Control remoto universal con gestos
Dependencies: RemoteIR X_NUCLEO_IKS01A2 mbed
Fork of 6DOrientation_IKS01A2 by
main.cpp@13:446c314ac03f, 2017-03-14 (annotated)
- Committer:
- davide.aliprandi@st.com
- Date:
- Tue Mar 14 13:42:53 2017 +0100
- Revision:
- 13:446c314ac03f
- Parent:
- 8:459b84a5287b
- Child:
- 17:fb403a9b13ae
Aligning to ARM mbed coding style.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
cparata | 0:485458fca2bd | 1 | /** |
cparata | 0:485458fca2bd | 2 | ****************************************************************************** |
cparata | 0:485458fca2bd | 3 | * @file main.cpp |
cparata | 8:459b84a5287b | 4 | * @author CLab |
cparata | 8:459b84a5287b | 5 | * @version V1.0.0 |
cparata | 8:459b84a5287b | 6 | * @date 2-December-2016 |
cparata | 0:485458fca2bd | 7 | * @brief Simple Example application for using the X_NUCLEO_IKS01A2 |
cparata | 0:485458fca2bd | 8 | * MEMS Inertial & Environmental Sensor Nucleo expansion board. |
cparata | 0:485458fca2bd | 9 | ****************************************************************************** |
cparata | 0:485458fca2bd | 10 | * @attention |
cparata | 0:485458fca2bd | 11 | * |
cparata | 0:485458fca2bd | 12 | * <h2><center>© COPYRIGHT(c) 2016 STMicroelectronics</center></h2> |
cparata | 0:485458fca2bd | 13 | * |
cparata | 0:485458fca2bd | 14 | * Redistribution and use in source and binary forms, with or without modification, |
cparata | 0:485458fca2bd | 15 | * are permitted provided that the following conditions are met: |
cparata | 0:485458fca2bd | 16 | * 1. Redistributions of source code must retain the above copyright notice, |
cparata | 0:485458fca2bd | 17 | * this list of conditions and the following disclaimer. |
cparata | 0:485458fca2bd | 18 | * 2. Redistributions in binary form must reproduce the above copyright notice, |
cparata | 0:485458fca2bd | 19 | * this list of conditions and the following disclaimer in the documentation |
cparata | 0:485458fca2bd | 20 | * and/or other materials provided with the distribution. |
cparata | 0:485458fca2bd | 21 | * 3. Neither the name of STMicroelectronics nor the names of its contributors |
cparata | 0:485458fca2bd | 22 | * may be used to endorse or promote products derived from this software |
cparata | 0:485458fca2bd | 23 | * without specific prior written permission. |
cparata | 0:485458fca2bd | 24 | * |
cparata | 0:485458fca2bd | 25 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
cparata | 0:485458fca2bd | 26 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
cparata | 0:485458fca2bd | 27 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE |
cparata | 0:485458fca2bd | 28 | * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE |
cparata | 0:485458fca2bd | 29 | * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL |
cparata | 0:485458fca2bd | 30 | * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR |
cparata | 0:485458fca2bd | 31 | * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
cparata | 0:485458fca2bd | 32 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, |
cparata | 0:485458fca2bd | 33 | * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
cparata | 0:485458fca2bd | 34 | * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
cparata | 0:485458fca2bd | 35 | * |
cparata | 0:485458fca2bd | 36 | ****************************************************************************** |
cparata | 0:485458fca2bd | 37 | */ |
cparata | 0:485458fca2bd | 38 | |
cparata | 0:485458fca2bd | 39 | /* Includes */ |
cparata | 0:485458fca2bd | 40 | #include "mbed.h" |
davide.aliprandi@st.com | 13:446c314ac03f | 41 | #include "XNucleoIKS01A2.h" |
cparata | 0:485458fca2bd | 42 | |
cparata | 0:485458fca2bd | 43 | /* Instantiate the expansion board */ |
davide.aliprandi@st.com | 13:446c314ac03f | 44 | static XNucleoIKS01A2 *mems_expansion_board = XNucleoIKS01A2::instance(D14, D15, D4, D5); |
cparata | 0:485458fca2bd | 45 | |
cparata | 0:485458fca2bd | 46 | /* Retrieve the composing elements of the expansion board */ |
cparata | 0:485458fca2bd | 47 | static LSM6DSLSensor *acc_gyro = mems_expansion_board->acc_gyro; |
cparata | 0:485458fca2bd | 48 | |
cparata | 0:485458fca2bd | 49 | InterruptIn mybutton(USER_BUTTON); |
cparata | 0:485458fca2bd | 50 | DigitalOut myled(LED1); |
cparata | 0:485458fca2bd | 51 | |
cparata | 7:d598eeaedcbd | 52 | volatile int mems_event = 0; |
cparata | 0:485458fca2bd | 53 | volatile int send_orientation_request = 0; |
cparata | 0:485458fca2bd | 54 | |
davide.aliprandi@st.com | 13:446c314ac03f | 55 | /* User button callback. */ |
davide.aliprandi@st.com | 13:446c314ac03f | 56 | void pressed_cb() { |
davide.aliprandi@st.com | 13:446c314ac03f | 57 | send_orientation_request = 1; |
davide.aliprandi@st.com | 13:446c314ac03f | 58 | } |
davide.aliprandi@st.com | 13:446c314ac03f | 59 | |
davide.aliprandi@st.com | 13:446c314ac03f | 60 | /* Interrupt 1 callback. */ |
davide.aliprandi@st.com | 13:446c314ac03f | 61 | void int1_cb() { |
davide.aliprandi@st.com | 13:446c314ac03f | 62 | mems_event = 1; |
davide.aliprandi@st.com | 13:446c314ac03f | 63 | } |
davide.aliprandi@st.com | 13:446c314ac03f | 64 | |
davide.aliprandi@st.com | 13:446c314ac03f | 65 | /* Print the orientation. */ |
davide.aliprandi@st.com | 13:446c314ac03f | 66 | void send_orientation() { |
davide.aliprandi@st.com | 13:446c314ac03f | 67 | uint8_t xl = 0; |
davide.aliprandi@st.com | 13:446c314ac03f | 68 | uint8_t xh = 0; |
davide.aliprandi@st.com | 13:446c314ac03f | 69 | uint8_t yl = 0; |
davide.aliprandi@st.com | 13:446c314ac03f | 70 | uint8_t yh = 0; |
davide.aliprandi@st.com | 13:446c314ac03f | 71 | uint8_t zl = 0; |
davide.aliprandi@st.com | 13:446c314ac03f | 72 | uint8_t zh = 0; |
davide.aliprandi@st.com | 13:446c314ac03f | 73 | |
davide.aliprandi@st.com | 13:446c314ac03f | 74 | acc_gyro->get_6d_orientation_xl(&xl); |
davide.aliprandi@st.com | 13:446c314ac03f | 75 | acc_gyro->get_6d_orientation_xh(&xh); |
davide.aliprandi@st.com | 13:446c314ac03f | 76 | acc_gyro->get_6d_orientation_yl(&yl); |
davide.aliprandi@st.com | 13:446c314ac03f | 77 | acc_gyro->get_6d_orientation_yh(&yh); |
davide.aliprandi@st.com | 13:446c314ac03f | 78 | acc_gyro->get_6d_orientation_zl(&zl); |
davide.aliprandi@st.com | 13:446c314ac03f | 79 | acc_gyro->get_6d_orientation_zh(&zh); |
davide.aliprandi@st.com | 13:446c314ac03f | 80 | |
davide.aliprandi@st.com | 13:446c314ac03f | 81 | if ( xl == 0 && yl == 0 && zl == 0 && xh == 0 && yh == 1 && zh == 0 ) { |
davide.aliprandi@st.com | 13:446c314ac03f | 82 | printf( "\r\n ________________ " \ |
davide.aliprandi@st.com | 13:446c314ac03f | 83 | "\r\n | | " \ |
davide.aliprandi@st.com | 13:446c314ac03f | 84 | "\r\n | * | " \ |
davide.aliprandi@st.com | 13:446c314ac03f | 85 | "\r\n | | " \ |
davide.aliprandi@st.com | 13:446c314ac03f | 86 | "\r\n | | " \ |
davide.aliprandi@st.com | 13:446c314ac03f | 87 | "\r\n | | " \ |
davide.aliprandi@st.com | 13:446c314ac03f | 88 | "\r\n | | " \ |
davide.aliprandi@st.com | 13:446c314ac03f | 89 | "\r\n |________________| \r\n" ); |
davide.aliprandi@st.com | 13:446c314ac03f | 90 | } |
davide.aliprandi@st.com | 13:446c314ac03f | 91 | |
davide.aliprandi@st.com | 13:446c314ac03f | 92 | else if ( xl == 1 && yl == 0 && zl == 0 && xh == 0 && yh == 0 && zh == 0 ) { |
davide.aliprandi@st.com | 13:446c314ac03f | 93 | printf( "\r\n ________________ " \ |
davide.aliprandi@st.com | 13:446c314ac03f | 94 | "\r\n | | " \ |
davide.aliprandi@st.com | 13:446c314ac03f | 95 | "\r\n | * | " \ |
davide.aliprandi@st.com | 13:446c314ac03f | 96 | "\r\n | | " \ |
davide.aliprandi@st.com | 13:446c314ac03f | 97 | "\r\n | | " \ |
davide.aliprandi@st.com | 13:446c314ac03f | 98 | "\r\n | | " \ |
davide.aliprandi@st.com | 13:446c314ac03f | 99 | "\r\n | | " \ |
davide.aliprandi@st.com | 13:446c314ac03f | 100 | "\r\n |________________| \r\n" ); |
davide.aliprandi@st.com | 13:446c314ac03f | 101 | } |
davide.aliprandi@st.com | 13:446c314ac03f | 102 | |
davide.aliprandi@st.com | 13:446c314ac03f | 103 | else if ( xl == 0 && yl == 0 && zl == 0 && xh == 1 && yh == 0 && zh == 0 ) { |
davide.aliprandi@st.com | 13:446c314ac03f | 104 | printf( "\r\n ________________ " \ |
davide.aliprandi@st.com | 13:446c314ac03f | 105 | "\r\n | | " \ |
davide.aliprandi@st.com | 13:446c314ac03f | 106 | "\r\n | | " \ |
davide.aliprandi@st.com | 13:446c314ac03f | 107 | "\r\n | | " \ |
davide.aliprandi@st.com | 13:446c314ac03f | 108 | "\r\n | | " \ |
davide.aliprandi@st.com | 13:446c314ac03f | 109 | "\r\n | | " \ |
davide.aliprandi@st.com | 13:446c314ac03f | 110 | "\r\n | * | " \ |
davide.aliprandi@st.com | 13:446c314ac03f | 111 | "\r\n |________________| \r\n" ); |
davide.aliprandi@st.com | 13:446c314ac03f | 112 | } |
davide.aliprandi@st.com | 13:446c314ac03f | 113 | |
davide.aliprandi@st.com | 13:446c314ac03f | 114 | else if ( xl == 0 && yl == 1 && zl == 0 && xh == 0 && yh == 0 && zh == 0 ) { |
davide.aliprandi@st.com | 13:446c314ac03f | 115 | printf( "\r\n ________________ " \ |
davide.aliprandi@st.com | 13:446c314ac03f | 116 | "\r\n | | " \ |
davide.aliprandi@st.com | 13:446c314ac03f | 117 | "\r\n | | " \ |
davide.aliprandi@st.com | 13:446c314ac03f | 118 | "\r\n | | " \ |
davide.aliprandi@st.com | 13:446c314ac03f | 119 | "\r\n | | " \ |
davide.aliprandi@st.com | 13:446c314ac03f | 120 | "\r\n | | " \ |
davide.aliprandi@st.com | 13:446c314ac03f | 121 | "\r\n | * | " \ |
davide.aliprandi@st.com | 13:446c314ac03f | 122 | "\r\n |________________| \r\n" ); |
davide.aliprandi@st.com | 13:446c314ac03f | 123 | } |
davide.aliprandi@st.com | 13:446c314ac03f | 124 | |
davide.aliprandi@st.com | 13:446c314ac03f | 125 | else if ( xl == 0 && yl == 0 && zl == 0 && xh == 0 && yh == 0 && zh == 1 ) { |
davide.aliprandi@st.com | 13:446c314ac03f | 126 | printf( "\r\n __*_____________ " \ |
davide.aliprandi@st.com | 13:446c314ac03f | 127 | "\r\n |________________| \r\n" ); |
davide.aliprandi@st.com | 13:446c314ac03f | 128 | } |
davide.aliprandi@st.com | 13:446c314ac03f | 129 | |
davide.aliprandi@st.com | 13:446c314ac03f | 130 | else if ( xl == 0 && yl == 0 && zl == 1 && xh == 0 && yh == 0 && zh == 0 ) { |
davide.aliprandi@st.com | 13:446c314ac03f | 131 | printf( "\r\n ________________ " \ |
davide.aliprandi@st.com | 13:446c314ac03f | 132 | "\r\n |________________| " \ |
davide.aliprandi@st.com | 13:446c314ac03f | 133 | "\r\n * \r\n" ); |
davide.aliprandi@st.com | 13:446c314ac03f | 134 | } |
davide.aliprandi@st.com | 13:446c314ac03f | 135 | |
davide.aliprandi@st.com | 13:446c314ac03f | 136 | else { |
davide.aliprandi@st.com | 13:446c314ac03f | 137 | printf( "None of the 6D orientation axes is set in LSM6DSL - accelerometer.\r\n" ); |
davide.aliprandi@st.com | 13:446c314ac03f | 138 | } |
davide.aliprandi@st.com | 13:446c314ac03f | 139 | } |
cparata | 0:485458fca2bd | 140 | |
cparata | 0:485458fca2bd | 141 | /* Simple main function */ |
cparata | 0:485458fca2bd | 142 | int main() { |
cparata | 0:485458fca2bd | 143 | /* Attach callback to User button press */ |
cparata | 7:d598eeaedcbd | 144 | mybutton.fall(&pressed_cb); |
cparata | 0:485458fca2bd | 145 | /* Attach callback to LSM6DSL INT1 */ |
davide.aliprandi@st.com | 13:446c314ac03f | 146 | acc_gyro->attach_int1_irq(&int1_cb); |
cparata | 0:485458fca2bd | 147 | |
cparata | 0:485458fca2bd | 148 | /* Enable LSM6DSL accelerometer */ |
davide.aliprandi@st.com | 13:446c314ac03f | 149 | acc_gyro->enable_x(); |
cparata | 0:485458fca2bd | 150 | /* Enable 6D Orientation. */ |
davide.aliprandi@st.com | 13:446c314ac03f | 151 | acc_gyro->enable_6d_orientation(); |
cparata | 0:485458fca2bd | 152 | |
cparata | 0:485458fca2bd | 153 | printf("\r\n--- Starting new run ---\r\n"); |
cparata | 0:485458fca2bd | 154 | |
cparata | 0:485458fca2bd | 155 | while(1) { |
cparata | 7:d598eeaedcbd | 156 | if (mems_event) { |
cparata | 7:d598eeaedcbd | 157 | mems_event = 0; |
cparata | 4:1adb1ce17b05 | 158 | LSM6DSL_Event_Status_t status; |
davide.aliprandi@st.com | 13:446c314ac03f | 159 | acc_gyro->get_event_status(&status); |
cparata | 4:1adb1ce17b05 | 160 | if (status.D6DOrientationStatus) { |
cparata | 0:485458fca2bd | 161 | /* Send 6D Orientation */ |
davide.aliprandi@st.com | 13:446c314ac03f | 162 | send_orientation(); |
cparata | 0:485458fca2bd | 163 | |
cparata | 0:485458fca2bd | 164 | /* Led blinking. */ |
cparata | 0:485458fca2bd | 165 | myled = 1; |
cparata | 0:485458fca2bd | 166 | wait(0.2); |
cparata | 0:485458fca2bd | 167 | myled = 0; |
cparata | 0:485458fca2bd | 168 | } |
cparata | 0:485458fca2bd | 169 | } |
cparata | 0:485458fca2bd | 170 | |
cparata | 0:485458fca2bd | 171 | if(send_orientation_request) { |
cparata | 0:485458fca2bd | 172 | send_orientation_request = 0; |
davide.aliprandi@st.com | 13:446c314ac03f | 173 | send_orientation(); |
cparata | 0:485458fca2bd | 174 | } |
cparata | 0:485458fca2bd | 175 | } |
cparata | 0:485458fca2bd | 176 | } |