ST
Example of multiple event detection for LSM6DSL in X-NUCLEO-IKS01A2
Dependencies: X_NUCLEO_IKS01A2 mbed
Fork of
MultiEvent_IKS01A2
by 
ST Expansion SW Team
Multi Event Demo Application based on sensor expansion board X-NUCLEO-IKS01A2
Main function is to show how to detect the free fall, tap, double tap, tilt, wake up, 6D Orientation and step events 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 simulate all the events and then view the notification using an hyper terminal.
- the user button can be used to enable/disable all hardware features.
Diff: main.cpp
- Revision:
- 6:80b6ffe56b29
- Parent:
- 2:fc97ec716eba
diff -r afdb07eaa711 -r 80b6ffe56b29 main.cpp
--- a/main.cpp Fri Dec 16 09:59:31 2016 +0000
+++ b/main.cpp Tue Mar 14 13:43:24 2017 +0100
@@ -38,10 +38,10 @@
/* Includes */
#include "mbed.h"
-#include "x_nucleo_iks01a2.h"
+#include "XNucleoIKS01A2.h"
/* Instantiate the expansion board */
-static X_NUCLEO_IKS01A2 *mems_expansion_board = X_NUCLEO_IKS01A2::Instance(D14, D15, D4, D5);
+static XNucleoIKS01A2 *mems_expansion_board = XNucleoIKS01A2::instance(D14, D15, D4, D5);
/* Retrieve the composing elements of the expansion board */
static LSM6DSLSensor *acc_gyro = mems_expansion_board->acc_gyro;
@@ -53,30 +53,116 @@
static int hw_event_is_enabled = 1;
uint16_t step_count = 0;
-void pressed_cb();
-void INT1_cb();
-void INT2_cb();
-void sendOrientation();
+/* User button callback. */
+void pressed_cb() {
+ toggle_hw_event_enable = 1;
+}
+
+/* Interrupt 1 callback. */
+void int1_cb() {
+ mems_event = 1;
+}
+
+/* Interrupt 2 callback. */
+void int2_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 LSM6DSL - accelerometer.\r\n" );
+ }
+}
/* Simple main function */
int main() {
/* Attach callback to User button press */
mybutton.fall(&pressed_cb);
/* Attach callback to LSM6DSL INT1 */
- acc_gyro->AttachINT1IRQ(&INT1_cb);
+ acc_gyro->attach_int1_irq(&int1_cb);
/* Attach callback to LSM6DSL INT2 */
- acc_gyro->AttachINT2IRQ(&INT2_cb);
+ acc_gyro->attach_int2_irq(&int2_cb);
/* Enable LSM6DSL accelerometer */
- acc_gyro->Enable_X();
+ acc_gyro->enable_x();
/* Enable HW events. */
- acc_gyro->Enable_Pedometer();
- acc_gyro->Enable_Tilt_Detection();
- acc_gyro->Enable_Free_Fall_Detection();
- acc_gyro->Enable_Single_Tap_Detection();
- acc_gyro->Enable_Double_Tap_Detection();
- acc_gyro->Enable_6D_Orientation();
- acc_gyro->Enable_Wake_Up_Detection();
+ acc_gyro->enable_pedometer();
+ acc_gyro->enable_tilt_detection();
+ acc_gyro->enable_free_fall_detection();
+ acc_gyro->enable_single_tap_detection();
+ acc_gyro->enable_double_tap_detection();
+ acc_gyro->enable_6d_orientation();
+ acc_gyro->enable_wake_up_detection();
printf("\r\n--- Starting new run ---\r\n");
@@ -84,10 +170,10 @@
if (mems_event) {
mems_event = 0;
LSM6DSL_Event_Status_t status;
- acc_gyro->Get_Event_Status(&status);
+ acc_gyro->get_event_status(&status);
if (status.StepStatus) {
/* New step detected, so print the step counter */
- acc_gyro->Get_Step_Counter(&step_count);
+ acc_gyro->get_step_counter(&step_count);
printf("Step counter: %d\r\n", step_count);
}
@@ -108,7 +194,7 @@
if (status.D6DOrientationStatus) {
/* Send 6D Orientation */
- sendOrientation();
+ send_orientation();
}
if (status.TiltStatus) {
@@ -122,122 +208,28 @@
}
}
- if(toggle_hw_event_enable) {
+ if (toggle_hw_event_enable) {
toggle_hw_event_enable = 0;
- if(hw_event_is_enabled == 0) {
+ if (hw_event_is_enabled == 0) {
/* Enable HW events. */
- acc_gyro->Enable_Pedometer();
- acc_gyro->Enable_Tilt_Detection();
- acc_gyro->Enable_Free_Fall_Detection();
- acc_gyro->Enable_Single_Tap_Detection();
- acc_gyro->Enable_Double_Tap_Detection();
- acc_gyro->Enable_6D_Orientation();
- acc_gyro->Enable_Wake_Up_Detection();
+ acc_gyro->enable_pedometer();
+ acc_gyro->enable_tilt_detection();
+ acc_gyro->enable_free_fall_detection();
+ acc_gyro->enable_single_tap_detection();
+ acc_gyro->enable_double_tap_detection();
+ acc_gyro->enable_6d_orientation();
+ acc_gyro->enable_wake_up_detection();
hw_event_is_enabled = 1;
} else {
- acc_gyro->Disable_Pedometer();
- acc_gyro->Disable_Tilt_Detection();
- acc_gyro->Disable_Free_Fall_Detection();
- acc_gyro->Disable_Single_Tap_Detection();
- acc_gyro->Disable_Double_Tap_Detection();
- acc_gyro->Disable_6D_Orientation();
- acc_gyro->Disable_Wake_Up_Detection();
+ acc_gyro->disable_pedometer();
+ acc_gyro->disable_tilt_detection();
+ acc_gyro->disable_free_fall_detection();
+ acc_gyro->disable_single_tap_detection();
+ acc_gyro->disable_double_tap_detection();
+ acc_gyro->disable_6d_orientation();
+ acc_gyro->disable_wake_up_detection();
hw_event_is_enabled = 0;
}
}
}
}
-
-void pressed_cb() {
- toggle_hw_event_enable = 1;
-}
-
-void INT1_cb() {
- mems_event = 1;
-}
-
-void INT2_cb() {
- mems_event = 1;
-}
-
-void sendOrientation() {
- 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 LSM6DSL - accelerometer.\r\n" );
- }
-}