main.cpp

00001 /**
00002  ******************************************************************************
00003  * @file    main.cpp
00004  * @author  SRA
00005  * @version V1.0.0
00006  * @date    5-March-2019
00007  * @brief   Simple Example application for using the X_NUCLEO_IKS01A3
00008  *          MEMS Inertial & Environmental Sensor Nucleo expansion board.
00009  ******************************************************************************
00010  * @attention
00011  *
00012  * <h2><center>&copy; COPYRIGHT(c) 2019 STMicroelectronics</center></h2>
00013  *
00014  * Redistribution and use in source and binary forms, with or without modification,
00015  * are permitted provided that the following conditions are met:
00016  *   1. Redistributions of source code must retain the above copyright notice,
00017  *      this list of conditions and the following disclaimer.
00018  *   2. Redistributions in binary form must reproduce the above copyright notice,
00019  *      this list of conditions and the following disclaimer in the documentation
00020  *      and/or other materials provided with the distribution.
00021  *   3. Neither the name of STMicroelectronics nor the names of its contributors
00022  *      may be used to endorse or promote products derived from this software
00023  *      without specific prior written permission.
00024  *
00025  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00026  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00027  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00028  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
00029  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
00030  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
00031  *  SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00032  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
00033  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
00034  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00035  *
00036  ******************************************************************************
00037 */
00038 
00039 /* Includes */
00040 #include "mbed.h"
00041 #include "rtos.h"
00042 #include "XNucleoIKS01A3.h"
00043 
00044 /* Instantiate the expansion board */
00045 static XNucleoIKS01A3 *mems_expansion_board = XNucleoIKS01A3::instance(D14, D15, D4, D5, A3, D6, A4);
00046 
00047 /* Retrieve the composing elements of the expansion board */
00048 static LSM6DSOSensor *acc_gyro = mems_expansion_board->acc_gyro;
00049 
00050 InterruptIn mybutton(BUTTON1);
00051 DigitalOut myled(LED1);
00052 
00053 volatile int mems_event = 0;
00054 volatile int send_orientation_request = 0;
00055 
00056 /* User button callback. */
00057 void pressed_cb()
00058 {
00059     send_orientation_request = 1;
00060 }
00061 
00062 /* Interrupt 1 callback. */
00063 void int1_cb()
00064 {
00065     mems_event = 1;
00066 }
00067 
00068 /* Print the orientation. */
00069 void send_orientation()
00070 {
00071     uint8_t xl = 0;
00072     uint8_t xh = 0;
00073     uint8_t yl = 0;
00074     uint8_t yh = 0;
00075     uint8_t zl = 0;
00076     uint8_t zh = 0;
00077 
00078     acc_gyro->get_6d_orientation_xl(&xl);
00079     acc_gyro->get_6d_orientation_xh(&xh);
00080     acc_gyro->get_6d_orientation_yl(&yl);
00081     acc_gyro->get_6d_orientation_yh(&yh);
00082     acc_gyro->get_6d_orientation_zl(&zl);
00083     acc_gyro->get_6d_orientation_zh(&zh);
00084 
00085     if (xl == 0 && yl == 0 && zl == 0 && xh == 0 && yh == 1 && zh == 0) {
00086         printf("\r\n  ________________  " \
00087                "\r\n |                | " \
00088                "\r\n |  *             | " \
00089                "\r\n |                | " \
00090                "\r\n |                | " \
00091                "\r\n |                | " \
00092                "\r\n |                | " \
00093                "\r\n |________________| \r\n");
00094     }
00095 
00096     else if (xl == 1 && yl == 0 && zl == 0 && xh == 0 && yh == 0 && zh == 0) {
00097         printf("\r\n  ________________  " \
00098                "\r\n |                | " \
00099                "\r\n |             *  | " \
00100                "\r\n |                | " \
00101                "\r\n |                | " \
00102                "\r\n |                | " \
00103                "\r\n |                | " \
00104                "\r\n |________________| \r\n");
00105     }
00106 
00107     else if (xl == 0 && yl == 0 && zl == 0 && xh == 1 && yh == 0 && zh == 0) {
00108         printf("\r\n  ________________  " \
00109                "\r\n |                | " \
00110                "\r\n |                | " \
00111                "\r\n |                | " \
00112                "\r\n |                | " \
00113                "\r\n |                | " \
00114                "\r\n |  *             | " \
00115                "\r\n |________________| \r\n");
00116     }
00117 
00118     else if (xl == 0 && yl == 1 && zl == 0 && xh == 0 && yh == 0 && zh == 0) {
00119         printf("\r\n  ________________  " \
00120                "\r\n |                | " \
00121                "\r\n |                | " \
00122                "\r\n |                | " \
00123                "\r\n |                | " \
00124                "\r\n |                | " \
00125                "\r\n |             *  | " \
00126                "\r\n |________________| \r\n");
00127     }
00128 
00129     else if (xl == 0 && yl == 0 && zl == 0 && xh == 0 && yh == 0 && zh == 1) {
00130         printf("\r\n  __*_____________  " \
00131                "\r\n |________________| \r\n");
00132     }
00133 
00134     else if (xl == 0 && yl == 0 && zl == 1 && xh == 0 && yh == 0 && zh == 0) {
00135         printf("\r\n  ________________  " \
00136                "\r\n |________________| " \
00137                "\r\n    *               \r\n");
00138     }
00139 
00140     else {
00141         printf("None of the 6D orientation axes is set in LSM6DSO - accelerometer.\r\n");
00142     }
00143 }
00144 
00145 /* Simple main function */
00146 int main()
00147 {
00148     /* Attach callback to User button press */
00149     mybutton.fall(&pressed_cb);
00150     /* Attach callback to LSM6DSO INT1 */
00151     acc_gyro->attach_int1_irq(&int1_cb);
00152 
00153     /* Enable LSM6DSO accelerometer */
00154     acc_gyro->enable_x();
00155     /* Enable 6D Orientation. */
00156     acc_gyro->enable_6d_orientation();
00157 
00158     printf("\r\n--- Starting new run ---\r\n");
00159 
00160     while (1) {
00161         if (mems_event) {
00162             mems_event = 0;
00163             LSM6DSO_Event_Status_t status;
00164             acc_gyro->get_event_status(&status);
00165             if (status.D6DOrientationStatus) {
00166                 /* Send 6D Orientation */
00167                 send_orientation();
00168 
00169                 /* Led blinking. */
00170                 myled = 1;
00171                 ThisThread::sleep_for(200);
00172                 myled = 0;
00173             }
00174         }
00175 
00176         if (send_orientation_request) {
00177             send_orientation_request = 0;
00178             send_orientation();
00179         }
00180     }
00181 }