1 /*
2 * Copyright (c) 2016, Freescale Semiconductor, Inc.
3 * Copyright 2016-2017 NXP
4 * All rights reserved.
5 *
6 * SPDX-License-Identifier: BSD-3-Clause
7 */
8
9 /**
10 * @file mma865x_interrupt.c
11 * @brief The mma865x_interrupt.c file implements the ISSDK MMA865x sensor driver
12 * example demonstration with Interrupt mode.
13 */
14
15 //-----------------------------------------------------------------------
16 // SDK Includes
17 //-----------------------------------------------------------------------
18 #include "pin_mux.h"
19 #include "clock_config.h"
20 #include "board.h"
21 #include "fsl_debug_console.h"
22
23 //-----------------------------------------------------------------------
24 // CMSIS Includes
25 //-----------------------------------------------------------------------
26 #include "Driver_I2C.h"
27
28 //-----------------------------------------------------------------------
29 // ISSDK Includes
30 //-----------------------------------------------------------------------
31 #include "issdk_hal.h"
32 #include "gpio_driver.h"
33 #include "mma865x_drv.h"
34
35 //-----------------------------------------------------------------------
36 // Macros
37 //-----------------------------------------------------------------------
38 #define MMA865x_ACCEL_DATA_SIZE (6) /* 2 byte X,Y,Z Axis Data each. */
39
40 //-----------------------------------------------------------------------
41 // Constants
42 //-----------------------------------------------------------------------
43 /*! Prepare the register write list to configure MMA865x in non-FIFO and ISR mode. */
44 const registerwritelist_t cMma865xConfigInterrupt[] =
45 {/*! Configure the MMA865x to set FS Range as 2g. */
46 {MMA865x_XYZ_DATA_CFG, MMA865x_XYZ_DATA_CFG_FS_2G, MMA865x_XYZ_DATA_CFG_FS_MASK},
47 /*! Configure the MMA865x to set ODR to 6.25Hz. */
48 {MMA865x_CTRL_REG1, MMA865x_CTRL_REG1_DR_6_25HZ, MMA865x_CTRL_REG1_DR_MASK},
49 /*! Configure the MMA865x to set High Resolution mode. */
50 {MMA865x_CTRL_REG2, MMA865x_CTRL_REG2_MODS_HR, MMA865x_CTRL_REG2_MODS_MASK},
51 /*! Configure the MMA865x to set interrupt polarity as Active High. */
52 {MMA865x_CTRL_REG3, MMA865x_CTRL_REG3_IPOL_ACTIVE_HIGH, MMA865x_CTRL_REG3_IPOL_MASK},
53 /*! Configure the MMA865x to enable Interrupts for Data Ready. */
54 {MMA865x_CTRL_REG4, MMA865x_CTRL_REG4_INT_EN_DRDY_EN, MMA865x_CTRL_REG4_INT_EN_DRDY_MASK},
55 /*! Configure the MMA865x to route Data Ready Interrupts to INT1. */
56 {MMA865x_CTRL_REG5, MMA865x_CTRL_REG5_INT_CFG_DRDY_INT1, MMA865x_CTRL_REG5_INT_CFG_DRDY_MASK},
57 __END_WRITE_DATA__};
58
59 /*! Prepare the register read list to read the raw Accel data from MMA865x. */
60 const registerreadlist_t cMma865xOutputValues[] = {{.readFrom = MMA865x_OUT_X_MSB, .numBytes = MMA865x_ACCEL_DATA_SIZE},
61 __END_READ_DATA__};
62
63 //-----------------------------------------------------------------------
64 // Global Variables
65 //-----------------------------------------------------------------------
66 volatile bool gMma865xDataReady = false;
67
68 //-----------------------------------------------------------------------
69 // Functions
70 //-----------------------------------------------------------------------
71 /*! -----------------------------------------------------------------------
72 * @brief This is the Sensor Data Ready ISR implementation.
73 * @details This function sets the flag which indicates if a new sample(s) is available for reading.
74 * @param[in] pUserData This is a void pointer to the instance of the user specific data structure for the ISR.
75 * @return void There is no return value.
76 * @constraints None
77 * @reeentrant Yes
78 * -----------------------------------------------------------------------*/
mma865x_int_data_ready_callback(void * pUserData)79 void mma865x_int_data_ready_callback(void *pUserData)
80 { /*! @brief Set flag to indicate Sensor has signalled data ready. */
81 gMma865xDataReady = true;
82 }
83
84 /*! -----------------------------------------------------------------------
85 * @brief This is the The main function implementation.
86 * @details This function invokes board initializes routines, then then brings up the sensor and
87 * finally enters an endless loop to continuously read available samples.
88 * @param[in] void This is no input parameter.
89 * @return void There is no return value.
90 * @constraints None
91 * @reeentrant No
92 * -----------------------------------------------------------------------*/
main(void)93 int main(void)
94 {
95 int32_t status;
96 uint8_t data[MMA865x_ACCEL_DATA_SIZE];
97 mma865x_acceldata_t rawData;
98
99 ARM_DRIVER_I2C *I2Cdrv = &I2C_S_DRIVER; // Now using the shield.h value!!!
100 mma865x_i2c_sensorhandle_t mma865xDriver;
101 GENERIC_DRIVER_GPIO *gpioDriver = &Driver_GPIO_KSDK;
102
103 /*! Initialize the MCU hardware. */
104 BOARD_InitPins();
105 BOARD_BootClockRUN();
106 BOARD_InitDebugConsole();
107
108 PRINTF("\r\n ISSDK MMA865x sensor driver example for Interrupt Mode.\r\n");
109
110 /*! Initialize MMA865x pin used by FRDM board */
111 gpioDriver->pin_init(&MMA8652_INT1, GPIO_DIRECTION_IN, NULL, &mma865x_int_data_ready_callback, NULL);
112
113 /*! Initialize RGB LED pin used by FRDM board */
114 gpioDriver->pin_init(&GREEN_LED, GPIO_DIRECTION_OUT, NULL, NULL, NULL);
115
116 /*! Initialize the I2C driver. */
117 status = I2Cdrv->Initialize(I2C_S_SIGNAL_EVENT);
118 if (ARM_DRIVER_OK != status)
119 {
120 PRINTF("\r\n I2C Initialization Failed\r\n");
121 return -1;
122 }
123
124 /*! Set the I2C Power mode. */
125 status = I2Cdrv->PowerControl(ARM_POWER_FULL);
126 if (ARM_DRIVER_OK != status)
127 {
128 PRINTF("\r\n I2C Power Mode setting Failed\r\n");
129 return -1;
130 }
131
132 /*! Set the I2C bus speed. */
133 status = I2Cdrv->Control(ARM_I2C_BUS_SPEED, ARM_I2C_BUS_SPEED_FAST);
134 if (ARM_DRIVER_OK != status)
135 {
136 PRINTF("\r\n I2C Control Mode setting Failed\r\n");
137 return -1;
138 }
139
140 /*! Initialize the MMA865x sensor driver. */
141 status = MMA865x_I2C_Initialize(&mma865xDriver, &I2C_S_DRIVER, I2C_S_DEVICE_INDEX, MMA8652_I2C_ADDR,
142 MMA8652_WHOAMI_VALUE);
143 if (SENSOR_ERROR_NONE != status)
144 {
145 PRINTF("\r\n Sensor Initialization Failed\r\n");
146 return -1;
147 }
148 PRINTF("\r\n Successfully Initiliazed Sensor\r\n");
149
150 /*! Set the task to be executed while waiting for I2C transactions to complete. */
151 MMA865x_I2C_SetIdleTask(&mma865xDriver, (registeridlefunction_t)SMC_SetPowerModeVlpr, SMC);
152
153 /*! Configure the MMA865x sensor driver with No FIFO mode. */
154 status = MMA865x_I2C_Configure(&mma865xDriver, cMma865xConfigInterrupt);
155 if (SENSOR_ERROR_NONE != status)
156 {
157 PRINTF("\r\n MMA865x Sensor Configuration Failed, Err = %d \r\n", status);
158 return -1;
159 }
160 PRINTF("\r\n Successfully Applied MMA865x Sensor Configuration\r\n");
161
162 for (;;) /* Forever loop */
163 { /* In ISR Mode we do not need to check Data Ready Register.
164 * The receipt of interrupt will indicate data is ready. */
165 if (false == gMma865xDataReady)
166 { /* Loop, if new sample is not available. */
167 SMC_SetPowerModeWait(SMC);
168 continue;
169 }
170 else
171 { /*! Clear the data ready flag, it will be set again by the ISR. */
172 gMma865xDataReady = false;
173 gpioDriver->toggle_pin(&GREEN_LED);
174 }
175
176 /*! Read the raw sensor data from the MMA865x. */
177 status = MMA865x_I2C_ReadData(&mma865xDriver, cMma865xOutputValues, data);
178 if (ARM_DRIVER_OK != status)
179 {
180 PRINTF("\r\n Read Failed. \r\n");
181 return -1;
182 }
183
184 /*! Convert the raw sensor data to signed 16-bit container for display to the debug port. */
185 rawData.accel[0] = ((int16_t)data[0] << 8) | data[1];
186 rawData.accel[0] /= 16;
187 rawData.accel[1] = ((int16_t)data[2] << 8) | data[3];
188 rawData.accel[1] /= 16;
189 rawData.accel[2] = ((int16_t)data[4] << 8) | data[5];
190 rawData.accel[2] /= 16;
191
192 /* NOTE: PRINTF is relatively expensive in terms of CPU time, specially when used with-in execution loop. */
193 PRINTF("\r\n Accel X = %d Y = %d Z = %d \r\n", rawData.accel[0], rawData.accel[1], rawData.accel[2]);
194 ASK_USER_TO_RESUME(50); /* Ask for user input after processing 100 samples. */
195 }
196 }
197
