ST
Example of 6D orientation recognition for LSM6DSO in X-NUCLEO-IKS01A3
Dependencies: X_NUCLEO_IKS01A3
6D Orientation Demo Application with LSM6DSO 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:
- 0:89cc933f7dbe
- Child:
- 5:672a7705147d
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Wed Mar 06 13:26:58 2019 +0000
@@ -0,0 +1,176 @@
+/**
+ ******************************************************************************
+ * @file main.cpp
+ * @author SRA
+ * @version V1.0.0
+ * @date 5-March-2019
+ * @brief Simple Example application for using the X_NUCLEO_IKS01A3
+ * MEMS Inertial & Environmental Sensor Nucleo expansion board.
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© COPYRIGHT(c) 2019 STMicroelectronics</center></h2>
+ *
+ * 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 "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 LSM6DSOSensor *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 LSM6DSO - accelerometer.\r\n" );
+ }
+}
+
+/* Simple main function */
+int main() {
+ /* Attach callback to User button press */
+ mybutton.fall(&pressed_cb);
+ /* Attach callback to LSM6DSO INT1 */
+ acc_gyro->attach_int1_irq(&int1_cb);
+
+ /* Enable LSM6DSO 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;
+ LSM6DSO_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();
+ }
+ }
+}