Control remoto universal con gestos
Dependencies: RemoteIR X_NUCLEO_IKS01A2 mbed
Fork of 6DOrientation_IKS01A2 by
main.cpp@8:459b84a5287b, 2016-12-02 (annotated)
- Committer:
- cparata
- Date:
- Fri Dec 02 16:01:58 2016 +0000
- Revision:
- 8:459b84a5287b
- Parent:
- 7:d598eeaedcbd
- Child:
- 13:446c314ac03f
Clean code
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" |
cparata | 0:485458fca2bd | 41 | #include "x_nucleo_iks01a2.h" |
cparata | 0:485458fca2bd | 42 | |
cparata | 0:485458fca2bd | 43 | /* Instantiate the expansion board */ |
cparata | 8:459b84a5287b | 44 | static X_NUCLEO_IKS01A2 *mems_expansion_board = X_NUCLEO_IKS01A2::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 | |
cparata | 7:d598eeaedcbd | 55 | void pressed_cb(); |
cparata | 7:d598eeaedcbd | 56 | void INT1_cb(); |
cparata | 7:d598eeaedcbd | 57 | void sendOrientation(); |
cparata | 0:485458fca2bd | 58 | |
cparata | 0:485458fca2bd | 59 | /* Simple main function */ |
cparata | 0:485458fca2bd | 60 | int main() { |
cparata | 0:485458fca2bd | 61 | /* Attach callback to User button press */ |
cparata | 7:d598eeaedcbd | 62 | mybutton.fall(&pressed_cb); |
cparata | 0:485458fca2bd | 63 | /* Attach callback to LSM6DSL INT1 */ |
cparata | 7:d598eeaedcbd | 64 | acc_gyro->AttachINT1IRQ(&INT1_cb); |
cparata | 0:485458fca2bd | 65 | |
cparata | 0:485458fca2bd | 66 | /* Enable LSM6DSL accelerometer */ |
cparata | 0:485458fca2bd | 67 | acc_gyro->Enable_X(); |
cparata | 0:485458fca2bd | 68 | /* Enable 6D Orientation. */ |
cparata | 0:485458fca2bd | 69 | acc_gyro->Enable_6D_Orientation(); |
cparata | 0:485458fca2bd | 70 | |
cparata | 0:485458fca2bd | 71 | printf("\r\n--- Starting new run ---\r\n"); |
cparata | 0:485458fca2bd | 72 | |
cparata | 0:485458fca2bd | 73 | while(1) { |
cparata | 7:d598eeaedcbd | 74 | if (mems_event) { |
cparata | 7:d598eeaedcbd | 75 | mems_event = 0; |
cparata | 4:1adb1ce17b05 | 76 | LSM6DSL_Event_Status_t status; |
cparata | 4:1adb1ce17b05 | 77 | acc_gyro->Get_Event_Status(&status); |
cparata | 4:1adb1ce17b05 | 78 | if (status.D6DOrientationStatus) { |
cparata | 0:485458fca2bd | 79 | /* Send 6D Orientation */ |
cparata | 0:485458fca2bd | 80 | sendOrientation(); |
cparata | 0:485458fca2bd | 81 | |
cparata | 0:485458fca2bd | 82 | /* Led blinking. */ |
cparata | 0:485458fca2bd | 83 | myled = 1; |
cparata | 0:485458fca2bd | 84 | wait(0.2); |
cparata | 0:485458fca2bd | 85 | myled = 0; |
cparata | 0:485458fca2bd | 86 | } |
cparata | 0:485458fca2bd | 87 | } |
cparata | 0:485458fca2bd | 88 | |
cparata | 0:485458fca2bd | 89 | if(send_orientation_request) { |
cparata | 0:485458fca2bd | 90 | send_orientation_request = 0; |
cparata | 0:485458fca2bd | 91 | sendOrientation(); |
cparata | 0:485458fca2bd | 92 | } |
cparata | 0:485458fca2bd | 93 | } |
cparata | 0:485458fca2bd | 94 | } |
cparata | 0:485458fca2bd | 95 | |
cparata | 7:d598eeaedcbd | 96 | void pressed_cb() { |
cparata | 0:485458fca2bd | 97 | send_orientation_request = 1; |
cparata | 0:485458fca2bd | 98 | } |
cparata | 0:485458fca2bd | 99 | |
cparata | 7:d598eeaedcbd | 100 | void INT1_cb() { |
cparata | 7:d598eeaedcbd | 101 | mems_event = 1; |
cparata | 0:485458fca2bd | 102 | } |
cparata | 0:485458fca2bd | 103 | |
cparata | 7:d598eeaedcbd | 104 | void sendOrientation() { |
cparata | 0:485458fca2bd | 105 | uint8_t xl = 0; |
cparata | 0:485458fca2bd | 106 | uint8_t xh = 0; |
cparata | 0:485458fca2bd | 107 | uint8_t yl = 0; |
cparata | 0:485458fca2bd | 108 | uint8_t yh = 0; |
cparata | 0:485458fca2bd | 109 | uint8_t zl = 0; |
cparata | 0:485458fca2bd | 110 | uint8_t zh = 0; |
cparata | 0:485458fca2bd | 111 | |
cparata | 0:485458fca2bd | 112 | acc_gyro->Get_6D_Orientation_XL(&xl); |
cparata | 0:485458fca2bd | 113 | acc_gyro->Get_6D_Orientation_XH(&xh); |
cparata | 0:485458fca2bd | 114 | acc_gyro->Get_6D_Orientation_YL(&yl); |
cparata | 0:485458fca2bd | 115 | acc_gyro->Get_6D_Orientation_YH(&yh); |
cparata | 0:485458fca2bd | 116 | acc_gyro->Get_6D_Orientation_ZL(&zl); |
cparata | 0:485458fca2bd | 117 | acc_gyro->Get_6D_Orientation_ZH(&zh); |
cparata | 0:485458fca2bd | 118 | |
cparata | 0:485458fca2bd | 119 | if ( xl == 0 && yl == 0 && zl == 0 && xh == 0 && yh == 1 && zh == 0 ) |
cparata | 0:485458fca2bd | 120 | { |
cparata | 0:485458fca2bd | 121 | printf( "\r\n ________________ " \ |
cparata | 0:485458fca2bd | 122 | "\r\n | | " \ |
cparata | 0:485458fca2bd | 123 | "\r\n | * | " \ |
cparata | 0:485458fca2bd | 124 | "\r\n | | " \ |
cparata | 0:485458fca2bd | 125 | "\r\n | | " \ |
cparata | 0:485458fca2bd | 126 | "\r\n | | " \ |
cparata | 0:485458fca2bd | 127 | "\r\n | | " \ |
cparata | 0:485458fca2bd | 128 | "\r\n |________________| \r\n" ); |
cparata | 0:485458fca2bd | 129 | } |
cparata | 0:485458fca2bd | 130 | |
cparata | 0:485458fca2bd | 131 | else if ( xl == 1 && yl == 0 && zl == 0 && xh == 0 && yh == 0 && zh == 0 ) |
cparata | 0:485458fca2bd | 132 | { |
cparata | 0:485458fca2bd | 133 | printf( "\r\n ________________ " \ |
cparata | 0:485458fca2bd | 134 | "\r\n | | " \ |
cparata | 0:485458fca2bd | 135 | "\r\n | * | " \ |
cparata | 0:485458fca2bd | 136 | "\r\n | | " \ |
cparata | 0:485458fca2bd | 137 | "\r\n | | " \ |
cparata | 0:485458fca2bd | 138 | "\r\n | | " \ |
cparata | 0:485458fca2bd | 139 | "\r\n | | " \ |
cparata | 0:485458fca2bd | 140 | "\r\n |________________| \r\n" ); |
cparata | 0:485458fca2bd | 141 | } |
cparata | 0:485458fca2bd | 142 | |
cparata | 0:485458fca2bd | 143 | else if ( xl == 0 && yl == 0 && zl == 0 && xh == 1 && yh == 0 && zh == 0 ) |
cparata | 0:485458fca2bd | 144 | { |
cparata | 0:485458fca2bd | 145 | printf( "\r\n ________________ " \ |
cparata | 0:485458fca2bd | 146 | "\r\n | | " \ |
cparata | 0:485458fca2bd | 147 | "\r\n | | " \ |
cparata | 0:485458fca2bd | 148 | "\r\n | | " \ |
cparata | 0:485458fca2bd | 149 | "\r\n | | " \ |
cparata | 0:485458fca2bd | 150 | "\r\n | | " \ |
cparata | 0:485458fca2bd | 151 | "\r\n | * | " \ |
cparata | 0:485458fca2bd | 152 | "\r\n |________________| \r\n" ); |
cparata | 0:485458fca2bd | 153 | } |
cparata | 0:485458fca2bd | 154 | |
cparata | 0:485458fca2bd | 155 | else if ( xl == 0 && yl == 1 && zl == 0 && xh == 0 && yh == 0 && zh == 0 ) |
cparata | 0:485458fca2bd | 156 | { |
cparata | 0:485458fca2bd | 157 | printf( "\r\n ________________ " \ |
cparata | 0:485458fca2bd | 158 | "\r\n | | " \ |
cparata | 0:485458fca2bd | 159 | "\r\n | | " \ |
cparata | 0:485458fca2bd | 160 | "\r\n | | " \ |
cparata | 0:485458fca2bd | 161 | "\r\n | | " \ |
cparata | 0:485458fca2bd | 162 | "\r\n | | " \ |
cparata | 0:485458fca2bd | 163 | "\r\n | * | " \ |
cparata | 0:485458fca2bd | 164 | "\r\n |________________| \r\n" ); |
cparata | 0:485458fca2bd | 165 | } |
cparata | 0:485458fca2bd | 166 | |
cparata | 0:485458fca2bd | 167 | else if ( xl == 0 && yl == 0 && zl == 0 && xh == 0 && yh == 0 && zh == 1 ) |
cparata | 0:485458fca2bd | 168 | { |
cparata | 0:485458fca2bd | 169 | printf( "\r\n __*_____________ " \ |
cparata | 0:485458fca2bd | 170 | "\r\n |________________| \r\n" ); |
cparata | 0:485458fca2bd | 171 | } |
cparata | 0:485458fca2bd | 172 | |
cparata | 0:485458fca2bd | 173 | else if ( xl == 0 && yl == 0 && zl == 1 && xh == 0 && yh == 0 && zh == 0 ) |
cparata | 0:485458fca2bd | 174 | { |
cparata | 0:485458fca2bd | 175 | printf( "\r\n ________________ " \ |
cparata | 0:485458fca2bd | 176 | "\r\n |________________| " \ |
cparata | 0:485458fca2bd | 177 | "\r\n * \r\n" ); |
cparata | 0:485458fca2bd | 178 | } |
cparata | 0:485458fca2bd | 179 | |
cparata | 0:485458fca2bd | 180 | else |
cparata | 0:485458fca2bd | 181 | { |
cparata | 0:485458fca2bd | 182 | printf( "None of the 6D orientation axes is set in LSM6DSL - accelerometer.\r\n" ); |
cparata | 0:485458fca2bd | 183 | } |
cparata | 0:485458fca2bd | 184 | } |