From a15424134dea16463ffecdd772c079ed9a0259ec Mon Sep 17 00:00:00 2001
From: Christopher Durand <christopher.durand@noyes-tech.com>
Date: Thu, 20 Jul 2023 16:57:18 +0200
Subject: [PATCH] [example] Add BMI088 SPI example for Nucleo H723ZG

---
 examples/nucleo_h723zg/bmi088/spi/main.cpp    | 105 ++++++++++++++++++
 examples/nucleo_h723zg/bmi088/spi/project.xml |  15 +++
 2 files changed, 120 insertions(+)
 create mode 100644 examples/nucleo_h723zg/bmi088/spi/main.cpp
 create mode 100644 examples/nucleo_h723zg/bmi088/spi/project.xml

diff --git a/examples/nucleo_h723zg/bmi088/spi/main.cpp b/examples/nucleo_h723zg/bmi088/spi/main.cpp
new file mode 100644
index 0000000000..9dceaf66f9
--- /dev/null
+++ b/examples/nucleo_h723zg/bmi088/spi/main.cpp
@@ -0,0 +1,105 @@
+/*
+ * Copyright (c) 2023, Christopher Durand
+ *
+ * This file is part of the modm project.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+// ----------------------------------------------------------------------------
+
+#include <modm/driver/inertial/bmi088.hpp>
+
+#include <modm/board.hpp>
+#include <atomic>
+
+using namespace Board;
+
+using Spi = SpiMaster2_Dma<Dma1::Channel0, Dma1::Channel1>;
+using CsGyro = GpioC0;
+using CsAcc = GpioD6;
+using Mosi = GpioC3;
+using Miso = GpioC2;
+using Sck = GpioD3;
+
+using AccInt1 = GpioC8;
+using GyroInt3 = GpioC9;
+
+using Transport = modm::Bmi088SpiTransport<Spi, CsAcc, CsGyro>;
+using Imu = modm::Bmi088<Transport>;
+Imu imu;
+
+void initializeImu()
+{
+	AccInt1::setInput(AccInt1::InputType::PullDown);
+	GyroInt3::setInput(GyroInt3::InputType::PullDown);
+
+	constexpr bool selfTest = true;
+	bool initialized = imu.initialize(selfTest);
+	while (!initialized) {
+		MODM_LOG_ERROR << "Initialization failed, retrying ...\n";
+		initialized = imu.initialize(selfTest);
+		modm::delay(500ms);
+	}
+
+	bool ok = imu.setAccRate(Imu::AccRate::Rate12Hz_Bw5Hz);
+	ok &= imu.setAccRange(Imu::AccRange::Range3g);
+
+	const auto int1Config = (Imu::AccGpioConfig::ActiveHigh | Imu::AccGpioConfig::EnableOutput);
+	ok &= imu.setAccInt1GpioConfig(int1Config);
+	ok &= imu.setAccGpioMap(Imu::AccGpioMap::Int1DataReady);
+
+	ok &= imu.setGyroRate(Imu::GyroRate::Rate100Hz_Bw12Hz);
+	ok &= imu.setGyroRange(Imu::GyroRange::Range250dps);
+	ok &= imu.setGyroGpioConfig(Imu::GyroGpioConfig::Int3ActiveHigh);
+	ok &= imu.setGyroGpioMap(Imu::GyroGpioMap::Int3DataReady);
+
+	if (!ok) {
+		MODM_LOG_ERROR << "Configuration failed!\n";
+	}
+}
+
+int main()
+{
+	Board::initialize();
+	Leds::setOutput();
+	Dma1::enable();
+	Spi::connect<Sck::Sck, Mosi::Mosi, Miso::Miso>();
+	Spi::initialize<Board::SystemClock, 9_MHz, 10_pct>();
+
+	MODM_LOG_INFO << "BMI088 SPI Test\n";
+	initializeImu();
+
+	std::atomic_bool accReady = false;
+	std::atomic_bool gyroReady = false;
+
+	Exti::connect<AccInt1>(Exti::Trigger::RisingEdge, [&accReady](auto){
+		accReady = true;
+	});
+
+	Exti::connect<GyroInt3>(Exti::Trigger::RisingEdge, [&gyroReady](auto){
+		gyroReady = true;
+	});
+
+	while (true)
+	{
+		while(!accReady or !gyroReady);
+
+		const std::optional accResult = imu.readAccData();
+		accReady = false;
+		const std::optional gyroResult = imu.readGyroData();
+		gyroReady = false;
+
+		if (accResult) {
+			const modm::Vector3f data = accResult->getFloat();
+			MODM_LOG_INFO.printf("Acc  [mg]\tx:\t%5.1f\ty: %5.1f\tz: %5.1f\n", data[0], data[1], data[2]);
+		}
+		if (gyroResult) {
+			const modm::Vector3f data = gyroResult->getFloat();
+			MODM_LOG_INFO.printf("Gyro [deg/s]\tx:\t%5.2f\ty: %5.2f\tz: %5.2f\n", data[0], data[1], data[2]);
+		}
+	}
+
+	return 0;
+}
diff --git a/examples/nucleo_h723zg/bmi088/spi/project.xml b/examples/nucleo_h723zg/bmi088/spi/project.xml
new file mode 100644
index 0000000000..0ee7b8a80b
--- /dev/null
+++ b/examples/nucleo_h723zg/bmi088/spi/project.xml
@@ -0,0 +1,15 @@
+<library>
+  <extends>modm:nucleo-h723zg</extends>
+  <options>
+    <option name="modm:build:build.path">../../../../build/nucleo_h723zg/bmi088_spi</option>
+    <option name="modm:processing:protothread:use_fiber">yes</option>
+  </options>
+  <modules>
+    <module>modm:build:scons</module>
+    <module>modm:processing:fiber</module>
+    <module>modm:platform:dma</module>
+    <module>modm:platform:exti</module>
+    <module>modm:platform:spi:2</module>
+    <module>modm:driver:bmi088</module>
+  </modules>
+</library>