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Diffstat (limited to 'examples/imx7_colibri_m4/demo_apps/sensor_demo/sensor_demo_imx7d/main.c')
| -rw-r--r-- | examples/imx7_colibri_m4/demo_apps/sensor_demo/sensor_demo_imx7d/main.c | 237 |
1 files changed, 237 insertions, 0 deletions
diff --git a/examples/imx7_colibri_m4/demo_apps/sensor_demo/sensor_demo_imx7d/main.c b/examples/imx7_colibri_m4/demo_apps/sensor_demo/sensor_demo_imx7d/main.c new file mode 100644 index 0000000..6f87be1 --- /dev/null +++ b/examples/imx7_colibri_m4/demo_apps/sensor_demo/sensor_demo_imx7d/main.c @@ -0,0 +1,237 @@ +/* + * Copyright (c) 2015, Freescale Semiconductor, Inc. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without modification, + * are permitted provided that the following conditions are met: + * + * o Redistributions of source code must retain the above copyright notice, this list + * 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. + * + * o Neither the name of Freescale Semiconductor, Inc. nor the names of its + * contributors may be used to endorse or promote products derived from this + * software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND + * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR + * ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON + * ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/////////////////////////////////////////////////////////////////////////////// +// Includes +/////////////////////////////////////////////////////////////////////////////// +#include <stdint.h> +#include <stdbool.h> +#include "FreeRTOS.h" +#include "task.h" +#include "board.h" +#include "debug_console_imx.h" +#include "i2c_xfer.h" +#include "fxas21002.h" +#include "fxos8700.h" +#include "mpl3115.h" + +//////////////////////////////////////////////////////////////////////////////// +// Definition +//////////////////////////////////////////////////////////////////////////////// +#define HEIGHT_UPDATE_THRESHOLD (0.5f) +#define TEMP_UPDATE_THRESHOLD (0.3f) +#define GYRO_UPDATE_THRESHOLD (5.0f) + +//////////////////////////////////////////////////////////////////////////////// +// Code +//////////////////////////////////////////////////////////////////////////////// +void fxas21002Demo(void) +{ + gyro_sensor_t thisGyroSensor; + uint32_t count = 0, printCount = 0; + + PRINTF("\n\r-------------- FXAS21002 Gyro data acquisition --------------\n\r\n\r"); + + PRINTF("FXAS21002 initialization ... "); + if (fxas21002_init(&thisGyroSensor)) + PRINTF("OK\n\r"); + else + PRINTF("ERROR\n\r"); + + /* delay 10ms to wait sensor init finish */ + vTaskDelay(10); + + while(1) + { + fxas21002_read_data(&thisGyroSensor); + thisGyroSensor.iSumYpFast[0] += thisGyroSensor.iYpFast[0]; + thisGyroSensor.iSumYpFast[1] += thisGyroSensor.iYpFast[1]; + thisGyroSensor.iSumYpFast[2] += thisGyroSensor.iYpFast[2]; + + count++; + if (count == OVERSAMPLE_RATIO) + { + count = 0; + thisGyroSensor.iYp[0] = thisGyroSensor.iSumYpFast[0] / OVERSAMPLE_RATIO; + thisGyroSensor.iYp[1] = thisGyroSensor.iSumYpFast[1] / OVERSAMPLE_RATIO; + thisGyroSensor.iYp[2] = thisGyroSensor.iSumYpFast[2] / OVERSAMPLE_RATIO; + thisGyroSensor.fYp[0] = thisGyroSensor.iYp[0] * thisGyroSensor.fDegPerSecPerCount; + thisGyroSensor.fYp[1] = thisGyroSensor.iYp[1] * thisGyroSensor.fDegPerSecPerCount; + thisGyroSensor.fYp[2] = thisGyroSensor.iYp[2] * thisGyroSensor.fDegPerSecPerCount; + thisGyroSensor.iSumYpFast[0] = 0; + thisGyroSensor.iSumYpFast[1] = 0; + thisGyroSensor.iSumYpFast[2] = 0; + } + + if ((thisGyroSensor.fYp[0] > GYRO_UPDATE_THRESHOLD) || + (thisGyroSensor.fYp[0] < -GYRO_UPDATE_THRESHOLD) || + (thisGyroSensor.fYp[1] > GYRO_UPDATE_THRESHOLD) || + (thisGyroSensor.fYp[1] < -GYRO_UPDATE_THRESHOLD) || + (thisGyroSensor.fYp[2] > GYRO_UPDATE_THRESHOLD) || + (thisGyroSensor.fYp[2] < -GYRO_UPDATE_THRESHOLD)) + { + printCount++; + if (40 == printCount) + { + printCount = 0; + PRINTF("[FXAS21002] Rotate detected: X:%5.1fdps, Y:%5.1fdps, Z:%5.1fdps\n\r",\ + thisGyroSensor.fYp[0], thisGyroSensor.fYp[1], thisGyroSensor.fYp[2]); + } + } + } +} + +void fxos8700Demo(void) +{ + int16_t Ax, Ay, Az, Mx, My, Mz; + float Axf, Ayf, Azf, Mxf, Myf, Mzf; + + PRINTF("\n\r-------------- FXOS8700 Acc+Mag data acquisition --------------\n\r\n\r"); + + PRINTF("FXOS8700 initialization ... "); + if (fxos8700_init()) + PRINTF("OK\n\r"); + else + PRINTF("ERROR\n\r"); + + while(1) + { + vTaskDelay(500); + fxos8700_read_data(&Ax, &Ay, &Az, &Mx, &My, &Mz); + Axf = Ax / 8192.0; + Ayf = Ay / 8192.0; + Azf = Az / 8192.0; + Mxf = Mx * 0.1; + Myf = My * 0.1; + Mzf = Mz * 0.1; + PRINTF("[FXOS8700]Current Acc:X=%7.1fg Y=%7.1fg Z=%7.1fg\n\r",Axf, Ayf, Azf); + PRINTF("[FXOS8700]Current Mag:X=%6.1fuT Y=%6.1fuT Z=%6.1fuT\n\r",Mxf, Myf, Mzf); + } +} + +void mpl3115Demo(void) +{ + pressure_sensor_t thisPressureSensor; + float lastHight = 0, lastTemp = 0; + + PRINTF("\n\r-------------- MPL3115 Pressure data acquisition --------------\n\r\n\r"); + + PRINTF("MPL3115 initialization ... "); + if (mpl3115_init(&thisPressureSensor)) + PRINTF("OK\n\r"); + else + PRINTF("ERROR\n\r"); + + while(1) + { + vTaskDelay(100); + mpl3115_read_data(&thisPressureSensor); + thisPressureSensor.iHp = thisPressureSensor.iHpFast;; + thisPressureSensor.iTp = thisPressureSensor.iTpFast; + thisPressureSensor.fHp = (float) thisPressureSensor.iHp *\ + thisPressureSensor.fmPerCount; + thisPressureSensor.fTp = (float) thisPressureSensor.iTp *\ + thisPressureSensor.fCPerCount; + if (((thisPressureSensor.fHp - lastHight) > HEIGHT_UPDATE_THRESHOLD) || + ((thisPressureSensor.fHp - lastHight) < -HEIGHT_UPDATE_THRESHOLD) || + ((thisPressureSensor.fTp - lastTemp) > TEMP_UPDATE_THRESHOLD) || + ((thisPressureSensor.fTp - lastTemp) < -TEMP_UPDATE_THRESHOLD)) + { + lastHight = thisPressureSensor.fHp; + lastTemp = thisPressureSensor.fTp; + PRINTF("[MPL3115]Current Height = %6.1fMeter, Current Temp = %5.1fCelsius\n\r", + thisPressureSensor.fHp, + thisPressureSensor.fTp); + } + } +} + +void MainTask(void *pvParameters) +{ + uint8_t demoSel; + + PRINTF("\n\r-------------- iMX7D SDB on board sensor example --------------\n\r\n\r"); + + /* Setup I2C init structure. */ + i2c_init_config_t i2cInitConfig = { + .clockRate = get_i2c_clock_freq(BOARD_I2C_BASEADDR), + .baudRate = 400000u, + .slaveAddress = 0x00 + }; + + /* Initialize I2C module with I2C init structure. */ + I2C_XFER_Config(&i2cInitConfig); + + /* Print the initial banner. */ + PRINTF("\n\rPlease select the sensor demo you want to run:\n\r"); + PRINTF("[1].FXAS21002 3-axes Gyro sensor\n\r"); + PRINTF("[2].FXOS8700 6-axes Acc+Mag sensor\n\r"); + PRINTF("[3].MPL3115 Pressure sensor\n\r"); + + while(1) + { + demoSel = GETCHAR(); + if (('1' == demoSel) || ('2' == demoSel) || ('3' == demoSel)) + break; + } + + switch(demoSel) + { + case '1': + fxas21002Demo(); + break; + case '2': + fxos8700Demo(); + break; + case '3': + mpl3115Demo(); + break; + } +} + +int main(void) +{ + /* Initialize board specified hardware. */ + hardware_init(); + + /* Create a the APP main task. */ + xTaskCreate(MainTask, "Main Task", configMINIMAL_STACK_SIZE + 100, + NULL, tskIDLE_PRIORITY+1, NULL); + + /* Start FreeRTOS scheduler. */ + vTaskStartScheduler(); + + /* should never reach this point. */ + while (true); +} + +/******************************************************************************* + * EOF + ******************************************************************************/ |