Bowen Feng / Mbed 2 deprecated MAX32630FTHR_JOYSTICK

Use MAX32630FTHR as a BLE joystick.

Dependencies:   BMI160 max32630fthr mbed

Fork of MAX32630FTHR_IMU_Hello_World by Maxim Integrated

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?

UserRevisionLine numberNew 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
j3 0:0db9a7ed2e63 20 * OTHER DEALINGS IN THE SOFTWARE.
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 }