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");
+    }
+}