main.cpp

00001 /**********************************************************************
00002 * Copyright (C) 2016 Maxim Integrated Products, Inc., All Rights Reserved.
00003 *
00004 * Permission is hereby granted, free of charge, to any person obtaining a
00005 * copy of this software and associated documentation files (the "Software"),
00006 * to deal in the Software without restriction, including without limitation
00007 * the rights to use, copy, modify, merge, publish, distribute, sublicense,
00008 * and/or sell copies of the Software, and to permit persons to whom the
00009 * Software is furnished to do so, subject to the following conditions:
00010 *
00011 * The above copyright notice and this permission notice shall be included
00012 * in all copies or substantial portions of the Software.
00013 *
00014 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
00015 * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
00016 * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
00017 * IN NO EVENT SHALL MAXIM INTEGRATED BE LIABLE FOR ANY CLAIM, DAMAGES
00018 * OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
00019 * ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
00020 * OTHER DEALINGS IN THE SOFTWARE.
00021 *
00022 * Except as contained in this notice, the name of Maxim Integrated
00023 * Products, Inc. shall not be used except as stated in the Maxim Integrated
00024 * Products, Inc. Branding Policy.
00025 *
00026 * The mere transfer of this software does not imply any licenses
00027 * of trade secrets, proprietary technology, copyrights, patents,
00028 * trademarks, maskwork rights, or any other form of intellectual
00029 * property whatsoever. Maxim Integrated Products, Inc. retains all
00030 * ownership rights.
00031 **********************************************************************/
00032 
00033 
00034 #include "mbed.h"
00035 //#include "max32630fthr.h"
00036 #include "bmi160.h"
00037 
00038 
00039 void dumpImuRegisters(BMI160 &imu);
00040 void printRegister(BMI160 &imu, BMI160::Registers reg);
00041 void printBlock(BMI160 &imu, BMI160::Registers startReg, BMI160::Registers stopReg);
00042 
00043 
00044 int main()
00045 {
00046     //MAX32630FTHR pegasus(MAX32630FTHR::VIO_3V3);
00047     
00048     DigitalOut rLED(LED1, LED_OFF);
00049     DigitalOut gLED(LED2, LED_OFF);
00050     DigitalOut bLED(LED3, LED_OFF);
00051     
00052     I2C i2cBus(P5_7, P6_0);
00053     i2cBus.frequency(400000);
00054     BMI160_I2C imu(i2cBus, BMI160_I2C::I2C_ADRS_SDO_LO);
00055     
00056     printf("\033[H");  //home
00057     printf("\033[0J");  //erase from cursor to end of screen
00058     
00059     uint32_t failures = 0;
00060     
00061     if(imu.setSensorPowerMode(BMI160::GYRO, BMI160::NORMAL) != BMI160::RTN_NO_ERROR)
00062     {
00063         printf("Failed to set gyroscope power mode\n");
00064         failures++;
00065     }
00066     wait_ms(100);
00067     
00068     if(imu.setSensorPowerMode(BMI160::ACC, BMI160::NORMAL) != BMI160::RTN_NO_ERROR)
00069     {
00070         printf("Failed to set accelerometer power mode\n");
00071         failures++;
00072     }
00073     wait_ms(100);
00074     
00075     
00076     BMI160::AccConfig accConfig;
00077     //example of using getSensorConfig
00078     if(imu.getSensorConfig(accConfig) == BMI160::RTN_NO_ERROR)
00079     {
00080         printf("ACC Range = %d\n", accConfig.range);
00081         printf("ACC UnderSampling = %d\n", accConfig.us);
00082         printf("ACC BandWidthParam = %d\n", accConfig.bwp);
00083         printf("ACC OutputDataRate = %d\n\n", accConfig.odr);
00084     }
00085     else
00086     {
00087         printf("Failed to get accelerometer configuration\n");
00088         failures++;
00089     }
00090     
00091     //example of setting user defined configuration
00092     accConfig.range = BMI160::SENS_4G;
00093     accConfig.us = BMI160::ACC_US_OFF;
00094     accConfig.bwp = BMI160::ACC_BWP_2;
00095     accConfig.odr = BMI160::ACC_ODR_8;
00096     if(imu.setSensorConfig(accConfig) == BMI160::RTN_NO_ERROR)
00097     {
00098         printf("ACC Range = %d\n", accConfig.range);
00099         printf("ACC UnderSampling = %d\n", accConfig.us);
00100         printf("ACC BandWidthParam = %d\n", accConfig.bwp);
00101         printf("ACC OutputDataRate = %d\n\n", accConfig.odr);
00102     }
00103     else
00104     {
00105         printf("Failed to set accelerometer configuration\n");
00106         failures++;
00107     }
00108     
00109     BMI160::GyroConfig gyroConfig;
00110     if(imu.getSensorConfig(gyroConfig) == BMI160::RTN_NO_ERROR)
00111     {
00112         printf("GYRO Range = %d\n", gyroConfig.range);
00113         printf("GYRO BandWidthParam = %d\n", gyroConfig.bwp);
00114         printf("GYRO OutputDataRate = %d\n\n", gyroConfig.odr);
00115     }
00116     else
00117     {
00118         printf("Failed to get gyroscope configuration\n");
00119         failures++;
00120     }
00121     
00122     wait(1.0);
00123     printf("\033[H");  //home
00124     printf("\033[0J");  //erase from cursor to end of screen
00125     
00126     if(failures == 0)
00127     {
00128         float imuTemperature; 
00129         BMI160::SensorData accData;
00130         BMI160::SensorData gyroData;
00131         BMI160::SensorTime sensorTime;
00132         
00133         while(1)
00134         {
00135             imu.getGyroAccXYZandSensorTime(accData, gyroData, sensorTime, accConfig.range, gyroConfig.range);
00136             imu.getTemperature(&imuTemperature);
00137             
00138             printf("ACC xAxis = %s%4.3f\n", "\033[K", accData.xAxis.scaled);
00139             printf("ACC yAxis = %s%4.3f\n", "\033[K", accData.yAxis.scaled);
00140             printf("ACC zAxis = %s%4.3f\n\n", "\033[K", accData.zAxis.scaled);
00141             
00142             printf("GYRO xAxis = %s%5.1f\n", "\033[K", gyroData.xAxis.scaled);
00143             printf("GYRO yAxis = %s%5.1f\n", "\033[K", gyroData.yAxis.scaled);
00144             printf("GYRO zAxis = %s%5.1f\n\n", "\033[K", gyroData.zAxis.scaled);
00145             
00146             printf("Sensor Time = %s%f\n", "\033[K", sensorTime.seconds);
00147             printf("Sensor Temperature = %s%5.3f\n", "\033[K", imuTemperature);
00148             
00149             printf("\033[H");  //home
00150             gLED = !gLED;
00151         }
00152     }
00153     else
00154     {
00155         while(1)
00156         {
00157             rLED = !rLED;
00158             wait(0.25);
00159         }
00160     }
00161 }
00162 
00163 
00164 //*****************************************************************************
00165 void dumpImuRegisters(BMI160 &imu)
00166 {
00167     printRegister(imu, BMI160::CHIP_ID);
00168     printBlock(imu, BMI160::ERR_REG,BMI160::FIFO_DATA);
00169     printBlock(imu, BMI160::ACC_CONF, BMI160::FIFO_CONFIG_1);
00170     printBlock(imu, BMI160::MAG_IF_0, BMI160::SELF_TEST);
00171     printBlock(imu, BMI160::NV_CONF, BMI160::STEP_CONF_1);
00172     printRegister(imu, BMI160::CMD);
00173     printf("\n");
00174 }
00175 
00176 
00177 //*****************************************************************************
00178 void printRegister(BMI160 &imu, BMI160::Registers reg)
00179 {
00180     uint8_t data;
00181     if(imu.readRegister(reg, &data) == BMI160::RTN_NO_ERROR)
00182     {
00183         printf("IMU Register 0x%02x = 0x%02x\n", reg, data);
00184     }
00185     else
00186     {
00187         printf("Failed to read register\n");
00188     }
00189 }
00190 
00191 
00192 //*****************************************************************************
00193 void printBlock(BMI160 &imu, BMI160::Registers startReg, BMI160::Registers stopReg)
00194 {
00195     uint8_t numBytes = ((stopReg - startReg) + 1);
00196     uint8_t buff[numBytes];
00197     uint8_t offset = static_cast<uint8_t>(startReg);
00198     
00199     if(imu.readBlock(startReg, stopReg, buff) == BMI160::RTN_NO_ERROR)
00200     {
00201         for(uint8_t idx = offset; idx < (numBytes + offset); idx++)
00202         {
00203             printf("IMU Register 0x%02x = 0x%02x\n", idx, buff[idx - offset]);
00204         }
00205     }
00206     else
00207     {
00208         printf("Failed to read block\n");
00209     }
00210 }