Diff: main.cpp

Revision:

4:3d7fae7f7b75

Parent:

3:250503cb7cb3

Child:

5:4deb38e46a10

--- a/main.cpp	Tue Dec 20 01:30:12 2016 +0000
+++ b/main.cpp	Tue Dec 20 23:59:35 2016 +0000
@@ -49,7 +49,7 @@
     
     DigitalOut rLED(LED1, LED_OFF);
     DigitalOut gLED(LED2, LED_OFF);
-    DigitalOut bLED(LED3, LED_ON);
+    DigitalOut bLED(LED3, LED_OFF);
     
     I2C i2cBus(P5_7, P6_0);
     i2cBus.frequency(400000);
@@ -60,23 +60,95 @@
     imu.setSensorPowerMode(BMI160::ACC, BMI160::NORMAL);
     wait_ms(100);
     
-    float imuTemperature, sensorTime;
-    BMI160::SensorData accData;
-    //BMI160::SensorData gyroData;
+    uint32_t failures = 0;
+    
+    printf("\033[H");  //home
+    printf("\033[0J");  //erase from cursor to end of screen
+    
+    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++;
+    }
     
-    while(1)
+    //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)
     {
-        imu.getAccXYZ(accData, BMI160::DEFAULT_ACC_CONFIG);
-        imu.getSensorTime(&sensorTime);
-        imu.getTemperature(&imuTemperature);
-        
+        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(5.0);
+    printf("\033[H");  //home
+    printf("\033[0J");  //erase from cursor to end of screen
+    
+    if(failures == 0)
+    {
+        float imuTemperature; 
+        BMI160::SensorData accData;
+        BMI160::SensorData gyroData;
+        BMI160::SensorTime sensorTime;
         
-        printf("ACC xAxis = %s%4.3f\n", "\033[K", accData.xAxis.scaled);
-        printf("ACC yAxis = %s%4.3f\n", "\033[K", accData.yAxis.scaled);
-        printf("ACC zAxis = %s%4.3f\n", "\033[K", accData.zAxis.scaled);
-        printf("Sensor Time = %s%f\n", "\033[K", sensorTime);
-        printf("Sensor Temperature = %s%5.3f\n", "\033[K", imuTemperature);
-        printf("\033[H");  //home
+        while(1)
+        {
+            imu.getGyroAccXYZandSensorTime(accData, gyroData, sensorTime, accConfig.range, gyroConfig.range);
+            imu.getTemperature(&imuTemperature);
+            
+            printf("ACC xAxis = %s%4.3f\n", "\033[K", accData.xAxis.scaled);
+            printf("ACC yAxis = %s%4.3f\n", "\033[K", accData.yAxis.scaled);
+            printf("ACC zAxis = %s%4.3f\n\n", "\033[K", accData.zAxis.scaled);
+            
+            printf("GYRO xAxis = %s%5.1f\n", "\033[K", gyroData.xAxis.scaled);
+            printf("GYRO yAxis = %s%5.1f\n", "\033[K", gyroData.yAxis.scaled);
+            printf("GYRO zAxis = %s%5.1f\n\n", "\033[K", gyroData.zAxis.scaled);
+            
+            printf("Sensor Time = %s%f\n", "\033[K", sensorTime.seconds);
+            printf("Sensor Temperature = %s%5.3f\n", "\033[K", imuTemperature);
+            
+            printf("\033[H");  //home
+            gLED = !gLED;
+        }
+    }
+    else
+    {
+        while(1)
+        {
+            rLED = !rLED;
+            wait(0.25);
+        }
     }
 }