparata 0:485458fca2bd 54
davide.aliprandi@st.com 13:446c314ac03f 55 /* User button callback. */
davide.aliprandi@st.com 13:446c314ac03f 56 void pressed_cb() {
davide.aliprandi@st.com 13:446c314ac03f 57 send_orientation_request = 1;
davide.aliprandi@st.com 13:446c314ac03f 58 }
davide.aliprandi@st.com 13:446c314ac03f 59
davide.aliprandi@st.com 13:446c314ac03f 60 /* Interrupt 1 callback. */
davide.aliprandi@st.com 13:446c314ac03f 61 void int1_cb() {
davide.aliprandi@st.com 13:446c314ac03f 62 mems_event = 1;
davide.aliprandi@st.com 13:446c314ac03f 63 }
davide.aliprandi@st.com 13:446c314ac03f 64
davide.aliprandi@st.com 13:446c314ac03f 65 /* Print the orientation. */
davide.aliprandi@st.com 13:446c314ac03f 66 void send_orientation() {
davide.aliprandi@st.com 13:446c314ac03f 67 uint8_t xl = 0;
davide.aliprandi@st.com 13:446c314ac03f 68 uint8_t xh = 0;
davide.aliprandi@st.com 13:446c314ac03f 69 uint8_t yl = 0;
davide.aliprandi@st.com 13:446c314ac03f 70 uint8_t yh = 0;
davide.aliprandi@st.com 13:446c314ac03f 71 uint8_t zl = 0;
davide.aliprandi@st.com 13:446c314ac03f 72 uint8_t zh = 0;
davide.aliprandi@st.com 13:446c314ac03f 73
davide.aliprandi@st.com 13:446c314ac03f 74 acc_gyro->get_6d_orientation_xl(&xl);
davide.aliprandi@st.com 13:446c314ac03f 75 acc_gyro->get_6d_orientation_xh(&xh);
davide.aliprandi@st.com 13:446c314ac03f 76 acc_gyro->get_6d_orientation_yl(&yl);
davide.aliprandi@st.com 13:446c314ac03f 77 acc_gyro->get_6d_orientation_yh(&yh);
davide.aliprandi@st.com 13:446c314ac03f 78 acc_gyro->get_6d_orientation_zl(&zl);
davide.aliprandi@st.com 13:446c314ac03f 79 acc_gyro->get_6d_orientation_zh(&zh);
davide.aliprandi@st.com 13:446c314ac03f 80
davide.aliprandi@st.com 13:446c314ac03f 81 if ( xl == 0 && yl == 0 && zl == 0 && xh == 0 && yh == 1 && zh == 0 ) {
davide.aliprandi@st.com 13:446c314ac03f 82 printf( "\r\n ________________ " \
davide.aliprandi@st.com 13:446c314ac03f 83 "\r\n | | " \
davide.aliprandi@st.com 13:446c314ac03f 84 "\r\n | * | " \
davide.aliprandi@st.com 13:446c314ac03f 85 "\r\n | | " \
davide.aliprandi@st.com 13:446c314ac03f 86 "\r\n | | " \
davide.aliprandi@st.com 13:446c314ac03f 87 "\r\n | | " \
davide.aliprandi@st.com 13:446c314ac03f 88 "\r\n | | " \
davide.aliprandi@st.com 13:446c314ac03f 89 "\r\n |________________| \r\n" );
davide.aliprandi@st.com 13:446c314ac03f 90 }
davide.aliprandi@st.com 13:446c314ac03f 91
davide.aliprandi@st.com 13:446c314ac03f 92 else if ( xl == 1 && yl == 0 && zl == 0 && xh == 0 && yh == 0 && zh == 0 ) {
davide.aliprandi@st.com 13:446c314ac03f 93 printf( "\r\n ________________ " \
davide.aliprandi@st.com 13:446c314ac03f 94 "\r\n | | " \
davide.aliprandi@st.com 13:446c314ac03f 95 "\r\n | * | " \
davide.aliprandi@st.com 13:446c314ac03f 96 "\r\n | | " \
davide.aliprandi@st.com 13:446c314ac03f 97 "\r\n | | " \
davide.aliprandi@st.com 13:446c314ac03f 98 "\r\n | | " \
davide.aliprandi@st.com 13:446c314ac03f 99 "\r\n | | " \
davide.aliprandi@st.com 13:446c314ac03f 100 "\r\n |________________| \r\n" );
davide.aliprandi@st.com 13:446c314ac03f 101 }
davide.aliprandi@st.com 13:446c314ac03f 102
davide.aliprandi@st.com 13:446c314ac03f 103 else if ( xl == 0 && yl == 0 && zl == 0 && xh == 1 && yh == 0 && zh == 0 ) {
davide.aliprandi@st.com 13:446c314ac03f 104 printf( "\r\n ________________ " \
davide.aliprandi@st.com 13:446c314ac03f 105 "\r\n | | " \
davide.aliprandi@st.com 13:446c314ac03f 106 "\r\n | | " \
davide.aliprandi@st.com 13:446c314ac03f 107 "\r\n | | " \
davide.aliprandi@st.com 13:446c314ac03f 108 "\r\n | | " \
davide.aliprandi@st.com 13:446c314ac03f 109 "\r\n | | " \
davide.aliprandi@st.com 13:446c314ac03f 110 "\r\n | * | " \
davide.aliprandi@st.com 13:446c314ac03f 111 "\r\n |________________| \r\n" );
davide.aliprandi@st.com 13:446c314ac03f 112 }
davide.aliprandi@st.com 13:446c314ac03f 113
davide.aliprandi@st.com 13:446c314ac03f 114 else if ( xl == 0 && yl == 1 && zl == 0 && xh == 0 && yh == 0 && zh == 0 ) {
davide.aliprandi@st.com 13:446c314ac03f 115 printf( "\r\n ________________ " \
davide.aliprandi@st.com 13:446c314ac03f 116 "\r\n | | " \
davide.aliprandi@st.com 13:446c314ac03f 117 "\r\n | | " \
davide.aliprandi@st.com 13:446c314ac03f 118 "\r\n | | " \
davide.aliprandi@st.com 13:446c314ac03f 119 "\r\n | | " \
davide.aliprandi@st.com 13:446c314ac03f 120 "\r\n | | " \
davide.aliprandi@st.com 13:446c314ac03f 121 "\r\n | * | " \
davide.aliprandi@st.com 13:446c314ac03f 122 "\r\n |________________| \r\n" );
davide.aliprandi@st.com 13:446c314ac03f 123 }
davide.aliprandi@st.com 13:446c314ac03f 124
davide.aliprandi@st.com 13:446c314ac03f 125 else if ( xl == 0 && yl == 0 && zl == 0 && xh == 0 && yh == 0 && zh == 1 ) {
davide.aliprandi@st.com 13:446c314ac03f 126 printf( "\r\n __*_____________ " \
davide.aliprandi@st.com 13:446c314ac03f 127 "\r\n |________________| \r\n" );
davide.aliprandi@st.com 13:446c314ac03f 128 }
davide.aliprandi@st.com 13:446c314ac03f 129
davide.aliprandi@st.com 13:446c314ac03f 130 else if ( xl == 0 && yl == 0 && zl == 1 && xh == 0 && yh == 0 && zh == 0 ) {
davide.aliprandi@st.com 13:446c314ac03f 131 printf( "\r\n ________________ " \
davide.aliprandi@st.com 13:446c314ac03f 132 "\r\n |________________| " \
davide.aliprandi@st.com 13:446c314ac03f 133 "\r\n * \r\n" );
davide.aliprandi@st.com 13:446c314ac03f 134 }
davide.aliprandi@st.com 13:446c314ac03f 135
davide.aliprandi@st.com 13:446c314ac03f 136 else {
davide.aliprandi@st.com 13:446c314ac03f 137 printf( "None of the 6D orientation axes is set in LSM6DSL - accelerometer.\r\n" );
davide.aliprandi@st.com 13:446c314ac03f 138 }
davide.aliprandi@st.com 13:446c314ac03f 139 }
cparata 0:485458fca2bd 140
cparata 0:485458fca2bd 141 /* Simple main function */
cparata 0:485458fca2bd 142 int main() {
cparata 0:485458fca2bd 143 /* Attach callback to User button press */
cparata 7:d598eeaedcbd 144 mybutton.fall(&pressed_cb);
cparata 0:485458fca2bd 145 /* Attach callback to LSM6DSL INT1 */
davide.aliprandi@st.com 13:446c314ac03f 146 acc_gyro->attach_int1_irq(&int1_cb);
cparata 0:485458fca2bd 147
cparata 0:485458fca2bd 148 /* Enable LSM6DSL accelerometer */
davide.aliprandi@st.com 13:446c314ac03f 149 acc_gyro->enable_x();
cparata 0:485458fca2bd 150 /* Enable 6D Orientation. */
davide.aliprandi@st.com 13:446c314ac03f 151 acc_gyro->enable_6d_orientation();
cparata 0:485458fca2bd 152
cparata 0:485458fca2bd 153 printf("\r\n--- Starting new run ---\r\n");
cparata 0:485458fca2bd 154
cparata 0:485458fca2bd 155 while(1) {
cparata 7:d598eeaedcbd 156 if (mems_event) {
cparata 7:d598eeaedcbd 157 mems_event = 0;
cparata 4:1adb1ce17b05 158 LSM6DSL_Event_Status_t status;
davide.aliprandi@st.com 13:446c314ac03f 159 acc_gyro->get_event_status(&status);
cparata 4:1adb1ce17b05 160 if (status.D6DOrientationStatus) {
cparata 0:485458fca2bd 161 /* Send 6D Orientation */
davide.aliprandi@st.com 13:446c314ac03f 162 send_orientation();
cparata 0:485458fca2bd 163
cparata 0:485458fca2bd 164 /* Led blinking. */
cparata 0:485458fca2bd 165 myled = 1;
cparata 0:485458fca2bd 166 wait(0.2);
cparata 0:485458fca2bd 167 myled = 0;
cparata 0:485458fca2bd 168 }
cparata 0:485458fca2bd 169 }
cparata 0:485458fca2bd 170
cparata 0:485458fca2bd 171 if(send_orientation_request) {
cparata 0:485458fca2bd 172 send_orientation_request = 0;
davide.aliprandi@st.com 13:446c314ac03f 173 send_orientation();
cparata 0:485458fca2bd 174 }
cparata 0:485458fca2bd 175 }
cparata 0:485458fca2bd 176 }