main.h

00001 /**
00002   ******************************************************************************
00003   * @file    main.h
00004   * @author  Central Labs / AST
00005   * @version V0.9.0
00006   * @date    23-Dec-2015
00007   * @brief   Main program body
00008   ******************************************************************************
00009   * @attention
00010   *
00011   * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
00012   *
00013   * Redistribution and use in source and binary forms, with or without modification,
00014   * are permitted provided that the following conditions are met:
00015   *   1. Redistributions of source code must retain the above copyright notice,
00016   *      this list of conditions and the following disclaimer.
00017   *   2. Redistributions in binary form must reproduce the above copyright notice,
00018   *      this list of conditions and the following disclaimer in the documentation
00019   *      and/or other materials provided with the distribution.
00020   *   3. Neither the name of STMicroelectronics nor the names of its contributors
00021   *      may be used to endorse or promote products derived from this software
00022   *      without specific prior written permission.
00023   *
00024   * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00025   * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00026   * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00027   * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
00028   * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
00029   * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
00030   * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00031   * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
00032   * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
00033   * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00034   *
00035   ******************************************************************************
00036   */
00037 
00038 #ifndef __MAIN_H__
00039 #define __MAIN_H__
00040 
00041 /* Enable the following define for printout the calibration value 
00042  read/written from/to Memory */
00043 //#define BLUEMSYS_DEBUG_CALIB
00044 #define CUST_CONS_SERV          // Uncomment to enable console service 
00045 //#define CUST_BATT_SERV        // Uncomment to enable battery service /** FIXME tb implemented **/
00046 
00047 #define CUST_SENS_SERV          // Uncomment to enable env/MEMS sensor service 
00048 #define DS3_ONBOARD  false      // deft DS3 module NOT plugged onto MEMS exp board
00049 //#define DS3_ONBOARD  true     // Uncomment if DS3 module is plugged onto MEMS exp board
00050 
00051 #ifdef USE_SENSOR_FUSION_LIB    // if sensor fusion lib present enable calibration service and quaternion service
00052 #define USE_IKS01A2             // this MotionFX porting is for IKS01A2 only (sensor orientation)
00053 #define CUST_CONFIG_SERV        // enable magnetometer calibration service
00054 //#define BLUEMSYS_STORE_CALIB_FLASH  // enable flash storage of calibration data only for 401RE
00055 #define CUST_SW_SERV            // enable quaternion service
00056 #endif
00057 
00058 /*************** Debug Defines ******************/
00059 /* For enabling connection and notification subscriptions debug */
00060 //#define BLUEMSYS_DEBUG_CONNECTION
00061 
00062 /* For enabling trasmission for notified services (except for quaternions) */
00063 //#define BLUEMSYS_DEBUG_NOTIFY_TRAMISSION
00064 
00065 #define MAX_I2C_SPEED               400000  
00066 #define NUCLEO_I2C_SHIELDS_SPEED    MAX_I2C_SPEED   // I2C speed in Hz
00067 
00068 #define ENV_TIMER        500      // 500 mSec 
00069 #define CALIB_TIMER      400      // 40mS
00070 #define MEMS_TIMER       10       // 10mS
00071 
00072 #define FROM_MG_TO_G                    0.001f
00073 #define FROM_G_TO_MG                    1000.0f
00074 #define FROM_MDPS_TO_DPS                0.001f
00075 #define FROM_DPS_TO_MDPS                1000.0f
00076 #define FROM_MGAUSS_TO_UT50             (0.1f/50.0f)
00077 #define FROM_UT50_TO_MGAUSS             500.0f
00078 
00079 #define MOTIONFX_ENGINE_DELTATIME       0.01f
00080 #define SAMPLE_PERIOD                   ((uint8_t)10)   /* [ms] */
00081 
00082 /*************** Don't Change the following defines *************/
00083 /* Calibration mask for Sensor fusion short precision */
00084 #define MASK_CALIB_SENSORFUSION_SHORT 0x00000100
00085 /* Calibration mask for Sensor fusion float precision */
00086 #define MASK_CALIB_SENSORFUSION_FLOAT 0x00000080
00087 /* W2ST command for asking the calibration status */
00088 #define W2ST_COMMAND_CAL_STATUS 0xFF
00089 /* W2ST command for resetting the calibration */
00090 #define W2ST_COMMAND_CAL_RESET  0x00
00091 /* W2ST command for stopping the calibration process */
00092 #define W2ST_COMMAND_CAL_STOP   0x01
00093 /****************************************************************/
00094 
00095 #define BLE_DEV_NAME "MotEnvMbedOS"
00096 #define BLE_DEV_MAC 0xFF,0x00,0x25,0xAA,0x02,0x04
00097 #define QUAT_FLOAT_UPDATE_MUL_10MS 2
00098 #define ACC_GYRO_MAG_UPDATE_MUL_10MS 10
00099 
00100 #define BLUEMSYS_CHECK_CALIBRATION ((uint32_t)0x12345678)
00101 
00102 #define BUTTON_TIME 1.0        // 1.0Sec
00103 #define BLUEMSYS_N_BUTTON_PRESS  3  // n push button in BUTTON_TIME
00104 
00105 /** Valid only for F401RE **/ 
00106 #ifdef BLUEMSYS_STORE_CALIB_FLASH
00107 #define BLUEMSYS_FLASH_ADD ((uint32_t)0x08060000)
00108 #define BLUEMSYS_FLASH_SECTOR FLASH_SECTOR_7
00109 #endif /* BLUEMSYS_STORE_CALIB_FLASH */
00110 
00111 #define BLE_TX_SKIP_NUM   30
00112 #define BLE_ADVERTISING_INTERVAL    1000
00113 //#define BLE_ADVERTISING_INTERVAL  160 /* 100ms; in multiples of 0.625ms. */
00114 
00115 #define BLE_HANDLE_EN_DIS_OFFSET  2  // Offset from En/Dis UUID 2902 to UUID 2803  (Characteristic UUID)
00116 #define BLE_HANDLE_VALUE_OFFSET   1  // Offset from Value UUID xxx to to UUID 2803 (Characteristic UUID) 
00117 
00118 #if defined  (SENSOR_TILE) && !defined(MINI_CRADLE)
00119 #include <stdio.h>
00120 /* redirect printf on the Sensor Tile UART5 allowing printf throgh the Nucleo USB connector 
00121 (close the cradle and the Nucleo solder bridges to re-route the UART) */
00122 static Serial ser(PC_12,PD_2);    
00123 #define printf(...) ser.printf(__VA_ARGS__)  
00124 #else 
00125 #if defined (SENSOR_TILE) && defined(MINI_CRADLE) 
00126 #define printf(...)   
00127 #endif
00128 #endif
00129     
00130 
00131 
00132 typedef struct
00133 {
00134   int32_t AXIS_X;
00135   int32_t AXIS_Y;
00136   int32_t AXIS_Z;
00137 } SensorAxes_t;
00138 
00139 typedef enum ConnectionStatus_t {
00140     DISCONNECTED    =0,
00141     CONNECTED       =1
00142 }cns_t;
00143 
00144 const unsigned   LENGTH_OF_LONG_UUID = 16;
00145 typedef uint16_t ShortUUIDBytes_t;
00146 //typedef uint8_t  LongUUIDBytes_t[LENGTH_OF_LONG_UUID];
00147 
00148 #ifdef __cplusplus
00149 extern "C" {
00150 #endif
00151 
00152 #ifdef __cplusplus
00153 }
00154 #endif
00155 
00156 #endif // ifndef __MAIN_H__