feat(samples): Add a sample to demonstrate the STeaMi's main features

samples/OOB/accelero.h

@@ -0,0 +1,63 @@
+#pragma once
+
+#include "ism330dl.h"
+#include "utils.h"
+
+extern codal::STM32Pin* btnMenu;
+extern codal::ISM330DL* ism;
+extern codal::SSD1327_SPI* ssd;
+
+class Ball {
+  public:
+    int x;
+    int y;
+    float ax;
+    float ay;
+    float speed;
+    int radius;
+
+    Ball(int x, int y, int radius) : x{x}, y{y}, ax{0}, ay{0}, speed{3}, radius{radius} {}
+
+    float low_limit() { return 18 + radius; }
+    float high_limit() { return 110 - radius; }
+
+    void update(ISM_Data& accel)
+    {
+        ax = clampf(ax + (accel.y), -5, 5);
+        ay = clampf(ay - (accel.x), -5, 5);
+
+        x += ax * speed;
+        y += ay * speed;
+
+        if (x < low_limit() || x > high_limit()) {
+            ax *= -0.8;
+            x = clampf(x, low_limit(), high_limit());
+        }
+
+        if (y < low_limit() || y > high_limit()) {
+            ay *= -0.8;
+            y = clampf(y, low_limit(), high_limit());
+        }
+    }
+
+    void draw() { ssd->drawCircle(x, y, radius, false, 0xFF); }
+};
+
+void accelero_prog()
+{
+    Ball ball(64, 64, 8);
+    while (true) {
+        if (click_button(btnMenu)) {
+            break;
+        }
+
+        auto accel = ism->readAccelerometerData();
+
+        ball.update(accel);
+
+        ssd->fill(0x00);
+        ssd->drawRectangle(18, 18, 110, 110, false, 0xFF);
+        ball.draw();
+        ssd->show();
+    }
+}

samples/OOB/buzzer.h

@@ -0,0 +1,92 @@
+#pragma once
+
+#include <cstdint>
+
+#include "utils.h"
+
+extern codal::STM32Pin* btnMenu;
+extern codal::STM32Pin* buzzer;
+extern codal::SSD1327_SPI* ssd;
+extern codal::MCP23009E* mcp;
+
+void buzzer_prog()
+{
+    uint8_t* cursor = new uint8_t(2);
+    int* freq       = new int(440);
+
+    mcp->interruptOnFalling(MCP_GP_BOTTOM, [=]() {
+        int p     = pow(10, *cursor);
+        int digit = int(*freq / p) % 10;
+        if (digit == 0) {
+            return;
+        }
+
+        *freq -= p;
+        buzzer->setAnalogPeriodUs(1'000'000 / *freq);
+        buzzer->setAnalogValue(255);
+    });
+
+    mcp->interruptOnFalling(MCP_GP_UP, [=]() {
+        int p     = pow(10, *cursor);
+        int digit = int(*freq / p) % 10;
+        if (digit == 9) {
+            return;
+        }
+
+        *freq += p;
+        buzzer->setAnalogPeriodUs(1'000'000 / *freq);
+        buzzer->setAnalogValue(255);
+    });
+
+    mcp->interruptOnFalling(MCP_GP_LEFT, [=]() {
+        if (*cursor < 5) {
+            (*cursor)++;
+        }
+    });
+
+    mcp->interruptOnFalling(MCP_GP_RIGHT, [=]() {
+        if (*cursor > 0) {
+            (*cursor)--;
+        }
+    });
+
+    buzzer->setAnalogPeriodUs(1'000'000 / *freq);
+    buzzer->setAnalogValue(255);
+
+    while (1) {
+        if (click_button(btnMenu)) {
+            break;
+        }
+
+        auto freqStr     = std::to_string(*freq);
+        string cursorStr = "      ";
+
+        while (freqStr.size() < 5) {
+            freqStr = "0" + freqStr;
+        }
+
+        for (int8_t i = 4; i >= 0; --i) {
+            if (i == *cursor) {
+                cursorStr.push_back('^');
+            }
+            else {
+                cursorStr.push_back(' ');
+            }
+        }
+
+        ssd->fill(0x00);
+        ssd->drawText("Freq: " + freqStr + "Hz", 15, 40, 0xFF);
+        ssd->drawText(cursorStr, 15, 48, 0xFF);
+        ssd->drawText("< / >: change digit", 5, 66, 0xFF);
+        ssd->drawText("^ / v: de/increase", 5, 75, 0xFF);
+        ssd->show();
+
+        fiber_sleep(100);
+    }
+
+    buzzer->setAnalogValue(0);
+    mcp->disableInterrupt(MCP_GP_BOTTOM);
+    mcp->disableInterrupt(MCP_GP_UP);
+    delete cursor;
+    delete freq;
+}

samples/OOB/compass.h

@@ -0,0 +1,109 @@
+#pragma once
+
+#include <algorithm>
+#include <cmath>
+#include <limits>
+
+#include "lis2mdl.h"
+#include "utils.h"
+
+extern codal::STM32Pin* btnMenu;
+extern codal::STM32Pin* btnA;
+extern codal::LIS2MDL* lis;
+extern codal::SSD1327_SPI* ssd;
+
+constexpr float TRI_ANGLE = 155.0 * 0.017452792;
+
+float mapf(float x, float in_min, float in_max, float out_min, float out_max)
+{
+    return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
+}
+
+Lis2Data average_measure(unsigned nb_measure)
+{
+    Lis2Data data{.x = 0, .y = 0, .z = 0};
+
+    for (unsigned i = 0; i < nb_measure; ++i) {
+        Lis2Data magn = lis->readData();
+
+        data.x += magn.x;
+        data.y += magn.y;
+    }
+
+    data.x /= float(nb_measure);
+    data.y /= float(nb_measure);
+
+    return data;
+}
+
+void compass_prog()
+{
+    float size        = 32;
+    float cx          = 64;
+    float cy          = 64;
+    float calib_min_x = std::numeric_limits<float>::max();
+    float calib_max_x = std::numeric_limits<float>::min();
+    float calib_min_y = std::numeric_limits<float>::max();
+    float calib_max_y = std::numeric_limits<float>::min();
+
+    // calibration
+    ssd->fill(0x00);
+    ssd->drawRectangle(25, 14, 102, 40, true, 0xFF);
+    ssd->drawText("CALIBRATION", 31, 18, 0x00);
+    ssd->drawText("MAGNETOMETER", 28, 29, 0x00);
+    ssd->drawText("Move the STeaMi", 21, 49, 0xFF);
+    ssd->drawText("by making \"8\" shapes", 5, 60, 0xFF);
+    ssd->drawText("Push \"A\" to finish", 12, 86, 0xFF);
+    ssd->show();
+
+    while (true) {
+        if (click_button(btnA)) {
+            break;
+        }
+
+        Lis2Data magn = average_measure(20);
+
+        calib_max_x   = std::max(calib_max_x, magn.x);
+        calib_min_x   = std::min(calib_min_x, magn.x);
+
+        calib_max_y   = std::max(calib_max_y, magn.y);
+        calib_min_y   = std::min(calib_min_y, magn.y);
+    }
+
+    printf("Calibration:\n\tx: [%.2f, %.2f]\n\ty: [%.2f, %.2f]\n", calib_min_x, calib_max_x, calib_min_y, calib_max_y);
+
+    while (true) {
+        if (click_button(btnMenu)) {
+            break;
+        }
+
+        Lis2Data magn = average_measure(10);
+
+        float x       = mapf(magn.x, calib_min_x, calib_max_x, -1, 1);
+        float y       = -mapf(magn.y, calib_min_y, calib_max_y, -1, 1);
+        float angle   = std::atan2(y, x);
+
+        double Acos   = cos(angle);
+        double Asin   = sin(angle);
+        double Bcos   = cos(angle - TRI_ANGLE);
+        double Bsin   = sin(angle - TRI_ANGLE);
+        double Ccos   = cos(angle + TRI_ANGLE);
+        double Csin   = sin(angle + TRI_ANGLE);
+
+        ssd->fill(0x00);
+        ssd->drawCircle(64, 64, 50, false, 0xFF);
+        ssd->drawCircle(64, 64, 2, true, 0xFF);
+
+        ssd->drawSegment(cx + (size * Bcos), cy + (size * Bsin), cx + (size * Acos), cy + (size * Asin), 1, 0xFF);
+        ssd->drawSegment(cx + (size * Ccos), cy + (size * Csin), cx + (size * Acos), cy + (size * Asin), 1, 0xFF);
+        ssd->drawSegment(cx + (size * Ccos), cy + (size * Csin), cx + (size * Bcos), cy + (size * Bsin), 1, 0xFF);
+
+        ssd->drawText("N", 61, 2, 0xFF);
+        ssd->drawText("S", 61, 119, 0xFF);
+        ssd->drawText("O", 2, 61, 0xFF);
+        ssd->drawText("E", 121, 61, 0xFF);
+        ssd->show();
+
+        target_wait(100);
+    }
+}