Momentum-Apps/examples/read_sensor_data/read_sensor_data.c

/**
 * Copyright (C) 2018 Bosch Sensortec GmbH
 *
 * SPDX-License-Identifier: BSD-3-Clause
 *
 * @file    bmi160_read_sensor_data.c
 * @brief   Sample file to read BMI160 sensor data using COINES library
 *
 */

/*********************************************************************/
/* system header files */
/*********************************************************************/
#include <stdio.h>
#include <stdlib.h>
#include <stdint.h>

/*********************************************************************/
/* own header files */
/*********************************************************************/
#include "coines.h"
#include "bmi160.h"

/*********************************************************************/
/* local macro definitions */
/*! I2C interface communication, 1 - Enable; 0- Disable */
#define BMI160_INTERFACE_I2C  1

/*! SPI interface communication, 1 - Enable; 0- Disable */
#define BMI160_INTERFACE_SPI  0

#if (!((BMI160_INTERFACE_I2C == 1) && (BMI160_INTERFACE_SPI == 0)) && \
    (!((BMI160_INTERFACE_I2C == 0) && (BMI160_INTERFACE_SPI == 1))))
#error "Invalid value given for the macros BMI160_INTERFACE_I2C / BMI160_INTERFACE_SPI"
#endif

/*! bmi160 shuttle id */
#define BMI160_SHUTTLE_ID     0x38

/*! bmi160 Device address */
#define BMI160_DEV_ADDR       BMI160_I2C_ADDR

/*********************************************************************/
/* global variables */
/*********************************************************************/

/*! @brief This structure containing relevant bmi160 info */
struct bmi160_dev bmi160dev;

/*! @brief variable to hold the bmi160 accel data */
struct bmi160_sensor_data bmi160_accel;

/*! @brief variable to hold the bmi160 gyro data */
struct bmi160_sensor_data bmi160_gyro;

/*********************************************************************/
/* static function declarations */
/*********************************************************************/

/*!
 * @brief   internal API is used to initialize the sensor interface
 */
static void init_sensor_interface(void);

/*!
 * @brief   This internal API is used to initialize the bmi160 sensor with default
 */
static void init_bmi160(void);

/*!
 * @brief   This internal API is used to initialize the sensor driver interface
 */
static void init_bmi160_sensor_driver_interface(void);

/*********************************************************************/
/* functions */
/*********************************************************************/

/*!
 *  @brief This internal API is used to initialize the sensor interface depending
 *   on selection either SPI or I2C.
 *
 *  @param[in] void
 *
 *  @return void
 *
 */
static void init_sensor_interface(void)
{
    /* Switch VDD for sensor off */
    coines_set_shuttleboard_vdd_vddio_config(0, 0);

    /* wait until the sensor goes off */
    coines_delay_msec(10);
#if BMI160_INTERFACE_I2C == 1

    /* SDO pin is made low for selecting I2C address 0x68 */
    coines_set_pin_config(COINES_SHUTTLE_PIN_15, COINES_PIN_DIRECTION_OUT, COINES_PIN_VALUE_LOW);

    /* set the sensor interface as I2C */
    coines_config_i2c_bus(COINES_I2C_BUS_0, COINES_I2C_FAST_MODE);
    coines_delay_msec(10);

    /* CSB pin is made high for selecting I2C protocol*/
    coines_set_pin_config(COINES_SHUTTLE_PIN_7, COINES_PIN_DIRECTION_OUT, COINES_PIN_VALUE_HIGH);
#endif
#if BMI160_INTERFACE_SPI == 1

    /* CSB pin is made low for selecting SPI protocol*/
    coines_set_pin_config(COINES_SHUTTLE_PIN_7, COINES_PIN_DIRECTION_OUT, COINES_PIN_VALUE_LOW);

    coines_delay_msec(10);
    coines_config_spi_bus(COINES_SPI_BUS_0, COINES_SPI_SPEED_5_MHZ, COINES_SPI_MODE3);
#endif
    coines_delay_msec(10);

    /* Switch VDD for sensor on */
    coines_set_shuttleboard_vdd_vddio_config(3300, 3300);

#if BMI160_INTERFACE_SPI == 1
    coines_delay_msec(10);

    /* CSB pin is made high for selecting SPI protocol
     * Note: CSB has to see rising after power up, to switch to SPI protocol */
    coines_set_pin_config(COINES_SHUTTLE_PIN_7, COINES_PIN_DIRECTION_OUT, COINES_PIN_VALUE_HIGH);
#endif
}

/*!
 *  @brief This internal API is used to initializes the bmi160 sensor
 *  settings like power mode and OSRS settings.
 *
 *  @param[in] void
 *
 *  @return void
 *
 */
static void init_bmi160(void)
{
    int8_t rslt;

    rslt = bmi160_init(&bmi160dev);

    if (rslt == BMI160_OK)
    {
        printf("BMI160 initialization success !\n");
        printf("Chip ID 0x%X\n", bmi160dev.chip_id);
    }
    else
    {
        printf("BMI160 initialization failure !\n");
        exit(COINES_E_FAILURE);
    }

    /* Select the Output data rate, range of accelerometer sensor */
    bmi160dev.accel_cfg.odr = BMI160_ACCEL_ODR_1600HZ;
    bmi160dev.accel_cfg.range = BMI160_ACCEL_RANGE_16G;
    bmi160dev.accel_cfg.bw = BMI160_ACCEL_BW_NORMAL_AVG4;

    /* Select the power mode of accelerometer sensor */
    bmi160dev.accel_cfg.power = BMI160_ACCEL_NORMAL_MODE;

    /* Select the Output data rate, range of Gyroscope sensor */
    bmi160dev.gyro_cfg.odr = BMI160_GYRO_ODR_3200HZ;
    bmi160dev.gyro_cfg.range = BMI160_GYRO_RANGE_2000_DPS;
    bmi160dev.gyro_cfg.bw = BMI160_GYRO_BW_NORMAL_MODE;

    /* Select the power mode of Gyroscope sensor */
    bmi160dev.gyro_cfg.power = BMI160_GYRO_NORMAL_MODE;

    /* Set the sensor configuration */
    rslt = bmi160_set_sens_conf(&bmi160dev);
}

/*!
 *  @brief This internal API is used to set the sensor driver interface to
 *  read/write the data.
 *
 *  @param[in] void
 *
 *  @return void
 *
 */
static void init_bmi160_sensor_driver_interface(void)
{
#if BMI160_INTERFACE_I2C == 1

    /* I2C setup */

    /* link read/write/delay function of host system to appropriate
     * bmi160 function call prototypes */
    bmi160dev.write = coines_write_i2c;
    bmi160dev.read = coines_read_i2c;
    bmi160dev.delay_ms = coines_delay_msec;

    /* set correct i2c address */
    bmi160dev.id = BMI160_DEV_ADDR;
    bmi160dev.intf = BMI160_I2C_INTF;
#endif
#if BMI160_INTERFACE_SPI == 1

    /* SPI setup */

    /* link read/write/delay function of host system to appropriate
     *  bmi160 function call prototypes */
    bmi160dev.write = coines_write_spi;
    bmi160dev.read = coines_read_spi;
    bmi160dev.delay_ms = coines_delay_msec;
    bmi160dev.id = COINES_SHUTTLE_PIN_7;
    bmi160dev.intf = BMI160_SPI_INTF;
#endif
}

/*!
 *  @brief Main Function where the execution getting started to test the code.
 *
 *  @param[in] argc
 *  @param[in] argv
 *
 *  @return status
 *
 */
int main(int argc, char *argv[])
{
    struct coines_board_info board_info;
    int16_t rslt;
    int times_to_read = 0;

    init_bmi160_sensor_driver_interface();

    rslt = coines_open_comm_intf(COINES_COMM_INTF_USB);

    if (rslt < 0)
    {
        printf(
            "\n Unable to connect with Application Board ! \n" " 1. Check if the board is connected and powered on. \n" " 2. Check if Application Board USB driver is installed. \n"
            " 3. Check if board is in use by another application. (Insufficient permissions to access USB) \n");
        exit(rslt);
    }

    rslt = coines_get_board_info(&board_info);

    if (rslt == COINES_SUCCESS)
    {
        if (board_info.shuttle_id != BMI160_SHUTTLE_ID)
        {

            printf("! Warning invalid sensor shuttle \n ," "This application will not support this sensor \n");
            exit(COINES_E_FAILURE);
        }
    }

    init_sensor_interface();

    /* After sensor init introduce 200 msec sleep */
    coines_delay_msec(200);
    init_bmi160();

    while (times_to_read < 100)
    {
        /* To read both Accel and Gyro data */
        bmi160_get_sensor_data((BMI160_ACCEL_SEL | BMI160_GYRO_SEL), &bmi160_accel, &bmi160_gyro, &bmi160dev);

        printf("ax:%d\tay:%d\taz:%d\n", bmi160_accel.x, bmi160_accel.y, bmi160_accel.z);
        printf("gx:%d\tgy:%d\tgz:%d\n", bmi160_gyro.x, bmi160_gyro.y, bmi160_gyro.z);
        fflush(stdout);

        coines_delay_msec(10);
        times_to_read = times_to_read + 1;
    }

    coines_close_comm_intf(COINES_COMM_INTF_USB);

    return EXIT_SUCCESS;
}