Use MAX32630FTHR as a BLE joystick.
Dependencies: BMI160 max32630fthr mbed
Fork of MAX32630FTHR_IMU_Hello_World by
main.cpp@9:72ad545ce54f, 2017-06-12 (annotated)
- Committer:
- bowenfeng
- Date:
- Mon Jun 12 04:13:35 2017 +0000
- Revision:
- 9:72ad545ce54f
- Parent:
- 7:811949acf593
Output accelerometer data via I2C.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
j3 | 0:0db9a7ed2e63 | 1 | /********************************************************************** |
j3 | 0:0db9a7ed2e63 | 2 | * Copyright (C) 2016 Maxim Integrated Products, Inc., All Rights Reserved. |
j3 | 0:0db9a7ed2e63 | 3 | * |
j3 | 0:0db9a7ed2e63 | 4 | * Permission is hereby granted, free of charge, to any person obtaining a |
j3 | 0:0db9a7ed2e63 | 5 | * copy of this software and associated documentation files (the "Software"), |
j3 | 0:0db9a7ed2e63 | 6 | * to deal in the Software without restriction, including without limitation |
j3 | 0:0db9a7ed2e63 | 7 | * the rights to use, copy, modify, merge, publish, distribute, sublicense, |
j3 | 0:0db9a7ed2e63 | 8 | * and/or sell copies of the Software, and to permit persons to whom the |
j3 | 0:0db9a7ed2e63 | 9 | * Software is furnished to do so, subject to the following conditions: |
j3 | 0:0db9a7ed2e63 | 10 | * |
j3 | 0:0db9a7ed2e63 | 11 | * The above copyright notice and this permission notice shall be included |
j3 | 0:0db9a7ed2e63 | 12 | * in all copies or substantial portions of the Software. |
j3 | 0:0db9a7ed2e63 | 13 | * |
j3 | 0:0db9a7ed2e63 | 14 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS |
j3 | 0:0db9a7ed2e63 | 15 | * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF |
j3 | 0:0db9a7ed2e63 | 16 | * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. |
j3 | 0:0db9a7ed2e63 | 17 | * IN NO EVENT SHALL MAXIM INTEGRATED BE LIABLE FOR ANY CLAIM, DAMAGES |
j3 | 0:0db9a7ed2e63 | 18 | * OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, |
j3 | 0:0db9a7ed2e63 | 19 | * ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
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j3 | 0:0db9a7ed2e63 | 21 | * |
j3 | 0:0db9a7ed2e63 | 22 | * Except as contained in this notice, the name of Maxim Integrated |
j3 | 0:0db9a7ed2e63 | 23 | * Products, Inc. shall not be used except as stated in the Maxim Integrated |
j3 | 0:0db9a7ed2e63 | 24 | * Products, Inc. Branding Policy. |
j3 | 0:0db9a7ed2e63 | 25 | * |
j3 | 0:0db9a7ed2e63 | 26 | * The mere transfer of this software does not imply any licenses |
j3 | 0:0db9a7ed2e63 | 27 | * of trade secrets, proprietary technology, copyrights, patents, |
j3 | 0:0db9a7ed2e63 | 28 | * trademarks, maskwork rights, or any other form of intellectual |
j3 | 0:0db9a7ed2e63 | 29 | * property whatsoever. Maxim Integrated Products, Inc. retains all |
j3 | 0:0db9a7ed2e63 | 30 | * ownership rights. |
j3 | 0:0db9a7ed2e63 | 31 | **********************************************************************/ |
j3 | 0:0db9a7ed2e63 | 32 | |
j3 | 0:0db9a7ed2e63 | 33 | |
j3 | 0:0db9a7ed2e63 | 34 | #include "mbed.h" |
j3 | 0:0db9a7ed2e63 | 35 | #include "max32630fthr.h" |
j3 | 0:0db9a7ed2e63 | 36 | #include "bmi160.h" |
j3 | 0:0db9a7ed2e63 | 37 | |
bowenfeng | 9:72ad545ce54f | 38 | #define LOG(...) { printf(__VA_ARGS__); } |
j3 | 1:a3fa54415b4e | 39 | |
bowenfeng | 9:72ad545ce54f | 40 | int main() { |
j3 | 0:0db9a7ed2e63 | 41 | DigitalOut rLED(LED1, LED_OFF); |
j3 | 0:0db9a7ed2e63 | 42 | DigitalOut gLED(LED2, LED_OFF); |
j3 | 4:3d7fae7f7b75 | 43 | DigitalOut bLED(LED3, LED_OFF); |
bowenfeng | 9:72ad545ce54f | 44 | |
j3 | 1:a3fa54415b4e | 45 | I2C i2cBus(P5_7, P6_0); |
j3 | 3:250503cb7cb3 | 46 | i2cBus.frequency(400000); |
j3 | 1:a3fa54415b4e | 47 | BMI160_I2C imu(i2cBus, BMI160_I2C::I2C_ADRS_SDO_LO); |
j3 | 0:0db9a7ed2e63 | 48 | |
bowenfeng | 9:72ad545ce54f | 49 | I2C dataOut(P3_4, P3_5); |
bowenfeng | 9:72ad545ce54f | 50 | dataOut.frequency(10000); |
bowenfeng | 9:72ad545ce54f | 51 | |
j3 | 4:3d7fae7f7b75 | 52 | uint32_t failures = 0; |
bowenfeng | 9:72ad545ce54f | 53 | |
bowenfeng | 9:72ad545ce54f | 54 | MAX32630FTHR pegasus(MAX32630FTHR::VIO_3V3); |
bowenfeng | 9:72ad545ce54f | 55 | |
bowenfeng | 9:72ad545ce54f | 56 | if(imu.setSensorPowerMode(BMI160::GYRO, BMI160::NORMAL) != BMI160::RTN_NO_ERROR) { |
bowenfeng | 9:72ad545ce54f | 57 | LOG("Failed to set gyroscope power mode\n"); |
j3 | 5:4deb38e46a10 | 58 | failures++; |
j3 | 5:4deb38e46a10 | 59 | } |
j3 | 5:4deb38e46a10 | 60 | wait_ms(100); |
j3 | 5:4deb38e46a10 | 61 | |
bowenfeng | 9:72ad545ce54f | 62 | if(imu.setSensorPowerMode(BMI160::ACC, BMI160::NORMAL) != BMI160::RTN_NO_ERROR) { |
bowenfeng | 9:72ad545ce54f | 63 | LOG("Failed to set accelerometer power mode\n"); |
j3 | 5:4deb38e46a10 | 64 | failures++; |
j3 | 5:4deb38e46a10 | 65 | } |
j3 | 5:4deb38e46a10 | 66 | wait_ms(100); |
bowenfeng | 9:72ad545ce54f | 67 | |
j3 | 4:3d7fae7f7b75 | 68 | BMI160::AccConfig accConfig; |
j3 | 4:3d7fae7f7b75 | 69 | //example of using getSensorConfig |
bowenfeng | 9:72ad545ce54f | 70 | if(imu.getSensorConfig(accConfig) == BMI160::RTN_NO_ERROR) { |
bowenfeng | 9:72ad545ce54f | 71 | LOG("ACC Range = %d\n", accConfig.range); |
bowenfeng | 9:72ad545ce54f | 72 | LOG("ACC UnderSampling = %d\n", accConfig.us); |
bowenfeng | 9:72ad545ce54f | 73 | LOG("ACC BandWidthParam = %d\n", accConfig.bwp); |
bowenfeng | 9:72ad545ce54f | 74 | LOG("ACC OutputDataRate = %d\n\n", accConfig.odr); |
bowenfeng | 9:72ad545ce54f | 75 | } else { |
bowenfeng | 9:72ad545ce54f | 76 | LOG("Failed to get accelerometer configuration\n"); |
j3 | 4:3d7fae7f7b75 | 77 | failures++; |
j3 | 4:3d7fae7f7b75 | 78 | } |
j3 | 1:a3fa54415b4e | 79 | |
j3 | 4:3d7fae7f7b75 | 80 | //example of setting user defined configuration |
j3 | 4:3d7fae7f7b75 | 81 | accConfig.range = BMI160::SENS_4G; |
j3 | 4:3d7fae7f7b75 | 82 | accConfig.us = BMI160::ACC_US_OFF; |
j3 | 4:3d7fae7f7b75 | 83 | accConfig.bwp = BMI160::ACC_BWP_2; |
j3 | 4:3d7fae7f7b75 | 84 | accConfig.odr = BMI160::ACC_ODR_8; |
bowenfeng | 9:72ad545ce54f | 85 | if(imu.setSensorConfig(accConfig) == BMI160::RTN_NO_ERROR) { |
bowenfeng | 9:72ad545ce54f | 86 | LOG("ACC Range = %d\n", accConfig.range); |
bowenfeng | 9:72ad545ce54f | 87 | LOG("ACC UnderSampling = %d\n", accConfig.us); |
bowenfeng | 9:72ad545ce54f | 88 | LOG("ACC BandWidthParam = %d\n", accConfig.bwp); |
bowenfeng | 9:72ad545ce54f | 89 | LOG("ACC OutputDataRate = %d\n\n", accConfig.odr); |
bowenfeng | 9:72ad545ce54f | 90 | } else { |
bowenfeng | 9:72ad545ce54f | 91 | LOG("Failed to set accelerometer configuration\n"); |
j3 | 4:3d7fae7f7b75 | 92 | failures++; |
j3 | 4:3d7fae7f7b75 | 93 | } |
j3 | 4:3d7fae7f7b75 | 94 | |
j3 | 4:3d7fae7f7b75 | 95 | BMI160::GyroConfig gyroConfig; |
bowenfeng | 9:72ad545ce54f | 96 | if(imu.getSensorConfig(gyroConfig) == BMI160::RTN_NO_ERROR) { |
bowenfeng | 9:72ad545ce54f | 97 | LOG("GYRO Range = %d\n", gyroConfig.range); |
bowenfeng | 9:72ad545ce54f | 98 | LOG("GYRO BandWidthParam = %d\n", gyroConfig.bwp); |
bowenfeng | 9:72ad545ce54f | 99 | LOG("GYRO OutputDataRate = %d\n\n", gyroConfig.odr); |
bowenfeng | 9:72ad545ce54f | 100 | } else { |
bowenfeng | 9:72ad545ce54f | 101 | LOG("Failed to get gyroscope configuration\n"); |
j3 | 4:3d7fae7f7b75 | 102 | failures++; |
j3 | 4:3d7fae7f7b75 | 103 | } |
j3 | 4:3d7fae7f7b75 | 104 | |
j3 | 6:1d23dc51ee3f | 105 | wait(1.0); |
j3 | 4:3d7fae7f7b75 | 106 | |
bowenfeng | 9:72ad545ce54f | 107 | if(failures == 0) { |
j3 | 4:3d7fae7f7b75 | 108 | float imuTemperature; |
j3 | 4:3d7fae7f7b75 | 109 | BMI160::SensorData accData; |
j3 | 4:3d7fae7f7b75 | 110 | BMI160::SensorData gyroData; |
j3 | 4:3d7fae7f7b75 | 111 | BMI160::SensorTime sensorTime; |
j3 | 3:250503cb7cb3 | 112 | |
bowenfeng | 9:72ad545ce54f | 113 | char buffer[256] = {0}; |
bowenfeng | 9:72ad545ce54f | 114 | |
bowenfeng | 9:72ad545ce54f | 115 | while(1) { |
j3 | 4:3d7fae7f7b75 | 116 | imu.getGyroAccXYZandSensorTime(accData, gyroData, sensorTime, accConfig.range, gyroConfig.range); |
j3 | 4:3d7fae7f7b75 | 117 | imu.getTemperature(&imuTemperature); |
j3 | 4:3d7fae7f7b75 | 118 | |
bowenfeng | 9:72ad545ce54f | 119 | sprintf(buffer, "%d,%d,%d\n", accData.xAxis.raw, accData.yAxis.raw, accData.zAxis.raw); |
bowenfeng | 9:72ad545ce54f | 120 | LOG(buffer); |
bowenfeng | 9:72ad545ce54f | 121 | dataOut.write(0x8<<1, buffer, strlen(buffer) + 1); |
bowenfeng | 9:72ad545ce54f | 122 | |
j3 | 4:3d7fae7f7b75 | 123 | gLED = !gLED; |
j3 | 4:3d7fae7f7b75 | 124 | } |
bowenfeng | 9:72ad545ce54f | 125 | } else { |
bowenfeng | 9:72ad545ce54f | 126 | while(1) { |
j3 | 4:3d7fae7f7b75 | 127 | rLED = !rLED; |
j3 | 4:3d7fae7f7b75 | 128 | wait(0.25); |
j3 | 4:3d7fae7f7b75 | 129 | } |
j3 | 0:0db9a7ed2e63 | 130 | } |
j3 | 0:0db9a7ed2e63 | 131 | } |