ST / Mbed OS 6DOrientation_LSM6DSO_IKS01A3

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.

Files at this revision

API Documentation at this revision

Revision 0:89cc933f7dbe, committed 2019-03-06

Comitter:
cparata
Date:
Wed Mar 06 13:26:58 2019 +0000
Child:
1:7a97d64edfec
Commit message:
First version of 6DOrientation_LSM6DSO_IKS01A3 application

Changed in this revision

X_NUCLEO_IKS01A3.lib Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file
mbed.bld Show annotated file Show diff for this revision Revisions of this file 
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/X_NUCLEO_IKS01A3.lib	Wed Mar 06 13:26:58 2019 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/teams/ST-Expansion-SW-Team/code/X_NUCLEO_IKS01A3/#b65a75d6b409

--- /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();
+    }
+  }
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Wed Mar 06 13:26:58 2019 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400
\ No newline at end of file