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Access different power mode of BNO055 via nRF51-DK BLE
Dependencies: BLE_API BNO055 mbed nRF51822 nrf51_rtc
Fork of BLE_LoopbackUART_with_LSM6DS3 by
Diff: main.cpp
- Revision:
- 4:65f91237b687
- Parent:
- 3:c0d70871aa4d
- Child:
- 5:cd414aaa44f6
--- a/main.cpp Tue Jun 21 18:13:49 2016 +0000 +++ b/main.cpp Thu Jun 23 22:29:04 2016 +0000 @@ -33,8 +33,11 @@ #endif /* #if NEED_CONSOLE_OUTPUT */ BLEDevice ble; -DigitalOut led1(LED1); -DigitalOut led4(LED4); +// Status lights +DigitalOut ledAlive(LED1); +DigitalOut ledIntrG(LED3); +// Interrupt pin connection +InterruptIn intrGX(p14); //INT (Gyro & Accel Interrupt) UARTService *uartServicePtr; @@ -67,17 +70,20 @@ imu.setpowermode(POWER_MODE_LOWPOWER); break; case 51: - DEBUG("High power\n\r"); + DEBUG("No high power available for this sensor\n\r"); imu.setpowermode(POWER_MODE_NORMAL); break; default: - DEBUG("Nothing happened\n\r"); + DEBUG("Default power\n\r"); + imu.setpowermode(POWER_MODE_NORMAL); break; } if (imu.check()) { - pc.printf("BNO055 found\r\n"); + pc.printf("BNO055 WHO_AM_I's returned: 0x%X\r\n", imu.ID.id); + pc.printf("Should be 0xA0\r\n"); + imu.initIntr(); } ble.updateCharacteristicValue(uartServicePtr->getRXCharacteristicHandle(), params->data, bytesRead); @@ -86,17 +92,26 @@ void periodicCallback(void) { - led1 = !led1; + ledAlive = !ledAlive; } // Interrupt signal -void flip() { - led4 = !led4; +void flip(DigitalOut led) { + led = !led; +} + +void flip4() { +// pc.printf(" ++++ G/X Triggered!! ++++ \n\r"); + flip(ledIntrG); + imu.resetIntr(); } int main(void) { - led1 = 1; + // turn all LED off + ledAlive = 1; + ledIntrG = 1; + Ticker ticker; ticker.attach(periodicCallback, 1); @@ -122,7 +137,12 @@ // setup baud rate and reset sensor pc.baud(115200); - led4 = 1; + + // setup Interrupt mode + intrGX.mode(PullUp); + + // status light will be lit based on sensor/data change + intrGX.rise(&flip4); while (true) { ble.waitForEvent(); @@ -134,16 +154,19 @@ pc.printf("%2f,%2f,%2f\r\n", imu.gyro.x, imu.gyro.y, imu.gyro.z); imu.get_mag(); pc.printf("%2f,%2f,%2f\r\n", imu.mag.x, imu.mag.y, imu.mag.z); + // Interrupt stats: This is only enabled in Low Power Mode // 0 - no interrupt // 64 - interrupt // 128 - sleep - imu.get_intr(); - pc.printf("intr: %d\r\n", imu.intr); - if(imu.intr != 0) { - pc.printf(" == interrupted == \r\n"); - flip(); - } + //imu.get_intr(); +// pc.printf("intr: %d\r\n", imu.intr); +// if(imu.intr == 64) { +// pc.printf(" == interrupted == \r\n"); +// imu.resetIntr(); +// pc.printf("rx before: %d\r\n", imu.test3); +// pc.printf("rx after: %d\r\n", imu.test4); +// } wait(1.0); }