Commit 9de1261b authored by schneider's avatar schneider
Browse files

feat(imu): Add testapp

parent 1d13428a
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file build/max32665.elf
target remote localhost:3333
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################################################################################
# Copyright (C) 2016 Maxim Integrated Products, Inc., All Rights Reserved.
#
# Permission is hereby granted, free of charge, to any person obtaining a
# copy of this software and associated documentation files (the "Software"),
# to deal in the Software without restriction, including without limitation
# the rights to use, copy, modify, merge, publish, distribute, sublicense,
# and/or sell copies of the Software, and to permit persons to whom the
# Software is furnished to do so, subject to the following conditions:
#
# The above copyright notice and this permission notice shall be included
# in all copies or substantial portions of the Software.
#
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
# OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
# MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
# IN NO EVENT SHALL MAXIM INTEGRATED BE LIABLE FOR ANY CLAIM, DAMAGES
# OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
# ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
# OTHER DEALINGS IN THE SOFTWARE.
#
# Except as contained in this notice, the name of Maxim Integrated
# Products, Inc. shall not be used except as stated in the Maxim Integrated
# Products, Inc. Branding Policy.
#
# The mere transfer of this software does not imply any licenses
# of trade secrets, proprietary technology, copyrights, patents,
# trademarks, maskwork rights, or any other form of intellectual
# property whatsoever. Maxim Integrated Products, Inc. retains all
# ownership rights.
#
# $Date: 2018-09-28 18:22:39 +0000 (Fri, 28 Sep 2018) $
# $Revision: 38193 $
#
###############################################################################
# This is the name of the build output file
ifeq "$(PROJECT)" ""
PROJECT=max32665
endif
# Specify the target processor
ifeq "$(TARGET)" ""
TARGET=MAX32665
endif
# Create Target name variables
TARGET_UC:=$(shell echo $(TARGET) | tr a-z A-Z)
TARGET_LC:=$(shell echo $(TARGET) | tr A-Z a-z)
# Select 'GCC' or 'IAR' compiler
COMPILER=GCC
# Specify the board used
ifeq "$(BOARD)" ""
#BOARD=EvKit_V1
BOARD=card10
endif
# This is the path to the CMSIS root directory
ifeq "$(MAXIM_PATH)" ""
LIBS_DIR=../sdk/Libraries
else
LIBS_DIR=/$(subst \,/,$(subst :,,$(MAXIM_PATH))/Firmware/$(TARGET_UC)/Libraries)
endif
CMSIS_ROOT=$(LIBS_DIR)/CMSIS
# Source files for this test (add path to VPATH below)
SRCS = main.c
SRCS += ../lib/card10/oled96.c
SRCS += ../lib/card10/fonts.c
SRCS += ../lib/card10/pmic.c
SRCS += bhy_support.c bhy_uc_driver.c bhy.c
SRCS += MAX77650-Arduino-Library.c
# Where to find source files for this test
VPATH = .
# Where to find header files for this test
IPATH = .
IPATH += ../lib/card10
VPATH += ../lib/card10
IPATH += ../lib/bosch/BHy1_driver_and_MCU_solution/driver/inc
IPATH += ../lib/bosch/BHy1_driver_and_MCU_solution/examples/firmware/
VPATH += ../lib/bosch/BHy1_driver_and_MCU_solution/driver/src
IPATH += ../lib/maxim/MAX77650-Arduino-Library
VPATH += ../lib/maxim/MAX77650-Arduino-Library
# Enable assertion checking for development
PROJ_CFLAGS+=-DMXC_ASSERT_ENABLE
# Specify the target revision to override default
# "A2" in ASCII
# TARGET_REV=0x4132
# Use this variables to specify and alternate tool path
#TOOL_DIR=/opt/gcc-arm-none-eabi-4_8-2013q4/bin
# Use these variables to add project specific tool options
#PROJ_CFLAGS+=--specs=nano.specs
#PROJ_LDFLAGS+=--specs=nano.specs
PROJ_CFLAGS+=-std=c99
# Point this variable to a startup file to override the default file
#STARTUPFILE=start.S
# Override the default optimization level using this variable
#MXC_OPTIMIZE_CFLAGS=-O1
# Point this variable to a linker file to override the default file
ifneq "$(APP)" ""
LINKERFILE=$(CMSIS_ROOT)/Device/Maxim/$(TARGET_UC)/Source/GCC/$(TARGET_LC)_app.ld
endif
################################################################################
# Include external library makefiles here
# Include the BSP
BOARD_DIR=$(LIBS_DIR)/Boards/$(BOARD)
include $(BOARD_DIR)/board.mk
# Include the peripheral driver
PERIPH_DRIVER_DIR=$(LIBS_DIR)/$(TARGET_UC)PeriphDriver
include $(PERIPH_DRIVER_DIR)/periphdriver.mk
################################################################################
# Include the rules for building for this target. All other makefiles should be
# included before this one.
include $(CMSIS_ROOT)/Device/Maxim/$(TARGET_UC)/Source/$(COMPILER)/$(TARGET_LC).mk
# The rule to clean out all the build products.
distclean: clean
$(MAKE) -C ${PERIPH_DRIVER_DIR} clean
make clean
make APP=1
make build/max32665.bin
cp build/max32665.bin card10.bin
python ../bootloader/crc_patch.py card10.bin
/*******************************************************************************
* Copyright (C) 2016 Maxim Integrated Products, Inc., All Rights Reserved.
*
* Permission is hereby granted, free of charge, to any person obtaining a
* copy of this software and associated documentation files (the "Software"),
* to deal in the Software without restriction, including without limitation
* the rights to use, copy, modify, merge, publish, distribute, sublicense,
* and/or sell copies of the Software, and to permit persons to whom the
* Software is furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included
* in all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
* OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
* IN NO EVENT SHALL MAXIM INTEGRATED BE LIABLE FOR ANY CLAIM, DAMAGES
* OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
* ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
* OTHER DEALINGS IN THE SOFTWARE.
*
* Except as contained in this notice, the name of Maxim Integrated
* Products, Inc. shall not be used except as stated in the Maxim Integrated
* Products, Inc. Branding Policy.
*
* The mere transfer of this software does not imply any licenses
* of trade secrets, proprietary technology, copyrights, patents,
* trademarks, maskwork rights, or any other form of intellectual
* property whatsoever. Maxim Integrated Products, Inc. retains all
* ownership rights.
*
* $Date: 2018-09-04 22:13:32 +0000 (Tue, 04 Sep 2018) $
* $Revision: 37649 $
*
******************************************************************************/
/**
* @file main.c
* @brief Hello World!
* @details This example uses the UART to print to a terminal and flashes an LED.
*/
/***** Includes *****/
#include <stdio.h>
#include <stdint.h>
#include <string.h>
#include "mxc_config.h"
#include "led.h"
#include "board.h"
#include "tmr_utils.h"
#include "i2c.h"
#include "rtc.h"
#include "spi.h"
#include "gpio.h"
#include "oled96.h"
#include "bhy.h"
#include "Bosch_PCB_7183_di03_BMI160_BMM150-7183_di03.2.1.11696_170103.h"
#include "bhy_uc_driver.h"
#include "pmic.h"
#include <math.h>
/***** Definitions *****/
#define I2C_DEVICE MXC_I2C0_BUS0
#define SPI SPI0
#define SPI_SPEED 1000000 // Bit Rate
/* should be greater or equal to 69 bytes, page size (50) + maximum packet size(18) + 1 */
#define FIFO_SIZE 300
#define ROTATION_VECTOR_SAMPLE_RATE 100
#define MAX_PACKET_LENGTH 18
#define OUT_BUFFER_SIZE 60
/***** Globals *****/
static const gpio_cfg_t motor_pin = {PORT_0, PIN_8, GPIO_FUNC_OUT, GPIO_PAD_NONE};
char out_buffer[OUT_BUFFER_SIZE] = " W: 0.999 X: 0.999 Y: 0.999 Z: 0.999 \r";
uint8_t fifo[FIFO_SIZE];
/***** Functions *****/
#if 0
void I2C0_IRQHandler(void)
{
I2C_Handler(I2C_DEVICE);
return;
}
#endif
uint32_t ecg_read_reg(uint8_t reg)
{
spi_req_t req;
uint8_t tx_data[] = {(reg << 1) | 1, 0, 0, 0};
uint8_t rx_data[] = {0, 0, 0, 0};
req.tx_data = tx_data;
req.rx_data = rx_data;
req.len = 4;
req.bits = 8;
req.width = SPI17Y_WIDTH_1;
req.ssel = 0;
req.deass = 1;
req.ssel_pol = SPI17Y_POL_LOW;
req.tx_num = 0;
req.rx_num = 0;
SPI_MasterTrans(SPI, &req);
return (rx_data[1] << 16) | (rx_data[2] << 8) | rx_data[3];
}
static void sensors_callback_vector(bhy_data_generic_t * sensor_data, bhy_virtual_sensor_t sensor_id)
{
printf("x=%d, y=%d, z=%d status=%d\n",
sensor_data->data_vector.x,
sensor_data->data_vector.y,
sensor_data->data_vector.z,
sensor_data->data_vector.status
);
}
/*!
* @brief This function is callback function for acquring sensor datas
*
* @param[in] sensor_data
* @param[in] sensor_id
*/
static void sensors_callback_rotation_vector(bhy_data_generic_t * sensor_data, bhy_virtual_sensor_t sensor_id)
{
#if 0
float temp;
uint8_t index;
temp = sensor_data->data_quaternion.w / 16384.0f; /* change the data unit by dividing 16384 */
out_buffer[3] = temp < 0 ? '-' : ' ';
temp = temp < 0 ? -temp : temp;
out_buffer[4] = floorf(temp) + '0';
for (index = 6; index <= 8; index++)
{
temp = (temp - floorf(temp)) * 10;
out_buffer[index] = floorf(temp) + '0';
}
temp = sensor_data->data_quaternion.x / 16384.0f;
out_buffer[13] = temp < 0 ? '-' : ' ';
temp = temp < 0 ? -temp : temp;
out_buffer[14] = floorf(temp) + '0';
for (index = 16; index <= 18; index++)
{
temp = (temp - floorf(temp)) * 10;
out_buffer[index] = floorf(temp) + '0';
}
temp = sensor_data->data_quaternion.y / 16384.0f;
out_buffer[23] = temp < 0 ? '-' : ' ';
temp = temp < 0 ? -temp : temp;
out_buffer[24] = floorf(temp) + '0';
for (index = 26; index <= 28; index++)
{
temp = (temp - floorf(temp)) * 10;
out_buffer[index] = floorf(temp) + '0';
}
temp = sensor_data->data_quaternion.z / 16384.0f;
out_buffer[33] = temp < 0 ? '-' : ' ';
temp = temp < 0 ? -temp : temp;
out_buffer[34] = floorf(temp) + '0';
for (index = 36; index <= 38; index++)
{
temp = (temp - floorf(temp)) * 10;
out_buffer[index] = floorf(temp) + '0';
}
#endif
printf("x=%d, y=%d, z=%d, w=%d\n",
sensor_data->data_quaternion.x,
sensor_data->data_quaternion.y,
sensor_data->data_quaternion.z,
sensor_data->data_quaternion.w
);
}
// *****************************************************************************
int main(void)
{
printf("Hello World!\n");
TMR_Delay(MXC_TMR0, MSEC(1000), 0);
//Setup the I2CM
I2C_Shutdown(MXC_I2C0_BUS0);
I2C_Init(MXC_I2C0_BUS0, I2C_FAST_MODE, NULL);
I2C_Shutdown(MXC_I2C1_BUS0);
I2C_Init(MXC_I2C1_BUS0, I2C_FAST_MODE, NULL);
#if 0
NVIC_EnableIRQ(I2C0_IRQn); // Not sure if we actually need this when not doing async requests
#endif
uint8_t dummy[1] = {0};
// "7-bit addresses 0b0000xxx and 0b1111xxx are reserved"
for (int addr = 0x8; addr < 0x78; ++addr) {
// A 0 byte write does not seem to work so always send a single byte.
int res = I2C_MasterWrite(MXC_I2C0_BUS0, addr << 1, dummy, 1, 0);
if(res == 1) {
printf("Found (7 bit) address 0x%02x on I2C0\n", addr);
}
res = I2C_MasterWrite(MXC_I2C1_BUS0, addr << 1, dummy, 1, 0);
if(res == 1) {
printf("Found (7 bit) address 0x%02x on I2C1\n", addr);
}
}
pmic_init();
pmic_set_led(0, 0);
pmic_set_led(1, 0);
pmic_set_led(2, 0);
TMR_Delay(MXC_TMR0, MSEC(1000), 0);
#if 0
oledInit(0x3c, 0, 0);
oledFill(0x00);
oledWriteString(0, 0, "Hello", 0);
oledWriteString(0, 2, "my name is", 0);
oledWriteString(0, 4, "card10", 1);
#endif
/* BHY Variable*/
uint8_t *fifoptr = NULL;
uint8_t bytes_left_in_fifo = 0;
uint16_t bytes_remaining = 0;
uint16_t bytes_read = 0;
bhy_data_generic_t fifo_packet;
bhy_data_type_t packet_type;
BHY_RETURN_FUNCTION_TYPE result;
const gpio_cfg_t interrupt_pin = {PORT_0, PIN_13, GPIO_FUNC_IN, GPIO_PAD_PULL_UP};
GPIO_Config(&interrupt_pin);
if(bhy_driver_init(bhy1_fw)) {
printf("Failed to init bhy\n");
}
/* wait for the bhy trigger the interrupt pin go down and up again */
while (GPIO_InGet(&interrupt_pin));
while (!GPIO_InGet(&interrupt_pin));
#if 0
/* install the callback function for parse fifo data */
if(bhy_install_sensor_callback(VS_TYPE_ROTATION_VECTOR, VS_WAKEUP, sensors_callback_rotation_vector))
{
printf("Fail to install sensor callback\n");
}
#endif
//if(bhy_install_sensor_callback(VS_TYPE_GEOMAGNETIC_FIELD, VS_WAKEUP, sensors_callback_vector))
if(bhy_install_sensor_callback(VS_TYPE_GRAVITY, VS_WAKEUP, sensors_callback_vector))
{
printf("Fail to install sensor callback\n");
}
#if 0
/* enables the virtual sensor */
if(bhy_enable_virtual_sensor(VS_TYPE_ROTATION_VECTOR, VS_WAKEUP, ROTATION_VECTOR_SAMPLE_RATE, 0, VS_FLUSH_NONE, 0, 0))
{
printf("Fail to enable sensor id=%d\n", VS_TYPE_ROTATION_VECTOR);
}
#endif
/* enables the virtual sensor */
//if(bhy_enable_virtual_sensor(VS_TYPE_GEOMAGNETIC_FIELD, VS_WAKEUP, ROTATION_VECTOR_SAMPLE_RATE, 0, VS_FLUSH_NONE, 0, 0))
if(bhy_enable_virtual_sensor(VS_TYPE_GRAVITY, VS_WAKEUP, ROTATION_VECTOR_SAMPLE_RATE, 0, VS_FLUSH_NONE, 0, 0))
{
printf("Fail to enable sensor id=%d\n", VS_TYPE_GEOMAGNETIC_FIELD);
}
while(1)
{
/* wait until the interrupt fires */
/* unless we already know there are bytes remaining in the fifo */
while (!GPIO_InGet(&interrupt_pin) && !bytes_remaining);
bhy_read_fifo(fifo + bytes_left_in_fifo, FIFO_SIZE - bytes_left_in_fifo, &bytes_read, &bytes_remaining);
bytes_read += bytes_left_in_fifo;
fifoptr = fifo;
packet_type = BHY_DATA_TYPE_PADDING;
do
{
/* this function will call callbacks that are registered */
result = bhy_parse_next_fifo_packet(&fifoptr, &bytes_read, &fifo_packet, &packet_type);
/* prints all the debug packets */
if (packet_type == BHY_DATA_TYPE_DEBUG)
{
bhy_print_debug_packet(&fifo_packet.data_debug, bhy_printf);
}
/* the logic here is that if doing a partial parsing of the fifo, then we should not parse */
/* the last 18 bytes (max length of a packet) so that we don't try to parse an incomplete */
/* packet */
} while ((result == BHY_SUCCESS) && (bytes_read > (bytes_remaining ? MAX_PACKET_LENGTH : 0)));
bytes_left_in_fifo = 0;
if (bytes_remaining)
{
/* shifts the remaining bytes to the beginning of the buffer */
while (bytes_left_in_fifo < bytes_read)
{
fifo[bytes_left_in_fifo++] = *(fifoptr++);
}
}
}
}
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