🎉 Initial code dump

CMakeLists.txt

@@ -19,9 +19,14 @@ libhal_test_and_make_library(
   LIBRARY_NAME libhal-sensor
 
   SOURCES
-  src/sensor.cpp
+  src/imu/icm20948.cpp
+  src/imu/mpu6050.cpp
+  src/temperature/tmp102.cpp
+  src/multi/mpl3115a2.cpp
 
   TEST_SOURCES
-  tests/sensor.test.cpp
+  tests/imu/mpu6050.test.cpp
+  tests/imu/mpu6050.test.cpp
+  tests/temperature/tmp102.test.cpp
   tests/main.test.cpp
 )

demos/CMakeLists.txt

@@ -18,14 +18,19 @@ project(demos LANGUAGES CXX)
 
 libhal_build_demos(
   DEMOS
-  sensor
+  mpu6050
+  mpl3115a2
+  icm20948
+  tmp102
 
   INCLUDES
   .
 
   PACKAGES
   libhal-sensor
+  libhal-soft
 
   LINK_LIBRARIES
   libhal::sensor
+  libhal::soft
 )

demos/applications/icm20948.cpp

@@ -0,0 +1,93 @@
+// Copyright 2024 Khalil Estell
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//      http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <cmath>
+
+#include <libhal-sensor/imu/icm20948.hpp>
+#include <libhal-util/serial.hpp>
+#include <libhal-util/steady_clock.hpp>
+
+#include <resource_list.hpp>
+
+float compute_heading(float x, float y, float offset = 0.0)
+{
+  float angle = 360 - (atan2(y, x) * (180.0 / std::numbers::pi));
+  angle += offset;  // Apply offset
+  if (angle < 0) {
+    angle += 360;
+  } else if (angle >= 360) {
+    angle -= 360;
+  }
+  return angle;
+}
+
+void application(resource_list& p_map)
+{
+  using namespace std::chrono_literals;
+  using namespace hal::literals;
+
+  auto& clock = *p_map.clock.value();
+  auto& console = *p_map.console.value();
+  auto& i2c = *p_map.i2c.value();
+
+  hal::print(console, "icm Application Starting...\n\n");
+  hal::delay(clock, 200ms);
+  hal::sensor::icm20948 icm_device(i2c);
+
+  hal::delay(clock, 200ms);
+  icm_device.init_mag();
+  hal::delay(clock, 100ms);
+
+  icm_device.auto_offsets();
+
+  while (true) {
+    auto accel = icm_device.read_acceleration();
+    hal::delay(clock, 10ms);
+
+    auto gyro = icm_device.read_gyroscope();
+    hal::delay(clock, 10ms);
+
+    auto temp = icm_device.read_temperature();
+    hal::delay(clock, 10ms);
+
+    auto mag = icm_device.read_magnetometer();
+    hal::delay(clock, 10ms);
+
+    hal::print(console, "\n\n================Reading IMU================\n");
+
+    hal::print<128>(console,
+                    "\n\nG-Accel Values:    x = %fg, y = %fg, z = %fg",
+                    accel.x,
+                    accel.y,
+                    accel.z);
+
+    hal::print<128>(console,
+                    "\n\nGyro Values:       x = %f,  y = %f,  z = %f",
+                    gyro.x,
+                    gyro.y,
+                    gyro.z);
+
+    hal::print<128>(console, "\n\nCurrent Temperature: %f°C", temp.temp);
+
+    hal::print<128>(console,
+                    "\n\nMagnetometer Values: x = %f, y = %f, z = %f",
+                    mag.x,
+                    mag.y,
+                    mag.z);
+
+    float heading = compute_heading(mag.x, mag.y, 0.0);
+    hal::print<128>(console, "\n\nHeading: %f°", heading);
+    hal::print(console, "\n\n===========================================\n");
+  }
+}

demos/applications/mpl3115a2.cpp

@@ -0,0 +1,52 @@
+// Copyright 2024 Khalil Estell
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//      http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <libhal-sensor/multi/mpl3115a2.hpp>
+#include <libhal-util/serial.hpp>
+#include <libhal-util/steady_clock.hpp>
+
+#include <resource_list.hpp>
+
+void application(resource_list& p_map)
+{
+  using namespace std::chrono_literals;
+  using namespace hal::literals;
+
+  auto& clock = *p_map.clock.value();
+  auto& console = *p_map.console.value();
+  auto& i2c = *p_map.i2c.value();
+
+  hal::print(console, "MPL3115A2 Demo Application Starting...\n");
+  hal::sensor::mpl3115a2 mpl_device(i2c);
+
+  int8_t alt_offset = 0;
+  mpl_device.set_altitude_offset(alt_offset);
+
+  // Set sea level pressure to 30 Hg
+  float slp = 101325;  // Default is 101325 Pa
+  mpl_device.set_sea_pressure(slp);
+
+  while (true) {
+    hal::delay(clock, 500ms);
+
+    auto temperature = mpl_device.read_temperature().temperature;
+    hal::print<42>(console, "Measured temperature = %f °C\n", temperature);
+
+    auto pressure = mpl_device.read_pressure().pressure;
+    hal::print<42>(console, "Measured pressure = %f Pa\n", pressure);
+
+    auto altitude = mpl_device.read_altitude().altitude;
+    hal::print<42>(console, "Measured altitude = %f m\n\n", altitude);
+  }
+}

demos/applications/mpu6050.cpp

@@ -0,0 +1,63 @@
+// Copyright 2024 Khalil Estell
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//      http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <libhal-sensor/imu/mpu6050.hpp>
+#include <libhal-util/serial.hpp>
+#include <libhal-util/steady_clock.hpp>
+
+#include <resource_list.hpp>
+
+void application(resource_list& p_map)
+{
+  using namespace std::chrono_literals;
+  using namespace hal::literals;
+
+  auto& clock = *p_map.clock.value();
+  auto& console = *p_map.console.value();
+  auto& i2c = *p_map.i2c.value();
+
+  hal::print(console, "MPU6050 Application Starting...\n");
+  hal::sensor::mpu6050 mpu(i2c, 0x68);
+
+  while (true) {
+    hal::print(
+      console,
+      "Setting acceleration max scale to 2g (2 earth gravities)... \n");
+
+    mpu.configure_full_scale(hal::sensor::mpu6050::max_acceleration::g2);
+
+    hal::print(console, "Reading acceleration... \n");
+    auto acceleration = mpu.read();
+
+    hal::print<64>(console,
+                   "Scale: 2g \t x = %fg, y = %fg, z = %fg \n",
+                   acceleration.x,
+                   acceleration.y,
+                   acceleration.z);
+
+    hal::delay(clock, 500ms);
+
+    hal::print(
+      console,
+      "Setting acceleration max scale to 4g (4 earth gravities)... \n");
+
+    mpu.configure_full_scale(hal::sensor::mpu6050::max_acceleration::g4);
+    acceleration = mpu.read();
+    hal::print<64>(console,
+                   "Scale: 4g \t x = %fg, y = %fg, z = %fg \n\n",
+                   acceleration.x,
+                   acceleration.y,
+                   acceleration.z);
+  }
+}

demos/applications/sensor.cpp → demos/applications/tmp102.cpp

@@ -12,10 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include "resource_list.hpp"
+#include <libhal-sensor/temperature/tmp102.hpp>
 #include <libhal-util/serial.hpp>
 #include <libhal-util/steady_clock.hpp>
 
-#include "../resource_list.hpp"
+#include <resource_list.hpp>
 
 void application(resource_list& p_map)
 {
@@ -24,13 +26,13 @@ void application(resource_list& p_map)
 
   auto& clock = *p_map.clock.value();
   auto& console = *p_map.console.value();
-  auto& led = *p_map.status_led.value();
+  auto& i2c = *p_map.i2c.value();
 
-  hal::print(console, "Demo Application Starting...\n\n");
+  hal::print(console, "[tmp102] Application Starting...\n\n");
+  hal::tmp::tmp102 tmp102(i2c);
 
   while (true) {
-    hal::print(console, "Hello, world\n");
-    led.level(!led.level());  // Toggle LED
     hal::delay(clock, 500ms);
+    hal::print<32>(console, "Measured temperature = %f °C\n", tmp102.read());
   }
 }

demos/conanfile.py

@@ -22,3 +22,4 @@ def requirements(self):
         bootstrap = self.python_requires["libhal-bootstrap"]
         bootstrap.module.add_demo_requirements(self)
         self.requires("libhal-sensor/[^1.0.0 || latest]")
+        self.requires("libhal-soft/[^5.2.0]")

demos/main.cpp

@@ -23,8 +23,7 @@ resource_list resources{};
 
 [[noreturn]] void terminate_handler() noexcept
 {
-
-  if (not resources.status_led && not resources.console) {
+  if (not resources.status_led && not resources.status_led) {
     // spin here until debugger is connected
     while (true) {
       continue;

demos/platforms/lpc4078.cpp

@@ -17,11 +17,12 @@
 #include <libhal-armcortex/system_control.hpp>
 #include <libhal-lpc40/clock.hpp>
 #include <libhal-lpc40/constants.hpp>
+#include <libhal-lpc40/i2c.hpp>
 #include <libhal-lpc40/output_pin.hpp>
 #include <libhal-lpc40/uart.hpp>
 #include <libhal-util/as_bytes.hpp>
 
-#include "../resource_list.hpp"
+#include <resource_list.hpp>
 
 resource_list initialize_platform()
 {
@@ -43,11 +44,13 @@ resource_list initialize_platform()
                                 });
 
   static hal::lpc40::output_pin led(1, 10);
+  static hal::lpc40::i2c i2c(2);
 
   return {
     .reset = []() { hal::cortex_m::reset(); },
     .console = &uart0,
     .clock = &counter,
     .status_led = &led,
+    .i2c = &i2c,
   };
 }

demos/platforms/micromod.cpp

@@ -27,5 +27,7 @@ resource_list initialize_platform()
     .console = &hal::micromod::v1::console(hal::buffer<128>),
     .clock = &hal::micromod::v1::uptime_clock(),
     .status_led = &hal::micromod::v1::led(),
+    // TODO(): Add i2c back when mod-stm32f1-v4 supports i2c
+    // .i2c = &i2c,
   };
 }

demos/platforms/stm32f103c8.cpp

@@ -12,17 +12,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include <libhal-arm-mcu/dwt_counter.hpp>
+#include <libhal-arm-mcu/startup.hpp>
+#include <libhal-arm-mcu/stm32f1/clock.hpp>
+#include <libhal-arm-mcu/stm32f1/constants.hpp>
+#include <libhal-arm-mcu/stm32f1/output_pin.hpp>
+#include <libhal-arm-mcu/stm32f1/uart.hpp>
+#include <libhal-arm-mcu/system_control.hpp>
 #include <libhal/units.hpp>
 
-#include <libhal-armcortex/dwt_counter.hpp>
-#include <libhal-armcortex/startup.hpp>
-#include <libhal-armcortex/system_control.hpp>
-
-#include <libhal-stm32f1/clock.hpp>
-#include <libhal-stm32f1/constants.hpp>
-#include <libhal-stm32f1/output_pin.hpp>
-#include <libhal-stm32f1/uart.hpp>
-
 #include <resource_list.hpp>
 
 resource_list initialize_platform()

demos/resource_list.hpp

@@ -17,6 +17,7 @@
 #include <optional>
 
 #include <libhal/functional.hpp>
+#include <libhal/i2c.hpp>
 #include <libhal/output_pin.hpp>
 #include <libhal/serial.hpp>
 #include <libhal/steady_clock.hpp>
@@ -27,6 +28,7 @@ struct resource_list
   std::optional<hal::serial*> console;
   std::optional<hal::steady_clock*> clock;
   std::optional<hal::output_pin*> status_led;
+  std::optional<hal::i2c*> i2c;
   // Add more driver interfaces here ...
 };