Diff: main.cpp

Revision:

0:89cc933f7dbe

Child:

5:672a7705147d

diff -r 000000000000 -r 89cc933f7dbe main.cpp
--- /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>&copy; 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();
+    }
+  }
+}