The orientaion_application_baremetal_agm01.c file implements the ISSDK baremetal orientation application for FRDM-STBC-AGM01 using sensor fusion core functional interfaces and host i/o interface. More...

#include "board.h"
#include "pin_mux.h"
#include "clock_config.h"
#include "fsl_port.h"
#include "fsl_i2c.h"
#include "fsl_pit.h"
#include "Driver_USART.h"
#include "fsl_i2c_cmsis.h"
#include "fsl_uart_cmsis.h"
#include "fxas21002.h"
#include "fxos8700.h"
#include "register_io_i2c.h"
#include "host_io_uart.h"
#include "gpio_driver.h"
#include "auto_detection_service.h"
#include "systick_utils.h"
#include "sensor_fusion.h"
#include "control.h"
#include "status.h"
#include "drivers.h"
#include "driver_pit.h"

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Macros
#define	TIMESTAMP_DATA_SIZE (4) /* Orientation Packet: TimeStamp field size */

#define	NINEAXISSENSOR_DATA_SIZE (18) /* Orientation Packet: 9 Axis Sensor Data, Accel, Mag, Gyro field size */

#define	QUATERNION_SIZE (8) /* Orientation Packet: Quaternion field size */

#define	EULERANGLE_DATA_SIZE (6) /* Orientation Packet: Roll,Pitch,Compass Euler angles packet field size */

#define	FITERROR_DATA_SIZE (2) /* Orientation Packet: FitError% field size */

#define	COORDINATES_SIZE (1) /* Orientation Packet: coordinates field size */

#define	BOARDINFO_SIZE (1) /* Orientation Packet: BoardInfo field size */

#define	BUILDNAME_SIZE (2) /* Orientation Packet: BuildInfo field size */

#define	SYSTICKINFO_SIZE (2) /* Orientation Packet: SysTick field size */

#define	APPLICATION_NAME "9 Axis Orientation Sensor Demo" /* Orientation Application Name */
	Unique Name for this application which should match the target GUI pkg name. More...

#define	APPLICATION_VERSION "2.5"
	Version to distinguish between instances the same application based on target Shield and updates. More...

#define	STREAMING_PAYLOAD_LEN (TIMESTAMP_DATA_SIZE + NINEAXISSENSOR_DATA_SIZE + QUATERNION_SIZE + EULERANGLE_DATA_SIZE + FITERROR_DATA_SIZE + COORDINATES_SIZE + BOARDINFO_SIZE + BUILDNAME_SIZE + SYSTICKINFO_SIZE)

Functions
void	readAlgoParams (SV_ptr data, Quaternion fq, int16_t iPhi, int16_t iThe, int16_t iRho, int16_t iOmega[], uint16_t *isystick)
	Utility function for reading common algorithm parameters. More...

bool	process_host_command (uint8_t tag, uint8_t hostCommand, uint8_t hostResponse, size_t *hostMsgSize, size_t respBufferSize)

void	appendZerosOrientBuf (uint8_t pDest, uint16_t pIndex, uint16_t numZeros)
	appendZerosOrientBuf utility function More...

int	main (void)
	Main function. More...

Variables
SensorFusionGlobals	sfg

ControlSubsystem	gOrientationControlSubsystem

StatusSubsystem	statusSubsystem

char	boardString [ADS_MAX_STRING_LENGTH] = {0}

char	shieldString [ADS_MAX_STRING_LENGTH] = {0}

char	embAppName [ADS_MAX_STRING_LENGTH] = {0}

volatile bool	gStreamingEnabled

uint8_t	gPrimaryStreamID

uint8_t	orientOutputBuffer [STREAMING_HEADER_LEN+STREAMING_PAYLOAD_LEN]

struct PhysicalSensor	sensors [2]

registerDeviceInfo_t	i2cBusInfo

Detailed Description

The orientaion_application_baremetal_agm01.c file implements the ISSDK baremetal orientation application for FRDM-STBC-AGM01 using sensor fusion core functional interfaces and host i/o interface.

Definition in file orientaion_application_baremetal_agm01.c.

Macro Definition Documentation

◆ APPLICATION_NAME

#define APPLICATION_NAME "9 Axis Orientation Sensor Demo" /* Orientation Application Name */

Unique Name for this application which should match the target GUI pkg name.

Definition at line 64 of file orientaion_application_baremetal_agm01.c.

Referenced by main().

◆ APPLICATION_VERSION

#define APPLICATION_VERSION "2.5"

Version to distinguish between instances the same application based on target Shield and updates.

Definition at line 66 of file orientaion_application_baremetal_agm01.c.

Referenced by main().

◆ BOARDINFO_SIZE

#define BOARDINFO_SIZE (1) /* Orientation Packet: BoardInfo field size */

Definition at line 60 of file orientaion_application_baremetal_agm01.c.

◆ BUILDNAME_SIZE

#define BUILDNAME_SIZE (2) /* Orientation Packet: BuildInfo field size */

Definition at line 61 of file orientaion_application_baremetal_agm01.c.

◆ COORDINATES_SIZE

#define COORDINATES_SIZE (1) /* Orientation Packet: coordinates field size */

Definition at line 59 of file orientaion_application_baremetal_agm01.c.

◆ EULERANGLE_DATA_SIZE

#define EULERANGLE_DATA_SIZE (6) /* Orientation Packet: Roll,Pitch,Compass Euler angles packet field size */

Definition at line 57 of file orientaion_application_baremetal_agm01.c.

◆ FITERROR_DATA_SIZE

#define FITERROR_DATA_SIZE (2) /* Orientation Packet: FitError% field size */

Definition at line 58 of file orientaion_application_baremetal_agm01.c.

◆ NINEAXISSENSOR_DATA_SIZE

#define NINEAXISSENSOR_DATA_SIZE (18) /* Orientation Packet: 9 Axis Sensor Data, Accel, Mag, Gyro field size */

Definition at line 55 of file orientaion_application_baremetal_agm01.c.

◆ QUATERNION_SIZE

#define QUATERNION_SIZE (8) /* Orientation Packet: Quaternion field size */

Definition at line 56 of file orientaion_application_baremetal_agm01.c.

◆ STREAMING_PAYLOAD_LEN

#define STREAMING_PAYLOAD_LEN (TIMESTAMP_DATA_SIZE + NINEAXISSENSOR_DATA_SIZE + QUATERNION_SIZE + EULERANGLE_DATA_SIZE + FITERROR_DATA_SIZE + COORDINATES_SIZE + BOARDINFO_SIZE + BUILDNAME_SIZE + SYSTICKINFO_SIZE)

Definition at line 69 of file orientaion_application_baremetal_agm01.c.

◆ SYSTICKINFO_SIZE

#define SYSTICKINFO_SIZE (2) /* Orientation Packet: SysTick field size */

Definition at line 62 of file orientaion_application_baremetal_agm01.c.

◆ TIMESTAMP_DATA_SIZE

#define TIMESTAMP_DATA_SIZE (4) /* Orientation Packet: TimeStamp field size */

Orient Packet Structure: 44 Bytes

| TimeStamp | 9 Axis Sensor data | Quaternion data | Euler angles data | FitError% data | Co-ordinates data | BoardInfo data | BuildInfo data | SysTick data | |

Definition at line 54 of file orientaion_application_baremetal_agm01.c.

Function Documentation

◆ appendZerosOrientBuf()

void appendZerosOrientBuf	(	uint8_t *	pDest,
		uint16_t *	pIndex,
		uint16_t	numZeros
	)

appendZerosOrientBuf utility function

Definition at line 216 of file orientaion_application_baremetal_agm01.c.

References sBufAppendItem().

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◆ main()

int main ( void )

Main function.

Initialize the MCU hardware.

Initialize and set the KSDK driver for the I2C port

Initialize the UART driver.

Set UART Power mode.

Set UART Baud Rate.

Initialize control sub-system for orientation packet streaming

Initialize sensor fusion status sub-system

Initialize sensor fusion global metadata

Install the sensors to be used by sensor fusion

Initialize streaming and assign Stream IDs.

Initialize sensor fusion engine

pitIsrFlag will be set true at FUSION_HZ periodic intervals

Check whether occur interupt

Check for incoming commands form Host.

Reads sensors, applies HAL and does averaging (if applicable)

Condition sensor data, magCal is run as part of this

Run fusion algorithms

Apply debug perturbation

assume NORMAL status for next pass through the loop

Encode Orietantion Stream Packet and send packet to host

Definition at line 438 of file orientaion_application_baremetal_agm01.c.

References ADS_MAX_STRING_LENGTH, APPLICATION_NAME, APPLICATION_VERSION, BOARD_BootClockRUN, BOARD_DEBUG_UART_BAUDRATE, BOARD_RunADS(), BOARD_SystickEnable(), boardString, embAppName, HOST_S_DRIVER, HOST_S_SIGNAL_EVENT, I2C_S_DRIVER, I2C_S_SIGNAL_EVENT, I2Cdrv, int32_t(), SHIELD_NAME, shieldString, and status.

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◆ process_host_command()

bool process_host_command	(	uint8_t	tag,
		uint8_t *	hostCommand,
		uint8_t *	hostResponse,
		size_t *	hostMsgSize,
		size_t	respBufferSize
	)

Definition at line 119 of file orientaion_application_baremetal_agm01.c.

References boardString, embAppName, gPrimaryStreamID, gStreamingEnabled, HOST_CMD_START, HOST_CMD_STOP, HOST_MSG_CMD_ACT_OFFSET, HOST_MSG_LEN_LSB_OFFSET, HOST_PRO_CMD_W_CFG_TAG, HOST_PRO_INT_CMD_TAG, HOST_PRO_INT_DEV_TAG, LED_GREEN_ON, and shieldString.

◆ readAlgoParams()

void readAlgoParams	(	SV_ptr	data,
		Quaternion *	fq,
		int16_t *	iPhi,
		int16_t *	iThe,
		int16_t *	iRho,
		int16_t	iOmega[],
		uint16_t *	isystick
	)

Utility function for reading common algorithm parameters.

Definition at line 227 of file orientaion_application_baremetal_agm01.c.

References CHX, CHY, CHZ, SV_COMMON::fOmega, SV_COMMON::fPhi, SV_COMMON::fq, SV_COMMON::fRho, SV_COMMON::fThe, and SV_COMMON::systick.

Variable Documentation

◆ boardString

char boardString[ADS_MAX_STRING_LENGTH] = {0}

Definition at line 78 of file orientaion_application_baremetal_agm01.c.

Referenced by main(), and process_host_command().

◆ embAppName

char embAppName[ADS_MAX_STRING_LENGTH] = {0}

Definition at line 79 of file orientaion_application_baremetal_agm01.c.

Referenced by main(), and process_host_command().

◆ gOrientationControlSubsystem

ControlSubsystem gOrientationControlSubsystem

Definition at line 76 of file orientaion_application_baremetal_agm01.c.

◆ gPrimaryStreamID

uint8_t gPrimaryStreamID

Definition at line 81 of file orientaion_application_baremetal_agm01.c.

Referenced by process_host_command().

◆ gStreamingEnabled

volatile bool gStreamingEnabled

Definition at line 80 of file orientaion_application_baremetal_agm01.c.

Referenced by process_host_command().

◆ i2cBusInfo

registerDeviceInfo_t i2cBusInfo

Initial value:

= {
    .deviceInstance     = I2C_S_DEVICE_INDEX,
    .functionParam      = NULL,
    .idleFunction       = NULL
}

Definition at line 88 of file orientaion_application_baremetal_agm01.c.

◆ orientOutputBuffer

uint8_t orientOutputBuffer[STREAMING_HEADER_LEN+STREAMING_PAYLOAD_LEN]

Definition at line 83 of file orientaion_application_baremetal_agm01.c.

◆ sensors

struct PhysicalSensor sensors[2]

Definition at line 86 of file orientaion_application_baremetal_agm01.c.

◆ sfg

SensorFusionGlobals sfg

Definition at line 75 of file orientaion_application_baremetal_agm01.c.

Referenced by FXOS8700_Init(), and initializeSensors().

◆ shieldString

char shieldString[ADS_MAX_STRING_LENGTH] = {0}

Definition at line 78 of file orientaion_application_baremetal_agm01.c.

Referenced by main(), and process_host_command().

◆ statusSubsystem

StatusSubsystem statusSubsystem

Definition at line 77 of file orientaion_application_baremetal_agm01.c.

Macros

Functions

Variables

Detailed Description

Macro Definition Documentation

◆ APPLICATION_NAME

◆ APPLICATION_VERSION

◆ BOARDINFO_SIZE

◆ BUILDNAME_SIZE

◆ COORDINATES_SIZE

◆ EULERANGLE_DATA_SIZE

◆ FITERROR_DATA_SIZE

◆ NINEAXISSENSOR_DATA_SIZE

◆ QUATERNION_SIZE

◆ STREAMING_PAYLOAD_LEN

◆ SYSTICKINFO_SIZE

◆ TIMESTAMP_DATA_SIZE

Orient Packet Structure: 44 Bytes

| TimeStamp | 9 Axis Sensor data | Quaternion data | Euler angles data | FitError% data | Co-ordinates data | BoardInfo data | BuildInfo data | SysTick data | |

Function Documentation

◆ appendZerosOrientBuf()

◆ main()

◆ process_host_command()

◆ readAlgoParams()

Variable Documentation

◆ boardString

◆ embAppName

◆ gOrientationControlSubsystem

◆ gPrimaryStreamID

◆ gStreamingEnabled

◆ i2cBusInfo

◆ orientOutputBuffer

◆ sensors

◆ sfg

◆ shieldString

◆ statusSubsystem