ST
Example of free fall detection for LSM6DSL in X-NUCLEO-IKS01A2
Dependencies: X_NUCLEO_IKS01A2 mbed
Fork of
FreeFall_IKS01A2
by 
ST Expansion SW Team
Free Fall Detection Demo Application based on sensor expansion board X-NUCLEO-IKS01A2
Main function is to show how to detect the free fall event using the sensor expansion board and send a notification using UART to a connected PC or Desktop and display it on terminal applications like TeraTerm.
After connection has been established:
- the user can try to leave falling the board and then view the notification using an hyper terminal. When the free fall is detected, the LED is switched on for a while.
- the user button can be used to enable/disable the free fall detection feature.
Revision 7:8d01cc2032b8, committed 2016-11-24
- Comitter:
- cparata
- Date:
- Thu Nov 24 16:44:39 2016 +0000
- Parent:
- 6:f9bbe6142ac5
- Child:
- 8:b460ca90deb9
- Commit message:
- Add possibility to choose the interrupt line for HW events
Changed in this revision
--- a/X_NUCLEO_IKS01A2/Components/LSM6DSLSensor/LSM6DSLSensor.cpp Wed Nov 23 16:45:16 2016 +0000
+++ b/X_NUCLEO_IKS01A2/Components/LSM6DSLSensor/LSM6DSLSensor.cpp Thu Nov 24 16:44:39 2016 +0000
@@ -861,6 +861,17 @@
*/
int LSM6DSLSensor::Enable_Free_Fall_Detection(void)
{
+ return Enable_Free_Fall_Detection(LSM6DSL_INT1_PIN);
+}
+
+/**
+ * @brief Enable free fall detection
+ * @param pin the interrupt pin to be used
+ * @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
+ * @retval 0 in case of success, an error code otherwise
+*/
+int LSM6DSLSensor::Enable_Free_Fall_Detection(LSM6DSL_Interrupt_Pin_t pin)
+{
/* Output Data Rate selection */
if(Set_X_ODR(416.0f) == 1)
{
@@ -909,9 +920,24 @@
return 1;
}
- /* INT1_FF setting */
- if ( LSM6DSL_ACC_GYRO_W_FFEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_FF_ENABLED ) == MEMS_ERROR )
+ /* Enable free fall event on either INT1 or INT2 pin */
+ switch (pin)
{
+ case LSM6DSL_INT1_PIN:
+ if ( LSM6DSL_ACC_GYRO_W_FFEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_FF_ENABLED ) == MEMS_ERROR )
+ {
+ return 1;
+ }
+ break;
+
+ case LSM6DSL_INT2_PIN:
+ if ( LSM6DSL_ACC_GYRO_W_FFEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_FF_ENABLED ) == MEMS_ERROR )
+ {
+ return 1;
+ }
+ break;
+
+ default:
return 1;
}
@@ -925,12 +951,18 @@
*/
int LSM6DSLSensor::Disable_Free_Fall_Detection(void)
{
- /* INT1_FF setting */
+ /* Disable free fall event on INT1 pin */
if ( LSM6DSL_ACC_GYRO_W_FFEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_FF_DISABLED ) == MEMS_ERROR )
{
return 1;
}
+ /* Disable free fall event on INT2 pin */
+ if ( LSM6DSL_ACC_GYRO_W_FFEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_FF_DISABLED ) == MEMS_ERROR )
+ {
+ return 1;
+ }
+
/* Disable basic Interrupts */
if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
{
@@ -1104,6 +1136,17 @@
* @retval 0 in case of success, an error code otherwise
*/
int LSM6DSLSensor::Enable_Tilt_Detection(void)
+{
+ return Enable_Tilt_Detection(LSM6DSL_INT1_PIN);
+}
+
+/**
+ * @brief Enable the tilt detection for LSM6DSL accelerometer sensor
+ * @param pin the interrupt pin to be used
+ * @note This function sets the LSM6DSL accelerometer ODR to 26Hz and the LSM6DSL accelerometer full scale to 2g
+ * @retval 0 in case of success, an error code otherwise
+ */
+int LSM6DSLSensor::Enable_Tilt_Detection(LSM6DSL_Interrupt_Pin_t pin)
{
/* Output Data Rate selection */
if( Set_X_ODR(26.0f) == 1 )
@@ -1128,13 +1171,28 @@
{
return 1;
}
-
- /* Enable tilt event on INT1. */
- if ( LSM6DSL_ACC_GYRO_W_TiltEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TILT_ENABLED ) == MEMS_ERROR )
+
+ /* Enable tilt detection on either INT1 or INT2 pin */
+ switch (pin)
{
+ case LSM6DSL_INT1_PIN:
+ if ( LSM6DSL_ACC_GYRO_W_TiltEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TILT_ENABLED ) == MEMS_ERROR )
+ {
+ return 1;
+ }
+ break;
+
+ case LSM6DSL_INT2_PIN:
+ if ( LSM6DSL_ACC_GYRO_W_TiltEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_TILT_ENABLED ) == MEMS_ERROR )
+ {
+ return 1;
+ }
+ break;
+
+ default:
return 1;
}
-
+
return 0;
}
@@ -1150,6 +1208,12 @@
return 1;
}
+ /* Disable tilt event on INT2. */
+ if ( LSM6DSL_ACC_GYRO_W_TiltEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_TILT_DISABLED ) == MEMS_ERROR )
+ {
+ return 1;
+ }
+
/* Disable tilt calculation. */
if ( LSM6DSL_ACC_GYRO_W_TILT( (void *)this, LSM6DSL_ACC_GYRO_TILT_DISABLED ) == MEMS_ERROR )
{
@@ -1172,6 +1236,17 @@
*/
int LSM6DSLSensor::Enable_Wake_Up_Detection(void)
{
+ return Enable_Wake_Up_Detection(LSM6DSL_INT2_PIN);
+}
+
+/**
+ * @brief Enable the wake up detection for LSM6DSL accelerometer sensor
+ * @param pin the interrupt pin to be used
+ * @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
+ * @retval 0 in case of success, an error code otherwise
+ */
+int LSM6DSLSensor::Enable_Wake_Up_Detection(LSM6DSL_Interrupt_Pin_t pin)
+{
/* Output Data Rate selection */
if( Set_X_ODR(416.0f) == 1 )
{
@@ -1201,10 +1276,25 @@
{
return 1;
}
-
- /* INT2_WU setting */
- if ( LSM6DSL_ACC_GYRO_W_WUEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_WU_ENABLED ) == MEMS_ERROR )
+
+ /* Enable wake up detection on either INT1 or INT2 pin */
+ switch (pin)
{
+ case LSM6DSL_INT1_PIN:
+ if ( LSM6DSL_ACC_GYRO_W_WUEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_WU_ENABLED ) == MEMS_ERROR )
+ {
+ return 1;
+ }
+ break;
+
+ case LSM6DSL_INT2_PIN:
+ if ( LSM6DSL_ACC_GYRO_W_WUEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_WU_ENABLED ) == MEMS_ERROR )
+ {
+ return 1;
+ }
+ break;
+
+ default:
return 1;
}
@@ -1217,7 +1307,13 @@
*/
int LSM6DSLSensor::Disable_Wake_Up_Detection(void)
{
- /* INT2_WU setting */
+ /* Disable wake up event on INT1 */
+ if ( LSM6DSL_ACC_GYRO_W_WUEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_WU_DISABLED ) == MEMS_ERROR )
+ {
+ return 1;
+ }
+
+ /* Disable wake up event on INT2 */
if ( LSM6DSL_ACC_GYRO_W_WUEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_WU_DISABLED ) == MEMS_ERROR )
{
return 1;
@@ -1266,6 +1362,17 @@
*/
int LSM6DSLSensor::Enable_Single_Tap_Detection(void)
{
+ return Enable_Single_Tap_Detection(LSM6DSL_INT1_PIN);
+}
+
+/**
+ * @brief Enable the single tap detection for LSM6DSL accelerometer sensor
+ * @param pin the interrupt pin to be used
+ * @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
+ * @retval 0 in case of success, an error code otherwise
+ */
+int LSM6DSLSensor::Enable_Single_Tap_Detection(LSM6DSL_Interrupt_Pin_t pin)
+{
/* Output Data Rate selection */
if( Set_X_ODR(416.0f) == 1 )
{
@@ -1324,9 +1431,24 @@
return 1;
}
- /* Enable single tap interrupt on INT1 pin. */
- if ( LSM6DSL_ACC_GYRO_W_SingleTapOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_SINGLE_TAP_ENABLED ) == MEMS_ERROR )
+ /* Enable single tap on either INT1 or INT2 pin */
+ switch (pin)
{
+ case LSM6DSL_INT1_PIN:
+ if ( LSM6DSL_ACC_GYRO_W_SingleTapOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_SINGLE_TAP_ENABLED ) == MEMS_ERROR )
+ {
+ return 1;
+ }
+ break;
+
+ case LSM6DSL_INT2_PIN:
+ if ( LSM6DSL_ACC_GYRO_W_SingleTapOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_SINGLE_TAP_ENABLED ) == MEMS_ERROR )
+ {
+ return 1;
+ }
+ break;
+
+ default:
return 1;
}
@@ -1345,6 +1467,12 @@
return 1;
}
+ /* Disable single tap interrupt on INT2 pin. */
+ if ( LSM6DSL_ACC_GYRO_W_SingleTapOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_SINGLE_TAP_DISABLED ) == MEMS_ERROR )
+ {
+ return 1;
+ }
+
/* Disable basic Interrupts */
if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
{
@@ -1401,6 +1529,17 @@
*/
int LSM6DSLSensor::Enable_Double_Tap_Detection(void)
{
+ return Enable_Double_Tap_Detection(LSM6DSL_INT1_PIN);
+}
+
+/**
+ * @brief Enable the double tap detection for LSM6DSL accelerometer sensor
+ * @param pin the interrupt pin to be used
+ * @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
+ * @retval 0 in case of success, an error code otherwise
+ */
+int LSM6DSLSensor::Enable_Double_Tap_Detection(LSM6DSL_Interrupt_Pin_t pin)
+{
/* Output Data Rate selection */
if( Set_X_ODR(416.0f) == 1 )
{
@@ -1467,9 +1606,24 @@
return 1;
}
- /* Enable double tap interrupt on INT1 pin. */
- if ( LSM6DSL_ACC_GYRO_W_TapEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TAP_ENABLED ) == MEMS_ERROR )
+ /* Enable double tap on either INT1 or INT2 pin */
+ switch (pin)
{
+ case LSM6DSL_INT1_PIN:
+ if ( LSM6DSL_ACC_GYRO_W_TapEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_TAP_ENABLED ) == MEMS_ERROR )
+ {
+ return 1;
+ }
+ break;
+
+ case LSM6DSL_INT2_PIN:
+ if ( LSM6DSL_ACC_GYRO_W_TapEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_TAP_ENABLED ) == MEMS_ERROR )
+ {
+ return 1;
+ }
+ break;
+
+ default:
return 1;
}
@@ -1488,6 +1642,12 @@
return 1;
}
+ /* Disable double tap interrupt on INT2 pin. */
+ if ( LSM6DSL_ACC_GYRO_W_TapEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_TAP_DISABLED ) == MEMS_ERROR )
+ {
+ return 1;
+ }
+
/* Disable basic Interrupts */
if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
{
@@ -1612,6 +1772,17 @@
*/
int LSM6DSLSensor::Enable_6D_Orientation(void)
{
+ return Enable_6D_Orientation(LSM6DSL_INT1_PIN);
+}
+
+/**
+ * @brief Enable the 6D orientation detection for LSM6DSL accelerometer sensor
+ * @param pin the interrupt pin to be used
+ * @note This function sets the LSM6DSL accelerometer ODR to 416Hz and the LSM6DSL accelerometer full scale to 2g
+ * @retval 0 in case of success, an error code otherwise
+ */
+int LSM6DSLSensor::Enable_6D_Orientation(LSM6DSL_Interrupt_Pin_t pin)
+{
/* Output Data Rate selection */
if( Set_X_ODR(416.0f) == 1 )
{
@@ -1636,9 +1807,24 @@
return 1;
}
- /* INT1_6D setting. */
- if ( LSM6DSL_ACC_GYRO_W_6DEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_6D_ENABLED ) == MEMS_ERROR )
+ /* Enable 6D orientation on either INT1 or INT2 pin */
+ switch (pin)
{
+ case LSM6DSL_INT1_PIN:
+ if ( LSM6DSL_ACC_GYRO_W_6DEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_6D_ENABLED ) == MEMS_ERROR )
+ {
+ return 1;
+ }
+ break;
+
+ case LSM6DSL_INT2_PIN:
+ if ( LSM6DSL_ACC_GYRO_W_6DEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_6D_ENABLED ) == MEMS_ERROR )
+ {
+ return 1;
+ }
+ break;
+
+ default:
return 1;
}
@@ -1651,12 +1837,18 @@
*/
int LSM6DSLSensor::Disable_6D_Orientation(void)
{
- /* INT1_6D setting. */
+ /* Disable 6D orientation interrupt on INT1 pin. */
if ( LSM6DSL_ACC_GYRO_W_6DEvOnInt1( (void *)this, LSM6DSL_ACC_GYRO_INT1_6D_DISABLED ) == MEMS_ERROR )
{
return 1;
}
+ /* Disable 6D orientation interrupt on INT2 pin. */
+ if ( LSM6DSL_ACC_GYRO_W_6DEvOnInt2( (void *)this, LSM6DSL_ACC_GYRO_INT2_6D_DISABLED ) == MEMS_ERROR )
+ {
+ return 1;
+ }
+
/* Disable basic Interrupts */
if ( LSM6DSL_ACC_GYRO_W_BASIC_INT( (void *)this, LSM6DSL_ACC_GYRO_BASIC_INT_DISABLED ) == MEMS_ERROR )
{
@@ -1892,7 +2084,7 @@
return 1;
}
- if(Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_FF_MASK)
+ if((Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_FF_MASK) || (Md2_Cfg & LSM6DSL_ACC_GYRO_INT2_FF_MASK))
{
if((Wake_Up_Src & LSM6DSL_ACC_GYRO_FF_EV_STATUS_MASK))
{
@@ -1900,7 +2092,7 @@
}
}
- if(Md2_Cfg & LSM6DSL_ACC_GYRO_INT2_WU_MASK)
+ if((Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_WU_MASK) || (Md2_Cfg & LSM6DSL_ACC_GYRO_INT2_WU_MASK))
{
if((Wake_Up_Src & LSM6DSL_ACC_GYRO_WU_EV_STATUS_MASK))
{
@@ -1908,7 +2100,7 @@
}
}
- if(Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_SINGLE_TAP_MASK)
+ if((Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_SINGLE_TAP_MASK) || (Md2_Cfg & LSM6DSL_ACC_GYRO_INT2_SINGLE_TAP_MASK))
{
if((Tap_Src & LSM6DSL_ACC_GYRO_SINGLE_TAP_EV_STATUS_MASK))
{
@@ -1916,7 +2108,7 @@
}
}
- if(Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_TAP_MASK)
+ if((Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_TAP_MASK) || (Md2_Cfg & LSM6DSL_ACC_GYRO_INT2_TAP_MASK))
{
if((Tap_Src & LSM6DSL_ACC_GYRO_DOUBLE_TAP_EV_STATUS_MASK))
{
@@ -1924,7 +2116,7 @@
}
}
- if(Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_6D_MASK)
+ if((Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_6D_MASK) || (Md2_Cfg & LSM6DSL_ACC_GYRO_INT2_6D_MASK))
{
if((D6D_Src & LSM6DSL_ACC_GYRO_D6D_EV_STATUS_MASK))
{
@@ -1932,7 +2124,7 @@
}
}
- if(Int1_Ctrl & LSM6DSL_ACC_GYRO_INT1_PEDO_MASK)
+ if((Int1_Ctrl & LSM6DSL_ACC_GYRO_INT1_PEDO_MASK))
{
if((Func_Src & LSM6DSL_ACC_GYRO_PEDO_EV_STATUS_MASK))
{
@@ -1940,7 +2132,7 @@
}
}
- if(Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_TILT_MASK)
+ if((Md1_Cfg & LSM6DSL_ACC_GYRO_INT1_TILT_MASK) || (Md2_Cfg & LSM6DSL_ACC_GYRO_INT2_TILT_MASK))
{
if((Func_Src & LSM6DSL_ACC_GYRO_TILT_EV_STATUS_MASK))
{
--- a/X_NUCLEO_IKS01A2/Components/LSM6DSLSensor/LSM6DSLSensor.h Wed Nov 23 16:45:16 2016 +0000
+++ b/X_NUCLEO_IKS01A2/Components/LSM6DSLSensor/LSM6DSLSensor.h Thu Nov 24 16:44:39 2016 +0000
@@ -99,6 +99,12 @@
/* Typedefs ------------------------------------------------------------------*/
+typedef enum
+{
+ LSM6DSL_INT1_PIN,
+ LSM6DSL_INT2_PIN
+} LSM6DSL_Interrupt_Pin_t;
+
typedef struct
{
unsigned int FreeFallStatus : 1;
@@ -142,6 +148,7 @@
int Disable_X(void);
int Disable_G(void);
int Enable_Free_Fall_Detection(void);
+ int Enable_Free_Fall_Detection(LSM6DSL_Interrupt_Pin_t pin);
int Disable_Free_Fall_Detection(void);
int Set_Free_Fall_Threshold(uint8_t thr);
int Enable_Pedometer(void);
@@ -150,19 +157,24 @@
int Reset_Step_Counter(void);
int Set_Pedometer_Threshold(uint8_t thr);
int Enable_Tilt_Detection(void);
+ int Enable_Tilt_Detection(LSM6DSL_Interrupt_Pin_t pin);
int Disable_Tilt_Detection(void);
int Enable_Wake_Up_Detection(void);
+ int Enable_Wake_Up_Detection(LSM6DSL_Interrupt_Pin_t pin);
int Disable_Wake_Up_Detection(void);
int Set_Wake_Up_Threshold(uint8_t thr);
int Enable_Single_Tap_Detection(void);
+ int Enable_Single_Tap_Detection(LSM6DSL_Interrupt_Pin_t pin);
int Disable_Single_Tap_Detection(void);
int Enable_Double_Tap_Detection(void);
+ int Enable_Double_Tap_Detection(LSM6DSL_Interrupt_Pin_t pin);
int Disable_Double_Tap_Detection(void);
int Set_Tap_Threshold(uint8_t thr);
int Set_Tap_Shock_Time(uint8_t time);
int Set_Tap_Quiet_Time(uint8_t time);
int Set_Tap_Duration_Time(uint8_t time);
int Enable_6D_Orientation(void);
+ int Enable_6D_Orientation(LSM6DSL_Interrupt_Pin_t pin);
int Disable_6D_Orientation(void);
int Get_6D_Orientation_XL(uint8_t *xl);
int Get_6D_Orientation_XH(uint8_t *xh);
--- a/main.cpp Wed Nov 23 16:45:16 2016 +0000
+++ b/main.cpp Thu Nov 24 16:44:39 2016 +0000
@@ -49,19 +49,19 @@
InterruptIn mybutton(USER_BUTTON);
DigitalOut myled(LED1);
-volatile int free_fall = 0;
+volatile int mems_event = 0;
volatile int toggle_free_fall_enable = 0;
static int free_fall_is_enabled = 1;
-void pressed();
-void freefall();
+void pressed_cb();
+void INT1_cb();
/* Simple main function */
int main() {
/* Attach callback to User button press */
- mybutton.fall(&pressed);
+ mybutton.fall(&pressed_cb);
/* Attach callback to LSM6DSL INT1 */
- acc_gyro->AttachINT1IRQ(&freefall);
+ acc_gyro->AttachINT1IRQ(&INT1_cb);
/* Enable LSM6DSL accelerometer */
acc_gyro->Enable_X();
@@ -82,8 +82,8 @@
}
}
- if (free_fall) {
- free_fall = 0;
+ if (mems_event) {
+ mems_event = 0;
LSM6DSL_Event_Status_t status;
acc_gyro->Get_Event_Status(&status);
if (status.FreeFallStatus) {
@@ -99,10 +99,10 @@
}
}
-void pressed() {
+void pressed_cb() {
toggle_free_fall_enable = 1;
}
-void freefall() {
- free_fall = 1;
+void INT1_cb() {
+ mems_event = 1;
}