From a8edbe841713853102ec497fd15bf6aee1102b81 Mon Sep 17 00:00:00 2001
From: Niklas Hauser <niklas.hauser@rwth-aachen.de>
Date: Thu, 11 Jul 2019 21:10:03 +0200
Subject: [PATCH] [examples] Add BNO055 example

---
 examples/README.md                            |   2 +-
 examples/nucleo_f411re/imu_bno055/main.cpp    | 120 ++++++++++++++++++
 examples/nucleo_f411re/imu_bno055/project.xml |  15 +++
 3 files changed, 136 insertions(+), 1 deletion(-)
 create mode 100644 examples/nucleo_f411re/imu_bno055/main.cpp
 create mode 100644 examples/nucleo_f411re/imu_bno055/project.xml

diff --git a/examples/README.md b/examples/README.md
index 633d60b8ef..6dc2b7e0e8 100644
--- a/examples/README.md
+++ b/examples/README.md
@@ -94,7 +94,7 @@ make gdb
 
 ## Interesting Examples
 
-We have a lot of examples, <!--examplecount-->189<!--/examplecount--> to be
+We have a lot of examples, <!--examplecount-->190<!--/examplecount--> to be
 exact, but here are some of our favorite examples for our supported development
 boards:
 
diff --git a/examples/nucleo_f411re/imu_bno055/main.cpp b/examples/nucleo_f411re/imu_bno055/main.cpp
new file mode 100644
index 0000000000..29651b4e2a
--- /dev/null
+++ b/examples/nucleo_f411re/imu_bno055/main.cpp
@@ -0,0 +1,120 @@
+// coding: utf-8
+/*
+ * Copyright (c) 2019, Niklas Hauser
+ *
+ * This file is part of the modm project.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+// ----------------------------------------------------------------------------
+
+#include <modm/board.hpp>
+
+#include <modm/processing.hpp>
+#include <modm/driver/inertial/bno055.hpp>
+#include <modm/debug.hpp>
+using namespace modm::literals;
+
+// Set the log level
+#undef	MODM_LOG_LEVEL
+#define	MODM_LOG_LEVEL modm::log::DEBUG
+
+/**
+ * Example to demonstrate a MODM driver for imu sensor VL53L0X
+ *
+ * This example uses I2cMaster1 of STM32F401
+ *
+ * SDA		PB9
+ * SCL		PB8
+ *
+ * GND and +3V are connected to the sensor.
+ */
+
+using namespace Board;
+
+using MyI2cMaster = I2cMaster1;
+// using MyI2cMaster = BitBangI2cMaster<Board::D15, Board::D14>;
+
+modm::bno055::Data data;
+modm::Bno055<MyI2cMaster> imu(data);
+
+class ThreadOne : public modm::pt::Protothread
+{
+public:
+	bool
+	update()
+	{
+		PT_BEGIN();
+
+		MODM_LOG_DEBUG << "Ping the device from ThreadOne" << modm::endl;
+
+		// ping the device until it responds
+		while (true)
+		{
+			// we wait until the device started
+			if (PT_CALL(imu.ping())) {
+				break;
+			}
+			PT_WAIT_UNTIL(timer.execute());
+		}
+
+		MODM_LOG_DEBUG << "Device responded" << modm::endl;
+
+		while (true)
+		{
+			if (PT_CALL(imu.configure())) {
+				break;
+			}
+
+			PT_WAIT_UNTIL(timer.execute());
+		}
+
+		MODM_LOG_DEBUG << "Device configured" << modm::endl;
+
+		while (true)
+		{
+			PT_WAIT_UNTIL(timer.execute());
+			PT_CALL(imu.readData());
+			MODM_LOG_INFO << (int)imu.getData().heading() << modm::endl;
+		}
+
+		PT_END();
+	}
+
+private:
+	modm::ShortPeriodicTimer timer{100};
+};
+
+ThreadOne one;
+
+// ----------------------------------------------------------------------------
+int
+main()
+{
+	Board::initialize();
+	LedD13::setOutput();
+
+	// Board::D13::setOutput(modm::Gpio::Low);
+	MyI2cMaster::connect<Board::D15::Scl, Board::D14::Sda>();
+	MyI2cMaster::initialize<Board::SystemClock, 400_kHz>();
+
+	MODM_LOG_INFO << "\n\nWelcome to BNO055 demo!\n\n" << modm::endl;
+
+	modm::ShortPeriodicTimer tmr(500);
+
+	// Board::D15::setOutput();
+
+	while (1)
+	{
+		one.update();
+		if(tmr.execute()) {
+			LedD13::toggle();
+			// Board::D15::toggle();
+		}
+
+	}
+
+	return 0;
+}
diff --git a/examples/nucleo_f411re/imu_bno055/project.xml b/examples/nucleo_f411re/imu_bno055/project.xml
new file mode 100644
index 0000000000..146a01add6
--- /dev/null
+++ b/examples/nucleo_f411re/imu_bno055/project.xml
@@ -0,0 +1,15 @@
+<library>
+  <extends>modm:nucleo-f411re</extends>
+  <options>
+    <option name="modm:build:build.path">../../../build/nucleo_f411re/bno055</option>
+  </options>
+  <modules>
+    <module>modm:debug</module>
+    <module>modm:driver:bno055</module>
+    <module>modm:platform:gpio</module>
+    <module>modm:platform:i2c:1</module>
+    <module>modm:platform:i2c.bitbang</module>
+    <module>modm:processing:protothread</module>
+    <module>modm:build:scons</module>
+  </modules>
+</library>