Merge pull request #449 from cparata/master

Add MLC examples for LSM6DSOX on Nano RP2040 and Nicla Vision

Author: facchinm

libraries/MLC/examples/NiclaVision_DataLogger_FIFO/NiclaVision_DataLogger_FIFO.ino

@@ -0,0 +1,265 @@
+/*
+   This example exposes the second MB of Nicla Vision flash as a USB disk.
+   The user can interact with this disk as a bidirectional communication with the board
+   For example, the board could save data in a file to be retrieved later with a drag and drop.
+   If the user does a double tap, the firmware goes to datalogger mode (green led on).
+   Now the user can do another double tap to start a recording of the IMU data 
+   (green led blinking). With another double tap the recording will be stopped (green led on).
+   Now the user can start/stop other recordings of the IMU data using again the double tap.
+   The log files are saved in flash with an increasing number suffix data_0.txt, data_1.txt, etc.
+   If you want to transfer the log files to the PC, you can reset the board and
+   wait for 10 seconds (blue led blinking).
+*/
+
+#include "PluggableUSBMSD.h"
+#include "QSPIFBlockDevice.h"
+#include "MBRBlockDevice.h"
+#include "FATFileSystem.h"
+#include "LSM6DSOXSensor.h"
+
+#define INT_1 LSM6DS_INT
+#define SENSOR_ODR 104.0f // In Hertz
+#define ACC_FS 2 // In g
+#define GYR_FS 2000 // In dps
+#define MEASUREMENT_TIME_INTERVAL (1000.0f/SENSOR_ODR) // In ms
+#define FIFO_SAMPLE_THRESHOLD 199
+#define FLASH_BUFF_LEN 8192
+
+typedef enum {
+  DATA_STORAGE_STATE,
+  DATA_LOGGER_IDLE_STATE,
+  DATA_LOGGER_RUNNING_STATE
+} demo_state_e;
+
+volatile demo_state_e demo_state = DATA_STORAGE_STATE;
+volatile int mems_event = 0;
+uint32_t file_count = 0;
+unsigned long timestamp_count = 0;
+bool acc_available = false;
+bool gyr_available = false;
+int32_t acc_value[3];
+int32_t gyr_value[3];
+char buff[FLASH_BUFF_LEN];
+uint32_t pos = 0;
+
+QSPIFBlockDevice root(QSPI_SO0, QSPI_SO1, QSPI_SO2, QSPI_SO3,  QSPI_SCK, QSPI_CS, QSPIF_POLARITY_MODE_1, 40000000);
+// Partition 1 is allocated to WiFi
+mbed::MBRBlockDevice lsm_data(&root, 2);
+static mbed::FATFileSystem lsm_fs("lsm");
+
+LSM6DSOXSensor AccGyr(&SPI1, PIN_SPI_SS1);
+
+USBMSD MassStorage(&root);
+
+rtos::Thread acquisition_th;
+
+FILE *f = nullptr;
+
+void INT1Event_cb()
+{
+  mems_event = 1;
+}
+
+void USBMSD::begin()
+{
+  int err = lsm_fs.mount(&lsm_data);
+  if (err) {
+    Serial.println("mount failed");
+    err = lsm_fs.reformat(&lsm_data);
+    if (err) {
+      Serial.println("Reformat failed");
+      return;
+    }
+  }
+}
+
+mbed::FATFileSystem &USBMSD::getFileSystem()
+{
+  static mbed::FATFileSystem fs("lsm");
+  return fs;
+}
+
+void led_green_thd()
+{
+  while (1) {
+    if (demo_state == DATA_LOGGER_RUNNING_STATE) {
+      digitalWrite(LEDG, LOW);
+      delay(100);
+      digitalWrite(LEDG, HIGH);
+      delay(100);
+    }
+  }
+}
+
+void Read_FIFO_Data(uint16_t samples_to_read)
+{
+  uint16_t i;
+
+  for (i = 0; i < samples_to_read; i++) {
+    uint8_t tag;
+    // Check the FIFO tag
+    AccGyr.Get_FIFO_Tag(&tag);
+    switch (tag) {
+      // If we have a gyro tag, read the gyro data
+      case LSM6DSOX_GYRO_NC_TAG: {
+          AccGyr.Get_FIFO_G_Axes(gyr_value);
+          gyr_available = true;
+          break;
+        }
+      // If we have an acc tag, read the acc data
+      case LSM6DSOX_XL_NC_TAG: {
+          AccGyr.Get_FIFO_X_Axes(acc_value);
+          acc_available = true;
+          break;
+        }
+      // We can discard other tags
+      default: {
+          break;
+        }
+    }
+    // If we have the measurements of both acc and gyro, we can store them with timestamp
+    if (acc_available && gyr_available) {
+      int num_bytes;
+      num_bytes = snprintf(&buff[pos], (FLASH_BUFF_LEN - pos), "%lu %d %d %d %d %d %d\n", (unsigned long)((float)timestamp_count * MEASUREMENT_TIME_INTERVAL), (int)acc_value[0], (int)acc_value[1], (int)acc_value[2], (int)gyr_value[0], (int)gyr_value[1], (int)gyr_value[2]);
+      pos += num_bytes;
+      timestamp_count++;
+      acc_available = false;
+      gyr_available = false;
+    }
+  }
+  // We can add the termination character to the string, so we are ready to save it in flash
+  buff[pos] = '\0';
+  pos = 0;
+}
+
+void setup()
+{
+  Serial.begin(115200);
+  MassStorage.begin();
+  pinMode(LEDB, OUTPUT);
+  pinMode(LEDG, OUTPUT);
+  digitalWrite(LEDB, HIGH);
+  digitalWrite(LEDG, HIGH);
+
+  // Initialize SPI1 bus.
+  SPI1.begin();
+
+  //Interrupts.
+  attachInterrupt(INT_1, INT1Event_cb, RISING);
+
+  // Initialize IMU.
+  AccGyr.begin();
+  AccGyr.Enable_X();
+  AccGyr.Enable_G();
+  // Configure ODR and FS of the acc and gyro
+  AccGyr.Set_X_ODR(SENSOR_ODR);
+  AccGyr.Set_X_FS(ACC_FS);
+  AccGyr.Set_G_ODR(SENSOR_ODR);
+  AccGyr.Set_G_FS(GYR_FS);
+  // Enable the Double Tap event
+  AccGyr.Enable_Double_Tap_Detection(LSM6DSOX_INT1_PIN);
+  // Configure FIFO BDR for acc and gyro
+  AccGyr.Set_FIFO_X_BDR(SENSOR_ODR);
+  AccGyr.Set_FIFO_G_BDR(SENSOR_ODR);
+  // Start Led blinking thread
+  acquisition_th.start(led_green_thd);
+}
+
+void loop()
+{
+
+  if (mems_event) {
+    mems_event = 0;
+    LSM6DSOX_Event_Status_t status;
+    AccGyr.Get_X_Event_Status(&status);
+    if (status.DoubleTapStatus) {
+      switch (demo_state) {
+        case DATA_STORAGE_STATE: {
+            // Go to DATA_LOGGER_IDLE_STATE state
+            demo_state = DATA_LOGGER_IDLE_STATE;
+            digitalWrite(LEDG, LOW);
+            Serial.println("From DATA_STORAGE_STATE To DATA_LOGGER_IDLE_STATE");
+            break;
+          }
+        case DATA_LOGGER_IDLE_STATE: {
+            char filename[32];
+            // Go to DATA_LOGGER_RUNNING_STATE state
+            snprintf(filename, 32, "/lsm/data_%lu.txt", file_count);
+            Serial.print("Start writing file ");
+            Serial.println(filename);
+            // open a file to write some data
+            // w+ means overwrite, so every time the board is rebooted the file will be overwritten
+            f = fopen(filename, "w+");
+            if (f != nullptr) {
+              // write header
+              fprintf(f, "Timestamp[ms] A_X [mg] A_Y [mg] A_Z [mg] G_X [mdps] G_Y [mdps] G_Z [mdps]\n");
+              fflush(f);
+              Serial.println("From DATA_LOGGER_IDLE_STATE To DATA_LOGGER_RUNNING_STATE");
+              demo_state = DATA_LOGGER_RUNNING_STATE;
+              digitalWrite(LEDG, HIGH);
+              timestamp_count = 0;
+              pos = 0;
+              acc_available = false;
+              gyr_available = false;
+              // Set FIFO in Continuous mode
+              AccGyr.Set_FIFO_Mode(LSM6DSOX_STREAM_MODE);
+            }
+            break;
+          }
+        case DATA_LOGGER_RUNNING_STATE: {
+            // Empty the FIFO
+            uint16_t fifo_samples;
+            AccGyr.Get_FIFO_Num_Samples(&fifo_samples);
+            Read_FIFO_Data(fifo_samples);
+            // Store the string in flash
+            fprintf(f, "%s", buff);
+            fflush(f);
+
+            // Close the log file and increase the counter
+            fclose(f);
+            file_count++;
+            // Set FIFO in Bypass mode
+            AccGyr.Set_FIFO_Mode(LSM6DSOX_BYPASS_MODE);
+            // Go to DATA_LOGGER_IDLE_STATE state
+            demo_state = DATA_LOGGER_IDLE_STATE;
+            // Wait for the led thread ends the blinking
+            delay(250);
+            digitalWrite(LEDG, LOW);
+            Serial.println("From DATA_LOGGER_RUNNING_STATE To DATA_LOGGER_IDLE_STATE");
+            break;
+          }
+        default:
+          Serial.println("Error! Invalid state");
+      }
+    }
+  }
+
+  if (demo_state == DATA_LOGGER_RUNNING_STATE) {
+    uint16_t fifo_samples;
+
+    // Check the number of samples inside FIFO
+    AccGyr.Get_FIFO_Num_Samples(&fifo_samples);
+
+    // If we reach the threshold we can empty the FIFO
+    if (fifo_samples > FIFO_SAMPLE_THRESHOLD) {
+      // Empty the FIFO
+      Read_FIFO_Data(fifo_samples);
+      // Store the string in flash
+      fprintf(f, "%s", buff);
+      fflush(f);
+    }
+  }
+
+  if (demo_state == DATA_STORAGE_STATE && millis() > 10000) {
+    // Disable the sensor and go to Mass Storage mode
+    AccGyr.Disable_Double_Tap_Detection();
+    AccGyr.Disable_X();
+    AccGyr.Disable_G();
+    while (1) {
+      digitalWrite(LEDB, LOW);
+      delay(100);
+      digitalWrite(LEDB, HIGH);
+      delay(100);
+    }
+  }
+}