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@2:22f7f60f23c9, 2019-04-12 (annotated)

Committer:
cparata
Date:
Fri Apr 12 13:40:28 2019 +0000
Revision:
2:22f7f60f23c9
Parent:
0:f84262b9053f
Child:
5:4f3cf9d2ce1f
Update X-NUCLEO-IKS01A3 library

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 0:f84262b9053f 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 0:f84262b9053f 37 */
cparata 0:f84262b9053f 38
cparata 0:f84262b9053f 39 /* Includes */
cparata 0:f84262b9053f 40 #include "mbed.h"
cparata 0:f84262b9053f 41 #include "XNucleoIKS01A3.h"
cparata 0:f84262b9053f 42
cparata 0:f84262b9053f 43 /* Instantiate the expansion board */
cparata 0:f84262b9053f 44 static XNucleoIKS01A3 *mems_expansion_board = XNucleoIKS01A3::instance(D14, D15, D4, D5, A3, D6, A4);
cparata 0:f84262b9053f 45
cparata 0:f84262b9053f 46 /* Retrieve the composing elements of the expansion board */
cparata 0:f84262b9053f 47 static LSM6DSOSensor *acc_gyro = mems_expansion_board->acc_gyro;
cparata 0:f84262b9053f 48
cparata 0:f84262b9053f 49 InterruptIn mybutton(USER_BUTTON);
cparata 0:f84262b9053f 50 DigitalOut myled(LED1);
cparata 0:f84262b9053f 51
cparata 0:f84262b9053f 52 volatile int mems_event = 0;
cparata 0:f84262b9053f 53 volatile int toggle_free_fall_enable = 0;
cparata 0:f84262b9053f 54 static int free_fall_is_enabled = 1;
cparata 0:f84262b9053f 55
cparata 0:f84262b9053f 56 /* User button callback. */
cparata 0:f84262b9053f 57 void pressed_cb() {
cparata 0:f84262b9053f 58 toggle_free_fall_enable = 1;
cparata 0:f84262b9053f 59 }
cparata 0:f84262b9053f 60
cparata 0:f84262b9053f 61 /* Interrupt 1 callback. */
cparata 0:f84262b9053f 62 void int1_cb() {
cparata 0:f84262b9053f 63 mems_event = 1;
cparata 0:f84262b9053f 64 }
cparata 0:f84262b9053f 65
cparata 0:f84262b9053f 66 /* Simple main function */
cparata 0:f84262b9053f 67 int main() {
cparata 0:f84262b9053f 68 /* Attach callback to User button press */
cparata 0:f84262b9053f 69 mybutton.fall(&pressed_cb);
cparata 0:f84262b9053f 70 /* Attach callback to LSM6DSO INT1 */
cparata 0:f84262b9053f 71 acc_gyro->attach_int1_irq(&int1_cb);
cparata 0:f84262b9053f 72
cparata 0:f84262b9053f 73 /* Enable LSM6DSO accelerometer */
cparata 0:f84262b9053f 74 acc_gyro->enable_x();
cparata 0:f84262b9053f 75 /* Enable Free Fall Detection. */
cparata 0:f84262b9053f 76 acc_gyro->enable_free_fall_detection();
cparata 0:f84262b9053f 77
cparata 0:f84262b9053f 78 printf("\r\n--- Starting new run ---\r\n");
cparata 0:f84262b9053f 79
cparata 0:f84262b9053f 80 while(1) {
cparata 0:f84262b9053f 81 if(toggle_free_fall_enable) {
cparata 0:f84262b9053f 82 toggle_free_fall_enable = 0;
cparata 0:f84262b9053f 83 if(free_fall_is_enabled == 0) {
cparata 0:f84262b9053f 84 acc_gyro->enable_free_fall_detection();
cparata 0:f84262b9053f 85 free_fall_is_enabled = 1;
cparata 0:f84262b9053f 86 } else {
cparata 0:f84262b9053f 87 acc_gyro->disable_free_fall_detection();
cparata 0:f84262b9053f 88 free_fall_is_enabled = 0;
cparata 0:f84262b9053f 89 }
cparata 0:f84262b9053f 90 }
cparata 0:f84262b9053f 91
cparata 0:f84262b9053f 92 if (mems_event) {
cparata 0:f84262b9053f 93 mems_event = 0;
cparata 0:f84262b9053f 94 LSM6DSO_Event_Status_t status;
cparata 0:f84262b9053f 95 acc_gyro->get_event_status(&status);
cparata 0:f84262b9053f 96 if (status.FreeFallStatus) {
cparata 0:f84262b9053f 97 /* Led blinking. */
cparata 0:f84262b9053f 98 myled = 1;
cparata 0:f84262b9053f 99 wait(0.2);
cparata 0:f84262b9053f 100 myled = 0;
cparata 0:f84262b9053f 101
cparata 0:f84262b9053f 102 /* Output data. */
cparata 0:f84262b9053f 103 printf("Free Fall Detected!\r\n");
cparata 0:f84262b9053f 104 }
cparata 0:f84262b9053f 105 }
cparata 0:f84262b9053f 106 }
cparata 0:f84262b9053f 107 }