fxos8700_poll_demo.c

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/*
 * Copyright (c) 2015 - 2016, Freescale Semiconductor, Inc.
 * Copyright 2016-2017 NXP
 * All rights reserved.
 *
 * SPDX-License-Identifier: BSD-3-Clause
 */

/**
 * @file fxos8700_demo.c
 * @brief The fxos8700_demo.c file implements the ISSDK FXOS8700 sensor
 *        driver example demonstration with Poll mode.
 */

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

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

//-----------------------------------------------------------------------
// ISSDK Includes
//-----------------------------------------------------------------------
#include "issdk_hal.h"
#include "gpio_driver.h"
#include "fxos8700_drv.h"
#include "host_io_uart.h"
#include "systick_utils.h"
#include "auto_detection_service.h"

//-----------------------------------------------------------------------
// Macros
//-----------------------------------------------------------------------
#define RAW_ACCEL_MAG_DATA_SIZE 12
#define FXOS8700_STREAM_DATA_SIZE 17

/*! @brief Unique Name for this application which should match the target GUI pkg name. */
#define APPLICATION_NAME "FXOS8700 6-axis (Accel, Mag) Demo"
/*! @brief Version to distinguish between instances the same application based on target Shield and updates. */
#define APPLICATION_VERSION "2.5"

/*! @brief This structure defines the fxos8700 raw data buffer.*/
typedef struct
{
    uint32_t timestamp; /*! The time, this sample was recorded.  */
    int16_t accel[3];   /*!< The accel data */
    int16_t mag[3];     /*!< The mag data */
    uint8_t intsrc;
} fxos8700_accelmagdataUser_t;

//-----------------------------------------------------------------------
// Constants
//-----------------------------------------------------------------------
/*! Prepare the register write list to configure FXOS8700 in non-FIFO mode. */
const registerwritelist_t fxos8700_Config_InterruptHybrid[] = {
        /*! Clear F_SETUP. */
                                {FXOS8700_F_SETUP, 0x00, 0x00},
        /*! Set FS 2G Mode. */
                                {FXOS8700_XYZ_DATA_CFG, FXOS8700_XYZ_DATA_CFG_FS_2G_0P244, FXOS8700_XYZ_DATA_CFG_FS_MASK},                      
        /*! Configure the FXOS8700 to 100Hz sampling rate. */
        {FXOS8700_CTRL_REG1, FXOS8700_CTRL_REG1_DR_HYBRID_100_HZ, FXOS8700_CTRL_REG1_DR_MASK},
        /*! Configure the FXOS8700 to Set High Resolution Mode. */
        {FXOS8700_CTRL_REG2, FXOS8700_CTRL_REG2_MODS_HIGH_RES, FXOS8700_CTRL_REG2_MODS_MASK},                   
        {FXOS8700_M_CTRL_REG1, FXOS8700_M_CTRL_REG1_M_ACAL_EN | FXOS8700_M_CTRL_REG1_M_HMS_HYBRID_MODE | FXOS8700_M_CTRL_REG1_M_OS_OSR0,
                               FXOS8700_M_CTRL_REG1_M_ACAL_MASK | FXOS8700_M_CTRL_REG1_M_HMS_MASK | FXOS8700_M_CTRL_REG1_M_OS_MASK}, /*! Enable the Hybrid Mode. */
        {FXOS8700_M_CTRL_REG2, FXOS8700_M_CTRL_REG2_M_AUTOINC_HYBRID_MODE, FXOS8700_M_CTRL_REG2_M_AUTOINC_MASK}, /*! Enable the Data read with Hybrid Mode. */
        {FXOS8700_CTRL_REG5,0x7E,0x00},
        {FXOS8700_CTRL_REG4,255,0x00},

                                //PL registers
        {FXOS8700_PL_CFG,FXOS8700_PL_CFG_DBCNTM_CLEAR_MODE  ,FXOS8700_PL_CFG_DBCNTM_MASK},
        {FXOS8700_PL_CFG,FXOS8700_PL_CFG_PL_EN_ENABLE   ,FXOS8700_PL_CFG_PL_EN_MASK },
        {FXOS8700_PL_COUNT, 0x40, 0x00},//ff
        {FXOS8700_PL_BF_ZCOMP,4 ,FXOS8700_PL_BF_ZCOMP_ZLOCK_MASK},
        {FXOS8700_PL_BF_ZCOMP,2 ,FXOS8700_PL_BF_ZCOMP_BKFR_MASK},
        {FXOS8700_PL_THS_REG,132,0x00},

        //Freefall registers
        {FXOS8700_A_FFMT_CFG,FXOS8700_A_FFMT_CFG_OAE_FREEFALL        ,FXOS8700_A_FFMT_CFG_OAE_MASK  },
        {FXOS8700_A_FFMT_CFG, FXOS8700_A_FFMT_CFG_XEFE_RAISE_EVENT   ,FXOS8700_A_FFMT_CFG_XEFE_MASK  },
        {FXOS8700_A_FFMT_CFG, FXOS8700_A_FFMT_CFG_YEFE_RAISE_EVENT   ,FXOS8700_A_FFMT_CFG_YEFE_MASK  },
        {FXOS8700_A_FFMT_CFG, FXOS8700_A_FFMT_CFG_ZEFE_RAISE_EVENT   ,FXOS8700_A_FFMT_CFG_ZEFE_MASK  },
        {FXOS8700_A_FFMT_THS,3,FXOS8700_A_FFMT_THS_THS_MASK},
        {FXOS8700_A_FFMT_COUNT,6,0x00},

        //Pulse registers
        {FXOS8700_PULSE_CFG,21,0x00},
        {FXOS8700_PULSE_TMLT,80,0x00},
        {FXOS8700_PULSE_LTCY,240,0x00},
        {FXOS8700_PULSE_THSX,55,0x00},
        {FXOS8700_PULSE_THSY,55,0x00},
        {FXOS8700_PULSE_THSZ,82,0x00},

        //VECM
        { FXOS8700_A_VECM_CNT,15,0x00},
        { FXOS8700_A_VECM_THS_LSB,88,0x00},
        { FXOS8700_A_VECM_CFG,72,0x00},
        { FXOS8700_A_VECM_THS_MSB,1, FXOS8700_A_VECM_THS_MSB_A_VBECM_DBCNTM_MASK  },
        { FXOS8700_A_VECM_THS_MSB,27, FXOS8700_A_VECM_THS_MSB_A_VBECM_THS_MASK  },

        __END_WRITE_DATA__};

/*! Command definition to read the Accel+Mag Data */
const registerreadlist_t FXOS8700_ACCEL_READ[] = {
        {.readFrom = FXOS8700_OUT_X_MSB, .numBytes = RAW_ACCEL_MAG_DATA_SIZE}, __END_READ_DATA__};

/*! Command definition to read the Data Ready Status */
const registerreadlist_t FXOS8700_STATUS_READ[] = {{.readFrom = FXOS8700_STATUS, .numBytes = 1}, __END_READ_DATA__};

const registerreadlist_t cFXOS8700_int_src[] = {
        {.readFrom = FXOS8700_INT_SOURCE, .numBytes = 1}, __END_READ_DATA__};

const registerreadlist_t cFXOS8700_ffmt_src[] = {
        {.readFrom = FXOS8700_A_FFMT_SRC , .numBytes = 1}, __END_READ_DATA__};

const registerreadlist_t cFXOS8700_pl_status[] = {
        {.readFrom = FXOS8700_PL_STATUS, .numBytes = 1}, __END_READ_DATA__};

//-----------------------------------------------------------------------
// Global Variables
//-----------------------------------------------------------------------
char boardString[ADS_MAX_STRING_LENGTH] = {0}, shieldString[ADS_MAX_STRING_LENGTH] = {0},
     embAppName[ADS_MAX_STRING_LENGTH] = {0};
volatile bool bStreamingEnabled = false, bFxos8700Ready = false;
uint8_t gStreamID; /* The auto assigned Stream ID. */
int32_t gSystick;
GENERIC_DRIVER_GPIO *pGpioDriver = &Driver_GPIO_KSDK;

//-----------------------------------------------------------------------
// Functions
//-----------------------------------------------------------------------
/* Handler for Device Info and Streaming Control Commands. */
bool process_host_command(
    uint8_t tag, uint8_t *hostCommand, uint8_t *hostResponse, size_t *hostMsgSize, size_t respBufferSize)
{
    bool success = false;

    /* If it is Host requesting Device Info, send Board Name and Shield Name. */
    if (tag == HOST_PRO_INT_DEV_TAG)
    { /* Byte 1     : Payload - Length of APPLICATION_NAME (b)
       * Bytes=b    : Payload Application Name
       * Byte b+1   : Payload - Length of BOARD_NAME (s)
       * Bytes=s    : Payload Board Name
       * Byte b+s+2 : Payload - Length of SHIELD_NAME (v)
       * Bytes=v    : Payload Shield Name */

        size_t appNameLen = strlen(embAppName);
        size_t boardNameLen = strlen(boardString);
        size_t shieldNameLen = strlen(shieldString);

        if (respBufferSize >= boardNameLen + shieldNameLen + appNameLen + 3)
        { /* We have sufficient buffer. */
            *hostMsgSize = 0;
        }
        else
        {
            return false;
        }

        hostResponse[*hostMsgSize] = appNameLen;
        *hostMsgSize += 1;

        memcpy(hostResponse + *hostMsgSize, embAppName, appNameLen);
        *hostMsgSize += appNameLen;

        hostResponse[*hostMsgSize] = boardNameLen;
        *hostMsgSize += 1;

        memcpy(hostResponse + *hostMsgSize, boardString, boardNameLen);
        *hostMsgSize += boardNameLen;

        hostResponse[*hostMsgSize] = shieldNameLen;
        *hostMsgSize += 1;

        memcpy(hostResponse + *hostMsgSize, shieldString, shieldNameLen);
        *hostMsgSize += shieldNameLen;

        return true;
    }

    /* If it is Host sending Streaming Commands, take necessary actions. */
    if ((tag == (HOST_PRO_INT_CMD_TAG | HOST_PRO_CMD_W_CFG_TAG)) &&
        (*hostMsgSize == HOST_MSG_CMD_ACT_OFFSET - HOST_MSG_LEN_LSB_OFFSET))
    {                           /* Byte 1 : Payload - Operation Code (Start/Stop Operation Code)
                                 * Byte 2 : Payload - Stream ID (Target Stream for carrying out operation) */
        switch (hostCommand[0]) /* Execute desired operation (Start/Stop) on the requested Stream. */
        {
            case HOST_CMD_START:
                if (hostCommand[1] == gStreamID && bFxos8700Ready && bStreamingEnabled == false)
                {
                    BOARD_SystickStart(&gSystick);
                    bStreamingEnabled = true;
                    success = true;
                }
                break;
            case HOST_CMD_STOP:
                if (hostCommand[1] == gStreamID && bFxos8700Ready && bStreamingEnabled == true)
                {
                    pGpioDriver->clr_pin(&GREEN_LED);
                    bStreamingEnabled = false;
                    success = true;
                }
                break;
            default:
                break;
        }
        *hostMsgSize = 0; /* Zero payload in response. */
    }

    return success;
}

/*!
 * @brief Main function
 */
int main(void)
{
    int32_t status;
    uint8_t regdata, dataReady, data[RAW_ACCEL_MAG_DATA_SIZE], streamingPacket[STREAMING_HEADER_LEN + FXOS8700_STREAM_DATA_SIZE];

    fxos8700_i2c_sensorhandle_t fxos8700Driver;
    fxos8700_accelmagdataUser_t rawData = {.timestamp = 0};

    ARM_DRIVER_I2C *I2Cdrv = &I2C_S_DRIVER;
    ARM_DRIVER_USART *pUartDriver = &HOST_S_DRIVER;

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

    /* Create the Short Application Name String for ADS. */
    sprintf(embAppName, "%s:%s", APPLICATION_NAME, APPLICATION_VERSION);

    /* Run ADS. */
    BOARD_RunADS(embAppName, boardString, shieldString, ADS_MAX_STRING_LENGTH);

    /* Create the Full Application Name String for Device Info Response. */
    sprintf(embAppName, "%s:%s:%s", SHIELD_NAME, APPLICATION_NAME, APPLICATION_VERSION);

    /*! 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)
    {
        return -1;
    }

    /*! Set the I2C Power mode. */
    status = I2Cdrv->PowerControl(ARM_POWER_FULL);
    if (ARM_DRIVER_OK != status)
    {
        return -1;
    }

    /*! Set the I2C bus speed. */
    status = I2Cdrv->Control(ARM_I2C_BUS_SPEED, ARM_I2C_BUS_SPEED_FAST);
    if (ARM_DRIVER_OK != status)
    {
        return -1;
    }
    
    /*! Initialize the UART driver. */
    status = pUartDriver->Initialize(HOST_S_SIGNAL_EVENT);
    if (ARM_DRIVER_OK != status)
    {
        return -1;
    }

    /*! Set the UART Power mode. */
    status = pUartDriver->PowerControl(ARM_POWER_FULL);
    if (ARM_DRIVER_OK != status)
    {
        return -1;
    }

    /*! Set UART Baud Rate. */
    status = pUartDriver->Control(ARM_USART_MODE_ASYNCHRONOUS, BOARD_DEBUG_UART_BAUDRATE);
    if (ARM_DRIVER_OK != status)
    {
        return -1;
    }

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

        /*! Configure the fxos8700 sensor driver. */
        status = FXOS8700_I2C_Configure(&fxos8700Driver, fxos8700_Config_InterruptHybrid);
        if (SENSOR_ERROR_NONE == status)
        {
            bFxos8700Ready = true;
        }
    }

    /*! Initialize streaming and assign a Stream ID. */
    gStreamID =
        Host_IO_Init(pUartDriver, (void *)fxos8700Driver.pCommDrv, &fxos8700Driver.deviceInfo, NULL, FXOS8700_I2C_ADDR);
    /* Confirm if a valid Stream ID has been allocated for this stream. */
    if (0 == gStreamID)
    {
        bFxos8700Ready = false;
    }
    else
    {
        /*! Populate streaming header. */
        Host_IO_Add_ISO_Header(gStreamID, streamingPacket, FXOS8700_STREAM_DATA_SIZE);
        pGpioDriver->clr_pin(&GREEN_LED);
    }

    for (;;) /* Forever loop */
    {        /* Call UART Non-Blocking Receive. */
        Host_IO_Receive(process_host_command, HOST_FORMAT_HDLC);

        /* Process packets only if streaming has been enabled by Host and ISR is available.
         * In ISR Mode we do not need to check Data Ready Register.
         * The receipt of interrupt will indicate data is ready. */
        if (false == bStreamingEnabled)
        {
            SMC_SetPowerModeWait(SMC); /* Power save, wait if nothing to do. */
            continue;
        }

        do /*! Keep checking the Status FLAG for completion. */
        {
            status = FXOS8700_I2C_ReadData(&fxos8700Driver, FXOS8700_STATUS_READ, &dataReady);
            if (ARM_DRIVER_OK != status)
            {
                return -1;
            }
            /* Call UART Non-Blocking Receive while waiting for OST. */
            Host_IO_Receive(process_host_command, HOST_FORMAT_HDLC);
        } /* Loop, untill sample acquisition is not completed. */
        while (0 == (dataReady & FXOS8700_DR_STATUS_ZYXDR_MASK));
        pGpioDriver->toggle_pin(&GREEN_LED);

        /*! Read the raw sensor data from the fxos8700. */
        status = FXOS8700_I2C_ReadData(&fxos8700Driver, FXOS8700_ACCEL_READ, data);
        if (ARM_DRIVER_OK != status)
        { /* Loop, if sample read failed. */
            continue;
        }

        /* Update timestamp from Systick framework. */
        rawData.timestamp += BOARD_SystickElapsedTime_us(&gSystick);

        /*! Convert the raw sensor data to signed 16-bit container for display to the debug port. */
        rawData.accel[0] = ((int16_t)data[0] << 8) | data[1];
        rawData.accel[0] /= 4;
        rawData.accel[1] = ((int16_t)data[2] << 8) | data[3];
        rawData.accel[1] /= 4;
        rawData.accel[2] = ((int16_t)data[4] << 8) | data[5];
        rawData.accel[2] /= 4;
        rawData.mag[0] = ((int16_t)data[6] << 8) | data[7];
        rawData.mag[1] = ((int16_t)data[8] << 8) | data[9];
        rawData.mag[2] = ((int16_t)data[10] << 8) | data[11];

        status = FXOS8700_I2C_ReadData(&fxos8700Driver, cFXOS8700_int_src, &regdata);

        // The following condition checks for multiple interrupts occuring at the same time and sends only one out as per order below.
        // Check for Freefall interrupt
        if((regdata & 0x04) == 0x04)
        {
            rawData.intsrc = 0x04;
        }
        // Check for Vector Magnitude change interrupt
        else if((regdata & 0x02) == 0x02)
        {
            rawData.intsrc = 0x02;
        }
        // Else send other interrupts
        else
        {
            rawData.intsrc = regdata;
        }

        // read FFMT interrupt source register to clear flags
        status = FXOS8700_I2C_ReadData(&fxos8700Driver, cFXOS8700_int_src, &regdata);
        status = FXOS8700_I2C_ReadData(&fxos8700Driver, cFXOS8700_ffmt_src, &regdata);
        status = FXOS8700_I2C_ReadData(&fxos8700Driver, cFXOS8700_pl_status, &regdata);

        /* Copy Raw samples to Streaming Buffer. */
        memcpy(streamingPacket + STREAMING_HEADER_LEN, &rawData, FXOS8700_STREAM_DATA_SIZE);
        /* Send streaming packet to Host. */
        Host_IO_Send(streamingPacket, sizeof(streamingPacket), HOST_FORMAT_HDLC);
    }
}