ST / Mbed OS FreeFall_LSM6DSO_IKS01A3

Example of free fall detection for LSM6DSO in X-NUCLEO-IKS01A3

Dependencies:   X_NUCLEO_IKS01A3

Free Fall Detection Demo Application with LSM6DSO based on sensor expansion board X-NUCLEO-IKS01A3

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.

main.cpp@8:903deb7fb908, 2021-06-24 (annotated)

Committer:
cparata
Date:
Thu Jun 24 12:11:26 2021 +0000
Revision:
8:903deb7fb908
Parent:
6:5e279ec9a9cd 
Update button label

Who changed what in which revision?

UserRevisionLine numberNew contents of line
cparata 0:f84262b9053f 1 /**
cparata 0:f84262b9053f 2 ******************************************************************************
cparata 0:f84262b9053f 3 * @file main.cpp
cparata 0:f84262b9053f 4 * @author SRA
cparata 0:f84262b9053f 5 * @version V1.0.0
cparata 0:f84262b9053f 6 * @date 5-March-2019
cparata 5:4f3cf9d2ce1f 7 * @brief Simple Example application for using the X_NUCLEO_IKS01A3
cparata 0:f84262b9053f 8 * MEMS Inertial & Environmental Sensor Nucleo expansion board.
cparata 0:f84262b9053f 9 ******************************************************************************
cparata 0:f84262b9053f 10 * @attention
cparata 0:f84262b9053f 11 *
cparata 0:f84262b9053f 12 * <h2><center>&copy; COPYRIGHT(c) 2019 STMicroelectronics</center></h2>
cparata 0:f84262b9053f 13 *
cparata 0:f84262b9053f 14 * Redistribution and use in source and binary forms, with or without modification,
cparata 0:f84262b9053f 15 * are permitted provided that the following conditions are met:
cparata 0:f84262b9053f 16 * 1. Redistributions of source code must retain the above copyright notice,
cparata 0:f84262b9053f 17 * this list of conditions and the following disclaimer.
cparata 0:f84262b9053f 18 * 2. Redistributions in binary form must reproduce the above copyright notice,
cparata 0:f84262b9053f 19 * this list of conditions and the following disclaimer in the documentation
cparata 0:f84262b9053f 20 * and/or other materials provided with the distribution.
cparata 0:f84262b9053f 21 * 3. Neither the name of STMicroelectronics nor the names of its contributors
cparata 0:f84262b9053f 22 * may be used to endorse or promote products derived from this software
cparata 0:f84262b9053f 23 * without specific prior written permission.
cparata 0:f84262b9053f 24 *
cparata 0:f84262b9053f 25 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
cparata 0:f84262b9053f 26 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
cparata 0:f84262b9053f 27 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
cparata 0:f84262b9053f 28 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
cparata 0:f84262b9053f 29 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
cparata 0:f84262b9053f 30 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
cparata 0:f84262b9053f 31 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
cparata 0:f84262b9053f 32 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
cparata 0:f84262b9053f 33 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
cparata 0:f84262b9053f 34 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
cparata 0:f84262b9053f 35 *
cparata 0:f84262b9053f 36 ******************************************************************************
cparata 5:4f3cf9d2ce1f 37 */
cparata 5:4f3cf9d2ce1f 38
cparata 0:f84262b9053f 39 /* Includes */
cparata 0:f84262b9053f 40 #include "mbed.h"
cparata 6:5e279ec9a9cd 41 #include "rtos.h"
cparata 0:f84262b9053f 42 #include "XNucleoIKS01A3.h"
cparata 5:4f3cf9d2ce1f 43
cparata 0:f84262b9053f 44 /* Instantiate the expansion board */
cparata 0:f84262b9053f 45 static XNucleoIKS01A3 *mems_expansion_board = XNucleoIKS01A3::instance(D14, D15, D4, D5, A3, D6, A4);
cparata 5:4f3cf9d2ce1f 46
cparata 0:f84262b9053f 47 /* Retrieve the composing elements of the expansion board */
cparata 0:f84262b9053f 48 static LSM6DSOSensor *acc_gyro = mems_expansion_board->acc_gyro;
cparata 5:4f3cf9d2ce1f 49
cparata 8:903deb7fb908 50 InterruptIn mybutton(BUTTON1);
cparata 0:f84262b9053f 51 DigitalOut myled(LED1);
cparata 5:4f3cf9d2ce1f 52
cparata 0:f84262b9053f 53 volatile int mems_event = 0;
cparata 0:f84262b9053f 54 volatile int toggle_free_fall_enable = 0;
cparata 0:f84262b9053f 55 static int free_fall_is_enabled = 1;
cparata 5:4f3cf9d2ce1f 56
cparata 0:f84262b9053f 57 /* User button callback. */
cparata 5:4f3cf9d2ce1f 58 void pressed_cb()
cparata 5:4f3cf9d2ce1f 59 {
cparata 5:4f3cf9d2ce1f 60 toggle_free_fall_enable = 1;
cparata 0:f84262b9053f 61 }
cparata 5:4f3cf9d2ce1f 62
cparata 0:f84262b9053f 63 /* Interrupt 1 callback. */
cparata 5:4f3cf9d2ce1f 64 void int1_cb()
cparata 5:4f3cf9d2ce1f 65 {
cparata 5:4f3cf9d2ce1f 66 mems_event = 1;
cparata 0:f84262b9053f 67 }
cparata 5:4f3cf9d2ce1f 68
cparata 0:f84262b9053f 69 /* Simple main function */
cparata 5:4f3cf9d2ce1f 70 int main()
cparata 5:4f3cf9d2ce1f 71 {
cparata 5:4f3cf9d2ce1f 72 /* Attach callback to User button press */
cparata 5:4f3cf9d2ce1f 73 mybutton.fall(&pressed_cb);
cparata 5:4f3cf9d2ce1f 74 /* Attach callback to LSM6DSO INT1 */
cparata 5:4f3cf9d2ce1f 75 acc_gyro->attach_int1_irq(&int1_cb);
cparata 5:4f3cf9d2ce1f 76
cparata 5:4f3cf9d2ce1f 77 /* Enable LSM6DSO accelerometer */
cparata 5:4f3cf9d2ce1f 78 acc_gyro->enable_x();
cparata 5:4f3cf9d2ce1f 79 /* Enable Free Fall Detection. */
cparata 5:4f3cf9d2ce1f 80 acc_gyro->enable_free_fall_detection();
cparata 5:4f3cf9d2ce1f 81
cparata 5:4f3cf9d2ce1f 82 printf("\r\n--- Starting new run ---\r\n");
cparata 5:4f3cf9d2ce1f 83
cparata 5:4f3cf9d2ce1f 84 while (1) {
cparata 5:4f3cf9d2ce1f 85 if (toggle_free_fall_enable) {
cparata 5:4f3cf9d2ce1f 86 toggle_free_fall_enable = 0;
cparata 5:4f3cf9d2ce1f 87 if (free_fall_is_enabled == 0) {
cparata 5:4f3cf9d2ce1f 88 acc_gyro->enable_free_fall_detection();
cparata 5:4f3cf9d2ce1f 89 free_fall_is_enabled = 1;
cparata 5:4f3cf9d2ce1f 90 } else {
cparata 5:4f3cf9d2ce1f 91 acc_gyro->disable_free_fall_detection();
cparata 5:4f3cf9d2ce1f 92 free_fall_is_enabled = 0;
cparata 5:4f3cf9d2ce1f 93 }
cparata 5:4f3cf9d2ce1f 94 }
cparata 5:4f3cf9d2ce1f 95
cparata 5:4f3cf9d2ce1f 96 if (mems_event) {
cparata 5:4f3cf9d2ce1f 97 mems_event = 0;
cparata 5:4f3cf9d2ce1f 98 LSM6DSO_Event_Status_t status;
cparata 5:4f3cf9d2ce1f 99 acc_gyro->get_event_status(&status);
cparata 5:4f3cf9d2ce1f 100 if (status.FreeFallStatus) {
cparata 5:4f3cf9d2ce1f 101 /* Led blinking. */
cparata 5:4f3cf9d2ce1f 102 myled = 1;
cparata 6:5e279ec9a9cd 103 ThisThread::sleep_for(200);
cparata 5:4f3cf9d2ce1f 104 myled = 0;
cparata 5:4f3cf9d2ce1f 105
cparata 5:4f3cf9d2ce1f 106 /* Output data. */
cparata 5:4f3cf9d2ce1f 107 printf("Free Fall Detected!\r\n");
cparata 5:4f3cf9d2ce1f 108 }
cparata 5:4f3cf9d2ce1f 109 }
cparata 0:f84262b9053f 110 }
cparata 0:f84262b9053f 111 }