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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.
main.cpp
- Committer:
- cparata
- Date:
- 2021-06-24
- Revision:
- 8:29f0c9c80d94
- Parent:
- 6:dee80d1952bc
File content as of revision 8:29f0c9c80d94:
/** ****************************************************************************** * @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 "rtos.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(BUTTON1); 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; ThisThread::sleep_for(200); myled = 0; } } if (send_orientation_request) { send_orientation_request = 0; send_orientation(); } } }