Diff: main.cpp

Revision:

11:6fdec00dbb90

Parent:

10:1f5e78dd4a7c

--- a/main.cpp	Wed Feb 08 00:50:27 2017 +0000
+++ b/main.cpp	Sun Jun 14 20:17:43 2020 +0000
@@ -34,6 +34,8 @@
 #include "max32630fthr.h"
 #include "Adafruit_SSD1306.h"
 #include "USBSerial.h"
+#include "bmi160.h"
+
 
 MAX32630FTHR pegasus(MAX32630FTHR::VIO_3V3);
 
@@ -48,6 +50,7 @@
 DigitalOut rLED(LED1);
 DigitalOut gLED(LED2);
 DigitalOut bLED(LED3);
+ 
 
 DigitalIn aButton(P5_3, PullUp);
 DigitalIn bButton(P3_3, PullUp);
@@ -62,10 +65,68 @@
 AnalogIn ain1(AIN_5); 
 AnalogIn ain2(AIN_2); 
 AnalogIn ain3(AIN_3);
+// main() runs in its own thread in the OS
+// (note the calls to Thread::wait below for delays)
+
+
+Timer t; 
+
+//*****************************************************************************
+
+void dumpImuRegisters(BMI160 &imu);
+void printRegister(BMI160 &imu, BMI160::Registers reg);
+void printBlock(BMI160 &imu, BMI160::Registers startReg, BMI160::Registers stopReg);
+
+
+
+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);
+    printf("\n");
+}
 
 
-// main() runs in its own thread in the OS
-// (note the calls to Thread::wait below for delays)
+//*****************************************************************************
+void printRegister(BMI160 &imu, BMI160::Registers reg)
+{
+    uint8_t data;
+    if(imu.readRegister(reg, &data) == BMI160::RTN_NO_ERROR)
+    {
+        printf("IMU Register 0x%02x = 0x%02x\n", reg, data);
+    }
+    else
+    {
+        printf("Failed to read register\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++)
+        {
+            printf("IMU Register 0x%02x = 0x%02x\n", idx, buff[idx - offset]);
+        }
+    }
+    else
+    {
+        printf("Failed to read block\n");
+    }
+}
+
+
 int main()
 {
     int c;
@@ -80,10 +141,100 @@
 
     Thread::wait(50);  // Give the supplies time to settle before initializing the display
     Adafruit_SSD1306_I2c featherOLED(i2c);  
-    featherOLED.printf("%ux%u OLED Display\r\n", featherOLED.width(), featherOLED.height());
+   // featherOLED.printf("%ux%u OLED Display\r\n", featherOLED.width(), featherOLED.height());
     featherOLED.printf("HelloWorld \r");
     featherOLED.display();
-
+    wait (3.0); 
+    //=====================================================
+    
+    I2C i2cBus(P5_7, P6_0);
+    i2cBus.frequency(400000);
+    BMI160_I2C imu(i2cBus, BMI160_I2C::I2C_ADRS_SDO_LO);
+    
+    uint32_t failures = 0;
+    
+    if(imu.setSensorPowerMode(BMI160::GYRO, BMI160::NORMAL) != BMI160::RTN_NO_ERROR)
+    {
+        printf("Failed to set gyroscope power mode\n");
+        failures++;
+    }
+    wait_ms(100);
+    
+    if(imu.setSensorPowerMode(BMI160::ACC, BMI160::NORMAL) != BMI160::RTN_NO_ERROR)
+    {
+        printf("Failed to set accelerometer power mode\n");
+        failures++;
+    }
+    wait_ms(100);
+    
+    
+    BMI160::AccConfig accConfig;
+    //example of using getSensorConfig
+    if(imu.getSensorConfig(accConfig) == BMI160::RTN_NO_ERROR)
+    {
+        printf("ACC Range = %d\n", accConfig.range);
+        printf("ACC UnderSampling = %d\n", accConfig.us);
+        printf("ACC BandWidthParam = %d\n", accConfig.bwp);
+        printf("ACC OutputDataRate = %d\n\n", accConfig.odr);
+    }
+    else
+    {
+        printf("Failed to get accelerometer configuration\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)
+    {
+       // printf("ACC Range = %d\n", accConfig.range);
+       // printf("ACC UnderSampling = %d\n", accConfig.us);
+      //  printf("ACC BandWidthParam = %d\n", accConfig.bwp);
+       // printf("ACC OutputDataRate = %d\n\n", accConfig.odr);
+    }
+    else
+    {
+        printf("Failed to set accelerometer configuration\n");
+        failures++;
+    }
+    
+    BMI160::GyroConfig gyroConfig;
+    if(imu.getSensorConfig(gyroConfig) == BMI160::RTN_NO_ERROR)
+    {
+        printf("GYRO Range = %d\n", gyroConfig.range);
+        printf("GYRO BandWidthParam = %d\n", gyroConfig.bwp);
+        printf("GYRO OutputDataRate = %d\n\n", gyroConfig.odr);
+    }
+    else
+    {
+        printf("Failed to get gyroscope configuration\n");
+        failures++;
+    }
+    
+    wait(1.0);
+    printf("\033[H");  //home
+    printf("\033[0J");  //erase from cursor to end of screen
+    
+    
+    //==========================================
+    
+    if(imu.setSensorPowerMode(BMI160::GYRO, BMI160::NORMAL) != BMI160::RTN_NO_ERROR)
+    {
+        printf("Failed to set gyroscope power mode\n");
+        failures++;
+    }
+    wait_ms(100);
+    
+    if(imu.setSensorPowerMode(BMI160::ACC, BMI160::NORMAL) != BMI160::RTN_NO_ERROR)
+    {
+        printf("Failed to set accelerometer power mode\n");
+        failures++;
+    }
+    wait_ms(100);
+    
 
     while(1) {
         Thread::wait(250);
@@ -97,15 +248,70 @@
             microUSB.putc(c);
             daplink.putc(c);
         }
+        
+        int high =1; 
+        int low =0; 
+        DigitalOut trigger (P5_2);
+        trigger = high;
+        wait_us(10);
+        trigger = low; 
+        
+        DigitalIn echo (P5_1); 
+        if ( echo == high ) 
+        {
+            
+        gLED = LED_ON;
+        wait(5);
+        gLED = LED_OFF;
+        
+        }
+        
+         
+        //if (echo == 1) 
+        //{
+          //  DigitalOut gLED(LED2, LED_ON);
+          //  wait(1);
+            //gLED = LED_OFF;
+       // }
+        
+        //*************************testing timeer *******************************************
+      /*  
+        t.start();
+        printf("Hello World!\n");
+        t.stop();
+        printf("The time taken was %f seconds\n", t.read());
+        
+        */
+        
+        // **********************************************************************************
+
+        
+        
+        
+        float imuTemperature; 
+        BMI160::SensorData accData;
+        BMI160::SensorData gyroData;
+        BMI160::SensorTime sensorTime;
+        
+        imu.getGyroAccXYZandSensorTime(accData, gyroData, sensorTime, accConfig.range, gyroConfig.range);
+        imu.getTemperature(&imuTemperature);
+        
+        
         rLED = aButton;
         gLED = bButton;
         bLED = cButton;
         featherOLED.clearDisplay();
         featherOLED.setTextCursor(0,0);
-        featherOLED.printf("MAX32630FTHR OLED\n");
+        featherOLED.printf("SensorTemp = %s%5.3f\n", "\033", imuTemperature);
+        featherOLED.printf("X%s%4.1f ", "\033", gyroData.xAxis.scaled);
+        featherOLED.printf("Y%s%4.1f ", "\033", gyroData.yAxis.scaled);
+        featherOLED.printf("Z%s%4.1f\n", "\033", gyroData.zAxis.scaled);
+        //printf("GYRO yAxis = %s%5.1f\n", "\033[K", gyroData.yAxis.scaled);
+       // printf("GYRO zAxis = %s%5.1f\n", "\033[K", gyroData.zAxis.scaled);
+        //featherOLED.printf("MAX32630FTHR OLED\n");
         featherOLED.printf("AIN0/1: %1.2f, %1.2f\n", (6.0f * ain0), (6.0f * ain1) );  // analog inputs 0,1
-        featherOLED.printf("AIN2/3: %1.2f, %1.2f\n", (1.2f * ain2), (1.2f * ain3) );  // analog inputs 2,3
-        featherOLED.printf("UART:%c  A:%d  B:%d  C:%d\n", c, aButton.read(), bButton.read(), cButton.read());  // UART and Buttons
+       // featherOLED.printf("AIN2/3: %1.2f, %1.2f\n", (1.2f * ain2), (1.2f * ain3) );  // analog inputs 2,3
+      //  featherOLED.printf("UART:%c  A:%d  B:%d  C:%d\n", c, aButton.read(), bButton.read(), cButton.read());  // UART and Buttons
         featherOLED.display();
 
     }