Merge branch 'master' of gitlab.fi.muni.cz:xpecak/cube_fw

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This repo contains the controller firmware for ___Cube___, a 3D magnetic field scanning machine that is currently being developed.

The firmware is licensed under GNU LGPLv3, full license in `LICENSE.md`.

The MCUXpresso SDK is licensed with BSD 3-Clause.

## Repository structure

`\` contains the build scripts and this `README.md` file

 - Cmake

 - make

 - Python

 - `protobuf-compiler`, `python-protobuf`, `nanopb` packages

 - `protobuf-compiler`, `python-protobuf`, `nanopb` python packages

 - [gcc-arm-none-eabi](https://developer.arm.com/tools-and-software/open-source-software/developer-tools/gnu-toolchain/gnu-rm/downloads)

#### Building

To make changes in MCU configuration(pins, peripherals, clocks), please use [MCUXpresso Config Tools](https://www.nxp.com/design/software/development-software/mcuxpresso-software-and-tools/mcuxpresso-config-tools-pins-clocks-peripherals:MCUXpresso-Config-Tools). The configuration is stored in `\sdk\Cube_FW.mex`.

## TODO:

 1. add second UART output(UART3, PTB10, PTB11) for debug

 1. MLX90393 - fix temperature compensation

 1. rewrite MLX90393 and TMC429 drivers so that it is SDK/platform independent

 1. rewrite MLX90393 driver so that it is fully SDK/platform independent

 1. properly fix the CmakeLists.txt, not just visual fixes

 1. Refactor code (missing const, pointers -> references, make it more C++)

 No newline at end of file

 1. Refactor code (missing const, pointers -> references, std::array, make it more C++)

 No newline at end of file

	}

}

}

} //namespace

namespace MLX90393_Driver {

MLX90393::MLX90393(const Config_t config) :

MLX90393::MLX90393(const Config& config) :

    config(config),

    configValid(true)

{

    if (uploadConfig() != kStatus_Success) {

    if (uploadConfig() != Status::success) {

        configValid = false;

    }

    updateSensitivity();

}

const status_t MLX90393::i2cTransfer(const uint8_t* const tx_data, const uint8_t tx_length,

							   uint8_t* rx_data, const uint8_t rx_length) const

Status MLX90393::i2cTransfer(const uint8_t* const tx_data, const uint8_t tx_length,

							   uint8_t* rx_data, const uint8_t rx_length)

{

    status_t result;

    result = I2C_MasterStart(config.I2C_peripheral, config.address, kI2C_Write);

    if (result != kStatus_Success) {

        return result;

        return Status::fail;

    }

    delay(1200);

    result = I2C_MasterWriteBlocking(config.I2C_peripheral, tx_data, tx_length, kI2C_TransferNoStopFlag);

    if (result != kStatus_Success) {

        return result;

        return Status::fail;

    }

    delay(1200);

    result = I2C_MasterRepeatedStart(config.I2C_peripheral, config.address, kI2C_Read);

    if (result != kStatus_Success) {

        return result;

        return Status::fail;

    }

    delay(1200);

    result = I2C_MasterReadBlocking(config.I2C_peripheral, rx_data, rx_length, kI2C_TransferDefaultFlag);

    if (result != kStatus_Success) {

        return result;

        return Status::fail;

    }

    delay(1200);

    if (rx_data[0] & STATUS_ERROR_MASK) {

        return kStatus_Fail;

        return Status::fail;

    }

    return result;

    return Status::success;

}

const status_t MLX90393::writeRegister(const uint8_t addr, const uint16_t data) const

Status MLX90393::writeRegister(const uint8_t addr, const uint16_t data)

{

    const uint8_t command[4] = {0b01100000,

    uint8_t command[4] = {0b01100000,

                                (data >> 8) & 0xff,

                                data & 0xff,

                                addr << 2};

    uint8_t status_answer;

    status_t result = i2cTransfer(command, 4, &status_answer, 1);

    return result;

    return i2cTransfer(command, 4, &status_answer, 1);

}

const status_t MLX90393::readRegister(const uint8_t addr, uint16_t* data) const

Status MLX90393::readRegister(const uint8_t addr, uint16_t* data)

{

    const uint8_t command[2] = {0b01010000, addr << 2};

    uint8_t command[2] = {0b01010000, addr << 2};

    uint8_t received_data[3] = {0, 0, 0};

    status_t result = i2cTransfer(command, 2, received_data, 3);

    Status result = i2cTransfer(command, 2, received_data, 3);

    *data = (received_data[1] << 8) + received_data[2];

    return result;

}

const status_t MLX90393::uploadConfig() const

Status MLX90393::uploadConfig()

{

    uint16_t registers[3] = {0, 0, 0};

    status_t result;

    Status result;

    result = readRegister(0, registers);

    if (result != kStatus_Success) {

    if (result != Status::success) {

        return result;

    }

    for (int i = 0; i < 3; i++) {

        result = writeRegister(i, registers[i]);

        if (result != kStatus_Success) {

        if (result != Status::success) {

            return result;

        }

    }

    return result;

}

const status_t MLX90393::triggerMeasurement(const uint8_t flags) const

Status MLX90393::triggerMeasurement(const uint8_t flags)

{

    const uint8_t command = 0b00110000 | flags;

    uint8_t command = 0b00110000 | flags;

    uint8_t status_answer;

    status_t result = i2cTransfer(&command, 1, &status_answer, 1);

    return result;

    return i2cTransfer(&command, 1, &status_answer, 1);

}

const RawResult_t MLX90393::getMeasurement() const

RawResult MLX90393::getMeasurement()

{

    RawResult_t result;

    const uint8_t command = 0b01001111;

    RawResult result;

    uint8_t command = 0b01001111;

    uint8_t read_length = 9;

    uint8_t data[9];

    result.result_status = i2cTransfer(&command, 1, data, read_length);

    if (result.result_status != kStatus_Success) {

    if (result.result_status != Status::success) {

        return result;

    }

    result.result_status = readRegister(0x24, &result.t_ref);

    if (result.result_status != kStatus_Success) {

    if (result.result_status != Status::success) {

        return result;

    }

    return result;

}

void MLX90393::measureDelay(void) const

void MLX90393::measureDelay(void)

{

    delay(config.measure_delay);

}

const Result_t MLX90393::convertRawResult(const RawResult_t data) const

Result MLX90393::convertRawResult(const RawResult data)

{

	Result_t result;

	Result result;

	result.t = 35.f + (((float) (data.t - data.t_ref))/45.2);

	switch (config.resolution) {

	case 0:

}

const status_t MLX90393::changeConfig(const Config_t& new_config)

Status MLX90393::changeConfig(const Config& new_config)

{

    config = new_config;

    status_t result = uploadConfig();

    if (result != kStatus_Success) {

    Status result = uploadConfig();

    if (result != Status::success) {

        configValid = false;

    }

    return result;

{4.840, 3.872, 2.904, 2.420, 1.936, 1.613, 1.291, 0.968}

};

struct Config_t {

enum class Status {

	success,

	fail

};

struct Config {

	I2C_Type* I2C_peripheral;

	uint8_t address;

	uint8_t gain;

	int measure_delay;

};

struct RawResult_t {

	status_t result_status;

struct RawResult {

	Status result_status;

	uint16_t x;

	uint16_t y;

	uint16_t z;

	uint16_t t_ref;

};

struct Result_t {

struct Result {

	float x;

	float y;

	float z;

	float t;

};

struct Sensitivity_t {

struct Sensitivity {

	float xy;

	float z;

};

class MLX90393 {

	Sensitivity_t sensitivity;

	Config_t config;

	Sensitivity sensitivity;

	Config config;

	const status_t i2cTransfer(const uint8_t* const tx_data, const uint8_t tx_length,

							   uint8_t* rx_data, const uint8_t rx_length) const;

	const status_t writeRegister(const uint8_t addr, const uint16_t data) const;

	const status_t readRegister(const uint8_t addr, uint16_t* data) const;

	const status_t uploadConfig() const;

	Status i2cTransfer(const uint8_t* const tx_data, const uint8_t tx_length,

					   uint8_t* rx_data, const uint8_t rx_length);

	Status writeRegister(const uint8_t addr, const uint16_t data);

	Status readRegister(const uint8_t addr, uint16_t* data);

	Status uploadConfig();

	void updateSensitivity() {

		sensitivity.xy = xy_sens_LUT[config.resolution][config.gain];

public:

	bool configValid;

	MLX90393(const Config_t config);

	const status_t triggerMeasurement(const uint8_t flags) const;

	const RawResult_t getMeasurement() const;

	void measureDelay(void) const;

	const Result_t convertRawResult(const RawResult_t data) const;

	const status_t changeConfig(const Config_t& new_config);

	const Sensitivity_t getSensitivity() const

	MLX90393(const Config& config);

	Status triggerMeasurement(const uint8_t flags);

	RawResult getMeasurement();

	void measureDelay(void);

	Result convertRawResult(const RawResult data);

	Status changeConfig(const Config& new_config);

	Sensitivity getSensitivity() const

	{

		return sensitivity;

	}

	const Config_t getConfig() const

	Config getConfig() const

	{

		return config;

	}