diff --git a/src/shared/sensors/LSM9DS1/LSM9DS1_AxelGyro.h b/src/shared/sensors/LSM9DS1/LSM9DS1_AxelGyro.h
index 652f982a920b1677a49810ababaed2502efda7ea..d1b0ffab235c4b9f6371f87e20392e2c31310221 100644
--- a/src/shared/sensors/LSM9DS1/LSM9DS1_AxelGyro.h
+++ b/src/shared/sensors/LSM9DS1/LSM9DS1_AxelGyro.h
@@ -268,18 +268,18 @@ class LSM9DS1_XLG : public GyroSensor, public AccelSensor, public TemperatureSen
mLastTemp = tempZero + (temp / tempSensistivity); //25°C + TEMP*S devo castare a float "temp"?
}
else{ //if FIFO enabled: do not store temperature, it can be read using "temperatureUpdate()" function at low sampling frequency
- uint8_t buf[384]; //2 bytes per data * 3 axes * 2 (axel+gyro) * 32(FIFO DEPTH) = 384 samples
+ uint8_t buf[384]; //2 bytes per data * 3 axes * 2 (axel+gyro) * 32(FIFO DEPTH MAX) = 384 samples
{
SPITransaction spi(spislave);
//read FIFO status and dump all the samples inside the FIFO
- uint8_t fifo_src = spi.read(FIFO_SRC);
- fifo_samples = fifo_src & 0x3F;
+ //uint8_t fifo_src = spi.read(FIFO_SRC);
+ //fifo_samples = fifo_src & 0x3F;
//sanity check
- if(fifo_samples > 32)
+ /*if(fifo_samples > 32)
{
fifo_samples = 32;
- }
- spi.read(OUT_X_L_G, buf, fifo_samples*12); //format: gxl,gxh,gyl,gyh,gzl,gzh,axl,axh,ayl,ayh,azl,azh for each sample
+ }*/
+ spi.read(OUT_X_L_G, buf, fifo_watermark*12); //format: gxl,gxh,gyl,gyh,gzl,gzh,axl,axh,ayl,ayh,azl,azh for each sample
}
//convert & store
for(int i=0; i<fifo_samples; i++ )
diff --git a/src/tests/drivers/test-lsm9ds1-fifo.cpp b/src/tests/drivers/test-lsm9ds1-fifo.cpp
index 0f08af6acc92715dce5a525ed31f5630ec7b75b3..5ed77b7f9877b91d5cf1c5bd2f285028a48a915f 100644
--- a/src/tests/drivers/test-lsm9ds1-fifo.cpp
+++ b/src/tests/drivers/test-lsm9ds1-fifo.cpp
@@ -22,111 +22,129 @@
* THE SOFTWARE.
*/
+#include <array>
+#include <iostream>
#include "drivers/HardwareTimer.h"
#include "drivers/spi/SPIDriver.h"
#include "sensors/LSM9DS1/LSM9DS1_AxelGyro.h"
-#include <array>
using namespace miosix;
using namespace std;
-typedef Gpio<GPIOA_BASE, 5> GpioSck; //questi sono i pin SPI per f407_discovery
+typedef Gpio<GPIOA_BASE, 5> GpioSck; // questi sono i pin SPI per
+ // f407_discovery
typedef Gpio<GPIOA_BASE, 6> GpioMiso;
typedef Gpio<GPIOA_BASE, 7> GpioMosi;
-typedef Gpio<GPIOB_BASE, 1> GpioINT1;
+typedef Gpio<GPIOA_BASE, 1> GpioINT1;
-static const bool FIFO_ENABLED = true;
+static const bool FIFO_ENABLED = true;
static const uint8_t FIFO_WATERMARK = 12;
+static const uint8_t FIFO_SAMPLES = 5;
-//SPI
+// SPI
SPIBus bus(SPI1);
GpioPin cs_XLG(GPIOE_BASE, 7);
-//LED just for init
+// LED just for init
GpioPin LED1(GPIOD_BASE, 15);
-//SPI read flag
-bool flagSPIReadRequest = false;
+// SPI read flag
+volatile bool flagSPIReadRequest = false;
-//High Resolution hardware timer using TIM5
+// High Resolution hardware timer using TIM5
HardwareTimer<uint32_t> hrclock{
TIM5, TimerUtils::getPrescalerInputFrequency(TimerUtils::InputClock::APB1)};
-//Last interrupt tick & delta
+// Last interrupt tick & delta
volatile uint32_t last_tick;
-volatile uint32_t delta;
+volatile uint32_t delta;
+
+//LSM9DS1 obj
+LSM9DS1_XLG* lsm9ds1 = nullptr;
-//Interrupt handlers
+// Interrupt handlers
void __attribute__((naked)) EXTI1_IRQHandler()
{
saveContext();
asm volatile("bl _Z20EXTI1_IRQHandlerImplv");
- restoreContext();
+ restoreContext();
}
void __attribute__((used)) EXTI1_IRQHandlerImpl()
-{
- //Computing delta beetween interrupts
+{
+ // Computing delta beetween interrupts
uint32_t tick = hrclock.tick();
- delta = tick - last_tick;
- last_tick = tick;
+ delta = tick - last_tick;
+ last_tick = tick;
- //Set read flag
+ // Set read flag
flagSPIReadRequest = true;
- //Clear pending interrupt register
- EXTI->PR |= EXTI_PR_PR1;
-
- //Built-in LED on
- LED1.high();
+ // Built-in LED on
+ LED1.high();
+ // Clear pending interrupt register
+ EXTI->PR |= EXTI_PR_PR1;
}
void gpioConfig();
void timer5Config();
-void EXTI1Config();
+void EXTI1Config();
+
+int main()
+{
-int main(){
+ uint8_t fifo_counter = 0;
+ uint32_t dt[FIFO_SAMPLES];
+ //array<Vec3, 32> axelData[FIFO_SAMPLES], gyroData[FIFO_SAMPLES];
gpioConfig();
+
+
+ Thread::sleep(4000);
+ LED1.low();
+
timer5Config();
EXTI1Config();
- LSM9DS1_XLG lsm9ds1(
- bus,
- cs_XLG,
- LSM9DS1_XLG::AxelFSR::FS_8,
- LSM9DS1_XLG::GyroFSR::FS_245,
- LSM9DS1_XLG::ODR::ODR_15,
- FIFO_ENABLED,
- FIFO_WATERMARK);
-
- while(!lsm9ds1.init());
+ std::cout << "Before allocation" << std::endl; //FA ANCORA STACK OVERFLOW DOPO QUI GRRRR
- long long reset_tick = getTick();
+ lsm9ds1 = new LSM9DS1_XLG(bus, cs_XLG, LSM9DS1_XLG::AxelFSR::FS_8,
+ LSM9DS1_XLG::GyroFSR::FS_245, LSM9DS1_XLG::ODR::ODR_15,
+ FIFO_ENABLED, FIFO_WATERMARK);
+
+ std::cout << "After allocation" << std::endl;
+
+ while (!lsm9ds1->init());
- while(1)
+ lsm9ds1->clearFIFO();
+
+ for (;;)
{
- if(flagSPIReadRequest)
+ if (flagSPIReadRequest && fifo_counter < FIFO_SAMPLES)
{
- flagSPIReadRequest = false;
- Thread::sleep(500);
+ flagSPIReadRequest = false;
+ dt[fifo_counter] = delta;
+ lsm9ds1->onSimpleUpdate();
+ //axelData[fifo_counter] = lsm9ds1->getAxelFIFO();
+ //gyroData[fifo_counter] = lsm9ds1->getGyroFIFO();
LED1.low();
- Thread::sleep(500);
- lsm9ds1.clearFIFO(); //to reset interrupt
- printf("interrupt occured...\n");
+ fifo_counter++;
}
- if(getTick() - reset_tick > 10000) //every 10 sec Clear FIFO
- {
- printf("Resetting ... \n");
- reset_tick = getTick();
- lsm9ds1.clearFIFO();
+ if (fifo_counter == FIFO_SAMPLES)
+ {
+ break;
}
}
- return 0;
+ for (uint8_t i = 0; i < FIFO_SAMPLES; i++)
+ {
+ std::cout << dt[i] << std::endl;
+ }
+
+ return 0;
}
void gpioConfig()
@@ -134,66 +152,65 @@ void gpioConfig()
{
FastInterruptDisableLock dLock;
- //Enable SPI1 Peripheral
+ // Enable SPI1 Peripheral
RCC->APB2ENR |= RCC_APB2ENR_SPI1EN;
- //Select GPIO mode (ALTERNATE 5 for SPI1 on PA5, PA6, PA7)
+ // Select GPIO mode (ALTERNATE 5 for SPI1 on PA5, PA6, PA7)
GpioSck::mode(Mode::ALTERNATE);
GpioMiso::mode(Mode::ALTERNATE);
GpioMosi::mode(Mode::ALTERNATE);
-
GpioSck::alternateFunction(5);
GpioMiso::alternateFunction(5);
GpioMosi::alternateFunction(5);
- //Select Speed for clk (needs precision)
+ // Select Speed for clk (needs precision)
GpioSck::speed(Speed::_25MHz);
- //Select GPIO mode for Chip Select
+ // Select GPIO mode for Chip Select
cs_XLG.mode(Mode::OUTPUT);
- //Select GPIO mode for INTERRUPT (PULL-DOWN because there's no pull-down in HW)
+ // Select GPIO mode for INTERRUPT (PULL-DOWN because there's no
+ // pull-down in HW)
GpioINT1::mode(Mode::INPUT_PULL_DOWN);
- //Select LED built in GPIO mode
+ // Select LED built in GPIO mode
LED1.mode(Mode::OUTPUT);
}
cs_XLG.high();
-
}
void timer5Config()
{
{
FastInterruptDisableLock dl;
- //Enable high resolution TIM5
+ // Enable high resolution TIM5
RCC->APB1ENR |= RCC_APB1ENR_TIM5EN;
}
}
-void EXTI1Config()
-{
- //Enable SYSCFG for setting interrupts
+void EXTI1Config() //PC13
+{
+ // Enable SYSCFG for setting interrupts
{
FastInterruptDisableLock dl;
- RCC->APB2ENR |= RCC_APB2ENR_SYSCFGEN;
- }
+ RCC->APB2ENR |= RCC_APB2ENR_SYSCFGEN;
+ }
- //Configure mask bit of 1st interrupt line
- EXTI->IMR |= EXTI_IMR_MR1;
+ // Configure mask bit of 1st interrupt line
+ EXTI->IMR |= EXTI_IMR_MR1;
- //Configure trigger selection bit (rising edge)
+ // Configure trigger selection bit (rising edge)
EXTI->RTSR |= EXTI_RTSR_TR1;
- //Clear pending interrupt register before enable
+ // Clear pending interrupt register before enable
EXTI->PR |= EXTI_PR_PR1;
- //Select PB1 as interrupt source in line 1
- SYSCFG->EXTICR[0] &= 0xFFFFFF1F;
+ // Select PB1 as interrupt source in line 1
+ SYSCFG->EXTICR[0] &= 0xFFFFFF0F;
- //Enable the interrupt in the interrupt controller
+ // Enable the interrupt in the interrupt controller
NVIC_EnableIRQ(EXTI1_IRQn);
NVIC_SetPriority(EXTI1_IRQn, 14);
-}
\ No newline at end of file
+}
\ No newline at end of file