ST / Mbed OS 6DOrientation_LIS2DW12_IKS01A3

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.

main.cpp@4:15860abdda13, 2019-06-03 (annotated)

Committer:
cparata
Date:
Mon Jun 03 10:07:48 2019 +0000
Revision:
4:15860abdda13
Parent:
0:cb5eb44cbfb5
Child:
5:ad46bcbf3320
Update example to be compatible with mbed OS

Who changed what in which revision?

UserRevisionLine numberNew contents of line
cparata 0:cb5eb44cbfb5 1 /**
cparata 0:cb5eb44cbfb5 2 ******************************************************************************
cparata 0:cb5eb44cbfb5 3 * @file main.cpp
cparata 0:cb5eb44cbfb5 4 * @author SRA
cparata 0:cb5eb44cbfb5 5 * @version V1.0.0
cparata 0:cb5eb44cbfb5 6 * @date 5-March-2019
cparata 0:cb5eb44cbfb5 7 * @brief Simple Example application for using the X_NUCLEO_IKS01A3
cparata 0:cb5eb44cbfb5 8 * MEMS Inertial & Environmental Sensor Nucleo expansion board.
cparata 0:cb5eb44cbfb5 9 ******************************************************************************
cparata 0:cb5eb44cbfb5 10 * @attention
cparata 0:cb5eb44cbfb5 11 *
cparata 0:cb5eb44cbfb5 12 * <h2><center>&copy; COPYRIGHT(c) 2019 STMicroelectronics</center></h2>
cparata 0:cb5eb44cbfb5 13 *
cparata 0:cb5eb44cbfb5 14 * Redistribution and use in source and binary forms, with or without modification,
cparata 0:cb5eb44cbfb5 15 * are permitted provided that the following conditions are met:
cparata 0:cb5eb44cbfb5 16 * 1. Redistributions of source code must retain the above copyright notice,
cparata 0:cb5eb44cbfb5 17 * this list of conditions and the following disclaimer.
cparata 0:cb5eb44cbfb5 18 * 2. Redistributions in binary form must reproduce the above copyright notice,
cparata 0:cb5eb44cbfb5 19 * this list of conditions and the following disclaimer in the documentation
cparata 0:cb5eb44cbfb5 20 * and/or other materials provided with the distribution.
cparata 0:cb5eb44cbfb5 21 * 3. Neither the name of STMicroelectronics nor the names of its contributors
cparata 0:cb5eb44cbfb5 22 * may be used to endorse or promote products derived from this software
cparata 0:cb5eb44cbfb5 23 * without specific prior written permission.
cparata 0:cb5eb44cbfb5 24 *
cparata 0:cb5eb44cbfb5 25 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
cparata 0:cb5eb44cbfb5 26 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
cparata 0:cb5eb44cbfb5 27 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
cparata 0:cb5eb44cbfb5 28 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
cparata 0:cb5eb44cbfb5 29 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
cparata 0:cb5eb44cbfb5 30 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
cparata 0:cb5eb44cbfb5 31 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
cparata 0:cb5eb44cbfb5 32 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
cparata 0:cb5eb44cbfb5 33 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
cparata 0:cb5eb44cbfb5 34 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
cparata 0:cb5eb44cbfb5 35 *
cparata 0:cb5eb44cbfb5 36 ******************************************************************************
cparata 0:cb5eb44cbfb5 37 */
cparata 0:cb5eb44cbfb5 38
cparata 0:cb5eb44cbfb5 39 /* Includes */
cparata 0:cb5eb44cbfb5 40 #include "mbed.h"
cparata 0:cb5eb44cbfb5 41 #include "XNucleoIKS01A3.h"
cparata 0:cb5eb44cbfb5 42
cparata 0:cb5eb44cbfb5 43 /* Instantiate the expansion board */
cparata 0:cb5eb44cbfb5 44 static XNucleoIKS01A3 *mems_expansion_board = XNucleoIKS01A3::instance(D14, D15, D4, D5, A3, D6, A4);
cparata 0:cb5eb44cbfb5 45
cparata 0:cb5eb44cbfb5 46 /* Retrieve the composing elements of the expansion board */
cparata 0:cb5eb44cbfb5 47 static LIS2DW12Sensor *accelerometer = mems_expansion_board->accelerometer;
cparata 0:cb5eb44cbfb5 48
cparata 0:cb5eb44cbfb5 49 InterruptIn mybutton(USER_BUTTON);
cparata 0:cb5eb44cbfb5 50 DigitalOut myled(LED1);
cparata 0:cb5eb44cbfb5 51
cparata 0:cb5eb44cbfb5 52 volatile int mems_event = 0;
cparata 0:cb5eb44cbfb5 53 volatile int send_orientation_request = 0;
cparata 0:cb5eb44cbfb5 54
cparata 0:cb5eb44cbfb5 55 /* User button callback. */
cparata 0:cb5eb44cbfb5 56 void pressed_cb() {
cparata 0:cb5eb44cbfb5 57 send_orientation_request = 1;
cparata 0:cb5eb44cbfb5 58 }
cparata 0:cb5eb44cbfb5 59
cparata 0:cb5eb44cbfb5 60 /* Interrupt 1 callback. */
cparata 0:cb5eb44cbfb5 61 void int1_cb() {
cparata 0:cb5eb44cbfb5 62 mems_event = 1;
cparata 0:cb5eb44cbfb5 63 }
cparata 0:cb5eb44cbfb5 64
cparata 0:cb5eb44cbfb5 65 /* Print the orientation. */
cparata 0:cb5eb44cbfb5 66 void send_orientation() {
cparata 0:cb5eb44cbfb5 67 uint8_t xl = 0;
cparata 0:cb5eb44cbfb5 68 uint8_t xh = 0;
cparata 0:cb5eb44cbfb5 69 uint8_t yl = 0;
cparata 0:cb5eb44cbfb5 70 uint8_t yh = 0;
cparata 0:cb5eb44cbfb5 71 uint8_t zl = 0;
cparata 0:cb5eb44cbfb5 72 uint8_t zh = 0;
cparata 0:cb5eb44cbfb5 73
cparata 0:cb5eb44cbfb5 74 accelerometer->get_6d_orientation_xl(&xl);
cparata 0:cb5eb44cbfb5 75 accelerometer->get_6d_orientation_xh(&xh);
cparata 0:cb5eb44cbfb5 76 accelerometer->get_6d_orientation_yl(&yl);
cparata 0:cb5eb44cbfb5 77 accelerometer->get_6d_orientation_yh(&yh);
cparata 0:cb5eb44cbfb5 78 accelerometer->get_6d_orientation_zl(&zl);
cparata 0:cb5eb44cbfb5 79 accelerometer->get_6d_orientation_zh(&zh);
cparata 0:cb5eb44cbfb5 80
cparata 0:cb5eb44cbfb5 81 if ( xl == 1 && yl == 0 && zl == 0 && xh == 0 && yh == 0 && zh == 0 ) {
cparata 0:cb5eb44cbfb5 82 printf( "\r\n ________________ " \
cparata 0:cb5eb44cbfb5 83 "\r\n | | " \
cparata 0:cb5eb44cbfb5 84 "\r\n | * | " \
cparata 0:cb5eb44cbfb5 85 "\r\n | | " \
cparata 0:cb5eb44cbfb5 86 "\r\n | | " \
cparata 0:cb5eb44cbfb5 87 "\r\n | | " \
cparata 0:cb5eb44cbfb5 88 "\r\n | | " \
cparata 0:cb5eb44cbfb5 89 "\r\n |________________| \r\n" );
cparata 0:cb5eb44cbfb5 90 }
cparata 0:cb5eb44cbfb5 91
cparata 0:cb5eb44cbfb5 92 else if ( xl == 0 && yl == 1 && zl == 0 && xh == 0 && yh == 0 && zh == 0 ) {
cparata 0:cb5eb44cbfb5 93 printf( "\r\n ________________ " \
cparata 0:cb5eb44cbfb5 94 "\r\n | | " \
cparata 0:cb5eb44cbfb5 95 "\r\n | * | " \
cparata 0:cb5eb44cbfb5 96 "\r\n | | " \
cparata 0:cb5eb44cbfb5 97 "\r\n | | " \
cparata 0:cb5eb44cbfb5 98 "\r\n | | " \
cparata 0:cb5eb44cbfb5 99 "\r\n | | " \
cparata 0:cb5eb44cbfb5 100 "\r\n |________________| \r\n" );
cparata 0:cb5eb44cbfb5 101 }
cparata 0:cb5eb44cbfb5 102
cparata 0:cb5eb44cbfb5 103 else if ( xl == 0 && yl == 0 && zl == 0 && xh == 0 && yh == 1 && zh == 0 ) {
cparata 0:cb5eb44cbfb5 104 printf( "\r\n ________________ " \
cparata 0:cb5eb44cbfb5 105 "\r\n | | " \
cparata 0:cb5eb44cbfb5 106 "\r\n | | " \
cparata 0:cb5eb44cbfb5 107 "\r\n | | " \
cparata 0:cb5eb44cbfb5 108 "\r\n | | " \
cparata 0:cb5eb44cbfb5 109 "\r\n | | " \
cparata 0:cb5eb44cbfb5 110 "\r\n | * | " \
cparata 0:cb5eb44cbfb5 111 "\r\n |________________| \r\n" );
cparata 0:cb5eb44cbfb5 112 }
cparata 0:cb5eb44cbfb5 113
cparata 0:cb5eb44cbfb5 114 else if ( xl == 0 && yl == 0 && zl == 0 && xh == 1 && yh == 0 && zh == 0 ) {
cparata 0:cb5eb44cbfb5 115 printf( "\r\n ________________ " \
cparata 0:cb5eb44cbfb5 116 "\r\n | | " \
cparata 0:cb5eb44cbfb5 117 "\r\n | | " \
cparata 0:cb5eb44cbfb5 118 "\r\n | | " \
cparata 0:cb5eb44cbfb5 119 "\r\n | | " \
cparata 0:cb5eb44cbfb5 120 "\r\n | | " \
cparata 0:cb5eb44cbfb5 121 "\r\n | * | " \
cparata 0:cb5eb44cbfb5 122 "\r\n |________________| \r\n" );
cparata 0:cb5eb44cbfb5 123 }
cparata 0:cb5eb44cbfb5 124
cparata 0:cb5eb44cbfb5 125 else if ( xl == 0 && yl == 0 && zl == 0 && xh == 0 && yh == 0 && zh == 1 ) {
cparata 0:cb5eb44cbfb5 126 printf( "\r\n __*_____________ " \
cparata 0:cb5eb44cbfb5 127 "\r\n |________________| \r\n" );
cparata 0:cb5eb44cbfb5 128 }
cparata 0:cb5eb44cbfb5 129
cparata 0:cb5eb44cbfb5 130 else if ( xl == 0 && yl == 0 && zl == 1 && xh == 0 && yh == 0 && zh == 0 ) {
cparata 0:cb5eb44cbfb5 131 printf( "\r\n ________________ " \
cparata 0:cb5eb44cbfb5 132 "\r\n |________________| " \
cparata 0:cb5eb44cbfb5 133 "\r\n * \r\n" );
cparata 0:cb5eb44cbfb5 134 }
cparata 0:cb5eb44cbfb5 135
cparata 0:cb5eb44cbfb5 136 else {
cparata 0:cb5eb44cbfb5 137 printf( "None of the 6D orientation axes is set in LIS2DW12 - accelerometer.\r\n" );
cparata 0:cb5eb44cbfb5 138 }
cparata 0:cb5eb44cbfb5 139 }
cparata 0:cb5eb44cbfb5 140
cparata 0:cb5eb44cbfb5 141 /* Simple main function */
cparata 0:cb5eb44cbfb5 142 int main() {
cparata 0:cb5eb44cbfb5 143 /* Attach callback to User button press */
cparata 0:cb5eb44cbfb5 144 mybutton.fall(&pressed_cb);
cparata 0:cb5eb44cbfb5 145 /* Attach callback to LIS2DW12 INT1 */
cparata 0:cb5eb44cbfb5 146 accelerometer->attach_int1_irq(&int1_cb);
cparata 0:cb5eb44cbfb5 147
cparata 0:cb5eb44cbfb5 148 /* Enable LIS2DW12 accelerometer */
cparata 0:cb5eb44cbfb5 149 accelerometer->enable_x();
cparata 0:cb5eb44cbfb5 150 /* Enable 6D Orientation. */
cparata 0:cb5eb44cbfb5 151 accelerometer->enable_6d_orientation();
cparata 0:cb5eb44cbfb5 152
cparata 0:cb5eb44cbfb5 153 printf("\r\n--- Starting new run ---\r\n");
cparata 0:cb5eb44cbfb5 154
cparata 0:cb5eb44cbfb5 155 while(1) {
cparata 0:cb5eb44cbfb5 156 if (mems_event) {
cparata 0:cb5eb44cbfb5 157 mems_event = 0;
cparata 0:cb5eb44cbfb5 158 LIS2DW12_Event_Status_t status;
cparata 0:cb5eb44cbfb5 159 accelerometer->get_event_status(&status);
cparata 0:cb5eb44cbfb5 160 if (status.D6DOrientationStatus) {
cparata 0:cb5eb44cbfb5 161 /* Send 6D Orientation */
cparata 0:cb5eb44cbfb5 162 send_orientation();
cparata 0:cb5eb44cbfb5 163
cparata 0:cb5eb44cbfb5 164 /* Led blinking. */
cparata 0:cb5eb44cbfb5 165 myled = 1;
cparata 0:cb5eb44cbfb5 166 wait(0.2);
cparata 0:cb5eb44cbfb5 167 myled = 0;
cparata 0:cb5eb44cbfb5 168 }
cparata 0:cb5eb44cbfb5 169 }
cparata 0:cb5eb44cbfb5 170
cparata 0:cb5eb44cbfb5 171 if(send_orientation_request) {
cparata 0:cb5eb44cbfb5 172 send_orientation_request = 0;
cparata 0:cb5eb44cbfb5 173 send_orientation();
cparata 0:cb5eb44cbfb5 174 }
cparata 0:cb5eb44cbfb5 175 }
cparata 0:cb5eb44cbfb5 176 }