1 /*
2 * Copyright 2023 NXP
3 * All rights reserved.
4 *
5 * SPDX-License-Identifier: BSD-3-Clause
6 */
7
8 /**
9 * @file fxls8961af_interrupt.c
10 * @brief The fxls8961af_interrupt.c file implements the ISSDK FXLS8961AF sensor
11 * driver example demonstration with interrupt mode.
12 */
13
14 //-----------------------------------------------------------------------
15 // SDK Includes
16 //-----------------------------------------------------------------------
17 #include "pin_mux.h"
18 #include "clock_config.h"
19 #include "board.h"
20 #include "fsl_debug_console.h"
21
22 //-----------------------------------------------------------------------
23 // CMSIS Includes
24 //-----------------------------------------------------------------------
25 #include "Driver_I2C.h"
26
27 //-----------------------------------------------------------------------
28 // ISSDK Includes
29 //-----------------------------------------------------------------------
30 #include "issdk_hal.h"
31 #include "gpio_driver.h"
32 #include "fxls8961_drv.h"
33 #include "systick_utils.h"
34
35 //-----------------------------------------------------------------------
36 // Macros
37 //-----------------------------------------------------------------------
38 #define FXLS8961_DATA_SIZE 6
39
40 //-----------------------------------------------------------------------
41 // Constants
42 //-----------------------------------------------------------------------
43 /*! @brief Register settings for Interrupt (non buffered) mode. */
44 const registerwritelist_t cFxls8961ConfigNormal[] = {
45 /* Set Full-scale range as 2G. */
46 {FXLS8961_SENS_CONFIG1, FXLS8961_SENS_CONFIG1_FSR_2G, FXLS8961_SENS_CONFIG1_FSR_MASK},
47 /* Set Wake Mode ODR Rate as 6.25Hz. */
48 {FXLS8961_SENS_CONFIG3, FXLS8961_SENS_CONFIG3_WAKE_ODR_6_25HZ, FXLS8961_SENS_CONFIG3_WAKE_ODR_MASK},
49 /* Enable Interrupts for Data Ready Events. */
50 {FXLS8961_INT_EN, FXLS8961_INT_EN_DRDY_EN_EN, FXLS8961_INT_EN_DRDY_EN_MASK},
51 __END_WRITE_DATA__};
52
53 /*! @brief Address of Raw Accel Data in Normal Mode. */
54 const registerreadlist_t cFxls8961OutputNormal[] = {{.readFrom = FXLS8961_OUT_X_LSB, .numBytes = FXLS8961_DATA_SIZE},
55 __END_READ_DATA__};
56
57 //-----------------------------------------------------------------------
58 // Global Variables
59 //-----------------------------------------------------------------------
60 volatile bool gFxls8961DataReady = false;
61
62 //-----------------------------------------------------------------------
63 // Functions
64 //-----------------------------------------------------------------------
65 /*! -----------------------------------------------------------------------
66 * @brief This is the Sensor Data Ready ISR implementation.
67 * @details This function sets the flag which indicates if a new sample(s) is available for reading.
68 * @param[in] pUserData This is a void pointer to the instance of the user specific data structure for the ISR.
69 * @return void There is no return value.
70 * @constraints None
71 * @reeentrant Yes
72 * -----------------------------------------------------------------------*/
fxls8961_int_data_ready_callback(void * pUserData)73 void fxls8961_int_data_ready_callback(void *pUserData)
74 { /*! @brief Set flag to indicate Sensor has signalled data ready. */
75 gFxls8961DataReady = true;
76 }
77
78 /*! -----------------------------------------------------------------------
79 * @brief This is the The main function implementation.
80 * @details This function invokes board initializes routines, then then brings up the sensor and
81 * finally enters an endless loop to continuously read available samples.
82 * @param[in] void This is no input parameter.
83 * @return void There is no return value.
84 * @constraints None
85 * @reeentrant No
86 * -----------------------------------------------------------------------*/
main(void)87 int main(void)
88 {
89 int32_t status;
90 uint8_t whoami;
91 uint8_t data[FXLS8961_DATA_SIZE];
92 fxls8961_acceldata_t rawData;
93
94 ARM_DRIVER_I2C *I2Cdrv = &I2C_S_DRIVER; // Now using the shield.h value!!!
95 fxls8961_i2c_sensorhandle_t fxls8961Driver;
96 GENERIC_DRIVER_GPIO *pGpioDriver = &Driver_GPIO_KSDK;
97
98 /*! Initialize the MCU hardware. */
99 BOARD_InitPins();
100 BOARD_BootClockRUN();
101 BOARD_SystickEnable();
102 BOARD_InitDebugConsole();
103
104 PRINTF("\r\n ISSDK FXLS8961 sensor driver example demonstration with interrupt mode.\r\n");
105
106 /*! Initialize FXLS8961 pin used by FRDM board */
107 pGpioDriver->pin_init(&FXLS8961_INT1, GPIO_DIRECTION_IN, NULL, &fxls8961_int_data_ready_callback, NULL);
108
109 /*! Initialize RGB LED pin used by FRDM board */
110 pGpioDriver->pin_init(&GREEN_LED, GPIO_DIRECTION_OUT, NULL, NULL, NULL);
111
112 /*! Initialize the I2C driver. */
113 status = I2Cdrv->Initialize(I2C_S_SIGNAL_EVENT);
114 if (ARM_DRIVER_OK != status)
115 {
116 PRINTF("\r\n I2C Initialization Failed\r\n");
117 return -1;
118 }
119
120 /*! Set the I2C Power mode. */
121 status = I2Cdrv->PowerControl(ARM_POWER_FULL);
122 if (ARM_DRIVER_OK != status)
123 {
124 PRINTF("\r\n I2C Power Mode setting Failed\r\n");
125 return -1;
126 }
127
128 /*! Set the I2C bus speed. */
129 status = I2Cdrv->Control(ARM_I2C_BUS_SPEED, ARM_I2C_BUS_SPEED_FAST);
130 if (ARM_DRIVER_OK != status)
131 {
132 PRINTF("\r\n I2C Control Mode setting Failed\r\n");
133 return -1;
134 }
135
136 /*! Initialize FXLS8961 sensor driver. */
137 status = FXLS8961_I2C_Initialize(&fxls8961Driver, &I2C_S_DRIVER, I2C_S_DEVICE_INDEX, FXLS8961_I2C_ADDR,
138 &whoami);
139 if (SENSOR_ERROR_NONE != status)
140 {
141 PRINTF("\r\n Sensor Initialization Failed\r\n");
142 return -1;
143 }
144 if ((FXLS8964_WHOAMI_VALUE == whoami) || (FXLS8967_WHOAMI_VALUE == whoami))
145 {
146 PRINTF("\r\n Successfully Initialized Gemini with WHO_AM_I = 0x%X\r\n", whoami);
147 }
148 else if ((FXLS8974_WHOAMI_VALUE == whoami) || (FXLS8968_WHOAMI_VALUE == whoami))
149 {
150 PRINTF("\r\n Successfully Initialized Timandra with WHO_AM_I = 0x%X\r\n", whoami);
151 }
152 else if ((FXLS8971_WHOAMI_VALUE == whoami) || (FXLS8961_WHOAMI_VALUE == whoami))
153 {
154 PRINTF("\r\n Successfully Initialized Chiron with WHO_AM_I = 0x%X\r\n", whoami);
155 }
156 else if (FXLS8962_WHOAMI_VALUE == whoami)
157 {
158 PRINTF("\r\n Successfully Initialized Newstein with WHO_AM_I = 0x%X\r\n", whoami);
159 }
160 else
161 {
162 PRINTF("\r\n Bad WHO_AM_I = 0x%X\r\n", whoami);
163 }
164
165 /*! Set the task to be executed while waiting for I2C transactions to complete. */
166 FXLS8961_I2C_SetIdleTask(&fxls8961Driver, (registeridlefunction_t)SMC_SetPowerModeVlpr, SMC);
167
168 /*! Configure the FXLS8961 sensor. */
169 status = FXLS8961_I2C_Configure(&fxls8961Driver, cFxls8961ConfigNormal);
170 if (SENSOR_ERROR_NONE != status)
171 {
172 PRINTF("\r\n FXLS8961 Sensor Configuration Failed, Err = %d\r\n", status);
173 return -1;
174 }
175 PRINTF("\r\n Successfully Applied FXLS8961 Sensor Configuration\r\n");
176
177 for (;;) /* Forever loop */
178 { /* In ISR Mode we do not need to check Data Ready Register.
179 * The receipt of interrupt will indicate data is ready. */
180 if (false == gFxls8961DataReady)
181 { /* Loop, if new sample is not available. */
182 SMC_SetPowerModeWait(SMC);
183 continue;
184 }
185 else
186 { /*! Clear the data ready flag, it will be set again by the ISR. */
187 gFxls8961DataReady = false;
188 pGpioDriver->toggle_pin(&GREEN_LED);
189 }
190
191 /*! Read new raw sensor data from the FXLS8961. */
192 status = FXLS8961_I2C_ReadData(&fxls8961Driver, cFxls8961OutputNormal, data);
193 if (ARM_DRIVER_OK != status)
194 {
195 PRINTF("\r\n Read Failed. \r\n");
196 return -1;
197 }
198
199 /*! Process the sample and convert the raw sensor data. */
200 rawData.accel[0] = ((int16_t)data[1] << 8) | data[0];
201 rawData.accel[1] = ((int16_t)data[3] << 8) | data[2];
202 rawData.accel[2] = ((int16_t)data[5] << 8) | data[4];
203
204 /* NOTE: PRINTF is relatively expensive in terms of CPU time, specially when used with-in execution loop. */
205 PRINTF("\r\n X=%5d Y=%5d Z=%5d\r\n", rawData.accel[0], rawData.accel[1], rawData.accel[2]);
206 ASK_USER_TO_RESUME(50); /* Ask for user input after processing 50 samples. */
207 }
208 }
209
