PNI / Mbed 2 deprecated SENtral_SimpleSerialHostInterface

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Dependencies:   mbed SDFileSystemVSG

em7186.cpp@6:4ba3f9a8191f, 2016-10-25 (annotated)

Committer:
JoeMiller
Date:
Tue Oct 25 23:09:42 2016 +0000
Revision:
6:4ba3f9a8191f
Parent:
3:69239f60d620
Child:
9:fd5bf0a4c774
Corrected the Mag Dynamic Range Constant from 2000uT to 1000uT; This fixes the incorrect scale of the displayed mag value.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
JoeMiller 0:02c0c2cbc3df 1 /**
JoeMiller 0:02c0c2cbc3df 2 * @file em7186.c
JoeMiller 0:02c0c2cbc3df 3 *
JoeMiller 0:02c0c2cbc3df 4 * @brief Sample interface for the em7186.
JoeMiller 0:02c0c2cbc3df 5 *
JoeMiller 0:02c0c2cbc3df 6 * @authors David Vincent, Joe Miller
JoeMiller 0:02c0c2cbc3df 7 * @date 05/12/2016
JoeMiller 0:02c0c2cbc3df 8 * @copyright (C) 2015, 2016 PNI Corp
JoeMiller 0:02c0c2cbc3df 9 *
JoeMiller 0:02c0c2cbc3df 10 * @copyright Disclosure to third parties or reproduction in any form
JoeMiller 0:02c0c2cbc3df 11 * whatsoever, without prior written consent, is strictly forbidden
JoeMiller 0:02c0c2cbc3df 12 *
JoeMiller 0:02c0c2cbc3df 13 */
JoeMiller 0:02c0c2cbc3df 14 #include "em7186.h"
JoeMiller 0:02c0c2cbc3df 15
JoeMiller 0:02c0c2cbc3df 16
JoeMiller 0:02c0c2cbc3df 17 float em7186_sensor_scale[128];
JoeMiller 0:02c0c2cbc3df 18 u32 timestampNonWake;
JoeMiller 0:02c0c2cbc3df 19 u32 timestampWake;
JoeMiller 0:02c0c2cbc3df 20 u8 printData = 1; // a switch to enable/disable display data (vs logData)
JoeMiller 0:02c0c2cbc3df 21 u8 logData = 0; // a switch to enable/disable log data to SD Card
JoeMiller 0:02c0c2cbc3df 22 u8 sensorEnabled[64];
JoeMiller 0:02c0c2cbc3df 23 u8 haveSensorInfo = 0;
JoeMiller 0:02c0c2cbc3df 24 u16 magMaxRate = 0;
JoeMiller 0:02c0c2cbc3df 25 u16 accelMaxRate = 0;
JoeMiller 0:02c0c2cbc3df 26 u16 gyroMaxRate = 0;
JoeMiller 0:02c0c2cbc3df 27 u32 timestamp;
JoeMiller 0:02c0c2cbc3df 28 u16 timestampPtr[2];
JoeMiller 0:02c0c2cbc3df 29
JoeMiller 0:02c0c2cbc3df 30 SensorDescriptor sensorInformation[128];
JoeMiller 0:02c0c2cbc3df 31 SensorConfiguration sensorConfiguration[127];
JoeMiller 0:02c0c2cbc3df 32
JoeMiller 0:02c0c2cbc3df 33
JoeMiller 0:02c0c2cbc3df 34 ParamInfo sensorInfoParamList[128] =
JoeMiller 0:02c0c2cbc3df 35 {
JoeMiller 0:02c0c2cbc3df 36 { 0, 16 },
JoeMiller 0:02c0c2cbc3df 37 { 1, 16 },
JoeMiller 0:02c0c2cbc3df 38 { 2, 16 },
JoeMiller 0:02c0c2cbc3df 39 { 3, 16 },
JoeMiller 0:02c0c2cbc3df 40 { 4, 16 },
JoeMiller 0:02c0c2cbc3df 41 { 5, 16 },
JoeMiller 0:02c0c2cbc3df 42 { 6, 16 },
JoeMiller 0:02c0c2cbc3df 43 { 7, 16 },
JoeMiller 0:02c0c2cbc3df 44 { 8, 16 },
JoeMiller 0:02c0c2cbc3df 45 { 9, 16 },
JoeMiller 0:02c0c2cbc3df 46 { 10, 16 },
JoeMiller 0:02c0c2cbc3df 47 { 11, 16 },
JoeMiller 0:02c0c2cbc3df 48 { 12, 16 },
JoeMiller 0:02c0c2cbc3df 49 { 13, 16 },
JoeMiller 0:02c0c2cbc3df 50 { 14, 16 },
JoeMiller 0:02c0c2cbc3df 51 { 15, 16 },
JoeMiller 0:02c0c2cbc3df 52 { 16, 16 },
JoeMiller 0:02c0c2cbc3df 53 { 17, 16 },
JoeMiller 0:02c0c2cbc3df 54 { 18, 16 },
JoeMiller 0:02c0c2cbc3df 55 { 19, 16 },
JoeMiller 0:02c0c2cbc3df 56 { 20, 16 },
JoeMiller 0:02c0c2cbc3df 57 { 21, 16 },
JoeMiller 0:02c0c2cbc3df 58 { 22, 16 },
JoeMiller 0:02c0c2cbc3df 59 { 23, 16 },
JoeMiller 0:02c0c2cbc3df 60 { 24, 16 },
JoeMiller 0:02c0c2cbc3df 61 { 25, 16 },
JoeMiller 0:02c0c2cbc3df 62 { 26, 16 },
JoeMiller 0:02c0c2cbc3df 63 { 27, 16 },
JoeMiller 0:02c0c2cbc3df 64 { 28, 16 },
JoeMiller 0:02c0c2cbc3df 65 { 29, 16 },
JoeMiller 0:02c0c2cbc3df 66 { 30, 16 },
JoeMiller 0:02c0c2cbc3df 67 { 31, 16 },
JoeMiller 0:02c0c2cbc3df 68 { 32, 16 },
JoeMiller 0:02c0c2cbc3df 69 { 33, 16 },
JoeMiller 0:02c0c2cbc3df 70 { 34, 16 },
JoeMiller 0:02c0c2cbc3df 71 { 35, 16 },
JoeMiller 0:02c0c2cbc3df 72 { 36, 16 },
JoeMiller 0:02c0c2cbc3df 73 { 37, 16 },
JoeMiller 0:02c0c2cbc3df 74 { 38, 16 },
JoeMiller 0:02c0c2cbc3df 75 { 39, 16 },
JoeMiller 0:02c0c2cbc3df 76 { 40, 16 },
JoeMiller 0:02c0c2cbc3df 77 { 41, 16 },
JoeMiller 0:02c0c2cbc3df 78 { 42, 16 },
JoeMiller 0:02c0c2cbc3df 79 { 43, 16 },
JoeMiller 0:02c0c2cbc3df 80 { 44, 16 },
JoeMiller 0:02c0c2cbc3df 81 { 45, 16 },
JoeMiller 0:02c0c2cbc3df 82 { 46, 16 },
JoeMiller 0:02c0c2cbc3df 83 { 47, 16 },
JoeMiller 0:02c0c2cbc3df 84 { 48, 16 },
JoeMiller 0:02c0c2cbc3df 85 { 49, 16 },
JoeMiller 0:02c0c2cbc3df 86 { 50, 16 },
JoeMiller 0:02c0c2cbc3df 87 { 51, 16 },
JoeMiller 0:02c0c2cbc3df 88 { 52, 16 },
JoeMiller 0:02c0c2cbc3df 89 { 53, 16 },
JoeMiller 0:02c0c2cbc3df 90 { 54, 16 },
JoeMiller 0:02c0c2cbc3df 91 { 55, 16 },
JoeMiller 0:02c0c2cbc3df 92 { 56, 16 },
JoeMiller 0:02c0c2cbc3df 93 { 57, 16 },
JoeMiller 0:02c0c2cbc3df 94 { 58, 16 },
JoeMiller 0:02c0c2cbc3df 95 { 59, 16 },
JoeMiller 0:02c0c2cbc3df 96 { 60, 16 },
JoeMiller 0:02c0c2cbc3df 97 { 61, 16 },
JoeMiller 0:02c0c2cbc3df 98 { 62, 16 },
JoeMiller 0:02c0c2cbc3df 99 { 63, 16 },
JoeMiller 0:02c0c2cbc3df 100 { 64, 16 },
JoeMiller 0:02c0c2cbc3df 101 { 65, 16 },
JoeMiller 0:02c0c2cbc3df 102 { 66, 16 },
JoeMiller 0:02c0c2cbc3df 103 { 67, 16 },
JoeMiller 0:02c0c2cbc3df 104 { 68, 16 },
JoeMiller 0:02c0c2cbc3df 105 { 69, 16 },
JoeMiller 0:02c0c2cbc3df 106 { 70, 16 },
JoeMiller 0:02c0c2cbc3df 107 { 71, 16 },
JoeMiller 0:02c0c2cbc3df 108 { 72, 16 },
JoeMiller 0:02c0c2cbc3df 109 { 73, 16 },
JoeMiller 0:02c0c2cbc3df 110 { 74, 16 },
JoeMiller 0:02c0c2cbc3df 111 { 75, 16 },
JoeMiller 0:02c0c2cbc3df 112 { 76, 16 },
JoeMiller 0:02c0c2cbc3df 113 { 77, 16 },
JoeMiller 0:02c0c2cbc3df 114 { 78, 16 },
JoeMiller 0:02c0c2cbc3df 115 { 79, 16 },
JoeMiller 0:02c0c2cbc3df 116 { 80, 16 },
JoeMiller 0:02c0c2cbc3df 117 { 81, 16 },
JoeMiller 0:02c0c2cbc3df 118 { 82, 16 },
JoeMiller 0:02c0c2cbc3df 119 { 83, 16 },
JoeMiller 0:02c0c2cbc3df 120 { 84, 16 },
JoeMiller 0:02c0c2cbc3df 121 { 85, 16 },
JoeMiller 0:02c0c2cbc3df 122 { 86, 16 },
JoeMiller 0:02c0c2cbc3df 123 { 87, 16 },
JoeMiller 0:02c0c2cbc3df 124 { 88, 16 },
JoeMiller 0:02c0c2cbc3df 125 { 89, 16 },
JoeMiller 0:02c0c2cbc3df 126 { 90, 16 },
JoeMiller 0:02c0c2cbc3df 127 { 91, 16 },
JoeMiller 0:02c0c2cbc3df 128 { 92, 16 },
JoeMiller 0:02c0c2cbc3df 129 { 93, 16 },
JoeMiller 0:02c0c2cbc3df 130 { 94, 16 },
JoeMiller 0:02c0c2cbc3df 131 { 95, 16 },
JoeMiller 0:02c0c2cbc3df 132 { 96, 16 },
JoeMiller 0:02c0c2cbc3df 133 { 97, 16 },
JoeMiller 0:02c0c2cbc3df 134 { 98, 16 },
JoeMiller 0:02c0c2cbc3df 135 { 99, 16 },
JoeMiller 0:02c0c2cbc3df 136 { 100, 16 },
JoeMiller 0:02c0c2cbc3df 137 { 101, 16 },
JoeMiller 0:02c0c2cbc3df 138 { 102, 16 },
JoeMiller 0:02c0c2cbc3df 139 { 103, 16 },
JoeMiller 0:02c0c2cbc3df 140 { 104, 16 },
JoeMiller 0:02c0c2cbc3df 141 { 105, 16 },
JoeMiller 0:02c0c2cbc3df 142 { 106, 16 },
JoeMiller 0:02c0c2cbc3df 143 { 107, 16 },
JoeMiller 0:02c0c2cbc3df 144 { 108, 16 },
JoeMiller 0:02c0c2cbc3df 145 { 109, 16 },
JoeMiller 0:02c0c2cbc3df 146 { 110, 16 },
JoeMiller 0:02c0c2cbc3df 147 { 111, 16 },
JoeMiller 0:02c0c2cbc3df 148 { 112, 16 },
JoeMiller 0:02c0c2cbc3df 149 { 113, 16 },
JoeMiller 0:02c0c2cbc3df 150 { 114, 16 },
JoeMiller 0:02c0c2cbc3df 151 { 115, 16 },
JoeMiller 0:02c0c2cbc3df 152 { 116, 16 },
JoeMiller 0:02c0c2cbc3df 153 { 117, 16 },
JoeMiller 0:02c0c2cbc3df 154 { 118, 16 },
JoeMiller 0:02c0c2cbc3df 155 { 119, 16 },
JoeMiller 0:02c0c2cbc3df 156 { 120, 16 },
JoeMiller 0:02c0c2cbc3df 157 { 121, 16 },
JoeMiller 0:02c0c2cbc3df 158 { 122, 16 },
JoeMiller 0:02c0c2cbc3df 159 { 123, 16 },
JoeMiller 0:02c0c2cbc3df 160 { 124, 16 },
JoeMiller 0:02c0c2cbc3df 161 { 125, 16 },
JoeMiller 0:02c0c2cbc3df 162 { 126, 16 },
JoeMiller 0:02c0c2cbc3df 163 { 127, 16 },
JoeMiller 0:02c0c2cbc3df 164 };
JoeMiller 0:02c0c2cbc3df 165
JoeMiller 0:02c0c2cbc3df 166
JoeMiller 0:02c0c2cbc3df 167 u32 em7186_i2c_init()
JoeMiller 0:02c0c2cbc3df 168 {
JoeMiller 0:02c0c2cbc3df 169 u8 buffer[1];
JoeMiller 0:02c0c2cbc3df 170 em7186_i2c_read(PRODUCT_ID_REG, buffer, 1);
JoeMiller 0:02c0c2cbc3df 171
JoeMiller 0:02c0c2cbc3df 172 switch(buffer[0])
JoeMiller 0:02c0c2cbc3df 173 {
JoeMiller 0:02c0c2cbc3df 174 case PRODUCT_ID_7180:
JoeMiller 0:02c0c2cbc3df 175 printf("SENtral found\n\r");
JoeMiller 0:02c0c2cbc3df 176 break;
JoeMiller 0:02c0c2cbc3df 177 case PRODUCT_ID_7184:
JoeMiller 0:02c0c2cbc3df 178 printf("SENtral-A found\n\r");
JoeMiller 0:02c0c2cbc3df 179 break;
JoeMiller 0:02c0c2cbc3df 180 case PRODUCT_ID_7186:
JoeMiller 0:02c0c2cbc3df 181 printf("SENtral-A2 found\n\r");
JoeMiller 0:02c0c2cbc3df 182 break;
JoeMiller 0:02c0c2cbc3df 183 default:
JoeMiller 0:02c0c2cbc3df 184 printf("SENtral NOT FOUND, ID returned = %u\n\r",buffer[0]);
JoeMiller 0:02c0c2cbc3df 185 return 0;
JoeMiller 0:02c0c2cbc3df 186
JoeMiller 0:02c0c2cbc3df 187 }
JoeMiller 0:02c0c2cbc3df 188 return 1;
JoeMiller 0:02c0c2cbc3df 189 }
JoeMiller 0:02c0c2cbc3df 190
JoeMiller 0:02c0c2cbc3df 191 void firmwareTransfer(char srcDestCode)
JoeMiller 0:02c0c2cbc3df 192 {
JoeMiller 0:02c0c2cbc3df 193 switch (srcDestCode) {
JoeMiller 0:02c0c2cbc3df 194 // case 'r':
JoeMiller 0:02c0c2cbc3df 195 // if (displayText) printf("begin Upload of firmware to SENtral RAM\n\r");
JoeMiller 0:02c0c2cbc3df 196 // SENtral_InterruptPin.disable_irq();
JoeMiller 0:02c0c2cbc3df 197 // if (!) {
JoeMiller 0:02c0c2cbc3df 198 // if (displayText) printf("Error uploading SENtral firmware to RAM\n\r");
JoeMiller 0:02c0c2cbc3df 199 // }
JoeMiller 0:02c0c2cbc3df 200 // SENtral_InterruptPin.enable_irq();
JoeMiller 0:02c0c2cbc3df 201 // break;
JoeMiller 0:02c0c2cbc3df 202 //
JoeMiller 0:02c0c2cbc3df 203 // case 'e':
JoeMiller 0:02c0c2cbc3df 204 // if (displayText) printf("begin Upload of firmware to PNI Module EEPROM\n\r");
JoeMiller 0:02c0c2cbc3df 205 // SENtral_InterruptPin.disable_irq();
JoeMiller 0:02c0c2cbc3df 206 // if (!) {
JoeMiller 0:02c0c2cbc3df 207 // if (displayText) printf("Error uploading SENtral firmware to EEPROM\n\r");
JoeMiller 0:02c0c2cbc3df 208 // }
JoeMiller 0:02c0c2cbc3df 209 // SENtral_InterruptPin.enable_irq();
JoeMiller 0:02c0c2cbc3df 210 // break;
JoeMiller 0:02c0c2cbc3df 211 //
JoeMiller 0:02c0c2cbc3df 212 // case 's':
JoeMiller 0:02c0c2cbc3df 213 // if (displayText) printf("begin Upload of firmware to SDCard\n\r");
JoeMiller 0:02c0c2cbc3df 214 // SENtral_InterruptPin.disable_irq();
JoeMiller 0:02c0c2cbc3df 215 // if (!) {
JoeMiller 0:02c0c2cbc3df 216 // if (displayText) printf("Error uploading SENtral firmware to SDCard\n\r");
JoeMiller 0:02c0c2cbc3df 217 // }
JoeMiller 0:02c0c2cbc3df 218 // SENtral_InterruptPin.enable_irq();
JoeMiller 0:02c0c2cbc3df 219 // break;
JoeMiller 0:02c0c2cbc3df 220
JoeMiller 0:02c0c2cbc3df 221 case 'R':
JoeMiller 0:02c0c2cbc3df 222 if (displayText) printf("Transfering firmware from SDCard to SENtral RAM\n\r");
JoeMiller 0:02c0c2cbc3df 223 SENtral_InterruptPin.disable_irq();
JoeMiller 0:02c0c2cbc3df 224 if (!em7186_firmware_Transfer2RAM(fw)) {
JoeMiller 0:02c0c2cbc3df 225 if (displayText) printf("Error transfering SENtral firmware to RAM\n\r");
JoeMiller 0:02c0c2cbc3df 226 break;
JoeMiller 0:02c0c2cbc3df 227 }
JoeMiller 0:02c0c2cbc3df 228 // Enable CPU
JoeMiller 0:02c0c2cbc3df 229 em7186_i2c_write_value(CHIP_CONTROL_REG, CHIP_CONTROL_CPU_RUN);
JoeMiller 0:02c0c2cbc3df 230 em7186_set_scale_factors();
JoeMiller 0:02c0c2cbc3df 231 SENtral_InterruptPin.enable_irq();
JoeMiller 0:02c0c2cbc3df 232 break;
JoeMiller 0:02c0c2cbc3df 233
JoeMiller 0:02c0c2cbc3df 234 case 'E':
JoeMiller 0:02c0c2cbc3df 235 if (displayText) printf("Transfering firmware from SDCard to PNI Module EEPROM\n\r");
JoeMiller 0:02c0c2cbc3df 236 SENtral_InterruptPin.disable_irq();
JoeMiller 0:02c0c2cbc3df 237 if (!em7186_firmware_Transfer2EE(fw)) {
JoeMiller 0:02c0c2cbc3df 238 if (displayText) printf("Error transfering SENtral firmware to EEPROM\n\r");
JoeMiller 0:02c0c2cbc3df 239 }
JoeMiller 0:02c0c2cbc3df 240 break;
JoeMiller 0:02c0c2cbc3df 241
JoeMiller 0:02c0c2cbc3df 242 default:
JoeMiller 0:02c0c2cbc3df 243 serialCommandMode = 0;
JoeMiller 0:02c0c2cbc3df 244
JoeMiller 0:02c0c2cbc3df 245 }
JoeMiller 0:02c0c2cbc3df 246
JoeMiller 0:02c0c2cbc3df 247
JoeMiller 0:02c0c2cbc3df 248 }
JoeMiller 0:02c0c2cbc3df 249
JoeMiller 0:02c0c2cbc3df 250
JoeMiller 0:02c0c2cbc3df 251
JoeMiller 0:02c0c2cbc3df 252
JoeMiller 0:02c0c2cbc3df 253 u32 em7186_i2c_write_value(u8 registerAddress, u8 value)
JoeMiller 0:02c0c2cbc3df 254 {
JoeMiller 0:02c0c2cbc3df 255 u32 status = em7186_i2c_write(registerAddress, &value, 1);
JoeMiller 0:02c0c2cbc3df 256 return status;
JoeMiller 0:02c0c2cbc3df 257 }
JoeMiller 0:02c0c2cbc3df 258
JoeMiller 0:02c0c2cbc3df 259
JoeMiller 0:02c0c2cbc3df 260 //=========================================================================
JoeMiller 0:02c0c2cbc3df 261 // Helper functions
JoeMiller 0:02c0c2cbc3df 262 //=========================================================================
JoeMiller 0:02c0c2cbc3df 263 u8 get_3_axis_sensor_data(SensorData3Axis *data, float scale, u8* buffer)
JoeMiller 0:02c0c2cbc3df 264 {
JoeMiller 0:02c0c2cbc3df 265 SensorData3AxisRaw rawData;
JoeMiller 0:02c0c2cbc3df 266 memcpy(&rawData, &buffer[1], sizeof(rawData));
JoeMiller 0:02c0c2cbc3df 267 data->x = (float)rawData.x * scale;
JoeMiller 0:02c0c2cbc3df 268 data->y = (float)rawData.y * scale;
JoeMiller 0:02c0c2cbc3df 269 data->z = (float)rawData.z * scale;
JoeMiller 0:02c0c2cbc3df 270 data->extra = rawData.status;
JoeMiller 0:02c0c2cbc3df 271
JoeMiller 0:02c0c2cbc3df 272 return 1;
JoeMiller 0:02c0c2cbc3df 273 }
JoeMiller 0:02c0c2cbc3df 274 u8 get_3_axis_uncal_sensor_data(SensorData6Axis *data, float scale, u8* buffer)
JoeMiller 0:02c0c2cbc3df 275 {
JoeMiller 0:02c0c2cbc3df 276 SensorData3AxisUncalRaw rawData;
JoeMiller 0:02c0c2cbc3df 277 memcpy(&rawData, &buffer[1], sizeof(rawData));
JoeMiller 0:02c0c2cbc3df 278 data->x = (float)rawData.x * scale;
JoeMiller 0:02c0c2cbc3df 279 data->y = (float)rawData.y * scale;
JoeMiller 0:02c0c2cbc3df 280 data->z = (float)rawData.z * scale;
JoeMiller 0:02c0c2cbc3df 281 data->x_bias = (float)rawData.x_bias * scale;
JoeMiller 0:02c0c2cbc3df 282 data->y_bias = (float)rawData.y_bias * scale;
JoeMiller 0:02c0c2cbc3df 283 data->z_bias = (float)rawData.z_bias * scale;
JoeMiller 0:02c0c2cbc3df 284 data->extra = rawData.status;
JoeMiller 0:02c0c2cbc3df 285
JoeMiller 0:02c0c2cbc3df 286 return 1;
JoeMiller 0:02c0c2cbc3df 287 }
JoeMiller 0:02c0c2cbc3df 288 u8 get_rotation_vector(SensorData4Axis *rv, float quaternionScale, u8* buffer)
JoeMiller 0:02c0c2cbc3df 289 {
JoeMiller 0:02c0c2cbc3df 290 RotationVectorRaw rawData;
JoeMiller 0:02c0c2cbc3df 291 memcpy(&rawData, &buffer[1], sizeof(rawData));
JoeMiller 0:02c0c2cbc3df 292 rv->x = (float)rawData.x * quaternionScale;
JoeMiller 0:02c0c2cbc3df 293 rv->y = (float)rawData.y * quaternionScale;
JoeMiller 0:02c0c2cbc3df 294 rv->z = (float)rawData.z * quaternionScale;
JoeMiller 0:02c0c2cbc3df 295 rv->w = (float)rawData.w * quaternionScale;
JoeMiller 0:02c0c2cbc3df 296 rv->extra = (float)rawData.accuracy * ((float)M_PI / powf(2.0f, 14.0f));
JoeMiller 0:02c0c2cbc3df 297
JoeMiller 0:02c0c2cbc3df 298 return 1;
JoeMiller 0:02c0c2cbc3df 299 }
JoeMiller 0:02c0c2cbc3df 300
JoeMiller 0:02c0c2cbc3df 301 //=========================================================================
JoeMiller 0:02c0c2cbc3df 302 // Core functions
JoeMiller 0:02c0c2cbc3df 303 //=========================================================================
JoeMiller 0:02c0c2cbc3df 304 u32 em7186_firmware_Transfer2RAM(const u8 *firmwareName)
JoeMiller 0:02c0c2cbc3df 305 {
JoeMiller 0:02c0c2cbc3df 306
JoeMiller 0:02c0c2cbc3df 307 // reset Sentral
JoeMiller 0:02c0c2cbc3df 308 em7186_i2c_write_value(RESET_REQ_REG, 1);
JoeMiller 0:02c0c2cbc3df 309 em7186_i2c_write_value(CHIP_CONTROL_REG, CHIP_CONTROL_HOST_UPLOAD);
JoeMiller 0:02c0c2cbc3df 310
JoeMiller 0:02c0c2cbc3df 311 ///////////////////////////////////////////////////////////////////////////
JoeMiller 0:02c0c2cbc3df 312 // Load firmware from file
JoeMiller 0:02c0c2cbc3df 313 ///////////////////////////////////////////////////////////////////////////
JoeMiller 0:02c0c2cbc3df 314 // Open firmware file
JoeMiller 0:02c0c2cbc3df 315 FILE *fw_h = fopen(firmwareName, "rb");
JoeMiller 0:02c0c2cbc3df 316 if (!fw_h)
JoeMiller 0:02c0c2cbc3df 317 {
JoeMiller 0:02c0c2cbc3df 318 if (displayText) printf("ERROR: Unable to open file\n\r");
JoeMiller 0:02c0c2cbc3df 319 return 0;
JoeMiller 0:02c0c2cbc3df 320 }
JoeMiller 0:02c0c2cbc3df 321
JoeMiller 0:02c0c2cbc3df 322 if (displayText) printf("Firmware file found\n\r");
JoeMiller 0:02c0c2cbc3df 323
JoeMiller 0:02c0c2cbc3df 324 // Read the firmware header
JoeMiller 0:02c0c2cbc3df 325 struct fwHeader
JoeMiller 0:02c0c2cbc3df 326 {
JoeMiller 0:02c0c2cbc3df 327 u8 imageSignatureLsb;
JoeMiller 0:02c0c2cbc3df 328 u8 imageSignatureMsb;
JoeMiller 0:02c0c2cbc3df 329 u16 flags;
JoeMiller 0:02c0c2cbc3df 330 u32 crc;
JoeMiller 0:02c0c2cbc3df 331 u32 reserved;
JoeMiller 0:02c0c2cbc3df 332 u16 imageLength;
JoeMiller 0:02c0c2cbc3df 333 u16 reserved2;
JoeMiller 0:02c0c2cbc3df 334 } fwHeader;
JoeMiller 0:02c0c2cbc3df 335 int hsize = fread(&fwHeader, 1, FIRMWARE_HEADER_SIZE, fw_h);
JoeMiller 0:02c0c2cbc3df 336 if ( hsize != FIRMWARE_HEADER_SIZE)
JoeMiller 0:02c0c2cbc3df 337 {
JoeMiller 0:02c0c2cbc3df 338 if (displayText) printf("ERROR: File smaller than expected header size %d\n\r", hsize);
JoeMiller 0:02c0c2cbc3df 339 fclose(fw_h);
JoeMiller 0:02c0c2cbc3df 340 return 0;
JoeMiller 0:02c0c2cbc3df 341 }
JoeMiller 0:02c0c2cbc3df 342
JoeMiller 0:02c0c2cbc3df 343 // Validate firmware
JoeMiller 0:02c0c2cbc3df 344 if (fwHeader.imageSignatureLsb != IMAGE_SIGNATURE_LSB || fwHeader.imageSignatureMsb != IMAGE_SIGNATURE_MSG)
JoeMiller 0:02c0c2cbc3df 345 {
JoeMiller 0:02c0c2cbc3df 346 if (displayText) printf("ERROR: Firmware version doesn't match\n\r");
JoeMiller 0:02c0c2cbc3df 347 fclose(fw_h);
JoeMiller 0:02c0c2cbc3df 348 return 0;
JoeMiller 0:02c0c2cbc3df 349 }
JoeMiller 0:02c0c2cbc3df 350
JoeMiller 0:02c0c2cbc3df 351 // TODO: ensure that firmware version matches rom version
JoeMiller 0:02c0c2cbc3df 352
JoeMiller 0:02c0c2cbc3df 353 // Read the firmware image
JoeMiller 0:02c0c2cbc3df 354 u8 *fw = (u8 *)malloc(fwHeader.imageLength);
JoeMiller 0:02c0c2cbc3df 355 u32 firmwareSize = fread(fw, 1, fwHeader.imageLength, fw_h);
JoeMiller 0:02c0c2cbc3df 356 fclose(fw_h);
JoeMiller 0:02c0c2cbc3df 357 if (firmwareSize != fwHeader.imageLength || firmwareSize % 4)
JoeMiller 0:02c0c2cbc3df 358 {
JoeMiller 0:02c0c2cbc3df 359 if (displayText) printf("ERROR: Firmware size must break on 4 byte boundary\n\r");
JoeMiller 0:02c0c2cbc3df 360 free(fw);
JoeMiller 0:02c0c2cbc3df 361 return 0;
JoeMiller 0:02c0c2cbc3df 362 }
JoeMiller 0:02c0c2cbc3df 363
JoeMiller 0:02c0c2cbc3df 364 ///////////////////////////////////////////////////////////////////////////
JoeMiller 0:02c0c2cbc3df 365 // Upload firmware to RAM
JoeMiller 0:02c0c2cbc3df 366 ///////////////////////////////////////////////////////////////////////////
JoeMiller 0:02c0c2cbc3df 367 // TODO: set upload address if needed. (zero by default)
JoeMiller 0:02c0c2cbc3df 368
JoeMiller 0:02c0c2cbc3df 369 if (displayText) printf("Uploading Firmware to SENtral RAM...\n\r");
JoeMiller 0:02c0c2cbc3df 370
JoeMiller 0:02c0c2cbc3df 371 s32 bytesWritten = 0,
JoeMiller 0:02c0c2cbc3df 372 bytesRemaining = firmwareSize;
JoeMiller 0:02c0c2cbc3df 373 u8 bytesToWrite, i,
JoeMiller 0:02c0c2cbc3df 374 buf[MAX_I2C_WRITE],
JoeMiller 0:02c0c2cbc3df 375 maxI2cWrite = MAX_I2C_WRITE;
JoeMiller 0:02c0c2cbc3df 376
JoeMiller 0:02c0c2cbc3df 377 while (bytesRemaining > 0)
JoeMiller 0:02c0c2cbc3df 378 {
JoeMiller 0:02c0c2cbc3df 379 if (bytesRemaining < MAX_I2C_WRITE)
JoeMiller 0:02c0c2cbc3df 380 bytesToWrite = bytesRemaining;
JoeMiller 0:02c0c2cbc3df 381 else
JoeMiller 0:02c0c2cbc3df 382 bytesToWrite = maxI2cWrite;
JoeMiller 0:02c0c2cbc3df 383
JoeMiller 0:02c0c2cbc3df 384 // Reverse byte order per word
JoeMiller 0:02c0c2cbc3df 385 for (i = 0; i < bytesToWrite; i += 4)
JoeMiller 0:02c0c2cbc3df 386 {
JoeMiller 0:02c0c2cbc3df 387 buf[i + 0] = fw[bytesWritten + i + 3];
JoeMiller 0:02c0c2cbc3df 388 buf[i + 1] = fw[bytesWritten + i + 2];
JoeMiller 0:02c0c2cbc3df 389 buf[i + 2] = fw[bytesWritten + i + 1];
JoeMiller 0:02c0c2cbc3df 390 buf[i + 3] = fw[bytesWritten + i + 0];
JoeMiller 0:02c0c2cbc3df 391 }
JoeMiller 0:02c0c2cbc3df 392
JoeMiller 0:02c0c2cbc3df 393 if (!em7186_i2c_write(SR_UPLOAD_DATA_REG, buf, bytesToWrite))
JoeMiller 0:02c0c2cbc3df 394 {
JoeMiller 0:02c0c2cbc3df 395 if (displayText) printf("ERROR: Problem writing to sentral\n\r");
JoeMiller 0:02c0c2cbc3df 396 free(fw);
JoeMiller 0:02c0c2cbc3df 397 return 0;
JoeMiller 0:02c0c2cbc3df 398 }
JoeMiller 0:02c0c2cbc3df 399
JoeMiller 0:02c0c2cbc3df 400 bytesRemaining -= bytesToWrite;
JoeMiller 0:02c0c2cbc3df 401 bytesWritten += bytesToWrite;
JoeMiller 0:02c0c2cbc3df 402 }
JoeMiller 0:02c0c2cbc3df 403
JoeMiller 0:02c0c2cbc3df 404 free(fw);
JoeMiller 0:02c0c2cbc3df 405
JoeMiller 0:02c0c2cbc3df 406 if (displayText) printf("Firmware Uploaded......");
JoeMiller 0:02c0c2cbc3df 407
JoeMiller 0:02c0c2cbc3df 408 // Read and verify CRC
JoeMiller 0:02c0c2cbc3df 409 u32 hostCRC = 0;
JoeMiller 0:02c0c2cbc3df 410 em7186_i2c_read(HOST_CRC_REG, (u8*)&hostCRC, 4);
JoeMiller 0:02c0c2cbc3df 411 u32 fwHeaderCRC = fwHeader.crc;//((u32*)fwHeader)[1];
JoeMiller 0:02c0c2cbc3df 412 if (hostCRC != fwHeaderCRC)
JoeMiller 0:02c0c2cbc3df 413 {
JoeMiller 0:02c0c2cbc3df 414 if (displayText) printf("ERROR: CRC doesn't match\n\r");
JoeMiller 0:02c0c2cbc3df 415 return 0;
JoeMiller 0:02c0c2cbc3df 416 }
JoeMiller 0:02c0c2cbc3df 417
JoeMiller 0:02c0c2cbc3df 418 if (displayText) printf(" CRC Match!!\n\r");
JoeMiller 0:02c0c2cbc3df 419 return 1;
JoeMiller 0:02c0c2cbc3df 420 }
JoeMiller 0:02c0c2cbc3df 421
JoeMiller 0:02c0c2cbc3df 422
JoeMiller 0:02c0c2cbc3df 423
JoeMiller 0:02c0c2cbc3df 424
JoeMiller 0:02c0c2cbc3df 425 u32 em7186_firmware_Transfer2EE(const u8 *firmwareName)
JoeMiller 0:02c0c2cbc3df 426 {
JoeMiller 0:02c0c2cbc3df 427 u8 buffer[16];
JoeMiller 0:02c0c2cbc3df 428 u8 trys = 1;
JoeMiller 0:02c0c2cbc3df 429 u16 count;
JoeMiller 0:02c0c2cbc3df 430 // Open firmware file
JoeMiller 0:02c0c2cbc3df 431 FILE *fw_h = fopen(firmwareName, "rb");
JoeMiller 0:02c0c2cbc3df 432 if (!fw_h) {
JoeMiller 0:02c0c2cbc3df 433 if (displayText) printf("ERROR: Unable to open file\n\r");
JoeMiller 0:02c0c2cbc3df 434 return 0;
JoeMiller 0:02c0c2cbc3df 435 }
JoeMiller 0:02c0c2cbc3df 436
JoeMiller 0:02c0c2cbc3df 437 if (displayText) printf("Firmware file found\n\r");
JoeMiller 0:02c0c2cbc3df 438
JoeMiller 0:02c0c2cbc3df 439 // Read the firmware header
JoeMiller 0:02c0c2cbc3df 440 struct fwHeader {
JoeMiller 0:02c0c2cbc3df 441 u8 imageSignatureLsb;
JoeMiller 0:02c0c2cbc3df 442 u8 imageSignatureMsb;
JoeMiller 0:02c0c2cbc3df 443 u16 flags;
JoeMiller 0:02c0c2cbc3df 444 u32 crc;
JoeMiller 0:02c0c2cbc3df 445 u32 reserved;
JoeMiller 0:02c0c2cbc3df 446 u16 imageLength;
JoeMiller 0:02c0c2cbc3df 447 u16 reserved2;
JoeMiller 0:02c0c2cbc3df 448 } fwHeader;
JoeMiller 0:02c0c2cbc3df 449
JoeMiller 0:02c0c2cbc3df 450 int hsize = fread(&fwHeader, 1, FIRMWARE_HEADER_SIZE, fw_h);
JoeMiller 0:02c0c2cbc3df 451 if ( hsize != FIRMWARE_HEADER_SIZE) {
JoeMiller 0:02c0c2cbc3df 452 if (displayText) printf("ERROR: File smaller than expected header size %d\n\r", hsize);
JoeMiller 0:02c0c2cbc3df 453 fclose(fw_h);
JoeMiller 0:02c0c2cbc3df 454 return 0;
JoeMiller 0:02c0c2cbc3df 455 }
JoeMiller 0:02c0c2cbc3df 456
JoeMiller 0:02c0c2cbc3df 457 // Validate firmware
JoeMiller 0:02c0c2cbc3df 458 if (fwHeader.imageSignatureLsb != IMAGE_SIGNATURE_LSB || fwHeader.imageSignatureMsb != IMAGE_SIGNATURE_MSG) {
JoeMiller 0:02c0c2cbc3df 459 if (displayText) printf("ERROR: Firmware version doesn't match\n\r");
JoeMiller 0:02c0c2cbc3df 460 fclose(fw_h);
JoeMiller 0:02c0c2cbc3df 461 return 0;
JoeMiller 0:02c0c2cbc3df 462 }
JoeMiller 0:02c0c2cbc3df 463
JoeMiller 0:02c0c2cbc3df 464 // Read the firmware image From the SD Card
JoeMiller 0:02c0c2cbc3df 465 u8 *fw = (u8 *)malloc(fwHeader.imageLength);
JoeMiller 0:02c0c2cbc3df 466 u32 firmwareSize = fread(fw, 1, fwHeader.imageLength, fw_h);
JoeMiller 0:02c0c2cbc3df 467 fclose(fw_h);
JoeMiller 0:02c0c2cbc3df 468 if (firmwareSize != fwHeader.imageLength || firmwareSize % 4) {
JoeMiller 0:02c0c2cbc3df 469 if (displayText) printf("ERROR: Firmware size must break on 4 byte boundary\n\r");
JoeMiller 0:02c0c2cbc3df 470 free(fw);
JoeMiller 0:02c0c2cbc3df 471 return 0;
JoeMiller 0:02c0c2cbc3df 472 }
JoeMiller 0:02c0c2cbc3df 473 if (displayText) printf("Firmware size = %u\n\r",firmwareSize);
JoeMiller 0:02c0c2cbc3df 474
JoeMiller 0:02c0c2cbc3df 475
JoeMiller 0:02c0c2cbc3df 476 u8 headerBytes[FIRMWARE_HEADER_SIZE];
JoeMiller 0:02c0c2cbc3df 477 memcpy(headerBytes,(u8*)&fwHeader,FIRMWARE_HEADER_SIZE); // create a bytewise copy of fwHeader
JoeMiller 0:02c0c2cbc3df 478
JoeMiller 0:02c0c2cbc3df 479
JoeMiller 0:02c0c2cbc3df 480 ///////////////////////////////////////////////////////////////////////////
JoeMiller 0:02c0c2cbc3df 481 // Upload firmware to EEPROM
JoeMiller 0:02c0c2cbc3df 482 ///////////////////////////////////////////////////////////////////////////
JoeMiller 0:02c0c2cbc3df 483
JoeMiller 0:02c0c2cbc3df 484 do {
JoeMiller 0:02c0c2cbc3df 485 // request SENtral passthrough mode
JoeMiller 0:02c0c2cbc3df 486 em7186_i2c_write_value(PASS_THROUGH_CFG_REG, 1);
JoeMiller 0:02c0c2cbc3df 487 em7186_i2c_read(PASS_THROUGH_RDY_REG, buffer, 1);
JoeMiller 0:02c0c2cbc3df 488 } while((buffer[0] != 1) && (++trys < 20));
JoeMiller 0:02c0c2cbc3df 489
JoeMiller 0:02c0c2cbc3df 490
JoeMiller 0:02c0c2cbc3df 491 if (trys <20) {
JoeMiller 0:02c0c2cbc3df 492
JoeMiller 0:02c0c2cbc3df 493 // Reverse byte order per word
JoeMiller 0:02c0c2cbc3df 494
JoeMiller 0:02c0c2cbc3df 495
JoeMiller 0:02c0c2cbc3df 496 if (displayText) printf("SENtral confirmed passthrough mode after %u try(s)\n\r",trys);
JoeMiller 0:02c0c2cbc3df 497
JoeMiller 0:02c0c2cbc3df 498
JoeMiller 0:02c0c2cbc3df 499 // write header portion to EEPROM from SDCard
JoeMiller 0:02c0c2cbc3df 500 //key: EE_Write(u8 I2C_Addr, u16 EE_MemAddr, u8*buffer, u16 length)
JoeMiller 0:02c0c2cbc3df 501 u32 status = EE_Write(0xA0, 0, (u8*)&fwHeader, FIRMWARE_HEADER_SIZE);
JoeMiller 0:02c0c2cbc3df 502 if (displayText) printf("Header Sent to EEPROM......\n\r",firmwareSize);
JoeMiller 0:02c0c2cbc3df 503 wait_ms(5);
JoeMiller 0:02c0c2cbc3df 504 EE_Read(0xA0, 0, buffer, FIRMWARE_HEADER_SIZE);
JoeMiller 0:02c0c2cbc3df 505 status = 0;
JoeMiller 0:02c0c2cbc3df 506
JoeMiller 0:02c0c2cbc3df 507 // Readback EEPROM to verify header write
JoeMiller 0:02c0c2cbc3df 508 for (count = 0; count<FIRMWARE_HEADER_SIZE; count++) {
JoeMiller 0:02c0c2cbc3df 509 if (headerBytes[count] != buffer[count]) {
JoeMiller 0:02c0c2cbc3df 510 status = 1; // 1 = fail
JoeMiller 0:02c0c2cbc3df 511 if (displayText) printf("Failed Header readback from EEPROM at %u, value=%u\n\r",count,headerBytes[count]);
JoeMiller 0:02c0c2cbc3df 512 break;
JoeMiller 0:02c0c2cbc3df 513 }
JoeMiller 0:02c0c2cbc3df 514 }
JoeMiller 0:02c0c2cbc3df 515
JoeMiller 0:02c0c2cbc3df 516 if (!status) {
JoeMiller 0:02c0c2cbc3df 517 u32 bytesWritten = 0;
JoeMiller 0:02c0c2cbc3df 518 u32 bytesRemaining = firmwareSize;
JoeMiller 0:02c0c2cbc3df 519 u8 bytesToWrite,
JoeMiller 0:02c0c2cbc3df 520 maxI2cWrite = 16; // kind of small but ensures page alignment
JoeMiller 0:02c0c2cbc3df 521
JoeMiller 0:02c0c2cbc3df 522 while (bytesRemaining > 0) {
JoeMiller 0:02c0c2cbc3df 523 if (bytesRemaining < maxI2cWrite)
JoeMiller 0:02c0c2cbc3df 524 bytesToWrite = bytesRemaining;
JoeMiller 0:02c0c2cbc3df 525 else
JoeMiller 0:02c0c2cbc3df 526 bytesToWrite = maxI2cWrite;
JoeMiller 0:02c0c2cbc3df 527
JoeMiller 0:02c0c2cbc3df 528 if (!EE_Write(0xA0, (bytesWritten+FIRMWARE_HEADER_SIZE), &fw[bytesWritten], bytesToWrite)) {
JoeMiller 0:02c0c2cbc3df 529 if (displayText) printf("\n\rCould not write to EEPROM\n\r");
JoeMiller 0:02c0c2cbc3df 530 free(fw);
JoeMiller 0:02c0c2cbc3df 531 wait_ms(5);
JoeMiller 0:02c0c2cbc3df 532 em7186_i2c_write_value(PASS_THROUGH_CFG_REG, 0);
JoeMiller 0:02c0c2cbc3df 533 return 0;
JoeMiller 0:02c0c2cbc3df 534 }
JoeMiller 0:02c0c2cbc3df 535 bytesWritten += bytesToWrite;
JoeMiller 0:02c0c2cbc3df 536 bytesRemaining -= bytesToWrite;
JoeMiller 0:02c0c2cbc3df 537 if (displayText) printf("\r%u",bytesWritten);
JoeMiller 0:02c0c2cbc3df 538 wait_ms(5);
JoeMiller 0:02c0c2cbc3df 539 }
JoeMiller 0:02c0c2cbc3df 540
JoeMiller 0:02c0c2cbc3df 541 if (displayText) printf("\n\rFirmware Transfered from SDCard to EEPROM. Now Verifying.....\n\r");
JoeMiller 0:02c0c2cbc3df 542
JoeMiller 0:02c0c2cbc3df 543 u32 bytesRead = 0;
JoeMiller 0:02c0c2cbc3df 544 bytesRemaining = firmwareSize;
JoeMiller 0:02c0c2cbc3df 545 u8 bytesToRead,
JoeMiller 0:02c0c2cbc3df 546 maxI2cRead = 16;
JoeMiller 0:02c0c2cbc3df 547 status = 0;
JoeMiller 0:02c0c2cbc3df 548
JoeMiller 0:02c0c2cbc3df 549 while ((bytesRemaining > 0) && (status == 0)) {
JoeMiller 0:02c0c2cbc3df 550 if (bytesRemaining < maxI2cRead)
JoeMiller 0:02c0c2cbc3df 551 bytesToRead = bytesRemaining;
JoeMiller 0:02c0c2cbc3df 552 else
JoeMiller 0:02c0c2cbc3df 553 bytesToRead = maxI2cRead;
JoeMiller 0:02c0c2cbc3df 554
JoeMiller 0:02c0c2cbc3df 555 if (!EE_Read(0xA0, (bytesRead+FIRMWARE_HEADER_SIZE), buffer, bytesToRead)) {
JoeMiller 0:02c0c2cbc3df 556 if (displayText) printf("\n\rCould not Read EEPROM\n\r");
JoeMiller 0:02c0c2cbc3df 557 free(fw);
JoeMiller 0:02c0c2cbc3df 558 wait_ms(5);
JoeMiller 0:02c0c2cbc3df 559 em7186_i2c_write_value(PASS_THROUGH_CFG_REG, 0);
JoeMiller 0:02c0c2cbc3df 560 return 0;
JoeMiller 0:02c0c2cbc3df 561 }
JoeMiller 0:02c0c2cbc3df 562
JoeMiller 0:02c0c2cbc3df 563 for (count = 0; count<bytesToRead; count++) {
JoeMiller 0:02c0c2cbc3df 564 if (fw[bytesRead+count] != buffer[count]) {
JoeMiller 0:02c0c2cbc3df 565 status = 1; // 1 = fail
JoeMiller 0:02c0c2cbc3df 566 if (displayText) printf("Failed firmware readback from EEPROM at %u, value=%u\n\r",bytesRead+FIRMWARE_HEADER_SIZE+count,buffer[count]);
JoeMiller 0:02c0c2cbc3df 567 wait_ms(5);
JoeMiller 0:02c0c2cbc3df 568 em7186_i2c_write_value(PASS_THROUGH_CFG_REG, 0);
JoeMiller 0:02c0c2cbc3df 569 return 0;
JoeMiller 0:02c0c2cbc3df 570 }
JoeMiller 0:02c0c2cbc3df 571 }
JoeMiller 0:02c0c2cbc3df 572 bytesRead += bytesToRead;
JoeMiller 0:02c0c2cbc3df 573 bytesRemaining -= bytesToRead;
JoeMiller 0:02c0c2cbc3df 574 if (displayText) printf("\r%u",bytesRead);
JoeMiller 0:02c0c2cbc3df 575 wait_ms(1);
JoeMiller 0:02c0c2cbc3df 576 }
JoeMiller 0:02c0c2cbc3df 577 if(status == 0)
JoeMiller 0:02c0c2cbc3df 578 {
JoeMiller 0:02c0c2cbc3df 579 if (displayText) printf("\n\rVerify EEPROM **** SUCCESSFUL *****\n\r");
JoeMiller 0:02c0c2cbc3df 580 }
JoeMiller 0:02c0c2cbc3df 581 } else {
JoeMiller 0:02c0c2cbc3df 582 if (displayText) printf("\r\nCould not write to EEPROM (Header)\n\r");
JoeMiller 0:02c0c2cbc3df 583 wait_ms(5);
JoeMiller 0:02c0c2cbc3df 584 em7186_i2c_write_value(PASS_THROUGH_CFG_REG, 0);
JoeMiller 0:02c0c2cbc3df 585 return 0;
JoeMiller 0:02c0c2cbc3df 586 }
JoeMiller 0:02c0c2cbc3df 587
JoeMiller 0:02c0c2cbc3df 588 free(fw);
JoeMiller 0:02c0c2cbc3df 589
JoeMiller 0:02c0c2cbc3df 590 } else {
JoeMiller 0:02c0c2cbc3df 591 if (displayText) printf("Could not confirm SENtral Passthrough mode\n\r");
JoeMiller 0:02c0c2cbc3df 592 return 0;
JoeMiller 0:02c0c2cbc3df 593 }
JoeMiller 0:02c0c2cbc3df 594
JoeMiller 0:02c0c2cbc3df 595 em7186_i2c_write_value(PASS_THROUGH_CFG_REG, 0); // turn off passthrough mode
JoeMiller 0:02c0c2cbc3df 596
JoeMiller 0:02c0c2cbc3df 597 return 1;
JoeMiller 0:02c0c2cbc3df 598 }
JoeMiller 0:02c0c2cbc3df 599
JoeMiller 0:02c0c2cbc3df 600
JoeMiller 0:02c0c2cbc3df 601
JoeMiller 0:02c0c2cbc3df 602
JoeMiller 0:02c0c2cbc3df 603
JoeMiller 0:02c0c2cbc3df 604 u32 em7186_param_read(u8 *values, u8 page, ParamInfo *paramList, u8 numParams)
JoeMiller 0:02c0c2cbc3df 605 {
JoeMiller 0:02c0c2cbc3df 606
JoeMiller 0:02c0c2cbc3df 607 u8 i, paramAck, pageSelectValue;
JoeMiller 0:02c0c2cbc3df 608 u16 valIndex = 0;
JoeMiller 0:02c0c2cbc3df 609 for (i = 0; i < numParams; i++)
JoeMiller 0:02c0c2cbc3df 610 {
JoeMiller 0:02c0c2cbc3df 611 pageSelectValue = page | (paramList[i].size << 4);
JoeMiller 0:02c0c2cbc3df 612 em7186_i2c_write_value(PARAM_PAGE_SELECT_REG, pageSelectValue);
JoeMiller 0:02c0c2cbc3df 613 em7186_i2c_write_value(PARAM_REQUEST_REG, paramList[i].paramNo);
JoeMiller 0:02c0c2cbc3df 614 do
JoeMiller 0:02c0c2cbc3df 615 {
JoeMiller 0:02c0c2cbc3df 616 em7186_i2c_read(PARAM_ACK_REG, &paramAck, 1);
JoeMiller 0:02c0c2cbc3df 617 if (paramAck == 0x80)
JoeMiller 0:02c0c2cbc3df 618 {
JoeMiller 0:02c0c2cbc3df 619 em7186_i2c_write_value(PARAM_REQUEST_REG, 0);
JoeMiller 0:02c0c2cbc3df 620 em7186_i2c_write_value(PARAM_PAGE_SELECT_REG, 0);
JoeMiller 0:02c0c2cbc3df 621
JoeMiller 0:02c0c2cbc3df 622
JoeMiller 0:02c0c2cbc3df 623 return 0;
JoeMiller 0:02c0c2cbc3df 624 }
JoeMiller 0:02c0c2cbc3df 625 } while (paramAck != paramList[i].paramNo);
JoeMiller 0:02c0c2cbc3df 626 em7186_i2c_read(PARAM_SAVE_REG, &values[valIndex], paramList[i].size);
JoeMiller 0:02c0c2cbc3df 627 // printf("%u ", values[valIndex]);
JoeMiller 0:02c0c2cbc3df 628 valIndex += paramList[i].size;
JoeMiller 0:02c0c2cbc3df 629 }
JoeMiller 0:02c0c2cbc3df 630 em7186_i2c_write_value(PARAM_REQUEST_REG, 0);
JoeMiller 0:02c0c2cbc3df 631 em7186_i2c_write_value(PARAM_PAGE_SELECT_REG, 0);
JoeMiller 0:02c0c2cbc3df 632
JoeMiller 0:02c0c2cbc3df 633
JoeMiller 0:02c0c2cbc3df 634 return 1;
JoeMiller 0:02c0c2cbc3df 635 }
JoeMiller 0:02c0c2cbc3df 636 u32 em7186_param_write(u8 *values, u8 page, ParamInfo *paramList, u8 numParams)
JoeMiller 0:02c0c2cbc3df 637 {
JoeMiller 0:02c0c2cbc3df 638
JoeMiller 0:02c0c2cbc3df 639
JoeMiller 0:02c0c2cbc3df 640 u8 i, paramAck, paramNum, pageSelectValue;
JoeMiller 0:02c0c2cbc3df 641 u16 valIndex = 0;
JoeMiller 0:02c0c2cbc3df 642 for (i = 0; i < numParams; i++)
JoeMiller 0:02c0c2cbc3df 643 {
JoeMiller 0:02c0c2cbc3df 644 pageSelectValue = page | (paramList[i].size << 4);
JoeMiller 0:02c0c2cbc3df 645 em7186_i2c_write_value(PARAM_PAGE_SELECT_REG, pageSelectValue);
JoeMiller 0:02c0c2cbc3df 646
JoeMiller 0:02c0c2cbc3df 647 em7186_i2c_write(PARAM_LOAD_REG, &values[valIndex], (u16)paramList[i].size);
JoeMiller 0:02c0c2cbc3df 648
JoeMiller 0:02c0c2cbc3df 649 paramNum = paramList[i].paramNo | 0x80;
JoeMiller 0:02c0c2cbc3df 650 em7186_i2c_write_value(PARAM_REQUEST_REG, paramNum);
JoeMiller 0:02c0c2cbc3df 651 do
JoeMiller 0:02c0c2cbc3df 652 {
JoeMiller 0:02c0c2cbc3df 653 em7186_i2c_read(PARAM_ACK_REG, &paramAck, 1);
JoeMiller 0:02c0c2cbc3df 654 if (paramAck == 0x80)
JoeMiller 0:02c0c2cbc3df 655 {
JoeMiller 0:02c0c2cbc3df 656 em7186_i2c_write_value(PARAM_REQUEST_REG, 0);
JoeMiller 0:02c0c2cbc3df 657 em7186_i2c_write_value(PARAM_PAGE_SELECT_REG, 0);
JoeMiller 0:02c0c2cbc3df 658
JoeMiller 0:02c0c2cbc3df 659
JoeMiller 0:02c0c2cbc3df 660 return 0;
JoeMiller 0:02c0c2cbc3df 661 }
JoeMiller 0:02c0c2cbc3df 662 } while (paramAck != paramNum);
JoeMiller 0:02c0c2cbc3df 663
JoeMiller 0:02c0c2cbc3df 664 valIndex += paramList[i].size;
JoeMiller 0:02c0c2cbc3df 665 }
JoeMiller 0:02c0c2cbc3df 666
JoeMiller 0:02c0c2cbc3df 667 em7186_i2c_write_value(PARAM_REQUEST_REG, 0);
JoeMiller 0:02c0c2cbc3df 668 em7186_i2c_write_value(PARAM_PAGE_SELECT_REG, 0);
JoeMiller 0:02c0c2cbc3df 669
JoeMiller 0:02c0c2cbc3df 670
JoeMiller 0:02c0c2cbc3df 671 return 1;
JoeMiller 0:02c0c2cbc3df 672 }
JoeMiller 0:02c0c2cbc3df 673 u32 em7186_read_fifo(u8 *buffer)
JoeMiller 0:02c0c2cbc3df 674 {
JoeMiller 0:02c0c2cbc3df 675 // Check number of bytes available
JoeMiller 0:02c0c2cbc3df 676 u16 bytesAvailable, bytesRead = 0;
JoeMiller 0:02c0c2cbc3df 677
JoeMiller 0:02c0c2cbc3df 678 em7186_i2c_read(BYTES_REMANING_REG, (u8*)&bytesAvailable, 2);
JoeMiller 0:02c0c2cbc3df 679
JoeMiller 0:02c0c2cbc3df 680
JoeMiller 0:02c0c2cbc3df 681 //printf("FIFO bytesAvailable:%u\n\r",bytesAvailable);
JoeMiller 0:02c0c2cbc3df 682
JoeMiller 0:02c0c2cbc3df 683
JoeMiller 0:02c0c2cbc3df 684
JoeMiller 0:02c0c2cbc3df 685 #define CONTINUOUS_FIFO_READ
JoeMiller 0:02c0c2cbc3df 686 #ifdef CONTINUOUS_FIFO_READ
JoeMiller 0:02c0c2cbc3df 687 bytesRead = em7186_i2c_read(0, buffer, bytesAvailable);
JoeMiller 0:02c0c2cbc3df 688 #else
JoeMiller 0:02c0c2cbc3df 689 u16 i, bytesToRead;
JoeMiller 0:02c0c2cbc3df 690 while (bytesAvailable > 0)
JoeMiller 0:02c0c2cbc3df 691 {
JoeMiller 0:02c0c2cbc3df 692 // Break on 50 byte fifo register block
JoeMiller 0:02c0c2cbc3df 693 bytesToRead = bytesRead % 50 + I2C_MAX_READ > 50 ? 50 - bytesRead % 50 : I2C_MAX_READ;
JoeMiller 0:02c0c2cbc3df 694 // Make sure we don't read more than is available in the fifo
JoeMiller 0:02c0c2cbc3df 695 bytesToRead = min(bytesAvailable, bytesToRead);
JoeMiller 0:02c0c2cbc3df 696 if (!em7186_i2c_read(bytesRead % 50, &buffer[bytesRead], bytesToRead))
JoeMiller 0:02c0c2cbc3df 697 {
JoeMiller 0:02c0c2cbc3df 698
JoeMiller 0:02c0c2cbc3df 699 return 0;
JoeMiller 0:02c0c2cbc3df 700 }
JoeMiller 0:02c0c2cbc3df 701 bytesAvailable -= bytesToRead;
JoeMiller 0:02c0c2cbc3df 702 bytesRead += bytesToRead;
JoeMiller 0:02c0c2cbc3df 703 }
JoeMiller 0:02c0c2cbc3df 704 #endif
JoeMiller 0:02c0c2cbc3df 705
JoeMiller 0:02c0c2cbc3df 706 //printf("FIFO bytesRead:%u\n\r",bytesRead);
JoeMiller 0:02c0c2cbc3df 707
JoeMiller 0:02c0c2cbc3df 708 return bytesRead;
JoeMiller 0:02c0c2cbc3df 709 }
JoeMiller 0:02c0c2cbc3df 710 u32 em7186_parse_next_fifo_block(u8* buffer, u32 size)
JoeMiller 0:02c0c2cbc3df 711 {
JoeMiller 0:02c0c2cbc3df 712 u8 sensorId = buffer[0];
JoeMiller 0:02c0c2cbc3df 713
JoeMiller 0:02c0c2cbc3df 714 // if (sensorId < SENSOR_TYPE_ACCELEROMETER_WAKE ||
JoeMiller 0:02c0c2cbc3df 715 // sensorId == SENSOR_TYPE_DEBUG ||
JoeMiller 0:02c0c2cbc3df 716 // sensorId == SENSOR_TYPE_TIMESTAMP ||
JoeMiller 0:02c0c2cbc3df 717 // sensorId == SENSOR_TYPE_TIMESTAMP_OVERFLOW ||
JoeMiller 0:02c0c2cbc3df 718 // sensorId == SENSOR_TYPE_META ||
JoeMiller 0:02c0c2cbc3df 719 // sensorId == SENSOR_TYPE_RAW_GYRO ||
JoeMiller 0:02c0c2cbc3df 720 // sensorId == SENSOR_TYPE_RAW_MAG ||
JoeMiller 0:02c0c2cbc3df 721 // sensorId == SENSOR_TYPE_RAW_ACCEL
JoeMiller 0:02c0c2cbc3df 722 // )
JoeMiller 0:02c0c2cbc3df 723 // {
JoeMiller 0:02c0c2cbc3df 724 // }
JoeMiller 0:02c0c2cbc3df 725 // else
JoeMiller 0:02c0c2cbc3df 726 // {
JoeMiller 0:02c0c2cbc3df 727 // timestamp = timestampWake;
JoeMiller 0:02c0c2cbc3df 728 // timestampPtr = (u16*)&timestampWake;
JoeMiller 0:02c0c2cbc3df 729 // }
JoeMiller 0:02c0c2cbc3df 730
JoeMiller 0:02c0c2cbc3df 731 switch(sensorId)
JoeMiller 0:02c0c2cbc3df 732 {
JoeMiller 0:02c0c2cbc3df 733 case 0:
JoeMiller 0:02c0c2cbc3df 734 {
JoeMiller 0:02c0c2cbc3df 735 //printf("Padding: %d\n\r", size);
JoeMiller 0:02c0c2cbc3df 736 return size;
JoeMiller 0:02c0c2cbc3df 737 }
JoeMiller 0:02c0c2cbc3df 738 case SENSOR_TYPE_ACCELEROMETER:
JoeMiller 0:02c0c2cbc3df 739 case SENSOR_TYPE_ACCELEROMETER_WAKE:
JoeMiller 0:02c0c2cbc3df 740 case SENSOR_TYPE_MAGNETIC_FIELD:
JoeMiller 0:02c0c2cbc3df 741 case SENSOR_TYPE_MAGNETIC_FIELD_WAKE:
JoeMiller 0:02c0c2cbc3df 742 case SENSOR_TYPE_GYROSCOPE:
JoeMiller 0:02c0c2cbc3df 743 case SENSOR_TYPE_GYROSCOPE_WAKE:
JoeMiller 0:02c0c2cbc3df 744 case SENSOR_TYPE_GRAVITY:
JoeMiller 0:02c0c2cbc3df 745 case SENSOR_TYPE_GRAVITY_WAKE:
JoeMiller 0:02c0c2cbc3df 746 case SENSOR_TYPE_LINEAR_ACCELERATION:
JoeMiller 0:02c0c2cbc3df 747 case SENSOR_TYPE_LINEAR_ACCELERATION_WAKE:
JoeMiller 0:02c0c2cbc3df 748 case SENSOR_TYPE_ORIENTATION:
JoeMiller 0:02c0c2cbc3df 749 case SENSOR_TYPE_ORIENTATION_WAKE:
JoeMiller 0:02c0c2cbc3df 750 {
JoeMiller 0:02c0c2cbc3df 751 SensorData3Axis sensorData;
JoeMiller 0:02c0c2cbc3df 752 get_3_axis_sensor_data(&sensorData, em7186_sensor_scale[sensorId], buffer);
JoeMiller 0:02c0c2cbc3df 753 if (printData) printf("%u %s: %f, %f, %f, %f\n\r", timestamp,em7186_sensor_name[sensorId], sensorData.x, sensorData.y, sensorData.z, sensorData.extra);
JoeMiller 0:02c0c2cbc3df 754 if (logData) fprintf(flog,"%u,%u,%f,%f,%f,%f\n", timestamp,sensorId, sensorData.x, sensorData.y, sensorData.z, sensorData.extra);
JoeMiller 0:02c0c2cbc3df 755
JoeMiller 0:02c0c2cbc3df 756 return 8;
JoeMiller 0:02c0c2cbc3df 757 }
JoeMiller 0:02c0c2cbc3df 758 case SENSOR_TYPE_LIGHT:
JoeMiller 0:02c0c2cbc3df 759 case SENSOR_TYPE_LIGHT_WAKE:
JoeMiller 0:02c0c2cbc3df 760 case SENSOR_TYPE_PROXIMITY:
JoeMiller 0:02c0c2cbc3df 761 case SENSOR_TYPE_PROXIMITY_WAKE:
JoeMiller 0:02c0c2cbc3df 762 case SENSOR_TYPE_RELATIVE_HUMIDITY:
JoeMiller 0:02c0c2cbc3df 763 case SENSOR_TYPE_RELATIVE_HUMIDITY_WAKE:
JoeMiller 0:02c0c2cbc3df 764 case SENSOR_TYPE_ACTIVITY:
JoeMiller 0:02c0c2cbc3df 765 case SENSOR_TYPE_ACTIVITY_WAKE:
JoeMiller 0:02c0c2cbc3df 766 {
JoeMiller 0:02c0c2cbc3df 767 float sensorData = (float)((buffer[2] << 8) + buffer[1]) * em7186_sensor_scale[sensorId];
JoeMiller 0:02c0c2cbc3df 768 if (printData) printf("%u %s: %fLux\n\r", timestamp,em7186_sensor_name[sensorId], sensorData);
JoeMiller 0:02c0c2cbc3df 769 if (logData) fprintf(flog,"%u,%u,%u,%f\n",timestamp, sensorId, sensorData);
JoeMiller 0:02c0c2cbc3df 770 return 3;
JoeMiller 0:02c0c2cbc3df 771 }
JoeMiller 0:02c0c2cbc3df 772 case SENSOR_TYPE_PRESSURE:
JoeMiller 0:02c0c2cbc3df 773 case SENSOR_TYPE_PRESSURE_WAKE:
JoeMiller 0:02c0c2cbc3df 774 {
JoeMiller 0:02c0c2cbc3df 775 float pressure = (float)((buffer[3] << 16) + (buffer[2] << 8) + buffer[1]) * em7186_sensor_scale[sensorId];
JoeMiller 0:02c0c2cbc3df 776 if (printData) printf("%u %s: %fPa\n\r", timestamp, em7186_sensor_name[sensorId], pressure);
JoeMiller 0:02c0c2cbc3df 777 if (logData) fprintf(flog,"%u,%u,%f\n",timestamp,sensorId,pressure);
JoeMiller 0:02c0c2cbc3df 778 return 4;
JoeMiller 0:02c0c2cbc3df 779 }
JoeMiller 0:02c0c2cbc3df 780 case SENSOR_TYPE_TEMPERATURE:
JoeMiller 0:02c0c2cbc3df 781 case SENSOR_TYPE_TEMPERATURE_WAKE:
JoeMiller 0:02c0c2cbc3df 782 case SENSOR_TYPE_AMBIENT_TEMPERATURE:
JoeMiller 0:02c0c2cbc3df 783 case SENSOR_TYPE_AMBIENT_TEMPERATURE_WAKE:
JoeMiller 0:02c0c2cbc3df 784 {
JoeMiller 0:02c0c2cbc3df 785 s16 *sensorData = (s16*)&buffer[1];
JoeMiller 0:02c0c2cbc3df 786 float temp = (float)(sensorData[0]) * em7186_sensor_scale[sensorId];
JoeMiller 0:02c0c2cbc3df 787 if (printData) printf("%u %s: %fC\n\r", timestamp, em7186_sensor_name[sensorId], temp);
JoeMiller 0:02c0c2cbc3df 788 if (logData) fprintf(flog,"%u,%u,%f\n",timestamp,sensorId, temp);
JoeMiller 0:02c0c2cbc3df 789 return 3;
JoeMiller 0:02c0c2cbc3df 790 }
JoeMiller 0:02c0c2cbc3df 791 case SENSOR_TYPE_ROTATION_VECTOR:
JoeMiller 0:02c0c2cbc3df 792 case SENSOR_TYPE_ROTATION_VECTOR_WAKE:
JoeMiller 0:02c0c2cbc3df 793 case SENSOR_TYPE_GAME_ROTATION_VECTOR:
JoeMiller 0:02c0c2cbc3df 794 case SENSOR_TYPE_GAME_ROTATION_VECTOR_WAKE:
JoeMiller 0:02c0c2cbc3df 795 case SENSOR_TYPE_GEOMAGNETIC_ROTATION_VECTOR:
JoeMiller 0:02c0c2cbc3df 796 case SENSOR_TYPE_GEOMAGNETIC_ROTATION_VECTOR_WAKE:
JoeMiller 0:02c0c2cbc3df 797 case SENSOR_TYPE_PDR:
JoeMiller 0:02c0c2cbc3df 798 case SENSOR_TYPE_PDR_WAKE:
JoeMiller 0:02c0c2cbc3df 799 case 60:
JoeMiller 0:02c0c2cbc3df 800 {
JoeMiller 0:02c0c2cbc3df 801 SensorData4Axis rotationVector;
JoeMiller 0:02c0c2cbc3df 802 get_rotation_vector(&rotationVector, em7186_sensor_scale[sensorId], buffer);
JoeMiller 0:02c0c2cbc3df 803 if (printData) printf("%u %s: %f, %f, %f, %f, %f\n\r", timestamp, em7186_sensor_name[sensorId], rotationVector.x, rotationVector.y, rotationVector.z, rotationVector.w, rotationVector.extra);
JoeMiller 0:02c0c2cbc3df 804 if (logData) fprintf(flog,"%u,%u,%f,%f,%f,%f,%f\n", timestamp,sensorId, rotationVector.x, rotationVector.y, rotationVector.z, rotationVector.w, rotationVector.extra);
JoeMiller 0:02c0c2cbc3df 805 return 11;
JoeMiller 0:02c0c2cbc3df 806 }
JoeMiller 0:02c0c2cbc3df 807 case SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED:
JoeMiller 0:02c0c2cbc3df 808 case SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED_WAKE:
JoeMiller 0:02c0c2cbc3df 809 case SENSOR_TYPE_GYROSCOPE_UNCALIBRATED:
JoeMiller 0:02c0c2cbc3df 810 case SENSOR_TYPE_GYROSCOPE_UNCALIBRATED_WAKE:
JoeMiller 0:02c0c2cbc3df 811 {
JoeMiller 0:02c0c2cbc3df 812 SensorData6Axis sensorDataUncal;
JoeMiller 0:02c0c2cbc3df 813 get_3_axis_uncal_sensor_data(&sensorDataUncal, em7186_sensor_scale[sensorId], buffer);
JoeMiller 0:02c0c2cbc3df 814 if (printData) printf("%u %s: %f, %f, %f, %f, %f, %f, %f\n\r", timestamp, em7186_sensor_name[sensorId], sensorDataUncal.x, sensorDataUncal.y, sensorDataUncal.z, sensorDataUncal.x_bias, sensorDataUncal.y_bias, sensorDataUncal.z_bias, sensorDataUncal.extra);
JoeMiller 0:02c0c2cbc3df 815 if (logData) fprintf(flog,"%u,%u,%f,%f,%f,%f,%f,%f,%f\n", timestamp,sensorId, sensorDataUncal.x, sensorDataUncal.y, sensorDataUncal.z, sensorDataUncal.x_bias, sensorDataUncal.y_bias, sensorDataUncal.z_bias, sensorDataUncal.extra);
JoeMiller 0:02c0c2cbc3df 816 return 14;
JoeMiller 0:02c0c2cbc3df 817 }
JoeMiller 0:02c0c2cbc3df 818 case SENSOR_TYPE_STEP_COUNTER:
JoeMiller 0:02c0c2cbc3df 819 case SENSOR_TYPE_STEP_COUNTER_WAKE:
JoeMiller 0:02c0c2cbc3df 820 {
JoeMiller 0:02c0c2cbc3df 821 u16 sensorData = (buffer[2] << 8) + buffer[1];
JoeMiller 0:02c0c2cbc3df 822 if (printData) printf("%u %s: %u\n\r", timestamp, em7186_sensor_name[sensorId], sensorData);
JoeMiller 0:02c0c2cbc3df 823 if (logData) fprintf(flog,"%u,%u,%u\n", timestamp,sensorId, sensorData);
JoeMiller 0:02c0c2cbc3df 824 return 3;
JoeMiller 0:02c0c2cbc3df 825 }
JoeMiller 0:02c0c2cbc3df 826 case SENSOR_TYPE_HEART_RATE:
JoeMiller 0:02c0c2cbc3df 827 case SENSOR_TYPE_HEART_RATE_WAKE:
JoeMiller 0:02c0c2cbc3df 828 {
JoeMiller 0:02c0c2cbc3df 829 u8 sensorData = buffer[1];
JoeMiller 0:02c0c2cbc3df 830
JoeMiller 0:02c0c2cbc3df 831 // Heart Rate
JoeMiller 0:02c0c2cbc3df 832 if (printData) printf("%u %s: %u\n\r", timestamp, em7186_sensor_name[sensorId], sensorData);
JoeMiller 0:02c0c2cbc3df 833 if (logData) fprintf(flog,"%u,%u,%u\n",timestamp,sensorId, sensorData);
JoeMiller 0:02c0c2cbc3df 834 return 3;
JoeMiller 0:02c0c2cbc3df 835 }
JoeMiller 0:02c0c2cbc3df 836 case SENSOR_TYPE_CAR_MAG_DATA:
JoeMiller 0:02c0c2cbc3df 837 case SENSOR_TYPE_CAR_MAG_DATA_WAKE:
JoeMiller 0:02c0c2cbc3df 838 {
JoeMiller 0:02c0c2cbc3df 839 // u8 SensorId, float[3] RawMagData, u8 Status, u8 expansion data
JoeMiller 0:02c0c2cbc3df 840 float RawMagData[3];
JoeMiller 0:02c0c2cbc3df 841 memcpy(RawMagData, &buffer[1], sizeof(RawMagData));
JoeMiller 0:02c0c2cbc3df 842
JoeMiller 0:02c0c2cbc3df 843 if (printData) printf("%u Car Detect Mag Data = %3.3f,%3.3f,%3.3f\n\r", timestamp, RawMagData[0], RawMagData[1], RawMagData[2]);
JoeMiller 0:02c0c2cbc3df 844 if (logData) fprintf(flog,"%u,%u,%f,%f,%f\n", timestamp,sensorId, RawMagData[0], RawMagData[1], RawMagData[2]);
JoeMiller 0:02c0c2cbc3df 845
JoeMiller 0:02c0c2cbc3df 846 return 15;
JoeMiller 0:02c0c2cbc3df 847 }
JoeMiller 0:02c0c2cbc3df 848
JoeMiller 0:02c0c2cbc3df 849 case SENSOR_TYPE_SIGNIFICANT_MOTION:
JoeMiller 0:02c0c2cbc3df 850 case SENSOR_TYPE_SIGNIFICANT_MOTION_WAKE:
JoeMiller 0:02c0c2cbc3df 851 case SENSOR_TYPE_STEP_DETECTOR:
JoeMiller 0:02c0c2cbc3df 852 case SENSOR_TYPE_STEP_DETECTOR_WAKE:
JoeMiller 0:02c0c2cbc3df 853 case SENSOR_TYPE_TILT_DETECTOR:
JoeMiller 0:02c0c2cbc3df 854 case SENSOR_TYPE_TILT_DETECTOR_WAKE:
JoeMiller 0:02c0c2cbc3df 855 case SENSOR_TYPE_PICK_UP_GESTURE:
JoeMiller 0:02c0c2cbc3df 856 case SENSOR_TYPE_PICK_UP_GESTURE_WAKE:
JoeMiller 0:02c0c2cbc3df 857 case SENSOR_TYPE_WAKE_GESTURE:
JoeMiller 0:02c0c2cbc3df 858 case SENSOR_TYPE_WAKE_GESTURE_WAKE:
JoeMiller 0:02c0c2cbc3df 859 {
JoeMiller 0:02c0c2cbc3df 860 if (printData) printf("%u %s\n\r", timestamp, em7186_sensor_name[sensorId]);
JoeMiller 0:02c0c2cbc3df 861 if (logData) fprintf(flog,"%u,%u\n", timestamp,sensorId);
JoeMiller 0:02c0c2cbc3df 862 return 1;
JoeMiller 0:02c0c2cbc3df 863 }
JoeMiller 0:02c0c2cbc3df 864 case SENSOR_TYPE_TIMESTAMP:
JoeMiller 0:02c0c2cbc3df 865 case SENSOR_TYPE_TIMESTAMP_WAKE:
JoeMiller 0:02c0c2cbc3df 866 {
JoeMiller 0:02c0c2cbc3df 867 u16* uPacket = (u16*)&buffer[1];
JoeMiller 0:02c0c2cbc3df 868 timestampPtr[0] = uPacket[0];
JoeMiller 0:02c0c2cbc3df 869 timestamp = *(u32*)timestampPtr;
JoeMiller 0:02c0c2cbc3df 870 return 3;
JoeMiller 0:02c0c2cbc3df 871 }
JoeMiller 0:02c0c2cbc3df 872 case SENSOR_TYPE_TIMESTAMP_OVERFLOW:
JoeMiller 0:02c0c2cbc3df 873 case SENSOR_TYPE_TIMESTAMP_OVERFLOW_WAKE:
JoeMiller 0:02c0c2cbc3df 874 {
JoeMiller 0:02c0c2cbc3df 875 u16* uPacket = (u16*)&buffer[1];
JoeMiller 0:02c0c2cbc3df 876 timestampPtr[1] = uPacket[0];
JoeMiller 0:02c0c2cbc3df 877 timestampPtr[0] = 0;
JoeMiller 0:02c0c2cbc3df 878 timestamp = *(u32*)timestampPtr;
JoeMiller 0:02c0c2cbc3df 879 return 3;
JoeMiller 0:02c0c2cbc3df 880 }
JoeMiller 0:02c0c2cbc3df 881 case SENSOR_TYPE_META:
JoeMiller 0:02c0c2cbc3df 882 case SENSOR_TYPE_META_WAKE:
JoeMiller 0:02c0c2cbc3df 883 {
JoeMiller 0:02c0c2cbc3df 884 if (reportMetaData)
JoeMiller 0:02c0c2cbc3df 885 {
JoeMiller 0:02c0c2cbc3df 886 if (printData)
JoeMiller 0:02c0c2cbc3df 887 {
JoeMiller 0:02c0c2cbc3df 888 if (sensorId == SENSOR_TYPE_META_WAKE)
JoeMiller 0:02c0c2cbc3df 889 {
JoeMiller 0:02c0c2cbc3df 890 printf("%u WAKEUP %s:, %s/%u, %u\n\r", timestamp, em7186_meta_event_name[buffer[1]], em7186_sensor_name[buffer[2]],buffer[2], buffer[3]);
JoeMiller 0:02c0c2cbc3df 891 }
JoeMiller 0:02c0c2cbc3df 892 else
JoeMiller 0:02c0c2cbc3df 893 {
JoeMiller 0:02c0c2cbc3df 894 printf("%u %s: %s/%u, %u\n\r", timestamp, em7186_meta_event_name[buffer[1]], em7186_sensor_name[buffer[2]], buffer[2], buffer[3]);
JoeMiller 0:02c0c2cbc3df 895 // special hook for sample script
JoeMiller 0:02c0c2cbc3df 896 if (buffer[2] == 14)
JoeMiller 0:02c0c2cbc3df 897 {
JoeMiller 0:02c0c2cbc3df 898 if (buffer[3] == 0 ) {
JoeMiller 0:02c0c2cbc3df 899 green_LED = 1;
JoeMiller 0:02c0c2cbc3df 900 printf("PASS **** The RM3100 Magnetometer ASIC and sensors are operating properly\n\r");
JoeMiller 0:02c0c2cbc3df 901 } else {
JoeMiller 0:02c0c2cbc3df 902 green_LED = 1;
JoeMiller 0:02c0c2cbc3df 903 wait(0.1);
JoeMiller 0:02c0c2cbc3df 904 green_LED = 0;
JoeMiller 0:02c0c2cbc3df 905 printf("FAIL **** The RM3100 Magnetometer ASIC and sensors fail code = %u\n\r",buffer[3]);
JoeMiller 0:02c0c2cbc3df 906 }
JoeMiller 0:02c0c2cbc3df 907 }
JoeMiller 0:02c0c2cbc3df 908 }
JoeMiller 0:02c0c2cbc3df 909 }
JoeMiller 0:02c0c2cbc3df 910 if (logData) fprintf(flog,"%u,%u,%u,%u,%u\n",timestamp,sensorId, buffer[1],buffer[2],buffer[3]);
JoeMiller 0:02c0c2cbc3df 911 }
JoeMiller 0:02c0c2cbc3df 912 return 4;
JoeMiller 0:02c0c2cbc3df 913 }
JoeMiller 0:02c0c2cbc3df 914 case SENSOR_TYPE_RAW_ACCEL:
JoeMiller 0:02c0c2cbc3df 915 case SENSOR_TYPE_RAW_GYRO:
JoeMiller 0:02c0c2cbc3df 916 SensorData3Axis sensorData;
JoeMiller 0:02c0c2cbc3df 917 float* fPacket = (float*)&buffer[7];
JoeMiller 0:02c0c2cbc3df 918 sensorData.x = 256 * (s8)buffer[2] + buffer[1]; //s16 will convert to float here
JoeMiller 0:02c0c2cbc3df 919 sensorData.y = 256 * (s8)buffer[4] + buffer[3];
JoeMiller 0:02c0c2cbc3df 920 sensorData.z = 256 * (s8)buffer[6] + buffer[5];
JoeMiller 0:02c0c2cbc3df 921 sensorData.extra = fPacket[0];
JoeMiller 0:02c0c2cbc3df 922 if (printData) printf("%u %s: %3.0f, %3.0f, %3.0f, %3.1f\n\r", timestamp, em7186_sensor_name[sensorId], sensorData.x, sensorData.y, sensorData.z, sensorData.extra);
JoeMiller 0:02c0c2cbc3df 923 if (logData) fprintf(flog,"%u,%u,%f,%f,%f,%f\n", timestamp,sensorId, sensorData.x, sensorData.y, sensorData.z, sensorData.extra);
JoeMiller 0:02c0c2cbc3df 924 return 11;
JoeMiller 0:02c0c2cbc3df 925 case SENSOR_TYPE_RAW_MAG: //jm modified to s32 for RM3100
JoeMiller 0:02c0c2cbc3df 926 {
JoeMiller 0:02c0c2cbc3df 927 SensorData3Axis sensorData;
JoeMiller 0:02c0c2cbc3df 928 //s32* sPacket = (s32*)&buffer[1];
JoeMiller 0:02c0c2cbc3df 929 float* fPacket = (float*)&buffer[1];
JoeMiller 0:02c0c2cbc3df 930 //sensorData.x = sPacket[0]; //s32 will convert to float here
JoeMiller 0:02c0c2cbc3df 931 //sensorData.y = sPacket[1];
JoeMiller 0:02c0c2cbc3df 932 //sensorData.z = sPacket[2];
JoeMiller 0:02c0c2cbc3df 933 sensorData.x = (float)(buffer[1] + 256 * (buffer[2] + 256 * (buffer[3] + 256 * (buffer[4])))); //s32 will convert to float here
JoeMiller 0:02c0c2cbc3df 934 sensorData.y = buffer[5] + 256 * (buffer[6] + 256 * (buffer[7] + 256 * (buffer[8])));
JoeMiller 0:02c0c2cbc3df 935 sensorData.z = buffer[9] + 256 * (buffer[10] + 256 * (buffer[11] + 256 * (buffer[12])));
JoeMiller 0:02c0c2cbc3df 936 sensorData.extra = fPacket[3];
JoeMiller 0:02c0c2cbc3df 937 if (printData) printf("%u %s: %f, %f, %f\n\r", timestamp, em7186_sensor_name[sensorId], sensorData.x, sensorData.y, sensorData.z);
JoeMiller 0:02c0c2cbc3df 938 if (logData) fprintf(flog,"%u,%u,%f,%f,%f\n", timestamp,sensorId, sensorData.x, sensorData.y, sensorData.z);
JoeMiller 0:02c0c2cbc3df 939 return 17;
JoeMiller 0:02c0c2cbc3df 940 }
JoeMiller 0:02c0c2cbc3df 941 case SENSOR_TYPE_DEBUG:
JoeMiller 0:02c0c2cbc3df 942 {
JoeMiller 0:02c0c2cbc3df 943 u8 packetSize = buffer[1] & 0x3F;
JoeMiller 0:02c0c2cbc3df 944 u8 i;
JoeMiller 0:02c0c2cbc3df 945 for (i = 0; i < packetSize; i++)
JoeMiller 0:02c0c2cbc3df 946 {
JoeMiller 0:02c0c2cbc3df 947 if (printData) printf("%c", (u8)buffer[2 + i]);
JoeMiller 0:02c0c2cbc3df 948 }
JoeMiller 0:02c0c2cbc3df 949 return 14;
JoeMiller 0:02c0c2cbc3df 950 }
JoeMiller 0:02c0c2cbc3df 951 default:
JoeMiller 0:02c0c2cbc3df 952 {
JoeMiller 0:02c0c2cbc3df 953 // Parsing error or unkown sensor type. Clear out the rest of the
JoeMiller 0:02c0c2cbc3df 954 // buffer and start clean on the next read.
JoeMiller 0:02c0c2cbc3df 955 if (printData) printf("%u Other: 0x%x: %d bytes skipped\n\r", timestamp, buffer[0], size);
JoeMiller 0:02c0c2cbc3df 956 break;
JoeMiller 0:02c0c2cbc3df 957 }
JoeMiller 0:02c0c2cbc3df 958
JoeMiller 0:02c0c2cbc3df 959 } // end switch(sensorId)
JoeMiller 0:02c0c2cbc3df 960
JoeMiller 0:02c0c2cbc3df 961 return 0;
JoeMiller 0:02c0c2cbc3df 962 }
JoeMiller 0:02c0c2cbc3df 963 u32 em7186_parse_fifo(u8* buffer, u32 size)
JoeMiller 0:02c0c2cbc3df 964 {
JoeMiller 0:02c0c2cbc3df 965 u32 index = 0;
JoeMiller 0:02c0c2cbc3df 966 u32 bytesUsed;
JoeMiller 0:02c0c2cbc3df 967 u32 bytesRemaining = size;
JoeMiller 0:02c0c2cbc3df 968
JoeMiller 0:02c0c2cbc3df 969 //if (displayText) printf("FIFO #Bytes to parse:%u\n\r",bytesRemaining);
JoeMiller 0:02c0c2cbc3df 970
JoeMiller 0:02c0c2cbc3df 971
JoeMiller 0:02c0c2cbc3df 972 if (size == 0) return size;
JoeMiller 0:02c0c2cbc3df 973
JoeMiller 0:02c0c2cbc3df 974 do {
JoeMiller 0:02c0c2cbc3df 975 bytesUsed = em7186_parse_next_fifo_block(&buffer[index], bytesRemaining);
JoeMiller 0:02c0c2cbc3df 976 index += bytesUsed;
JoeMiller 0:02c0c2cbc3df 977 bytesRemaining -= bytesUsed;
JoeMiller 0:02c0c2cbc3df 978 } while (bytesUsed > 0 && bytesRemaining > 0);
JoeMiller 0:02c0c2cbc3df 979
JoeMiller 0:02c0c2cbc3df 980 return size - bytesRemaining;
JoeMiller 0:02c0c2cbc3df 981 }
JoeMiller 0:02c0c2cbc3df 982 u32 em7186_set_sensor_rate(u8 sensorId, u16 rate)
JoeMiller 0:02c0c2cbc3df 983 {
JoeMiller 0:02c0c2cbc3df 984 #ifdef BHI160
JoeMiller 0:02c0c2cbc3df 985 u8 paramPage = PARAM_PAGE_SENSOR_INFO;
JoeMiller 0:02c0c2cbc3df 986 ParamInfo param[] = { sensorId + 64, 2 };
JoeMiller 0:02c0c2cbc3df 987 #else
JoeMiller 0:02c0c2cbc3df 988 u8 paramPage = PARAM_PAGE_SENSOR_CONF;
JoeMiller 0:02c0c2cbc3df 989 ParamInfo param[] = { sensorId, 2 };
JoeMiller 0:02c0c2cbc3df 990 #endif
JoeMiller 0:02c0c2cbc3df 991 return em7186_param_write((u8*)&rate, paramPage, param, 1);
JoeMiller 0:02c0c2cbc3df 992 }
JoeMiller 0:02c0c2cbc3df 993
JoeMiller 0:02c0c2cbc3df 994
JoeMiller 0:02c0c2cbc3df 995 u32 em7186_set_sensor_delay(u8 sensorId, u16 delay)
JoeMiller 0:02c0c2cbc3df 996 {
JoeMiller 0:02c0c2cbc3df 997 #ifdef BHI160
JoeMiller 0:02c0c2cbc3df 998 u8 paramPage = PARAM_PAGE_SENSOR_INFO;
JoeMiller 0:02c0c2cbc3df 999 ParamInfo param[] = { sensorId + 64, 2 };
JoeMiller 0:02c0c2cbc3df 1000 #else
JoeMiller 0:02c0c2cbc3df 1001 u8 paramPage = PARAM_PAGE_SENSOR_CONF;
JoeMiller 0:02c0c2cbc3df 1002 ParamInfo param[] = { sensorId, 2 };
JoeMiller 0:02c0c2cbc3df 1003 #endif
JoeMiller 0:02c0c2cbc3df 1004 u16 config[2];
JoeMiller 0:02c0c2cbc3df 1005
JoeMiller 0:02c0c2cbc3df 1006 em7186_param_read((u8*)config, paramPage, param, 1);
JoeMiller 0:02c0c2cbc3df 1007 config[1] = delay;
JoeMiller 0:02c0c2cbc3df 1008 return em7186_param_write((u8*)config, paramPage, param, 1);
JoeMiller 0:02c0c2cbc3df 1009 }
JoeMiller 0:02c0c2cbc3df 1010 u32 em7186_set_meta_event(u8 eventId, u8 enable, u8 enableInt)
JoeMiller 0:02c0c2cbc3df 1011 {
JoeMiller 0:02c0c2cbc3df 1012 unsigned long metaEventBits;
JoeMiller 0:02c0c2cbc3df 1013 ParamInfo param[] = { 1, 8 };
JoeMiller 0:02c0c2cbc3df 1014
JoeMiller 0:02c0c2cbc3df 1015 em7186_param_read((u8*)&metaEventBits, PARAM_PAGE_SYSTEM, param, 1);
JoeMiller 0:02c0c2cbc3df 1016 unsigned long bitMask = !(0x03 << ((eventId - 1) * 2));
JoeMiller 0:02c0c2cbc3df 1017 unsigned long setting = ((enable ? 0x02 : 0x00) | (enableInt ? 0x01 : 0x00)) << ((eventId - 1) * 2);
JoeMiller 0:02c0c2cbc3df 1018 metaEventBits = (metaEventBits & bitMask) | setting;
JoeMiller 0:02c0c2cbc3df 1019 em7186_param_write((u8*)&metaEventBits, PARAM_PAGE_SYSTEM, param, 1);
JoeMiller 0:02c0c2cbc3df 1020
JoeMiller 0:02c0c2cbc3df 1021 return 1;
JoeMiller 0:02c0c2cbc3df 1022 }
JoeMiller 0:02c0c2cbc3df 1023 u8 em7186_set_scale_factors()
JoeMiller 0:02c0c2cbc3df 1024 {
JoeMiller 0:02c0c2cbc3df 1025 // Fixed range
JoeMiller 0:02c0c2cbc3df 1026 em7186_sensor_scale[SENSOR_TYPE_ORIENTATION_WAKE] =
JoeMiller 0:02c0c2cbc3df 1027 em7186_sensor_scale[SENSOR_TYPE_ORIENTATION] =
JoeMiller 0:02c0c2cbc3df 1028 360.0f / powf(2.0f, 15.0f); // Fixed
JoeMiller 0:02c0c2cbc3df 1029
JoeMiller 0:02c0c2cbc3df 1030 em7186_sensor_scale[SENSOR_TYPE_ROTATION_VECTOR] =
JoeMiller 0:02c0c2cbc3df 1031 em7186_sensor_scale[SENSOR_TYPE_ROTATION_VECTOR_WAKE] =
JoeMiller 0:02c0c2cbc3df 1032 em7186_sensor_scale[SENSOR_TYPE_GAME_ROTATION_VECTOR] =
JoeMiller 0:02c0c2cbc3df 1033 em7186_sensor_scale[SENSOR_TYPE_GAME_ROTATION_VECTOR_WAKE] =
JoeMiller 0:02c0c2cbc3df 1034 em7186_sensor_scale[SENSOR_TYPE_GEOMAGNETIC_ROTATION_VECTOR] =
JoeMiller 0:02c0c2cbc3df 1035 em7186_sensor_scale[SENSOR_TYPE_GEOMAGNETIC_ROTATION_VECTOR_WAKE] =
JoeMiller 0:02c0c2cbc3df 1036 em7186_sensor_scale[SENSOR_TYPE_PDR] =
JoeMiller 0:02c0c2cbc3df 1037 em7186_sensor_scale[SENSOR_TYPE_PDR_WAKE] =
JoeMiller 0:02c0c2cbc3df 1038 em7186_sensor_scale[60] =
JoeMiller 0:02c0c2cbc3df 1039 1.0f / powf(2.0f, 14.0f); // Fixed
JoeMiller 0:02c0c2cbc3df 1040
JoeMiller 0:02c0c2cbc3df 1041
JoeMiller 0:02c0c2cbc3df 1042
JoeMiller 0:02c0c2cbc3df 1043 // Can change during system operation (if desired)
JoeMiller 0:02c0c2cbc3df 1044 float accelDynamicRange = 4.0f; // g
JoeMiller 6:4ba3f9a8191f 1045 float magDynamicRange = 1000.0f; // uT
JoeMiller 0:02c0c2cbc3df 1046 float gyroDynamicRange = 2000.0f; // d/s
JoeMiller 0:02c0c2cbc3df 1047
JoeMiller 0:02c0c2cbc3df 1048 // Change depending on dynamic range
JoeMiller 0:02c0c2cbc3df 1049 em7186_sensor_scale[SENSOR_TYPE_ACCELEROMETER] =
JoeMiller 0:02c0c2cbc3df 1050 em7186_sensor_scale[SENSOR_TYPE_ACCELEROMETER_WAKE] =
JoeMiller 0:02c0c2cbc3df 1051 em7186_sensor_scale[SENSOR_TYPE_GRAVITY] =
JoeMiller 0:02c0c2cbc3df 1052 em7186_sensor_scale[SENSOR_TYPE_GRAVITY_WAKE] =
JoeMiller 0:02c0c2cbc3df 1053 em7186_sensor_scale[SENSOR_TYPE_LINEAR_ACCELERATION] =
JoeMiller 0:02c0c2cbc3df 1054 em7186_sensor_scale[SENSOR_TYPE_LINEAR_ACCELERATION_WAKE] =
JoeMiller 0:02c0c2cbc3df 1055 9.81f * accelDynamicRange / powf(2.0f, 15.0f);
JoeMiller 0:02c0c2cbc3df 1056
JoeMiller 0:02c0c2cbc3df 1057 em7186_sensor_scale[SENSOR_TYPE_MAGNETIC_FIELD] =
JoeMiller 0:02c0c2cbc3df 1058 em7186_sensor_scale[SENSOR_TYPE_MAGNETIC_FIELD_WAKE] =
JoeMiller 0:02c0c2cbc3df 1059 em7186_sensor_scale[SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED] =
JoeMiller 0:02c0c2cbc3df 1060 em7186_sensor_scale[SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED_WAKE] =
JoeMiller 0:02c0c2cbc3df 1061 magDynamicRange / powf(2.0f, 15.0f);
JoeMiller 0:02c0c2cbc3df 1062
JoeMiller 0:02c0c2cbc3df 1063 em7186_sensor_scale[SENSOR_TYPE_GYROSCOPE] =
JoeMiller 0:02c0c2cbc3df 1064 em7186_sensor_scale[SENSOR_TYPE_GYROSCOPE_WAKE] =
JoeMiller 0:02c0c2cbc3df 1065 em7186_sensor_scale[SENSOR_TYPE_GYROSCOPE_UNCALIBRATED] =
JoeMiller 0:02c0c2cbc3df 1066 em7186_sensor_scale[SENSOR_TYPE_GYROSCOPE_UNCALIBRATED_WAKE] =
JoeMiller 0:02c0c2cbc3df 1067 (3.1415927f / 180.0f) * gyroDynamicRange / powf(2.0f, 15.0f);
JoeMiller 0:02c0c2cbc3df 1068
JoeMiller 0:02c0c2cbc3df 1069 // Could change depending on dynamic range of physical sensor
JoeMiller 0:02c0c2cbc3df 1070 em7186_sensor_scale[SENSOR_TYPE_PRESSURE] =
JoeMiller 0:02c0c2cbc3df 1071 em7186_sensor_scale[SENSOR_TYPE_PRESSURE_WAKE] =
JoeMiller 0:02c0c2cbc3df 1072 1.0f / 128.0f; // Subject to change
JoeMiller 0:02c0c2cbc3df 1073
JoeMiller 0:02c0c2cbc3df 1074 em7186_sensor_scale[SENSOR_TYPE_LIGHT] =
JoeMiller 0:02c0c2cbc3df 1075 em7186_sensor_scale[SENSOR_TYPE_LIGHT_WAKE] =
JoeMiller 0:02c0c2cbc3df 1076 10000.0f / powf(2.0f, 16.0f); // Subject to change
JoeMiller 0:02c0c2cbc3df 1077
JoeMiller 0:02c0c2cbc3df 1078 em7186_sensor_scale[SENSOR_TYPE_PROXIMITY] =
JoeMiller 0:02c0c2cbc3df 1079 em7186_sensor_scale[SENSOR_TYPE_PROXIMITY_WAKE] =
JoeMiller 0:02c0c2cbc3df 1080 100.0f / powf(2.0f, 16.0f); // Subject to change
JoeMiller 0:02c0c2cbc3df 1081
JoeMiller 0:02c0c2cbc3df 1082 em7186_sensor_scale[SENSOR_TYPE_RELATIVE_HUMIDITY] =
JoeMiller 0:02c0c2cbc3df 1083 em7186_sensor_scale[SENSOR_TYPE_RELATIVE_HUMIDITY_WAKE] =
JoeMiller 0:02c0c2cbc3df 1084 100.0f / powf(2.0f, 16.0f); // Subject to change
JoeMiller 0:02c0c2cbc3df 1085
JoeMiller 0:02c0c2cbc3df 1086 em7186_sensor_scale[SENSOR_TYPE_TEMPERATURE] =
JoeMiller 0:02c0c2cbc3df 1087 em7186_sensor_scale[SENSOR_TYPE_TEMPERATURE_WAKE] =
JoeMiller 0:02c0c2cbc3df 1088 em7186_sensor_scale[SENSOR_TYPE_AMBIENT_TEMPERATURE] =
JoeMiller 0:02c0c2cbc3df 1089 em7186_sensor_scale[SENSOR_TYPE_AMBIENT_TEMPERATURE_WAKE] =
JoeMiller 0:02c0c2cbc3df 1090 150.0f / powf(2.0f, 15.0f); // Subject to change
JoeMiller 0:02c0c2cbc3df 1091
JoeMiller 0:02c0c2cbc3df 1092 em7186_sensor_scale[SENSOR_TYPE_ACTIVITY] =
JoeMiller 0:02c0c2cbc3df 1093 em7186_sensor_scale[SENSOR_TYPE_ACTIVITY_WAKE] =
JoeMiller 0:02c0c2cbc3df 1094 1.0f;
JoeMiller 0:02c0c2cbc3df 1095
JoeMiller 0:02c0c2cbc3df 1096 return 1;
JoeMiller 0:02c0c2cbc3df 1097 }
JoeMiller 0:02c0c2cbc3df 1098
JoeMiller 0:02c0c2cbc3df 1099 /*
JoeMiller 0:02c0c2cbc3df 1100 // Warm start parameter transfer. The parameter list and flags are presently going
JoeMiller 0:02c0c2cbc3df 1101 // through a major revision therefore, these functions are now on hold
JoeMiller 0:02c0c2cbc3df 1102
JoeMiller 0:02c0c2cbc3df 1103 u32 em7186_warm_start_load(const char *filename)
JoeMiller 0:02c0c2cbc3df 1104 {
JoeMiller 0:02c0c2cbc3df 1105 FILE *fin;
JoeMiller 0:02c0c2cbc3df 1106 fin = fopen(filename, "rb");
JoeMiller 0:02c0c2cbc3df 1107 if (!fin) return 0;
JoeMiller 0:02c0c2cbc3df 1108 WarmStartParams warmStartParams;
JoeMiller 0:02c0c2cbc3df 1109 fread(&warmStartParams, 1, sizeof(warmStartParams), fin);
JoeMiller 0:02c0c2cbc3df 1110 fclose(fin);
JoeMiller 0:02c0c2cbc3df 1111
JoeMiller 0:02c0c2cbc3df 1112 em7186_param_write((u8*)&warmStartParams, PARAM_PAGE_WARM_START, warmStartList, sizeof(warmStartList) / sizeof(warmStartList[0]));
JoeMiller 0:02c0c2cbc3df 1113
JoeMiller 0:02c0c2cbc3df 1114 return 1;
JoeMiller 0:02c0c2cbc3df 1115 }
JoeMiller 0:02c0c2cbc3df 1116 u32 em7186_warm_start_save(const char *filename)
JoeMiller 0:02c0c2cbc3df 1117 {
JoeMiller 0:02c0c2cbc3df 1118 WarmStartParams warmStartParams;
JoeMiller 0:02c0c2cbc3df 1119 em7186_param_read((u8*)&warmStartParams, PARAM_PAGE_WARM_START, warmStartList, sizeof(warmStartList) / sizeof(warmStartList[0]));
JoeMiller 0:02c0c2cbc3df 1120
JoeMiller 0:02c0c2cbc3df 1121 FILE *fout;
JoeMiller 0:02c0c2cbc3df 1122 fout = fopen(filename, "wb");
JoeMiller 0:02c0c2cbc3df 1123 if (!fout) return 0;
JoeMiller 0:02c0c2cbc3df 1124 fwrite(&warmStartParams, 1, sizeof(warmStartParams), fout);
JoeMiller 0:02c0c2cbc3df 1125 fclose(fout);
JoeMiller 0:02c0c2cbc3df 1126 if (displayText) printf("Warm start parmeters Saved to warmstart.dat\n\r");
JoeMiller 0:02c0c2cbc3df 1127 return 1;
JoeMiller 0:02c0c2cbc3df 1128 }*/
JoeMiller 0:02c0c2cbc3df 1129
JoeMiller 0:02c0c2cbc3df 1130
JoeMiller 0:02c0c2cbc3df 1131
JoeMiller 0:02c0c2cbc3df 1132 //=========================================================================
JoeMiller 0:02c0c2cbc3df 1133 // Additional Control Functions
JoeMiller 0:02c0c2cbc3df 1134 //=========================================================================
JoeMiller 0:02c0c2cbc3df 1135 u32 em7186_ap_suspend(u8 suspend)
JoeMiller 0:02c0c2cbc3df 1136 {
JoeMiller 0:02c0c2cbc3df 1137 u32 status = 0;
JoeMiller 0:02c0c2cbc3df 1138
JoeMiller 0:02c0c2cbc3df 1139 if (suspend) status = em7186_i2c_write_value(HOST_INTERFACE_CTRL_REG, HOST_INTERFACE_CTRL_AP_SUSPEND);
JoeMiller 0:02c0c2cbc3df 1140 else status = em7186_i2c_write_value(HOST_INTERFACE_CTRL_REG, 0);
JoeMiller 0:02c0c2cbc3df 1141
JoeMiller 0:02c0c2cbc3df 1142 return status;
JoeMiller 0:02c0c2cbc3df 1143 }
JoeMiller 0:02c0c2cbc3df 1144
JoeMiller 0:02c0c2cbc3df 1145 u32 em7186_flush_sensor(u8 sensorId)
JoeMiller 0:02c0c2cbc3df 1146 {
JoeMiller 0:02c0c2cbc3df 1147 return em7186_i2c_write_value(FIFO_FLUSH_REG, sensorId);
JoeMiller 0:02c0c2cbc3df 1148 }
JoeMiller 0:02c0c2cbc3df 1149
JoeMiller 0:02c0c2cbc3df 1150 void disableSensors()
JoeMiller 0:02c0c2cbc3df 1151 {
JoeMiller 0:02c0c2cbc3df 1152 u8 i;
JoeMiller 0:02c0c2cbc3df 1153 for ( i = 0; i<64 ;i++)
JoeMiller 0:02c0c2cbc3df 1154 {
JoeMiller 0:02c0c2cbc3df 1155 if (sensorEnabled[i] == TRUE)
JoeMiller 0:02c0c2cbc3df 1156 {
JoeMiller 0:02c0c2cbc3df 1157 em7186_set_sensor_rate(sensorEnabled[i+1], 0);
JoeMiller 0:02c0c2cbc3df 1158 sensorEnabled[i] = FALSE;
JoeMiller 0:02c0c2cbc3df 1159 }
JoeMiller 0:02c0c2cbc3df 1160 }
JoeMiller 0:02c0c2cbc3df 1161 }
JoeMiller 0:02c0c2cbc3df 1162
JoeMiller 0:02c0c2cbc3df 1163 u32 em7186_set_fifo_watermarks(u16 minRemainingWakeFifo, u16 minRemainingNonWakeFifo)
JoeMiller 0:02c0c2cbc3df 1164 {
JoeMiller 0:02c0c2cbc3df 1165 // if min remaining values are non-zero the watermark will be set that many bytes from the end of the fifo.
JoeMiller 0:02c0c2cbc3df 1166 // if a zero value is used the watermark is disabled.
JoeMiller 0:02c0c2cbc3df 1167 u16 config[4];
JoeMiller 0:02c0c2cbc3df 1168 ParamInfo param[1] = { { PARAM_FIFO_CONTROL, 8 } };
JoeMiller 0:02c0c2cbc3df 1169
JoeMiller 0:02c0c2cbc3df 1170 em7186_param_read((u8*)config, PARAM_PAGE_SYSTEM, param, 1);
JoeMiller 0:02c0c2cbc3df 1171 config[0] = minRemainingWakeFifo ? config[1] - minRemainingWakeFifo : 0;
JoeMiller 0:02c0c2cbc3df 1172 config[2] = minRemainingNonWakeFifo ? config[3] - minRemainingNonWakeFifo : 0;
JoeMiller 0:02c0c2cbc3df 1173 return em7186_param_write((u8*)config, PARAM_PAGE_SYSTEM, param, 1);
JoeMiller 0:02c0c2cbc3df 1174 }
JoeMiller 0:02c0c2cbc3df 1175
JoeMiller 0:02c0c2cbc3df 1176 u32 em7186_enable_raw_sensors(u8 enableMag, u8 enableAccel, u8 enableGyro)
JoeMiller 0:02c0c2cbc3df 1177 {
JoeMiller 0:02c0c2cbc3df 1178 u8 value = 0x00;
JoeMiller 0:02c0c2cbc3df 1179 if (enableMag) value |= 0x04;
JoeMiller 0:02c0c2cbc3df 1180 if (enableAccel) value |= 0x01;
JoeMiller 0:02c0c2cbc3df 1181 if (enableGyro) value |= 0x02;
JoeMiller 0:02c0c2cbc3df 1182
JoeMiller 0:02c0c2cbc3df 1183 ParamInfo param[1] = { { 127, 1 } };
JoeMiller 0:02c0c2cbc3df 1184
JoeMiller 0:02c0c2cbc3df 1185 em7186_param_write(&value, PARAM_PAGE_WARM_START, param, 1);
JoeMiller 0:02c0c2cbc3df 1186
JoeMiller 0:02c0c2cbc3df 1187 return 1;
JoeMiller 0:02c0c2cbc3df 1188 }
JoeMiller 0:02c0c2cbc3df 1189
JoeMiller 0:02c0c2cbc3df 1190 void resetCpu()
JoeMiller 0:02c0c2cbc3df 1191 {
JoeMiller 0:02c0c2cbc3df 1192 disableSensors();
JoeMiller 0:02c0c2cbc3df 1193 em7186_i2c_write_value(0xB6, 63);
JoeMiller 0:02c0c2cbc3df 1194 }
JoeMiller 0:02c0c2cbc3df 1195
JoeMiller 0:02c0c2cbc3df 1196 u32 paramListSize(ParamInfo *paramList, u8 numParams)
JoeMiller 0:02c0c2cbc3df 1197 {
JoeMiller 0:02c0c2cbc3df 1198 u8 i;
JoeMiller 0:02c0c2cbc3df 1199 u32 size = 0;
JoeMiller 0:02c0c2cbc3df 1200 for (i = 0; i < numParams; i++)
JoeMiller 0:02c0c2cbc3df 1201 {
JoeMiller 0:02c0c2cbc3df 1202 size += paramList[i].size;
JoeMiller 0:02c0c2cbc3df 1203 }
JoeMiller 0:02c0c2cbc3df 1204 return size;
JoeMiller 0:02c0c2cbc3df 1205 }
JoeMiller 0:02c0c2cbc3df 1206
JoeMiller 0:02c0c2cbc3df 1207 void displaySavedParams(u8 *values, ParamInfo *paramList, u8 numParams)
JoeMiller 0:02c0c2cbc3df 1208 {
JoeMiller 0:02c0c2cbc3df 1209 u8 i;
JoeMiller 0:02c0c2cbc3df 1210 u16 valueIndex = 0;
JoeMiller 0:02c0c2cbc3df 1211 for (i = 0; i < numParams; i++)
JoeMiller 0:02c0c2cbc3df 1212 {
JoeMiller 0:02c0c2cbc3df 1213 float* floatVals = (float*)&values[valueIndex];
JoeMiller 0:02c0c2cbc3df 1214 u32* hexVals = (u32*)&values[valueIndex];
JoeMiller 0:02c0c2cbc3df 1215
JoeMiller 0:02c0c2cbc3df 1216 if (paramList[i].size >= 4)
JoeMiller 0:02c0c2cbc3df 1217 {
JoeMiller 0:02c0c2cbc3df 1218 printf("%d 1: %f, %08x\n\r", paramList[i].paramNo, floatVals[0], hexVals[0]);
JoeMiller 0:02c0c2cbc3df 1219 }
JoeMiller 0:02c0c2cbc3df 1220 if (paramList[i].size >= 8)
JoeMiller 0:02c0c2cbc3df 1221 {
JoeMiller 0:02c0c2cbc3df 1222 printf("%d 2: %f, %08x\n\r", paramList[i].paramNo, floatVals[1], hexVals[1]);
JoeMiller 0:02c0c2cbc3df 1223 }
JoeMiller 0:02c0c2cbc3df 1224 if (paramList[i].size == 1)
JoeMiller 0:02c0c2cbc3df 1225 {
JoeMiller 0:02c0c2cbc3df 1226 u8* hexVals = (u8*)&values[valueIndex];
JoeMiller 0:02c0c2cbc3df 1227 printf("%d 1: %d\n\r", paramList[i].paramNo, hexVals[0]);
JoeMiller 0:02c0c2cbc3df 1228 }
JoeMiller 0:02c0c2cbc3df 1229 valueIndex += paramList[i].size;
JoeMiller 0:02c0c2cbc3df 1230 }
JoeMiller 0:02c0c2cbc3df 1231 }
JoeMiller 0:02c0c2cbc3df 1232
JoeMiller 0:02c0c2cbc3df 1233 void displayParams(u8 paramPage, ParamInfo *paramList, u8 numParams)
JoeMiller 0:02c0c2cbc3df 1234 {
JoeMiller 0:02c0c2cbc3df 1235 u32 size = paramListSize(paramList, numParams);
JoeMiller 0:02c0c2cbc3df 1236 u8 *values = (u8 *)malloc(size);
JoeMiller 0:02c0c2cbc3df 1237 em7186_param_read(values, paramPage, paramList, numParams);
JoeMiller 0:02c0c2cbc3df 1238 displaySavedParams(values, paramList, numParams);
JoeMiller 0:02c0c2cbc3df 1239 free(values);
JoeMiller 0:02c0c2cbc3df 1240 }
JoeMiller 0:02c0c2cbc3df 1241
JoeMiller 0:02c0c2cbc3df 1242 /*
JoeMiller 0:02c0c2cbc3df 1243 // Warm start parameter transfer. The parameter list and flags are presently going
JoeMiller 0:02c0c2cbc3df 1244 // through a major revision therefore, these functions are now on hold
JoeMiller 0:02c0c2cbc3df 1245
JoeMiller 0:02c0c2cbc3df 1246 void warmStart()
JoeMiller 0:02c0c2cbc3df 1247 {
JoeMiller 0:02c0c2cbc3df 1248 // Save warm start params
JoeMiller 0:02c0c2cbc3df 1249 em7186_warm_start_save(warmStartFile);
JoeMiller 0:02c0c2cbc3df 1250
JoeMiller 0:02c0c2cbc3df 1251 if (displayText) printf("\n\r\n\r-------------------- CPU Reset -------------------------------------\n\r");
JoeMiller 0:02c0c2cbc3df 1252 // Reset the cpu
JoeMiller 0:02c0c2cbc3df 1253 resetCpu();
JoeMiller 0:02c0c2cbc3df 1254
JoeMiller 0:02c0c2cbc3df 1255 if (displayText) printf("\n\r\n\r---------------- Parameters after reset ----------------------------\n\r");
JoeMiller 0:02c0c2cbc3df 1256 // Read the warmstart params after reset
JoeMiller 0:02c0c2cbc3df 1257 displayParams(2, warmStartList, sizeof(warmStartList) / sizeof(warmStartList[0]));
JoeMiller 0:02c0c2cbc3df 1258
JoeMiller 0:02c0c2cbc3df 1259 if (displayText) printf("\n\r\n\r---------------- Parameters after upload----------------------------\n\r");
JoeMiller 0:02c0c2cbc3df 1260 // Load warmstart parameters
JoeMiller 0:02c0c2cbc3df 1261 em7186_warm_start_load(warmStartFile);
JoeMiller 0:02c0c2cbc3df 1262
JoeMiller 0:02c0c2cbc3df 1263 // Read the warmstart params after warmstart
JoeMiller 0:02c0c2cbc3df 1264 displayParams(2, warmStartList, sizeof(warmStartList) / sizeof(warmStartList[0]));
JoeMiller 0:02c0c2cbc3df 1265 }*/
JoeMiller 0:02c0c2cbc3df 1266
JoeMiller 0:02c0c2cbc3df 1267 char* strBits(void const * const ptr, u8 numBytes, char* str)
JoeMiller 0:02c0c2cbc3df 1268 {
JoeMiller 0:02c0c2cbc3df 1269 u8 *bytes = (u8*)ptr;
JoeMiller 0:02c0c2cbc3df 1270 u8 i, j;
JoeMiller 0:02c0c2cbc3df 1271 for (i = 0; i < numBytes; i++)
JoeMiller 0:02c0c2cbc3df 1272 {
JoeMiller 0:02c0c2cbc3df 1273 for (j = 0; j < 8; j++)
JoeMiller 0:02c0c2cbc3df 1274 {
JoeMiller 0:02c0c2cbc3df 1275 str[i * 8 + (7 - j)] = bytes[(numBytes - 1) - i] & (1 << j) ? '1' : '0';
JoeMiller 0:02c0c2cbc3df 1276 }
JoeMiller 0:02c0c2cbc3df 1277 }
JoeMiller 0:02c0c2cbc3df 1278 str[numBytes * 8] = '\0';
JoeMiller 0:02c0c2cbc3df 1279 return str;
JoeMiller 0:02c0c2cbc3df 1280 }
JoeMiller 0:02c0c2cbc3df 1281
JoeMiller 0:02c0c2cbc3df 1282 void displayStatusRegisters()
JoeMiller 0:02c0c2cbc3df 1283 {
JoeMiller 0:02c0c2cbc3df 1284 u8 buf[4];
JoeMiller 0:02c0c2cbc3df 1285 char str[17];
JoeMiller 0:02c0c2cbc3df 1286 printf("\n------------ Displaying Status Registers -----------\n\r");
JoeMiller 0:02c0c2cbc3df 1287 em7186_i2c_read(HOST_STATUS_REG, buf, 3);
JoeMiller 0:02c0c2cbc3df 1288 printf("Host Status: % 5u, %s\n\r", buf[0], strBits(&buf[0], sizeof(buf[0]), str));
JoeMiller 0:02c0c2cbc3df 1289 printf("Interrupt Status: % 5u, %s\n\r", buf[1], strBits(&buf[1], sizeof(buf[0]), str));
JoeMiller 0:02c0c2cbc3df 1290 printf("Chip Status: % 5u, %s\n\r", buf[2], strBits(&buf[2], sizeof(buf[0]), str));
JoeMiller 0:02c0c2cbc3df 1291 em7186_i2c_read(ERR_REG, buf, 4);
JoeMiller 0:02c0c2cbc3df 1292 printf("Error Register: % 5u, %s\n\r", buf[0], strBits(&buf[0], sizeof(buf[0]), str));
JoeMiller 0:02c0c2cbc3df 1293 printf("Interrupt State: % 5u, %s\n\r", buf[1], strBits(&buf[1], sizeof(buf[0]), str));
JoeMiller 0:02c0c2cbc3df 1294 printf("Debug Value: % 5u, %s\n\r", buf[2], strBits(&buf[2], sizeof(buf[0]), str));
JoeMiller 0:02c0c2cbc3df 1295 printf("Debug State: % 5u, %s\n\r", buf[3], strBits(&buf[3], sizeof(buf[0]), str));
JoeMiller 0:02c0c2cbc3df 1296 em7186_i2c_read(BYTES_REMANING_REG, buf, 2);
JoeMiller 0:02c0c2cbc3df 1297 u16* v = (u16*)&buf;
JoeMiller 0:02c0c2cbc3df 1298 printf("Bytes Remaining: % 5u, %s\n\n\r", v[0], strBits(&v[0], sizeof(v[0]), str));
JoeMiller 0:02c0c2cbc3df 1299 }
JoeMiller 0:02c0c2cbc3df 1300
JoeMiller 0:02c0c2cbc3df 1301 void displaySensorStatusBits(u8 id, const SensorStatus *status)
JoeMiller 0:02c0c2cbc3df 1302 {
JoeMiller 0:02c0c2cbc3df 1303 printf("|% 4u | % 4u | % 4u | % 4u | % 4u | % 4u | % 4u |\n\r",
JoeMiller 0:02c0c2cbc3df 1304 id, status->dataAvailable, status->i2cNack, status->deviceIdError,
JoeMiller 0:02c0c2cbc3df 1305 status->transientError, status->dataLost, status->powerMode);
JoeMiller 0:02c0c2cbc3df 1306 }
JoeMiller 0:02c0c2cbc3df 1307
JoeMiller 0:02c0c2cbc3df 1308 void displaySensorStatus()
JoeMiller 0:02c0c2cbc3df 1309 {
JoeMiller 0:02c0c2cbc3df 1310 SensorStatus sensorStatus[32];
JoeMiller 0:02c0c2cbc3df 1311 ParamInfo param[] = { PARAM_SENSOR_STATUS_BANK_0, 32 };
JoeMiller 0:02c0c2cbc3df 1312 em7186_param_read((u8*)sensorStatus, PARAM_PAGE_SYSTEM, param, 1);
JoeMiller 0:02c0c2cbc3df 1313 printf("+------------------------------------------------------------+\n\r");
JoeMiller 0:02c0c2cbc3df 1314 printf("| SENSOR STATUS |\n\r");
JoeMiller 0:02c0c2cbc3df 1315 printf("+-----+-----------+------+--------+-----------+------+-------+\n\r");
JoeMiller 0:02c0c2cbc3df 1316 printf("| ID | Data | I2C | DEVICE | Transient | Data | Power |\n\r");
JoeMiller 0:02c0c2cbc3df 1317 printf("| | Available | NACK | ID ERR | Error | Lost | Mode |\n\r");
JoeMiller 0:02c0c2cbc3df 1318 printf("+-----+-----------+------+--------+-----------+------+-------+\n\r");
JoeMiller 0:02c0c2cbc3df 1319 u8 i;
JoeMiller 0:02c0c2cbc3df 1320 for (i = 0; i < 32; i++)
JoeMiller 0:02c0c2cbc3df 1321 {
JoeMiller 0:02c0c2cbc3df 1322 displaySensorStatusBits(i + 1, &sensorStatus[i]);
JoeMiller 0:02c0c2cbc3df 1323 }
JoeMiller 0:02c0c2cbc3df 1324 param[0].paramNo = PARAM_SENSOR_STATUS_BANK_0 + 4;
JoeMiller 0:02c0c2cbc3df 1325 em7186_param_read((u8*)sensorStatus, PARAM_PAGE_SYSTEM, param, 1);
JoeMiller 0:02c0c2cbc3df 1326 for (i = 0; i < 16; i++)
JoeMiller 0:02c0c2cbc3df 1327 {
JoeMiller 0:02c0c2cbc3df 1328 displaySensorStatusBits(i + 65, &sensorStatus[i]);
JoeMiller 0:02c0c2cbc3df 1329 }
JoeMiller 0:02c0c2cbc3df 1330 printf("+-----+-----------+------+--------+-----------+------+-------+\n\r");
JoeMiller 0:02c0c2cbc3df 1331
JoeMiller 0:02c0c2cbc3df 1332 }
JoeMiller 0:02c0c2cbc3df 1333
JoeMiller 0:02c0c2cbc3df 1334 void getPhysicalSensorStatus()
JoeMiller 0:02c0c2cbc3df 1335 {
JoeMiller 0:02c0c2cbc3df 1336 ParamInfo param[] = { PARAM_PHYSICAL_SENSOR_STATUS, 15 };
JoeMiller 0:02c0c2cbc3df 1337 em7186_param_read((u8*)&physicalSensorStatus, PARAM_PAGE_SYSTEM, param, 1);
JoeMiller 0:02c0c2cbc3df 1338 }
JoeMiller 0:02c0c2cbc3df 1339
JoeMiller 0:02c0c2cbc3df 1340 void displayPhysicalSensorStatus()
JoeMiller 0:02c0c2cbc3df 1341 {
JoeMiller 0:02c0c2cbc3df 1342 getPhysicalSensorStatus();
JoeMiller 0:02c0c2cbc3df 1343 printf("+----------------------------------------------------------------------------------------+\n\r");
JoeMiller 0:02c0c2cbc3df 1344 printf("| PHYSICAL SENSOR STATUS |\n\r");
JoeMiller 0:02c0c2cbc3df 1345 printf("+--------+--------+---------+-----+-----------+------+--------+-----------+------+-------+\n\r");
JoeMiller 0:02c0c2cbc3df 1346 printf("| Sensor | Sample | Dynamic | ID | Data | I2C | DEVICE | Transient | Data | Power |\n\r");
JoeMiller 0:02c0c2cbc3df 1347 printf("| | Rate | Range | | Available | NACK | ID ERR | Error | Lost | Mode |\n\r");
JoeMiller 0:02c0c2cbc3df 1348 printf("+--------+--------+---------+-----+-----------+------+--------+-----------+------+-------+\n\r");
JoeMiller 0:02c0c2cbc3df 1349
JoeMiller 0:02c0c2cbc3df 1350 printf("| Accel | % 4u | % 4u ", physicalSensorStatus.accel.sampleRate, physicalSensorStatus.accel.dynamicRange);
JoeMiller 0:02c0c2cbc3df 1351 displaySensorStatusBits(1, &physicalSensorStatus.accel.status);
JoeMiller 0:02c0c2cbc3df 1352
JoeMiller 0:02c0c2cbc3df 1353 printf("| Gyro | % 4u | % 4u ", physicalSensorStatus.gyro.sampleRate, physicalSensorStatus.gyro.dynamicRange);
JoeMiller 0:02c0c2cbc3df 1354 displaySensorStatusBits(2, &physicalSensorStatus.gyro.status);
JoeMiller 0:02c0c2cbc3df 1355
JoeMiller 0:02c0c2cbc3df 1356 printf("| Mag | % 4u | % 4u ", physicalSensorStatus.mag.sampleRate, physicalSensorStatus.mag.dynamicRange);
JoeMiller 0:02c0c2cbc3df 1357 displaySensorStatusBits(3, &physicalSensorStatus.mag.status);
JoeMiller 0:02c0c2cbc3df 1358 printf("+--------+--------+---------+-----+-----------+------+--------+-----------+------+-------+\n\r");
JoeMiller 0:02c0c2cbc3df 1359 }
JoeMiller 0:02c0c2cbc3df 1360 void displayPhysicalSensorInformation()
JoeMiller 0:02c0c2cbc3df 1361 {
JoeMiller 0:02c0c2cbc3df 1362 typedef struct
JoeMiller 0:02c0c2cbc3df 1363 {
JoeMiller 0:02c0c2cbc3df 1364 u8 sensorType;
JoeMiller 0:02c0c2cbc3df 1365 u8 driverId;
JoeMiller 0:02c0c2cbc3df 1366 u8 driverVersion;
JoeMiller 0:02c0c2cbc3df 1367 u8 current;
JoeMiller 0:02c0c2cbc3df 1368 u16 currentDynamicRange;
JoeMiller 0:02c0c2cbc3df 1369 u8 flags;
JoeMiller 0:02c0c2cbc3df 1370 u8 reserved;
JoeMiller 0:02c0c2cbc3df 1371 u16 currentRate;
JoeMiller 0:02c0c2cbc3df 1372 u8 numAxes;
JoeMiller 0:02c0c2cbc3df 1373 u8 orientationMatrix[5];
JoeMiller 0:02c0c2cbc3df 1374 } PhysicalSensorInformation;
JoeMiller 0:02c0c2cbc3df 1375
JoeMiller 0:02c0c2cbc3df 1376 PhysicalSensorInformation s;
JoeMiller 0:02c0c2cbc3df 1377
JoeMiller 0:02c0c2cbc3df 1378 u64 physicalSensorPresent = 0;
JoeMiller 0:02c0c2cbc3df 1379 ParamInfo param = { 32, 4 };
JoeMiller 0:02c0c2cbc3df 1380 em7186_param_read((u8*)&physicalSensorPresent, PARAM_PAGE_SYSTEM, &param, 1);
JoeMiller 0:02c0c2cbc3df 1381
JoeMiller 0:02c0c2cbc3df 1382 u32 i;
JoeMiller 0:02c0c2cbc3df 1383 param.size = 16;
JoeMiller 0:02c0c2cbc3df 1384
JoeMiller 0:02c0c2cbc3df 1385 printf("\n+----------------------------------+--------+---------+-------+---------+------------+------+\n\r");
JoeMiller 0:02c0c2cbc3df 1386 printf("| Sensor | Driver | Driver | Power | Current | Current | Num |\n\r");
JoeMiller 0:02c0c2cbc3df 1387 printf("| | ID | Version | | Range | Rate | Axes |\n\r");
JoeMiller 0:02c0c2cbc3df 1388 printf("+----------------------------------+--------+---------+-------+---------+------------+------+\n\r");
JoeMiller 0:02c0c2cbc3df 1389 for (i = 0; i < 64; i++)
JoeMiller 0:02c0c2cbc3df 1390 {
JoeMiller 0:02c0c2cbc3df 1391 if (physicalSensorPresent & (1LL << i))
JoeMiller 0:02c0c2cbc3df 1392 {
JoeMiller 0:02c0c2cbc3df 1393 param.paramNo = i+32;
JoeMiller 0:02c0c2cbc3df 1394 em7186_param_read((u8*)&s, PARAM_PAGE_SYSTEM, &param, 1);
JoeMiller 0:02c0c2cbc3df 1395 printf("| %-32s | % 4u | % 4u | % 4u | % 4u | % 4u | % 4u |\n\r",
JoeMiller 0:02c0c2cbc3df 1396 em7186_sensor_name[s.sensorType], s.driverId, s.driverVersion, s.current, s.currentDynamicRange, s.currentRate, s.numAxes);
JoeMiller 0:02c0c2cbc3df 1397 }
JoeMiller 0:02c0c2cbc3df 1398 }
JoeMiller 0:02c0c2cbc3df 1399 printf("+----------------------------------+--------+---------+-------+---------+------------+------+\n\r");
JoeMiller 0:02c0c2cbc3df 1400 }
JoeMiller 0:02c0c2cbc3df 1401
JoeMiller 0:02c0c2cbc3df 1402 void getSensorInformation()
JoeMiller 0:02c0c2cbc3df 1403 {
JoeMiller 0:02c0c2cbc3df 1404 em7186_param_read((u8*)sensorInformation, PARAM_PAGE_SENSOR_INFO, sensorInfoParamList, sizeof(sensorInfoParamList) / sizeof(sensorInfoParamList[0]));
JoeMiller 0:02c0c2cbc3df 1405 haveSensorInfo = 1;
JoeMiller 0:02c0c2cbc3df 1406
JoeMiller 0:02c0c2cbc3df 1407 magMaxRate = sensorInformation[SENSOR_TYPE_MAGNETIC_FIELD].maxRate;
JoeMiller 0:02c0c2cbc3df 1408 accelMaxRate = sensorInformation[SENSOR_TYPE_ACCELEROMETER].maxRate;
JoeMiller 0:02c0c2cbc3df 1409 gyroMaxRate = sensorInformation[SENSOR_TYPE_GYROSCOPE].maxRate;
JoeMiller 0:02c0c2cbc3df 1410 }
JoeMiller 0:02c0c2cbc3df 1411
JoeMiller 0:02c0c2cbc3df 1412 void getSensorConfiguration()
JoeMiller 0:02c0c2cbc3df 1413 {
JoeMiller 0:02c0c2cbc3df 1414 u8 i;
JoeMiller 0:02c0c2cbc3df 1415 ParamInfo param[1] = { 0, 8 };
JoeMiller 0:02c0c2cbc3df 1416 for (i = 1; i<sizeof(sensorInformation) / sizeof(sensorInformation[0]); i++)
JoeMiller 0:02c0c2cbc3df 1417 {
JoeMiller 0:02c0c2cbc3df 1418 if (sensorInformation[i].sensorId > 0)
JoeMiller 0:02c0c2cbc3df 1419 {
JoeMiller 0:02c0c2cbc3df 1420 param[0].paramNo = sensorInformation[i].sensorId;
JoeMiller 0:02c0c2cbc3df 1421 em7186_param_read((u8*)&sensorConfiguration[i], PARAM_PAGE_SENSOR_CONF, param, 1);
JoeMiller 0:02c0c2cbc3df 1422 }
JoeMiller 0:02c0c2cbc3df 1423 }
JoeMiller 0:02c0c2cbc3df 1424 }
JoeMiller 0:02c0c2cbc3df 1425
JoeMiller 0:02c0c2cbc3df 1426 void displaySensorConfiguration()
JoeMiller 0:02c0c2cbc3df 1427 {
JoeMiller 0:02c0c2cbc3df 1428 if (!haveSensorInfo) { getSensorInformation(); };
JoeMiller 0:02c0c2cbc3df 1429 getSensorConfiguration();
JoeMiller 0:02c0c2cbc3df 1430 printf("+-------------------------------------------------------------------------+\n\r");
JoeMiller 0:02c0c2cbc3df 1431 printf("| Sensor Configuration |\n\r");
JoeMiller 0:02c0c2cbc3df 1432 printf("+----------------------------------+-------+-------+-------------+--------+\n\r");
JoeMiller 0:02c0c2cbc3df 1433 printf("| Sensor | Rate | Delay | Sensitivity | Range |\n\r");
JoeMiller 0:02c0c2cbc3df 1434 printf("+----------------------------------+-------+-------+-------------+--------+\n\r");
JoeMiller 0:02c0c2cbc3df 1435 u8 i;
JoeMiller 0:02c0c2cbc3df 1436 for (i = 0; i < sizeof(sensorInformation) / sizeof(sensorInformation[0]); i++)
JoeMiller 0:02c0c2cbc3df 1437 {
JoeMiller 0:02c0c2cbc3df 1438 if (sensorInformation[i].sensorId > 0)
JoeMiller 0:02c0c2cbc3df 1439 {
JoeMiller 0:02c0c2cbc3df 1440 printf("| %-32s | % 5u | % 5u | % 11u | % 6u |\n\r",
JoeMiller 0:02c0c2cbc3df 1441 em7186_sensor_name[sensorInformation[i].sensorId],
JoeMiller 0:02c0c2cbc3df 1442 sensorConfiguration[i].sampleRate,
JoeMiller 0:02c0c2cbc3df 1443 sensorConfiguration[i].maxReportLatency,
JoeMiller 0:02c0c2cbc3df 1444 sensorConfiguration[i].changeSensitivity,
JoeMiller 0:02c0c2cbc3df 1445 sensorConfiguration[i].dynamicRange);
JoeMiller 0:02c0c2cbc3df 1446 }
JoeMiller 0:02c0c2cbc3df 1447 }
JoeMiller 0:02c0c2cbc3df 1448 printf("+----------------------------------+-------+-------+-------------+--------+\n\r");
JoeMiller 0:02c0c2cbc3df 1449 }
JoeMiller 0:02c0c2cbc3df 1450
JoeMiller 0:02c0c2cbc3df 1451 void displaySensorInformation()
JoeMiller 0:02c0c2cbc3df 1452 {
JoeMiller 0:02c0c2cbc3df 1453 if (!haveSensorInfo) { getSensorInformation(); };
JoeMiller 3:69239f60d620 1454 printf("+------------------------------------------------------------------------------------------+\n\r");
JoeMiller 3:69239f60d620 1455 printf("| Sensor Information |\n\r");
JoeMiller 3:69239f60d620 1456 printf("+----------------------------------------+---------+-------+-------+-----+----------+------+\n\r");
JoeMiller 3:69239f60d620 1457 printf("| ID |Sensor | Driver | Power | Range | Res | Rate | Size |\n\r");
JoeMiller 3:69239f60d620 1458 printf("+-----|----------------------------------+---------+-------+-------+-----+----------+------+\n\r");
JoeMiller 0:02c0c2cbc3df 1459 u8 i;
JoeMiller 0:02c0c2cbc3df 1460 for (i = 0; i < sizeof(sensorInfoParamList) / sizeof(sensorInfoParamList[0]); i++)
JoeMiller 0:02c0c2cbc3df 1461 {
JoeMiller 0:02c0c2cbc3df 1462 if (sensorInformation[i].sensorId > 0)
JoeMiller 0:02c0c2cbc3df 1463 {
JoeMiller 3:69239f60d620 1464 printf("|%3u | %-32s | % 3u.%-3u | % 4u | % 5u | % 3u | %-3u-% 4u | % 3u |\n\r",
JoeMiller 3:69239f60d620 1465 i,
JoeMiller 0:02c0c2cbc3df 1466 em7186_sensor_name[sensorInformation[i].sensorId], sensorInformation[i].driverId,
JoeMiller 0:02c0c2cbc3df 1467 sensorInformation[i].driverVersion, sensorInformation[i].power,
JoeMiller 0:02c0c2cbc3df 1468 sensorInformation[i].maxRange, sensorInformation[i].resolution,
JoeMiller 0:02c0c2cbc3df 1469 sensorInformation[i].minRate, sensorInformation[i].maxRate,
JoeMiller 0:02c0c2cbc3df 1470 sensorInformation[i].eventSize);
JoeMiller 0:02c0c2cbc3df 1471 }
JoeMiller 0:02c0c2cbc3df 1472 }
JoeMiller 3:69239f60d620 1473 printf("+-----|----------------------------------+---------+-------+-------+-----+----------+------+\n\r");
JoeMiller 0:02c0c2cbc3df 1474 }
JoeMiller 0:02c0c2cbc3df 1475
JoeMiller 0:02c0c2cbc3df 1476
JoeMiller 0:02c0c2cbc3df 1477 void read_BuildVersion(void) {
JoeMiller 0:02c0c2cbc3df 1478
JoeMiller 0:02c0c2cbc3df 1479 ParamInfo param; // elements: {u8 paramNo; u8 size;}
JoeMiller 0:02c0c2cbc3df 1480
JoeMiller 0:02c0c2cbc3df 1481 printf("\n\r\n\rSENtral Firmware build version information from PramIO Page 9\n\r");
JoeMiller 0:02c0c2cbc3df 1482
JoeMiller 0:02c0c2cbc3df 1483 struct pni_version {
JoeMiller 0:02c0c2cbc3df 1484 u8 major;
JoeMiller 0:02c0c2cbc3df 1485 u8 minor;
JoeMiller 0:02c0c2cbc3df 1486 u8 patch;
JoeMiller 0:02c0c2cbc3df 1487 u8 other;
JoeMiller 0:02c0c2cbc3df 1488 u32 build;
JoeMiller 0:02c0c2cbc3df 1489 };
JoeMiller 0:02c0c2cbc3df 1490
JoeMiller 0:02c0c2cbc3df 1491 struct pni_version pni_ver;
JoeMiller 0:02c0c2cbc3df 1492
JoeMiller 0:02c0c2cbc3df 1493
JoeMiller 0:02c0c2cbc3df 1494 param.paramNo = 1;
JoeMiller 0:02c0c2cbc3df 1495 param.size = 8;
JoeMiller 0:02c0c2cbc3df 1496 em7186_param_read((u8 *)&pni_ver, 9, &param, 1);
JoeMiller 0:02c0c2cbc3df 1497
JoeMiller 0:02c0c2cbc3df 1498 printf(" major = %u\n\r", pni_ver.major);
JoeMiller 0:02c0c2cbc3df 1499 printf(" minor = %u\n\r", pni_ver.minor);
JoeMiller 0:02c0c2cbc3df 1500 printf(" patch = %u\n\r", pni_ver.patch);
JoeMiller 0:02c0c2cbc3df 1501 printf(" other = %u\n\r", pni_ver.other);
JoeMiller 0:02c0c2cbc3df 1502 printf(" build = %u\n\r", pni_ver.build);
JoeMiller 0:02c0c2cbc3df 1503
JoeMiller 0:02c0c2cbc3df 1504
JoeMiller 0:02c0c2cbc3df 1505 }