Revision 2:fba2c7066355, committed 2019-03-26

Comitter:

screamer

Date:

Tue Mar 26 13:29:05 2019 +0000

Parent:

1:42d51cf7cebe

Child:

3:2231338197f2

Commit message:

Add support for K66F, including FXAS21002 gyroscope sensor

Changed in this revision

--- a/main.cpp	Mon Mar 25 17:18:30 2019 +0000
+++ b/main.cpp	Tue Mar 26 13:29:05 2019 +0000
@@ -22,10 +22,19 @@
 #include "FATFileSystem.h"
 #include "LittleFileSystem.h"
 #include "FXOS8700Q.h"
+#include "FXAS21002.h"
 
-I2C sen_i2c(PTE25, PTE24);
-FXOS8700QAccelerometer sen_acc(sen_i2c, FXOS8700CQ_SLAVE_ADDR1);    // Configured for the FRDM-K64F with onboard sensors
-FXOS8700QMagnetometer sen_mag(sen_i2c, FXOS8700CQ_SLAVE_ADDR1);
+#ifdef TARGET_K66F
+I2C sens_i2c(PTD9, PTD8);
+#else
+I2C sens_i2c(PTE25, PTE24);
+#endif /* TARGET_K66F */
+
+FXOS8700QAccelerometer sens_acc(sens_i2c, FXOS8700CQ_SLAVE_ADDR1);    // Configured for the FRDM-K64F with onboard sensors
+FXOS8700QMagnetometer sens_mag(sens_i2c, FXOS8700CQ_SLAVE_ADDR1);
+#ifdef TARGET_K66F
+FXAS21002 sens_gyro(PTD9, PTD8, 0x20);
+#endif /* TARGET_K66F */
 
 #define SENSORS_POLL_INTERVAL 1.0
 #define SEND_ALL_SENSORS
@@ -38,10 +47,10 @@
 
 #if COMPONENT_SD || COMPONENT_NUSD
 // Use FATFileSystem for SD card type blockdevices
-FATFileSystem fs("fs", bd);
+FATFileSystem fs("fs");
 #else
 // Use LittleFileSystem for non-SD block devices to enable wear leveling and other functions
-LittleFileSystem fs("fs", bd);
+LittleFileSystem fs("fs");
 #endif
 
 #if USE_BUTTON == 1
@@ -52,9 +61,9 @@
 DigitalOut led(LED1);
 
 // Declaring pointers for access to Pelion Device Management Client resources outside of main()
-MbedCloudClientResource *button_res;
-MbedCloudClientResource *led_res;
-MbedCloudClientResource *post_res;
+MbedCloudClientResource *res_button;
+MbedCloudClientResource *res_led;
+MbedCloudClientResource *res_post;
 #ifdef SEND_ALL_SENSORS
 MbedCloudClientResource *res_magnometer_x;
 MbedCloudClientResource *res_magnometer_y;
@@ -62,6 +71,11 @@
 MbedCloudClientResource *res_accelerometer_x;
 MbedCloudClientResource *res_accelerometer_y;
 MbedCloudClientResource *res_accelerometer_z;
+#ifdef TARGET_K66F
+MbedCloudClientResource *res_gyroscope_x;
+MbedCloudClientResource *res_gyroscope_y;
+MbedCloudClientResource *res_gyroscope_z;
+#endif /* TARGET_K66F */
 #endif /* SEND_ALL_SENSORS */
 
 // An event queue is a very useful structure to debounce information between contexts (e.g. ISR and normal threads)
@@ -77,7 +91,7 @@
  * @param newValue Updated value for the resource
  */
 void put_callback(MbedCloudClientResource *resource, m2m::String newValue) {
-    printf("PUT received. New value: %s\n", newValue.c_str());
+    printf("*** PUT received, new value: %s                             \n", newValue.c_str());
     led = atoi(newValue.c_str());
 }
 
@@ -89,7 +103,7 @@
  * @param size Size of the body
  */
 void post_callback(MbedCloudClientResource *resource, const uint8_t *buffer, uint16_t size) {
-    printf("POST received (length %u). Payload: ", size);
+    printf("*** POST received (length %u). Payload: ", size);
     for (size_t ix = 0; ix < size; ix++) {
         printf("%02x ", buffer[ix]);
     }
@@ -101,9 +115,9 @@
  * This function will be triggered either by a physical button press or by a ticker every 5 seconds (see below)
  */
 void button_press() {
-    int v = button_res->get_value_int() + 1;
-    button_res->set_value(v);
-    printf("Button clicked %d times\n", v);
+    int v = res_button->get_value_int() + 1;
+    res_button->set_value(v);
+    printf("*** Button clicked %d times                                 \n", v);
 }
 
 /**
@@ -112,7 +126,7 @@
  * @param status The delivery status of the notification
  */
 void button_callback(MbedCloudClientResource *resource, const NoticationDeliveryStatus status) {
-    printf("Button notification, status %s (%d)\n", MbedCloudClientResource::delivery_status_to_string(status), status);
+    printf("*** Button notification, status %s (%d)                     \n", MbedCloudClientResource::delivery_status_to_string(status), status);
 }
 
 /**
@@ -129,11 +143,17 @@
 void sensors_init() {
     printf ("\nSensors configuration:\n");
 
-    sen_acc.enable();
-    sen_mag.enable();
+    sens_acc.enable();
+    sens_mag.enable();
+#ifdef TARGET_K66F
+    sens_gyro.activate(true);
+#endif /* TARGET_K66F */
 
-    printf("FXOS8700Q accelerometer = 0x%X\n", sen_acc.whoAmI());
-    printf("FXOS8700Q magnetometer  = 0x%X\n", sen_mag.whoAmI());
+    printf("FXOS8700Q accelerometer = 0x%X\n", sens_acc.whoAmI());
+    printf("FXOS8700Q magnetometer  = 0x%X\n", sens_mag.whoAmI());
+#ifdef TARGET_K66F
+    printf("FXAS21002 gyroscope     = 0x%X\n", sens_gyro.getStatus());
+#endif /* TARGET_K66F */
 
     printf("\n"); ;
 }
@@ -145,24 +165,38 @@
 void sensors_update() {
     motion_data_counts_t acc_raw, mag_raw;
 
-    printf("                                                             \n");
+    sens_acc.getAxis(acc_raw);
+    sens_mag.getAxis(mag_raw);
 
-    sen_acc.getAxis(acc_raw);
-    sen_mag.getAxis(mag_raw);
+    float mag_x = (double)mag_raw.x / 1000.0, mag_y = (double)mag_raw.y / 1000.0, mag_z = (double)mag_raw.z / 1000.0;
+    float acc_x = (double)acc_raw.x / 1000.0, acc_y = (double)acc_raw.y / 1000.0, acc_z = (double)acc_raw.z / 1000.0;
+#ifdef TARGET_K66F
+    float gyro_x = (double)sens_gyro.getX() / 1000.0, gyro_y = (double)sens_gyro.getY() / 1000.0, gyro_z = (double)sens_gyro.getZ() / 1000.0;
+#endif /* TARGET_K66F */
 
-    printf("FXOS8700Q mag:  %7ld x, %7ld y, %7ld z [mgauss]      \n", mag_raw.x, mag_raw.y, mag_raw.z);
-    printf("FXOS8700Q acc:  %7ld x, %7ld y, %7ld z [mg]          \n", acc_raw.x, acc_raw.y, acc_raw.z);
-
+    printf("                                                             \n");
+    printf("FXOS8700Q mag:  %7.3f x, %7.3f y, %7.3f z [gauss]        \n", mag_x, mag_y, mag_z);
+    printf("FXOS8700Q acc:  %7.3f x, %7.3f y, %7.3f z [g]            \n", acc_x, acc_y, acc_z);
+#ifdef TARGET_K66F
+    printf("FXAS21002 gryo: %7.3f x, %7.3f y, %7.3f z [dps]          \n", gyro_x, gyro_y, gyro_z);
+    printf("\r\033[4A");
+#else
     printf("\r\033[3A");
+#endif /* TARGET_K66F */
 
     if (endpointInfo) {
 #ifdef SEND_ALL_SENSORS
-        res_magnometer_x->set_value((int)mag_raw.x);
-        res_magnometer_y->set_value((int)mag_raw.y);
-        res_magnometer_z->set_value((int)mag_raw.z);
-        res_accelerometer_x->set_value((int)acc_raw.x);
-        res_accelerometer_y->set_value((int)acc_raw.y);
-        res_accelerometer_z->set_value((int)acc_raw.z);
+        res_magnometer_x->set_value(mag_x);
+        res_magnometer_y->set_value(mag_y);
+        res_magnometer_z->set_value(mag_z);
+        res_accelerometer_x->set_value(acc_x);
+        res_accelerometer_y->set_value(acc_y);
+        res_accelerometer_z->set_value(acc_z);
+#ifdef TARGET_K66F
+        res_gyroscope_x->set_value(gyro_x);
+        res_gyroscope_y->set_value(gyro_y);
+        res_gyroscope_z->set_value(gyro_z);
+#endif /* TARGET_K66F */
 #endif /* SEND_ALL_SENSORS */
     }
 }
@@ -170,10 +204,22 @@
 int main(void) {
     printf("\nStarting Simple Pelion Device Management Client example\n");
 
+    int storage_status = fs.mount(bd);
+    if (storage_status != 0) {
+        printf("Storage mounting failed.\n");
+    }
 #if USE_BUTTON == 1
     // If the User button is pressed ons start, then format storage.
-    if (button.read() == MBED_CONF_APP_BUTTON_PRESSED_STATE) {
-        printf("User button is pushed on start. Formatting the storage...\n");
+    bool btn_pressed = (button.read() == MBED_CONF_APP_BUTTON_PRESSED_STATE);
+    if (btn_pressed) {
+        printf("User button is pushed on start...\n");
+    }
+#else
+    bool btn_pressed = FALSE;
+#endif /* USE_BUTTON */
+
+    if (storage_status || btn_pressed) {
+        printf("Formatting the storage...\n");
         int storage_status = StorageHelper::format(&fs, bd);
         if (storage_status != 0) {
             printf("ERROR: Failed to reformat the storage (%d).\n", storage_status);
@@ -181,7 +227,6 @@
     } else {
         printf("You can hold the user button during boot to format the storage and change the device identity.\n");
     }
-#endif /* USE_BUTTON */
 
     sensors_init();
 
@@ -207,20 +252,69 @@
     }
 
     // Creating resources, which can be written or read from the cloud
-    button_res = client.create_resource("3200/0/5501", "button_count");
-    button_res->set_value(0);
-    button_res->methods(M2MMethod::GET);
-    button_res->observable(true);
-    button_res->attach_notification_callback(button_callback);
+    res_button = client.create_resource("3200/0/5501", "button_count");
+    res_button->set_value(0);
+    res_button->methods(M2MMethod::GET);
+    res_button->observable(true);
+    res_button->attach_notification_callback(button_callback);
+
+    res_led = client.create_resource("3201/0/5853", "led_state");
+    res_led->set_value(led.read());
+    res_led->methods(M2MMethod::GET | M2MMethod::PUT);
+    res_led->attach_put_callback(put_callback);
+
+    res_post = client.create_resource("3300/0/5605", "execute_function");
+    res_post->methods(M2MMethod::POST);
+    res_post->attach_post_callback(post_callback);
+
+#ifdef SEND_ALL_SENSORS
+    res_accelerometer_x = client.create_resource("3313/0/5702", "Accelerometer X");
+    res_accelerometer_x->set_value(0);
+    res_accelerometer_x->methods(M2MMethod::GET);
+    res_accelerometer_x->observable(true);
+
+    res_accelerometer_y = client.create_resource("3313/0/5703", "Accelerometer Y");
+    res_accelerometer_y->set_value(0);
+    res_accelerometer_y->methods(M2MMethod::GET);
+    res_accelerometer_y->observable(true);
+
+    res_accelerometer_z = client.create_resource("3313/0/5704", "Accelerometer Z");
+    res_accelerometer_z->set_value(0);
+    res_accelerometer_z->methods(M2MMethod::GET);
+    res_accelerometer_z->observable(true);
 
-    led_res = client.create_resource("3201/0/5853", "led_state");
-    led_res->set_value(led.read());
-    led_res->methods(M2MMethod::GET | M2MMethod::PUT);
-    led_res->attach_put_callback(put_callback);
+    res_magnometer_x = client.create_resource("3314/0/5702", "Magnometer X");
+    res_magnometer_x->set_value(0);
+    res_magnometer_x->methods(M2MMethod::GET);
+    res_magnometer_x->observable(true);
+
+    res_magnometer_y = client.create_resource("3314/0/5703", "Magnometer Y");
+    res_magnometer_y->set_value(0);
+    res_magnometer_y->methods(M2MMethod::GET);
+    res_magnometer_y->observable(true);
+
+    res_magnometer_z = client.create_resource("3314/0/5704", "Magnometer Z");
+    res_magnometer_z->set_value(0);
+    res_magnometer_z->methods(M2MMethod::GET);
+    res_magnometer_z->observable(true);
 
-    post_res = client.create_resource("3300/0/5605", "execute_function");
-    post_res->methods(M2MMethod::POST);
-    post_res->attach_post_callback(post_callback);
+#ifdef TARGET_K66F
+    res_gyroscope_x = client.create_resource("3334/0/5702", "Gyroscope X");
+    res_gyroscope_x->set_value(0);
+    res_gyroscope_x->methods(M2MMethod::GET);
+    res_gyroscope_x->observable(true);
+
+    res_gyroscope_y = client.create_resource("3334/0/5703", "Gyroscope Y");
+    res_gyroscope_y->set_value(0);
+    res_gyroscope_y->methods(M2MMethod::GET);
+    res_gyroscope_y->observable(true);
+
+    res_gyroscope_z = client.create_resource("3334/0/5704", "Gyroscope Z");
+    res_gyroscope_z->set_value(0);
+    res_gyroscope_z->methods(M2MMethod::GET);
+    res_gyroscope_z->observable(true);
+#endif /* TARGET_K66F */
+#endif /* SEND_ALL_SENSORS */
 
     printf("Initialized Pelion Device Management Client. Registering...\n");
 

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/sensors/FXAS21002.lib	Tue Mar 26 13:29:05 2019 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/teams/MSS/code/FXAS21002/#8461f7fe0a7f