Maxim Integrated / Mbed 2 deprecated MAX32630FTHR_IMU_Hello_World

Simple demo of BMI160 Library

Dependencies:   BMI160 max32630fthr mbed

Fork of MAX32630FTHR_IMU_Test by Justin Jordan

main.cpp@2:0d7433075663, 2016-12-20 (annotated)

Committer:
j3
Date:
Tue Dec 20 00:11:10 2016 +0000
Revision:
2:0d7433075663
Parent:
1:a3fa54415b4e
Child:
3:250503cb7cb3
Working on IMU lib

Who changed what in which revision?

UserRevisionLine numberNew contents of line
j3 0:0db9a7ed2e63 1 /**********************************************************************
j3 0:0db9a7ed2e63 2 * Copyright (C) 2016 Maxim Integrated Products, Inc., All Rights Reserved.
j3 0:0db9a7ed2e63 3 *
j3 0:0db9a7ed2e63 4 * Permission is hereby granted, free of charge, to any person obtaining a
j3 0:0db9a7ed2e63 5 * copy of this software and associated documentation files (the "Software"),
j3 0:0db9a7ed2e63 6 * to deal in the Software without restriction, including without limitation
j3 0:0db9a7ed2e63 7 * the rights to use, copy, modify, merge, publish, distribute, sublicense,
j3 0:0db9a7ed2e63 8 * and/or sell copies of the Software, and to permit persons to whom the
j3 0:0db9a7ed2e63 9 * Software is furnished to do so, subject to the following conditions:
j3 0:0db9a7ed2e63 10 *
j3 0:0db9a7ed2e63 11 * The above copyright notice and this permission notice shall be included
j3 0:0db9a7ed2e63 12 * in all copies or substantial portions of the Software.
j3 0:0db9a7ed2e63 13 *
j3 0:0db9a7ed2e63 14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
j3 0:0db9a7ed2e63 15 * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
j3 0:0db9a7ed2e63 16 * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
j3 0:0db9a7ed2e63 17 * IN NO EVENT SHALL MAXIM INTEGRATED BE LIABLE FOR ANY CLAIM, DAMAGES
j3 0:0db9a7ed2e63 18 * OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
j3 0:0db9a7ed2e63 19 * ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
j3 0:0db9a7ed2e63 20 * OTHER DEALINGS IN THE SOFTWARE.
j3 0:0db9a7ed2e63 21 *
j3 0:0db9a7ed2e63 22 * Except as contained in this notice, the name of Maxim Integrated
j3 0:0db9a7ed2e63 23 * Products, Inc. shall not be used except as stated in the Maxim Integrated
j3 0:0db9a7ed2e63 24 * Products, Inc. Branding Policy.
j3 0:0db9a7ed2e63 25 *
j3 0:0db9a7ed2e63 26 * The mere transfer of this software does not imply any licenses
j3 0:0db9a7ed2e63 27 * of trade secrets, proprietary technology, copyrights, patents,
j3 0:0db9a7ed2e63 28 * trademarks, maskwork rights, or any other form of intellectual
j3 0:0db9a7ed2e63 29 * property whatsoever. Maxim Integrated Products, Inc. retains all
j3 0:0db9a7ed2e63 30 * ownership rights.
j3 0:0db9a7ed2e63 31 **********************************************************************/
j3 0:0db9a7ed2e63 32
j3 0:0db9a7ed2e63 33
j3 0:0db9a7ed2e63 34 #include "mbed.h"
j3 0:0db9a7ed2e63 35 #include "SDFileSystem.h"
j3 0:0db9a7ed2e63 36 #include "max32630fthr.h"
j3 0:0db9a7ed2e63 37 #include "bmi160.h"
j3 0:0db9a7ed2e63 38
j3 1:a3fa54415b4e 39
j3 0:0db9a7ed2e63 40 void dumpImuRegisters(BMI160 &imu);
j3 0:0db9a7ed2e63 41 void printRegister(BMI160 &imu, BMI160::Registers reg);
j3 1:a3fa54415b4e 42 void printBlock(BMI160 &imu, BMI160::Registers startReg, BMI160::Registers stopReg);
j3 1:a3fa54415b4e 43
j3 0:0db9a7ed2e63 44
j3 0:0db9a7ed2e63 45 int main()
j3 0:0db9a7ed2e63 46 {
j3 1:a3fa54415b4e 47 MAX32630FTHR pegasus;
j3 1:a3fa54415b4e 48 pegasus.init(MAX32630FTHR::VIO_3V3);
j3 0:0db9a7ed2e63 49
j3 0:0db9a7ed2e63 50 DigitalOut rLED(LED1, LED_OFF);
j3 0:0db9a7ed2e63 51 DigitalOut gLED(LED2, LED_OFF);
j3 0:0db9a7ed2e63 52 DigitalOut bLED(LED3, LED_ON);
j3 0:0db9a7ed2e63 53
j3 1:a3fa54415b4e 54 I2C i2cBus(P5_7, P6_0);
j3 1:a3fa54415b4e 55 BMI160_I2C imu(i2cBus, BMI160_I2C::I2C_ADRS_SDO_LO);
j3 0:0db9a7ed2e63 56
j3 1:a3fa54415b4e 57 imu.setSensorPowerMode(BMI160::GYRO, BMI160::NORMAL);
j3 1:a3fa54415b4e 58 wait_ms(100);
j3 1:a3fa54415b4e 59 imu.setSensorPowerMode(BMI160::ACC, BMI160::NORMAL);
j3 2:0d7433075663 60 wait_ms(100);
j3 1:a3fa54415b4e 61
j3 1:a3fa54415b4e 62 float imuTemperature;
j3 2:0d7433075663 63 BMI160::SensorData accData;
j3 2:0d7433075663 64 //BMI160::SensorData gyroData;
j3 1:a3fa54415b4e 65
j3 0:0db9a7ed2e63 66 while(1)
j3 0:0db9a7ed2e63 67 {
j3 2:0d7433075663 68 imu.getTemperature(&imuTemperature);
j3 2:0d7433075663 69 imu.getAccXYZ(accData);
j3 0:0db9a7ed2e63 70
j3 2:0d7433075663 71 printf("Sensor Temperature = %5.3f\n", imuTemperature);
j3 2:0d7433075663 72 printf("ACC xAxis = %s%4.3f\n", "\033[K", accData.xAxis.scaled);
j3 2:0d7433075663 73 printf("ACC yAxis = %s%4.3f\n", "\033[K", accData.yAxis.scaled);
j3 2:0d7433075663 74 printf("ACC zAxis = %s%4.3f\n", "\033[K", accData.zAxis.scaled);
j3 2:0d7433075663 75 printf("\033[H"); //home
j3 0:0db9a7ed2e63 76 }
j3 0:0db9a7ed2e63 77 }
j3 0:0db9a7ed2e63 78
j3 0:0db9a7ed2e63 79
j3 0:0db9a7ed2e63 80 //*****************************************************************************
j3 0:0db9a7ed2e63 81 void dumpImuRegisters(BMI160 &imu)
j3 0:0db9a7ed2e63 82 {
j3 0:0db9a7ed2e63 83 printRegister(imu, BMI160::CHIP_ID);
j3 1:a3fa54415b4e 84 printBlock(imu, BMI160::ERR_REG,BMI160::FIFO_DATA);
j3 1:a3fa54415b4e 85 printBlock(imu, BMI160::ACC_CONF, BMI160::FIFO_CONFIG_1);
j3 1:a3fa54415b4e 86 printBlock(imu, BMI160::MAG_IF_0, BMI160::SELF_TEST);
j3 1:a3fa54415b4e 87 printBlock(imu, BMI160::NV_CONF, BMI160::STEP_CONF_1);
j3 0:0db9a7ed2e63 88 printRegister(imu, BMI160::CMD);
j3 0:0db9a7ed2e63 89 printf("\n");
j3 0:0db9a7ed2e63 90 }
j3 0:0db9a7ed2e63 91
j3 0:0db9a7ed2e63 92
j3 0:0db9a7ed2e63 93 //*****************************************************************************
j3 0:0db9a7ed2e63 94 void printRegister(BMI160 &imu, BMI160::Registers reg)
j3 0:0db9a7ed2e63 95 {
j3 0:0db9a7ed2e63 96 uint8_t data;
j3 1:a3fa54415b4e 97 if(imu.readRegister(reg, &data) == BMI160::RTN_NO_ERROR)
j3 0:0db9a7ed2e63 98 {
j3 0:0db9a7ed2e63 99 printf("IMU Register 0x%02x = 0x%02x\n", reg, data);
j3 0:0db9a7ed2e63 100 }
j3 0:0db9a7ed2e63 101 else
j3 0:0db9a7ed2e63 102 {
j3 0:0db9a7ed2e63 103 printf("Failed to read register\n");
j3 0:0db9a7ed2e63 104 }
j3 0:0db9a7ed2e63 105 }
j3 0:0db9a7ed2e63 106
j3 0:0db9a7ed2e63 107
j3 0:0db9a7ed2e63 108 //*****************************************************************************
j3 1:a3fa54415b4e 109 void printBlock(BMI160 &imu, BMI160::Registers startReg, BMI160::Registers stopReg)
j3 0:0db9a7ed2e63 110 {
j3 0:0db9a7ed2e63 111 uint8_t numBytes = ((stopReg - startReg) + 1);
j3 1:a3fa54415b4e 112 uint8_t buff[numBytes];
j3 0:0db9a7ed2e63 113 uint8_t offset = static_cast<uint8_t>(startReg);
j3 0:0db9a7ed2e63 114
j3 1:a3fa54415b4e 115 if(imu.readBlock(startReg, stopReg, buff) == BMI160::RTN_NO_ERROR)
j3 0:0db9a7ed2e63 116 {
j3 0:0db9a7ed2e63 117 for(uint8_t idx = offset; idx < (numBytes + offset); idx++)
j3 0:0db9a7ed2e63 118 {
j3 0:0db9a7ed2e63 119 printf("IMU Register 0x%02x = 0x%02x\n", idx, buff[idx - offset]);
j3 0:0db9a7ed2e63 120 }
j3 0:0db9a7ed2e63 121 }
j3 0:0db9a7ed2e63 122 else
j3 0:0db9a7ed2e63 123 {
j3 0:0db9a7ed2e63 124 printf("Failed to read block\n");
j3 0:0db9a7ed2e63 125 }
j3 0:0db9a7ed2e63 126 }