preliminary tilt

Author: gbr1

examples/firmware/firmware.ino

@@ -227,7 +227,7 @@ void loop(){
         alvik.updateTouch();
         msg_size = packeter.packetC1B('t', alvik.getTouchKeys());
         alvik.serial->write(packeter.msg,msg_size);
-        msg_size = packeter.packetC1B('m', alvik.isShaking());
+        msg_size = packeter.packetC1B('m', alvik.getMotion());
         alvik.serial->write(packeter.msg,msg_size);
         break;
       case 2:

src/Arduino_AlvikCarrier.cpp

@@ -71,6 +71,13 @@ Arduino_AlvikCarrier::Arduino_AlvikCarrier(){
     first_wakeup = true;
     shake_time = 0;
     shake_counter = 0;
+    tilt_status = 0;
+    xl = 0;
+    xh = 0;
+    yl = 0;
+    yh = 0;
+    zl = 0;
+    zh = 0;
 
     // version
     version_high = VERSION_BYTE_HIGH;
@@ -626,6 +633,8 @@ int Arduino_AlvikCarrier::beginImu(){
     imu->Enable_Wake_Up_Detection(LSM6DSO_INT1_PIN);
     imu->Set_Wake_Up_Threshold(1);
     imu->Set_Wake_Up_Duration(3);
+    imu->Enable_6D_Orientation(LSM6DSO_INT1_PIN);
+
 
     delay(10);
 
@@ -695,9 +704,20 @@ void Arduino_AlvikCarrier::updateImu(){
         is_shaking = false;
     }
 
-
+    imu->Get_6D_Orientation_XL(&xl);
+    imu->Get_6D_Orientation_XH(&xh);
+    imu->Get_6D_Orientation_YL(&yl);
+    imu->Get_6D_Orientation_YH(&yh);
+    imu->Get_6D_Orientation_ZL(&zl);
+    imu->Get_6D_Orientation_ZH(&zh);
 
-
+    tilt_status = 0;
+    tilt_status |= xl<<4;
+    tilt_status |= xh<<5;
+    tilt_status |= zl<<7;
+    tilt_status |= zh<<6;
+    tilt_status |= yh<<3;
+    tilt_status |= yl<<2;
 }
 
 float Arduino_AlvikCarrier::getAccelerationX(){
@@ -740,6 +760,10 @@ bool Arduino_AlvikCarrier::isShaking(){
     return is_shaking;
 }
 
+uint8_t Arduino_AlvikCarrier::getMotion(){
+    return tilt_status | isShaking();
+}
+
 
 
 /******************************************************************************************************/

src/Arduino_AlvikCarrier.h

@@ -70,6 +70,8 @@ class Arduino_AlvikCarrier{
         bool first_wakeup;
         unsigned long shake_time, shake_time_sig;
         uint16_t shake_counter;
+        uint8_t tilt_status;
+        uint8_t xl, xh, yl, yh, zl, zh;
 
         uint8_t version_high;
         uint8_t version_mid;
@@ -226,7 +228,8 @@ class Arduino_AlvikCarrier{
         float getRoll();                                                                // get robot roll
         float getPitch();                                                               // get robot pitch
         float getYaw();                                                                 // get robot yaw
-        bool  isShaking();                                                              // get true if robot is shaking                                                        
+        bool  isShaking();                                                              // get true if robot is shaking    
+        uint8_t getMotion();                                                            // get tilt + shaking                                                    
 
         void errorLed(const int error_code);                                            // error routine, locks on code blinking led