"Sensors Reader" Sample Application for X-NUCLEO-IKS01A1 Expansion Board
Dependencies: X_NUCLEO_IKS01A2 mbed
Fork of Sensors_Reader by
main.cpp@33:7ba7fbf0503a, 2015-06-08 (annotated)
- Committer:
- Wolfgang Betz
- Date:
- Mon Jun 08 15:36:36 2015 +0200
- Revision:
- 33:7ba7fbf0503a
- Parent:
- 32:97bff5dadafd
- Child:
- 40:f567538352e1
Add LSM6DS3 component
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Wolfgang Betz |
0:3e4f610a0689 | 1 | /** |
Wolfgang Betz |
0:3e4f610a0689 | 2 | ****************************************************************************** |
Wolfgang Betz |
0:3e4f610a0689 | 3 | * @file main.cpp |
Wolfgang Betz |
0:3e4f610a0689 | 4 | * @author AST / EST |
Wolfgang Betz |
0:3e4f610a0689 | 5 | * @version V0.0.1 |
Wolfgang Betz |
0:3e4f610a0689 | 6 | * @date 14-April-2015 |
Wolfgang Betz |
0:3e4f610a0689 | 7 | * @brief Example application for using the X_NUCLEO_IKS01A1 |
Wolfgang Betz |
5:a1de9dcb0f41 | 8 | * MEMS Inertial & Environmental Sensor Nucleo expansion board. |
Wolfgang Betz |
0:3e4f610a0689 | 9 | ****************************************************************************** |
Wolfgang Betz |
0:3e4f610a0689 | 10 | * @attention |
Wolfgang Betz |
0:3e4f610a0689 | 11 | * |
Wolfgang Betz |
0:3e4f610a0689 | 12 | * <h2><center>© COPYRIGHT(c) 2015 STMicroelectronics</center></h2> |
Wolfgang Betz |
0:3e4f610a0689 | 13 | * |
Wolfgang Betz |
0:3e4f610a0689 | 14 | * Redistribution and use in source and binary forms, with or without modification, |
Wolfgang Betz |
0:3e4f610a0689 | 15 | * are permitted provided that the following conditions are met: |
Wolfgang Betz |
0:3e4f610a0689 | 16 | * 1. Redistributions of source code must retain the above copyright notice, |
Wolfgang Betz |
0:3e4f610a0689 | 17 | * this list of conditions and the following disclaimer. |
Wolfgang Betz |
0:3e4f610a0689 | 18 | * 2. Redistributions in binary form must reproduce the above copyright notice, |
Wolfgang Betz |
0:3e4f610a0689 | 19 | * this list of conditions and the following disclaimer in the documentation |
Wolfgang Betz |
0:3e4f610a0689 | 20 | * and/or other materials provided with the distribution. |
Wolfgang Betz |
0:3e4f610a0689 | 21 | * 3. Neither the name of STMicroelectronics nor the names of its contributors |
Wolfgang Betz |
0:3e4f610a0689 | 22 | * may be used to endorse or promote products derived from this software |
Wolfgang Betz |
0:3e4f610a0689 | 23 | * without specific prior written permission. |
Wolfgang Betz |
0:3e4f610a0689 | 24 | * |
Wolfgang Betz |
0:3e4f610a0689 | 25 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
Wolfgang Betz |
0:3e4f610a0689 | 26 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
Wolfgang Betz |
0:3e4f610a0689 | 27 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE |
Wolfgang Betz |
0:3e4f610a0689 | 28 | * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE |
Wolfgang Betz |
0:3e4f610a0689 | 29 | * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL |
Wolfgang Betz |
0:3e4f610a0689 | 30 | * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR |
Wolfgang Betz |
0:3e4f610a0689 | 31 | * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
Wolfgang Betz |
0:3e4f610a0689 | 32 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, |
Wolfgang Betz |
0:3e4f610a0689 | 33 | * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
Wolfgang Betz |
0:3e4f610a0689 | 34 | * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
Wolfgang Betz |
0:3e4f610a0689 | 35 | * |
Wolfgang Betz |
0:3e4f610a0689 | 36 | ****************************************************************************** |
Wolfgang Betz |
0:3e4f610a0689 | 37 | */ |
Wolfgang Betz |
0:3e4f610a0689 | 38 | |
Wolfgang Betz |
0:3e4f610a0689 | 39 | /** |
Wolfgang Betz |
5:a1de9dcb0f41 | 40 | * @mainpage X_NUCLEO_IKS01A1 MEMS Inertial & Environmental Sensor Nucleo Expansion Board Firmware Package |
Wolfgang Betz |
0:3e4f610a0689 | 41 | * |
Wolfgang Betz |
0:3e4f610a0689 | 42 | * <b>Introduction</b> |
Wolfgang Betz |
0:3e4f610a0689 | 43 | * |
Wolfgang Betz |
0:3e4f610a0689 | 44 | * This firmware package includes Components Device Drivers, Board Support Package |
Wolfgang Betz |
0:3e4f610a0689 | 45 | * and example application for STMicroelectronics X_NUCLEO_IKS01A1 MEMS Inertial & Environmental Nucleo |
Wolfgang Betz |
0:3e4f610a0689 | 46 | * Expansion Board |
Wolfgang Betz |
0:3e4f610a0689 | 47 | * |
Wolfgang Betz |
0:3e4f610a0689 | 48 | * <b>Example Application</b> |
Wolfgang Betz |
0:3e4f610a0689 | 49 | * |
Wolfgang Betz |
0:3e4f610a0689 | 50 | */ |
Wolfgang Betz |
0:3e4f610a0689 | 51 | |
Wolfgang Betz |
0:3e4f610a0689 | 52 | |
Wolfgang Betz |
0:3e4f610a0689 | 53 | /*** Includes ----------------------------------------------------------------- ***/ |
Wolfgang Betz |
0:3e4f610a0689 | 54 | #include "mbed.h" |
Wolfgang Betz |
33:7ba7fbf0503a | 55 | #include "assert.h" |
Wolfgang Betz |
0:3e4f610a0689 | 56 | #include "x_nucleo_iks01a1.h" |
Wolfgang Betz |
0:3e4f610a0689 | 57 | |
Wolfgang Betz |
0:3e4f610a0689 | 58 | #include <Ticker.h> |
Wolfgang Betz |
0:3e4f610a0689 | 59 | |
Wolfgang Betz |
0:3e4f610a0689 | 60 | |
Wolfgang Betz |
0:3e4f610a0689 | 61 | /*** Constants ---------------------------------------------------------------- ***/ |
Wolfgang Betz |
0:3e4f610a0689 | 62 | namespace { |
Wolfgang Betz |
0:3e4f610a0689 | 63 | const int MS_INTERVALS = 1000; |
Wolfgang Betz |
0:3e4f610a0689 | 64 | } |
Wolfgang Betz |
0:3e4f610a0689 | 65 | |
Wolfgang Betz |
0:3e4f610a0689 | 66 | |
Wolfgang Betz |
0:3e4f610a0689 | 67 | /*** Macros ------------------------------------------------------------------- ***/ |
Wolfgang Betz |
2:00f62b148a07 | 68 | #define APP_LOOP_PERIOD 1300 // in ms |
Wolfgang Betz |
0:3e4f610a0689 | 69 | |
Wolfgang Betz |
4:81037ace7f27 | 70 | #if defined(TARGET_STM) |
Wolfgang Betz |
4:81037ace7f27 | 71 | #define LED_OFF (0) |
Wolfgang Betz |
4:81037ace7f27 | 72 | #else |
Wolfgang Betz |
4:81037ace7f27 | 73 | #define LED_OFF (1) |
Wolfgang Betz |
4:81037ace7f27 | 74 | #endif |
Wolfgang Betz |
4:81037ace7f27 | 75 | #define LED_ON (!LED_OFF) |
Wolfgang Betz |
4:81037ace7f27 | 76 | |
Wolfgang Betz |
0:3e4f610a0689 | 77 | |
Wolfgang Betz |
1:9458657e49ee | 78 | /*** Typedefs ----------------------------------------------------------------- ***/ |
Wolfgang Betz |
1:9458657e49ee | 79 | typedef struct { |
Wolfgang Betz |
1:9458657e49ee | 80 | int32_t AXIS_X; |
Wolfgang Betz |
1:9458657e49ee | 81 | int32_t AXIS_Y; |
Wolfgang Betz |
1:9458657e49ee | 82 | int32_t AXIS_Z; |
Wolfgang Betz |
1:9458657e49ee | 83 | } AxesRaw_TypeDef; |
Wolfgang Betz |
1:9458657e49ee | 84 | |
Wolfgang Betz |
1:9458657e49ee | 85 | |
Wolfgang Betz |
0:3e4f610a0689 | 86 | /*** Static variables --------------------------------------------------------- ***/ |
Wolfgang Betz |
0:3e4f610a0689 | 87 | #ifdef DBG_MCU |
Wolfgang Betz |
0:3e4f610a0689 | 88 | /* betzw: enable debugging while using sleep modes */ |
Wolfgang Betz |
0:3e4f610a0689 | 89 | #include "DbgMCU.h" |
Wolfgang Betz |
0:3e4f610a0689 | 90 | static DbgMCU enable_dbg; |
Wolfgang Betz |
0:3e4f610a0689 | 91 | #endif // DBG_MCU |
Wolfgang Betz |
0:3e4f610a0689 | 92 | |
Wolfgang Betz |
1:9458657e49ee | 93 | static X_NUCLEO_IKS01A1 *mems_expansion_board = X_NUCLEO_IKS01A1::Instance(); |
Wolfgang Betz |
33:7ba7fbf0503a | 94 | static GyroSensor *gyroscope = mems_expansion_board->GetGyroscope(); |
Wolfgang Betz |
33:7ba7fbf0503a | 95 | static MotionSensor *accelerometer = mems_expansion_board->GetAccelerometer(); |
Wolfgang Betz |
32:97bff5dadafd | 96 | static MagneticSensor *magnetometer = mems_expansion_board->magnetometer; |
Wolfgang Betz |
32:97bff5dadafd | 97 | static HumiditySensor *humidity_sensor = mems_expansion_board->ht_sensor;; |
Wolfgang Betz |
32:97bff5dadafd | 98 | static PressureSensor *pressure_sensor = mems_expansion_board->pressure_sensor; |
Wolfgang Betz |
32:97bff5dadafd | 99 | static TempSensor *temp_sensor1 = mems_expansion_board->ht_sensor; |
Wolfgang Betz |
32:97bff5dadafd | 100 | static TempSensor *temp_sensor2 = mems_expansion_board->pressure_sensor; |
Wolfgang Betz |
18:645c96f209c7 | 101 | |
Wolfgang Betz |
0:3e4f610a0689 | 102 | static Ticker ticker; |
Wolfgang Betz |
0:3e4f610a0689 | 103 | static volatile bool timer_irq_triggered = false; |
Wolfgang Betz |
4:81037ace7f27 | 104 | static DigitalOut myled(LED1, LED_OFF); |
Wolfgang Betz |
4:81037ace7f27 | 105 | |
Wolfgang Betz |
0:3e4f610a0689 | 106 | |
Wolfgang Betz |
0:3e4f610a0689 | 107 | /*** Helper Functions (1/2) ------------------------------------------------------------ ***/ |
Wolfgang Betz |
0:3e4f610a0689 | 108 | |
Wolfgang Betz |
0:3e4f610a0689 | 109 | |
Wolfgang Betz |
0:3e4f610a0689 | 110 | /*** Interrupt Handler Top-Halves ------------------------------------------------------ ***/ |
Wolfgang Betz |
0:3e4f610a0689 | 111 | /* Called in interrupt context, therefore just set a trigger variable */ |
Wolfgang Betz |
0:3e4f610a0689 | 112 | static void timer_irq(void) { |
Wolfgang Betz |
0:3e4f610a0689 | 113 | timer_irq_triggered = true; |
Wolfgang Betz |
0:3e4f610a0689 | 114 | } |
Wolfgang Betz |
0:3e4f610a0689 | 115 | |
Wolfgang Betz |
0:3e4f610a0689 | 116 | |
Wolfgang Betz |
0:3e4f610a0689 | 117 | /*** Interrupt Handler Bottom-Halves ------------------------------------------------- ***/ |
Wolfgang Betz |
0:3e4f610a0689 | 118 | |
Wolfgang Betz |
0:3e4f610a0689 | 119 | |
Wolfgang Betz |
0:3e4f610a0689 | 120 | /*** Helper Functions (2/2) ------------------------------------------------------------ ***/ |
Wolfgang Betz |
2:00f62b148a07 | 121 | /* print floats & doubles */ |
Wolfgang Betz |
2:00f62b148a07 | 122 | static char *printDouble(char* str, double v, int decimalDigits=2) |
Wolfgang Betz |
2:00f62b148a07 | 123 | { |
Wolfgang Betz |
2:00f62b148a07 | 124 | int i = 1; |
Wolfgang Betz |
2:00f62b148a07 | 125 | int intPart, fractPart; |
Wolfgang Betz |
2:00f62b148a07 | 126 | |
Wolfgang Betz |
2:00f62b148a07 | 127 | for (;decimalDigits!=0; i*=10, decimalDigits--); |
Wolfgang Betz |
2:00f62b148a07 | 128 | intPart = (int)v; |
Wolfgang Betz |
2:00f62b148a07 | 129 | fractPart = (int)((v-(double)(int)v)*i); |
Wolfgang Betz |
2:00f62b148a07 | 130 | sprintf(str, "%i.%i", intPart, fractPart); |
Wolfgang Betz |
2:00f62b148a07 | 131 | |
Wolfgang Betz |
2:00f62b148a07 | 132 | return str; |
Wolfgang Betz |
2:00f62b148a07 | 133 | } |
Wolfgang Betz |
2:00f62b148a07 | 134 | |
Wolfgang Betz |
0:3e4f610a0689 | 135 | /* Initialization function */ |
Wolfgang Betz |
0:3e4f610a0689 | 136 | static void init(void) { |
Wolfgang Betz |
33:7ba7fbf0503a | 137 | uint8_t id1, id2; |
Wolfgang Betz |
1:9458657e49ee | 138 | |
Wolfgang Betz |
11:e20efb4e8a98 | 139 | /* Determine ID of Humidity & Temperature Sensor */ |
Wolfgang Betz |
33:7ba7fbf0503a | 140 | CALL_METH(humidity_sensor, ReadID, &id1, 0x0); |
Wolfgang Betz |
33:7ba7fbf0503a | 141 | CALL_METH(temp_sensor1, ReadID, &id2, 0x0); |
Wolfgang Betz |
33:7ba7fbf0503a | 142 | printf("Humidity | Temperature Sensor ID = %s (0x%x | 0x%x)\n", |
Wolfgang Betz |
33:7ba7fbf0503a | 143 | ((id1 == I_AM_HTS221) ? "HTS221 " : "UNKNOWN"), |
Wolfgang Betz |
33:7ba7fbf0503a | 144 | id1, id2 |
Wolfgang Betz |
33:7ba7fbf0503a | 145 | ); |
Wolfgang Betz |
33:7ba7fbf0503a | 146 | assert(id1 == id2); |
Wolfgang Betz |
33:7ba7fbf0503a | 147 | |
Wolfgang Betz |
33:7ba7fbf0503a | 148 | /* Determine ID of Gyro & Motion Sensor */ |
Wolfgang Betz |
33:7ba7fbf0503a | 149 | assert((mems_expansion_board->gyro_lsm6ds0 == NULL) || |
Wolfgang Betz |
33:7ba7fbf0503a | 150 | (mems_expansion_board->gyro_lsm6ds3 == NULL)); |
Wolfgang Betz |
33:7ba7fbf0503a | 151 | CALL_METH(gyroscope, ReadID, &id1, 0x0); |
Wolfgang Betz |
33:7ba7fbf0503a | 152 | CALL_METH(accelerometer, ReadID, &id2, 0x0); |
Wolfgang Betz |
33:7ba7fbf0503a | 153 | printf("Gyroscope | Motion Sensor ID = %s (0x%x | 0x%x)\n", |
Wolfgang Betz |
33:7ba7fbf0503a | 154 | ((id1 == I_AM_LSM6DS3_XG) ? "LSM6DS3" : |
Wolfgang Betz |
33:7ba7fbf0503a | 155 | ((id1 == I_AM_LSM6DS0_XG) ? "LSM6DS0" : "UNKNOWN")), |
Wolfgang Betz |
33:7ba7fbf0503a | 156 | id1, id2 |
Wolfgang Betz |
33:7ba7fbf0503a | 157 | ); |
Wolfgang Betz |
33:7ba7fbf0503a | 158 | assert(id1 == id2); |
Wolfgang Betz |
33:7ba7fbf0503a | 159 | |
Wolfgang Betz |
33:7ba7fbf0503a | 160 | wait(1.5); |
Wolfgang Betz |
1:9458657e49ee | 161 | } |
Wolfgang Betz |
1:9458657e49ee | 162 | |
Wolfgang Betz |
1:9458657e49ee | 163 | /* Main cycle function */ |
Wolfgang Betz |
1:9458657e49ee | 164 | static void main_cycle(void) { |
Wolfgang Betz |
1:9458657e49ee | 165 | float TEMPERATURE_Value; |
Wolfgang Betz |
1:9458657e49ee | 166 | float HUMIDITY_Value; |
Wolfgang Betz |
1:9458657e49ee | 167 | float PRESSURE_Value; |
Wolfgang Betz |
11:e20efb4e8a98 | 168 | float PRESSURE_Temp_Value; |
Wolfgang Betz |
1:9458657e49ee | 169 | AxesRaw_TypeDef MAG_Value; |
Wolfgang Betz |
1:9458657e49ee | 170 | AxesRaw_TypeDef ACC_Value; |
Wolfgang Betz |
1:9458657e49ee | 171 | AxesRaw_TypeDef GYR_Value; |
Wolfgang Betz |
2:00f62b148a07 | 172 | char buffer1[32]; |
Wolfgang Betz |
2:00f62b148a07 | 173 | char buffer2[32]; |
Wolfgang Betz |
2:00f62b148a07 | 174 | char buffer3[32]; |
Wolfgang Betz |
11:e20efb4e8a98 | 175 | char buffer4[32]; |
Wolfgang Betz |
2:00f62b148a07 | 176 | |
Wolfgang Betz |
1:9458657e49ee | 177 | /* Switch LED On */ |
Wolfgang Betz |
4:81037ace7f27 | 178 | myled = LED_ON; |
Wolfgang Betz |
2:00f62b148a07 | 179 | printf("===\n"); |
Wolfgang Betz |
1:9458657e49ee | 180 | |
Wolfgang Betz |
1:9458657e49ee | 181 | /* Determine Environmental Values */ |
Wolfgang Betz |
32:97bff5dadafd | 182 | CALL_METH(temp_sensor1, GetTemperature, &TEMPERATURE_Value, 0.0f); |
Wolfgang Betz |
32:97bff5dadafd | 183 | CALL_METH(humidity_sensor, GetHumidity, &HUMIDITY_Value, 0.0f); |
Wolfgang Betz |
32:97bff5dadafd | 184 | CALL_METH(pressure_sensor, GetPressure, &PRESSURE_Value, 0.0f); |
Wolfgang Betz |
32:97bff5dadafd | 185 | CALL_METH(temp_sensor2, GetFahrenheit, &PRESSURE_Temp_Value, 0.0f); |
Wolfgang Betz |
32:97bff5dadafd | 186 | CALL_METH(magnetometer, Get_M_Axes, (int32_t *)&MAG_Value, 0); |
Wolfgang Betz |
32:97bff5dadafd | 187 | CALL_METH(accelerometer, Get_X_Axes, (int32_t *)&ACC_Value, 0); |
Wolfgang Betz |
32:97bff5dadafd | 188 | CALL_METH(gyroscope, Get_G_Axes, (int32_t *)&GYR_Value, 0); |
Wolfgang Betz |
1:9458657e49ee | 189 | |
Wolfgang Betz |
1:9458657e49ee | 190 | /* Print Values Out */ |
Wolfgang Betz |
29:25c8f7d4515a | 191 | printf(" X Y Z\n"); |
Wolfgang Betz |
29:25c8f7d4515a | 192 | printf("MAG [mgauss]: %9ld %9ld %9ld\n", |
Wolfgang Betz |
29:25c8f7d4515a | 193 | MAG_Value.AXIS_X, MAG_Value.AXIS_Y, MAG_Value.AXIS_Z); |
Wolfgang Betz |
29:25c8f7d4515a | 194 | printf("ACC [mg]: %9ld %9ld %9ld\n", |
Wolfgang Betz |
29:25c8f7d4515a | 195 | ACC_Value.AXIS_X, ACC_Value.AXIS_Y, ACC_Value.AXIS_Z); |
Wolfgang Betz |
29:25c8f7d4515a | 196 | printf("GYR [mdps]: %9ld %9ld %9ld\n", |
Wolfgang Betz |
29:25c8f7d4515a | 197 | GYR_Value.AXIS_X, GYR_Value.AXIS_Y, GYR_Value.AXIS_Z); |
Wolfgang Betz |
29:25c8f7d4515a | 198 | printf("---\nTEMP | HUMIDITY: %s°C | %s%%\nTEMP | PRESSURE: %s°F | %smbar\n", |
Wolfgang Betz |
2:00f62b148a07 | 199 | printDouble(buffer1, TEMPERATURE_Value), |
Wolfgang Betz |
2:00f62b148a07 | 200 | printDouble(buffer2, HUMIDITY_Value), |
Wolfgang Betz |
29:25c8f7d4515a | 201 | printDouble(buffer4, PRESSURE_Temp_Value), |
Wolfgang Betz |
29:25c8f7d4515a | 202 | printDouble(buffer3, PRESSURE_Value)); |
Wolfgang Betz |
1:9458657e49ee | 203 | |
Wolfgang Betz |
1:9458657e49ee | 204 | /* Switch LED Off */ |
Wolfgang Betz |
4:81037ace7f27 | 205 | myled = LED_OFF; |
Wolfgang Betz |
0:3e4f610a0689 | 206 | } |
Wolfgang Betz |
0:3e4f610a0689 | 207 | |
Wolfgang Betz |
0:3e4f610a0689 | 208 | |
Wolfgang Betz |
0:3e4f610a0689 | 209 | /*** Main function ------------------------------------------------------------- ***/ |
Wolfgang Betz |
0:3e4f610a0689 | 210 | /* Generic main function/loop for enabling WFI in case of |
Wolfgang Betz |
0:3e4f610a0689 | 211 | interrupt based cyclic execution |
Wolfgang Betz |
0:3e4f610a0689 | 212 | */ |
Wolfgang Betz |
0:3e4f610a0689 | 213 | int main() |
Wolfgang Betz |
0:3e4f610a0689 | 214 | { |
Wolfgang Betz |
0:3e4f610a0689 | 215 | /* Start & initialize */ |
Wolfgang Betz |
0:3e4f610a0689 | 216 | printf("\n--- Starting new run ---\n"); |
Wolfgang Betz |
0:3e4f610a0689 | 217 | init(); |
Wolfgang Betz |
0:3e4f610a0689 | 218 | |
Wolfgang Betz |
0:3e4f610a0689 | 219 | /* Start timer irq */ |
Wolfgang Betz |
0:3e4f610a0689 | 220 | ticker.attach_us(timer_irq, MS_INTERVALS * APP_LOOP_PERIOD); |
Wolfgang Betz |
0:3e4f610a0689 | 221 | |
Wolfgang Betz |
0:3e4f610a0689 | 222 | while (true) { |
Wolfgang Betz |
0:3e4f610a0689 | 223 | __disable_irq(); |
Wolfgang Betz |
0:3e4f610a0689 | 224 | if(timer_irq_triggered) { |
Wolfgang Betz |
0:3e4f610a0689 | 225 | timer_irq_triggered = false; |
Wolfgang Betz |
0:3e4f610a0689 | 226 | __enable_irq(); |
Wolfgang Betz |
1:9458657e49ee | 227 | main_cycle(); |
Wolfgang Betz |
0:3e4f610a0689 | 228 | } else { |
Wolfgang Betz |
0:3e4f610a0689 | 229 | __WFI(); |
Wolfgang Betz |
0:3e4f610a0689 | 230 | __enable_irq(); /* do NOT enable irqs before WFI to avoid |
Wolfgang Betz |
0:3e4f610a0689 | 231 | opening a window in which you can loose |
Wolfgang Betz |
0:3e4f610a0689 | 232 | irq arrivals before going into WFI */ |
Wolfgang Betz |
0:3e4f610a0689 | 233 | } |
Wolfgang Betz |
0:3e4f610a0689 | 234 | } |
Wolfgang Betz |
0:3e4f610a0689 | 235 | } |