![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
New Self Balancing Code
Dependencies: mbed BMI160 max32630fthr_pitch USBDevice Math
main.cpp@2:ba0a55e05168, 2018-05-04 (annotated)
- Committer:
- Emre.Eken
- Date:
- Fri May 04 13:41:28 2018 +0300
- Revision:
- 2:ba0a55e05168
- Parent:
- 0:4b4fbf5daa1c
- Child:
- 4:fc8ef84a7dbc
Some minor changes are done to make it be compiled by IAR. There is no diffence with the previous revision in terms of functionality
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
EmreE | 0:4b4fbf5daa1c | 1 | /********************************************************************** |
EmreE | 0:4b4fbf5daa1c | 2 | * Copyright (C) 2016 Maxim Integrated Products, Inc., All Rights Reserved. |
EmreE | 0:4b4fbf5daa1c | 3 | * |
EmreE | 0:4b4fbf5daa1c | 4 | * Permission is hereby granted, free of charge, to any person obtaining a |
EmreE | 0:4b4fbf5daa1c | 5 | * copy of this software and associated documentation files (the "Software"), |
EmreE | 0:4b4fbf5daa1c | 6 | * to deal in the Software without restriction, including without limitation |
EmreE | 0:4b4fbf5daa1c | 7 | * the rights to use, copy, modify, merge, publish, distribute, sublicense, |
EmreE | 0:4b4fbf5daa1c | 8 | * and/or sell copies of the Software, and to permit persons to whom the |
EmreE | 0:4b4fbf5daa1c | 9 | * Software is furnished to do so, subject to the following conditions: |
EmreE | 0:4b4fbf5daa1c | 10 | * |
EmreE | 0:4b4fbf5daa1c | 11 | * The above copyright notice and this permission notice shall be included |
EmreE | 0:4b4fbf5daa1c | 12 | * in all copies or substantial portions of the Software. |
EmreE | 0:4b4fbf5daa1c | 13 | * |
EmreE | 0:4b4fbf5daa1c | 14 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS |
EmreE | 0:4b4fbf5daa1c | 15 | * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF |
EmreE | 0:4b4fbf5daa1c | 16 | * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. |
EmreE | 0:4b4fbf5daa1c | 17 | * IN NO EVENT SHALL MAXIM INTEGRATED BE LIABLE FOR ANY CLAIM, DAMAGES |
EmreE | 0:4b4fbf5daa1c | 18 | * OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, |
EmreE | 0:4b4fbf5daa1c | 19 | * ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
EmreE | 0:4b4fbf5daa1c | 20 | * OTHER DEALINGS IN THE SOFTWARE. |
EmreE | 0:4b4fbf5daa1c | 21 | * |
EmreE | 0:4b4fbf5daa1c | 22 | * Except as contained in this notice, the name of Maxim Integrated |
EmreE | 0:4b4fbf5daa1c | 23 | * Products, Inc. shall not be used except as stated in the Maxim Integrated |
EmreE | 0:4b4fbf5daa1c | 24 | * Products, Inc. Branding Policy. |
EmreE | 0:4b4fbf5daa1c | 25 | * |
EmreE | 0:4b4fbf5daa1c | 26 | * The mere transfer of this software does not imply any licenses |
EmreE | 0:4b4fbf5daa1c | 27 | * of trade secrets, proprietary technology, copyrights, patents, |
EmreE | 0:4b4fbf5daa1c | 28 | * trademarks, maskwork rights, or any other form of intellectual |
EmreE | 0:4b4fbf5daa1c | 29 | * property whatsoever. Maxim Integrated Products, Inc. retains all |
EmreE | 0:4b4fbf5daa1c | 30 | * ownership rights. |
EmreE | 0:4b4fbf5daa1c | 31 | **********************************************************************/ |
EmreE | 0:4b4fbf5daa1c | 32 | |
EmreE | 0:4b4fbf5daa1c | 33 | |
EmreE | 0:4b4fbf5daa1c | 34 | #include "mbed.h" |
EmreE | 0:4b4fbf5daa1c | 35 | #include "bmi160.h" |
EmreE | 0:4b4fbf5daa1c | 36 | #include "max32630hsp.h" |
EmreE | 0:4b4fbf5daa1c | 37 | |
EmreE | 0:4b4fbf5daa1c | 38 | MAX32630HSP icarus(MAX32630HSP::VIO_3V3); |
EmreE | 0:4b4fbf5daa1c | 39 | |
EmreE | 0:4b4fbf5daa1c | 40 | DigitalOut rLED(LED1, LED_OFF); |
EmreE | 0:4b4fbf5daa1c | 41 | DigitalOut gLED(LED2, LED_OFF); |
EmreE | 0:4b4fbf5daa1c | 42 | DigitalOut bLED(LED3, LED_OFF); |
EmreE | 0:4b4fbf5daa1c | 43 | |
EmreE | 0:4b4fbf5daa1c | 44 | Serial pc(USBTX,USBRX); |
EmreE | 0:4b4fbf5daa1c | 45 | |
EmreE | 0:4b4fbf5daa1c | 46 | I2C i2cBus(I2C2_SDA, I2C2_SCL); |
EmreE | 0:4b4fbf5daa1c | 47 | |
EmreE | 0:4b4fbf5daa1c | 48 | BMI160_I2C imu(i2cBus, BMI160_I2C::I2C_ADRS_SDO_LO); |
EmreE | 0:4b4fbf5daa1c | 49 | |
EmreE | 0:4b4fbf5daa1c | 50 | void dumpImuRegisters(BMI160 &imu); |
EmreE | 0:4b4fbf5daa1c | 51 | void printRegister(BMI160 &imu, BMI160::Registers reg); |
EmreE | 0:4b4fbf5daa1c | 52 | void printBlock(BMI160 &imu, BMI160::Registers startReg, BMI160::Registers stopReg); |
EmreE | 0:4b4fbf5daa1c | 53 | |
EmreE | 0:4b4fbf5daa1c | 54 | int main() |
EmreE | 0:4b4fbf5daa1c | 55 | { |
EmreE | 0:4b4fbf5daa1c | 56 | i2cBus.frequency(400000); |
EmreE | 0:4b4fbf5daa1c | 57 | |
EmreE | 0:4b4fbf5daa1c | 58 | pc.printf("\033[H"); //home |
EmreE | 0:4b4fbf5daa1c | 59 | pc.printf("\033[0J"); //erase from cursor to end of screen |
EmreE | 0:4b4fbf5daa1c | 60 | |
EmreE | 0:4b4fbf5daa1c | 61 | uint32_t failures = 0; |
EmreE | 0:4b4fbf5daa1c | 62 | |
EmreE | 0:4b4fbf5daa1c | 63 | if(imu.setSensorPowerMode(BMI160::GYRO, BMI160::NORMAL) != BMI160::RTN_NO_ERROR) |
EmreE | 0:4b4fbf5daa1c | 64 | { |
EmreE | 0:4b4fbf5daa1c | 65 | pc.printf("Failed to set gyroscope power mode\r\n"); |
EmreE | 0:4b4fbf5daa1c | 66 | failures++; |
EmreE | 0:4b4fbf5daa1c | 67 | } |
EmreE | 0:4b4fbf5daa1c | 68 | wait_ms(100); |
EmreE | 0:4b4fbf5daa1c | 69 | |
EmreE | 0:4b4fbf5daa1c | 70 | if(imu.setSensorPowerMode(BMI160::ACC, BMI160::NORMAL) != BMI160::RTN_NO_ERROR) |
EmreE | 0:4b4fbf5daa1c | 71 | { |
EmreE | 0:4b4fbf5daa1c | 72 | pc.printf("Failed to set accelerometer power mode\r\n"); |
EmreE | 0:4b4fbf5daa1c | 73 | failures++; |
EmreE | 0:4b4fbf5daa1c | 74 | } |
EmreE | 0:4b4fbf5daa1c | 75 | wait_ms(100); |
EmreE | 0:4b4fbf5daa1c | 76 | |
EmreE | 0:4b4fbf5daa1c | 77 | |
EmreE | 0:4b4fbf5daa1c | 78 | BMI160::AccConfig accConfig; |
EmreE | 0:4b4fbf5daa1c | 79 | //example of using getSensorConfig |
EmreE | 0:4b4fbf5daa1c | 80 | if(imu.getSensorConfig(accConfig) == BMI160::RTN_NO_ERROR) |
EmreE | 0:4b4fbf5daa1c | 81 | { |
EmreE | 0:4b4fbf5daa1c | 82 | pc.printf("ACC Range = %d\r\n", accConfig.range); |
EmreE | 0:4b4fbf5daa1c | 83 | pc.printf("ACC UnderSampling = %d\r\n", accConfig.us); |
EmreE | 0:4b4fbf5daa1c | 84 | pc.printf("ACC BandWidthParam = %d\r\n", accConfig.bwp); |
EmreE | 0:4b4fbf5daa1c | 85 | pc.printf("ACC OutputDataRate = %d\r\n\r\n", accConfig.odr); |
EmreE | 0:4b4fbf5daa1c | 86 | } |
EmreE | 0:4b4fbf5daa1c | 87 | else |
EmreE | 0:4b4fbf5daa1c | 88 | { |
EmreE | 0:4b4fbf5daa1c | 89 | pc.printf("Failed to get accelerometer configuration\r\n"); |
EmreE | 0:4b4fbf5daa1c | 90 | failures++; |
EmreE | 0:4b4fbf5daa1c | 91 | } |
EmreE | 0:4b4fbf5daa1c | 92 | |
EmreE | 0:4b4fbf5daa1c | 93 | //example of setting user defined configuration |
EmreE | 0:4b4fbf5daa1c | 94 | accConfig.range = BMI160::SENS_4G; |
EmreE | 0:4b4fbf5daa1c | 95 | accConfig.us = BMI160::ACC_US_OFF; |
EmreE | 0:4b4fbf5daa1c | 96 | accConfig.bwp = BMI160::ACC_BWP_2; |
EmreE | 0:4b4fbf5daa1c | 97 | accConfig.odr = BMI160::ACC_ODR_8; |
EmreE | 0:4b4fbf5daa1c | 98 | if(imu.setSensorConfig(accConfig) == BMI160::RTN_NO_ERROR) |
EmreE | 0:4b4fbf5daa1c | 99 | { |
EmreE | 0:4b4fbf5daa1c | 100 | pc.printf("ACC Range = %d\r\n", accConfig.range); |
EmreE | 0:4b4fbf5daa1c | 101 | pc.printf("ACC UnderSampling = %d\r\n", accConfig.us); |
EmreE | 0:4b4fbf5daa1c | 102 | pc.printf("ACC BandWidthParam = %d\r\n", accConfig.bwp); |
EmreE | 0:4b4fbf5daa1c | 103 | pc.printf("ACC OutputDataRate = %d\r\n\r\n", accConfig.odr); |
EmreE | 0:4b4fbf5daa1c | 104 | } |
EmreE | 0:4b4fbf5daa1c | 105 | else |
EmreE | 0:4b4fbf5daa1c | 106 | { |
EmreE | 0:4b4fbf5daa1c | 107 | pc.printf("Failed to set accelerometer configuration\r\n"); |
EmreE | 0:4b4fbf5daa1c | 108 | failures++; |
EmreE | 0:4b4fbf5daa1c | 109 | } |
EmreE | 0:4b4fbf5daa1c | 110 | |
EmreE | 0:4b4fbf5daa1c | 111 | BMI160::GyroConfig gyroConfig; |
EmreE | 0:4b4fbf5daa1c | 112 | if(imu.getSensorConfig(gyroConfig) == BMI160::RTN_NO_ERROR) |
EmreE | 0:4b4fbf5daa1c | 113 | { |
EmreE | 0:4b4fbf5daa1c | 114 | pc.printf("GYRO Range = %d\r\n", gyroConfig.range); |
EmreE | 0:4b4fbf5daa1c | 115 | pc.printf("GYRO BandWidthParam = %d\r\n", gyroConfig.bwp); |
EmreE | 0:4b4fbf5daa1c | 116 | pc.printf("GYRO OutputDataRate = %d\r\n\r\n", gyroConfig.odr); |
EmreE | 0:4b4fbf5daa1c | 117 | } |
EmreE | 0:4b4fbf5daa1c | 118 | else |
EmreE | 0:4b4fbf5daa1c | 119 | { |
EmreE | 0:4b4fbf5daa1c | 120 | pc.printf("Failed to get gyroscope configuration\r\n"); |
EmreE | 0:4b4fbf5daa1c | 121 | failures++; |
EmreE | 0:4b4fbf5daa1c | 122 | } |
EmreE | 0:4b4fbf5daa1c | 123 | |
EmreE | 0:4b4fbf5daa1c | 124 | wait(1.0); |
EmreE | 0:4b4fbf5daa1c | 125 | pc.printf("\033[H"); //home |
EmreE | 0:4b4fbf5daa1c | 126 | pc.printf("\033[0J"); //erase from cursor to end of screen |
EmreE | 0:4b4fbf5daa1c | 127 | |
EmreE | 0:4b4fbf5daa1c | 128 | if(failures == 0) |
EmreE | 0:4b4fbf5daa1c | 129 | { |
EmreE | 0:4b4fbf5daa1c | 130 | float imuTemperature; |
EmreE | 0:4b4fbf5daa1c | 131 | BMI160::SensorData accData; |
EmreE | 0:4b4fbf5daa1c | 132 | BMI160::SensorData gyroData; |
EmreE | 0:4b4fbf5daa1c | 133 | BMI160::SensorTime sensorTime; |
EmreE | 0:4b4fbf5daa1c | 134 | |
EmreE | 0:4b4fbf5daa1c | 135 | while(1) |
EmreE | 0:4b4fbf5daa1c | 136 | { |
EmreE | 0:4b4fbf5daa1c | 137 | imu.getGyroAccXYZandSensorTime(accData, gyroData, sensorTime, accConfig.range, gyroConfig.range); |
EmreE | 0:4b4fbf5daa1c | 138 | imu.getTemperature(&imuTemperature); |
EmreE | 0:4b4fbf5daa1c | 139 | |
EmreE | 0:4b4fbf5daa1c | 140 | pc.printf("ACC xAxis = %s%4.3f\r\n", "\033[K", accData.xAxis.scaled); |
EmreE | 0:4b4fbf5daa1c | 141 | pc.printf("ACC yAxis = %s%4.3f\r\n", "\033[K", accData.yAxis.scaled); |
EmreE | 0:4b4fbf5daa1c | 142 | pc.printf("ACC zAxis = %s%4.3f\r\n\r\n", "\033[K", accData.zAxis.scaled); |
EmreE | 0:4b4fbf5daa1c | 143 | |
EmreE | 0:4b4fbf5daa1c | 144 | pc.printf("GYRO xAxis = %s%5.1f\r\n", "\033[K", gyroData.xAxis.scaled); |
EmreE | 0:4b4fbf5daa1c | 145 | pc.printf("GYRO yAxis = %s%5.1f\r\n", "\033[K", gyroData.yAxis.scaled); |
EmreE | 0:4b4fbf5daa1c | 146 | pc.printf("GYRO zAxis = %s%5.1f\r\n\r\n", "\033[K", gyroData.zAxis.scaled); |
EmreE | 0:4b4fbf5daa1c | 147 | |
EmreE | 0:4b4fbf5daa1c | 148 | pc.printf("Sensor Time = %s%f\r\n", "\033[K", sensorTime.seconds); |
EmreE | 0:4b4fbf5daa1c | 149 | pc.printf("Sensor Temperature = %s%5.3f\r\n", "\033[K", imuTemperature); |
EmreE | 0:4b4fbf5daa1c | 150 | |
EmreE | 0:4b4fbf5daa1c | 151 | pc.printf("\033[H"); //home |
EmreE | 0:4b4fbf5daa1c | 152 | gLED = !gLED; |
EmreE | 0:4b4fbf5daa1c | 153 | wait(0.5); |
EmreE | 0:4b4fbf5daa1c | 154 | } |
EmreE | 0:4b4fbf5daa1c | 155 | } |
EmreE | 0:4b4fbf5daa1c | 156 | else |
EmreE | 0:4b4fbf5daa1c | 157 | { |
EmreE | 0:4b4fbf5daa1c | 158 | while(1) |
EmreE | 0:4b4fbf5daa1c | 159 | { |
EmreE | 0:4b4fbf5daa1c | 160 | rLED = !rLED; |
EmreE | 0:4b4fbf5daa1c | 161 | wait(0.25); |
EmreE | 0:4b4fbf5daa1c | 162 | } |
EmreE | 0:4b4fbf5daa1c | 163 | } |
EmreE | 0:4b4fbf5daa1c | 164 | } |
EmreE | 0:4b4fbf5daa1c | 165 | |
EmreE | 0:4b4fbf5daa1c | 166 | |
EmreE | 0:4b4fbf5daa1c | 167 | //***************************************************************************** |
EmreE | 0:4b4fbf5daa1c | 168 | void dumpImuRegisters(BMI160 &imu) |
EmreE | 0:4b4fbf5daa1c | 169 | { |
EmreE | 0:4b4fbf5daa1c | 170 | printRegister(imu, BMI160::CHIP_ID); |
EmreE | 0:4b4fbf5daa1c | 171 | printBlock(imu, BMI160::ERR_REG,BMI160::FIFO_DATA); |
EmreE | 0:4b4fbf5daa1c | 172 | printBlock(imu, BMI160::ACC_CONF, BMI160::FIFO_CONFIG_1); |
EmreE | 0:4b4fbf5daa1c | 173 | printBlock(imu, BMI160::MAG_IF_0, BMI160::SELF_TEST); |
EmreE | 0:4b4fbf5daa1c | 174 | printBlock(imu, BMI160::NV_CONF, BMI160::STEP_CONF_1); |
EmreE | 0:4b4fbf5daa1c | 175 | printRegister(imu, BMI160::CMD); |
EmreE | 0:4b4fbf5daa1c | 176 | pc.printf("\r\n"); |
EmreE | 0:4b4fbf5daa1c | 177 | } |
EmreE | 0:4b4fbf5daa1c | 178 | |
EmreE | 0:4b4fbf5daa1c | 179 | |
EmreE | 0:4b4fbf5daa1c | 180 | //***************************************************************************** |
EmreE | 0:4b4fbf5daa1c | 181 | void printRegister(BMI160 &imu, BMI160::Registers reg) |
EmreE | 0:4b4fbf5daa1c | 182 | { |
EmreE | 0:4b4fbf5daa1c | 183 | uint8_t data; |
EmreE | 0:4b4fbf5daa1c | 184 | if(imu.readRegister(reg, &data) == BMI160::RTN_NO_ERROR) |
EmreE | 0:4b4fbf5daa1c | 185 | { |
EmreE | 0:4b4fbf5daa1c | 186 | pc.printf("IMU Register 0x%02x = 0x%02x\r\n", reg, data); |
EmreE | 0:4b4fbf5daa1c | 187 | } |
EmreE | 0:4b4fbf5daa1c | 188 | else |
EmreE | 0:4b4fbf5daa1c | 189 | { |
EmreE | 0:4b4fbf5daa1c | 190 | pc.printf("Failed to read register\r\n"); |
EmreE | 0:4b4fbf5daa1c | 191 | } |
EmreE | 0:4b4fbf5daa1c | 192 | } |
EmreE | 0:4b4fbf5daa1c | 193 | |
EmreE | 0:4b4fbf5daa1c | 194 | |
EmreE | 0:4b4fbf5daa1c | 195 | //***************************************************************************** |
EmreE | 0:4b4fbf5daa1c | 196 | void printBlock(BMI160 &imu, BMI160::Registers startReg, BMI160::Registers stopReg) |
EmreE | 0:4b4fbf5daa1c | 197 | { |
EmreE | 0:4b4fbf5daa1c | 198 | uint8_t numBytes = ((stopReg - startReg) + 1); |
Emre.Eken | 2:ba0a55e05168 | 199 | uint8_t buff[32]; |
EmreE | 0:4b4fbf5daa1c | 200 | uint8_t offset = static_cast<uint8_t>(startReg); |
EmreE | 0:4b4fbf5daa1c | 201 | |
EmreE | 0:4b4fbf5daa1c | 202 | if(imu.readBlock(startReg, stopReg, buff) == BMI160::RTN_NO_ERROR) |
EmreE | 0:4b4fbf5daa1c | 203 | { |
EmreE | 0:4b4fbf5daa1c | 204 | for(uint8_t idx = offset; idx < (numBytes + offset); idx++) |
EmreE | 0:4b4fbf5daa1c | 205 | { |
EmreE | 0:4b4fbf5daa1c | 206 | pc.printf("IMU Register 0x%02x = 0x%02x\r\n", idx, buff[idx - offset]); |
EmreE | 0:4b4fbf5daa1c | 207 | } |
EmreE | 0:4b4fbf5daa1c | 208 | } |
EmreE | 0:4b4fbf5daa1c | 209 | else |
EmreE | 0:4b4fbf5daa1c | 210 | { |
EmreE | 0:4b4fbf5daa1c | 211 | pc.printf("Failed to read block\r\n"); |
EmreE | 0:4b4fbf5daa1c | 212 | } |
EmreE | 0:4b4fbf5daa1c | 213 | } |