[IMU] LSM9DS1

adjusted formatting and Doxygen comments for members

src/tests/drivers/test-lsm9ds1-fifo.cpp

@@ -23,28 +23,30 @@
  */
 
 #include <array>
+
 #include "drivers/HardwareTimer.h"
 #include "drivers/spi/SPIDriver.h"
+#include "logger/Logger.h"
 #include "sensors/LSM9DS1/LSM9DS1_AxelGyro.h"
 #include "sensors/LSM9DS1/LSM9DS1_Magneto.h"
-#include "diagnostic/CpuMeter.h"
-#include "logger/Logger.h"
 
 using namespace miosix;
 using namespace std;
 
-typedef Gpio<GPIOA_BASE, 5> GpioSck;  //SPI1 f407
+// SPI1 f407
+typedef Gpio<GPIOA_BASE, 5> GpioSck;
 typedef Gpio<GPIOA_BASE, 6> GpioMiso;
 typedef Gpio<GPIOA_BASE, 7> GpioMosi;
 
-typedef Gpio<GPIOC_BASE, 13> GpioINT1; //INT1 A/G
+// INT1 A/G LSM9DS1
+typedef Gpio<GPIOC_BASE, 13> GpioINT1;
 
-// SPI
+// SPI bus & cs
 SPIBus bus(SPI1);
 GpioPin cs_XLG(GPIOE_BASE, 7);
 GpioPin cs_M(GPIOE_BASE, 9);
 
-// LED just for init
+// LED just for visual reference
 GpioPin LED1(GPIOD_BASE, 15);
 GpioPin LED2(GPIOD_BASE, 13);
 GpioPin LED3(GPIOD_BASE, 14);
@@ -52,11 +54,10 @@ GpioPin LED3(GPIOD_BASE, 14);
 // USR pushbutton
 GpioPin PUSHBUTTON(GPIOA_BASE, 0);
 
-
 // SPI read flag
 volatile bool flagSPIReadRequest = false;
 
-//IMU obj data
+// IMU obj variables
 static const bool FIFO_ENABLED             = true;
 static const uint8_t FIFO_WATERMARK        = 20;
 static const uint16_t FIFO_SAMPLES         = 1000;
@@ -105,8 +106,6 @@ void timer5Config();
 void EXTI1Config();
 void printStats(void*);
 
-uint16_t fifo_counter = 0;
-
 int main()
 {
 
@@ -115,8 +114,10 @@ int main()
     uint64_t lastMagtick  = 0;
     uint64_t lastTemptick = 0;
 
+    // Spawn thread for loggings logger stats
     Thread::create(printStats, 4096);
 
+    // start logger
     Logger& logger = Logger::instance();
     logger.start();
 
@@ -124,27 +125,38 @@ int main()
     timer5Config();
     EXTI1Config();
 
-    lsm9ds1_xlg = new LSM9DS1_XLG(bus, cs_XLG, LSM9DS1_XLG::AxelFSR::FS_8, 
-                            LSM9DS1_XLG::GyroFSR::FS_245,LSM9DS1_XLG::ODR::ODR_238, 
-                            FIFO_ENABLED, FIFO_WATERMARK);
+    lsm9ds1_xlg = new LSM9DS1_XLG(
+        bus, cs_XLG, LSM9DS1_XLG::AxelFSR::FS_8, LSM9DS1_XLG::GyroFSR::FS_245,
+        LSM9DS1_XLG::ODR::ODR_238, FIFO_ENABLED, FIFO_WATERMARK);
 
-    lsm9ds1_m = new LSM9DS1_M(bus,cs_M, LSM9DS1_M::MagFSR::FS_8,LSM9DS1_M::ODR::ODR_40);
+    lsm9ds1_m = new LSM9DS1_M(bus, cs_M, LSM9DS1_M::MagFSR::FS_8,
+                              LSM9DS1_M::ODR::ODR_40);
 
-    while (!lsm9ds1_xlg->init());
-    while (!lsm9ds1_m->init());
+    while (!lsm9ds1_xlg->init())
+        ;
+    while (!lsm9ds1_m->init())
+        ;
     LED2.high();  // init OK
 
-    lsm9ds1_xlg->clearFIFO();  //just to be sure to intercept the first interrupt
+    // just to be sure to intercept the first interrupt rising edge
+    lsm9ds1_xlg->clearFIFO();
 
-    //start sampling
+    // sampling until you push the button
     while (!PUSHBUTTON.value())
     {
-
+        //ACCELEROMETER + GYROSCOPE UPDATE (FIFO)
+        //an interrupt is set: time to dump the FIFO
         if (flagSPIReadRequest)
         {
             flagSPIReadRequest = false;
-            dt = hrclock.toMicroSeconds(delta)/FIFO_WATERMARK; //delta of each sample
+
+            // delta of each sample = delta beetween interrupts / #samples 
+            dt = hrclock.toMicroSeconds(delta) / FIFO_WATERMARK;
+            
+            //dump the fifo 
             lsm9ds1_xlg->onSimpleUpdate();
+
+            //update each timestamp and log the sample (da integrare su driver?)
             for (int i = 0; i < FIFO_WATERMARK; i++)
             {
                 lsm9ds1XLGSample XLGsample = lsm9ds1_xlg->getLsm9ds1FIFO()[i];
@@ -152,32 +164,42 @@ int main()
                 XLGsample.timestamp = XLGtimestamp;
                 logger.log(XLGsample);
             }
+
             LED1.low();
-            fifo_counter++;
         }
 
+        //MAGNETOMETER UPDATE (SIMPLE)
         if (miosix::getTick() - lastMagtick >= MAG_SAMPLING_PERIOD)
         {   
             lastMagtick = miosix::getTick();
+            
+            //get sample from the sensor
             lsm9ds1_m->onSimpleUpdate();
+            
+            //update timestamp and log the sample
             lsm9ds1MSample MAGsample;
             MAGsample.magData   = *(lsm9ds1_m->compassDataPtr());
             MAGsample.timestamp = lastMagtick;
             logger.log(MAGsample);
         }
 
+        //TEMPERATURE UPDATE (SIMPLE)
         if (miosix::getTick() - lastTemptick >= TEMP_SAMPLING_PERIOD)
         {
             lastTemptick = miosix::getTick();
+
+            //get sample from the sensor
             lsm9ds1_xlg->temperatureUpdate();
+            
+            //update timestamp and log the sample
             lsm9ds1TSample Tsample;
             Tsample.tempData  = *(lsm9ds1_xlg->tempDataPtr());
             Tsample.timestamp = lastTemptick;
             logger.log(Tsample);
         }
-
     }
 
+    //stop log
     logger.stop();
 
     LED1.low();
@@ -186,7 +208,9 @@ int main()
     Thread::sleep(10000);
     reboot();
 
-    while(1);
+    while (1)
+        ;
+
     return 0;
 }
 
@@ -225,7 +249,6 @@ void gpioConfig()
 
         // Select USR pushbutton
         PUSHBUTTON.mode(Mode::INPUT);
-
     }
 
     cs_XLG.high();
@@ -271,7 +294,9 @@ void EXTI1Config()  // PC13
 void printStats(void*)
 {
     Logger& log = Logger::instance();
-    while(!log.isStarted());
+    while (!log.isStarted())
+        ;
+
     while (log.isStarted())
     {
         LogStats stats = log.getLogStats();

src/tests/drivers/test-lsm9ds1.cpp

@@ -28,8 +28,8 @@
 
 using namespace miosix;
 
-typedef Gpio<GPIOA_BASE, 5> GpioSck;  // questi sono i pin SPI per
-                                      // f407_discovery
+// pin f407 discovery SPI1
+typedef Gpio<GPIOA_BASE, 5> GpioSck;
 typedef Gpio<GPIOA_BASE, 6> GpioMiso;
 typedef Gpio<GPIOA_BASE, 7> GpioMosi;
 
@@ -37,7 +37,6 @@ static const bool FIFO_ENABLED = false;
 
 // SPI
 SPIBus bus(SPI1);
-// SPIBusConfig cfg;
 GpioPin cs_XLG(GPIOE_BASE, 7);
 GpioPin cs_M(GPIOE_BASE, 9);
 
@@ -54,7 +53,8 @@ int main()
     {
         FastInterruptDisableLock dLock;
 
-        RCC->APB2ENR |= RCC_APB2ENR_SPI1EN;  // SPI1 ENABLE
+        // SPI1 ENABLE
+        RCC->APB2ENR |= RCC_APB2ENR_SPI1EN;
 
         GpioSck::mode(Mode::ALTERNATE);
         GpioMiso::mode(Mode::ALTERNATE);
@@ -73,20 +73,10 @@ int main()
         LED2.mode(Mode::OUTPUT);
     }
 
+    // chip select high
     cs_XLG.high();
     cs_M.high();
 
-    // dump regiters
-    /*
-        for(int reg=0; reg<=0x38; reg++)
-        {
-            SPISlave spislave(bus, cs_XLG, cfg);
-            SPITransaction spi(spislave);
-            uint8_t data = spi.read(reg);
-            printf("0x%02X-->0x%02X\n", reg,data);
-        }
-    }*/
-
     LSM9DS1_XLG lsm9ds1X(bus, cs_XLG, LSM9DS1_XLG::AxelFSR::FS_8,
                          LSM9DS1_XLG::GyroFSR::FS_245,
                          LSM9DS1_XLG::ODR::ODR_952);
@@ -110,18 +100,30 @@ int main()
     long long first_tick = getTick();
     for (;;)
     {
+        //get timestamp
         long long last_tick = getTick();
+
+        //get axel+gyro+temp data
         lsm9ds1X.onSimpleUpdate();
         adata = *(lsm9ds1X.accelDataPtr());
         gdata = *(lsm9ds1X.gyroDataPtr());
         tdata = *(lsm9ds1X.tempDataPtr());
+
+        //get magneto data
         lsm9ds1M.onSimpleUpdate();
         mdata = *(lsm9ds1M.compassDataPtr());
+
+        // clang-format off
+               
         printf("%d,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.1f\n",
-               (int)(last_tick - first_tick), adata.getX(), adata.getY(),
-               adata.getZ(), gdata.getX(), gdata.getY(), gdata.getZ(),
-               mdata.getX(), mdata.getY(), mdata.getZ(), tdata);
-        // printf("%.3f,%.3f,%.3f\n", mdata.getX(), mdata.getY(), mdata.getZ());
+               (int)(last_tick - first_tick), 
+               adata.getX(), adata.getY(), adata.getZ(), 
+               gdata.getX(), gdata.getY(), gdata.getZ(),
+               mdata.getX(), mdata.getY(), mdata.getZ(), 
+               tdata);
+        
+        // clang-format on        
+
     }
 
     return 0;