Diff: main.cpp

Revision:

0:14b2c90f8c6a

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Sep 12 00:55:43 2017 +0000
@@ -0,0 +1,77 @@
+#include "mbed.h"
+#include "max32630fthr.h"
+#include "USBSerial.h"
+#include "BMI160.h"
+
+MAX32630FTHR *sakura = 0 ;
+USBSerial    *microUSB ;
+BMI160       *bmi160 = 0 ;
+Serial       *daplink = 0 ;
+DigitalOut   *LED_R = 0 ;
+DigitalOut   *LED_G = 0 ;
+DigitalOut   *LED_B = 0 ;
+
+#define PIN_RX2  P2_0
+#define PIN_TX2  P2_1
+#define PIN_SDA2 P5_7
+#define PIN_SCL2 P6_0
+#define PIN_LED_R P2_4
+#define PIN_LED_G P2_5
+#define PIN_LED_B P2_6
+#define BMI160_I2C_ADDRESS 0x68
+
+void init_hardware(void)
+{
+    sakura = new MAX32630FTHR(MAX32630FTHR::VIO_3V3);
+    daplink = new Serial(PIN_TX2, PIN_RX2, "daplink") ;
+
+    bmi160 = new BMI160(PIN_SDA2, PIN_SCL2, BMI160_I2C_ADDRESS) ;
+    LED_R = new DigitalOut(PIN_LED_R, 1) ;
+    LED_G = new DigitalOut(PIN_LED_G, 1) ;
+    LED_B = new DigitalOut(PIN_LED_B, 1) ;
+    
+    *LED_R = LED_OFF ;
+    *LED_G = LED_ON ;
+    *LED_B = LED_OFF ;
+    
+    // acc_set_pmu_mode 0x10 | ACC_PMU_XXX
+    bmi160->setCMD(0x10 | ACC_PMU_NORMAL) ;
+    wait(0.1) ;
+    bmi160->setCMD(0x14 | GYR_PMU_NORMAL) ;
+    wait(0.1) ;
+    bmi160->setCMD(0x08 | MAG_PMU_SUSPEND) ;
+    wait(0.1) ;
+    bmi160->setCMD(0x03) ; /* start_foc */
+    wait(0.1) ;
+
+}
+
+int main()
+{
+    int id = 0 ;
+    float a[3], g[3] ;
+    int acc_range, gyr_range, status ;
+    
+    init_hardware() ;
+
+    printf("Hello World\n") ;
+
+    id = bmi160->getChipID() ;
+    printf("BMI160 ID = 0x%02X\n", id) ;
+    acc_range = bmi160->getAccRange() ;
+    gyr_range = bmi160->getGyrRange() ;
+    printf("Acc range = +/- %d g, Gyr range = %d degree/sec\n", acc_range, gyr_range) ;
+    
+    while(1) {
+        status = bmi160->getStatus() ;
+
+        bmi160->getAcc(a) ;
+
+        bmi160->getGyr(g) ;
+
+        printf("ACC: %.2f, %.2f, %.2f ", a[0], a[1], a[2]) ;
+        printf("GYR: %.2f, %.2f, %.2f\n", g[0], g[1], g[2]) ;
+        wait(0.1) ;
+    }
+}
+