/*******************************************************************************
* Function Name: lsb_to_mps2
*******************************************************************************
* Summary:
* This function converts the raw sensor value to meter/sec^2.
*
* Parameters:
* val raw value
* g_range The accelerometer range is expressed in multiples of g.
* bit_width data width in bits
*
* Return:
* float
*
*******************************************************************************/
static float lsb_to_mps2(int16_t val, int8_t g_range, uint8_t bit_width)
{
float half_scale = (float) (1u << (bit_width - 1u));
return ((GRAVITY_EARTH)*val * g_range) / half_scale;
}
/*******************************************************************************
* Function Name: lsb_to_rps
*******************************************************************************
* Summary:
* This function converts the raw gyroscope sensor value to rad/sec.
*
* Parameters:
* val raw value
* dps The gyroscope sensor range in degrees per second
* bit_width data width in bits
*
* Return:
* float
*
*******************************************************************************/
static float lsb_to_rps(int16_t val, float dps, uint8_t bit_width)
{
float half_scale = (float) (1u << (bit_width - 1u));
return ((DEG_TO_RAD) * ((dps) / (half_scale)) * (val));
}
/*******************************************************************************
* Function Name: motion_sensor_update_orientation
*******************************************************************************
* Summary:
* Function that updates the orientation status to one of the 6 types,
* 'ORIENTATION_UP, ORIENTATION_DOWN, TOP_EDGE, BOTTOM_EDGE,
* LEFT_EDGE, and RIGHT_EDGE'. This functions detects the axis that is most
* perpendicular to the ground based on the absolute value of acceleration in
* that axis. The sign of the acceleration signifies whether the axis is
* facing the ground or the opposite.
*
* Return:
* CY_RSLT_SUCCESS upon successful orientation update, else a non-zero value
* that indicates the error.
*
******************************************************************************/
static cy_rslt_t motion_sensor_update_orientation(void)
{
/* Status variable */
cy_rslt_t result = CY_RSLT_SUCCESS;
int16_t abs_x;
int16_t abs_y;
int16_t abs_z;
/* Read x, y, z components of acceleration */
result = mtb_bmi270_read(&bmi270, &bmi270_data);
if (CY_RSLT_SUCCESS != result)
{
printf("read data failed\r\n");
}
abs_x = abs(bmi270_data.sensor_data.acc.x);
abs_y = abs(bmi270_data.sensor_data.acc.y);
abs_z = abs(bmi270_data.sensor_data.acc.z);
if ((abs_z > abs_x) && (abs_z > abs_y))
{
if (bmi270_data.sensor_data.acc.z < RESET_VAL_ZERO)
{
/* Kit faces down (towards the ground) */
printf("Orientation = ORIENTATION_DOWN \r\n");
}
else
{
/* Kit faces up (towards the sky/ceiling) */
printf("Orientation = ORIENTATION_UP \r\n");
}
}
/* Y axis (parallel with shorter edge of board) is most aligned with
* gravity.
*/
else if ((abs_y > abs_x) && (abs_y > abs_z))
{
if (bmi270_data.sensor_data.acc.y > RESET_VAL_ZERO)
{
/* Kit has an inverted landscape orientation */
printf("Orientation = ORIENTATION_BOTTOM_EDGE\r\n");
}
else
{
/* Kit has landscape orientation */
printf("Orientation = ORIENTATION_TOP_EDGE \r\n");
}
}
/* X axis (parallel with longer edge of board) is most aligned with
* gravity.
*/
else
{
if (bmi270_data.sensor_data.acc.x < RESET_VAL_ZERO)
{
/* Kit has an inverted portrait orientation */
printf("Orientation = ORIENTATION_RIGHT_EDGE \r\n");
}
else
{
/* Kit has portrait orientation */
printf("Orientation = ORIENTATION_LEFT_EDGE \r\n");
}
}
return result;
}
/*******************************************************************************
* Function Name: sensor_hub_daq_task
*******************************************************************************
* Summary:
* This function initializes the I2C and BMI270 sensor, reads the sensor values,
* and prints them on the UART terminal.
*
* Parameters:
* void *
*
* Return:
* void
*
*******************************************************************************/
static void sensor_hub_daq_task(void *pvParameters)
{
TickType_t xLastWakeTime = 0;
const TickType_t xDelay = 100 / portTICK_PERIOD_MS;
float x = 0.0f;
float y = 0.0f;
float z = 0.0f;
(void)pvParameters;
initStatus = Cy_SCB_I2C_Init(CYBSP_I2C_CONTROLLER_HW,
&CYBSP_I2C_CONTROLLER_config,
&CYBSP_I2C_CONTROLLER_context);
/* I2C initialization failed. Stop program execution. */
if (CY_SCB_I2C_SUCCESS != initStatus)
{
handle_app_error();
}
Cy_SCB_I2C_Enable(CYBSP_I2C_CONTROLLER_HW);
result = mtb_hal_i2c_setup(&CYBSP_I2C_CONTROLLER_hal_obj,
&CYBSP_I2C_CONTROLLER_hal_config,
&CYBSP_I2C_CONTROLLER_context,
NULL);
/* HAL I2C setup failed. Stop program execution. */
if (CY_RSLT_SUCCESS != result)
{
handle_app_error();
}
/* Initialize can configure platform-dependent function pointers. */
result = mtb_bmi270_init_i2c(&bmi270,
&CYBSP_I2C_CONTROLLER_hal_obj,
MTB_BMI270_ADDRESS_DEFAULT);
/* BMI270 sensor initialization failed. Stop program execution. */
if (CY_RSLT_SUCCESS != result)
{
handle_app_error();
}
/* Configure accelerometer and gyroscope. */
result = mtb_bmi270_config_default(&bmi270);
/* BMI270 sensor configuration failed. Stop program execution. */
if (CY_RSLT_SUCCESS != result)
{
handle_app_error();
}
/* \x1b[2J\x1b[;H - ANSI ESC sequence for clear screen */
printf("\x1b[2J\x1b[;H");
printf("************************************************************\n");
printf(" PSOC Edge MCU: Sensor hub IMU \n");
printf("************************************************************\r\n");
printf("Code example configured in data acquisition mode\r\n\n");
/* Initialize the xLastWakeTime with the current tick count. */
xLastWakeTime = xTaskGetTickCount();
for (;;)
{
/* Get accelerometer and gyroscope sensor data. */
result = mtb_bmi270_read(&bmi270, &bmi270_data);
/* BMI270 sensor read failed. Stop program execution. */
if (CY_RSLT_SUCCESS != result)
{
handle_app_error();
}
x = lsb_to_mps2(bmi270_data.sensor_data.acc.x,
ACC_RANGE_2G,
bmi270.sensor.resolution);
y = lsb_to_mps2(bmi270_data.sensor_data.acc.y,
ACC_RANGE_2G,
bmi270.sensor.resolution);
z = lsb_to_mps2(bmi270_data.sensor_data.acc.z,
ACC_RANGE_2G,
bmi270.sensor.resolution);
printf("Accelerometer: \n\rx:%9.6f, y:%9.6f, z:%9.6f \n\n",
(double)x, (double)y, (double)z);
x = lsb_to_rps(bmi270_data.sensor_data.gyr.x,
GYR_RANGE_DPS,
bmi270.sensor.resolution);
y = lsb_to_rps(bmi270_data.sensor_data.gyr.y,
GYR_RANGE_DPS,
bmi270.sensor.resolution);
z = lsb_to_rps(bmi270_data.sensor_data.gyr.z,
GYR_RANGE_DPS,
bmi270.sensor.resolution);
printf("Gyroscope: \n\rx:%9.6f, y:%9.6f, z:%9.6f \n\n",
(double)x, (double)y, (double)z);
motion_sensor_update_orientation();
/* \x1b[7A\x1b[42D - ANSI ESC sequence to get the cursor back
* to the start. */
printf("\x1b[7A\x1b[42D");
/* Toggle user led */
Cy_GPIO_Inv(CYBSP_USER_LED1_PORT, CYBSP_USER_LED1_PIN);
/* Wait for UART traffic to stop */
while(!(Cy_SCB_UART_IsTxComplete(CYBSP_DEBUG_UART_HW))) {};
/* Wait for the next cycle.*/
vTaskDelayUntil(&xLastWakeTime, xDelay);
}
}
/*******************************************************************************
* Function Name: create_sensor_hub_daq_task
********************************************************************************
* Summary:
* Function that creates Sensor Hub data acquisition task
*
* Parameters:
* None
*
* Return:
* CY_RSLT_SUCCESS upon successful creation of the motion sensor task, else a
* non-zero value that indicates the error.
*
*******************************************************************************/
cy_rslt_t create_sensor_hub_daq_task(void)
{
BaseType_t status;
/* Create the "sensor_hub_daq" Task */
status = xTaskCreate(sensor_hub_daq_task, "Sensor Hub DAQ",
TASK_SENSOR_HUB_DAQ_STACK_SIZE, NULL,
TASK_SENSOR_HUB_DAQ_PRIORITY, NULL);
return (pdPASS == status) ? \
CY_RSLT_SUCCESS : APP_RSLT_ACQ_TASK_CREATE_FAILED;
}
