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Example of 6D orientation recognition for LIS2DW12 in X-NUCLEO-IKS01A3
Dependencies: X_NUCLEO_IKS01A3
6D Orientation Demo Application with LIS2DW12 based on sensor expansion board X-NUCLEO-IKS01A3
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:
- 5:ad46bcbf3320
- Parent:
- 0:cb5eb44cbfb5
- Child:
- 6:8895c4a4d17d
diff -r 15860abdda13 -r ad46bcbf3320 main.cpp --- a/main.cpp Mon Jun 03 10:07:48 2019 +0000 +++ b/main.cpp Wed Jul 24 14:29:33 2019 +0000 @@ -4,7 +4,7 @@ * @author SRA * @version V1.0.0 * @date 5-March-2019 - * @brief Simple Example application for using the X_NUCLEO_IKS01A3 + * @brief Simple Example application for using the X_NUCLEO_IKS01A3 * MEMS Inertial & Environmental Sensor Nucleo expansion board. ****************************************************************************** * @attention @@ -34,143 +34,147 @@ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * ****************************************************************************** -*/ - +*/ + /* Includes */ #include "mbed.h" #include "XNucleoIKS01A3.h" - + /* Instantiate the expansion board */ static XNucleoIKS01A3 *mems_expansion_board = XNucleoIKS01A3::instance(D14, D15, D4, D5, A3, D6, A4); - + /* Retrieve the composing elements of the expansion board */ static LIS2DW12Sensor *accelerometer = mems_expansion_board->accelerometer; - + 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; +void pressed_cb() +{ + send_orientation_request = 1; } - + /* Interrupt 1 callback. */ -void int1_cb() { - mems_event = 1; +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; - - accelerometer->get_6d_orientation_xl(&xl); - accelerometer->get_6d_orientation_xh(&xh); - accelerometer->get_6d_orientation_yl(&yl); - accelerometer->get_6d_orientation_yh(&yh); - accelerometer->get_6d_orientation_zl(&zl); - accelerometer->get_6d_orientation_zh(&zh); - - 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 == 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 == 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 == 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 == 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 LIS2DW12 - accelerometer.\r\n" ); - } +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; + + accelerometer->get_6d_orientation_xl(&xl); + accelerometer->get_6d_orientation_xh(&xh); + accelerometer->get_6d_orientation_yl(&yl); + accelerometer->get_6d_orientation_yh(&yh); + accelerometer->get_6d_orientation_zl(&zl); + accelerometer->get_6d_orientation_zh(&zh); + + 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 == 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 == 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 == 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 == 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 LIS2DW12 - accelerometer.\r\n"); + } } - + /* Simple main function */ -int main() { - /* Attach callback to User button press */ - mybutton.fall(&pressed_cb); - /* Attach callback to LIS2DW12 INT1 */ - accelerometer->attach_int1_irq(&int1_cb); - - /* Enable LIS2DW12 accelerometer */ - accelerometer->enable_x(); - /* Enable 6D Orientation. */ - accelerometer->enable_6d_orientation(); - - printf("\r\n--- Starting new run ---\r\n"); - - while(1) { - if (mems_event) { - mems_event = 0; - LIS2DW12_Event_Status_t status; - accelerometer->get_event_status(&status); - if (status.D6DOrientationStatus) { - /* Send 6D Orientation */ - send_orientation(); - - /* Led blinking. */ - myled = 1; - wait(0.2); - myled = 0; - } +int main() +{ + /* Attach callback to User button press */ + mybutton.fall(&pressed_cb); + /* Attach callback to LIS2DW12 INT1 */ + accelerometer->attach_int1_irq(&int1_cb); + + /* Enable LIS2DW12 accelerometer */ + accelerometer->enable_x(); + /* Enable 6D Orientation. */ + accelerometer->enable_6d_orientation(); + + printf("\r\n--- Starting new run ---\r\n"); + + while (1) { + if (mems_event) { + mems_event = 0; + LIS2DW12_Event_Status_t status; + accelerometer->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(); + } } - - if(send_orientation_request) { - send_orientation_request = 0; - send_orientation(); - } - } }