Revision 0:71d5c1c75f0b, committed 2019-03-10

Comitter:

BeiZhang

Date:

Sun Mar 10 01:45:12 2019 +0000

Commit message:

RM3100 SPI Sample Code

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/RM3100.cpp	Sun Mar 10 01:45:12 2019 +0000
@@ -0,0 +1,431 @@
+/**
+* @file         RM3100.cpp
+*
+* @brief        Sample interface for RM3100.
+*
+* @authors      Betty Zhang
+* @date         05/21/2018
+* @copyright    (C) 2018 PNI Corp, Protonex LLC
+*
+* @copyright    Disclosure to third parties or reproduction in any form
+*               whatsoever, without prior written consent, is strictly forbidden
+*
+*/
+#include "RM3100.h"
+#include "main.h"
+
+void RM3100::ClearDrdyInt()
+{
+    //Clear Interrupt first
+    cs = 0;
+    spi.write(RM3100_STATUS_REG);
+    int status = spi.write(0x00);
+    cs = 1;
+    if (status & 0x80)
+    {
+        ReadRM3100();
+        status = 0;
+    }
+}
+    
+void RM3100::RunCMM(int flag)
+{
+    //Set current sample rate if it changes
+    if (sample_rate != prev_rate)
+    {
+        SetSampleRateReg(sample_rate);
+        prev_rate = sample_rate;
+    }
+    
+    if (flag) {
+        //Set Cycle Count if it changes
+        SetCycleCountReg();
+
+        //Confirm new setting and update "gain"
+        DisplayCycleCount();
+    }
+
+    RegCMM cmm_reg;
+    cmm_reg.bits.LDM = 0;
+    cmm_reg.bits.CMX = 1;
+    cmm_reg.bits.CMY = 1;
+    cmm_reg.bits.CMZ = 1;
+    cmm_reg.bits.Drdm = 2; //0 on any axis, 2 Drdy after completion of XYZ
+    cmm_reg.bits.Alarm = 0;
+
+    if (flag) {
+        //Start CMM run
+        cmm_reg.bits.Start = 1;
+        cmm_reg.bits.CMX = 1;
+        cmm_reg.bits.CMY = 1;
+        cmm_reg.bits.CMZ = 1;
+    } else {
+        //Stop CMM run
+        cmm_reg.bits.Start = 0;
+        cmm_reg.bits.CMX = 0;
+        cmm_reg.bits.CMY = 0;
+        cmm_reg.bits.CMZ = 0;
+    }
+    
+    cs = 0;
+    spi.write(RM3100_CMM_REG);
+    spi.write(cmm_reg.reg);
+    cs = 1;
+}
+
+void RM3100::ChangeSampleRate(int flag)
+{
+    if (flag > 0)
+        sample_rate *= 2; //increase 2 times
+    if (flag < 0)
+        sample_rate /= 2; //decrease 2 times
+    
+    if (sample_rate < 1)
+        sample_rate = 1; //1hz
+    else if (sample_rate > 600)
+        sample_rate = 600;
+}
+
+void RM3100::SetSampleRateReg(int rate)
+{
+    int value;
+    
+    sample_rate = rate;
+        
+    if ((rate <= 600) && (rate >= 300))
+        value = 0x92;
+    else if ((rate < 300) && (rate >= 150))
+        value = 0x93;
+    else if ((rate < 150) && (rate >= 75))
+        value = 0x94;
+    else if ((rate < 75) && (rate >= 37))
+        value = 0x95;
+    else if ((rate < 37) && (rate >= 18))
+        value = 0x96;
+    else if ((rate < 18) && (rate >= 9))
+        value = 0x97;
+    else if ((rate < 9) && (rate >= 4))
+        value = 0x98;
+    else if ((rate < 4) && (rate >= 3))
+        value = 0x99;
+    else if ((rate < 3) && (rate >= 2))
+        value = 0x9A;
+    else if ((rate < 2) && (rate >= 1))
+        value = 0x9B;   //About 1Hz
+    else 
+        value = 0x9C;   //About 0.6Hz
+        
+    cs = 0;
+    //set sample rate
+    spi.write(RM3100_TMRC_REG);
+    spi.write(value); //about 1Hz
+    cs = 1;
+}
+
+int RM3100::GetSampleRate(int *tmrc_reg_val)
+{
+    cs = 0;
+    //set sample rate
+    spi.write(RM3100_TMRC_REG | 0x80); //Read TMRC reg
+    * tmrc_reg_val = spi.write(0);
+    cs = 1;
+    
+    return sample_rate;
+}
+    
+void RM3100::ReadRM3100()
+{
+    int mag[9];
+    int count[3];
+
+    __disable_irq();    // Disable Interrupts
+    cs = 0;
+    spi.write(RM3100_MX_REG);
+
+    comport.printf("Mag = 0x");
+    for (int i = 0; i < 9; i++) {
+        mag[i] = spi.write(0x00);
+        comport.printf("%x", mag[i]);
+        if ((i < 8) && ((i+1) % 3) == 0)
+            comport.printf(" 0x");
+    }
+    cs = 1;
+        
+    comport.printf(", ");
+    //Process the 24-bit signed measurement in count
+    int measurement = 0;
+    int index = 0;
+    for (int j = 0; j < 9; j += 3) {
+        if (mag[j] & 0x80)
+            measurement = 0xFF;
+        measurement <<= 24; //left shift 24-bit
+        measurement |= (mag[j+2] | (mag[j+1] | (mag[j] << 8)) << 8);
+        comport.printf("%d ", measurement);
+        count[index] = measurement;
+        measurement = 0;
+        index++;
+    }
+
+    comport.printf(", ");
+    //Convert to uT (microTesla)
+    for (int k = 0; k < 3; k++) {
+        comport.printf("%5.3fuT ", (float)count[k]/current_gain[k]);
+    }
+
+    comport.printf("\n\r");
+    
+    __enable_irq();     // Enable Interrupts
+
+}
+
+void RM3100::SetDrdyIntFlag(u8 flag)
+{
+    rm3100_service_flag = flag;
+    if (flag)
+        drdy.disable_irq();
+    else
+        drdy.enable_irq();
+}
+
+u8 RM3100::GetDrdyIntFlag(void)
+{
+    return rm3100_service_flag;
+}
+
+void RM3100::ProcessDrdyInt()
+{
+    SetDrdyIntFlag(1);
+}
+
+void RM3100::DrdyCallBack(void)
+{
+    // attach ProcessDrdyInt function of this RM3100 instance
+    drdy.rise(callback(this, &RM3100::ProcessDrdyInt)); 
+}
+
+void RM3100::DisplayCycleCount()
+{
+    int cc[6];
+    int c_count[3];
+    float maxrate;
+
+    //Read CC reg
+    __disable_irq();    // Disable Interrupts
+    cs = 0;
+    int cc_reg = RM3100_CCXLSB_REG | 0x80; //"| 0x80" to read CC Reg
+    spi.write(cc_reg);
+
+    comport.printf("CC = 0x");
+    for (int i = 0; i < 6; i++) {
+        cc[i] = spi.write(0);
+        comport.printf("%x", cc[i]);
+        if ((i < 5) && ((i+1) % 2) == 0)
+            comport.printf(" 0x");
+    }
+    cs = 1;
+
+    comport.printf(", ");
+    //Process the 16-bit unsigned cycle count
+    int temp = 0;
+    int index = 0;
+    for (int j = 0; j < 6; j += 2) {
+        if (cc[j] & 0x80)
+            temp = 0xFF;
+        temp <<= 8; //left shift 8-bit
+        temp |= (cc[j+1] | (cc[j] << 8));
+        c_count[index++] = temp; //save CC values 
+        comport.printf("%d ", temp);
+        temp = 0;
+    }
+
+    //Calculate gain from CC, gain = 0.375 * cc;
+    comport.printf(", Gain = ");
+    for (int k = 0; k < 3; k++) {
+        if (c_count[k])
+            current_gain[k] = c_count[k] * DEFAULTGAIN/DEFAULTCCOUNT;
+        comport.printf("%d ", current_gain[k]);
+    }
+    
+    //Calculate max sample rate, assume CC same for 3 axes
+    if (c_count[0] == 50)
+        maxrate = 1600.0 / 3.0;
+    else if (c_count[0] == 100)
+        maxrate = 850.0 / 3.0;
+    else if (c_count[0] == 200)
+        maxrate = 440.0 / 3.0;
+    else if (c_count[0] == 225)
+        maxrate = 370.0 / 3.0;
+    else if (c_count[0] == 250)
+        maxrate = 350.0 / 3.0;
+    else if (c_count[0] < 100)
+        maxrate = (-15.0 * c_count[0] + 2350.0) / 3.0;
+    else if (c_count[0] < 225)
+        maxrate = (-14.0 * c_count[0]/5.0 + 1000.0) / 3.0;
+    else if (c_count[0] < 250)
+        maxrate = (-4.0 * c_count[0]/5.0 + 550.0) / 3.0;
+    else if (c_count[0] <= 400)
+        maxrate = (-4.0 * c_count[0] /5.0 + 550.0) / 3.0;
+
+    comport.printf("MaxRate = %3.2f Hz\n\r", maxrate);
+
+    __enable_irq();     // Enable Interrupts
+}
+
+void RM3100::DisplayREVIDReg()
+{
+    //Read REVID reg
+    __disable_irq();    // Disable Interrupts
+    cs = 0;
+    int reg = RM3100_REVID_REG;
+    spi.write(reg);
+    int revid = spi.write(0);
+    __enable_irq();    // Enable Interrupts
+    cs = 1;
+
+    comport.printf("RM3100 REVID = %2D\n\r", revid);
+}
+
+void RM3100::SelfTest()
+{
+    comport.printf("SelfTest \n\r");
+
+    RegBIST regbist;
+    RegPOLL regpoll;
+
+    //Set BIST
+    //bit#7 STE=1, bit#6#5#4 = 0, bit#3 BW1=1, bit#2 BW0=1, bit#1 BP1=1, bit#0 BP0=1
+    regbist.bits.BP = 3;
+    regbist.bits.BW = 3;
+    regbist.bits.XYZOK = 0;
+    regbist.bits.STE = 1;
+
+    //Set POLL reg
+    regpoll.bits.LowNibble = 0;
+    regpoll.bits.PMX = 1;
+    regpoll.bits.PMY = 1;
+    regpoll.bits.PMZ = 1;
+    regpoll.bits.MSB = 0;
+
+    //Start Self Test
+    __disable_irq();    // Disable Interrupts
+    cs = 0;
+
+    //stop continuous mode
+    spi.write(RM3100_CMM_REG);
+    spi.write(0);
+    cs = 1;
+
+    cs = 0;
+    spi.write(RM3100_BIST_REG);
+    spi.write(regbist.reg);
+    comport.printf("bist val= 0x%X, poll val = 0x%X \n\r", regbist.reg, regpoll.reg);
+
+    cs = 1;
+
+    cs = 0;
+    //POLL 1 measurement on XYZ
+    spi.write(RM3100_POLL_REG);
+    spi.write(regpoll.reg);
+    cs = 1;
+
+    //Get result
+    cs = 0;
+    spi.write(RM3100_STATUS_REG | 0x80);
+    int value = spi.write(0);
+    comport.printf("Poll a measurement and Check status reg val = 0x%X \n\r", value);
+
+    cs = 1;
+
+    if (value) {
+        //Read RM3100_BIST_REG;
+        cs = 0;
+        spi.write(RM3100_BIST_REG | 0x80);
+        value = spi.write(0);
+        cs = 1;
+
+        //Check result here
+        comport.printf("Check BIST reg 0x%X\n\r", value);
+        if (value & 0x70)
+            comport.printf("Result = 0x%X Pass\n\r", value);
+        else
+            comport.printf("Result = 0x%X Fail\n\r", value);
+
+    } else
+        comport.printf("Measurement not Ready\n\r");
+
+    //It's important to Reset SeltTest reg
+    cs = 0;
+    spi.write(RM3100_BIST_REG);
+    spi.write(0);
+    cs = 1;
+
+    __enable_irq();    // Enable Interrupts
+
+}
+
+void RM3100::ChangeCycleCount(int flag)
+{    
+    for (int i = 0; i < 3; i++)
+    {
+        if (flag > 0) 
+        {
+            current_ccount[i] += 10;
+        } 
+        else if (flag < 0) 
+        {
+            current_ccount[i] -= 10;
+        }
+        
+        if (current_ccount[i] < LOWERCYCLECOUNT)
+            current_ccount[i] = LOWERCYCLECOUNT;
+            
+        if (current_ccount[i] > UPPERCYCLECOUNT)
+            current_ccount[i] = UPPERCYCLECOUNT;
+          
+    }
+}
+
+
+//Set Cycle Count Reg
+void RM3100::SetCycleCountReg()
+{   
+    static int prev_ccount = DEFAULTCCOUNT;
+    
+    //Check any changes on CC. Should check 3 axes, just X-axis as example
+    if (prev_ccount != current_ccount[0]) {
+        
+        prev_ccount = current_ccount[0];
+
+        //Read CC reg
+        __disable_irq();    // Disable Interrupts
+        cs = 0;
+        int cc_reg = RM3100_CCXLSB_REG;
+        spi.write(cc_reg);
+
+        for (int i = 0; i < 3; i++) {
+            spi.write((current_ccount[i] & 0xFF00)>>8); //MSB
+            spi.write(current_ccount[i] & 0x00FF); //LSB
+        }
+        cs = 1;
+
+        __enable_irq();     // Enable Interrupts
+    }
+}
+
+
+//constructor
+RM3100::RM3100(): rm3100_service_flag(0),   //init to 0
+    sample_rate(1), //init to 1 Hz
+    prev_rate(1),  //init to 1 Hz
+    cs(SPI_CS),     //init to SPI_CS
+    drdy(D9),        //init to D9
+    spi(SPI_MOSI, SPI_MISO, SPI_SCK) //spi pins init
+{ 
+    //Init to default
+    for (int i = 0; i < 3; i++)
+    {
+        current_ccount[i] = DEFAULTCCOUNT;
+        current_gain[i] = DEFAULTGAIN;
+    }
+        
+};

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/RM3100.h	Sun Mar 10 01:45:12 2019 +0000
@@ -0,0 +1,210 @@
+/**
+* @file         RM3100.h
+*
+* @brief        Sample interface for RM3100.
+*
+* @authors      Betty Zhang
+* @date         05/21/2018
+* @copyright    (C) 2018 PNI Corp, Protonex LLC
+*
+* @copyright    Disclosure to third parties or reproduction in any form
+*               whatsoever, without prior written consent, is strictly forbidden
+*
+*/
+#include "mbed.h"
+
+
+// Global typedef
+typedef signed char     s8;
+typedef char            u8;    
+typedef short           s16;   
+typedef unsigned short  u16;   
+typedef int             s32;   
+typedef unsigned int    u32;   
+typedef unsigned long   u64;
+
+//RM3100 Registers 
+#define RM3100_POLL_REG     0x00 /**< RW; Poll for a single measurement*/
+#define RM3100_CMM_REG      0x01 /**< RW; Initiate continuous measurement mode*/
+#define RM3100_CCXLSB_REG   0x04 /**< RW; Cycle count X-axis */
+#define RM3100_CCXMSB_REG   0x05
+#define RM3100_CCYLSB_REG   0x06 /**< RW; Cycle count Y-axis */
+#define RM3100_CCYMSB_REG   0x07
+#define RM3100_CCZLSB_REG   0x08 /**< RW; Cycle count Z-axis */
+#define RM3100_CCZMSB_REG   0x09
+#define RM3100_TMRC_REG     0x0B /**< RW; Set data rate in continuous measurement mode*/
+#define RM3100_MX_REG       0x24 /**< RW; Measurement Result X-axis, Signed 24-bit */
+#define RM3100_BIST_REG     0x33 /**< RW; Built-in self test */
+#define RM3100_STATUS_REG   0x34 /**< R; Status of DRDY */
+#define RM3100_REVID_REG    0x36 /**< R; Revision ID, default 0x22 */
+
+//RM3100 Default values
+#define DEFAULTCCOUNT 200 //200
+#define DEFAULTGAIN 75    //200 Cycle Count, Gain 75
+
+//Other Settings
+#define UPPERCYCLECOUNT 400
+#define LOWERCYCLECOUNT 30
+
+
+ /**
+ * \brief Host interface control
+ */
+#pragma pack(push, 1)
+typedef union RegCMM
+{
+    /**
+    * \brief Direct access to the complete 8bit register
+    */
+    u8 reg;
+    /**
+    * \brief Access to individual bits in the register.
+    */
+    struct
+    {
+        u8 Start : 1;             /**< bit 0: Initiate Continuous Measurement Mode */
+        u8 Alarm : 1;             /**< bit 1: Go high if measurment outside a prefefined range */
+        u8 Drdm :  2;             /**< bit 2: DRDM bits establish required condition to trigger DRDY */
+                                  /**< 0 = drdy high when Alarm = 1 and complete of full measurement set by CMX CMY CMZ */
+                                  /**< 1 = drdy high after complete of measurement on any axis */
+                                  /**< 2 = drdy high after complete of full measurement set by CMX CMY CMZ */
+                                  /**< 3 = drdy high when Alarm = 1 */
+        u8 CMX : 1;               /**< bit 4: 1 means measurement on this Axis */
+        u8 CMY : 1;               /**< bit 5: 1 means measurement on this Axis */
+        u8 CMZ : 1;               /**< bit 6: 1 means measurement on this Axis */
+        u8 LDM : 1;               /**< bit 7: 0 absolute alarm mode, 1 relative alarm mode */
+    }
+    bits;
+}
+RegCMM;                          /**< typedef for storing CMM register values */
+#pragma pack(pop)
+
+#pragma pack(push, 1)
+typedef union RegTMRC
+{
+    /**
+    * \brief Direct access to the complete 8bit register
+    */
+    u8 reg;
+    /**
+    * \brief Access to individual bits in the register.
+    */
+    struct
+    {
+        u8 TMRC : 4;             /**< bit 0 - 3: Time between measurement in CCM moden 1-axis */
+                                 /**< value 0b0010 to 0b1111, 0x2 to 0xF, bigger value longer interval */
+        u8 Resv : 4;             /**< bit 4 - 7: Fixed as 0b1001, 0x9 */
+    }
+    bits;
+}
+RegTMRC;                          /**< typedef for storing TMRC register values */
+#pragma pack(pop)
+
+#pragma pack(push, 1)
+typedef union RegBIST
+{
+    /**
+    * \brief Direct access to the complete 8bit register
+    */
+    u8 reg;
+    /**
+    * \brief Access to individual bits in the register.
+    */
+    struct
+    {
+        u8 BP : 2;             /**< bit 0-1: Define number of LR periods for measurement */
+                               /**< 0 = unused */
+                               /**< 1 = 1 LR Period */
+                               /**< 2 = 2 LR Periods */
+                               /**< 3 = 4 LR Periods */
+        u8 BW : 2;             /**< bit 2-3: Define timeout period for LR oscillator perriod */
+                               /**< 0 = unused */
+                               /**< 1 = 1 sleep oscillation cycle,  30us */
+                               /**< 2 = 2 sleep oscillation cycles,  60us */
+                               /**< 3 = 4 sleep oscillation cycles,  120us */
+        u8 XYZOK : 3;          /**< bit 4-6: Read only */
+                               /**< bit 4: 1 X ok, 0 not ok */
+                               /**< bit 5: 1 Y ok, 0 not ok */
+                               /**< bit 6: 1 Z ok, 0 not ok */
+        u8 STE : 1;            /**< bit 7: write 1 to enable the self test */
+    }
+    bits;
+}
+RegBIST;                          /**< typedef for storing TMRC register values */
+#pragma pack(pop)
+
+#pragma pack(push, 1)
+typedef union RegPOLL
+{
+    /**
+    * \brief Direct access to the complete 8bit register
+    */
+    u8 reg;
+    /**
+    * \brief Access to individual bits in the register.
+    */
+    struct
+    {
+        u8 LowNibble : 4;      /**< bit 0-3: Reserved */
+        u8 PMX : 1;            /**< bit 4: Measure X axis */
+        u8 PMY : 1;            /**< bit 5: Measure Y axis */
+        u8 PMZ : 1;            /**< bit 6: Measure Z axis */
+        u8 MSB : 1;            /**< bit 7: Reserved */
+    }
+    bits;
+}
+RegPOLL;                          /**< typedef for storing TMRC register values */
+#pragma pack(pop)
+
+
+//RM3100 class
+class RM3100
+{
+
+public:
+    void ClearDrdyInt(void);
+    
+    void RunCMM(int flag);
+    
+    void ChangeSampleRate(int flag);
+    
+    void SetSampleRateReg(int rate); 
+    
+    int GetSampleRate(int * reg_val); 
+    
+    void ChangeCycleCount(int flag);
+    
+    void SetCycleCountReg();
+
+    void ReadRM3100(); 
+    
+    void SetDrdyIntFlag(u8 flag);
+    
+    u8 GetDrdyIntFlag(void);
+    
+    void DrdyCallBack(void);
+    
+    void ProcessDrdyInt(void);
+    
+    void DisplayCycleCount();
+    
+    void DisplayREVIDReg();
+        
+    void SelfTest();
+    
+    //constructor
+    RM3100();
+    
+private:
+    u8 rm3100_service_flag;
+    int current_gain[3];
+    int current_ccount[3];
+    int sample_rate;
+    int prev_rate;
+    
+    DigitalOut cs; //ssel
+    InterruptIn drdy; //Drdy pin D9
+    
+    SPI spi;
+
+};

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sun Mar 10 01:45:12 2019 +0000
@@ -0,0 +1,189 @@
+/**
+* @file         main.cpp
+*
+* @brief        Sample interface for RM3100.
+*
+* @authors      Betty Zhang
+* @date         05/21/2018
+* @copyright    (C) 2018 PNI Corp, Protonex LLC
+*
+* @copyright    Disclosure to third parties or reproduction in any form
+*               whatsoever, without prior written consent, is strictly forbidden
+*
+*/
+
+#include "mbed.h"
+#include "main.h"
+#include "RM3100.h"
+
+
+Serial comport(SERIAL_TX, SERIAL_RX);
+
+RM3100 rm3100;
+
+//Global variables
+int serial_inchar;
+float actual_rate;
+
+void OnSerial(void)
+{
+    serial_inchar = comport.getc();
+}
+
+//=============================================================================
+//  Serial input Character (Key) Commands, courtesy of JM.
+//=============================================================================
+// This function is called upon every incomming serial character 
+void processSerialInchar(char key)
+{
+    // The Simple Serial protocal mostly consists of single character commands
+    // send '?' to list available commands
+
+    serial_inchar = NULL;
+    int tmrc_val, rate;
+
+    switch (key) {
+        case '+':
+            rm3100.ChangeSampleRate(1);
+            break;
+
+        case '-':
+            rm3100.ChangeSampleRate(-1);
+            break;
+
+        case '>':
+            rm3100.ChangeCycleCount(1);
+            break;
+
+        case '<':
+            rm3100.ChangeCycleCount(-1);
+            break;
+
+        case 'a':
+            rm3100.DisplayREVIDReg();
+            break;
+        case 'b':
+            rate = rm3100.GetSampleRate(&tmrc_val);
+            comport.printf("Host process rate = %3.1f Hz, reqRate = %d, TMRC=0x%X\n\r",actual_rate, rate, tmrc_val);
+            break;
+        case 'c':
+            rm3100.DisplayCycleCount();
+            break;
+
+        case 'q':
+            rm3100.SelfTest();
+            break;
+        case 'r':
+            rm3100.RunCMM(1); //Run CMM
+            rm3100.ClearDrdyInt();
+            break;
+
+        case 's':
+            rm3100.RunCMM(0); //Stop
+            rate = rm3100.GetSampleRate(&tmrc_val);
+            comport.printf("Host process rate = %3.1f Hz, reqRate = %d, TMRC=0x%X\n\r",actual_rate, rate, tmrc_val);
+            break;
+
+        case '?': {
+            u8 bar[45];
+            memset(bar, 205, sizeof(bar));
+            bar[sizeof(bar)-1] = 0;
+            comport.printf("\n\r");
+            comport.printf("                  RM3100 Commands\n\r");
+            comport.printf("                  Revision: %s\n\r",REVISION);
+            comport.printf("  %c%s%c\n\r", 201, bar, 187);
+            comport.printf("  %c        Commands  (case sensitive)          %c\n\r", 186, 186);
+            // Status and configuration
+            comport.printf("  %c%s%c\n\r", 204, bar, 185);
+            comport.printf("  %c         Settings and Status                %c\n\r", 186, 186);
+            comport.printf("  %c%s%c\n\r", 204, bar, 185);
+            comport.printf("  %c a : Display REVID                          %c\n\r", 186, 186);
+            comport.printf("  %c b : Display host rate, request rate & TMRC %c\n\r", 186, 186);
+            comport.printf("  %c c : Display cycle count, gain & max rate   %c\n\r", 186, 186);
+            comport.printf("  %c + : Increase Sample Rate                   %c\n\r", 186, 186);
+            comport.printf("  %c - : Decrease Sample Rate                   %c\n\r", 186, 186);
+            comport.printf("  %c > : Increase Cycle Count                   %c\n\r", 186, 186);
+            comport.printf("  %c < : Decrease Cycle Count                   %c\n\r", 186, 186);
+
+            // Tests
+            comport.printf("  %c%s%c\n\r", 204, bar, 185);
+            comport.printf("  %c                  Tests                     %c\n\r", 186, 186);
+            comport.printf("  %c%s%c\n\r", 204, bar, 185);
+            comport.printf("  %c q : Run sensor Self tests                  %c\n\r", 186, 186);
+            comport.printf("  %c r : Run continous mode                     %c\n\r", 186, 186);
+            comport.printf("  %c s : Stop continous mode                    %c\n\r", 186, 186);
+
+            comport.printf("  %c%s%c\n\r", 200, bar, 188);
+
+        }
+        default:
+            break;
+    }
+}
+        
+int main() {
+    
+    int counter = 0;
+    Timer timer;
+    
+    
+    // Init user serial interface
+    comport.baud(921600);
+    comport.printf("\n\rRM3100 Host SPI Sample Code Ver %s on mBed\n\r",REVISION);
+        
+    //Set sample rate
+    rm3100.SetSampleRateReg(1); //in Hz
+                
+    //Start to CMM run
+    rm3100.RunCMM(1);
+   
+    // Setup interrupt callback functions
+    comport.attach(&OnSerial);  // user input from serial term 
+    
+    // Callback function to the rising edge
+    rm3100.DrdyCallBack();
+    
+    //Clear Interrupt first
+    rm3100.ClearDrdyInt();
+        
+    while (1) 
+    {
+
+        if (serial_inchar) 
+        {
+            processSerialInchar(serial_inchar); // process user key commands
+            serial_inchar = NULL;
+        }
+        
+        if (counter <= 1)
+            timer.start();
+        else if (counter >= 10)
+        {
+            timer.stop();
+            float time = timer.read();
+            actual_rate = 10.0/time;
+            if (actual_rate <= 150) {
+                __disable_irq();    // Disable Interrupts
+                comport.printf("Counter=%d, time=%3.3f s, Host Proc rate = %3.1f Hz\n\r",counter, time, actual_rate);
+                __enable_irq();    // Enable Interrupts
+            }
+            counter = 0;
+            timer.reset();
+        }
+        
+        //Process Drdy Interrupt
+        if (rm3100.GetDrdyIntFlag())
+        {
+            rm3100.SetDrdyIntFlag(0);
+            
+            //If sample rate is higher than 150Hz, serial port cannot process in time
+            //skip samples to make the host keep up, but to clear drdy interrupt
+            if ((actual_rate <= 150) || (counter == 1))
+                rm3100.ReadRM3100();
+            else
+                rm3100.ClearDrdyInt(); 
+            
+            counter++;
+        }
+    }
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.h	Sun Mar 10 01:45:12 2019 +0000
@@ -0,0 +1,22 @@
+
+/**
+* @file         main.h
+*
+* @brief        Sample interface for RM3100.
+*
+* @authors      Betty Zhang
+* @date         05/21/2018
+* @copyright    (C) 2018 PNI Corp, Protonex LLC
+*
+* @copyright    Disclosure to third parties or reproduction in any form
+*               whatsoever, without prior written consent, is strictly forbidden
+*
+*/
+
+#include "mbed.h"
+
+#define REVISION "1.0"
+
+extern SPI spi;
+extern DigitalOut cs; //ssel
+extern Serial comport;

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Sun Mar 10 01:45:12 2019 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/5aab5a7997ee
\ No newline at end of file