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em7186.cpp
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/**
* @file em7186.c
*
* @brief Sample interface for the em7186.
*
* @authors David Vincent, Joe Miller
* @date 05/12/2016
* @copyright (C) 2015, 2016 PNI Corp
*
* @copyright Disclosure to third parties or reproduction in any form
* whatsoever, without prior written consent, is strictly forbidden
*
*/
#include "em7186.h"
float em7186_sensor_scale[128];
u32 timestampNonWake;
u32 timestampWake;
u8 printData = 1; // a switch to enable/disable display data (vs logData)
u8 logData = 0; // a switch to enable/disable log data to SD Card
u8 sensorEnabled[64];
u8 haveSensorInfo = 0;
u16 magMaxRate = 0;
u16 accelMaxRate = 0;
u16 gyroMaxRate = 0;
u32 timestamp;
u16 timestampPtr[2];
SensorDescriptor sensorInformation[128];
SensorConfiguration sensorConfiguration[127];
ParamInfo sensorInfoParamList[128] =
{
{ 0, 16 },
{ 1, 16 },
{ 2, 16 },
{ 3, 16 },
{ 4, 16 },
{ 5, 16 },
{ 6, 16 },
{ 7, 16 },
{ 8, 16 },
{ 9, 16 },
{ 10, 16 },
{ 11, 16 },
{ 12, 16 },
{ 13, 16 },
{ 14, 16 },
{ 15, 16 },
{ 16, 16 },
{ 17, 16 },
{ 18, 16 },
{ 19, 16 },
{ 20, 16 },
{ 21, 16 },
{ 22, 16 },
{ 23, 16 },
{ 24, 16 },
{ 25, 16 },
{ 26, 16 },
{ 27, 16 },
{ 28, 16 },
{ 29, 16 },
{ 30, 16 },
{ 31, 16 },
{ 32, 16 },
{ 33, 16 },
{ 34, 16 },
{ 35, 16 },
{ 36, 16 },
{ 37, 16 },
{ 38, 16 },
{ 39, 16 },
{ 40, 16 },
{ 41, 16 },
{ 42, 16 },
{ 43, 16 },
{ 44, 16 },
{ 45, 16 },
{ 46, 16 },
{ 47, 16 },
{ 48, 16 },
{ 49, 16 },
{ 50, 16 },
{ 51, 16 },
{ 52, 16 },
{ 53, 16 },
{ 54, 16 },
{ 55, 16 },
{ 56, 16 },
{ 57, 16 },
{ 58, 16 },
{ 59, 16 },
{ 60, 16 },
{ 61, 16 },
{ 62, 16 },
{ 63, 16 },
{ 64, 16 },
{ 65, 16 },
{ 66, 16 },
{ 67, 16 },
{ 68, 16 },
{ 69, 16 },
{ 70, 16 },
{ 71, 16 },
{ 72, 16 },
{ 73, 16 },
{ 74, 16 },
{ 75, 16 },
{ 76, 16 },
{ 77, 16 },
{ 78, 16 },
{ 79, 16 },
{ 80, 16 },
{ 81, 16 },
{ 82, 16 },
{ 83, 16 },
{ 84, 16 },
{ 85, 16 },
{ 86, 16 },
{ 87, 16 },
{ 88, 16 },
{ 89, 16 },
{ 90, 16 },
{ 91, 16 },
{ 92, 16 },
{ 93, 16 },
{ 94, 16 },
{ 95, 16 },
{ 96, 16 },
{ 97, 16 },
{ 98, 16 },
{ 99, 16 },
{ 100, 16 },
{ 101, 16 },
{ 102, 16 },
{ 103, 16 },
{ 104, 16 },
{ 105, 16 },
{ 106, 16 },
{ 107, 16 },
{ 108, 16 },
{ 109, 16 },
{ 110, 16 },
{ 111, 16 },
{ 112, 16 },
{ 113, 16 },
{ 114, 16 },
{ 115, 16 },
{ 116, 16 },
{ 117, 16 },
{ 118, 16 },
{ 119, 16 },
{ 120, 16 },
{ 121, 16 },
{ 122, 16 },
{ 123, 16 },
{ 124, 16 },
{ 125, 16 },
{ 126, 16 },
{ 127, 16 },
};
u32 em7186_i2c_init()
{
u8 buffer[1];
em7186_i2c_read(PRODUCT_ID_REG, buffer, 1);
switch(buffer[0])
{
case PRODUCT_ID_7180:
printf("SENtral found\n\r");
break;
case PRODUCT_ID_7184:
printf("SENtral-A found\n\r");
break;
case PRODUCT_ID_7186:
printf("SENtral-A2 found\n\r");
break;
default:
printf("SENtral NOT FOUND, ID returned = %u\n\r",buffer[0]);
return 0;
}
return 1;
}
void firmwareTransfer(char srcDestCode)
{
switch (srcDestCode) {
// case 'r':
// if (displayText) printf("begin Upload of firmware to SENtral RAM\n\r");
// SENtral_InterruptPin.disable_irq();
// if (!) {
// if (displayText) printf("Error uploading SENtral firmware to RAM\n\r");
// }
// SENtral_InterruptPin.enable_irq();
// break;
//
// case 'e':
// if (displayText) printf("begin Upload of firmware to PNI Module EEPROM\n\r");
// SENtral_InterruptPin.disable_irq();
// if (!) {
// if (displayText) printf("Error uploading SENtral firmware to EEPROM\n\r");
// }
// SENtral_InterruptPin.enable_irq();
// break;
//
// case 's':
// if (displayText) printf("begin Upload of firmware to SDCard\n\r");
// SENtral_InterruptPin.disable_irq();
// if (!) {
// if (displayText) printf("Error uploading SENtral firmware to SDCard\n\r");
// }
// SENtral_InterruptPin.enable_irq();
// break;
case 'R':
if (displayText) printf("Transfering firmware from SDCard to SENtral RAM\n\r");
SENtral_InterruptPin.disable_irq();
if (!em7186_firmware_Transfer2RAM(fw)) {
if (displayText) printf("Error transfering SENtral firmware to RAM\n\r");
break;
}
// Enable CPU
em7186_i2c_write_value(CHIP_CONTROL_REG, CHIP_CONTROL_CPU_RUN);
em7186_set_scale_factors();
SENtral_InterruptPin.enable_irq();
break;
case 'E':
if (displayText) printf("Transfering firmware from SDCard to PNI Module EEPROM\n\r");
SENtral_InterruptPin.disable_irq();
if (!em7186_firmware_Transfer2EE(fw)) {
if (displayText) printf("Error transfering SENtral firmware to EEPROM\n\r");
}
break;
default:
serialCommandMode = 0;
}
}
u32 em7186_i2c_write_value(u8 registerAddress, u8 value)
{
u32 status = em7186_i2c_write(registerAddress, &value, 1);
return status;
}
//=========================================================================
// Helper functions
//=========================================================================
u8 get_3_axis_sensor_data(SensorData3Axis *data, float scale, u8* buffer)
{
SensorData3AxisRaw rawData;
memcpy(&rawData, &buffer[1], sizeof(rawData));
data->x = (float)rawData.x * scale;
data->y = (float)rawData.y * scale;
data->z = (float)rawData.z * scale;
data->extra = rawData.status;
return 1;
}
u8 get_3_axis_uncal_sensor_data(SensorData6Axis *data, float scale, u8* buffer)
{
SensorData3AxisUncalRaw rawData;
memcpy(&rawData, &buffer[1], sizeof(rawData));
data->x = (float)rawData.x * scale;
data->y = (float)rawData.y * scale;
data->z = (float)rawData.z * scale;
data->x_bias = (float)rawData.x_bias * scale;
data->y_bias = (float)rawData.y_bias * scale;
data->z_bias = (float)rawData.z_bias * scale;
data->extra = rawData.status;
return 1;
}
u8 get_rotation_vector(SensorData4Axis *rv, float quaternionScale, u8* buffer)
{
RotationVectorRaw rawData;
memcpy(&rawData, &buffer[1], sizeof(rawData));
rv->x = (float)rawData.x * quaternionScale;
rv->y = (float)rawData.y * quaternionScale;
rv->z = (float)rawData.z * quaternionScale;
rv->w = (float)rawData.w * quaternionScale;
rv->extra = (float)rawData.accuracy * ((float)M_PI / powf(2.0f, 14.0f));
return 1;
}
//=========================================================================
// Core functions
//=========================================================================
u32 em7186_firmware_Transfer2RAM(const u8 *firmwareName)
{
// reset Sentral
em7186_i2c_write_value(RESET_REQ_REG, 1);
em7186_i2c_write_value(CHIP_CONTROL_REG, CHIP_CONTROL_HOST_UPLOAD);
///////////////////////////////////////////////////////////////////////////
// Load firmware from file
///////////////////////////////////////////////////////////////////////////
// Open firmware file
FILE *fw_h = fopen(firmwareName, "rb");
if (!fw_h)
{
if (displayText) printf("ERROR: Unable to open file\n\r");
return 0;
}
if (displayText) printf("Firmware file found\n\r");
// Read the firmware header
struct fwHeader
{
u8 imageSignatureLsb;
u8 imageSignatureMsb;
u16 flags;
u32 crc;
u32 reserved;
u16 imageLength;
u16 reserved2;
} fwHeader;
int hsize = fread(&fwHeader, 1, FIRMWARE_HEADER_SIZE, fw_h);
if ( hsize != FIRMWARE_HEADER_SIZE)
{
if (displayText) printf("ERROR: File smaller than expected header size %d\n\r", hsize);
fclose(fw_h);
return 0;
}
// Validate firmware
if (fwHeader.imageSignatureLsb != IMAGE_SIGNATURE_LSB || fwHeader.imageSignatureMsb != IMAGE_SIGNATURE_MSG)
{
if (displayText) printf("ERROR: Firmware version doesn't match\n\r");
fclose(fw_h);
return 0;
}
// TODO: ensure that firmware version matches rom version
// Read the firmware image
u8 *fw = (u8 *)malloc(fwHeader.imageLength);
u32 firmwareSize = fread(fw, 1, fwHeader.imageLength, fw_h);
fclose(fw_h);
if (firmwareSize != fwHeader.imageLength || firmwareSize % 4)
{
if (displayText) printf("ERROR: Firmware size must break on 4 byte boundary\n\r");
free(fw);
return 0;
}
///////////////////////////////////////////////////////////////////////////
// Upload firmware to RAM
///////////////////////////////////////////////////////////////////////////
// TODO: set upload address if needed. (zero by default)
if (displayText) printf("Uploading Firmware to SENtral RAM...\n\r");
s32 bytesWritten = 0,
bytesRemaining = firmwareSize;
u8 bytesToWrite, i,
buf[MAX_I2C_WRITE],
maxI2cWrite = MAX_I2C_WRITE;
while (bytesRemaining > 0)
{
if (bytesRemaining < MAX_I2C_WRITE)
bytesToWrite = bytesRemaining;
else
bytesToWrite = maxI2cWrite;
// Reverse byte order per word
for (i = 0; i < bytesToWrite; i += 4)
{
buf[i + 0] = fw[bytesWritten + i + 3];
buf[i + 1] = fw[bytesWritten + i + 2];
buf[i + 2] = fw[bytesWritten + i + 1];
buf[i + 3] = fw[bytesWritten + i + 0];
}
if (!em7186_i2c_write(SR_UPLOAD_DATA_REG, buf, bytesToWrite))
{
if (displayText) printf("ERROR: Problem writing to sentral\n\r");
free(fw);
return 0;
}
bytesRemaining -= bytesToWrite;
bytesWritten += bytesToWrite;
}
free(fw);
if (displayText) printf("Firmware Uploaded......");
// Read and verify CRC
u32 hostCRC = 0;
em7186_i2c_read(HOST_CRC_REG, (u8*)&hostCRC, 4);
u32 fwHeaderCRC = fwHeader.crc;//((u32*)fwHeader)[1];
if (hostCRC != fwHeaderCRC)
{
if (displayText) printf("ERROR: CRC doesn't match\n\r");
return 0;
}
if (displayText) printf(" CRC Match!!\n\r");
return 1;
}
u32 em7186_firmware_Transfer2EE(const u8 *firmwareName)
{
u8 buffer[16];
u8 trys = 1;
u16 count;
// Open firmware file
FILE *fw_h = fopen(firmwareName, "rb");
if (!fw_h) {
if (displayText) printf("ERROR: Unable to open file\n\r");
return 0;
}
if (displayText) printf("Firmware file found\n\r");
// Read the firmware header
struct fwHeader {
u8 imageSignatureLsb;
u8 imageSignatureMsb;
u16 flags;
u32 crc;
u32 reserved;
u16 imageLength;
u16 reserved2;
} fwHeader;
int hsize = fread(&fwHeader, 1, FIRMWARE_HEADER_SIZE, fw_h);
if ( hsize != FIRMWARE_HEADER_SIZE) {
if (displayText) printf("ERROR: File smaller than expected header size %d\n\r", hsize);
fclose(fw_h);
return 0;
}
// Validate firmware
if (fwHeader.imageSignatureLsb != IMAGE_SIGNATURE_LSB || fwHeader.imageSignatureMsb != IMAGE_SIGNATURE_MSG) {
if (displayText) printf("ERROR: Firmware version doesn't match\n\r");
fclose(fw_h);
return 0;
}
// Read the firmware image From the SD Card
u8 *fw = (u8 *)malloc(fwHeader.imageLength);
u32 firmwareSize = fread(fw, 1, fwHeader.imageLength, fw_h);
fclose(fw_h);
if (firmwareSize != fwHeader.imageLength || firmwareSize % 4) {
if (displayText) printf("ERROR: Firmware size must break on 4 byte boundary\n\r");
free(fw);
return 0;
}
if (displayText) printf("Firmware size = %u\n\r",firmwareSize);
u8 headerBytes[FIRMWARE_HEADER_SIZE];
memcpy(headerBytes,(u8*)&fwHeader,FIRMWARE_HEADER_SIZE); // create a bytewise copy of fwHeader
///////////////////////////////////////////////////////////////////////////
// Upload firmware to EEPROM
///////////////////////////////////////////////////////////////////////////
do {
// request SENtral passthrough mode
em7186_i2c_write_value(PASS_THROUGH_CFG_REG, 1);
em7186_i2c_read(PASS_THROUGH_RDY_REG, buffer, 1);
} while((buffer[0] != 1) && (++trys < 20));
if (trys <20) {
// Reverse byte order per word
if (displayText) printf("SENtral confirmed passthrough mode after %u try(s)\n\r",trys);
// write header portion to EEPROM from SDCard
//key: EE_Write(u8 I2C_Addr, u16 EE_MemAddr, u8*buffer, u16 length)
u32 status = EE_Write(0xA0, 0, (u8*)&fwHeader, FIRMWARE_HEADER_SIZE);
if (displayText) printf("Header Sent to EEPROM......\n\r",firmwareSize);
wait_ms(5);
EE_Read(0xA0, 0, buffer, FIRMWARE_HEADER_SIZE);
status = 0;
// Readback EEPROM to verify header write
for (count = 0; count<FIRMWARE_HEADER_SIZE; count++) {
if (headerBytes[count] != buffer[count]) {
status = 1; // 1 = fail
if (displayText) printf("Failed Header readback from EEPROM at %u, value=%u\n\r",count,headerBytes[count]);
break;
}
}
if (!status) {
u32 bytesWritten = 0;
u32 bytesRemaining = firmwareSize;
u8 bytesToWrite,
maxI2cWrite = 16; // kind of small but ensures page alignment
while (bytesRemaining > 0) {
if (bytesRemaining < maxI2cWrite)
bytesToWrite = bytesRemaining;
else
bytesToWrite = maxI2cWrite;
if (!EE_Write(0xA0, (bytesWritten+FIRMWARE_HEADER_SIZE), &fw[bytesWritten], bytesToWrite)) {
if (displayText) printf("\n\rCould not write to EEPROM\n\r");
free(fw);
wait_ms(5);
em7186_i2c_write_value(PASS_THROUGH_CFG_REG, 0);
return 0;
}
bytesWritten += bytesToWrite;
bytesRemaining -= bytesToWrite;
if (displayText) printf("\r%u",bytesWritten);
wait_ms(5);
}
if (displayText) printf("\n\rFirmware Transfered from SDCard to EEPROM. Now Verifying.....\n\r");
u32 bytesRead = 0;
bytesRemaining = firmwareSize;
u8 bytesToRead,
maxI2cRead = 16;
status = 0;
while ((bytesRemaining > 0) && (status == 0)) {
if (bytesRemaining < maxI2cRead)
bytesToRead = bytesRemaining;
else
bytesToRead = maxI2cRead;
if (!EE_Read(0xA0, (bytesRead+FIRMWARE_HEADER_SIZE), buffer, bytesToRead)) {
if (displayText) printf("\n\rCould not Read EEPROM\n\r");
free(fw);
wait_ms(5);
em7186_i2c_write_value(PASS_THROUGH_CFG_REG, 0);
return 0;
}
for (count = 0; count<bytesToRead; count++) {
if (fw[bytesRead+count] != buffer[count]) {
status = 1; // 1 = fail
if (displayText) printf("Failed firmware readback from EEPROM at %u, value=%u\n\r",bytesRead+FIRMWARE_HEADER_SIZE+count,buffer[count]);
wait_ms(5);
em7186_i2c_write_value(PASS_THROUGH_CFG_REG, 0);
return 0;
}
}
bytesRead += bytesToRead;
bytesRemaining -= bytesToRead;
if (displayText) printf("\r%u",bytesRead);
wait_ms(1);
}
if(status == 0)
{
if (displayText) printf("\n\rVerify EEPROM **** SUCCESSFUL *****\n\r");
}
} else {
if (displayText) printf("\r\nCould not write to EEPROM (Header)\n\r");
wait_ms(5);
em7186_i2c_write_value(PASS_THROUGH_CFG_REG, 0);
return 0;
}
free(fw);
} else {
if (displayText) printf("Could not confirm SENtral Passthrough mode\n\r");
return 0;
}
em7186_i2c_write_value(PASS_THROUGH_CFG_REG, 0); // turn off passthrough mode
return 1;
}
u32 em7186_param_read(u8 *values, u8 page, ParamInfo *paramList, u8 numParams)
{
u8 i, paramAck, pageSelectValue;
u16 valIndex = 0;
for (i = 0; i < numParams; i++)
{
pageSelectValue = page | (paramList[i].size << 4);
em7186_i2c_write_value(PARAM_PAGE_SELECT_REG, pageSelectValue);
em7186_i2c_write_value(PARAM_REQUEST_REG, paramList[i].paramNo);
do
{
em7186_i2c_read(PARAM_ACK_REG, ¶mAck, 1);
if (paramAck == 0x80)
{
em7186_i2c_write_value(PARAM_REQUEST_REG, 0);
em7186_i2c_write_value(PARAM_PAGE_SELECT_REG, 0);
return 0;
}
} while (paramAck != paramList[i].paramNo);
em7186_i2c_read(PARAM_SAVE_REG, &values[valIndex], paramList[i].size);
// printf("%u ", values[valIndex]);
valIndex += paramList[i].size;
}
em7186_i2c_write_value(PARAM_REQUEST_REG, 0);
em7186_i2c_write_value(PARAM_PAGE_SELECT_REG, 0);
return 1;
}
u32 em7186_param_write(u8 *values, u8 page, ParamInfo *paramList, u8 numParams)
{
u8 i, paramAck, paramNum, pageSelectValue;
u16 valIndex = 0;
for (i = 0; i < numParams; i++)
{
pageSelectValue = page | (paramList[i].size << 4);
em7186_i2c_write_value(PARAM_PAGE_SELECT_REG, pageSelectValue);
em7186_i2c_write(PARAM_LOAD_REG, &values[valIndex], (u16)paramList[i].size);
paramNum = paramList[i].paramNo | 0x80;
em7186_i2c_write_value(PARAM_REQUEST_REG, paramNum);
do
{
em7186_i2c_read(PARAM_ACK_REG, ¶mAck, 1);
if (paramAck == 0x80)
{
em7186_i2c_write_value(PARAM_REQUEST_REG, 0);
em7186_i2c_write_value(PARAM_PAGE_SELECT_REG, 0);
return 0;
}
} while (paramAck != paramNum);
valIndex += paramList[i].size;
}
em7186_i2c_write_value(PARAM_REQUEST_REG, 0);
em7186_i2c_write_value(PARAM_PAGE_SELECT_REG, 0);
return 1;
}
u32 em7186_read_fifo(u8 *buffer)
{
// Check number of bytes available
u16 bytesAvailable, bytesRead = 0;
em7186_i2c_read(BYTES_REMANING_REG, (u8*)&bytesAvailable, 2);
//printf("FIFO bytesAvailable:%u\n\r",bytesAvailable);
#define CONTINUOUS_FIFO_READ
#ifdef CONTINUOUS_FIFO_READ
bytesRead = em7186_i2c_read(0, buffer, bytesAvailable);
#else
u16 i, bytesToRead;
while (bytesAvailable > 0)
{
// Break on 50 byte fifo register block
bytesToRead = bytesRead % 50 + I2C_MAX_READ > 50 ? 50 - bytesRead % 50 : I2C_MAX_READ;
// Make sure we don't read more than is available in the fifo
bytesToRead = min(bytesAvailable, bytesToRead);
if (!em7186_i2c_read(bytesRead % 50, &buffer[bytesRead], bytesToRead))
{
return 0;
}
bytesAvailable -= bytesToRead;
bytesRead += bytesToRead;
}
#endif
//printf("FIFO bytesRead:%u\n\r",bytesRead);
return bytesRead;
}
u32 em7186_parse_next_fifo_block(u8* buffer, u32 size)
{
u8 sensorId = buffer[0];
// if (sensorId < SENSOR_TYPE_ACCELEROMETER_WAKE ||
// sensorId == SENSOR_TYPE_DEBUG ||
// sensorId == SENSOR_TYPE_TIMESTAMP ||
// sensorId == SENSOR_TYPE_TIMESTAMP_OVERFLOW ||
// sensorId == SENSOR_TYPE_META ||
// sensorId == SENSOR_TYPE_RAW_GYRO ||
// sensorId == SENSOR_TYPE_RAW_MAG ||
// sensorId == SENSOR_TYPE_RAW_ACCEL
// )
// {
// }
// else
// {
// timestamp = timestampWake;
// timestampPtr = (u16*)×tampWake;
// }
switch(sensorId)
{
case 0:
{
//printf("Padding: %d\n\r", size);
return size;
}
case SENSOR_TYPE_ACCELEROMETER:
case SENSOR_TYPE_ACCELEROMETER_WAKE:
case SENSOR_TYPE_MAGNETIC_FIELD:
case SENSOR_TYPE_MAGNETIC_FIELD_WAKE:
case SENSOR_TYPE_GYROSCOPE:
case SENSOR_TYPE_GYROSCOPE_WAKE:
case SENSOR_TYPE_GRAVITY:
case SENSOR_TYPE_GRAVITY_WAKE:
case SENSOR_TYPE_LINEAR_ACCELERATION:
case SENSOR_TYPE_LINEAR_ACCELERATION_WAKE:
case SENSOR_TYPE_ORIENTATION:
case SENSOR_TYPE_ORIENTATION_WAKE:
{
SensorData3Axis sensorData;
get_3_axis_sensor_data(&sensorData, em7186_sensor_scale[sensorId], buffer);
if (printData) printf("%u %s: %f, %f, %f, %f\n\r", timestamp,em7186_sensor_name[sensorId], sensorData.x, sensorData.y, sensorData.z, sensorData.extra);
if (logData) fprintf(flog,"%u,%u,%f,%f,%f,%f\n", timestamp,sensorId, sensorData.x, sensorData.y, sensorData.z, sensorData.extra);
return 8;
}
case SENSOR_TYPE_LIGHT:
case SENSOR_TYPE_LIGHT_WAKE:
case SENSOR_TYPE_PROXIMITY:
case SENSOR_TYPE_PROXIMITY_WAKE:
case SENSOR_TYPE_RELATIVE_HUMIDITY:
case SENSOR_TYPE_RELATIVE_HUMIDITY_WAKE:
case SENSOR_TYPE_ACTIVITY:
case SENSOR_TYPE_ACTIVITY_WAKE:
{
float sensorData = (float)((buffer[2] << 8) + buffer[1]) * em7186_sensor_scale[sensorId];
if (printData) printf("%u %s: %fLux\n\r", timestamp,em7186_sensor_name[sensorId], sensorData);
if (logData) fprintf(flog,"%u,%u,%u,%f\n",timestamp, sensorId, sensorData);
return 3;
}
case SENSOR_TYPE_PRESSURE:
case SENSOR_TYPE_PRESSURE_WAKE:
{
float pressure = (float)((buffer[3] << 16) + (buffer[2] << 8) + buffer[1]) * em7186_sensor_scale[sensorId];
if (printData) printf("%u %s: %fPa\n\r", timestamp, em7186_sensor_name[sensorId], pressure);
if (logData) fprintf(flog,"%u,%u,%f\n",timestamp,sensorId,pressure);
return 4;
}
case SENSOR_TYPE_TEMPERATURE:
case SENSOR_TYPE_TEMPERATURE_WAKE:
case SENSOR_TYPE_AMBIENT_TEMPERATURE:
case SENSOR_TYPE_AMBIENT_TEMPERATURE_WAKE:
{
s16 *sensorData = (s16*)&buffer[1];
float temp = (float)(sensorData[0]) * em7186_sensor_scale[sensorId];
if (printData) printf("%u %s: %fC\n\r", timestamp, em7186_sensor_name[sensorId], temp);
if (logData) fprintf(flog,"%u,%u,%f\n",timestamp,sensorId, temp);
return 3;
}
case SENSOR_TYPE_ROTATION_VECTOR:
case SENSOR_TYPE_ROTATION_VECTOR_WAKE:
case SENSOR_TYPE_GAME_ROTATION_VECTOR:
case SENSOR_TYPE_GAME_ROTATION_VECTOR_WAKE:
case SENSOR_TYPE_GEOMAGNETIC_ROTATION_VECTOR:
case SENSOR_TYPE_GEOMAGNETIC_ROTATION_VECTOR_WAKE:
case SENSOR_TYPE_PDR:
case SENSOR_TYPE_PDR_WAKE:
case 60:
{
SensorData4Axis rotationVector;
get_rotation_vector(&rotationVector, em7186_sensor_scale[sensorId], buffer);
if (printData) printf("%u %s: %f, %f, %f, %f, %f\n\r", timestamp, em7186_sensor_name[sensorId], rotationVector.x, rotationVector.y, rotationVector.z, rotationVector.w, rotationVector.extra);
if (logData) fprintf(flog,"%u,%u,%f,%f,%f,%f,%f\n", timestamp,sensorId, rotationVector.x, rotationVector.y, rotationVector.z, rotationVector.w, rotationVector.extra);
return 11;
}
case SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED:
case SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED_WAKE:
case SENSOR_TYPE_GYROSCOPE_UNCALIBRATED:
case SENSOR_TYPE_GYROSCOPE_UNCALIBRATED_WAKE:
{
SensorData6Axis sensorDataUncal;
get_3_axis_uncal_sensor_data(&sensorDataUncal, em7186_sensor_scale[sensorId], buffer);
if (printData) printf("%u %s: %f, %f, %f, %f, %f, %f, %f\n\r", timestamp, em7186_sensor_name[sensorId], sensorDataUncal.x, sensorDataUncal.y, sensorDataUncal.z, sensorDataUncal.x_bias, sensorDataUncal.y_bias, sensorDataUncal.z_bias, sensorDataUncal.extra);
if (logData) fprintf(flog,"%u,%u,%f,%f,%f,%f,%f,%f,%f\n", timestamp,sensorId, sensorDataUncal.x, sensorDataUncal.y, sensorDataUncal.z, sensorDataUncal.x_bias, sensorDataUncal.y_bias, sensorDataUncal.z_bias, sensorDataUncal.extra);
return 14;
}
case SENSOR_TYPE_STEP_COUNTER:
case SENSOR_TYPE_STEP_COUNTER_WAKE:
{
u16 sensorData = (buffer[2] << 8) + buffer[1];
if (printData) printf("%u %s: %u\n\r", timestamp, em7186_sensor_name[sensorId], sensorData);
if (logData) fprintf(flog,"%u,%u,%u\n", timestamp,sensorId, sensorData);
return 3;
}
case SENSOR_TYPE_HEART_RATE:
case SENSOR_TYPE_HEART_RATE_WAKE:
{
u8 sensorData = buffer[1];
// Heart Rate
if (printData) printf("%u %s: %u\n\r", timestamp, em7186_sensor_name[sensorId], sensorData);
if (logData) fprintf(flog,"%u,%u,%u\n",timestamp,sensorId, sensorData);
return 3;
}
case SENSOR_TYPE_CAR_MAG_DATA:
case SENSOR_TYPE_CAR_MAG_DATA_WAKE:
{
// u8 SensorId, float[3] RawMagData, u8 Status, u8 expansion data
float RawMagData[3];
memcpy(RawMagData, &buffer[1], sizeof(RawMagData));
if (printData) printf("%u Car Detect Mag Data = %3.3f,%3.3f,%3.3f\n\r", timestamp, RawMagData[0], RawMagData[1], RawMagData[2]);
if (logData) fprintf(flog,"%u,%u,%f,%f,%f\n", timestamp,sensorId, RawMagData[0], RawMagData[1], RawMagData[2]);
return 15;
}
case SENSOR_TYPE_SIGNIFICANT_MOTION:
case SENSOR_TYPE_SIGNIFICANT_MOTION_WAKE:
case SENSOR_TYPE_STEP_DETECTOR:
case SENSOR_TYPE_STEP_DETECTOR_WAKE:
case SENSOR_TYPE_TILT_DETECTOR:
case SENSOR_TYPE_TILT_DETECTOR_WAKE:
case SENSOR_TYPE_PICK_UP_GESTURE:
case SENSOR_TYPE_PICK_UP_GESTURE_WAKE:
case SENSOR_TYPE_WAKE_GESTURE:
case SENSOR_TYPE_WAKE_GESTURE_WAKE:
{
if (printData) printf("%u %s\n\r", timestamp, em7186_sensor_name[sensorId]);
if (logData) fprintf(flog,"%u,%u\n", timestamp,sensorId);
return 1;
}
case SENSOR_TYPE_TIMESTAMP:
case SENSOR_TYPE_TIMESTAMP_WAKE:
{
u16* uPacket = (u16*)&buffer[1];
timestampPtr[0] = uPacket[0];
timestamp = *(u32*)timestampPtr;
return 3;
}
case SENSOR_TYPE_TIMESTAMP_OVERFLOW:
case SENSOR_TYPE_TIMESTAMP_OVERFLOW_WAKE:
{
u16* uPacket = (u16*)&buffer[1];
timestampPtr[1] = uPacket[0];
timestampPtr[0] = 0;
timestamp = *(u32*)timestampPtr;
return 3;
}
case SENSOR_TYPE_META:
case SENSOR_TYPE_META_WAKE:
{
if (reportMetaData)
{
if (printData)
{
if (sensorId == SENSOR_TYPE_META_WAKE)
{
printf("%u WAKEUP %s:, %s/%u, %u\n\r", timestamp, em7186_meta_event_name[buffer[1]], em7186_sensor_name[buffer[2]],buffer[2], buffer[3]);
}
else
{
printf("%u %s: %s/%u, %u\n\r", timestamp, em7186_meta_event_name[buffer[1]], em7186_sensor_name[buffer[2]], buffer[2], buffer[3]);
// special hook for sample script
if (buffer[2] == 14)
{
if (buffer[3] == 0 ) {
green_LED = 1;
printf("PASS **** The RM3100 Magnetometer ASIC and sensors are operating properly\n\r");
} else {
green_LED = 1;
wait(0.1);
green_LED = 0;
printf("FAIL **** The RM3100 Magnetometer ASIC and sensors fail code = %u\n\r",buffer[3]);
}
}
}
}
if (logData) fprintf(flog,"%u,%u,%u,%u,%u\n",timestamp,sensorId, buffer[1],buffer[2],buffer[3]);
}
return 4;
}
case SENSOR_TYPE_RAW_ACCEL:
case SENSOR_TYPE_RAW_GYRO:
SensorData3Axis sensorData;
float* fPacket = (float*)&buffer[7];
sensorData.x = 256 * (s8)buffer[2] + buffer[1]; //s16 will convert to float here
sensorData.y = 256 * (s8)buffer[4] + buffer[3];
sensorData.z = 256 * (s8)buffer[6] + buffer[5];
sensorData.extra = fPacket[0];
if (printData) printf("%u %s: %3.0f, %3.0f, %3.0f, %3.1f\n\r", timestamp, em7186_sensor_name[sensorId], sensorData.x, sensorData.y, sensorData.z, sensorData.extra);
if (logData) fprintf(flog,"%u,%u,%f,%f,%f,%f\n", timestamp,sensorId, sensorData.x, sensorData.y, sensorData.z, sensorData.extra);
return 11;
case SENSOR_TYPE_RAW_MAG: //jm modified to s32 for RM3100
{
SensorData3Axis sensorData;
//s32* sPacket = (s32*)&buffer[1];
float* fPacket = (float*)&buffer[1];
//sensorData.x = sPacket[0]; //s32 will convert to float here
//sensorData.y = sPacket[1];
//sensorData.z = sPacket[2];
sensorData.x = (float)(buffer[1] + 256 * (buffer[2] + 256 * (buffer[3] + 256 * (buffer[4])))); //s32 will convert to float here
sensorData.y = buffer[5] + 256 * (buffer[6] + 256 * (buffer[7] + 256 * (buffer[8])));
sensorData.z = buffer[9] + 256 * (buffer[10] + 256 * (buffer[11] + 256 * (buffer[12])));
sensorData.extra = fPacket[3];
if (printData) printf("%u %s: %f, %f, %f\n\r", timestamp, em7186_sensor_name[sensorId], sensorData.x, sensorData.y, sensorData.z);
if (logData) fprintf(flog,"%u,%u,%f,%f,%f\n", timestamp,sensorId, sensorData.x, sensorData.y, sensorData.z);
return 17;
}
case SENSOR_TYPE_DEBUG:
{
u8 packetSize = buffer[1] & 0x3F;
u8 i;
for (i = 0; i < packetSize; i++)
{
if (printData) printf("%c", (u8)buffer[2 + i]);
}
return 14;
}
default:
{
// Parsing error or unkown sensor type. Clear out the rest of the
// buffer and start clean on the next read.
if (printData) printf("%u Other: 0x%x: %d bytes skipped\n\r", timestamp, buffer[0], size);
break;
}
} // end switch(sensorId)
return 0;
}
u32 em7186_parse_fifo(u8* buffer, u32 size)
{
u32 index = 0;
u32 bytesUsed;
u32 bytesRemaining = size;
//if (displayText) printf("FIFO #Bytes to parse:%u\n\r",bytesRemaining);
if (size == 0) return size;
do {
bytesUsed = em7186_parse_next_fifo_block(&buffer[index], bytesRemaining);
index += bytesUsed;
bytesRemaining -= bytesUsed;
} while (bytesUsed > 0 && bytesRemaining > 0);
return size - bytesRemaining;
}
u32 em7186_set_sensor_rate(u8 sensorId, u16 rate)
{
#ifdef BHI160
u8 paramPage = PARAM_PAGE_SENSOR_INFO;
ParamInfo param[] = { sensorId + 64, 2 };
#else
u8 paramPage = PARAM_PAGE_SENSOR_CONF;
ParamInfo param[] = { sensorId, 2 };
#endif
return em7186_param_write((u8*)&rate, paramPage, param, 1);
}
u32 em7186_set_sensor_delay(u8 sensorId, u16 delay)
{
#ifdef BHI160
u8 paramPage = PARAM_PAGE_SENSOR_INFO;
ParamInfo param[] = { sensorId + 64, 2 };
#else