main_screen.c

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//==============================================================================
//
//      main_screen.c - Epson IMU sensor test application
//                   - This program initializes the Epson IMU and
//                     sends sensor output to console
//
//
//  THE SOFTWARE IS RELEASED INTO THE PUBLIC DOMAIN.
//  THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
//  IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
//  NONINFRINGEMENT, SECURITY, SATISFACTORY QUALITY, AND FITNESS FOR A
//  PARTICULAR PURPOSE. IN NO EVENT SHALL EPSON BE LIABLE FOR ANY LOSS, DAMAGE
//  OR CLAIM, ARISING FROM OR IN CONNECTION WITH THE SOFTWARE OR THE USE OF THE
//  SOFTWARE.
//
//==============================================================================

#include <stdint.h>
#include <stdio.h>
#include <string.h>
#include <termios.h>
#include <time.h>

#include "hcl.h"
#include "hcl_gpio.h"
#include "hcl_uart.h"
#include "main_helper.h"
#include "sensor_epsonCommon.h"

int fd_serial;

// Modify below as needed for hardware
const char *IMUSERIAL = "/dev/ttyUSB0";

// Specify the number of samples to readout before exiting the program
const unsigned int NUM_SAMPLES = 100;

int main(int argc, char *argv[]) {
  unsigned int sample = 0;
  char prod_id[9];  // Device Product ID
  char ser_id[9];   // Device Serial ID

  // Specify IMU options
  struct EpsonOptions options = {
      .ext_sel = 1,  // 0 = Sample Counter 1=Reset Counter 2=External Trigger
      .ext_pol = 0,
      .drdy_on = 0,
      .drdy_pol = 0,
      .dout_rate = CMD_RATE125,
      .filter_sel = CMD_FLTAP32,
      .flag_out = 1,
      .temp_out = 1,
      .gyro_out = 1,
      .accel_out = 1,
      .gyro_delta_out = 0,
      .accel_delta_out = 0,
      .qtn_out = 0,   // Only valid for G365, G330, G366 otherwise ignored
      .atti_out = 0,  // Only valid for G365, G330, G366 otherwise ignored
      .gpio_out = 0,
      .count_out = 1,
      .checksum_out = 1,

      // Set 0=16bit 1=32bit sensor output
      .temp_bit = 0,
      .gyro_bit = 0,
      .accel_bit = 0,
      .gyro_delta_bit = 0,
      .accel_delta_bit = 0,
      .qtn_bit = 0,
      .atti_bit = 0,

      // Set 0=normal 1=reverse polarity
      .invert_xgyro = 0,
      .invert_ygyro = 0,
      .invert_zgyro = 0,
      .invert_xaccel = 0,
      .invert_yaccel = 0,
      .invert_zaccel = 0,

      .dlt_ovf_en = 0,
      .dlt_range_ctrl = 8,

      // NOTE:  // Only valid for G330, G365,G366 otherwise ignored
      .atti_mode = 1,    // 0=Inclination mode 1=Euler mode
      .atti_conv = 0,    // Attitude Conversion Mode
      .atti_profile = 0  // Attitude Motion Profile 0=modeA 1=modeB 2=modeC
  };

  // Stores the post-processed sensor data
  struct EpsonData epson_data;

  // 1) Initialize the Seiko Epson HCL layer
  printf("\r\nInitializing HCL layer...");
  if (!seInit()) {
    printf(
        "\r\nError: could not initialize the Seiko Epson HCL layer. "
        "Exiting...\r\n");
    return -1;
  }
  printf("...done.\r\n");

  // 2) Initialize the GPIO interfaces, For GPIO control of pins SPI CS, RESET,
  // DRDY
  printf("\r\nInitializing GPIO interface...");
  if (!gpioInit()) {
    printf("\r\nError: could not initialize the GPIO layer. Exiting...\r\n");
    seRelease();
    return -1;
  }
  printf("...done.\r\n");

  // 3) Initialize UART Interface
  //    The baudrate value should be set the the same setting as currently
  //    flashed value in the IMU UART_CTRL BAUD_RATE register
  printf("\r\nInitializing UART interface...");
  fd_serial = uartInit(IMUSERIAL, BAUD_460800);
  if (fd_serial == -1) {
    printf("\r\nError: could not initialize UART interface. Exiting...\r\n");
    gpioRelease();
    seRelease();
    return -1;
  }
  printf("...done.\r\n");

  // 4) Power on sequence - force sensor to config mode, HW reset sensor
  //      Check for errors
  printf("\r\nChecking sensor NOT_READY status...");
  if (!sensorPowerOn()) {
    printf("\r\nError: failed to power on Sensor. Exiting...\r\n");
    uartRelease(fd_serial);
    gpioRelease();
    seRelease();
    return -1;
  }
  printf("...done.\r\n");

  // Print out which model executable was compiled and identify model
  printf("\r\nCompiled for:\t" BUILD_FOR);
  printf("\r\nReading device info...");
  if (strcmp(BUILD_FOR, getProductId(prod_id)) != 0) {
    printf("\r\n*** Build *mismatch* with detected device ***");
    printf(
        "\r\n*** Ensure you specify a compatible 'MODEL=' variable when "
        "running make when  rebuilding the driver ***\r\n");
  }
  printf("\r\nPRODUCT ID:\t%s", prod_id);
  printf("\r\nSERIAL ID:\t%s", getSerialId(ser_id));

  // Initialize sensor with desired settings
  printf("\r\nInitializing Sensor...");
  if (!sensorInitOptions(options)) {
    printf("\r\nError: could not initialize Epson Sensor. Exiting...\r\n");
    uartRelease(fd_serial);
    gpioRelease();
    seRelease();
    return -1;
  }
  printf("...Epson IMU initialized.\r\n");

  // Initialize text files for data logs
  const time_t date =
      time(NULL);  // Functions for obtaining and printing time and date

  printf("Date: %s", ctime(&date));
  printf("...Epson IMU Logging.\r\n");
  sensorStart();
  printHeaderRow(stdout, options);
  while (1) {
    // For SPI interface, check if DRDY pin asserted
    // For UART interface, check if UART recv buffer contains a sensor sample
    // packet
    if (sensorDataReadyOptions(options)) {
      if (sensorDataReadBurstNOptions(options, &epson_data) == OK) {
        printSensorRow(stdout, options, &epson_data, sample);
        sample++;
      }
    }
    if (sample > (NUM_SAMPLES - 1)) break;
  }

  const time_t end =
      time(NULL);  // Functions for obtaining and printing time and data

  printf("\r\nEnd: ");
  printf("%s", ctime(&end));

  sensorStop();
  seDelayMS(1000);
  uartRelease(fd_serial);
  gpioRelease();
  seRelease();
  printf("\r\n");

  return 0;
}