![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
Final Tree
Dependencies: mbed BMI160 max32630fthr_pitch USBDevice Math
Diff: main.cpp
- Revision:
- 0:4b4fbf5daa1c
- Child:
- 2:ba0a55e05168
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main.cpp Wed Apr 25 11:00:47 2018 +0000 @@ -0,0 +1,213 @@ +/********************************************************************** +* 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 "bmi160.h" +#include "max32630hsp.h" + +MAX32630HSP icarus(MAX32630HSP::VIO_3V3); + +DigitalOut rLED(LED1, LED_OFF); +DigitalOut gLED(LED2, LED_OFF); +DigitalOut bLED(LED3, LED_OFF); + +Serial pc(USBTX,USBRX); + +I2C i2cBus(I2C2_SDA, I2C2_SCL); + +BMI160_I2C imu(i2cBus, BMI160_I2C::I2C_ADRS_SDO_LO); + +void dumpImuRegisters(BMI160 &imu); +void printRegister(BMI160 &imu, BMI160::Registers reg); +void printBlock(BMI160 &imu, BMI160::Registers startReg, BMI160::Registers stopReg); + +int main() +{ + i2cBus.frequency(400000); + + pc.printf("\033[H"); //home + pc.printf("\033[0J"); //erase from cursor to end of screen + + uint32_t failures = 0; + + if(imu.setSensorPowerMode(BMI160::GYRO, BMI160::NORMAL) != BMI160::RTN_NO_ERROR) + { + pc.printf("Failed to set gyroscope power mode\r\n"); + failures++; + } + wait_ms(100); + + if(imu.setSensorPowerMode(BMI160::ACC, BMI160::NORMAL) != BMI160::RTN_NO_ERROR) + { + pc.printf("Failed to set accelerometer power mode\r\n"); + failures++; + } + wait_ms(100); + + + BMI160::AccConfig accConfig; + //example of using getSensorConfig + if(imu.getSensorConfig(accConfig) == BMI160::RTN_NO_ERROR) + { + pc.printf("ACC Range = %d\r\n", accConfig.range); + pc.printf("ACC UnderSampling = %d\r\n", accConfig.us); + pc.printf("ACC BandWidthParam = %d\r\n", accConfig.bwp); + pc.printf("ACC OutputDataRate = %d\r\n\r\n", accConfig.odr); + } + else + { + pc.printf("Failed to get accelerometer configuration\r\n"); + failures++; + } + + //example of setting user defined configuration + accConfig.range = BMI160::SENS_4G; + accConfig.us = BMI160::ACC_US_OFF; + accConfig.bwp = BMI160::ACC_BWP_2; + accConfig.odr = BMI160::ACC_ODR_8; + if(imu.setSensorConfig(accConfig) == BMI160::RTN_NO_ERROR) + { + pc.printf("ACC Range = %d\r\n", accConfig.range); + pc.printf("ACC UnderSampling = %d\r\n", accConfig.us); + pc.printf("ACC BandWidthParam = %d\r\n", accConfig.bwp); + pc.printf("ACC OutputDataRate = %d\r\n\r\n", accConfig.odr); + } + else + { + pc.printf("Failed to set accelerometer configuration\r\n"); + failures++; + } + + BMI160::GyroConfig gyroConfig; + if(imu.getSensorConfig(gyroConfig) == BMI160::RTN_NO_ERROR) + { + pc.printf("GYRO Range = %d\r\n", gyroConfig.range); + pc.printf("GYRO BandWidthParam = %d\r\n", gyroConfig.bwp); + pc.printf("GYRO OutputDataRate = %d\r\n\r\n", gyroConfig.odr); + } + else + { + pc.printf("Failed to get gyroscope configuration\r\n"); + failures++; + } + + wait(1.0); + pc.printf("\033[H"); //home + pc.printf("\033[0J"); //erase from cursor to end of screen + + if(failures == 0) + { + float imuTemperature; + BMI160::SensorData accData; + BMI160::SensorData gyroData; + BMI160::SensorTime sensorTime; + + while(1) + { + imu.getGyroAccXYZandSensorTime(accData, gyroData, sensorTime, accConfig.range, gyroConfig.range); + imu.getTemperature(&imuTemperature); + + pc.printf("ACC xAxis = %s%4.3f\r\n", "\033[K", accData.xAxis.scaled); + pc.printf("ACC yAxis = %s%4.3f\r\n", "\033[K", accData.yAxis.scaled); + pc.printf("ACC zAxis = %s%4.3f\r\n\r\n", "\033[K", accData.zAxis.scaled); + + pc.printf("GYRO xAxis = %s%5.1f\r\n", "\033[K", gyroData.xAxis.scaled); + pc.printf("GYRO yAxis = %s%5.1f\r\n", "\033[K", gyroData.yAxis.scaled); + pc.printf("GYRO zAxis = %s%5.1f\r\n\r\n", "\033[K", gyroData.zAxis.scaled); + + pc.printf("Sensor Time = %s%f\r\n", "\033[K", sensorTime.seconds); + pc.printf("Sensor Temperature = %s%5.3f\r\n", "\033[K", imuTemperature); + + pc.printf("\033[H"); //home + gLED = !gLED; + wait(0.5); + } + } + else + { + while(1) + { + rLED = !rLED; + wait(0.25); + } + } +} + + +//***************************************************************************** +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); + pc.printf("\r\n"); +} + + +//***************************************************************************** +void printRegister(BMI160 &imu, BMI160::Registers reg) +{ + uint8_t data; + if(imu.readRegister(reg, &data) == BMI160::RTN_NO_ERROR) + { + pc.printf("IMU Register 0x%02x = 0x%02x\r\n", reg, data); + } + else + { + pc.printf("Failed to read register\r\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++) + { + pc.printf("IMU Register 0x%02x = 0x%02x\r\n", idx, buff[idx - offset]); + } + } + else + { + pc.printf("Failed to read block\r\n"); + } +}