Diff: main.cpp

Revision:

0:485458fca2bd

Child:

4:1adb1ce17b05

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Aug 12 13:37:49 2016 +0000
@@ -0,0 +1,185 @@
+/**
+ ******************************************************************************
+ * @file    main.cpp
+ * @author  AST / EST
+ * @version V0.0.1
+ * @date    9-August-2016
+ * @brief   Simple Example application for using the X_NUCLEO_IKS01A2 
+ *          MEMS Inertial & Environmental Sensor Nucleo expansion board.
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>&copy; COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ *   1. Redistributions of source code must retain the above copyright notice,
+ *      this list of conditions and the following disclaimer.
+ *   2. Redistributions in binary form must reproduce the above copyright notice,
+ *      this list of conditions and the following disclaimer in the documentation
+ *      and/or other materials provided with the distribution.
+ *   3. Neither the name of STMicroelectronics nor the names of its contributors
+ *      may be used to endorse or promote products derived from this software
+ *      without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ *  SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ ******************************************************************************
+*/ 
+
+/* Includes */
+#include "mbed.h"
+#include "x_nucleo_iks01a2.h"
+
+/* Instantiate the expansion board */
+static X_NUCLEO_IKS01A2 *mems_expansion_board = X_NUCLEO_IKS01A2::Instance(D14, D15);
+
+/* Retrieve the composing elements of the expansion board */
+static LSM6DSLSensor *acc_gyro = mems_expansion_board->acc_gyro;
+
+InterruptIn lsm6dsl_int1(IKS01A2_PIN_LSM6DSL_INT1);
+InterruptIn mybutton(USER_BUTTON);
+DigitalOut myled(LED1);
+
+volatile int orientation = 0;
+volatile int send_orientation_request = 0;
+
+void pressed();
+void orientation_cb();
+void sendOrientation( void );
+
+/* Simple main function */
+int main() {
+  /* Attach callback to User button press */
+  mybutton.fall(&pressed);
+  /* Attach callback to LSM6DSL INT1 */
+  lsm6dsl_int1.rise(&orientation_cb);
+
+  /* Enable LSM6DSL accelerometer */
+  acc_gyro->Enable_X();
+  /* Enable 6D Orientation. */
+  acc_gyro->Enable_6D_Orientation();
+  
+  printf("\r\n--- Starting new run ---\r\n");
+ 
+  while(1) {
+    if (orientation) {
+      orientation = 0;
+      uint8_t status = 0;
+      acc_gyro->Get_Status_6D_Orientation(&status);
+      if (status) {
+        /* Send 6D Orientation */
+        sendOrientation();
+        
+        /* Led blinking. */
+        myled = 1;
+        wait(0.2);
+        myled = 0;
+      }
+    }
+
+    if(send_orientation_request) {
+      send_orientation_request = 0;
+      sendOrientation();
+    }
+  }
+}
+
+void pressed() {
+  send_orientation_request = 1;
+}
+
+void orientation_cb() {
+  orientation = 1;
+}
+
+void sendOrientation( void ) {
+  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" );
+  }
+}