LAUNCHXL-F28069M: Sensors BoosterPack Plug-In Module - libraries for motorware

Part Number: LAUNCHXL-F28069M
Other Parts Discussed in Thread: MOTORWARE, MSP430FR5994, C2000WARE

Hello,

I'm currently succesfull run Lab12b from motorware.

I'd like to add some code to read bmi160 accel + gyro and show that mesurements in console while debugging.

I add bmi160.c, bmi.h, bmi160_support.c, bmi160_support.h to project from (...)\BOOSTXL-SENSORS_SensorGUI_MSP430FR5994\src 

But when i try to compile errors occur - libraries are missing:

#include "driverlib.h"
#include "i2c_driver.h"
#include "demo_sysctl.h"

There are also a few other errors...

I'm enclosing the code in which I added reading the sensor:

//this is proj_lab12b main file with some additions for bmi160 accel+gyro sensor on sensors booster pack
#include <math.h>
#include "main.h"
#include <stdio.h>
#include "bmi160_support.h"
#include "bmi160.h"

#ifdef FLASH
#pragma CODE_SECTION(mainISR,"ramfuncs");
#endif

// Include header files used in the main function


// **************************************************************************
// the defines

#define LED_BLINK_FREQ_Hz   5


// **************************************************************************


// **************************************************************************
// BMI160
BMI160_RETURN_FUNCTION_TYPE returnValue;
struct bmi160_gyro_t        s_gyroXYZ;
struct bmi160_accel_t       s_accelXYZ;
struct bmi160_mag_xyz_s32_t s_magcompXYZ;
//Calibration off-sets
int16_t accel_off_x;
int16_t accel_off_y;
int16_t accel_off_z;
int16_t gyro_off_x;
int16_t gyro_off_y;
uint16_t gyro_off_z;
// **************************************************************************


// the globals

uint_least16_t gCounter_updateGlobals = 0;

bool Flag_Latch_softwareUpdate = true;

CTRL_Handle ctrlHandle;

HAL_Handle halHandle;

USER_Params gUserParams;

HAL_PwmData_t gPwmData = {_IQ(0.0), _IQ(0.0), _IQ(0.0)};

HAL_AdcData_t gAdcData;

_iq gMaxCurrentSlope = _IQ(0.0);

#ifdef FAST_ROM_V1p6
CTRL_Obj *controller_obj;
#else
CTRL_Obj ctrl;              //v1p7 format
#endif

ENC_Handle encHandle;
ENC_Obj enc;

SLIP_Handle slipHandle;
SLIP_Obj slip;

ST_Obj st_obj;
ST_Handle stHandle;

uint16_t gLEDcnt = 0;

volatile MOTOR_Vars_t gMotorVars = MOTOR_Vars_INIT;

#ifdef FLASH
// Used for running BackGround in flash, and ISR in RAM
extern uint16_t *RamfuncsLoadStart, *RamfuncsLoadEnd, *RamfuncsRunStart;
#endif


#ifdef DRV8301_SPI
// Watch window interface to the 8301 SPI
DRV_SPI_8301_Vars_t gDrvSpi8301Vars;
#endif
#ifdef DRV8305_SPI
// Watch window interface to the 8305 SPI
DRV_SPI_8305_Vars_t gDrvSpi8305Vars;
#endif

_iq gFlux_pu_to_Wb_sf;

_iq gFlux_pu_to_VpHz_sf;

_iq gTorque_Ls_Id_Iq_pu_to_Nm_sf;

_iq gTorque_Flux_Iq_pu_to_Nm_sf;

// **************************************************************************
// the functions

void main(void)
{
  uint_least8_t estNumber = 0;

#ifdef FAST_ROM_V1p6
  uint_least8_t ctrlNumber = 0;
#endif

  // Only used if running from FLASH
  // Note that the variable FLASH is defined by the project
  #ifdef FLASH
  // Copy time critical code and Flash setup code to RAM
  // The RamfuncsLoadStart, RamfuncsLoadEnd, and RamfuncsRunStart
  // symbols are created by the linker. Refer to the linker files.
  memCopy((uint16_t *)&RamfuncsLoadStart,(uint16_t *)&RamfuncsLoadEnd,(uint16_t *)&RamfuncsRunStart);
  #endif

  // initialize the hardware abstraction layer
  halHandle = HAL_init(&hal,sizeof(hal));


  // check for errors in user parameters
  USER_checkForErrors(&gUserParams);


  // store user parameter error in global variable
  gMotorVars.UserErrorCode = USER_getErrorCode(&gUserParams);


  // do not allow code execution if there is a user parameter error
  if(gMotorVars.UserErrorCode != USER_ErrorCode_NoError)
    {
      for(;;)
        {
          gMotorVars.Flag_enableSys = false;
        }
    }


  // initialize the user parameters
  USER_setParams(&gUserParams);


  // set the hardware abstraction layer parameters
  HAL_setParams(halHandle,&gUserParams);


  // initialize the controller
#ifdef FAST_ROM_V1p6
  ctrlHandle = CTRL_initCtrl(ctrlNumber, estNumber);        //v1p6 format (06xF and 06xM devices)
  controller_obj = (CTRL_Obj *)ctrlHandle;
#else
  ctrlHandle = CTRL_initCtrl(estNumber,&ctrl,sizeof(ctrl)); //v1p7 format default
#endif


  {
    CTRL_Version version;

    // get the version number
    CTRL_getVersion(ctrlHandle,&version);

    gMotorVars.CtrlVersion = version;
  }


  // set the default controller parameters
  CTRL_setParams(ctrlHandle,&gUserParams);


  // setup faults
  HAL_setupFaults(halHandle);


  // initialize the interrupt vector table
  HAL_initIntVectorTable(halHandle);


  // enable the ADC interrupts
  HAL_enableAdcInts(halHandle);


  // enable global interrupts
  HAL_enableGlobalInts(halHandle);


  // enable debug interrupts
  HAL_enableDebugInt(halHandle);


  // disable the PWM
  HAL_disablePwm(halHandle);


  // initialize the ENC module
  encHandle = ENC_init(&enc, sizeof(enc));


  // setup the ENC module
  ENC_setup(encHandle, 1, USER_MOTOR_NUM_POLE_PAIRS, USER_MOTOR_ENCODER_LINES, 0, USER_IQ_FULL_SCALE_FREQ_Hz, USER_ISR_FREQ_Hz, 8000.0);


  // initialize the SLIP module
  slipHandle = SLIP_init(&slip, sizeof(slip));


  // setup the SLIP module
  SLIP_setup(slipHandle, _IQ(gUserParams.ctrlPeriod_sec));


  // initialize the SpinTAC Components
  stHandle = ST_init(&st_obj, sizeof(st_obj));


  // setup the SpinTAC Components
  ST_setupVelCtl(stHandle);
  ST_setupPosConv(stHandle);


#ifdef DRV8301_SPI
  // turn on the DRV8301 if present
  HAL_enableDrv(halHandle);
  // initialize the DRV8301 interface
  HAL_setupDrvSpi(halHandle,&gDrvSpi8301Vars);
#endif

#ifdef DRV8305_SPI
  // turn on the DRV8305 if present
  HAL_enableDrv(halHandle);
  // initialize the DRV8305 interface
  HAL_setupDrvSpi(halHandle,&gDrvSpi8305Vars);
#endif

  // enable DC bus compensation
  CTRL_setFlag_enableDcBusComp(ctrlHandle, true);


  // compute scaling factors for flux and torque calculations
  gFlux_pu_to_Wb_sf = USER_computeFlux_pu_to_Wb_sf();
  gFlux_pu_to_VpHz_sf = USER_computeFlux_pu_to_VpHz_sf();
  gTorque_Ls_Id_Iq_pu_to_Nm_sf = USER_computeTorque_Ls_Id_Iq_pu_to_Nm_sf();
  gTorque_Flux_Iq_pu_to_Nm_sf = USER_computeTorque_Flux_Iq_pu_to_Nm_sf();


  for(;;)
  {
    // Waiting for enable system flag to be set
    while(!(gMotorVars.Flag_enableSys));

    // Dis-able the Library internal PI.  Iq has no reference now
    CTRL_setFlag_enableSpeedCtrl(ctrlHandle, false);


    //***********************************************************************************************
    printf("Hello world! \n");
    // Initialize bmi160 sensor
        bmi160_initialize_sensor();

        //returnRslt = bmi160_config_running_mode(APPLICATION_NAVIGATION);
        bmi160_accel_foc_trigger_xyz(0x03, 0x03, 0x01, &accel_off_x, &accel_off_y, &accel_off_z);
        bmi160_set_foc_gyro_enable(0x01, &gyro_off_x, &gyro_off_y, &gyro_off_z);
    //***********************************************************************************************

    // loop while the enable system flag is true
    while(gMotorVars.Flag_enableSys)
      {


    //***********************************************************************************************
        //Read Accel and Gyro values
        returnValue = bmi160_read_accel_xyz(&s_accelXYZ);
        returnValue = bmi160_read_gyro_xyz(&s_gyroXYZ);
        
        printf("\"gyro\":{\"x\":%d,\"y\":%d,\"z\":%d},"
                "\"accel\":{\"x\":%d,\"y\":%d,\"z\":%d}}\n",
                s_gyroXYZ.x, s_gyroXYZ.y, s_gyroXYZ.z,
                s_accelXYZ.x, s_accelXYZ.y, s_accelXYZ.z);
     //***********************************************************************************************

//rest of proj_lab12b without changes

Are there any errors in my code? Maybe I should make changes in the bmi160 libraries?