Charles Kim Kabiling / Mbed 2 deprecated MAX32630HSP3_IMU_HelloWorld

SelfBalancing

Dependencies:   mbed BMI160 max32630fthr USBDevice Math MAX14690

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?

UserRevisionLine numberNew 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 }