Example of tilt detection for LSM6DSL in X-NUCLEO-IKS01A2

Dependencies:   X_NUCLEO_IKS01A2 mbed

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main.cpp

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00001 /**
00002  ******************************************************************************
00003  * @file    main.cpp
00004  * @author  CLab
00005  * @version V1.0.0
00006  * @date    2-December-2016
00007  * @brief   Simple Example application for using the X_NUCLEO_IKS01A2 
00008  *          MEMS Inertial & Environmental Sensor Nucleo expansion board.
00009  ******************************************************************************
00010  * @attention
00011  *
00012  * <h2><center>&copy; COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
00013  *
00014  * Redistribution and use in source and binary forms, with or without modification,
00015  * are permitted provided that the following conditions are met:
00016  *   1. Redistributions of source code must retain the above copyright notice,
00017  *      this list of conditions and the following disclaimer.
00018  *   2. Redistributions in binary form must reproduce the above copyright notice,
00019  *      this list of conditions and the following disclaimer in the documentation
00020  *      and/or other materials provided with the distribution.
00021  *   3. Neither the name of STMicroelectronics nor the names of its contributors
00022  *      may be used to endorse or promote products derived from this software
00023  *      without specific prior written permission.
00024  *
00025  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00026  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00027  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00028  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
00029  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
00030  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
00031  *  SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00032  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
00033  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
00034  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00035  *
00036  ******************************************************************************
00037 */ 
00038 
00039 /* Includes */
00040 #include "mbed.h"
00041 #include "XNucleoIKS01A2.h"
00042 
00043 /* Instantiate the expansion board */
00044 static XNucleoIKS01A2 *mems_expansion_board = XNucleoIKS01A2::instance(D14, D15, D4, D5);
00045 
00046 /* Retrieve the composing elements of the expansion board */
00047 static LSM6DSLSensor *acc_gyro = mems_expansion_board->acc_gyro;
00048 
00049 InterruptIn mybutton(USER_BUTTON);
00050 DigitalOut myled(LED1);
00051 
00052 volatile int mems_event = 0;
00053 volatile int toggle_tilt_enable = 0;
00054 static int tilt_is_enabled = 1;
00055 
00056 /* User button callback. */
00057 void pressed_cb() {
00058   toggle_tilt_enable = 1;
00059 }
00060 
00061 /* Interrupt 1 callback. */
00062 void int1_cb() {
00063   mems_event = 1;
00064 }
00065 
00066 /* Simple main function */
00067 int main() {
00068   /* Attach callback to User button press */
00069   mybutton.fall(&pressed_cb);
00070   /* Attach callback to LSM6DSL INT1 */
00071   acc_gyro->attach_int1_irq(&int1_cb);
00072   
00073   /* Enable LSM6DSL accelerometer */
00074   acc_gyro->enable_x();
00075   /* Enable Tilt Detection. */
00076   acc_gyro->enable_tilt_detection();
00077   
00078   printf("\r\n--- Starting new run ---\r\n");
00079  
00080   while(1) {
00081     if(toggle_tilt_enable) {
00082       toggle_tilt_enable = 0;
00083       if(tilt_is_enabled == 0) {
00084         acc_gyro->enable_tilt_detection();
00085         tilt_is_enabled = 1;
00086       } else {
00087         acc_gyro->disable_tilt_detection();
00088         tilt_is_enabled = 0;
00089       }
00090     }
00091  
00092     if (mems_event) {
00093       mems_event = 0;
00094       LSM6DSL_Event_Status_t status;
00095       acc_gyro->get_event_status(&status);
00096       if (status.TiltStatus) {
00097         /* Led blinking. */
00098         myled = 1;
00099         wait(0.2);
00100         myled = 0;
00101 
00102         /* Output data. */
00103         printf("Tilt Detected!\r\n");
00104       }
00105     }
00106   }
00107 }