[examples] Add example for PAT9125EL motion sensor

examples/nucleo_f429zi/pat9125el/main.cpp

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+/*
+ * Copyright (c) 2018 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/board.hpp>
+
+#include <modm/processing/timer.hpp>
+#include <modm/processing/protothread.hpp>
+#include <modm/driver/motion/pat9125el.hpp>
+
+using I2c = I2cMaster1;
+using Scl = GpioB8;
+using Sda = GpioB9;
+
+// int pin is optional, set to void for polling mode
+using Int = GpioInputA5;
+
+class Thread : public modm::pt::Protothread
+{
+public:
+	Thread() : sensor{0x75}
+	{
+	}
+
+	bool
+	update()
+	{
+		PT_BEGIN();
+
+		MODM_LOG_INFO << "Ping device" << modm::endl;
+		// ping the device until it responds
+		while(true)
+		{
+			if (PT_CALL(sensor.ping())) {
+				break;
+			}
+			// otherwise, try again in 100ms
+			this->timeout.restart(100);
+			PT_WAIT_UNTIL(this->timeout.isExpired());
+		}
+		MODM_LOG_INFO << "Ping successful" << modm::endl;
+
+		// set x and y resolution
+		PT_CALL(sensor.configure(0x14, 0x14));
+
+		while (true)
+		{
+			PT_CALL(sensor.readData());
+			if(sensor.hasMoved()) {
+				position += sensor.getData();
+
+				Board::Leds::write(0b111);
+				MODM_LOG_INFO << "Position: " << position.x << ", " << position.y << modm::endl;
+				sensor.resetMoved();
+			} else {
+				Board::Leds::write(0b000);
+			}
+		}
+
+		PT_END();
+	}
+
+private:
+	modm::ShortTimeout timeout;
+	modm::pat9125el::Motion2D position;
+	modm::Pat9125el<modm::Pat9125elI2cTransport<I2c>, Int> sensor;
+};
+
+Thread thread;
+
+// ----------------------------------------------------------------------------
+int
+main()
+{
+	Board::initialize();
+	Board::Leds::setOutput();
+
+	MODM_LOG_INFO << "\n\nPAT9125EL I2C example\n\n";
+
+	I2c::connect<Sda::Sda, Scl::Scl>();
+	I2c::initialize<Board::systemClock, 400'000, modm::Tolerance::TwentyPercent>();
+
+	while (1) {
+		thread.update();
+	}
+
+	return 0;
+}

examples/nucleo_f429zi/pat9125el/project.xml

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+<library>
+  <extends>modm:board:nucleo-f429zi</extends>
+  <options>
+    <option name="modm:build:build.path">../../../build/nucleo_f429zi/pat9125el</option>
+  </options>
+  <modules>
+    <module>modm:driver:pat9125el</module>
+    <module>modm:io</module>
+    <module>modm:platform:i2c:1</module>
+    <module>modm:processing:protothread</module>
+    <module>modm:build:scons</module>
+  </modules>
+</library>