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@1:a3fa54415b4e, 2016-12-14 (annotated)

Committer:
j3
Date:
Wed Dec 14 23:56:30 2016 +0000
Revision:
1:a3fa54415b4e
Parent:
0:0db9a7ed2e63
Child:
2:0d7433075663
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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 1:a3fa54415b4e 44 typedef int32_t (MAX32630FTHR::*GetVoltageMbrFxPointer_t)(float *);
j3 1:a3fa54415b4e 45 void printVoltage(const char *msg, MAX32630FTHR &pegasus, GetVoltageMbrFxPointer_t mbrFxPtr);
j3 0:0db9a7ed2e63 46
j3 0:0db9a7ed2e63 47
j3 0:0db9a7ed2e63 48 int main()
j3 0:0db9a7ed2e63 49 {
j3 1:a3fa54415b4e 50 MAX32630FTHR pegasus;
j3 1:a3fa54415b4e 51 pegasus.init(MAX32630FTHR::VIO_3V3);
j3 0:0db9a7ed2e63 52
j3 0:0db9a7ed2e63 53 DigitalOut rLED(LED1, LED_OFF);
j3 0:0db9a7ed2e63 54 DigitalOut gLED(LED2, LED_OFF);
j3 0:0db9a7ed2e63 55 DigitalOut bLED(LED3, LED_ON);
j3 0:0db9a7ed2e63 56
j3 1:a3fa54415b4e 57 I2C i2cBus(P5_7, P6_0);
j3 1:a3fa54415b4e 58 BMI160_I2C imu(i2cBus, BMI160_I2C::I2C_ADRS_SDO_LO);
j3 0:0db9a7ed2e63 59 dumpImuRegisters(imu);
j3 0:0db9a7ed2e63 60
j3 0:0db9a7ed2e63 61 uint32_t loopCnt = 0;
j3 0:0db9a7ed2e63 62
j3 1:a3fa54415b4e 63 imu.setSensorPowerMode(BMI160::GYRO, BMI160::NORMAL);
j3 1:a3fa54415b4e 64 wait_ms(100);
j3 1:a3fa54415b4e 65 imu.setSensorPowerMode(BMI160::ACC, BMI160::NORMAL);
j3 1:a3fa54415b4e 66 wait_ms(5);
j3 1:a3fa54415b4e 67 printRegister(imu, BMI160::PMU_STATUS);
j3 1:a3fa54415b4e 68
j3 1:a3fa54415b4e 69 float imuTemperature;
j3 1:a3fa54415b4e 70
j3 0:0db9a7ed2e63 71 while(1)
j3 0:0db9a7ed2e63 72 {
j3 0:0db9a7ed2e63 73 if(loopCnt == 0)
j3 0:0db9a7ed2e63 74 {
j3 1:a3fa54415b4e 75 printf("/***********************/\n\n");
j3 1:a3fa54415b4e 76 printVoltage(" Battery voltage = %05.3f\n\n", pegasus, &MAX32630FTHR::getBatteryVoltage);
j3 1:a3fa54415b4e 77 printVoltage(" System voltage = %05.3f\n\n", pegasus, &MAX32630FTHR::getSysVoltage);
j3 1:a3fa54415b4e 78 printVoltage(" Buck1 voltage = %05.3f\n\n", pegasus, &MAX32630FTHR::getBuck1Voltage);
j3 1:a3fa54415b4e 79 printVoltage(" Buck2 voltage = %05.3f\n\n", pegasus, &MAX32630FTHR::getBuck2Voltage);
j3 1:a3fa54415b4e 80 printVoltage(" LDO1 voltage = %05.3f\n\n", pegasus, &MAX32630FTHR::getLDO1Voltage);
j3 1:a3fa54415b4e 81 printVoltage(" LDO2 voltage = %05.3f\n\n", pegasus, &MAX32630FTHR::getLDO2Voltage);
j3 1:a3fa54415b4e 82 printVoltage(" LDO3 voltage = %05.3f\n\n", pegasus, &MAX32630FTHR::getLDO3Voltage);
j3 1:a3fa54415b4e 83
j3 1:a3fa54415b4e 84 if(imu.getTemperature(&imuTemperature) == BMI160::RTN_NO_ERROR)
j3 0:0db9a7ed2e63 85 {
j3 1:a3fa54415b4e 86 printf("IMU temperature = %05.3f\n\n", imuTemperature);
j3 0:0db9a7ed2e63 87 }
j3 0:0db9a7ed2e63 88 else
j3 0:0db9a7ed2e63 89 {
j3 1:a3fa54415b4e 90 printf("Failed to read temperature.\n\n");
j3 0:0db9a7ed2e63 91 }
j3 1:a3fa54415b4e 92
j3 1:a3fa54415b4e 93 printf("/***********************/\n\n\n\n");
j3 0:0db9a7ed2e63 94 }
j3 0:0db9a7ed2e63 95
j3 0:0db9a7ed2e63 96 wait(1.0);
j3 0:0db9a7ed2e63 97 bLED = !bLED;
j3 0:0db9a7ed2e63 98 loopCnt++;
j3 1:a3fa54415b4e 99 if(loopCnt >= 5)
j3 0:0db9a7ed2e63 100 {
j3 0:0db9a7ed2e63 101 loopCnt = 0;
j3 0:0db9a7ed2e63 102 }
j3 0:0db9a7ed2e63 103 }
j3 0:0db9a7ed2e63 104 }
j3 0:0db9a7ed2e63 105
j3 0:0db9a7ed2e63 106
j3 0:0db9a7ed2e63 107 //*****************************************************************************
j3 1:a3fa54415b4e 108 void printVoltage(const char *msg, MAX32630FTHR &pegasus, GetVoltageMbrFxPointer_t mbrFxPtr)
j3 0:0db9a7ed2e63 109 {
j3 1:a3fa54415b4e 110 float volts;
j3 0:0db9a7ed2e63 111
j3 1:a3fa54415b4e 112 if((pegasus.*mbrFxPtr)(&volts) == 0)
j3 0:0db9a7ed2e63 113 {
j3 1:a3fa54415b4e 114 printf(msg, volts);
j3 0:0db9a7ed2e63 115 }
j3 0:0db9a7ed2e63 116 else
j3 0:0db9a7ed2e63 117 {
j3 1:a3fa54415b4e 118 printf("Failed to get voltage\n\n");
j3 0:0db9a7ed2e63 119 }
j3 0:0db9a7ed2e63 120 }
j3 0:0db9a7ed2e63 121
j3 0:0db9a7ed2e63 122
j3 0:0db9a7ed2e63 123 //*****************************************************************************
j3 0:0db9a7ed2e63 124 void dumpImuRegisters(BMI160 &imu)
j3 0:0db9a7ed2e63 125 {
j3 0:0db9a7ed2e63 126 printRegister(imu, BMI160::CHIP_ID);
j3 1:a3fa54415b4e 127 printBlock(imu, BMI160::ERR_REG,BMI160::FIFO_DATA);
j3 1:a3fa54415b4e 128 printBlock(imu, BMI160::ACC_CONF, BMI160::FIFO_CONFIG_1);
j3 1:a3fa54415b4e 129 printBlock(imu, BMI160::MAG_IF_0, BMI160::SELF_TEST);
j3 1:a3fa54415b4e 130 printBlock(imu, BMI160::NV_CONF, BMI160::STEP_CONF_1);
j3 0:0db9a7ed2e63 131 printRegister(imu, BMI160::CMD);
j3 0:0db9a7ed2e63 132 printf("\n");
j3 0:0db9a7ed2e63 133 }
j3 0:0db9a7ed2e63 134
j3 0:0db9a7ed2e63 135
j3 0:0db9a7ed2e63 136 //*****************************************************************************
j3 0:0db9a7ed2e63 137 void printRegister(BMI160 &imu, BMI160::Registers reg)
j3 0:0db9a7ed2e63 138 {
j3 0:0db9a7ed2e63 139 uint8_t data;
j3 1:a3fa54415b4e 140 if(imu.readRegister(reg, &data) == BMI160::RTN_NO_ERROR)
j3 0:0db9a7ed2e63 141 {
j3 0:0db9a7ed2e63 142 printf("IMU Register 0x%02x = 0x%02x\n", reg, data);
j3 0:0db9a7ed2e63 143 }
j3 0:0db9a7ed2e63 144 else
j3 0:0db9a7ed2e63 145 {
j3 0:0db9a7ed2e63 146 printf("Failed to read register\n");
j3 0:0db9a7ed2e63 147 }
j3 0:0db9a7ed2e63 148 }
j3 0:0db9a7ed2e63 149
j3 0:0db9a7ed2e63 150
j3 0:0db9a7ed2e63 151 //*****************************************************************************
j3 1:a3fa54415b4e 152 void printBlock(BMI160 &imu, BMI160::Registers startReg, BMI160::Registers stopReg)
j3 0:0db9a7ed2e63 153 {
j3 0:0db9a7ed2e63 154 uint8_t numBytes = ((stopReg - startReg) + 1);
j3 1:a3fa54415b4e 155 uint8_t buff[numBytes];
j3 0:0db9a7ed2e63 156 uint8_t offset = static_cast<uint8_t>(startReg);
j3 0:0db9a7ed2e63 157
j3 1:a3fa54415b4e 158 if(imu.readBlock(startReg, stopReg, buff) == BMI160::RTN_NO_ERROR)
j3 0:0db9a7ed2e63 159 {
j3 0:0db9a7ed2e63 160 for(uint8_t idx = offset; idx < (numBytes + offset); idx++)
j3 0:0db9a7ed2e63 161 {
j3 0:0db9a7ed2e63 162 printf("IMU Register 0x%02x = 0x%02x\n", idx, buff[idx - offset]);
j3 0:0db9a7ed2e63 163 }
j3 0:0db9a7ed2e63 164 }
j3 0:0db9a7ed2e63 165 else
j3 0:0db9a7ed2e63 166 {
j3 0:0db9a7ed2e63 167 printf("Failed to read block\n");
j3 0:0db9a7ed2e63 168 }
j3 0:0db9a7ed2e63 169 }