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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 "bmi160.h"


void dumpImuRegisters(BMI160 &imu);
void printRegister(BMI160 &imu, BMI160::Registers reg);
void printBlock(BMI160 &imu, BMI160::Registers startReg, BMI160::Registers stopReg);

typedef int32_t (MAX32630FTHR::*GetVoltageMbrFxPointer_t)(float *);
void printVoltage(const char *msg, MAX32630FTHR &pegasus, GetVoltageMbrFxPointer_t mbrFxPtr);


int main()
{
    MAX32630FTHR pegasus;
    pegasus.init(MAX32630FTHR::VIO_3V3);
    
    DigitalOut rLED(LED1, LED_OFF);
    DigitalOut gLED(LED2, LED_OFF);
    DigitalOut bLED(LED3, LED_ON);
    
    I2C i2cBus(P5_7, P6_0);
    BMI160_I2C imu(i2cBus, BMI160_I2C::I2C_ADRS_SDO_LO);
    dumpImuRegisters(imu);
    
    uint32_t loopCnt = 0;
    
    imu.setSensorPowerMode(BMI160::GYRO, BMI160::NORMAL);
    wait_ms(100);
    imu.setSensorPowerMode(BMI160::ACC, BMI160::NORMAL);
    wait_ms(5);
    printRegister(imu, BMI160::PMU_STATUS);
    
    float imuTemperature;
    
    while(1)
    {
        if(loopCnt == 0)
        {
            printf("/***********************/\n\n");
            printVoltage(" Battery voltage = %05.3f\n\n", pegasus, &MAX32630FTHR::getBatteryVoltage);
            printVoltage(" System  voltage = %05.3f\n\n", pegasus, &MAX32630FTHR::getSysVoltage);
            printVoltage(" Buck1   voltage = %05.3f\n\n", pegasus, &MAX32630FTHR::getBuck1Voltage);
            printVoltage(" Buck2   voltage = %05.3f\n\n", pegasus, &MAX32630FTHR::getBuck2Voltage);
            printVoltage(" LDO1    voltage = %05.3f\n\n", pegasus, &MAX32630FTHR::getLDO1Voltage);
            printVoltage(" LDO2    voltage = %05.3f\n\n", pegasus, &MAX32630FTHR::getLDO2Voltage);
            printVoltage(" LDO3    voltage = %05.3f\n\n", pegasus, &MAX32630FTHR::getLDO3Voltage);
            
            if(imu.getTemperature(&imuTemperature) == BMI160::RTN_NO_ERROR)
            {
                printf("IMU temperature = %05.3f\n\n", imuTemperature);
            }
            else
            {
                printf("Failed to read temperature.\n\n");
            }
            
            printf("/***********************/\n\n\n\n");
        }
        
        wait(1.0);
        bLED = !bLED;
        loopCnt++;
        if(loopCnt >= 5)
        {
            loopCnt = 0;
        }
    }
}


//*****************************************************************************
void printVoltage(const char *msg, MAX32630FTHR &pegasus, GetVoltageMbrFxPointer_t mbrFxPtr)
{
    float volts;
    
    if((pegasus.*mbrFxPtr)(&volts) == 0)
    {
        printf(msg, volts);
    }
    else
    {
        printf("Failed to get voltage\n\n");
    }
}


//*****************************************************************************
void dumpImuRegisters(BMI160 &imu)
{
    printRegister(imu, BMI160::CHIP_ID);
    printBlock(imu, BMI160::ERR_REG,BMI160::FIFO_DATA);
    printBlock(imu, BMI160::ACC_CONF, BMI160::FIFO_CONFIG_1);
    printBlock(imu, BMI160::MAG_IF_0, BMI160::SELF_TEST);
    printBlock(imu, BMI160::NV_CONF, BMI160::STEP_CONF_1);
    printRegister(imu, BMI160::CMD);
    printf("\n");
}


//*****************************************************************************
void printRegister(BMI160 &imu, BMI160::Registers reg)
{
    uint8_t data;
    if(imu.readRegister(reg, &data) == BMI160::RTN_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 numBytes = ((stopReg - startReg) + 1);
    uint8_t buff[numBytes];
    uint8_t offset = static_cast<uint8_t>(startReg);
    
    if(imu.readBlock(startReg, stopReg, buff) == BMI160::RTN_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");
    }
}