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diff --git a/examples/imx7_colibri_m4/demo_apps/sensor_demo/sensor_demo_imx7d/main.c b/examples/imx7_colibri_m4/demo_apps/sensor_demo/sensor_demo_imx7d/main.c
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--- a/examples/imx7_colibri_m4/demo_apps/sensor_demo/sensor_demo_imx7d/main.c
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-/*
- * Copyright (c) 2015, Freescale Semiconductor, Inc.
- * All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without modification,
- * are permitted provided that the following conditions are met:
- *
- * o Redistributions of source code must retain the above copyright notice, this list
- * of conditions and the following disclaimer.
- *
- * o Redistributions in binary form must reproduce the above copyright notice, this
- * list of conditions and the following disclaimer in the documentation and/or
- * other materials provided with the distribution.
- *
- * o Neither the name of Freescale Semiconductor, Inc. nor the names of its
- * contributors may be used to endorse or promote products derived from this
- * software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
- * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
- * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
- * ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
- * ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
- * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
-
-///////////////////////////////////////////////////////////////////////////////
-// Includes
-///////////////////////////////////////////////////////////////////////////////
-#include <stdint.h>
-#include <stdbool.h>
-#include "FreeRTOS.h"
-#include "task.h"
-#include "board.h"
-#include "debug_console_imx.h"
-#include "i2c_xfer.h"
-#include "fxas21002.h"
-#include "fxos8700.h"
-#include "mpl3115.h"
-
-////////////////////////////////////////////////////////////////////////////////
-// Definition
-////////////////////////////////////////////////////////////////////////////////
-#define HEIGHT_UPDATE_THRESHOLD (0.5f)
-#define TEMP_UPDATE_THRESHOLD (0.3f)
-#define GYRO_UPDATE_THRESHOLD (5.0f)
-
-////////////////////////////////////////////////////////////////////////////////
-// Code
-////////////////////////////////////////////////////////////////////////////////
-void fxas21002Demo(void)
-{
- gyro_sensor_t thisGyroSensor;
- uint32_t count = 0, printCount = 0;
-
- PRINTF("\n\r-------------- FXAS21002 Gyro data acquisition --------------\n\r\n\r");
-
- PRINTF("FXAS21002 initialization ... ");
- if (fxas21002_init(&thisGyroSensor))
- PRINTF("OK\n\r");
- else
- PRINTF("ERROR\n\r");
-
- /* delay 10ms to wait sensor init finish */
- vTaskDelay(10);
-
- while(1)
- {
- fxas21002_read_data(&thisGyroSensor);
- thisGyroSensor.iSumYpFast[0] += thisGyroSensor.iYpFast[0];
- thisGyroSensor.iSumYpFast[1] += thisGyroSensor.iYpFast[1];
- thisGyroSensor.iSumYpFast[2] += thisGyroSensor.iYpFast[2];
-
- count++;
- if (count == OVERSAMPLE_RATIO)
- {
- count = 0;
- thisGyroSensor.iYp[0] = thisGyroSensor.iSumYpFast[0] / OVERSAMPLE_RATIO;
- thisGyroSensor.iYp[1] = thisGyroSensor.iSumYpFast[1] / OVERSAMPLE_RATIO;
- thisGyroSensor.iYp[2] = thisGyroSensor.iSumYpFast[2] / OVERSAMPLE_RATIO;
- thisGyroSensor.fYp[0] = thisGyroSensor.iYp[0] * thisGyroSensor.fDegPerSecPerCount;
- thisGyroSensor.fYp[1] = thisGyroSensor.iYp[1] * thisGyroSensor.fDegPerSecPerCount;
- thisGyroSensor.fYp[2] = thisGyroSensor.iYp[2] * thisGyroSensor.fDegPerSecPerCount;
- thisGyroSensor.iSumYpFast[0] = 0;
- thisGyroSensor.iSumYpFast[1] = 0;
- thisGyroSensor.iSumYpFast[2] = 0;
- }
-
- if ((thisGyroSensor.fYp[0] > GYRO_UPDATE_THRESHOLD) ||
- (thisGyroSensor.fYp[0] < -GYRO_UPDATE_THRESHOLD) ||
- (thisGyroSensor.fYp[1] > GYRO_UPDATE_THRESHOLD) ||
- (thisGyroSensor.fYp[1] < -GYRO_UPDATE_THRESHOLD) ||
- (thisGyroSensor.fYp[2] > GYRO_UPDATE_THRESHOLD) ||
- (thisGyroSensor.fYp[2] < -GYRO_UPDATE_THRESHOLD))
- {
- printCount++;
- if (40 == printCount)
- {
- printCount = 0;
- PRINTF("[FXAS21002] Rotate detected: X:%5.1fdps, Y:%5.1fdps, Z:%5.1fdps\n\r",\
- thisGyroSensor.fYp[0], thisGyroSensor.fYp[1], thisGyroSensor.fYp[2]);
- }
- }
- }
-}
-
-void fxos8700Demo(void)
-{
- int16_t Ax, Ay, Az, Mx, My, Mz;
- float Axf, Ayf, Azf, Mxf, Myf, Mzf;
-
- PRINTF("\n\r-------------- FXOS8700 Acc+Mag data acquisition --------------\n\r\n\r");
-
- PRINTF("FXOS8700 initialization ... ");
- if (fxos8700_init())
- PRINTF("OK\n\r");
- else
- PRINTF("ERROR\n\r");
-
- while(1)
- {
- vTaskDelay(500);
- fxos8700_read_data(&Ax, &Ay, &Az, &Mx, &My, &Mz);
- Axf = Ax / 8192.0;
- Ayf = Ay / 8192.0;
- Azf = Az / 8192.0;
- Mxf = Mx * 0.1;
- Myf = My * 0.1;
- Mzf = Mz * 0.1;
- PRINTF("[FXOS8700]Current Acc:X=%7.1fg Y=%7.1fg Z=%7.1fg\n\r",Axf, Ayf, Azf);
- PRINTF("[FXOS8700]Current Mag:X=%6.1fuT Y=%6.1fuT Z=%6.1fuT\n\r",Mxf, Myf, Mzf);
- }
-}
-
-void mpl3115Demo(void)
-{
- pressure_sensor_t thisPressureSensor;
- float lastHight = 0, lastTemp = 0;
-
- PRINTF("\n\r-------------- MPL3115 Pressure data acquisition --------------\n\r\n\r");
-
- PRINTF("MPL3115 initialization ... ");
- if (mpl3115_init(&thisPressureSensor))
- PRINTF("OK\n\r");
- else
- PRINTF("ERROR\n\r");
-
- while(1)
- {
- vTaskDelay(100);
- mpl3115_read_data(&thisPressureSensor);
- thisPressureSensor.iHp = thisPressureSensor.iHpFast;;
- thisPressureSensor.iTp = thisPressureSensor.iTpFast;
- thisPressureSensor.fHp = (float) thisPressureSensor.iHp *\
- thisPressureSensor.fmPerCount;
- thisPressureSensor.fTp = (float) thisPressureSensor.iTp *\
- thisPressureSensor.fCPerCount;
- if (((thisPressureSensor.fHp - lastHight) > HEIGHT_UPDATE_THRESHOLD) ||
- ((thisPressureSensor.fHp - lastHight) < -HEIGHT_UPDATE_THRESHOLD) ||
- ((thisPressureSensor.fTp - lastTemp) > TEMP_UPDATE_THRESHOLD) ||
- ((thisPressureSensor.fTp - lastTemp) < -TEMP_UPDATE_THRESHOLD))
- {
- lastHight = thisPressureSensor.fHp;
- lastTemp = thisPressureSensor.fTp;
- PRINTF("[MPL3115]Current Height = %6.1fMeter, Current Temp = %5.1fCelsius\n\r",
- thisPressureSensor.fHp,
- thisPressureSensor.fTp);
- }
- }
-}
-
-void MainTask(void *pvParameters)
-{
- uint8_t demoSel;
-
- PRINTF("\n\r-------------- iMX7D SDB on board sensor example --------------\n\r\n\r");
-
- /* Setup I2C init structure. */
- i2c_init_config_t i2cInitConfig = {
- .clockRate = get_i2c_clock_freq(BOARD_I2C_BASEADDR),
- .baudRate = 400000u,
- .slaveAddress = 0x00
- };
-
- /* Initialize I2C module with I2C init structure. */
- I2C_XFER_Config(&i2cInitConfig);
-
- /* Print the initial banner. */
- PRINTF("\n\rPlease select the sensor demo you want to run:\n\r");
- PRINTF("[1].FXAS21002 3-axes Gyro sensor\n\r");
- PRINTF("[2].FXOS8700 6-axes Acc+Mag sensor\n\r");
- PRINTF("[3].MPL3115 Pressure sensor\n\r");
-
- while(1)
- {
- demoSel = GETCHAR();
- if (('1' == demoSel) || ('2' == demoSel) || ('3' == demoSel))
- break;
- }
-
- switch(demoSel)
- {
- case '1':
- fxas21002Demo();
- break;
- case '2':
- fxos8700Demo();
- break;
- case '3':
- mpl3115Demo();
- break;
- }
-}
-
-int main(void)
-{
- /* Initialize board specified hardware. */
- hardware_init();
-
- /* Create a the APP main task. */
- xTaskCreate(MainTask, "Main Task", configMINIMAL_STACK_SIZE + 100,
- NULL, tskIDLE_PRIORITY+1, NULL);
-
- /* Start FreeRTOS scheduler. */
- vTaskStartScheduler();
-
- /* should never reach this point. */
- while (true);
-}
-
-/*******************************************************************************
- * EOF
- ******************************************************************************/
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