BEI ZHANG
/
RM3100_SPI_SampleCode
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main.cpp
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00001 /** 00002 * @file main.cpp 00003 * 00004 * @brief Sample interface for RM3100. 00005 * 00006 * @authors Betty Zhang 00007 * @date 05/21/2018 00008 * @copyright (C) 2018 PNI Corp, Protonex LLC 00009 * 00010 * @copyright Disclosure to third parties or reproduction in any form 00011 * whatsoever, without prior written consent, is strictly forbidden 00012 * 00013 */ 00014 00015 #include "mbed.h" 00016 #include "main.h" 00017 #include "RM3100.h" 00018 00019 00020 Serial comport(SERIAL_TX, SERIAL_RX); 00021 00022 RM3100 rm3100; 00023 00024 //Global variables 00025 int serial_inchar; 00026 float actual_rate; 00027 00028 void OnSerial(void) 00029 { 00030 serial_inchar = comport.getc(); 00031 } 00032 00033 //============================================================================= 00034 // Serial input Character (Key) Commands, courtesy of JM. 00035 //============================================================================= 00036 // This function is called upon every incomming serial character 00037 void processSerialInchar(char key) 00038 { 00039 // The Simple Serial protocal mostly consists of single character commands 00040 // send '?' to list available commands 00041 00042 serial_inchar = NULL; 00043 int tmrc_val, rate; 00044 00045 switch (key) { 00046 case '+': 00047 rm3100.ChangeSampleRate(1); 00048 break; 00049 00050 case '-': 00051 rm3100.ChangeSampleRate(-1); 00052 break; 00053 00054 case '>': 00055 rm3100.ChangeCycleCount(1); 00056 break; 00057 00058 case '<': 00059 rm3100.ChangeCycleCount(-1); 00060 break; 00061 00062 case 'a': 00063 rm3100.DisplayREVIDReg(); 00064 break; 00065 case 'b': 00066 rate = rm3100.GetSampleRate(&tmrc_val); 00067 comport.printf("Host process rate = %3.1f Hz, reqRate = %d, TMRC=0x%X\n\r",actual_rate, rate, tmrc_val); 00068 break; 00069 case 'c': 00070 rm3100.DisplayCycleCount(); 00071 break; 00072 00073 case 'q': 00074 rm3100.SelfTest(); 00075 break; 00076 case 'r': 00077 rm3100.RunCMM(1); //Run CMM 00078 rm3100.ClearDrdyInt(); 00079 break; 00080 00081 case 's': 00082 rm3100.RunCMM(0); //Stop 00083 rate = rm3100.GetSampleRate(&tmrc_val); 00084 comport.printf("Host process rate = %3.1f Hz, reqRate = %d, TMRC=0x%X\n\r",actual_rate, rate, tmrc_val); 00085 break; 00086 00087 case '?': { 00088 u8 bar[45]; 00089 memset(bar, 205, sizeof(bar)); 00090 bar[sizeof(bar)-1] = 0; 00091 comport.printf("\n\r"); 00092 comport.printf(" RM3100 Commands\n\r"); 00093 comport.printf(" Revision: %s\n\r",REVISION); 00094 comport.printf(" %c%s%c\n\r", 201, bar, 187); 00095 comport.printf(" %c Commands (case sensitive) %c\n\r", 186, 186); 00096 // Status and configuration 00097 comport.printf(" %c%s%c\n\r", 204, bar, 185); 00098 comport.printf(" %c Settings and Status %c\n\r", 186, 186); 00099 comport.printf(" %c%s%c\n\r", 204, bar, 185); 00100 comport.printf(" %c a : Display REVID %c\n\r", 186, 186); 00101 comport.printf(" %c b : Display host rate, request rate & TMRC %c\n\r", 186, 186); 00102 comport.printf(" %c c : Display cycle count, gain & max rate %c\n\r", 186, 186); 00103 comport.printf(" %c + : Increase Sample Rate %c\n\r", 186, 186); 00104 comport.printf(" %c - : Decrease Sample Rate %c\n\r", 186, 186); 00105 comport.printf(" %c > : Increase Cycle Count %c\n\r", 186, 186); 00106 comport.printf(" %c < : Decrease Cycle Count %c\n\r", 186, 186); 00107 00108 // Tests 00109 comport.printf(" %c%s%c\n\r", 204, bar, 185); 00110 comport.printf(" %c Tests %c\n\r", 186, 186); 00111 comport.printf(" %c%s%c\n\r", 204, bar, 185); 00112 comport.printf(" %c q : Run sensor Self tests %c\n\r", 186, 186); 00113 comport.printf(" %c r : Run continous mode %c\n\r", 186, 186); 00114 comport.printf(" %c s : Stop continous mode %c\n\r", 186, 186); 00115 00116 comport.printf(" %c%s%c\n\r", 200, bar, 188); 00117 00118 } 00119 default: 00120 break; 00121 } 00122 } 00123 00124 int main() { 00125 00126 int counter = 0; 00127 Timer timer; 00128 00129 00130 // Init user serial interface 00131 comport.baud(921600); 00132 comport.printf("\n\rRM3100 Host SPI Sample Code Ver %s on mBed\n\r",REVISION); 00133 00134 //Set sample rate 00135 rm3100.SetSampleRateReg(1); //in Hz 00136 00137 //Start to CMM run 00138 rm3100.RunCMM(1); 00139 00140 // Setup interrupt callback functions 00141 comport.attach(&OnSerial); // user input from serial term 00142 00143 // Callback function to the rising edge 00144 rm3100.DrdyCallBack(); 00145 00146 //Clear Interrupt first 00147 rm3100.ClearDrdyInt(); 00148 00149 while (1) 00150 { 00151 00152 if (serial_inchar) 00153 { 00154 processSerialInchar(serial_inchar); // process user key commands 00155 serial_inchar = NULL; 00156 } 00157 00158 if (counter <= 1) 00159 timer.start(); 00160 else if (counter >= 10) 00161 { 00162 timer.stop(); 00163 float time = timer.read(); 00164 actual_rate = 10.0/time; 00165 if (actual_rate <= 150) { 00166 __disable_irq(); // Disable Interrupts 00167 comport.printf("Counter=%d, time=%3.3f s, Host Proc rate = %3.1f Hz\n\r",counter, time, actual_rate); 00168 __enable_irq(); // Enable Interrupts 00169 } 00170 counter = 0; 00171 timer.reset(); 00172 } 00173 00174 //Process Drdy Interrupt 00175 if (rm3100.GetDrdyIntFlag()) 00176 { 00177 rm3100.SetDrdyIntFlag(0); 00178 00179 //If sample rate is higher than 150Hz, serial port cannot process in time 00180 //skip samples to make the host keep up, but to clear drdy interrupt 00181 if ((actual_rate <= 150) || (counter == 1)) 00182 rm3100.ReadRM3100(); 00183 else 00184 rm3100.ClearDrdyInt(); 00185 00186 counter++; 00187 } 00188 } 00189 }
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