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/**********************************************************************
* Copyright (C) 2016 Maxim Integrated Products, Inc., All Rights Reserved.
*
* Permission is hereby granted, free of charge, to any person obtaining a
* copy of this software and associated documentation files (the "Software"),
* to deal in the Software without restriction, including without limitation
* the rights to use, copy, modify, merge, publish, distribute, sublicense,
* and/or sell copies of the Software, and to permit persons to whom the
* Software is furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included
* in all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
* OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
* IN NO EVENT SHALL MAXIM INTEGRATED BE LIABLE FOR ANY CLAIM, DAMAGES
* OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
* ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
* OTHER DEALINGS IN THE SOFTWARE.
*
* Except as contained in this notice, the name of Maxim Integrated
* Products, Inc. shall not be used except as stated in the Maxim Integrated
* Products, Inc. Branding Policy.
*
* The mere transfer of this software does not imply any licenses
* of trade secrets, proprietary technology, copyrights, patents,
* trademarks, maskwork rights, or any other form of intellectual
* property whatsoever. Maxim Integrated Products, Inc. retains all
* ownership rights.
**********************************************************************/


#include "mbed.h"
#include "SDFileSystem.h"
#include "max32630fthr.h"
#include "mbed-dev/targets/TARGET_Maxim/TARGET_MAX32630/mxc/adc.h"
#include "mbed-dev/targets/TARGET_Maxim/TARGET_MAX32630/mxc/mxc_errors.h"

#include "bmi160.h"

void dumpPmicRegisters(MAX32630FTHR &pegasus);
int readBatteryRaw(uint16_t *data);
float getBatteryVolts(uint16_t data);
void dumpImuRegisters(BMI160 &imu);
void printRegister(BMI160 &imu, BMI160::Registers reg);
void printBlock(BMI160 &imu, BMI160::Registers startReg, BMI160::Registers stopReg, uint8_t *buff);


int main()
{
    MAX32630FTHR pegasus(MAX32630FTHR::VIO_3V3);
    pegasus.init();
    //connect battery to monitor pin AIN_0
    pegasus.max14690.monSet(MAX14690::MON_BAT, MAX14690::MON_DIV1);
    dumpPmicRegisters(pegasus);
    
    DigitalOut rLED(LED1, LED_OFF);
    DigitalOut gLED(LED2, LED_OFF);
    DigitalOut bLED(LED3, LED_ON);
    
    BMI160 imu(pegasus.i2c, BMI160::I2C_ADRS_SDO_LO);
    dumpImuRegisters(imu);
    
    uint16_t battRawData;
    uint32_t loopCnt = 0;
    
    while(1)
    {
        if(loopCnt == 0)
        {
            if(readBatteryRaw(&battRawData) == E_NO_ERROR)
            {
                printf("Battery voltage = %05.3f\n\n", getBatteryVolts(battRawData));
            }
            else
            {
                printf("Battery voltage = Overflow\n\n");
            }
        }
        
        wait(1.0);
        bLED = !bLED;
        loopCnt++;
        if(loopCnt >= 15)
        {
            loopCnt = 0;
        }
    }
}


//*****************************************************************************
void dumpPmicRegisters(MAX32630FTHR &pegasus)
{
    char reg_val[32];
    size_t len = sizeof(reg_val);
    
    if(pegasus.max14690.readAllReg(reg_val, len) == 0)
    {
        for(uint8_t idx = 0; idx < len; idx++)
        {
            printf("PMIC Register 0x%02x = 0x%02x\n", idx, reg_val[idx]);
        }
        printf("\n");
    }
    else
    {
        printf("Failed to read PMIC registers\n\n");
    }
   
}


//*****************************************************************************
void dumpImuRegisters(BMI160 &imu)
{
    //dumps registers defined by datasheet
    uint8_t buff[0x30];
    
    printRegister(imu, BMI160::CHIP_ID);
    printBlock(imu, BMI160::ERR_REG,BMI160::FIFO_DATA, buff);
    printBlock(imu, BMI160::ACC_CONF, BMI160::FIFO_CONFIG_1, buff);
    printBlock(imu, BMI160::MAG_IF_0, BMI160::SELF_TEST, buff);
    printBlock(imu, BMI160::NV_CONF, BMI160::STEP_CONF_1, buff);
    printRegister(imu, BMI160::CMD);
    printf("\n");
}


//*****************************************************************************
void printRegister(BMI160 &imu, BMI160::Registers reg)
{
    uint8_t data;
    if(imu.readRegister(reg, &data) == BMI160::NO_ERROR)
    {
        printf("IMU Register 0x%02x = 0x%02x\n", reg, data);
    }
    else
    {
        printf("Failed to read register\n");
    }
}


//*****************************************************************************
void printBlock(BMI160 &imu, BMI160::Registers startReg, BMI160::Registers stopReg, uint8_t *buff)
{
    uint8_t numBytes = ((stopReg - startReg) + 1);
    uint8_t offset = static_cast<uint8_t>(startReg);
    
    if(imu.readBlock(startReg, stopReg, buff) == BMI160::NO_ERROR)
    {
        for(uint8_t idx = offset; idx < (numBytes + offset); idx++)
        {
            printf("IMU Register 0x%02x = 0x%02x\n", idx, buff[idx - offset]);
        }
    }
    else
    {
        printf("Failed to read block\n");
    }
}


//*****************************************************************************
int readBatteryRaw(uint16_t *data)
{
    static bool init = false;
    int rtnVal = E_NULL_PTR;
    
    if(!init)
    {
        if(ADC_Init() == E_NO_ERROR)
        {
            init = true;
        }
    }
    
    if(init)
    {
        ADC_StartConvert(ADC_CH_0_DIV_5, 1, 0);
        rtnVal = ADC_GetData(data);
    }
    
    return rtnVal;
}


//*****************************************************************************
float getBatteryVolts(uint16_t data)
{
    return((((0x03FF & data) * 6.0F)/1023.0F));
}