text: /*
   ******************************************************************************
   * @file    fifo_read.c
   * @author  Sensors Software Solution Team
   * @brief   This file show how to configure sensor FIFO in stream mode.
   *
   ******************************************************************************
   * @attention
   *
   * <h2><center>&copy; Copyright (c) 2020 STMicroelectronics.
   * All rights reserved.</center></h2>
   *
   * This software component is licensed by ST under BSD 3-Clause license,
   * the "License"; You may not use this file except in compliance with the
   * License. You may obtain a copy of the License at:
   *                        opensource.org/licenses/BSD-3-Clause
   *
   ******************************************************************************
   */
  
  /*
   * This example was developed using the following STMicroelectronics
   * evaluation boards:
   *
   * - STEVAL_MKI109V3 + STEVAL-MKI169V1
   * - NUCLEO_F411RE + STEVAL-MKI169V1
   * - DISCOVERY_SPC584B + STEVAL-MKI169V1
   *
   * Used interfaces:
   *
   * STEVAL_MKI109V3    - Host side:   USB (Virtual COM)
   *                    - Sensor side: SPI(Default) / I2C(supported)
   *
   * NUCLEO_STM32F411RE - Host side: UART(COM) to USB bridge
   *                    - Sensor side: I2C(Default) / SPI(supported)
   *
   * DISCOVERY_SPC584B  - Host side: UART(COM) to USB bridge
   *                    - Sensor side: I2C(Default) / SPI(supported)
   *
   * If you need to run this example on a different hardware platform a
   * modification of the functions: `platform_write`, `platform_read`,
   * `tx_com` and 'platform_init' is required.
   *
   */
  
  /* STMicroelectronics evaluation boards definition
   *
   * Please uncomment ONLY the evaluation boards in use.
   * If a different hardware is used please comment all
   * following target board and redefine yours.
   */
  
  //#define STEVAL_MKI109V3  /* little endian */
  //#define NUCLEO_F411RE    /* little endian */
  //#define SPC584B_DIS      /* big endian */
  
  /* ATTENTION: By default the driver is little endian. If you need switch
   *            to big endian please see "Endianness definitions" in the
   *            header file of the driver (_reg.h).
   */
  
  
  #if defined(STEVAL_MKI109V3)
  /* MKI109V3: Define communication interface */
  #define SENSOR_BUS hspi2
  /* MKI109V3: Vdd and Vddio power supply values */
  #define PWM_3V3 915
  
  #elif defined(NUCLEO_F411RE)
  /* NUCLEO_F411RE: Define communication interface */
  #define SENSOR_BUS hi2c1
  
  #elif defined(SPC584B_DIS)
  /* DISCOVERY_SPC584B: Define communication interface */
  #define SENSOR_BUS I2CD1
  
  #endif
  
  /* Includes ------------------------------------------------------------------*/
  #include <string.h>
  #include <stdio.h>
  #include "i3g4250d_reg.h"
  
  #if defined(NUCLEO_F411RE)
  #include "stm32f4xx_hal.h"
  #include "usart.h"
  #include "gpio.h"
  #include "i2c.h"
  
  #elif defined(STEVAL_MKI109V3)
  #include "stm32f4xx_hal.h"
  #include "usbd_cdc_if.h"
  #include "gpio.h"
  #include "spi.h"
  #include "tim.h"
  
  #elif defined(SPC584B_DIS)
  #include "components.h"
  #endif
  
  /* Private macro -------------------------------------------------------------*/
  #define    BOOT_TIME            10 //ms
  
  /* Private variables ---------------------------------------------------------*/
  static int16_t data_raw_angular_rate[3];
  static float angular_rate_mdps[3];
  static uint8_t whoamI;
  static uint8_t tx_buffer[1000];
  
  /* Extern variables ----------------------------------------------------------*/
  
  /* Private functions ---------------------------------------------------------*/
  /*
   *   WARNING:
   *   Functions declare in this section are defined at the end of this file
   *   and are strictly related to the hardware platform used.
   *
   */
  static int32_t platform_write(void *handle, uint8_t reg, const uint8_t *bufp,
                                uint16_t len);
  static int32_t platform_read(void *handle, uint8_t reg, uint8_t *bufp,
                               uint16_t len);
  static void tx_com( uint8_t *tx_buffer, uint16_t len );
  static void platform_delay(uint32_t ms);
  static void platform_init(void);
  
  /* Main Example --------------------------------------------------------------*/
  void i3g4250d_fifo_read(void)
  {
    stmdev_ctx_t dev_ctx;
    /* Uncomment to use interrupts on drdy */
    //i3g4250d_int2_route_t int2_reg;
    /* Initialize mems driver interface */
    dev_ctx.write_reg = platform_write;
    dev_ctx.read_reg = platform_read;
    dev_ctx.handle = &SENSOR_BUS;
    /* Initialize platform specific hardware */
    platform_init();
    /* Wait sensor boot time */
    platform_delay(BOOT_TIME);
    /* Check device ID */
    i3g4250d_device_id_get(&dev_ctx, &whoamI);
  
    if (whoamI != I3G4250D_ID)
      while (1); /*manage here device not found */
  
    /* Set FIFO watermark to 10 samples */
    i3g4250d_fifo_watermark_set(&dev_ctx, 10);
    /* Set FIFO mode to FIFO MODE */
    i3g4250d_fifo_mode_set(&dev_ctx, I3G4250D_FIFO_STREAM_MODE);
    /* Enable FIFO */
    i3g4250d_fifo_enable_set(&dev_ctx, PROPERTY_ENABLE);
    /* Uncomment to configure watermark interrupt on INT2 */
    //i3g4250d_pin_int2_route_get(&dev_ctx, &int2_route);
    //int2_route.i2_wtm = PROPERTY_ENABLE;
    //i3g4250d_pin_int2_route_set(&dev_ctx, int2_route);
    /* Set Output Data Rate */
    i3g4250d_data_rate_set(&dev_ctx, I3G4250D_ODR_100Hz);
  
    /* Wait Events Loop */
    while (1) {
      uint8_t flags;
      uint8_t num = 0;
      /* Read watermark interrupt flag */
      i3g4250d_fifo_wtm_flag_get(&dev_ctx, &flags);
  
      if (flags) {
        /* Read how many samples in fifo */
        i3g4250d_fifo_data_level_get(&dev_ctx, &num);
  
        while (num-- > 0) {
          /* Read angular rate data */
          memset(data_raw_angular_rate, 0x00, 3 * sizeof(int16_t));
          i3g4250d_angular_rate_raw_get(&dev_ctx, data_raw_angular_rate);
          angular_rate_mdps[0] = i3g4250d_from_fs245dps_to_mdps(
                                   data_raw_angular_rate[0]);
          angular_rate_mdps[1] = i3g4250d_from_fs245dps_to_mdps(
                                   data_raw_angular_rate[1]);
          angular_rate_mdps[2] = i3g4250d_from_fs245dps_to_mdps(
                                   data_raw_angular_rate[2]);
          sprintf((char *)tx_buffer,
                  "Angular Rate [mdps]:%4.2f\t%4.2f\t%4.2f\r\n",
                  angular_rate_mdps[0], angular_rate_mdps[1], angular_rate_mdps[2]);
          tx_com(tx_buffer, strlen((char const *)tx_buffer));
        }
      }
    }
  }
  
  /*
   * @brief  Write generic device register (platform dependent)
   *
   * @param  handle    customizable argument. In this examples is used in
   *                   order to select the correct sensor bus handler.
   * @param  reg       register to write
   * @param  bufp      pointer to data to write in register reg
   * @param  len       number of consecutive register to write
   *
   */
  static int32_t platform_write(void *handle, uint8_t reg, const uint8_t *bufp,
                                uint16_t len)
  {
  #if defined(NUCLEO_F411RE)
    HAL_I2C_Mem_Write(handle, I3G4250D_I2C_ADD_L, reg,
                      I2C_MEMADD_SIZE_8BIT, (uint8_t*) bufp, len, 1000);
  #elif defined(STEVAL_MKI109V3)
    HAL_GPIO_WritePin(CS_up_GPIO_Port, CS_up_Pin, GPIO_PIN_RESET);
    HAL_SPI_Transmit(handle, &reg, 1, 1000);
    HAL_SPI_Transmit(handle, (uint8_t*) bufp, len, 1000);
    HAL_GPIO_WritePin(CS_up_GPIO_Port, CS_up_Pin, GPIO_PIN_SET);
  #elif defined(SPC584B_DIS)
    i2c_lld_write(handle,  I3G4250D_I2C_ADD_L & 0xFE, reg, (uint8_t*) bufp, len);
  #endif
    return 0;
  }
  
  /*
   * @brief  Read generic device register (platform dependent)
   *
   * @param  handle    customizable argument. In this examples is used in
   *                   order to select the correct sensor bus handler.
   * @param  reg       register to read
   * @param  bufp      pointer to buffer that store the data read
   * @param  len       number of consecutive register to read
   *
   */
  static int32_t platform_read(void *handle, uint8_t reg, uint8_t *bufp,
                               uint16_t len)
  {
  #if defined(NUCLEO_F411RE)
    HAL_I2C_Mem_Read(handle, I3G4250D_I2C_ADD_L, reg,
                     I2C_MEMADD_SIZE_8BIT, bufp, len, 1000);
  #elif defined(STEVAL_MKI109V3)
    reg |= 0x80;
    HAL_GPIO_WritePin(CS_up_GPIO_Port, CS_up_Pin, GPIO_PIN_RESET);
    HAL_SPI_Transmit(handle, &reg, 1, 1000);
    HAL_SPI_Receive(handle, bufp, len, 1000);
    HAL_GPIO_WritePin(CS_up_GPIO_Port, CS_up_Pin, GPIO_PIN_SET);
  #elif defined(SPC584B_DIS)
    i2c_lld_read(handle, I3G4250D_I2C_ADD_L & 0xFE, reg, bufp, len);
  #endif
    return 0;
  }
  
  /*
   * @brief  Write generic device register (platform dependent)
   *
   * @param  tx_buffer     buffer to transmit
   * @param  len           number of byte to send
   *
   */
  static void tx_com(uint8_t *tx_buffer, uint16_t len)
  {
  #if defined(NUCLEO_F411RE)
    HAL_UART_Transmit(&huart2, tx_buffer, len, 1000);
  #elif defined(STEVAL_MKI109V3)
    CDC_Transmit_FS(tx_buffer, len);
  #elif defined(SPC584B_DIS)
    sd_lld_write(&SD2, tx_buffer, len);
  #endif
  }
  
  /*
   * @brief  platform specific delay (platform dependent)
   *
   * @param  ms        delay in ms
   *
   */
  static void platform_delay(uint32_t ms)
  {
  #if defined(NUCLEO_F411RE) | defined(STEVAL_MKI109V3)
    HAL_Delay(ms);
  #elif defined(SPC584B_DIS)
    osalThreadDelayMilliseconds(ms);
  #endif
  }
  
  /*
   * @brief  platform specific initialization (platform dependent)
   */
  static void platform_init(void)
  {
  #if defined(STEVAL_MKI109V3)
    TIM3->CCR1 = PWM_3V3;
    TIM3->CCR2 = PWM_3V3;
    HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_1);
    HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_2);
    HAL_Delay(1000);
  #endif
  }
  