pedometer_stepcount_motion_fxos8700.c

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/*
 * Copyright (c) 2016, Freescale Semiconductor, Inc.
 * Copyright 2016-2017 NXP
 *
 * Redistribution and use in source and binary forms, with or without modification,
 * are permitted provided that the following conditions are met:
 *
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 *   of conditions and the following disclaimer.
 *
 * o 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.
 *
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 *   contributors may be used to endorse or promote products derived from this
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 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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/**
 * @file pedometer_stepcount_fxos8700.c
 * @brief The pedometer_stepcount_fxos8700.c file implements the ISSDK FXOS8700 sensor
 *        driver example demonstration for Motion Activated Pedometer.
 */

//-----------------------------------------------------------------------
// SDK Includes
//-----------------------------------------------------------------------
#include "board.h"
#include "pin_mux.h"
#include "clock_config.h"
#include "fsl_debug_console.h"

//-----------------------------------------------------------------------
// CMSIS Includes
//-----------------------------------------------------------------------
#include "Driver_I2C.h"

//-----------------------------------------------------------------------
// ISSDK Includes
//-----------------------------------------------------------------------
#include "issdk_hal.h"
#include "pedometer.h"
#include "gpio_driver.h"
#include "fxos8700_drv.h"

//-----------------------------------------------------------------------
// Macros
//-----------------------------------------------------------------------
#define MT_A_FFMT_THS 0x15  /* Threshold Value. */
#define ASLP_COUNTER 0x10   /* Auto Sleep after ~5s. */
#define FXOS8700_ACCEL_DATA_SIZE 6 /* 2-byte Accel x,y,z each */

//-----------------------------------------------------------------------
// Constants
//-----------------------------------------------------------------------
/*! @brief FXOS8700 Motion based Pedometer Register Write List. */
const registerwritelist_t cFxos8700CommonConfiguration[] = {
    {FXOS8700_ASLP_COUNT, ASLP_COUNTER, 0},
    {FXOS8700_A_FFMT_THS, MT_A_FFMT_THS, FXOS8700_A_FFMT_THS_THS_MASK},
    {FXOS8700_A_FFMT_CFG, FXOS8700_A_FFMT_CFG_OAE_MOTION | FXOS8700_A_FFMT_CFG_ZEFE_RAISE_EVENT | FXOS8700_A_FFMT_CFG_YEFE_RAISE_EVENT | FXOS8700_A_FFMT_CFG_XEFE_RAISE_EVENT,
                          FXOS8700_A_FFMT_CFG_OAE_MASK | FXOS8700_A_FFMT_CFG_ZEFE_MASK | FXOS8700_A_FFMT_CFG_YEFE_MASK | FXOS8700_A_FFMT_CFG_XEFE_MASK},
    {FXOS8700_CTRL_REG1, FXOS8700_CTRL_REG1_ASLP_RATE_1P56_HZ | FXOS8700_CTRL_REG1_DR_SINGLE_50_HZ,
                         FXOS8700_CTRL_REG1_ASLP_RATE_MASK | FXOS8700_CTRL_REG1_DR_MASK},
    {FXOS8700_CTRL_REG2, FXOS8700_CTRL_REG2_SLPE_EN | FXOS8700_CTRL_REG2_MODS_LOW_POWER,
                         FXOS8700_CTRL_REG2_SLPE_MASK | FXOS8700_CTRL_REG2_SMODS_MASK},
    {FXOS8700_CTRL_REG3, FXOS8700_CTRL_REG3_WAKE_FFMT_EN | FXOS8700_CTRL_REG3_IPOL_ACTIVE_HIGH | FXOS8700_CTRL_REG3_PP_OD_PUSH_PULL,
                         FXOS8700_CTRL_REG3_WAKE_FFMT_MASK | FXOS8700_CTRL_REG3_IPOL_MASK | FXOS8700_CTRL_REG3_PP_OD_MASK},
    {FXOS8700_CTRL_REG4, FXOS8700_CTRL_REG4_INT_EN_FFMT_EN, FXOS8700_CTRL_REG4_INT_EN_FFMT_MASK},
    {FXOS8700_CTRL_REG5, FXOS8700_CTRL_REG5_INT_CFG_DRDY_INT1 | FXOS8700_CTRL_REG5_INT_CFG_ASLP_INT1,
                         FXOS8700_CTRL_REG5_INT_CFG_DRDY_MASK | FXOS8700_CTRL_REG5_INT_CFG_ASLP_MASK},
    __END_WRITE_DATA__};

/*! @brief FXOS8700 Motion Detect Mode Register Write List. */
const registerwritelist_t cFxos8700ConfigMotionDetect[] = {
    /* Only FFMT INT Enabled */
    {FXOS8700_CTRL_REG4, FXOS8700_CTRL_REG4_INT_EN_DRDY_DIS | FXOS8700_CTRL_REG4_INT_EN_ASLP_DIS,
                         FXOS8700_CTRL_REG4_INT_EN_DRDY_MASK | FXOS8700_CTRL_REG4_INT_EN_ASLP_MASK},
    /* Route FFMT to INT1 */
    {FXOS8700_CTRL_REG5, FXOS8700_CTRL_REG5_INT_CFG_FFMT_INT1, FXOS8700_CTRL_REG5_INT_CFG_FFMT_MASK},
    __END_WRITE_DATA__};

/*! @brief FXOS8700 DRDY and ASLP Detect Mode Register Write List. */
const registerwritelist_t cFxos8700ConfigDataReady[] = {
    /* Data and ASLP INT Enabled */
    {FXOS8700_CTRL_REG4, FXOS8700_CTRL_REG4_INT_EN_DRDY_EN | FXOS8700_CTRL_REG4_INT_EN_ASLP_EN,
                         FXOS8700_CTRL_REG4_INT_EN_DRDY_MASK | FXOS8700_CTRL_REG4_INT_EN_ASLP_MASK},
    /* Route FFMT to INT2 (Ignore FFMT INT) */                                                                                  
    {FXOS8700_CTRL_REG5, FXOS8700_CTRL_REG5_INT_CFG_FFMT_INT2, FXOS8700_CTRL_REG5_INT_CFG_FFMT_MASK},
    __END_WRITE_DATA__};

/*! @brief Address of INT Source Register. */
const registerreadlist_t cFxos8700INTSrc[] = {{.readFrom = FXOS8700_INT_SOURCE, .numBytes = 1}, __END_READ_DATA__};

/*! @brief Address of Data Output Registers. */
const registerreadlist_t cFxos8700Output[] = {{.readFrom = FXOS8700_OUT_X_MSB, .numBytes = FXOS8700_ACCEL_DATA_SIZE}, __END_READ_DATA__};

/*! @brief Pedometer Mode Name Strings. */
const char *pActivity[5] = {"Unknown ", "Rest    ", "Walking ", "Jogging ", "Running "};

//-----------------------------------------------------------------------
// Global Variables
//-----------------------------------------------------------------------
volatile bool gFxos8700EventReady = false;

/* Pedometer configuration. These configuration are algorithm and user dependent data. */
pedometer_config_t cPedoConfig =
{
    .sleepcount_threshold = 1,
    .bits = {.config = 1},
    .keynetik =
    {
        .steplength = 0,
        .height = 175,
        .weight = 80,
        .filtersteps = 1,
        .bits =
        {
            .filtertime = 2, .male = 1,
        },
        .speedperiod = 3,
        .stepthreshold = 0,
    },
    .stepcoalesce = 1,
    .oneG = PEDO_ONEG_2G,
    .frequency = 50,
};

//-----------------------------------------------------------------------
// Functions
//-----------------------------------------------------------------------
/*! -----------------------------------------------------------------------
 *  @brief       This is the Sensor Event Ready ISR implementation.
 *  @details     This function sets the flag which indicates if a new sample(s) is available for reading.
 *  @param[in]   pUserData This is a void pointer to the instance of the user specific data structure for the ISR.
 *  @return      void  There is no return value.
 *  @constraints None
 *  @reeentrant  Yes
 *  -----------------------------------------------------------------------*/
void fxos8700_int_callback(void *pUserData)
{ /*! @brief Set flag to indicate Sensor has signaled event ready. */
    gFxos8700EventReady = true;
}

/*! -----------------------------------------------------------------------
 *  @brief       This is the The main function implementation.
 *  @details     This function invokes board initializes routines, then then brings up the sensor and
 *               finally enters an endless loop to continuously read available samples.
 *  @param[in]   void This is no input parameter.
 *  @return      void  There is no return value.
 *  @constraints None
 *  @reeentrant  No
 *  -----------------------------------------------------------------------*/
int main(void)
{
    int32_t status;
    bool motionDetect;
    uint16_t lastReportedSteps;
    uint8_t intStatus, data[FXOS8700_ACCEL_DATA_SIZE];

    pedometer_t pedometer; /* This handle holds the current configuration and status value for the pedometer.*/
    fxos8700_accelmagdata_t rawData;
    fxos8700_i2c_sensorhandle_t fxos8700Driver;

    ARM_DRIVER_I2C *I2Cdrv = &I2C_S_DRIVER; // Now using the shield.h value!!!
    GENERIC_DRIVER_GPIO *pGpioDriver = &Driver_GPIO_KSDK;

    /*! Initialize the MCU hardware. */
    BOARD_InitPins();
    BOARD_BootClockRUN();
    BOARD_InitDebugConsole();

    PRINTF("\r\n ISSDK FXOS8700 sensor driver example for Motion Activated Pedometer.\r\n");

    /*! Initialize FXOS8700 pin used by FRDM board */
    pGpioDriver->pin_init(&FXOS8700_INT1, GPIO_DIRECTION_IN, NULL, &fxos8700_int_callback, NULL);

    /*! Initialize RGB LED pin used by FRDM board */
    pGpioDriver->pin_init(&GREEN_LED, GPIO_DIRECTION_OUT, NULL, NULL, NULL);

    /*! Initialize the I2C driver. */
    status = I2Cdrv->Initialize(I2C_S_SIGNAL_EVENT);
    if (ARM_DRIVER_OK != status)
    {
        PRINTF("\r\n I2C Initialization Failed\r\n");
        return -1;
    }

    /*! Set the I2C Power mode. */
    status = I2Cdrv->PowerControl(ARM_POWER_FULL);
    if (ARM_DRIVER_OK != status)
    {
        PRINTF("\r\n I2C Power Mode setting Failed\r\n");
        return -1;
    }

    /*! Set the I2C bus speed. */
    status = I2Cdrv->Control(ARM_I2C_BUS_SPEED, ARM_I2C_BUS_SPEED_FAST);
    if (ARM_DRIVER_OK != status)
    {
        PRINTF("\r\n I2C Control Mode setting Failed\r\n");
        return -1;
    }

    /*! Initialize FXOS8700 sensor driver. */
    status = FXOS8700_I2C_Initialize(&fxos8700Driver, &I2C_S_DRIVER, I2C_S_DEVICE_INDEX, FXOS8700_I2C_ADDR,
                                     FXOS8700_WHO_AM_I_PROD_VALUE);
    if (SENSOR_ERROR_NONE != status)
    {
        PRINTF("\r\n Sensor Initialization Failed\r\n");
        return -1;
    }

    /*!  Set the task to be executed while waiting for I2C transactions to complete. */
    FXOS8700_I2C_SetIdleTask(&fxos8700Driver, (registeridlefunction_t)SMC_SetPowerModeWait, SMC);

    /* Apply FXOS8700 Configuration for Motion Activated Pedometer. */
    status = Sensor_I2C_Write(fxos8700Driver.pCommDrv, &fxos8700Driver.deviceInfo,
                              fxos8700Driver.slaveAddress, cFxos8700CommonConfiguration);
    if (SENSOR_ERROR_NONE != status)
    {
        PRINTF("\r\n Write FXOS8700 Initialization Failed.\r\n");
        return -1;
    }

    /*! Initialize the pedometer*/
    pedometer_init(&pedometer);
    PRINTF("\r\n Pedometer successfully Initialized and Ready for measurements.");

    for (;;) /* Forever loop for Motion Detection */
    {
        /*! Configure the pedometer*/
        pedometer_configure(&pedometer, &cPedoConfig);

        /* Apply FXOS8700 Configuration for Motion Detection. */
        status = FXOS8700_I2C_Configure(&fxos8700Driver, cFxos8700ConfigMotionDetect);
        if (SENSOR_ERROR_NONE != status)
        {
            PRINTF("\r\n Write FXOS8700 Motion Configuration Failed!\r\n");
            return -1;
        }

        motionDetect = true;
        pGpioDriver->set_pin(&GREEN_LED);
        PRINTF("\r\n\r\n Waiting for Motion | MCU switching to Sleep Mode ...\r\n");

        for (;;) /* Loop for Motion Detection */
        {   /* In ISR Mode we do not need to check Data Ready Register.
             * The receipt of interrupt will indicate event is ready. */
            if (false == gFxos8700EventReady)
            { /* Loop, if new sample is not available. */
                SMC_SetPowerModeWait(SMC);
                continue;
            }
            else
            { /*! Clear the data ready flag, it will be set again by the ISR. */
                gFxos8700EventReady = false;
            }

            /*! Read the INT_SRC from the FXOS8700. */
            status = FXOS8700_I2C_ReadData(&fxos8700Driver, cFxos8700INTSrc, &intStatus);
            if (ARM_DRIVER_OK != status)
            {
                PRINTF("\r\n Read INT SRC Failed!\r\n");
                return -1;
            }

            if (motionDetect)
            {
                if ((intStatus & FXOS8700_INT_SOURCE_SRC_FFMT_MASK) == FXOS8700_INT_SOURCE_SRC_FFMT_MASK)
                {
                    /*! Display that a Motion event has been detected. */
                    PRINTF(" Motion detected...\r\n");

                    /* Apply FXOS8700 Configuration for ASLP Detection with DATA. */
                    status = FXOS8700_I2C_Configure(&fxos8700Driver, cFxos8700ConfigDataReady);
                    if (SENSOR_ERROR_NONE != status)
                    {
                        PRINTF("\r\n Write FXOS8700 DRDY Configuration Failed.\r\n");
                        return -1;
                    }
                    motionDetect = false;
                    pGpioDriver->clr_pin(&GREEN_LED);
                }
            }
            else
            {
                /*! Read the Output from the FXOS8700. */
                status = FXOS8700_I2C_ReadData(&fxos8700Driver, cFxos8700Output, data);
                if (ARM_DRIVER_OK != status)
                {
                    PRINTF("\r\n ERROR : Read Data Failed!\r\n");
                    return -1;
                }

                /*! Convert the raw sensor data for feeding to pedometer algorithm. */
                rawData.accel[0] = ((int16_t)data[0] << 8) | data[1];
                rawData.accel[1] = ((int16_t)data[2] << 8) | data[3];
                rawData.accel[2] = ((int16_t)data[4] << 8) | data[5];

                /*!  Execute the pedometer Algorithm */
                pedometer_run(&pedometer, (ped_accel_t *)&rawData.accel);

                /* Display Steps when there is a change */
                if (pedometer.status.stepcount && pedometer.status.stepcount != lastReportedSteps)
                {
                    pGpioDriver->toggle_pin(&GREEN_LED);
                    lastReportedSteps = pedometer.status.stepcount;
                    if(pedometer.status.stepcount == 1)
                    {
                        PRINTF("\r\n | Steps | Distance |  Speed  | Calories | Activity |\r\n");
                    }
                    PRINTF("\033[K | %5d |    %4dm |  %2dkmph |      %3d | %s |\r",
                           pedometer.status.stepcount, pedometer.status.distance, pedometer.status.speed/1000, pedometer.status.calories, pActivity[pedometer.status.status.bits.activity]);
                }

                if ((intStatus & FXOS8700_INT_SOURCE_SRC_ASLP_MASK) == FXOS8700_INT_SOURCE_SRC_ASLP_MASK)
                {
                    break;
                }
            }
        }
    }
}