Implement tilt stage

Cache.ino

@@ -1,7 +1,9 @@
+#include <Arduino.h>
 #include <TinyGPS++.h>
 #include <NeoPixelBus.h>
 #include <Wire.h>
 #include <QMC5883LCompass.h>
+#include <SparkFunLSM6DS3.h>
 
 /**
  * LED Direction
@@ -20,6 +22,16 @@ const uint32_t GPSBaud = 9600;
 NeoPixelBus<NeoGrbFeature, Neo800KbpsMethod> ring(8, 27);
 TinyGPSPlus gps;
 QMC5883LCompass compass;
+LSM6DS3 gyro;
+
+#define O_X_DOWN 0x01
+#define O_X_UP   0x02
+#define O_Y_DOWN 0x04
+#define O_Y_UP   0x08
+#define O_Z_DOWN 0x10
+#define O_Z_UP   0x20
+
+uint8_t currentOrientation;
 
 #define colorSaturation 4
 RgbColor red(colorSaturation, 0, 0);
@@ -32,6 +44,11 @@ bool blinker = false;
 
 uint8_t stage = 0;
 
+uint8_t tiltSequence[] = {O_Z_DOWN, O_Y_DOWN, O_Z_DOWN, O_X_UP, O_Y_DOWN, O_Z_DOWN, 0x00};
+uint8_t tiltPointer = 0;
+
+const double TARGET_LAT = 48.4168602, TARGET_LON = 9.9433157;
+
 void setup()
 {
   Serial.begin(115200);
@@ -40,15 +57,34 @@ void setup()
   ring.Begin();
   ring.Show();
 
+  //Over-ride default settings if desired
+  gyro.settings.gyroEnabled = 1;  //Can be 0 or 1
+  gyro.settings.gyroRange = 2000;   //Max deg/s.  Can be: 125, 245, 500, 1000, 2000
+  gyro.settings.gyroSampleRate = 104;   //Hz.  Can be: 13, 26, 52, 104, 208, 416, 833, 1666
+  gyro.settings.gyroBandWidth = 200;  //Hz.  Can be: 50, 100, 200, 400;
+
+  gyro.settings.accelEnabled = 1;
+  gyro.settings.accelRange = 16;      //Max G force readable.  Can be: 2, 4, 8, 16
+  gyro.settings.accelSampleRate = 833;  //Hz.  Can be: 13, 26, 52, 104, 208, 416, 833, 1666, 3332, 6664, 13330
+  gyro.settings.accelBandWidth = 200;  //Hz.  Can be: 50, 100, 200, 400;
+
+  // Set orientation threshold
+  gyro.writeRegister(LSM6DS3_ACC_GYRO_TAP_THS_6D, LSM6DS3_ACC_GYRO_SIXD_THS_60_degree);
+  // Enable low pass filter 2
+  gyro.writeRegister(LSM6DS3_ACC_GYRO_TAP_CFG1, 0x10);
+  gyro.writeRegister(LSM6DS3_ACC_GYRO_CTRL8_XL, 0x01);
+  // Enable interrupt
+  gyro.writeRegister(LSM6DS3_ACC_GYRO_MD1_CFG, LSM6DS3_ACC_GYRO_INT1_6D_ENABLED);
+
+  gyro.begin();
+
   compass.init();
   //compass.setMode(0x01, 0x08, 0x10, 0xC0);
   compass.setCalibration(-1707, 1543, -2415, 772, -2397, 740);
 }
 
 void loop()
 {
-	compass.read();
-
   switch(stage) {
     case 0: 
       stageTilt();
@@ -94,11 +130,72 @@ void printDateTime(TinyGPSDate &d, TinyGPSTime &t)
 }
 
 void stageTilt() {
-
+  uint8_t orientation;
+  gyro.readRegister(&orientation, LSM6DS3_ACC_GYRO_D6D_SRC);
+
+  if(currentOrientation == orientation) {
+    return;
+  }
+
+  currentOrientation = orientation;
+
+  if(orientation == tiltSequence[tiltPointer]) {
+    tiltPointer++;
+    if(tiltSequence[tiltPointer] == 0) {
+      for(uint8_t i = 0; i < 10; i++) {
+        ring.ClearTo(white);
+        ring.Show();
+        smartDelay(200);
+        ring.ClearTo(green);
+        ring.Show();
+        smartDelay(200);
+      }
+      return;
+    }
+    ring.ClearTo(black);
+    ring.Show();
+    smartDelay(500);
+    ring.ClearTo(green);
+    ring.Show();
+    return;
+  }
+
+  tiltPointer = 0;
+  ring.ClearTo(red);
+  ring.Show();
+
+  /*switch(orientation){
+    case O_X_DOWN:
+      Serial.println("X down");
+      break;
+    case O_X_UP:
+      Serial.println("X up");
+      break;
+    case O_Y_DOWN:
+      Serial.println("Y down");
+      break;
+    case O_Y_UP:
+      Serial.println("Y up");
+      break;
+    case O_Z_DOWN:
+      Serial.println("Z down");
+      break;
+    case O_Z_UP:
+      Serial.println("Z up");
+      break;
+    default:
+      Serial.println("Unknown orientation");
+  }
+
+
+  char orientationString[9];
+  itoa(orientation, orientationString, 2);
+  Serial.print("\nOrientation:\n");
+  Serial.printf("%s", orientationString);*/
 }
 
 void stageGotoPlayground() {
-    static const double TARGET_LAT = 48.4168602, TARGET_LON = 9.9433157;
+  compass.read();
 
   printDateTime(gps.date, gps.time);
 
@@ -154,9 +251,7 @@ void stageGotoPlayground() {
     }
   } else {
     if(blinker) {
-      for(uint8_t i = 0; i<ring.PixelCount(); i++) {
-        ring.SetPixelColor(i, red);
-      }
+        ring.ClearTo(red);
     }
     blinker = !blinker;
   }

platformio.ini

@@ -18,6 +18,7 @@ framework = arduino
 lib_deps = 
 	TinyGPSPlus
 	NeoPixelBus
+	sparkfun/SparkFun_LSM6DS3_Arduino_Library
 	TheNitek/QMC5883LCompass
 monitor_speed = 115200
 upload_speed = 921600