317 lines
8.5 KiB
C
317 lines
8.5 KiB
C
/*
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*
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* Copyright (c) [2018] by InvenSense, Inc.
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*
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* Permission to use, copy, modify, and/or distribute this software for any
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* purpose with or without fee is hereby granted.
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*
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* THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
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* WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
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* MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY
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* SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
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* WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION
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* OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN
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* CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
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*
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*/
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/* Driver */
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#include "imu/inv_imu_driver.h"
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#include "imu/inv_imu_apex.h"
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/* Board drivers */
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#include "system_interface.h"
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#include <stddef.h> /* NULL */
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/*
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* This example showcases how to configure and use SMD.
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*/
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/*
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* Select communication link between SmartMotion and IMU.
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* SPI4: `UI_SPI4`
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* I2C: `UI_I2C`
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*/
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#define SERIF_TYPE UI_SPI4
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/* WOM threshold */
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#if INV_IMU_HFSR_SUPPORTED
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#define WOM_THRESHOLD 7 /* ~50 mg */
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#else
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#define WOM_THRESHOLD 13 /* ~50 mg */
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#endif
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/* Static variables */
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static inv_imu_device_t imu_dev; /* Driver structure */
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static volatile int int1_flag; /* Flag set when INT1 is received */
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static volatile uint64_t int1_timestamp; /* Store timestamp when int from IMU fires */
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/* Static variables for command interface */
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static uint8_t use_power_save; /* Indicates if power save mode is being used */
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/* Static functions definition */
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static int setup_mcu();
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static int setup_imu();
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static int configure_smd();
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static void int_cb(void *context, unsigned int int_num);
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static int get_uart_command();
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static int print_help();
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static int print_current_config();
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/* Main function implementation */
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int main(void)
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{
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int rc = 0;
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rc |= setup_mcu();
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SI_CHECK_RC(rc);
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INV_MSG(INV_MSG_LEVEL_INFO, "###");
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INV_MSG(INV_MSG_LEVEL_INFO, "### Example SMD");
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INV_MSG(INV_MSG_LEVEL_INFO, "###");
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/* Reset commands interface states */
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use_power_save = 0;
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rc |= setup_imu();
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SI_CHECK_RC(rc);
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/* Reset timestamp and interrupt flag */
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int1_flag = 0;
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int1_timestamp = 0;
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do {
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/* Poll device for data */
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if (int1_flag) {
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uint8_t int_status2;
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uint64_t timestamp;
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si_disable_irq();
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/* Clear interrupt flag */
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int1_flag = 0;
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/* Retrieve timestamp */
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timestamp = int1_timestamp;
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si_enable_irq();
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/* Read SMD interrupt status */
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rc |= inv_imu_read_reg(&imu_dev, INT_STATUS2, 1, &int_status2);
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SI_CHECK_RC(rc);
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if (int_status2 & INT_STATUS2_SMD_INT_MASK)
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INV_MSG(INV_MSG_LEVEL_INFO, " %10llu us SMD", timestamp);
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}
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rc |= get_uart_command();
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} while (rc == 0);
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return rc;
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}
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/* Initializes MCU peripherals. */
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static int setup_mcu()
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{
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int rc = 0;
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rc |= si_board_init();
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/* Configure UART for log */
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rc |= si_config_uart_for_print(SI_UART_ID_FTDI, INV_MSG_LEVEL_DEBUG);
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/* Configure GPIO to call `int_cb` when INT1 fires. */
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rc |= si_init_gpio_int(SI_GPIO_INT1, int_cb);
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/* Init timer peripheral for sleep and get_time */
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rc |= si_init_timers();
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/* Initialize serial interface between MCU and IMU */
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rc |= si_io_imu_init(SERIF_TYPE);
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return rc;
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}
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static int setup_imu()
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{
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int rc = 0;
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inv_imu_serif_t imu_serif;
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uint8_t whoami;
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inv_imu_int1_pin_config_t int1_pin_config;
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inv_imu_interrupt_parameter_t int1_config = { (inv_imu_interrupt_value)0 };
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/* Initialize serial interface between MCU and IMU */
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imu_serif.context = 0; /* no need */
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imu_serif.read_reg = si_io_imu_read_reg;
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imu_serif.write_reg = si_io_imu_write_reg;
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imu_serif.max_read = 1024 * 32; /* maximum number of bytes allowed per serial read */
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imu_serif.max_write = 1024 * 32; /* maximum number of bytes allowed per serial write */
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imu_serif.serif_type = SERIF_TYPE;
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/* Init device */
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rc |= inv_imu_init(&imu_dev, &imu_serif, NULL);
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SI_CHECK_RC(rc);
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#if SERIF_TYPE == UI_SPI4
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/* Configure slew-rate to 19 ns (required when using EVB) */
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rc |= inv_imu_set_spi_slew_rate(&imu_dev, DRIVE_CONFIG3_SPI_SLEW_RATE_MAX_19_NS);
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SI_CHECK_RC(rc);
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#endif
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/* Check WHOAMI */
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rc |= inv_imu_get_who_am_i(&imu_dev, &whoami);
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SI_CHECK_RC(rc);
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if (whoami != INV_IMU_WHOAMI) {
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INV_MSG(INV_MSG_LEVEL_ERROR, "Erroneous WHOAMI value.");
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INV_MSG(INV_MSG_LEVEL_ERROR, " - Read 0x%02x", whoami);
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INV_MSG(INV_MSG_LEVEL_ERROR, " - Expected 0x%02x", INV_IMU_WHOAMI);
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return INV_ERROR;
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}
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/*
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* Configure interrupts pins
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* - Polarity High
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* - Pulse mode
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* - Push-Pull drive
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*/
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int1_pin_config.int_polarity = INT_CONFIG_INT1_POLARITY_HIGH;
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int1_pin_config.int_mode = INT_CONFIG_INT1_MODE_PULSED;
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int1_pin_config.int_drive = INT_CONFIG_INT1_DRIVE_CIRCUIT_PP;
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rc |= inv_imu_set_pin_config_int1(&imu_dev, &int1_pin_config);
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/* Configure interrupts sources */
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int1_config.INV_SMD = INV_IMU_ENABLE;
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rc |= inv_imu_set_config_int1(&imu_dev, &int1_config);
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/* Disabling FIFO usage to optimize power consumption */
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rc |= inv_imu_configure_fifo(&imu_dev, INV_IMU_FIFO_DISABLED);
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/* Set 2X averaging to minimize power consumption */
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rc |= inv_imu_set_accel_lp_avg(&imu_dev, ACCEL_CONFIG1_ACCEL_FILT_AVG_2);
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/* Enable accel in LP mode */
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rc |= inv_imu_enable_accel_low_power_mode(&imu_dev);
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rc |= configure_smd();
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return rc;
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}
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static int configure_smd()
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{
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int rc = 0;
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inv_imu_apex_parameters_t apex_inputs;
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/* Disable pedometer and SMD before configuring it */
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rc |= inv_imu_apex_disable_pedometer(&imu_dev);
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rc |= inv_imu_apex_disable_smd(&imu_dev);
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rc |= inv_imu_set_accel_frequency(&imu_dev, ACCEL_CONFIG0_ODR_50_HZ);
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rc |= inv_imu_apex_set_frequency(&imu_dev, APEX_CONFIG1_DMP_ODR_50Hz);
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/* Set APEX parameters */
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rc |= inv_imu_apex_init_parameters_struct(&imu_dev, &apex_inputs);
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/* Parameters can be modified here if needed */
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apex_inputs.power_save =
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use_power_save ? APEX_CONFIG0_DMP_POWER_SAVE_EN : APEX_CONFIG0_DMP_POWER_SAVE_DIS;
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rc |= inv_imu_apex_configure_parameters(&imu_dev, &apex_inputs);
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/* If POWER_SAVE mode is enabled, WOM has to be enabled */
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if (use_power_save) {
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/* Configure and enable WOM to wake-up the DMP once it goes in power save mode */
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rc |= inv_imu_configure_wom(&imu_dev, WOM_THRESHOLD, WOM_THRESHOLD, WOM_THRESHOLD,
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WOM_CONFIG_WOM_INT_MODE_ANDED, WOM_CONFIG_WOM_INT_DUR_1_SMPL);
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rc |= inv_imu_enable_wom(&imu_dev);
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}
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/* Enable SMD (and Pedometer as SMD uses it) */
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rc |= inv_imu_apex_enable_pedometer(&imu_dev);
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rc |= inv_imu_apex_enable_smd(&imu_dev);
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return rc;
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}
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/* IMU interrupt handler. */
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static void int_cb(void *context, unsigned int int_num)
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{
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(void)context;
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if (int_num == SI_GPIO_INT1) {
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int1_timestamp = si_get_time_us();
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int1_flag = 1;
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}
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}
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/* Get command from user through UART */
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static int get_uart_command()
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{
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int rc = 0;
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char cmd = 0;
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rc |= si_get_uart_command(SI_UART_ID_FTDI, &cmd);
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SI_CHECK_RC(rc);
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switch (cmd) {
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case 'p': /* Toggle power-save mode usage */
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use_power_save = !use_power_save;
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INV_MSG(INV_MSG_LEVEL_INFO, "Power-Save mode: %s", use_power_save ? "Enabled" : "Disabled");
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rc |= configure_smd();
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break;
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case 'c':
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rc |= print_current_config();
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break;
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case 'h':
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case 'H':
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rc |= print_help();
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break;
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case 0:
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break; /* No command received */
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default:
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INV_MSG(INV_MSG_LEVEL_INFO, "Unknown command : %c", cmd);
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rc |= print_help();
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break;
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}
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return rc;
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}
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/* Help for UART command interface */
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static int print_help()
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{
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INV_MSG(INV_MSG_LEVEL_INFO, "#");
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INV_MSG(INV_MSG_LEVEL_INFO, "# Help");
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INV_MSG(INV_MSG_LEVEL_INFO, "#");
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INV_MSG(INV_MSG_LEVEL_INFO, "# 'p' : Toggle Power-Save mode usage");
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INV_MSG(INV_MSG_LEVEL_INFO, "# 'c' : Print current configuration");
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INV_MSG(INV_MSG_LEVEL_INFO, "# 'h' : Print this helper");
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INV_MSG(INV_MSG_LEVEL_INFO, "#");
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si_sleep_us(2000000); /* Give user some time to read */
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return 0;
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}
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/* Print current sample configuration */
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static int print_current_config()
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{
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INV_MSG(INV_MSG_LEVEL_INFO, "#");
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INV_MSG(INV_MSG_LEVEL_INFO, "# Current configuration");
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INV_MSG(INV_MSG_LEVEL_INFO, "#");
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INV_MSG(INV_MSG_LEVEL_INFO, "# Power-Save: %s", use_power_save ? "Enabled" : "Disabled");
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INV_MSG(INV_MSG_LEVEL_INFO, "#");
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si_sleep_us(2000000); /* Give user some time to read */
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return 0;
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}
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/* Get time implementation for IMU driver */
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uint64_t inv_imu_get_time_us(void)
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{
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return si_get_time_us();
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}
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/* Sleep implementation for IMU driver */
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void inv_imu_sleep_us(uint32_t us)
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{
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si_sleep_us(us);
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}
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