Maxim Integrated / BMI160

Library for Bosch Sensortec BMI160 IMU

Dependents:   Rocket MAX32630FTHR_JOYSTICK MAX32630FTHR_IMU_Hello_World Pike_the_Flipper_Main_Branch ... more

Fork of BMI160 by Justin Jordan

bmi160.h@5:35e032c8d8aa, 2016-12-14 (annotated)

Committer:
j3
Date:
Wed Dec 14 23:48:07 2016 +0000
Revision:
5:35e032c8d8aa
Parent:
4:ebac8c8f6347
Child:
7:9848196cb65e
working on lib

Who changed what in which revision?

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j3 0:bb5b832891fb 1 /**********************************************************************
j3 0:bb5b832891fb 2 * Copyright (C) 2016 Maxim Integrated Products, Inc., All Rights Reserved.
j3 0:bb5b832891fb 3 *
j3 0:bb5b832891fb 4 * Permission is hereby granted, free of charge, to any person obtaining a
j3 0:bb5b832891fb 5 * copy of this software and associated documentation files (the "Software"),
j3 0:bb5b832891fb 6 * to deal in the Software without restriction, including without limitation
j3 0:bb5b832891fb 7 * the rights to use, copy, modify, merge, publish, distribute, sublicense,
j3 0:bb5b832891fb 8 * and/or sell copies of the Software, and to permit persons to whom the
j3 0:bb5b832891fb 9 * Software is furnished to do so, subject to the following conditions:
j3 0:bb5b832891fb 10 *
j3 0:bb5b832891fb 11 * The above copyright notice and this permission notice shall be included
j3 0:bb5b832891fb 12 * in all copies or substantial portions of the Software.
j3 0:bb5b832891fb 13 *
j3 0:bb5b832891fb 14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
j3 0:bb5b832891fb 15 * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
j3 0:bb5b832891fb 16 * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
j3 0:bb5b832891fb 17 * IN NO EVENT SHALL MAXIM INTEGRATED BE LIABLE FOR ANY CLAIM, DAMAGES
j3 0:bb5b832891fb 18 * OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
j3 0:bb5b832891fb 19 * ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
j3 0:bb5b832891fb 20 * OTHER DEALINGS IN THE SOFTWARE.
j3 0:bb5b832891fb 21 *
j3 0:bb5b832891fb 22 * Except as contained in this notice, the name of Maxim Integrated
j3 0:bb5b832891fb 23 * Products, Inc. shall not be used except as stated in the Maxim Integrated
j3 0:bb5b832891fb 24 * Products, Inc. Branding Policy.
j3 0:bb5b832891fb 25 *
j3 0:bb5b832891fb 26 * The mere transfer of this software does not imply any licenses
j3 0:bb5b832891fb 27 * of trade secrets, proprietary technology, copyrights, patents,
j3 0:bb5b832891fb 28 * trademarks, maskwork rights, or any other form of intellectual
j3 0:bb5b832891fb 29 * property whatsoever. Maxim Integrated Products, Inc. retains all
j3 0:bb5b832891fb 30 * ownership rights.
j3 0:bb5b832891fb 31 **********************************************************************/
j3 0:bb5b832891fb 32
j3 0:bb5b832891fb 33
j3 0:bb5b832891fb 34 #ifndef BMI160_H
j3 0:bb5b832891fb 35 #define BMI160_H
j3 0:bb5b832891fb 36
j3 0:bb5b832891fb 37 #include "mbed.h"
j3 0:bb5b832891fb 38
j3 0:bb5b832891fb 39 /**
j3 0:bb5b832891fb 40 @brief The BMI160 is a small, low power, low noise 16-bit inertial measurement
j3 0:bb5b832891fb 41 unit designed for use in mobile applications like augmented reality or indoor
j3 0:bb5b832891fb 42 navigation which require highly accurate, real-time sensor data.
j3 0:bb5b832891fb 43
j3 0:bb5b832891fb 44 In full operation mode, with both the accelerometer and gyroscope enabled, the
j3 0:bb5b832891fb 45 current consumption is typically 950 μA, enabling always-on applications in
j3 0:bb5b832891fb 46 battery driven devices. It is available in a compact 14-pin 2.5 x 3.0 x 0.8 mm³
j3 0:bb5b832891fb 47 LGA package."
j3 2:598e601e5846 48
j3 2:598e601e5846 49 This class is an abstract base class and can not be instaniated, use BMI160_I2C
j3 2:598e601e5846 50 or BMI160_SPI.
j3 0:bb5b832891fb 51 */
j3 0:bb5b832891fb 52 class BMI160
j3 0:bb5b832891fb 53 {
j3 0:bb5b832891fb 54 public:
j3 0:bb5b832891fb 55
j3 2:598e601e5846 56 ///Return value on success.
j3 3:e1770675eca4 57 static const uint8_t RTN_NO_ERROR = 0;
j3 0:bb5b832891fb 58
j3 5:35e032c8d8aa 59 ///BMI160 Sensors
j3 5:35e032c8d8aa 60 enum Sensors
j3 5:35e032c8d8aa 61 {
j3 5:35e032c8d8aa 62 MAG = 0, ///<Optional external sensor
j3 5:35e032c8d8aa 63 GYRO, ///<Angular rate sensor
j3 5:35e032c8d8aa 64 ACC ///<g sensor
j3 5:35e032c8d8aa 65 };
j3 5:35e032c8d8aa 66
j3 1:a4c911640569 67 ///BMI160 registers
j3 0:bb5b832891fb 68 enum Registers
j3 0:bb5b832891fb 69 {
j3 3:e1770675eca4 70 CHIP_ID = 0x00, ///<Chip Identification.
j3 3:e1770675eca4 71 ERR_REG = 0x02, ///<Reports sensor error flags. Flags reset when read.
j3 3:e1770675eca4 72 PMU_STATUS, ///<Reports current power mode for sensors.
j3 3:e1770675eca4 73 DATA_0, ///<MAG_X axis bits7:0
j3 3:e1770675eca4 74 DATA_1, ///<MAG_X axis bits15:8
j3 3:e1770675eca4 75 DATA_2, ///<MAG_Y axis bits7:0
j3 3:e1770675eca4 76 DATA_3, ///<MAG_Y axis bits15:8
j3 3:e1770675eca4 77 DATA_4, ///<MAG_Z axis bits7:0
j3 3:e1770675eca4 78 DATA_5, ///<MAG_Z axis bits15:8
j3 3:e1770675eca4 79 DATA_6, ///<RHALL bits7:0
j3 3:e1770675eca4 80 DATA_7, ///<RHALL bits15:8
j3 3:e1770675eca4 81 DATA_8, ///<GYR_X axis bits7:0
j3 3:e1770675eca4 82 DATA_9, ///<GYR_X axis bits15:8
j3 3:e1770675eca4 83 DATA_10, ///<GYR_Y axis bits7:0
j3 3:e1770675eca4 84 DATA_11, ///<GYR_Y axis bits15:8
j3 3:e1770675eca4 85 DATA_12, ///<GYR_Z axis bits7:0
j3 3:e1770675eca4 86 DATA_13, ///<GYR_Z axis bits15:8
j3 3:e1770675eca4 87 DATA_14, ///<ACC_X axis bits7:0
j3 3:e1770675eca4 88 DATA_15, ///<ACC_X axis bits15:8
j3 3:e1770675eca4 89 DATA_16, ///<ACC_Y axis bits7:0
j3 3:e1770675eca4 90 DATA_17, ///<ACC_Y axis bits15:8
j3 3:e1770675eca4 91 DATA_18, ///<ACC_Z axis bits7:0
j3 3:e1770675eca4 92 DATA_19, ///<ACC_Z axis bits15:8
j3 3:e1770675eca4 93 SENSORTIME_0, ///<24bit counter synchronized with data, bits7:0
j3 3:e1770675eca4 94 SENSORTIME_1, ///<24bit counter synchronized with data, bits15:8
j3 3:e1770675eca4 95 SENSORTIME_2, ///<24bit counter synchronized with data, bits23:16
j3 3:e1770675eca4 96 STATUS, ///<Reports sensors status flags
j3 3:e1770675eca4 97 INT_STATUS_0, ///<Contains interrupt status flags
j3 3:e1770675eca4 98 INT_STATUS_1, ///<Contains interrupt status flags
j3 3:e1770675eca4 99 INT_STATUS_2, ///<Contains interrupt status flags
j3 3:e1770675eca4 100 INT_STATUS_3, ///<Contains interrupt status flags
j3 3:e1770675eca4 101 TEMPERATURE_0, ///<Contains temperature of sensor, bits7:0
j3 3:e1770675eca4 102 TEMPERATURE_1, ///<Contains temperature of sensor, bits15:8
j3 3:e1770675eca4 103 FIFO_LENGTH_0, ///<Current fill level of FIFO, bits7:0
j3 3:e1770675eca4 104 FIFO_LENGTH_1, ///<Current fill level of FIFO, bits10:8
j3 3:e1770675eca4 105 FIFO_DATA, ///<FIFO data read out register, burst read
j3 3:e1770675eca4 106 ACC_CONF = 0x40, ///<Set ODR, bandwidth, and read mode of accelerometer
j3 3:e1770675eca4 107 ACC_RANGE, ///<Sets accelerometer g-range
j3 3:e1770675eca4 108 GYR_CONF, ///<Set ODR, bandwidth, and read mode of gyroscope
j3 3:e1770675eca4 109 GYR_RANGE, ///<Sets gyroscope angular rate measurement range
j3 3:e1770675eca4 110 MAG_CONF, ///<Sets ODR of magnetometer interface
j3 3:e1770675eca4 111 FIFO_DOWNS, ///<Sets down sampling ratios of accel and gyro data
j3 3:e1770675eca4 112 ///<for FIFO
j3 3:e1770675eca4 113 FIFO_CONFIG_0, ///<Sets FIFO Watermark
j3 3:e1770675eca4 114 FIFO_CONFIG_1, ///<Sets which sensor data is available in FIFO,
j3 3:e1770675eca4 115 ///<Header/Headerless mode, Ext Int tagging, Sensortime
j3 3:e1770675eca4 116 MAG_IF_0 = 0x4B, ///<Magnetometer 7-bit I2C address, bits7:1
j3 3:e1770675eca4 117 MAG_IF_1, ///<Magnetometer interface configuration
j3 3:e1770675eca4 118 MAG_IF_2, ///<Magnetometer address to read
j3 3:e1770675eca4 119 MAG_IF_3, ///<Magnetometer address to write
j3 3:e1770675eca4 120 MAG_IF_4, ///<Magnetometer data to write
j3 3:e1770675eca4 121 INT_EN_0, ///<Interrupt enable bits
j3 3:e1770675eca4 122 INT_EN_1, ///<Interrupt enable bits
j3 3:e1770675eca4 123 INT_EN_2, ///<Interrupt enable bits
j3 3:e1770675eca4 124 INT_OUT_CTRL, ///<Contains the behavioral configuration of INT pins
j3 3:e1770675eca4 125 INT_LATCH, ///<Contains the interrupt rest bit and the interrupt
j3 3:e1770675eca4 126 ///<mode selection
j3 3:e1770675eca4 127 INT_MAP_0, ///<Controls which interrupt signals are mapped to the
j3 3:e1770675eca4 128 ///<INT1 and INT2 pins
j3 3:e1770675eca4 129 INT_MAP_1, ///<Controls which interrupt signals are mapped to the
j3 3:e1770675eca4 130 ///<INT1 and INT2 pins
j3 3:e1770675eca4 131 INT_MAP_2, ///<Controls which interrupt signals are mapped to the
j3 3:e1770675eca4 132 ///<INT1 and INT2 pins
j3 3:e1770675eca4 133 INT_DATA_0, ///<Contains the data source definition for the two
j3 3:e1770675eca4 134 ///<interrupt groups
j3 3:e1770675eca4 135 INT_DATA_1, ///<Contains the data source definition for the two
j3 3:e1770675eca4 136 ///<interrupt groups
j3 3:e1770675eca4 137 INT_LOWHIGH_0, ///<Contains the configuration for the low g interrupt
j3 3:e1770675eca4 138 INT_LOWHIGH_1, ///<Contains the configuration for the low g interrupt
j3 3:e1770675eca4 139 INT_LOWHIGH_2, ///<Contains the configuration for the low g interrupt
j3 3:e1770675eca4 140 INT_LOWHIGH_3, ///<Contains the configuration for the low g interrupt
j3 3:e1770675eca4 141 INT_LOWHIGH_4, ///<Contains the configuration for the low g interrupt
j3 3:e1770675eca4 142 INT_MOTION_0, ///<Contains the configuration for the any motion and
j3 3:e1770675eca4 143 ///<no motion interrupts
j3 3:e1770675eca4 144 INT_MOTION_1, ///<Contains the configuration for the any motion and
j3 3:e1770675eca4 145 ///<no motion interrupts
j3 3:e1770675eca4 146 INT_MOTION_2, ///<Contains the configuration for the any motion and
j3 3:e1770675eca4 147 ///<no motion interrupts
j3 3:e1770675eca4 148 INT_MOTION_3, ///<Contains the configuration for the any motion and
j3 3:e1770675eca4 149 ///<no motion interrupts
j3 3:e1770675eca4 150 INT_TAP_0, ///<Contains the configuration for the tap interrupts
j3 3:e1770675eca4 151 INT_TAP_1, ///<Contains the configuration for the tap interrupts
j3 3:e1770675eca4 152 INT_ORIENT_0, ///<Contains the configuration for the oeientation
j3 3:e1770675eca4 153 ///<interrupt
j3 3:e1770675eca4 154 INT_ORIENT_1, ///<Contains the configuration for the oeientation
j3 3:e1770675eca4 155 ///<interrupt
j3 3:e1770675eca4 156 INT_FLAT_0, ///<Contains the configuration for the flat interrupt
j3 3:e1770675eca4 157 INT_FLAT_1, ///<Contains the configuration for the flat interrupt
j3 3:e1770675eca4 158 FOC_CONF, ///<Contains configuration for the fast offset
j3 3:e1770675eca4 159 ///<compensation for the accelerometer and gyroscope
j3 3:e1770675eca4 160 CONF, ///<Configuration of sensor, nvm_prog_en bit
j3 3:e1770675eca4 161 IF_CONF, ///<Contains settings for the digital interface
j3 3:e1770675eca4 162 PMU_TRIGGER, ///<Sets trigger conditions to change gyro power modes
j3 3:e1770675eca4 163 SELF_TEST, ///<Self test configuration
j3 3:e1770675eca4 164 NV_CONF = 0x70, ///<Contains settings for the digital interface
j3 3:e1770675eca4 165 OFFSET_0, ///<Contains offset comp values for acc_off_x7:0
j3 3:e1770675eca4 166 OFFSET_1, ///<Contains offset comp values for acc_off_y7:0
j3 3:e1770675eca4 167 OFFSET_2, ///<Contains offset comp values for acc_off_z7:0
j3 3:e1770675eca4 168 OFFSET_3, ///<Contains offset comp values for gyr_off_x7:0
j3 3:e1770675eca4 169 OFFSET_4, ///<Contains offset comp values for gyr_off_y7:0
j3 3:e1770675eca4 170 OFFSET_5, ///<Contains offset comp values for gyr_off_z7:0
j3 3:e1770675eca4 171 OFFSET_6, ///<gyr/acc offset enable bit and gyr_off_(zyx) bits9:8
j3 3:e1770675eca4 172 STEP_CNT_0, ///<Step counter bits 15:8
j3 3:e1770675eca4 173 STEP_CNT_1, ///<Step counter bits 7:0
j3 3:e1770675eca4 174 STEP_CONF_0, ///<Contains configuration of the step detector
j3 3:e1770675eca4 175 STEP_CONF_1, ///<Contains configuration of the step detector
j3 3:e1770675eca4 176 CMD = 0x7E ///<Command register triggers operations like
j3 3:e1770675eca4 177 ///<softreset, NVM programming, etc.
j3 3:e1770675eca4 178 };
j3 3:e1770675eca4 179
j3 3:e1770675eca4 180 ///ERR_REG Bit Mask bit0
j3 3:e1770675eca4 181 static const uint8_t FATAL_ERR = 0x01;
j3 3:e1770675eca4 182 ///ERR_REG Bit Mask bits4:1
j3 3:e1770675eca4 183 static const uint8_t ERR_CODE = 0x1E;
j3 3:e1770675eca4 184 ///ERR_REG Bit Mask bit5
j3 3:e1770675eca4 185 static const uint8_t I2C_FAIL_ERR = 0x20;
j3 3:e1770675eca4 186 ///ERR_REG Bit Mask bit6
j3 3:e1770675eca4 187 static const uint8_t DROP_CMD_ERR = 0x40;
j3 3:e1770675eca4 188 ///ERR_REG Bit Mask bit7
j3 3:e1770675eca4 189 static const uint8_t MAG_DRDY_ERR = 0x80;
j3 3:e1770675eca4 190
j3 3:e1770675eca4 191 ///ERR_REG bits4:1 codes
j3 3:e1770675eca4 192 enum ErrorCodes
j3 3:e1770675eca4 193 {
j3 3:e1770675eca4 194 NO_ERROR = 0, ///<No Error
j3 3:e1770675eca4 195 ERROR_1, ///<Listed as error
j3 3:e1770675eca4 196 ERROR_2, ///<Listed as error
j3 3:e1770675eca4 197 LPM_INT_PFD, ///<Low-power mode and interrupt uses pre-filtered
j3 3:e1770675eca4 198 ///<data
j3 4:ebac8c8f6347 199 ODR_MISMATCH = 0x06, ///<ODRs of enabled sensors in headerless mode do
j3 4:ebac8c8f6347 200 ///<not match
j3 3:e1770675eca4 201 PFD_USED_LPM ///<Pre-filtered data are used in low power mode
j3 0:bb5b832891fb 202 };
j3 0:bb5b832891fb 203
j3 5:35e032c8d8aa 204 ///BMI160 Power Modes
j3 4:ebac8c8f6347 205 enum PowerModes
j3 4:ebac8c8f6347 206 {
j3 4:ebac8c8f6347 207 SUSPEND = 0, ///<Acc and Gyro, No sampling, No FIFO data readout
j3 4:ebac8c8f6347 208 NORMAL, ///<Acc and Gyro, Full chip operation
j3 4:ebac8c8f6347 209 LOW_POWER, ///<Acc duty-cycling between suspend and normal
j3 4:ebac8c8f6347 210 FAST_START_UP ///<Gyro start up delay time to normal mode <= 10 ms
j3 4:ebac8c8f6347 211 };
j3 4:ebac8c8f6347 212
j3 5:35e032c8d8aa 213 ///BMI160 Commands for CMD register
j3 5:35e032c8d8aa 214 enum Commands
j3 5:35e032c8d8aa 215 {
j3 5:35e032c8d8aa 216 START_FOC = 0x03, ///<Starts Fast Offset Calibrartion
j3 5:35e032c8d8aa 217 ACC_SET_PMU_MODE = 0x14, ///<Sets acc power mode
j3 5:35e032c8d8aa 218 GYR_SET_PMU_MODE, ///<Sets gyro power mode
j3 5:35e032c8d8aa 219 MAG_SET_PMU_MODE, ///<Sets mag power mode
j3 5:35e032c8d8aa 220 PROG_NVM = 0xA0, ///<Writes NVM backed registers into NVM
j3 5:35e032c8d8aa 221 FIFO_FLUSH = 0xB0, ///<Clears FIFO
j3 5:35e032c8d8aa 222 INT_RESET, ///<Clears interrupt engine, INT_STATUS, and
j3 5:35e032c8d8aa 223 ///<the interrupt pin
j3 5:35e032c8d8aa 224 STEP_CNT_CLR, ///<Triggers reset of the step counter
j3 5:35e032c8d8aa 225 SOFT_RESET = 0xB6 ///<Triggers a reset including a reboot.
j3 5:35e032c8d8aa 226 };
j3 5:35e032c8d8aa 227
j3 0:bb5b832891fb 228
j3 0:bb5b832891fb 229 ///@brief BMI160 Destructor.\n
j3 0:bb5b832891fb 230 ///
j3 0:bb5b832891fb 231 ///On Entry:
j3 0:bb5b832891fb 232 ///@param[in] none
j3 0:bb5b832891fb 233 ///
j3 0:bb5b832891fb 234 ///On Exit:
j3 0:bb5b832891fb 235 ///@param[out] none
j3 0:bb5b832891fb 236 ///
j3 0:bb5b832891fb 237 ///@returns none
j3 2:598e601e5846 238 virtual ~BMI160(){ }
j3 0:bb5b832891fb 239
j3 0:bb5b832891fb 240
j3 0:bb5b832891fb 241 ///@brief Reads a single register.\n
j3 0:bb5b832891fb 242 ///
j3 0:bb5b832891fb 243 ///On Entry:
j3 0:bb5b832891fb 244 ///@param[in] data - pointer to memory for storing read data
j3 0:bb5b832891fb 245 ///
j3 0:bb5b832891fb 246 ///On Exit:
j3 0:bb5b832891fb 247 ///@param[out] data - holds contents of read register on success
j3 0:bb5b832891fb 248 ///
j3 0:bb5b832891fb 249 ///@returns 0 on success, non 0 on failure
j3 2:598e601e5846 250 virtual int32_t readRegister(Registers reg, uint8_t *data) = 0;
j3 0:bb5b832891fb 251
j3 0:bb5b832891fb 252
j3 0:bb5b832891fb 253 ///@brief Writes a single register.\n
j3 0:bb5b832891fb 254 ///
j3 0:bb5b832891fb 255 ///On Entry:
j3 0:bb5b832891fb 256 ///@param[in] data - data to write to register
j3 0:bb5b832891fb 257 ///
j3 0:bb5b832891fb 258 ///On Exit:
j3 0:bb5b832891fb 259 ///@param[out] none
j3 0:bb5b832891fb 260 ///
j3 0:bb5b832891fb 261 ///@returns 0 on success, non 0 on failure
j3 2:598e601e5846 262 virtual int32_t writeRegister(Registers reg, const uint8_t data) = 0;
j3 0:bb5b832891fb 263
j3 0:bb5b832891fb 264
j3 0:bb5b832891fb 265 ///@brief Reads a block of registers.\n
j3 0:bb5b832891fb 266 ///@detail User must ensure that all registers between 'startReg' and
j3 0:bb5b832891fb 267 ///'stopReg' exist and are readable. Function reads up to, including,
j3 0:bb5b832891fb 268 ///'stopReg'.\n
j3 0:bb5b832891fb 269 ///
j3 0:bb5b832891fb 270 ///On Entry:
j3 0:bb5b832891fb 271 ///@param[in] startReg - register to start reading from
j3 0:bb5b832891fb 272 ///@param[in] stopReg - register to stop reading from
j3 0:bb5b832891fb 273 ///@param[in] data - pointer to memory for storing read data
j3 0:bb5b832891fb 274 ///
j3 0:bb5b832891fb 275 ///On Exit:
j3 0:bb5b832891fb 276 ///@param[out] data - holds contents of read registers on success
j3 0:bb5b832891fb 277 ///
j3 0:bb5b832891fb 278 ///@returns 0 on success, non 0 on failure
j3 3:e1770675eca4 279 virtual int32_t readBlock(Registers startReg, Registers stopReg,
j3 3:e1770675eca4 280 uint8_t *data) = 0;
j3 0:bb5b832891fb 281
j3 0:bb5b832891fb 282
j3 0:bb5b832891fb 283 ///@brief Writes a block of registers.\n
j3 0:bb5b832891fb 284 ///@detail User must ensure that all registers between 'startReg' and
j3 0:bb5b832891fb 285 ///'stopReg' exist and are writeable. Function writes up to, including,
j3 0:bb5b832891fb 286 ///'stopReg'.\n
j3 0:bb5b832891fb 287 ///
j3 0:bb5b832891fb 288 ///On Entry:
j3 0:bb5b832891fb 289 ///@param[in] startReg - register to start writing at
j3 0:bb5b832891fb 290 ///@param[in] stopReg - register to stop writing at
j3 0:bb5b832891fb 291 ///@param[in] data - pointer to data to write to registers
j3 0:bb5b832891fb 292 ///
j3 0:bb5b832891fb 293 ///On Exit:
j3 0:bb5b832891fb 294 ///@param[out] none
j3 0:bb5b832891fb 295 ///
j3 0:bb5b832891fb 296 ///@returns 0 on success, non 0 on failure
j3 3:e1770675eca4 297 virtual int32_t writeBlock(Registers startReg, Registers stopReg,
j3 3:e1770675eca4 298 const uint8_t *data) = 0;
j3 3:e1770675eca4 299
j3 3:e1770675eca4 300
j3 5:35e032c8d8aa 301 ///@brief Sets sensors power mode through CMD register.\n
j3 5:35e032c8d8aa 302 ///@details Observe command execution times given in datasheet.\n
j3 5:35e032c8d8aa 303 ///
j3 5:35e032c8d8aa 304 ///On Entry:
j3 5:35e032c8d8aa 305 ///@param[in] sensor - Sensor which power mode we are setting
j3 5:35e032c8d8aa 306 ///@param[in] pwrMode - Desired powermode of the sensor
j3 5:35e032c8d8aa 307 ///
j3 5:35e032c8d8aa 308 ///On Exit:
j3 5:35e032c8d8aa 309 ///@param[out]
j3 5:35e032c8d8aa 310 ///
j3 5:35e032c8d8aa 311 ///@returns 0 on success, non 0 on failure
j3 5:35e032c8d8aa 312 int32_t setSensorPowerMode(Sensors sensor, PowerModes pwrMode);
j3 5:35e032c8d8aa 313
j3 5:35e032c8d8aa 314
j3 3:e1770675eca4 315 ///@brief Get die temperature.\n
j3 3:e1770675eca4 316 ///
j3 3:e1770675eca4 317 ///On Entry:
j3 3:e1770675eca4 318 ///@param[in] temp - pointer to float for temperature
j3 3:e1770675eca4 319 ///
j3 3:e1770675eca4 320 ///On Exit:
j3 3:e1770675eca4 321 ///@param[out] temp - on success, holds the die temperature
j3 3:e1770675eca4 322 ///
j3 3:e1770675eca4 323 ///@returns 0 on success, non 0 on failure
j3 3:e1770675eca4 324 int32_t getTemperature(float *temp);
j3 3:e1770675eca4 325
j3 3:e1770675eca4 326
j3 3:e1770675eca4 327 ///@brief fx documentation template.\n
j3 3:e1770675eca4 328 ///
j3 3:e1770675eca4 329 ///On Entry:
j3 3:e1770675eca4 330 ///@param[in] none
j3 3:e1770675eca4 331 ///
j3 3:e1770675eca4 332 ///On Exit:
j3 3:e1770675eca4 333 ///@param[out] none
j3 3:e1770675eca4 334 ///
j3 3:e1770675eca4 335 ///@returns none
j3 2:598e601e5846 336
j3 2:598e601e5846 337 };
j3 2:598e601e5846 338
j3 2:598e601e5846 339
j3 2:598e601e5846 340 /**
j3 2:598e601e5846 341 @brief BMI160_I2C - supports BMI160 object with I2C interface
j3 2:598e601e5846 342 */
j3 2:598e601e5846 343 class BMI160_I2C: public BMI160
j3 2:598e601e5846 344 {
j3 2:598e601e5846 345 public:
j3 2:598e601e5846 346
j3 2:598e601e5846 347 ///BMI160 default I2C address.
j3 2:598e601e5846 348 static const uint8_t I2C_ADRS_SDO_LO = 0x68;
j3 2:598e601e5846 349 ///BMI160 optional I2C address.
j3 2:598e601e5846 350 static const uint8_t I2C_ADRS_SDO_HI = 0x69;
j3 0:bb5b832891fb 351
j3 2:598e601e5846 352
j3 2:598e601e5846 353 ///@brief BMI160_I2C Constructor.\n
j3 0:bb5b832891fb 354 ///
j3 0:bb5b832891fb 355 ///On Entry:
j3 2:598e601e5846 356 ///@param[in] i2cBus - reference to I2C bus for this device
j3 2:598e601e5846 357 ///@param[in] i2cAdrs - 7-bit I2C address
j3 0:bb5b832891fb 358 ///
j3 0:bb5b832891fb 359 ///On Exit:
j3 0:bb5b832891fb 360 ///@param[out] none
j3 0:bb5b832891fb 361 ///
j3 0:bb5b832891fb 362 ///@returns none
j3 2:598e601e5846 363 BMI160_I2C(I2C &i2cBus, uint8_t i2cAdrs);
j3 2:598e601e5846 364
j3 2:598e601e5846 365
j3 2:598e601e5846 366 virtual int32_t readRegister(Registers reg, uint8_t *data);
j3 2:598e601e5846 367 virtual int32_t writeRegister(Registers reg, const uint8_t data);
j3 3:e1770675eca4 368 virtual int32_t readBlock(Registers startReg, Registers stopReg,
j3 3:e1770675eca4 369 uint8_t *data);
j3 3:e1770675eca4 370 virtual int32_t writeBlock(Registers startReg, Registers stopReg,
j3 3:e1770675eca4 371 const uint8_t *data);
j3 2:598e601e5846 372
j3 0:bb5b832891fb 373 private:
j3 0:bb5b832891fb 374
j3 0:bb5b832891fb 375 I2C m_i2cBus;
j3 0:bb5b832891fb 376 uint8_t m_Wadrs, m_Radrs;
j3 0:bb5b832891fb 377 };
j3 0:bb5b832891fb 378
j3 2:598e601e5846 379
j3 2:598e601e5846 380 /**
j3 2:598e601e5846 381 @brief BMI160_SPI - supports BMI160 object with SPI interface
j3 2:598e601e5846 382 */
j3 2:598e601e5846 383 class BMI160_SPI: public BMI160
j3 2:598e601e5846 384 {
j3 2:598e601e5846 385 public:
j3 2:598e601e5846 386
j3 2:598e601e5846 387 ///@brief BMI160_SPI Constructor.\n
j3 2:598e601e5846 388 ///
j3 2:598e601e5846 389 ///On Entry:
j3 2:598e601e5846 390 ///@param[in] spiBus - reference to SPI bus for this device
j3 2:598e601e5846 391 ///@param[in] cs - reference to DigitalOut used for chip select
j3 2:598e601e5846 392 ///
j3 2:598e601e5846 393 ///On Exit:
j3 2:598e601e5846 394 ///@param[out] none
j3 2:598e601e5846 395 ///
j3 2:598e601e5846 396 ///@returns none
j3 2:598e601e5846 397 BMI160_SPI(SPI &spiBus, DigitalOut &cs);
j3 2:598e601e5846 398
j3 2:598e601e5846 399 virtual int32_t readRegister(Registers reg, uint8_t *data);
j3 2:598e601e5846 400 virtual int32_t writeRegister(Registers reg, const uint8_t data);
j3 3:e1770675eca4 401 virtual int32_t readBlock(Registers startReg, Registers stopReg,
j3 3:e1770675eca4 402 uint8_t *data);
j3 3:e1770675eca4 403 virtual int32_t writeBlock(Registers startReg, Registers stopReg,
j3 3:e1770675eca4 404 const uint8_t *data);
j3 2:598e601e5846 405
j3 2:598e601e5846 406 private:
j3 2:598e601e5846 407
j3 2:598e601e5846 408 SPI m_spiBus;
j3 2:598e601e5846 409 DigitalOut m_cs;
j3 2:598e601e5846 410 };
j3 2:598e601e5846 411
j3 0:bb5b832891fb 412 #endif /* BMI160_H */