diff --git a/imutest/.cproject b/imutest/.cproject
new file mode 100644
index 0000000000000000000000000000000000000000..6adc994794249c091c81b66fb9d4b85f52ae9f0d
--- /dev/null
+++ b/imutest/.cproject
@@ -0,0 +1,107 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<?fileVersion 4.0.0?><cproject storage_type_id="org.eclipse.cdt.core.XmlProjectDescriptionStorage">
+ <storageModule moduleId="org.eclipse.cdt.core.settings">
+ <cconfiguration id="ilg.gnuarmeclipse.managedbuild.cross.config.elf.debug.1674944962">
+ <storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="ilg.gnuarmeclipse.managedbuild.cross.config.elf.debug.1674944962" moduleId="org.eclipse.cdt.core.settings" name="Debug">
+ <externalSettings/>
+ <extensions>
+ <extension id="org.eclipse.cdt.core.ELF" point="org.eclipse.cdt.core.BinaryParser"/>
+ <extension id="org.eclipse.cdt.core.GASErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+ <extension id="org.eclipse.cdt.core.GmakeErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+ <extension id="org.eclipse.cdt.core.GLDErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+ <extension id="org.eclipse.cdt.core.CWDLocator" point="org.eclipse.cdt.core.ErrorParser"/>
+ <extension id="org.eclipse.cdt.core.GCCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+ </extensions>
+ </storageModule>
+ <storageModule moduleId="cdtBuildSystem" version="4.0.0">
+ <configuration artifactName="${ProjName}" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe,org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.debug" cleanCommand="${cross_rm} -rf" description="" id="ilg.gnuarmeclipse.managedbuild.cross.config.elf.debug.1674944962" name="Debug" parent="ilg.gnuarmeclipse.managedbuild.cross.config.elf.debug">
+ <folderInfo id="ilg.gnuarmeclipse.managedbuild.cross.config.elf.debug.1674944962." name="/" resourcePath="">
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+ <option id="ilg.gnuarmeclipse.managedbuild.cross.option.addtools.createflash.1529750846" name="Create flash image" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.addtools.createflash" value="true" valueType="boolean"/>
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+ <targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="ilg.gnuarmeclipse.managedbuild.cross.targetPlatform.786533016" isAbstract="false" osList="all" superClass="ilg.gnuarmeclipse.managedbuild.cross.targetPlatform"/>
+ <builder arguments="ECLIPSE=1" buildPath="${workspace_loc:/Hello_World}" command="make" id="ilg.gnuarmeclipse.managedbuild.cross.builder.592880777" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" superClass="ilg.gnuarmeclipse.managedbuild.cross.builder"/>
+ <tool id="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler.1648672385" name="Cross ARM GNU Assembler" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler">
+ <option id="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.usepreprocessor.1969112665" name="Use preprocessor" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.usepreprocessor" value="true" valueType="boolean"/>
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+ </tool>
+ <tool id="ilg.gnuarmeclipse.managedbuild.cross.tool.c.compiler.1576427906" name="Cross ARM C Compiler" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.c.compiler">
+ <option id="ilg.gnuarmeclipse.managedbuild.cross.option.c.compiler.include.paths.1576427906" name="Include paths (-I)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.c.compiler.include.paths" useByScannerDiscovery="true" valueType="includePath">
+ <listOptionValue builtIn="false" value=""${MAXIM_PATH}/Firmware/MAX32665/Libraries/CMSIS/Device/Maxim/MAX32665/Include""/>
+ <listOptionValue builtIn="false" value=""${MAXIM_PATH}/Firmware/MAX32665/Libraries/MAX32665PeriphDriver/Include""/>
+ <listOptionValue builtIn="false" value=""${MAXIM_PATH}/Firmware/MAX32665/Libraries/Boards/EvKit_V1/Include""/>
+ <listOptionValue builtIn="false" value=""${MAXIM_PATH}/Firmware/MAX32665/Libraries/Boards/Include""/>
+ <listOptionValue builtIn="false" value=""${MAXIM_PATH}/Firmware/MAX32665/Libraries/CMSIS/Include""/>
+ <listOptionValue builtIn="false" value=""${MAXIM_PATH}/Toolchain/arm-none-eabi/include""/>
+ <listOptionValue builtIn="false" value=""${MAXIM_PATH}/Toolchain/arm-none-eabi/include/sys""/>
+ <listOptionValue builtIn="false" value=""${MAXIM_PATH}/Toolchain/lib/gcc/arm-none-eabi/6.3.1/include""/>
+ </option>
+ <inputType id="ilg.gnuarmeclipse.managedbuild.cross.tool.c.compiler.input.68945223" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.c.compiler.input"/>
+ </tool>
+ <tool id="ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.compiler.794996645" name="Cross ARM C++ Compiler" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.compiler"/>
+ <tool id="ilg.gnuarmeclipse.managedbuild.cross.tool.c.linker.675776866" name="Cross ARM C Linker" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.c.linker">
+ <option id="ilg.gnuarmeclipse.managedbuild.cross.option.c.linker.gcsections.185399645" name="Remove unused sections (-Xlinker --gc-sections)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.c.linker.gcsections" value="true" valueType="boolean"/>
+ <inputType id="ilg.gnuarmeclipse.managedbuild.cross.tool.c.linker.input.246156916" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.c.linker.input">
+ <additionalInput kind="additionalinputdependency" paths="$(USER_OBJS)"/>
+ <additionalInput kind="additionalinput" paths="$(LIBS)"/>
+ </inputType>
+ </tool>
+ <tool id="ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.linker.391142733" name="Cross ARM C++ Linker" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.linker">
+ <option id="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.linker.gcsections.2099090970" name="Remove unused sections (-Xlinker --gc-sections)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.linker.gcsections" value="true" valueType="boolean"/>
+ </tool>
+ <tool id="ilg.gnuarmeclipse.managedbuild.cross.tool.archiver.399743328" name="Cross ARM GNU Archiver" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.archiver"/>
+ <tool id="ilg.gnuarmeclipse.managedbuild.cross.tool.createflash.822983655" name="Cross ARM GNU Create Flash Image" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.createflash"/>
+ <tool id="ilg.gnuarmeclipse.managedbuild.cross.tool.createlisting.1050446219" name="Cross ARM GNU Create Listing" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.createlisting">
+ <option id="ilg.gnuarmeclipse.managedbuild.cross.option.createlisting.source.335976671" name="Display source (--source|-S)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.createlisting.source" value="true" valueType="boolean"/>
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+ </tool>
+ <tool id="ilg.gnuarmeclipse.managedbuild.cross.tool.printsize.403251962" name="Cross ARM GNU Print Size" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.printsize">
+ <option id="ilg.gnuarmeclipse.managedbuild.cross.option.printsize.format.1919947275" name="Size format" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.printsize.format"/>
+ </tool>
+ </toolChain>
+ </folderInfo>
+ </configuration>
+ </storageModule>
+ <storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
+ </cconfiguration>
+ </storageModule>
+ <storageModule moduleId="cdtBuildSystem" version="4.0.0">
+ <project id="Hello_World.ilg.gnuarmeclipse.managedbuild.cross.target.elf.737306620" name="Executable" projectType="ilg.gnuarmeclipse.managedbuild.cross.target.elf"/>
+ </storageModule>
+ <storageModule moduleId="scannerConfiguration">
+ <autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
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+ <autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
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+ </storageModule>
+ <storageModule moduleId="org.eclipse.cdt.core.LanguageSettingsProviders"/>
+ <storageModule moduleId="refreshScope" versionNumber="2">
+ <configuration configurationName="Debug">
+ <resource resourceType="PROJECT" workspacePath="/Hello_World"/>
+ </configuration>
+ </storageModule>
+ <storageModule moduleId="org.eclipse.cdt.internal.ui.text.commentOwnerProjectMappings"/>
+</cproject>
diff --git a/imutest/.gdbinit b/imutest/.gdbinit
new file mode 100644
index 0000000000000000000000000000000000000000..85b92cf79c0f29f412a886e093c13da55dfc1bcc
--- /dev/null
+++ b/imutest/.gdbinit
@@ -0,0 +1,3 @@
+file build/max32665.elf
+target remote localhost:3333
+
diff --git a/imutest/.project b/imutest/.project
new file mode 100644
index 0000000000000000000000000000000000000000..035be64a6097ba5f35d529e1406bc4d010e9732b
--- /dev/null
+++ b/imutest/.project
@@ -0,0 +1,26 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<projectDescription>
+ <name>Hello_World</name>
+ <comment></comment>
+ <projects>
+ </projects>
+ <buildSpec>
+ <buildCommand>
+ <name>org.eclipse.cdt.managedbuilder.core.genmakebuilder</name>
+ <triggers>clean,full,incremental,</triggers>
+ <arguments>
+ </arguments>
+ </buildCommand>
+ <buildCommand>
+ <name>org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder</name>
+ <triggers>full,incremental,</triggers>
+ <arguments>
+ </arguments>
+ </buildCommand>
+ </buildSpec>
+ <natures>
+ <nature>org.eclipse.cdt.core.cnature</nature>
+ <nature>org.eclipse.cdt.managedbuilder.core.managedBuildNature</nature>
+ <nature>org.eclipse.cdt.managedbuilder.core.ScannerConfigNature</nature>
+ </natures>
+</projectDescription>
diff --git a/imutest/.settings/language.settings.xml b/imutest/.settings/language.settings.xml
new file mode 100644
index 0000000000000000000000000000000000000000..e5a1647610f97197abe406e8ef1bb9e62065f5a1
--- /dev/null
+++ b/imutest/.settings/language.settings.xml
@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<project>
+ <configuration id="ilg.gnuarmeclipse.managedbuild.cross.config.elf.debug.1674944962" name="Debug">
+ <extension point="org.eclipse.cdt.core.LanguageSettingsProvider">
+ <provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
+ <provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
+ <provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
+ </extension>
+ </configuration>
+</project>
diff --git a/imutest/Makefile b/imutest/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..7fee86e9bb4b85f4cc9236a169e3430c8d92d2b5
--- /dev/null
+++ b/imutest/Makefile
@@ -0,0 +1,136 @@
+################################################################################
+ # Copyright (C) 2016 Maxim Integrated Products, Inc., All Rights Reserved.
+ #
+ # Permission is hereby granted, free of charge, to any person obtaining a
+ # copy of this software and associated documentation files (the "Software"),
+ # to deal in the Software without restriction, including without limitation
+ # the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ # and/or sell copies of the Software, and to permit persons to whom the
+ # Software is furnished to do so, subject to the following conditions:
+ #
+ # The above copyright notice and this permission notice shall be included
+ # in all copies or substantial portions of the Software.
+ #
+ # THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+ # OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ # MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+ # IN NO EVENT SHALL MAXIM INTEGRATED BE LIABLE FOR ANY CLAIM, DAMAGES
+ # OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
+ # ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
+ # OTHER DEALINGS IN THE SOFTWARE.
+ #
+ # Except as contained in this notice, the name of Maxim Integrated
+ # Products, Inc. shall not be used except as stated in the Maxim Integrated
+ # Products, Inc. Branding Policy.
+ #
+ # The mere transfer of this software does not imply any licenses
+ # of trade secrets, proprietary technology, copyrights, patents,
+ # trademarks, maskwork rights, or any other form of intellectual
+ # property whatsoever. Maxim Integrated Products, Inc. retains all
+ # ownership rights.
+ #
+ # $Date: 2018-09-28 18:22:39 +0000 (Fri, 28 Sep 2018) $
+ # $Revision: 38193 $
+ #
+ ###############################################################################
+
+# This is the name of the build output file
+ifeq "$(PROJECT)" ""
+PROJECT=max32665
+endif
+
+# Specify the target processor
+ifeq "$(TARGET)" ""
+TARGET=MAX32665
+endif
+
+# Create Target name variables
+TARGET_UC:=$(shell echo $(TARGET) | tr a-z A-Z)
+TARGET_LC:=$(shell echo $(TARGET) | tr A-Z a-z)
+
+# Select 'GCC' or 'IAR' compiler
+COMPILER=GCC
+
+# Specify the board used
+ifeq "$(BOARD)" ""
+#BOARD=EvKit_V1
+BOARD=card10
+endif
+
+# This is the path to the CMSIS root directory
+ifeq "$(MAXIM_PATH)" ""
+LIBS_DIR=../sdk/Libraries
+else
+LIBS_DIR=/$(subst \,/,$(subst :,,$(MAXIM_PATH))/Firmware/$(TARGET_UC)/Libraries)
+endif
+CMSIS_ROOT=$(LIBS_DIR)/CMSIS
+
+# Source files for this test (add path to VPATH below)
+SRCS = main.c
+SRCS += ../lib/card10/oled96.c
+SRCS += ../lib/card10/fonts.c
+SRCS += ../lib/card10/pmic.c
+SRCS += bhy_support.c bhy_uc_driver.c bhy.c
+SRCS += MAX77650-Arduino-Library.c
+# Where to find source files for this test
+VPATH = .
+
+# Where to find header files for this test
+IPATH = .
+
+IPATH += ../lib/card10
+VPATH += ../lib/card10
+
+IPATH += ../lib/bosch/BHy1_driver_and_MCU_solution/driver/inc
+IPATH += ../lib/bosch/BHy1_driver_and_MCU_solution/examples/firmware/
+VPATH += ../lib/bosch/BHy1_driver_and_MCU_solution/driver/src
+
+IPATH += ../lib/maxim/MAX77650-Arduino-Library
+VPATH += ../lib/maxim/MAX77650-Arduino-Library
+
+# Enable assertion checking for development
+PROJ_CFLAGS+=-DMXC_ASSERT_ENABLE
+
+# Specify the target revision to override default
+# "A2" in ASCII
+# TARGET_REV=0x4132
+
+# Use this variables to specify and alternate tool path
+#TOOL_DIR=/opt/gcc-arm-none-eabi-4_8-2013q4/bin
+
+# Use these variables to add project specific tool options
+#PROJ_CFLAGS+=--specs=nano.specs
+#PROJ_LDFLAGS+=--specs=nano.specs
+
+PROJ_CFLAGS+=-std=c99
+
+# Point this variable to a startup file to override the default file
+#STARTUPFILE=start.S
+
+# Override the default optimization level using this variable
+#MXC_OPTIMIZE_CFLAGS=-O1
+
+# Point this variable to a linker file to override the default file
+ifneq "$(APP)" ""
+LINKERFILE=$(CMSIS_ROOT)/Device/Maxim/$(TARGET_UC)/Source/GCC/$(TARGET_LC)_app.ld
+endif
+
+################################################################################
+# Include external library makefiles here
+
+# Include the BSP
+BOARD_DIR=$(LIBS_DIR)/Boards/$(BOARD)
+include $(BOARD_DIR)/board.mk
+
+# Include the peripheral driver
+PERIPH_DRIVER_DIR=$(LIBS_DIR)/$(TARGET_UC)PeriphDriver
+include $(PERIPH_DRIVER_DIR)/periphdriver.mk
+
+################################################################################
+# Include the rules for building for this target. All other makefiles should be
+# included before this one.
+include $(CMSIS_ROOT)/Device/Maxim/$(TARGET_UC)/Source/$(COMPILER)/$(TARGET_LC).mk
+
+# The rule to clean out all the build products.
+distclean: clean
+ $(MAKE) -C ${PERIPH_DRIVER_DIR} clean
diff --git a/imutest/build_image b/imutest/build_image
new file mode 100755
index 0000000000000000000000000000000000000000..efcda785f8ef3137326531e085cdccaa7baac919
--- /dev/null
+++ b/imutest/build_image
@@ -0,0 +1,5 @@
+make clean
+make APP=1
+make build/max32665.bin
+cp build/max32665.bin card10.bin
+python ../bootloader/crc_patch.py card10.bin
diff --git a/imutest/main.c b/imutest/main.c
new file mode 100644
index 0000000000000000000000000000000000000000..e91d0382a11ee8918c2f1426be30a790e681d07d
--- /dev/null
+++ b/imutest/main.c
@@ -0,0 +1,324 @@
+/*******************************************************************************
+ * Copyright (C) 2016 Maxim Integrated Products, Inc., All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and associated documentation files (the "Software"),
+ * to deal in the Software without restriction, including without limitation
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ * and/or sell copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included
+ * in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+ * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+ * IN NO EVENT SHALL MAXIM INTEGRATED BE LIABLE FOR ANY CLAIM, DAMAGES
+ * OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
+ * ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
+ * OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * Except as contained in this notice, the name of Maxim Integrated
+ * Products, Inc. shall not be used except as stated in the Maxim Integrated
+ * Products, Inc. Branding Policy.
+ *
+ * The mere transfer of this software does not imply any licenses
+ * of trade secrets, proprietary technology, copyrights, patents,
+ * trademarks, maskwork rights, or any other form of intellectual
+ * property whatsoever. Maxim Integrated Products, Inc. retains all
+ * ownership rights.
+ *
+ * $Date: 2018-09-04 22:13:32 +0000 (Tue, 04 Sep 2018) $
+ * $Revision: 37649 $
+ *
+ ******************************************************************************/
+
+/**
+ * @file main.c
+ * @brief Hello World!
+ * @details This example uses the UART to print to a terminal and flashes an LED.
+ */
+
+/***** Includes *****/
+#include <stdio.h>
+#include <stdint.h>
+#include <string.h>
+#include "mxc_config.h"
+#include "led.h"
+#include "board.h"
+#include "tmr_utils.h"
+#include "i2c.h"
+#include "rtc.h"
+#include "spi.h"
+#include "gpio.h"
+#include "oled96.h"
+#include "bhy.h"
+#include "Bosch_PCB_7183_di03_BMI160_BMM150-7183_di03.2.1.11696_170103.h"
+#include "bhy_uc_driver.h"
+#include "pmic.h"
+#include <math.h>
+
+/***** Definitions *****/
+
+#define I2C_DEVICE MXC_I2C0_BUS0
+
+#define SPI SPI0
+#define SPI_SPEED 1000000 // Bit Rate
+
+/* should be greater or equal to 69 bytes, page size (50) + maximum packet size(18) + 1 */
+#define FIFO_SIZE 300
+#define ROTATION_VECTOR_SAMPLE_RATE 100
+#define MAX_PACKET_LENGTH 18
+#define OUT_BUFFER_SIZE 60
+
+
+/***** Globals *****/
+static const gpio_cfg_t motor_pin = {PORT_0, PIN_8, GPIO_FUNC_OUT, GPIO_PAD_NONE};
+char out_buffer[OUT_BUFFER_SIZE] = " W: 0.999 X: 0.999 Y: 0.999 Z: 0.999 \r";
+uint8_t fifo[FIFO_SIZE];
+
+
+
+/***** Functions *****/
+#if 0
+void I2C0_IRQHandler(void)
+{
+ I2C_Handler(I2C_DEVICE);
+ return;
+}
+#endif
+
+uint32_t ecg_read_reg(uint8_t reg)
+{
+ spi_req_t req;
+ uint8_t tx_data[] = {(reg << 1) | 1, 0, 0, 0};
+ uint8_t rx_data[] = {0, 0, 0, 0};
+ req.tx_data = tx_data;
+ req.rx_data = rx_data;
+ req.len = 4;
+ req.bits = 8;
+ req.width = SPI17Y_WIDTH_1;
+ req.ssel = 0;
+ req.deass = 1;
+ req.ssel_pol = SPI17Y_POL_LOW;
+ req.tx_num = 0;
+ req.rx_num = 0;
+
+ SPI_MasterTrans(SPI, &req);
+
+ return (rx_data[1] << 16) | (rx_data[2] << 8) | rx_data[3];
+}
+
+static void sensors_callback_vector(bhy_data_generic_t * sensor_data, bhy_virtual_sensor_t sensor_id)
+{
+ printf("x=%d, y=%d, z=%d status=%d\n",
+ sensor_data->data_vector.x,
+ sensor_data->data_vector.y,
+ sensor_data->data_vector.z,
+ sensor_data->data_vector.status
+ );
+}
+
+/*!
+ * @brief This function is callback function for acquring sensor datas
+ *
+ * @param[in] sensor_data
+ * @param[in] sensor_id
+ */
+static void sensors_callback_rotation_vector(bhy_data_generic_t * sensor_data, bhy_virtual_sensor_t sensor_id)
+{
+#if 0
+ float temp;
+ uint8_t index;
+
+ temp = sensor_data->data_quaternion.w / 16384.0f; /* change the data unit by dividing 16384 */
+ out_buffer[3] = temp < 0 ? '-' : ' ';
+ temp = temp < 0 ? -temp : temp;
+ out_buffer[4] = floorf(temp) + '0';
+
+ for (index = 6; index <= 8; index++)
+ {
+ temp = (temp - floorf(temp)) * 10;
+ out_buffer[index] = floorf(temp) + '0';
+ }
+
+ temp = sensor_data->data_quaternion.x / 16384.0f;
+ out_buffer[13] = temp < 0 ? '-' : ' ';
+ temp = temp < 0 ? -temp : temp;
+ out_buffer[14] = floorf(temp) + '0';
+
+ for (index = 16; index <= 18; index++)
+ {
+ temp = (temp - floorf(temp)) * 10;
+ out_buffer[index] = floorf(temp) + '0';
+ }
+
+ temp = sensor_data->data_quaternion.y / 16384.0f;
+ out_buffer[23] = temp < 0 ? '-' : ' ';
+ temp = temp < 0 ? -temp : temp;
+ out_buffer[24] = floorf(temp) + '0';
+
+ for (index = 26; index <= 28; index++)
+ {
+ temp = (temp - floorf(temp)) * 10;
+ out_buffer[index] = floorf(temp) + '0';
+ }
+
+ temp = sensor_data->data_quaternion.z / 16384.0f;
+ out_buffer[33] = temp < 0 ? '-' : ' ';
+ temp = temp < 0 ? -temp : temp;
+ out_buffer[34] = floorf(temp) + '0';
+
+ for (index = 36; index <= 38; index++)
+ {
+ temp = (temp - floorf(temp)) * 10;
+ out_buffer[index] = floorf(temp) + '0';
+ }
+#endif
+
+ printf("x=%d, y=%d, z=%d, w=%d\n",
+ sensor_data->data_quaternion.x,
+ sensor_data->data_quaternion.y,
+ sensor_data->data_quaternion.z,
+ sensor_data->data_quaternion.w
+ );
+}
+
+// *****************************************************************************
+int main(void)
+{
+ printf("Hello World!\n");
+ TMR_Delay(MXC_TMR0, MSEC(1000), 0);
+
+ //Setup the I2CM
+ I2C_Shutdown(MXC_I2C0_BUS0);
+ I2C_Init(MXC_I2C0_BUS0, I2C_FAST_MODE, NULL);
+
+ I2C_Shutdown(MXC_I2C1_BUS0);
+ I2C_Init(MXC_I2C1_BUS0, I2C_FAST_MODE, NULL);
+
+ #if 0
+ NVIC_EnableIRQ(I2C0_IRQn); // Not sure if we actually need this when not doing async requests
+ #endif
+
+ uint8_t dummy[1] = {0};
+ // "7-bit addresses 0b0000xxx and 0b1111xxx are reserved"
+ for (int addr = 0x8; addr < 0x78; ++addr) {
+ // A 0 byte write does not seem to work so always send a single byte.
+ int res = I2C_MasterWrite(MXC_I2C0_BUS0, addr << 1, dummy, 1, 0);
+ if(res == 1) {
+ printf("Found (7 bit) address 0x%02x on I2C0\n", addr);
+ }
+
+ res = I2C_MasterWrite(MXC_I2C1_BUS0, addr << 1, dummy, 1, 0);
+ if(res == 1) {
+ printf("Found (7 bit) address 0x%02x on I2C1\n", addr);
+ }
+ }
+
+ pmic_init();
+ pmic_set_led(0, 0);
+ pmic_set_led(1, 0);
+ pmic_set_led(2, 0);
+
+ TMR_Delay(MXC_TMR0, MSEC(1000), 0);
+
+#if 0
+ oledInit(0x3c, 0, 0);
+ oledFill(0x00);
+ oledWriteString(0, 0, "Hello", 0);
+ oledWriteString(0, 2, "my name is", 0);
+ oledWriteString(0, 4, "card10", 1);
+#endif
+
+ /* BHY Variable*/
+ uint8_t *fifoptr = NULL;
+ uint8_t bytes_left_in_fifo = 0;
+ uint16_t bytes_remaining = 0;
+ uint16_t bytes_read = 0;
+ bhy_data_generic_t fifo_packet;
+ bhy_data_type_t packet_type;
+ BHY_RETURN_FUNCTION_TYPE result;
+
+ const gpio_cfg_t interrupt_pin = {PORT_0, PIN_13, GPIO_FUNC_IN, GPIO_PAD_PULL_UP};
+ GPIO_Config(&interrupt_pin);
+
+ if(bhy_driver_init(bhy1_fw)) {
+ printf("Failed to init bhy\n");
+ }
+
+ /* wait for the bhy trigger the interrupt pin go down and up again */
+ while (GPIO_InGet(&interrupt_pin));
+
+ while (!GPIO_InGet(&interrupt_pin));
+
+#if 0
+ /* install the callback function for parse fifo data */
+ if(bhy_install_sensor_callback(VS_TYPE_ROTATION_VECTOR, VS_WAKEUP, sensors_callback_rotation_vector))
+ {
+ printf("Fail to install sensor callback\n");
+ }
+#endif
+
+ //if(bhy_install_sensor_callback(VS_TYPE_GEOMAGNETIC_FIELD, VS_WAKEUP, sensors_callback_vector))
+ if(bhy_install_sensor_callback(VS_TYPE_GRAVITY, VS_WAKEUP, sensors_callback_vector))
+ {
+ printf("Fail to install sensor callback\n");
+ }
+
+#if 0
+ /* enables the virtual sensor */
+ if(bhy_enable_virtual_sensor(VS_TYPE_ROTATION_VECTOR, VS_WAKEUP, ROTATION_VECTOR_SAMPLE_RATE, 0, VS_FLUSH_NONE, 0, 0))
+ {
+ printf("Fail to enable sensor id=%d\n", VS_TYPE_ROTATION_VECTOR);
+ }
+#endif
+
+ /* enables the virtual sensor */
+ //if(bhy_enable_virtual_sensor(VS_TYPE_GEOMAGNETIC_FIELD, VS_WAKEUP, ROTATION_VECTOR_SAMPLE_RATE, 0, VS_FLUSH_NONE, 0, 0))
+ if(bhy_enable_virtual_sensor(VS_TYPE_GRAVITY, VS_WAKEUP, ROTATION_VECTOR_SAMPLE_RATE, 0, VS_FLUSH_NONE, 0, 0))
+ {
+ printf("Fail to enable sensor id=%d\n", VS_TYPE_GEOMAGNETIC_FIELD);
+ }
+
+
+ while(1)
+ {
+ /* wait until the interrupt fires */
+ /* unless we already know there are bytes remaining in the fifo */
+ while (!GPIO_InGet(&interrupt_pin) && !bytes_remaining);
+
+ bhy_read_fifo(fifo + bytes_left_in_fifo, FIFO_SIZE - bytes_left_in_fifo, &bytes_read, &bytes_remaining);
+ bytes_read += bytes_left_in_fifo;
+ fifoptr = fifo;
+ packet_type = BHY_DATA_TYPE_PADDING;
+
+ do
+ {
+ /* this function will call callbacks that are registered */
+ result = bhy_parse_next_fifo_packet(&fifoptr, &bytes_read, &fifo_packet, &packet_type);
+
+ /* prints all the debug packets */
+ if (packet_type == BHY_DATA_TYPE_DEBUG)
+ {
+ bhy_print_debug_packet(&fifo_packet.data_debug, bhy_printf);
+ }
+
+ /* the logic here is that if doing a partial parsing of the fifo, then we should not parse */
+ /* the last 18 bytes (max length of a packet) so that we don't try to parse an incomplete */
+ /* packet */
+ } while ((result == BHY_SUCCESS) && (bytes_read > (bytes_remaining ? MAX_PACKET_LENGTH : 0)));
+
+ bytes_left_in_fifo = 0;
+
+ if (bytes_remaining)
+ {
+ /* shifts the remaining bytes to the beginning of the buffer */
+ while (bytes_left_in_fifo < bytes_read)
+ {
+ fifo[bytes_left_in_fifo++] = *(fifoptr++);
+ }
+ }
+ }
+}