ST
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.
Diff: main.cpp
- Revision:
- 13:446c314ac03f
- Parent:
- 8:459b84a5287b
diff -r d9dbbc4a042c -r 446c314ac03f main.cpp
--- a/main.cpp Fri Dec 16 10:03:54 2016 +0000
+++ b/main.cpp Tue Mar 14 13:42:53 2017 +0100
@@ -38,10 +38,10 @@
/* Includes */
#include "mbed.h"
-#include "x_nucleo_iks01a2.h"
+#include "XNucleoIKS01A2.h"
/* Instantiate the expansion board */
-static X_NUCLEO_IKS01A2 *mems_expansion_board = X_NUCLEO_IKS01A2::Instance(D14, D15, D4, D5);
+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;
@@ -52,21 +52,103 @@
volatile int mems_event = 0;
volatile int send_orientation_request = 0;
-void pressed_cb();
-void INT1_cb();
-void sendOrientation();
+/* 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->AttachINT1IRQ(&INT1_cb);
+ acc_gyro->attach_int1_irq(&int1_cb);
/* Enable LSM6DSL accelerometer */
- acc_gyro->Enable_X();
+ acc_gyro->enable_x();
/* Enable 6D Orientation. */
- acc_gyro->Enable_6D_Orientation();
+ acc_gyro->enable_6d_orientation();
printf("\r\n--- Starting new run ---\r\n");
@@ -74,10 +156,10 @@
if (mems_event) {
mems_event = 0;
LSM6DSL_Event_Status_t status;
- acc_gyro->Get_Event_Status(&status);
+ acc_gyro->get_event_status(&status);
if (status.D6DOrientationStatus) {
/* Send 6D Orientation */
- sendOrientation();
+ send_orientation();
/* Led blinking. */
myled = 1;
@@ -88,97 +170,7 @@
if(send_orientation_request) {
send_orientation_request = 0;
- sendOrientation();
+ send_orientation();
}
}
}
-
-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" );
- }
-}