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:
8 months ago
Revision:
5:672a7705147d
Parent:
0:89cc933f7dbe

File content as of revision 5:672a7705147d:

/**
 ******************************************************************************
 * @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();
        }
    }
}