Motion & Gesture Recognition Solution

/*
 * Solution Name: Motion & Gesture Recognition Solution
 *
 * Description:
 * This embedded application continuously monitors motion data using the Smart 
 * DOF 4 Click and detects hand gestures using the IR Gesture 3 Click, logging 
 * real-time sensor readings via UART.
 *
 * The system utilizes the following Click boards:
 *   - Smart DOF 4 Click: Measures acceleration, gyroscope, and magnetometer 
 *     data on the X, Y, and Z axes.
 *   - IR Gesture 3 Click: Detects hand gestures such as swipe and click 
 *     motions, providing intuitive user interaction.
 *
 * The `application_init` function initializes both Click boards, configures 
 * them for proper operation, and sets up the UART logger for debugging.
 *
 * The `application_task` function reads accelerometer, gyroscope, and 
 * magnetometer data from the Smart DOF 4 Click and logs it via UART. It also 
 * continuously monitors gesture detection using the IR Gesture 3 Click, logging 
 * recognized gestures.
 *
 * Hardware Setup:
 *   - MIKROBUS_1: Smart DOF 4 Click (Motion sensing)
 *   - MIKROBUS_2: IR Gesture 3 Click (Gesture recognition)
 *
 * Key Features:
 *   - Real-time motion sensing with acceleration, gyroscope, and magnetometer 
 *     data logging.
 *   - Gesture detection including swipe and click motions.
 *   - UART-based logging for debugging and sensor data visualization.
 *   - Dynamic I2C slave switching between Click boards.
 *
 * Development Environment:
 *   - [NECTO Studio](https://www.mikroe.com/necto)
 *   - [mikroSDK v2.0](https://www.mikroe.com/mikrosdk) framework
 *   - MIKROE [Click boards](https://www.mikroe.com/click-boards) Add-ons
 *
 * Author: Branko Jaksic
 * Date: April, 2025
 */

// ------------------------------------------------------------------- INCLUDES
#include "log.h"
#include "board.h"
#include "smartdof4.h"
#include "irgesture3.h"

// ------------------------------------------------------------------ VARIABLES
static log_t logger;
static smartdof4_t smartdof4;
static irgesture3_t irgesture3;

// ------------------------------------------------------ APPLICATION FUNCTIONS
void application_init ( void )
{
    log_cfg_t log_cfg;  /**< Logger config object. */
    smartdof4_cfg_t smartdof4_cfg;  /**< Click config object. */
    irgesture3_cfg_t irgesture3_cfg;  /**< Click config object. */

    /** 
     * Logger initialization.
     * Default baud rate: 115200
     * Default log level: LOG_LEVEL_DEBUG
     * @note If USB_UART_RX and USB_UART_TX 
     * are defined as HAL_PIN_NC, you will 
     * need to define them manually for log to work. 
     * See @b LOG_MAP_USB_UART macro definition for detailed explanation.
     */
    LOG_MAP_USB_UART( log_cfg );
    log_init( &logger, &log_cfg );
    log_info( &logger, " Application Init " );

    // Smart DOF 4 Click initialization.
    smartdof4_cfg_setup( &smartdof4_cfg );
    SMARTDOF4_MAP_MIKROBUS( smartdof4_cfg, MIKROBUS_1 );
    err_t init_flag = smartdof4_init( &smartdof4, &smartdof4_cfg );
    if ( ( I2C_MASTER_ERROR == init_flag ) || ( SPI_MASTER_ERROR == init_flag ) )
    {
        log_error( &logger, " Communication init." );
        for ( ; ; );
    }

    if ( SMARTDOF4_ERROR == smartdof4_default_cfg ( &smartdof4 ) )
    {
        log_error( &logger, " Default configuration." );
        for ( ; ; );
    }

    smartdof4_pid_t pid;
    if ( SMARTDOF4_OK == smartdof4_read_pid ( &smartdof4, &pid ) )
    {
        log_printf ( &logger, " SW Version: %u.%u.%u\r\n", ( uint16_t ) pid.sw_ver_major, 
                                                           ( uint16_t ) pid.sw_ver_minor, 
                                                           ( uint16_t ) pid.sw_ver_patch );
        log_printf ( &logger, " SW Part Number: %lu\r\n", pid.sw_part_num );
        log_printf ( &logger, " SW Build Number: %lu\r\n\n", pid.sw_build_num );
    }

    // IR Gesture 3 Click initialization.
    irgesture3_cfg_setup( &irgesture3_cfg );
    IRGESTURE3_MAP_MIKROBUS( irgesture3_cfg, MIKROBUS_2 );
    if ( I2C_MASTER_ERROR == irgesture3_init( &irgesture3, &irgesture3_cfg ) ) 
    {
        log_error( &logger, " Communication init." );
        for ( ; ; );
    }

    if ( IRGESTURE3_ERROR == irgesture3_default_cfg ( &irgesture3 ) )
    {
        log_error( &logger, " Default configuration." );
        for ( ; ; );
    }

    log_info( &logger, " Application Task " );
}

void read_motion_data( void ) 
{
    // Switch I2C communication to Smart DOF 4 Click.
    i2c_master_set_slave_address(&smartdof4.i2c, smartdof4.slave_address);

    static smartdof4_axis_t accel, gyro, mag;
    if ( SMARTDOF4_OK == smartdof4_read_data( &smartdof4, &accel, &gyro, &mag ) ) 
    {
        log_printf( &logger, 
                    " Accel (g): X=%.3f Y=%.3f Z=%.3f\r\n"
                    " Gyro (dps): X=%.1f Y=%.1f Z=%.1f\r\n"
                    " Mag (uT): X=%.1f Y=%.1f Z=%.1f\r\n", 
                    accel.x, accel.y, accel.z,
                    gyro.x, gyro.y, gyro.z,
                    mag.x, mag.y, mag.z );
    }
}

void read_gesture_data( void ) 
{
    // Switch I2C communication to IR Gesture 3 Click.
    i2c_master_set_slave_address(&irgesture3.i2c, irgesture3.slave_address);

    static uint8_t gesture;
    if ( IRGESTURE3_OK == irgesture3_get_gesture( &irgesture3, &gesture ) ) 
    {
        const char *gesture_str;
        switch ( gesture ) 
        {
            case IRGESTURE3_GESTURE_CLICK:       gesture_str = "CLICK"; break;
            case IRGESTURE3_GESTURE_SWIPE_UP:    gesture_str = "SWIPE UP"; break;
            case IRGESTURE3_GESTURE_SWIPE_DOWN:  gesture_str = "SWIPE DOWN"; break;
            case IRGESTURE3_GESTURE_SWIPE_LEFT:  gesture_str = "SWIPE LEFT"; break;
            case IRGESTURE3_GESTURE_SWIPE_RIGHT: gesture_str = "SWIPE RIGHT"; break;
            default:                             gesture_str = "UNKNOWN"; break;
        }
        log_printf( &logger, " Gesture: %s\r\n", gesture_str );
    } 
    else 
    {
        log_printf( &logger, " No gesture detected!\r\n" );
    }
}

void application_task ( void )
{
    read_motion_data();
    Delay_ms( 100 );  // Ensuring data stability before switching
    read_gesture_data();
}

int main ( void ) 
{
    /* Do not remove this line or clock might not be set correctly. */
    #ifdef PREINIT_SUPPORTED
    preinit();
    #endif

    application_init( );

    for ( ; ; ) 
    {
        application_task( );
    }

    return 0;
}

// ------------------------------------------------------------------------ END