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@18:4949e9b15b6e, 2017-07-11 (annotated)

Committer:
j3
Date:
Tue Jul 11 19:38:42 2017 +0000
Revision:
18:4949e9b15b6e
Parent:
17:0ae99e97bcf5
Child:
19:8e66f58bef44
Made private i2c and spi vars reference as they should be to comply with NonCopyable class in mbed lib.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
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 13:5d132f873b07 59 ///Sensor types
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 8:a89b529b1d96 67 ///Sensor Axis
j3 8:a89b529b1d96 68 enum SensorAxis
j3 8:a89b529b1d96 69 {
j3 8:a89b529b1d96 70 X_AXIS = 0,
j3 8:a89b529b1d96 71 Y_AXIS,
j3 15:dc35ccc0b08e 72 Z_AXIS
j3 8:a89b529b1d96 73 };
j3 8:a89b529b1d96 74
j3 8:a89b529b1d96 75 ///Structure for axis data
j3 8:a89b529b1d96 76 struct AxisData
j3 8:a89b529b1d96 77 {
j3 8:a89b529b1d96 78 int16_t raw; ///<Axis raw data
j3 8:a89b529b1d96 79 float scaled; ///<Axis scaled data
j3 8:a89b529b1d96 80 };
j3 8:a89b529b1d96 81
j3 15:dc35ccc0b08e 82 ///Structure for sensor time data
j3 15:dc35ccc0b08e 83 struct SensorTime
j3 15:dc35ccc0b08e 84 {
j3 15:dc35ccc0b08e 85 uint32_t raw; ///<raw SensorTime
j3 15:dc35ccc0b08e 86 float seconds; ///<SensorTime as seconds
j3 15:dc35ccc0b08e 87 };
j3 15:dc35ccc0b08e 88
j3 15:dc35ccc0b08e 89 ///Period of internal counter
j3 15:dc35ccc0b08e 90 static const float SENSOR_TIME_LSB = 39e-6;
j3 15:dc35ccc0b08e 91
j3 8:a89b529b1d96 92 ///Structure for holding sensor data
j3 8:a89b529b1d96 93 struct SensorData
j3 8:a89b529b1d96 94 {
j3 8:a89b529b1d96 95 AxisData xAxis; ///<Sensor X axis data
j3 8:a89b529b1d96 96 AxisData yAxis; ///<Sensor Y axis data
j3 8:a89b529b1d96 97 AxisData zAxis; ///<Sensor Z axis data
j3 8:a89b529b1d96 98 };
j3 8:a89b529b1d96 99
j3 13:5d132f873b07 100
j3 1:a4c911640569 101 ///BMI160 registers
j3 0:bb5b832891fb 102 enum Registers
j3 0:bb5b832891fb 103 {
j3 3:e1770675eca4 104 CHIP_ID = 0x00, ///<Chip Identification.
j3 3:e1770675eca4 105 ERR_REG = 0x02, ///<Reports sensor error flags. Flags reset when read.
j3 3:e1770675eca4 106 PMU_STATUS, ///<Reports current power mode for sensors.
j3 3:e1770675eca4 107 DATA_0, ///<MAG_X axis bits7:0
j3 3:e1770675eca4 108 DATA_1, ///<MAG_X axis bits15:8
j3 3:e1770675eca4 109 DATA_2, ///<MAG_Y axis bits7:0
j3 3:e1770675eca4 110 DATA_3, ///<MAG_Y axis bits15:8
j3 3:e1770675eca4 111 DATA_4, ///<MAG_Z axis bits7:0
j3 3:e1770675eca4 112 DATA_5, ///<MAG_Z axis bits15:8
j3 3:e1770675eca4 113 DATA_6, ///<RHALL bits7:0
j3 3:e1770675eca4 114 DATA_7, ///<RHALL bits15:8
j3 3:e1770675eca4 115 DATA_8, ///<GYR_X axis bits7:0
j3 3:e1770675eca4 116 DATA_9, ///<GYR_X axis bits15:8
j3 3:e1770675eca4 117 DATA_10, ///<GYR_Y axis bits7:0
j3 3:e1770675eca4 118 DATA_11, ///<GYR_Y axis bits15:8
j3 3:e1770675eca4 119 DATA_12, ///<GYR_Z axis bits7:0
j3 3:e1770675eca4 120 DATA_13, ///<GYR_Z axis bits15:8
j3 3:e1770675eca4 121 DATA_14, ///<ACC_X axis bits7:0
j3 3:e1770675eca4 122 DATA_15, ///<ACC_X axis bits15:8
j3 3:e1770675eca4 123 DATA_16, ///<ACC_Y axis bits7:0
j3 3:e1770675eca4 124 DATA_17, ///<ACC_Y axis bits15:8
j3 3:e1770675eca4 125 DATA_18, ///<ACC_Z axis bits7:0
j3 3:e1770675eca4 126 DATA_19, ///<ACC_Z axis bits15:8
j3 3:e1770675eca4 127 SENSORTIME_0, ///<24bit counter synchronized with data, bits7:0
j3 3:e1770675eca4 128 SENSORTIME_1, ///<24bit counter synchronized with data, bits15:8
j3 3:e1770675eca4 129 SENSORTIME_2, ///<24bit counter synchronized with data, bits23:16
j3 3:e1770675eca4 130 STATUS, ///<Reports sensors status flags
j3 3:e1770675eca4 131 INT_STATUS_0, ///<Contains interrupt status flags
j3 3:e1770675eca4 132 INT_STATUS_1, ///<Contains interrupt status flags
j3 3:e1770675eca4 133 INT_STATUS_2, ///<Contains interrupt status flags
j3 3:e1770675eca4 134 INT_STATUS_3, ///<Contains interrupt status flags
j3 3:e1770675eca4 135 TEMPERATURE_0, ///<Contains temperature of sensor, bits7:0
j3 3:e1770675eca4 136 TEMPERATURE_1, ///<Contains temperature of sensor, bits15:8
j3 3:e1770675eca4 137 FIFO_LENGTH_0, ///<Current fill level of FIFO, bits7:0
j3 3:e1770675eca4 138 FIFO_LENGTH_1, ///<Current fill level of FIFO, bits10:8
j3 3:e1770675eca4 139 FIFO_DATA, ///<FIFO data read out register, burst read
j3 3:e1770675eca4 140 ACC_CONF = 0x40, ///<Set ODR, bandwidth, and read mode of accelerometer
j3 3:e1770675eca4 141 ACC_RANGE, ///<Sets accelerometer g-range
j3 3:e1770675eca4 142 GYR_CONF, ///<Set ODR, bandwidth, and read mode of gyroscope
j3 3:e1770675eca4 143 GYR_RANGE, ///<Sets gyroscope angular rate measurement range
j3 3:e1770675eca4 144 MAG_CONF, ///<Sets ODR of magnetometer interface
j3 3:e1770675eca4 145 FIFO_DOWNS, ///<Sets down sampling ratios of accel and gyro data
j3 3:e1770675eca4 146 ///<for FIFO
j3 3:e1770675eca4 147 FIFO_CONFIG_0, ///<Sets FIFO Watermark
j3 3:e1770675eca4 148 FIFO_CONFIG_1, ///<Sets which sensor data is available in FIFO,
j3 3:e1770675eca4 149 ///<Header/Headerless mode, Ext Int tagging, Sensortime
j3 3:e1770675eca4 150 MAG_IF_0 = 0x4B, ///<Magnetometer 7-bit I2C address, bits7:1
j3 3:e1770675eca4 151 MAG_IF_1, ///<Magnetometer interface configuration
j3 3:e1770675eca4 152 MAG_IF_2, ///<Magnetometer address to read
j3 3:e1770675eca4 153 MAG_IF_3, ///<Magnetometer address to write
j3 3:e1770675eca4 154 MAG_IF_4, ///<Magnetometer data to write
j3 3:e1770675eca4 155 INT_EN_0, ///<Interrupt enable bits
j3 3:e1770675eca4 156 INT_EN_1, ///<Interrupt enable bits
j3 3:e1770675eca4 157 INT_EN_2, ///<Interrupt enable bits
j3 3:e1770675eca4 158 INT_OUT_CTRL, ///<Contains the behavioral configuration of INT pins
j3 3:e1770675eca4 159 INT_LATCH, ///<Contains the interrupt rest bit and the interrupt
j3 3:e1770675eca4 160 ///<mode selection
j3 3:e1770675eca4 161 INT_MAP_0, ///<Controls which interrupt signals are mapped to the
j3 3:e1770675eca4 162 ///<INT1 and INT2 pins
j3 3:e1770675eca4 163 INT_MAP_1, ///<Controls which interrupt signals are mapped to the
j3 3:e1770675eca4 164 ///<INT1 and INT2 pins
j3 3:e1770675eca4 165 INT_MAP_2, ///<Controls which interrupt signals are mapped to the
j3 3:e1770675eca4 166 ///<INT1 and INT2 pins
j3 3:e1770675eca4 167 INT_DATA_0, ///<Contains the data source definition for the two
j3 3:e1770675eca4 168 ///<interrupt groups
j3 3:e1770675eca4 169 INT_DATA_1, ///<Contains the data source definition for the two
j3 3:e1770675eca4 170 ///<interrupt groups
j3 3:e1770675eca4 171 INT_LOWHIGH_0, ///<Contains the configuration for the low g interrupt
j3 3:e1770675eca4 172 INT_LOWHIGH_1, ///<Contains the configuration for the low g interrupt
j3 3:e1770675eca4 173 INT_LOWHIGH_2, ///<Contains the configuration for the low g interrupt
j3 3:e1770675eca4 174 INT_LOWHIGH_3, ///<Contains the configuration for the low g interrupt
j3 3:e1770675eca4 175 INT_LOWHIGH_4, ///<Contains the configuration for the low g interrupt
j3 3:e1770675eca4 176 INT_MOTION_0, ///<Contains the configuration for the any motion and
j3 3:e1770675eca4 177 ///<no motion interrupts
j3 3:e1770675eca4 178 INT_MOTION_1, ///<Contains the configuration for the any motion and
j3 3:e1770675eca4 179 ///<no motion interrupts
j3 3:e1770675eca4 180 INT_MOTION_2, ///<Contains the configuration for the any motion and
j3 3:e1770675eca4 181 ///<no motion interrupts
j3 3:e1770675eca4 182 INT_MOTION_3, ///<Contains the configuration for the any motion and
j3 3:e1770675eca4 183 ///<no motion interrupts
j3 3:e1770675eca4 184 INT_TAP_0, ///<Contains the configuration for the tap interrupts
j3 3:e1770675eca4 185 INT_TAP_1, ///<Contains the configuration for the tap interrupts
j3 3:e1770675eca4 186 INT_ORIENT_0, ///<Contains the configuration for the oeientation
j3 3:e1770675eca4 187 ///<interrupt
j3 3:e1770675eca4 188 INT_ORIENT_1, ///<Contains the configuration for the oeientation
j3 3:e1770675eca4 189 ///<interrupt
j3 3:e1770675eca4 190 INT_FLAT_0, ///<Contains the configuration for the flat interrupt
j3 3:e1770675eca4 191 INT_FLAT_1, ///<Contains the configuration for the flat interrupt
j3 3:e1770675eca4 192 FOC_CONF, ///<Contains configuration for the fast offset
j3 3:e1770675eca4 193 ///<compensation for the accelerometer and gyroscope
j3 3:e1770675eca4 194 CONF, ///<Configuration of sensor, nvm_prog_en bit
j3 3:e1770675eca4 195 IF_CONF, ///<Contains settings for the digital interface
j3 3:e1770675eca4 196 PMU_TRIGGER, ///<Sets trigger conditions to change gyro power modes
j3 3:e1770675eca4 197 SELF_TEST, ///<Self test configuration
j3 3:e1770675eca4 198 NV_CONF = 0x70, ///<Contains settings for the digital interface
j3 3:e1770675eca4 199 OFFSET_0, ///<Contains offset comp values for acc_off_x7:0
j3 3:e1770675eca4 200 OFFSET_1, ///<Contains offset comp values for acc_off_y7:0
j3 3:e1770675eca4 201 OFFSET_2, ///<Contains offset comp values for acc_off_z7:0
j3 3:e1770675eca4 202 OFFSET_3, ///<Contains offset comp values for gyr_off_x7:0
j3 3:e1770675eca4 203 OFFSET_4, ///<Contains offset comp values for gyr_off_y7:0
j3 3:e1770675eca4 204 OFFSET_5, ///<Contains offset comp values for gyr_off_z7:0
j3 3:e1770675eca4 205 OFFSET_6, ///<gyr/acc offset enable bit and gyr_off_(zyx) bits9:8
j3 3:e1770675eca4 206 STEP_CNT_0, ///<Step counter bits 15:8
j3 3:e1770675eca4 207 STEP_CNT_1, ///<Step counter bits 7:0
j3 3:e1770675eca4 208 STEP_CONF_0, ///<Contains configuration of the step detector
j3 3:e1770675eca4 209 STEP_CONF_1, ///<Contains configuration of the step detector
j3 3:e1770675eca4 210 CMD = 0x7E ///<Command register triggers operations like
j3 3:e1770675eca4 211 ///<softreset, NVM programming, etc.
j3 3:e1770675eca4 212 };
j3 3:e1770675eca4 213
j3 8:a89b529b1d96 214
j3 13:5d132f873b07 215 ///@name ERR_REG(0x02)
j3 13:5d132f873b07 216 ///Error register data
j3 12:64931a80340d 217 ///@{
j3 13:5d132f873b07 218
j3 14:646eb94fa2eb 219 static const uint8_t FATAL_ERR_MASK = 0x01;
j3 14:646eb94fa2eb 220 static const uint8_t FATAL_ERR_POS = 0x00;
j3 14:646eb94fa2eb 221 static const uint8_t ERR_CODE_MASK = 0x1E;
j3 14:646eb94fa2eb 222 static const uint8_t ERR_CODE_POS = 0x01;
j3 14:646eb94fa2eb 223 static const uint8_t I2C_FAIL_ERR_MASK = 0x20;
j3 14:646eb94fa2eb 224 static const uint8_t I2C_FAIL_ERR_POS = 0x05;
j3 14:646eb94fa2eb 225 static const uint8_t DROP_CMD_ERR_MASK = 0x40;
j3 14:646eb94fa2eb 226 static const uint8_t DROP_CMD_ERR_POS = 0x06;
j3 14:646eb94fa2eb 227 static const uint8_t MAG_DRDY_ERR_MASK = 0x80;
j3 14:646eb94fa2eb 228 static const uint8_t MAG_DRDY_ERR_POS = 0x08;
j3 3:e1770675eca4 229
j3 13:5d132f873b07 230 ///Enumerated error codes
j3 3:e1770675eca4 231 enum ErrorCodes
j3 3:e1770675eca4 232 {
j3 3:e1770675eca4 233 NO_ERROR = 0, ///<No Error
j3 3:e1770675eca4 234 ERROR_1, ///<Listed as error
j3 3:e1770675eca4 235 ERROR_2, ///<Listed as error
j3 3:e1770675eca4 236 LPM_INT_PFD, ///<Low-power mode and interrupt uses pre-filtered
j3 3:e1770675eca4 237 ///<data
j3 4:ebac8c8f6347 238 ODR_MISMATCH = 0x06, ///<ODRs of enabled sensors in headerless mode do
j3 4:ebac8c8f6347 239 ///<not match
j3 3:e1770675eca4 240 PFD_USED_LPM ///<Pre-filtered data are used in low power mode
j3 0:bb5b832891fb 241 };
j3 12:64931a80340d 242 ///@}
j3 0:bb5b832891fb 243
j3 8:a89b529b1d96 244
j3 13:5d132f873b07 245 ///@name ACC_CONF(0x40) and ACC_RANGE(0x41)
j3 13:5d132f873b07 246 ///Data for configuring accelerometer
j3 12:64931a80340d 247 ///@{
j3 13:5d132f873b07 248
j3 13:5d132f873b07 249 static const uint8_t ACC_ODR_MASK = 0x0F;
j3 13:5d132f873b07 250 static const uint8_t ACC_ODR_POS = 0x00;
j3 13:5d132f873b07 251 static const uint8_t ACC_BWP_MASK = 0x70;
j3 12:64931a80340d 252 static const uint8_t ACC_BWP_POS = 0x04;
j3 13:5d132f873b07 253 static const uint8_t ACC_US_MASK = 0x80;
j3 12:64931a80340d 254 static const uint8_t ACC_US_POS = 0x07;
j3 14:646eb94fa2eb 255 static const uint8_t ACC_RANGE_MASK = 0x0F;
j3 14:646eb94fa2eb 256 static const uint8_t ACC_RANGE_POS = 0x00;
j3 8:a89b529b1d96 257
j3 13:5d132f873b07 258 ///Accelerometer output data rates
j3 16:12782f5d4aa4 259 enum AccOutputDataRate
j3 8:a89b529b1d96 260 {
j3 8:a89b529b1d96 261 ACC_ODR_1 = 1, ///< 25/32Hz
j3 8:a89b529b1d96 262 ACC_ODR_2, ///< 25/16Hz
j3 8:a89b529b1d96 263 ACC_ODR_3, ///< 25/8Hz
j3 8:a89b529b1d96 264 ACC_ODR_4, ///< 25/4Hz
j3 8:a89b529b1d96 265 ACC_ODR_5, ///< 25/2Hz
j3 8:a89b529b1d96 266 ACC_ODR_6, ///< 25Hz
j3 8:a89b529b1d96 267 ACC_ODR_7, ///< 50Hz
j3 8:a89b529b1d96 268 ACC_ODR_8, ///< 100Hz
j3 8:a89b529b1d96 269 ACC_ODR_9, ///< 200Hz
j3 8:a89b529b1d96 270 ACC_ODR_10, ///< 400Hz
j3 8:a89b529b1d96 271 ACC_ODR_11, ///< 800Hz
j3 8:a89b529b1d96 272 ACC_ODR_12 ///< 1600Hz
j3 8:a89b529b1d96 273 };
j3 8:a89b529b1d96 274
j3 13:5d132f873b07 275 ///Accelerometer bandwidth parameters
j3 8:a89b529b1d96 276 enum AccBandWidthParam
j3 8:a89b529b1d96 277 {
j3 16:12782f5d4aa4 278 ACC_BWP_0 = 0, ///< Average 1 cycle; when acc_us = 0 OSR4
j3 16:12782f5d4aa4 279 ACC_BWP_1, ///< Average 2 cycles; when acc_us = 0 OSR2
j3 16:12782f5d4aa4 280 ACC_BWP_2, ///< Average 4 cycles; when acc_us = 0 normal mode
j3 8:a89b529b1d96 281 ACC_BWP_3, ///< Average 8 cycles
j3 8:a89b529b1d96 282 ACC_BWP_4, ///< Average 16 cycles
j3 8:a89b529b1d96 283 ACC_BWP_5, ///< Average 32 cycles
j3 8:a89b529b1d96 284 ACC_BWP_6, ///< Average 64 cycles
j3 8:a89b529b1d96 285 ACC_BWP_7 ///< Average 128 cycles
j3 8:a89b529b1d96 286 };
j3 8:a89b529b1d96 287
j3 13:5d132f873b07 288 ///Accelerometer undersampling
j3 8:a89b529b1d96 289 enum AccUnderSampling
j3 8:a89b529b1d96 290 {
j3 8:a89b529b1d96 291 ACC_US_OFF = 0,
j3 8:a89b529b1d96 292 ACC_US_ON
j3 8:a89b529b1d96 293 };
j3 8:a89b529b1d96 294
j3 13:5d132f873b07 295 ///Accelerometer ranges
j3 8:a89b529b1d96 296 enum AccRange
j3 8:a89b529b1d96 297 {
j3 15:dc35ccc0b08e 298 SENS_2G = 0x03, ///<Accelerometer range +-2G
j3 15:dc35ccc0b08e 299 SENS_4G = 0x05, ///<Accelerometer range +-4G
j3 15:dc35ccc0b08e 300 SENS_8G = 0x08, ///<Accelerometer range +-8G
j3 16:12782f5d4aa4 301 SENS_16G = 0x0C ///<Accelerometer range +-16G
j3 8:a89b529b1d96 302 };
j3 8:a89b529b1d96 303
j3 15:dc35ccc0b08e 304 static const float SENS_2G_LSB_PER_G = 16384.0F;
j3 15:dc35ccc0b08e 305 static const float SENS_4G_LSB_PER_G = 8192.0F;
j3 15:dc35ccc0b08e 306 static const float SENS_8G_LSB_PER_G = 4096.0F;
j3 15:dc35ccc0b08e 307 static const float SENS_16G_LSB_PER_G = 2048.0F;
j3 15:dc35ccc0b08e 308
j3 13:5d132f873b07 309 ///Accelerometer configuration data structure
j3 9:ca6b5fecdd63 310 struct AccConfig
j3 9:ca6b5fecdd63 311 {
j3 14:646eb94fa2eb 312 AccRange range; ///<Accelerometer range
j3 14:646eb94fa2eb 313 AccUnderSampling us; ///<Accelerometr undersampling mode
j3 14:646eb94fa2eb 314 AccBandWidthParam bwp; ///<Accelerometer bandwidth param
j3 16:12782f5d4aa4 315 AccOutputDataRate odr; ///<Accelerometr output data rate
j3 9:ca6b5fecdd63 316 };
j3 9:ca6b5fecdd63 317
j3 13:5d132f873b07 318 ///Accelerometer default configuration
j3 9:ca6b5fecdd63 319 static const AccConfig DEFAULT_ACC_CONFIG;
j3 12:64931a80340d 320 ///@}
j3 9:ca6b5fecdd63 321
j3 12:64931a80340d 322
j3 14:646eb94fa2eb 323 ///@name GYR_CONF(0x42) and GYR_RANGE(0x43)
j3 14:646eb94fa2eb 324 ///Data for configuring gyroscope
j3 14:646eb94fa2eb 325 ///@{
j3 16:12782f5d4aa4 326
j3 16:12782f5d4aa4 327 static const uint8_t GYRO_ODR_MASK = 0x0F;
j3 16:12782f5d4aa4 328 static const uint8_t GYRO_ODR_POS = 0x00;
j3 16:12782f5d4aa4 329 static const uint8_t GYRO_BWP_MASK = 0x30;
j3 16:12782f5d4aa4 330 static const uint8_t GYRO_BWP_POS = 0x04;
j3 16:12782f5d4aa4 331 static const uint8_t GYRO_RANGE_MASK = 0x07;
j3 16:12782f5d4aa4 332 static const uint8_t GYRO_RANGE_POS = 0x00;
j3 16:12782f5d4aa4 333
j3 16:12782f5d4aa4 334 ///Gyroscope output data rates
j3 16:12782f5d4aa4 335 enum GyroOutputDataRate
j3 16:12782f5d4aa4 336 {
j3 16:12782f5d4aa4 337 GYRO_ODR_6 = 0x06, ///<25Hz
j3 16:12782f5d4aa4 338 GYRO_ODR_7 = 0x07, ///<50Hz
j3 16:12782f5d4aa4 339 GYRO_ODR_8 = 0x08, ///<100Hz
j3 16:12782f5d4aa4 340 GYRO_ODR_9 = 0x09, ///<200Hz
j3 16:12782f5d4aa4 341 GYRO_ODR_10 = 0x0A, ///<400Hz
j3 16:12782f5d4aa4 342 GYRO_ODR_11 = 0x0B, ///<800Hz
j3 16:12782f5d4aa4 343 GYRO_ODR_12 = 0x0C, ///<1600Hz
j3 16:12782f5d4aa4 344 GYRO_ODR_13 = 0x0D ///<3200Hz
j3 16:12782f5d4aa4 345 };
j3 16:12782f5d4aa4 346
j3 16:12782f5d4aa4 347 ///Gyroscope bandwidth paramaters
j3 16:12782f5d4aa4 348 enum GyroBandWidthParam
j3 16:12782f5d4aa4 349 {
j3 16:12782f5d4aa4 350 GYRO_BWP_0 = 0, ///<OSR4 Over Sampling Rate of 4
j3 16:12782f5d4aa4 351 GYRO_BWP_1, ///<OSR2 Over Sampling Rate of 2
j3 16:12782f5d4aa4 352 GYRO_BWP_2 ///<Normal Mode, Equidistant Sampling
j3 16:12782f5d4aa4 353 };
j3 16:12782f5d4aa4 354
j3 16:12782f5d4aa4 355 ///Gyroscope ranges
j3 16:12782f5d4aa4 356 enum GyroRange
j3 16:12782f5d4aa4 357 {
j3 16:12782f5d4aa4 358 DPS_2000 = 0, ///<+-2000dps, 16.4LSB/dps
j3 16:12782f5d4aa4 359 DPS_1000, ///<+-1000dps, 32.8LSB/dps
j3 16:12782f5d4aa4 360 DPS_500, ///<+-500dps, 65.6LSB/dps
j3 16:12782f5d4aa4 361 DPS_250, ///<+-250dps, 131.2LSB/dps
j3 16:12782f5d4aa4 362 DPS_125 ///<+-125dps, 262.4LSB/dps,
j3 16:12782f5d4aa4 363 };
j3 16:12782f5d4aa4 364
j3 16:12782f5d4aa4 365 static const float SENS_2000_DPS_LSB_PER_DPS = 16.4F;
j3 16:12782f5d4aa4 366 static const float SENS_1000_DPS_LSB_PER_DPS = 32.8F;
j3 16:12782f5d4aa4 367 static const float SENS_500_DPS_LSB_PER_DPS = 65.6F;
j3 16:12782f5d4aa4 368 static const float SENS_250_DPS_LSB_PER_DPS = 131.2F;
j3 16:12782f5d4aa4 369 static const float SENS_125_DPS_LSB_PER_DPS = 262.4F;
j3 16:12782f5d4aa4 370
j3 16:12782f5d4aa4 371 ///Gyroscope configuration data structure
j3 16:12782f5d4aa4 372 struct GyroConfig
j3 16:12782f5d4aa4 373 {
j3 16:12782f5d4aa4 374 GyroRange range; ///<Gyroscope range
j3 16:12782f5d4aa4 375 GyroBandWidthParam bwp; ///<Gyroscope bandwidth param
j3 16:12782f5d4aa4 376 GyroOutputDataRate odr; ///<Gyroscope output data rate
j3 16:12782f5d4aa4 377 };
j3 16:12782f5d4aa4 378
j3 16:12782f5d4aa4 379 ///Gyroscope default configuration
j3 16:12782f5d4aa4 380 static const GyroConfig DEFAULT_GYRO_CONFIG;
j3 14:646eb94fa2eb 381 ///@}
j3 14:646eb94fa2eb 382
j3 14:646eb94fa2eb 383
j3 13:5d132f873b07 384 ///Enumerated power modes
j3 4:ebac8c8f6347 385 enum PowerModes
j3 4:ebac8c8f6347 386 {
j3 4:ebac8c8f6347 387 SUSPEND = 0, ///<Acc and Gyro, No sampling, No FIFO data readout
j3 4:ebac8c8f6347 388 NORMAL, ///<Acc and Gyro, Full chip operation
j3 4:ebac8c8f6347 389 LOW_POWER, ///<Acc duty-cycling between suspend and normal
j3 4:ebac8c8f6347 390 FAST_START_UP ///<Gyro start up delay time to normal mode <= 10 ms
j3 4:ebac8c8f6347 391 };
j3 4:ebac8c8f6347 392
j3 12:64931a80340d 393
j3 13:5d132f873b07 394 ///Enumerated commands used with CMD register
j3 5:35e032c8d8aa 395 enum Commands
j3 5:35e032c8d8aa 396 {
j3 5:35e032c8d8aa 397 START_FOC = 0x03, ///<Starts Fast Offset Calibrartion
j3 7:9848196cb65e 398 ACC_SET_PMU_MODE = 0x10, ///<Sets acc power mode
j3 8:a89b529b1d96 399 GYR_SET_PMU_MODE = 0x14, ///<Sets gyro power mode
j3 8:a89b529b1d96 400 MAG_SET_PMU_MODE = 0x18, ///<Sets mag power mode
j3 5:35e032c8d8aa 401 PROG_NVM = 0xA0, ///<Writes NVM backed registers into NVM
j3 5:35e032c8d8aa 402 FIFO_FLUSH = 0xB0, ///<Clears FIFO
j3 5:35e032c8d8aa 403 INT_RESET, ///<Clears interrupt engine, INT_STATUS, and
j3 5:35e032c8d8aa 404 ///<the interrupt pin
j3 5:35e032c8d8aa 405 STEP_CNT_CLR, ///<Triggers reset of the step counter
j3 5:35e032c8d8aa 406 SOFT_RESET = 0xB6 ///<Triggers a reset including a reboot.
j3 5:35e032c8d8aa 407 };
j3 5:35e032c8d8aa 408
j3 0:bb5b832891fb 409
j3 0:bb5b832891fb 410 ///@brief BMI160 Destructor.\n
j3 0:bb5b832891fb 411 ///
j3 0:bb5b832891fb 412 ///On Entry:
j3 0:bb5b832891fb 413 ///@param[in] none
j3 0:bb5b832891fb 414 ///
j3 0:bb5b832891fb 415 ///On Exit:
j3 0:bb5b832891fb 416 ///@param[out] none
j3 0:bb5b832891fb 417 ///
j3 0:bb5b832891fb 418 ///@returns none
j3 2:598e601e5846 419 virtual ~BMI160(){ }
j3 0:bb5b832891fb 420
j3 0:bb5b832891fb 421
j3 0:bb5b832891fb 422 ///@brief Reads a single register.\n
j3 0:bb5b832891fb 423 ///
j3 0:bb5b832891fb 424 ///On Entry:
j3 0:bb5b832891fb 425 ///@param[in] data - pointer to memory for storing read data
j3 0:bb5b832891fb 426 ///
j3 0:bb5b832891fb 427 ///On Exit:
j3 0:bb5b832891fb 428 ///@param[out] data - holds contents of read register on success
j3 0:bb5b832891fb 429 ///
j3 0:bb5b832891fb 430 ///@returns 0 on success, non 0 on failure
j3 2:598e601e5846 431 virtual int32_t readRegister(Registers reg, uint8_t *data) = 0;
j3 0:bb5b832891fb 432
j3 0:bb5b832891fb 433
j3 0:bb5b832891fb 434 ///@brief Writes a single register.\n
j3 0:bb5b832891fb 435 ///
j3 0:bb5b832891fb 436 ///On Entry:
j3 0:bb5b832891fb 437 ///@param[in] data - data to write to register
j3 0:bb5b832891fb 438 ///
j3 0:bb5b832891fb 439 ///On Exit:
j3 0:bb5b832891fb 440 ///@param[out] none
j3 0:bb5b832891fb 441 ///
j3 0:bb5b832891fb 442 ///@returns 0 on success, non 0 on failure
j3 2:598e601e5846 443 virtual int32_t writeRegister(Registers reg, const uint8_t data) = 0;
j3 0:bb5b832891fb 444
j3 0:bb5b832891fb 445
j3 0:bb5b832891fb 446 ///@brief Reads a block of registers.\n
j3 0:bb5b832891fb 447 ///@detail User must ensure that all registers between 'startReg' and
j3 0:bb5b832891fb 448 ///'stopReg' exist and are readable. Function reads up to, including,
j3 0:bb5b832891fb 449 ///'stopReg'.\n
j3 0:bb5b832891fb 450 ///
j3 0:bb5b832891fb 451 ///On Entry:
j3 0:bb5b832891fb 452 ///@param[in] startReg - register to start reading from
j3 0:bb5b832891fb 453 ///@param[in] stopReg - register to stop reading from
j3 0:bb5b832891fb 454 ///@param[in] data - pointer to memory for storing read data
j3 0:bb5b832891fb 455 ///
j3 0:bb5b832891fb 456 ///On Exit:
j3 0:bb5b832891fb 457 ///@param[out] data - holds contents of read registers on success
j3 0:bb5b832891fb 458 ///
j3 0:bb5b832891fb 459 ///@returns 0 on success, non 0 on failure
j3 3:e1770675eca4 460 virtual int32_t readBlock(Registers startReg, Registers stopReg,
j3 3:e1770675eca4 461 uint8_t *data) = 0;
j3 0:bb5b832891fb 462
j3 0:bb5b832891fb 463
j3 0:bb5b832891fb 464 ///@brief Writes a block of registers.\n
j3 0:bb5b832891fb 465 ///@detail User must ensure that all registers between 'startReg' and
j3 0:bb5b832891fb 466 ///'stopReg' exist and are writeable. Function writes up to, including,
j3 0:bb5b832891fb 467 ///'stopReg'.\n
j3 0:bb5b832891fb 468 ///
j3 0:bb5b832891fb 469 ///On Entry:
j3 0:bb5b832891fb 470 ///@param[in] startReg - register to start writing at
j3 0:bb5b832891fb 471 ///@param[in] stopReg - register to stop writing at
j3 0:bb5b832891fb 472 ///@param[in] data - pointer to data to write to registers
j3 0:bb5b832891fb 473 ///
j3 0:bb5b832891fb 474 ///On Exit:
j3 0:bb5b832891fb 475 ///@param[out] none
j3 0:bb5b832891fb 476 ///
j3 0:bb5b832891fb 477 ///@returns 0 on success, non 0 on failure
j3 3:e1770675eca4 478 virtual int32_t writeBlock(Registers startReg, Registers stopReg,
j3 3:e1770675eca4 479 const uint8_t *data) = 0;
j3 3:e1770675eca4 480
j3 3:e1770675eca4 481
j3 5:35e032c8d8aa 482 ///@brief Sets sensors power mode through CMD register.\n
j3 5:35e032c8d8aa 483 ///@details Observe command execution times given in datasheet.\n
j3 5:35e032c8d8aa 484 ///
j3 5:35e032c8d8aa 485 ///On Entry:
j3 5:35e032c8d8aa 486 ///@param[in] sensor - Sensor which power mode we are setting
j3 5:35e032c8d8aa 487 ///@param[in] pwrMode - Desired powermode of the sensor
j3 5:35e032c8d8aa 488 ///
j3 5:35e032c8d8aa 489 ///On Exit:
j3 5:35e032c8d8aa 490 ///@param[out]
j3 5:35e032c8d8aa 491 ///
j3 5:35e032c8d8aa 492 ///@returns 0 on success, non 0 on failure
j3 5:35e032c8d8aa 493 int32_t setSensorPowerMode(Sensors sensor, PowerModes pwrMode);
j3 5:35e032c8d8aa 494
j3 5:35e032c8d8aa 495
j3 16:12782f5d4aa4 496 ///@brief Configure sensor.\n
j3 3:e1770675eca4 497 ///
j3 3:e1770675eca4 498 ///On Entry:
j3 16:12782f5d4aa4 499 ///@param[in] config - sSensor configuration data structure
j3 3:e1770675eca4 500 ///
j3 3:e1770675eca4 501 ///On Exit:
j3 12:64931a80340d 502 ///@param[out] none
j3 3:e1770675eca4 503 ///
j3 3:e1770675eca4 504 ///@returns 0 on success, non 0 on failure
j3 16:12782f5d4aa4 505 int32_t setSensorConfig(const AccConfig &config);
j3 16:12782f5d4aa4 506 int32_t setSensorConfig(const GyroConfig &config);
j3 8:a89b529b1d96 507
j3 8:a89b529b1d96 508
j3 16:12782f5d4aa4 509 ///@brief Get sensor configuration.\n
j3 14:646eb94fa2eb 510 ///
j3 14:646eb94fa2eb 511 ///On Entry:
j3 16:12782f5d4aa4 512 ///@param[in] config - Sensor configuration data structure
j3 14:646eb94fa2eb 513 ///
j3 14:646eb94fa2eb 514 ///On Exit:
j3 16:12782f5d4aa4 515 ///@param[out] config - on success, holds sensor's current
j3 14:646eb94fa2eb 516 ///configuration
j3 14:646eb94fa2eb 517 ///
j3 14:646eb94fa2eb 518 ///@returns 0 on success, non 0 on failure
j3 16:12782f5d4aa4 519 int32_t getSensorConfig(AccConfig &config);
j3 16:12782f5d4aa4 520 int32_t getSensorConfig(GyroConfig &config);
j3 14:646eb94fa2eb 521
j3 14:646eb94fa2eb 522
j3 16:12782f5d4aa4 523 ///@brief Get sensor axis.\n
j3 3:e1770675eca4 524 ///
j3 3:e1770675eca4 525 ///On Entry:
j3 8:a89b529b1d96 526 ///@param[in] axis - Sensor axis
j3 8:a89b529b1d96 527 ///@param[in] data - AxisData structure
j3 16:12782f5d4aa4 528 ///@param[in] range - Sensor range
j3 8:a89b529b1d96 529 ///
j3 8:a89b529b1d96 530 ///On Exit:
j3 8:a89b529b1d96 531 ///@param[out] data - Structure holds raw and scaled axis data
j3 8:a89b529b1d96 532 ///
j3 8:a89b529b1d96 533 ///@returns 0 on success, non 0 on failure
j3 16:12782f5d4aa4 534 int32_t getSensorAxis(SensorAxis axis, AxisData &data, AccRange range);
j3 16:12782f5d4aa4 535 int32_t getSensorAxis(SensorAxis axis, AxisData &data, GyroRange range);
j3 8:a89b529b1d96 536
j3 8:a89b529b1d96 537
j3 16:12782f5d4aa4 538 ///@brief Get sensor xyz axis.\n
j3 8:a89b529b1d96 539 ///
j3 8:a89b529b1d96 540 ///On Entry:
j3 8:a89b529b1d96 541 ///@param[in] data - SensorData structure
j3 16:12782f5d4aa4 542 ///@param[in] range - Sensor range
j3 3:e1770675eca4 543 ///
j3 3:e1770675eca4 544 ///On Exit:
j3 8:a89b529b1d96 545 ///@param[out] data - Structure holds raw and scaled data for all three axis
j3 3:e1770675eca4 546 ///
j3 8:a89b529b1d96 547 ///@returns 0 on success, non 0 on failure
j3 16:12782f5d4aa4 548 int32_t getSensorXYZ(SensorData &data, AccRange range);
j3 16:12782f5d4aa4 549 int32_t getSensorXYZ(SensorData &data, GyroRange range);
j3 15:dc35ccc0b08e 550
j3 15:dc35ccc0b08e 551
j3 16:12782f5d4aa4 552 ///@brief Get sensor xyz axis and sensor time.\n
j3 15:dc35ccc0b08e 553 ///
j3 15:dc35ccc0b08e 554 ///On Entry:
j3 15:dc35ccc0b08e 555 ///@param[in] data - SensorData structure
j3 15:dc35ccc0b08e 556 ///@param[in] sensorTime - SensorTime structure for data
j3 16:12782f5d4aa4 557 ///@param[in] range - Sensor range
j3 15:dc35ccc0b08e 558 ///
j3 15:dc35ccc0b08e 559 ///On Exit:
j3 15:dc35ccc0b08e 560 ///@param[out] data - Structure holds raw and scaled data for all three axis
j3 15:dc35ccc0b08e 561 ///@param[out] sensorTime - Holds sensor time on success
j3 15:dc35ccc0b08e 562 ///
j3 15:dc35ccc0b08e 563 ///@returns 0 on success, non 0 on failure
j3 16:12782f5d4aa4 564 int32_t getSensorXYZandSensorTime(SensorData &data, SensorTime &sensorTime,
j3 16:12782f5d4aa4 565 AccRange range);
j3 16:12782f5d4aa4 566 int32_t getSensorXYZandSensorTime(SensorData &data, SensorTime &sensorTime,
j3 16:12782f5d4aa4 567 GyroRange range);
j3 16:12782f5d4aa4 568
j3 16:12782f5d4aa4 569
j3 16:12782f5d4aa4 570 ///@brief Get Gyroscope/Accelerometer data and sensor time.\n
j3 16:12782f5d4aa4 571 ///
j3 16:12782f5d4aa4 572 ///On Entry:
j3 16:12782f5d4aa4 573 ///@param[in] accData - Sensor data structure for accelerometer
j3 16:12782f5d4aa4 574 ///@param[in] gyroData - Sensor data structure for gyroscope
j3 16:12782f5d4aa4 575 ///@param[in] sensorTime - SensorTime data structure
j3 16:12782f5d4aa4 576 ///@param[in] accRange - Accelerometer range
j3 16:12782f5d4aa4 577 ///@param[in] gyroRange - Gyroscope range
j3 16:12782f5d4aa4 578 ///
j3 16:12782f5d4aa4 579 ///On Exit:
j3 16:12782f5d4aa4 580 ///@param[out] accData - Synchronized accelerometer data
j3 16:12782f5d4aa4 581 ///@param[out] gyroData - Synchronized gyroscope data
j3 16:12782f5d4aa4 582 ///@param[out] sensorTime - Synchronized sensor time
j3 16:12782f5d4aa4 583 ///
j3 16:12782f5d4aa4 584 ///@returns 0 on success, non 0 on failure
j3 16:12782f5d4aa4 585 int32_t getGyroAccXYZandSensorTime(SensorData &accData,
j3 16:12782f5d4aa4 586 SensorData &gyroData,
j3 16:12782f5d4aa4 587 SensorTime &sensorTime,
j3 16:12782f5d4aa4 588 AccRange accRange, GyroRange gyroRange);
j3 10:9e219f2f1fb3 589
j3 10:9e219f2f1fb3 590
j3 10:9e219f2f1fb3 591 ///@brief Get sensor time.\n
j3 10:9e219f2f1fb3 592 ///
j3 10:9e219f2f1fb3 593 ///On Entry:
j3 15:dc35ccc0b08e 594 ///@param[in] sensorTime - SensorTime structure for data
j3 10:9e219f2f1fb3 595 ///
j3 10:9e219f2f1fb3 596 ///On Exit:
j3 15:dc35ccc0b08e 597 ///@param[out] sensorTime - Holds sensor time on success
j3 10:9e219f2f1fb3 598 ///
j3 10:9e219f2f1fb3 599 ///@returns returns 0 on success, non 0 on failure
j3 15:dc35ccc0b08e 600 int32_t getSensorTime(SensorTime &sensorTime);
j3 12:64931a80340d 601
j3 12:64931a80340d 602
j3 12:64931a80340d 603 ///@brief Get die temperature.\n
j3 12:64931a80340d 604 ///
j3 12:64931a80340d 605 ///On Entry:
j3 12:64931a80340d 606 ///@param[in] temp - pointer to float for temperature
j3 12:64931a80340d 607 ///
j3 12:64931a80340d 608 ///On Exit:
j3 12:64931a80340d 609 ///@param[out] temp - on success, holds the die temperature
j3 12:64931a80340d 610 ///
j3 12:64931a80340d 611 ///@returns 0 on success, non 0 on failure
j3 12:64931a80340d 612 int32_t getTemperature(float *temp);
j3 2:598e601e5846 613 };
j3 2:598e601e5846 614
j3 2:598e601e5846 615
j3 2:598e601e5846 616 /**
j3 2:598e601e5846 617 @brief BMI160_I2C - supports BMI160 object with I2C interface
j3 2:598e601e5846 618 */
j3 2:598e601e5846 619 class BMI160_I2C: public BMI160
j3 2:598e601e5846 620 {
j3 2:598e601e5846 621 public:
j3 2:598e601e5846 622
j3 2:598e601e5846 623 ///BMI160 default I2C address.
j3 2:598e601e5846 624 static const uint8_t I2C_ADRS_SDO_LO = 0x68;
j3 2:598e601e5846 625 ///BMI160 optional I2C address.
j3 2:598e601e5846 626 static const uint8_t I2C_ADRS_SDO_HI = 0x69;
j3 0:bb5b832891fb 627
j3 2:598e601e5846 628
j3 2:598e601e5846 629 ///@brief BMI160_I2C Constructor.\n
j3 0:bb5b832891fb 630 ///
j3 0:bb5b832891fb 631 ///On Entry:
j3 2:598e601e5846 632 ///@param[in] i2cBus - reference to I2C bus for this device
j3 2:598e601e5846 633 ///@param[in] i2cAdrs - 7-bit I2C address
j3 0:bb5b832891fb 634 ///
j3 0:bb5b832891fb 635 ///On Exit:
j3 0:bb5b832891fb 636 ///@param[out] none
j3 0:bb5b832891fb 637 ///
j3 0:bb5b832891fb 638 ///@returns none
j3 2:598e601e5846 639 BMI160_I2C(I2C &i2cBus, uint8_t i2cAdrs);
j3 2:598e601e5846 640
j3 2:598e601e5846 641
j3 17:0ae99e97bcf5 642 ///@brief Reads a single register.\n
j3 17:0ae99e97bcf5 643 ///
j3 17:0ae99e97bcf5 644 ///On Entry:
j3 17:0ae99e97bcf5 645 ///@param[in] data - pointer to memory for storing read data
j3 17:0ae99e97bcf5 646 ///
j3 17:0ae99e97bcf5 647 ///On Exit:
j3 17:0ae99e97bcf5 648 ///@param[out] data - holds contents of read register on success
j3 17:0ae99e97bcf5 649 ///
j3 17:0ae99e97bcf5 650 ///@returns 0 on success, non 0 on failure
j3 2:598e601e5846 651 virtual int32_t readRegister(Registers reg, uint8_t *data);
j3 17:0ae99e97bcf5 652
j3 17:0ae99e97bcf5 653
j3 17:0ae99e97bcf5 654 ///@brief Writes a single register.\n
j3 17:0ae99e97bcf5 655 ///
j3 17:0ae99e97bcf5 656 ///On Entry:
j3 17:0ae99e97bcf5 657 ///@param[in] data - data to write to register
j3 17:0ae99e97bcf5 658 ///
j3 17:0ae99e97bcf5 659 ///On Exit:
j3 17:0ae99e97bcf5 660 ///@param[out] none
j3 17:0ae99e97bcf5 661 ///
j3 17:0ae99e97bcf5 662 ///@returns 0 on success, non 0 on failure
j3 2:598e601e5846 663 virtual int32_t writeRegister(Registers reg, const uint8_t data);
j3 17:0ae99e97bcf5 664
j3 17:0ae99e97bcf5 665
j3 17:0ae99e97bcf5 666 ///@brief Reads a block of registers.\n
j3 17:0ae99e97bcf5 667 ///@detail User must ensure that all registers between 'startReg' and
j3 17:0ae99e97bcf5 668 ///'stopReg' exist and are readable. Function reads up to, including,
j3 17:0ae99e97bcf5 669 ///'stopReg'.\n
j3 17:0ae99e97bcf5 670 ///
j3 17:0ae99e97bcf5 671 ///On Entry:
j3 17:0ae99e97bcf5 672 ///@param[in] startReg - register to start reading from
j3 17:0ae99e97bcf5 673 ///@param[in] stopReg - register to stop reading from
j3 17:0ae99e97bcf5 674 ///@param[in] data - pointer to memory for storing read data
j3 17:0ae99e97bcf5 675 ///
j3 17:0ae99e97bcf5 676 ///On Exit:
j3 17:0ae99e97bcf5 677 ///@param[out] data - holds contents of read registers on success
j3 17:0ae99e97bcf5 678 ///
j3 17:0ae99e97bcf5 679 ///@returns 0 on success, non 0 on failure
j3 3:e1770675eca4 680 virtual int32_t readBlock(Registers startReg, Registers stopReg,
j3 3:e1770675eca4 681 uint8_t *data);
j3 17:0ae99e97bcf5 682
j3 17:0ae99e97bcf5 683
j3 17:0ae99e97bcf5 684 ///@brief Writes a block of registers.\n
j3 17:0ae99e97bcf5 685 ///@detail User must ensure that all registers between 'startReg' and
j3 17:0ae99e97bcf5 686 ///'stopReg' exist and are writeable. Function writes up to, including,
j3 17:0ae99e97bcf5 687 ///'stopReg'.\n
j3 17:0ae99e97bcf5 688 ///
j3 17:0ae99e97bcf5 689 ///On Entry:
j3 17:0ae99e97bcf5 690 ///@param[in] startReg - register to start writing at
j3 17:0ae99e97bcf5 691 ///@param[in] stopReg - register to stop writing at
j3 17:0ae99e97bcf5 692 ///@param[in] data - pointer to data to write to registers
j3 17:0ae99e97bcf5 693 ///
j3 17:0ae99e97bcf5 694 ///On Exit:
j3 17:0ae99e97bcf5 695 ///@param[out] none
j3 17:0ae99e97bcf5 696 ///
j3 17:0ae99e97bcf5 697 ///@returns 0 on success, non 0 on failure
j3 3:e1770675eca4 698 virtual int32_t writeBlock(Registers startReg, Registers stopReg,
j3 3:e1770675eca4 699 const uint8_t *data);
j3 2:598e601e5846 700
j3 0:bb5b832891fb 701 private:
j3 0:bb5b832891fb 702
j3 18:4949e9b15b6e 703 I2C &m_i2cBus;
j3 0:bb5b832891fb 704 uint8_t m_Wadrs, m_Radrs;
j3 0:bb5b832891fb 705 };
j3 0:bb5b832891fb 706
j3 2:598e601e5846 707
j3 2:598e601e5846 708 /**
j3 2:598e601e5846 709 @brief BMI160_SPI - supports BMI160 object with SPI interface
j3 2:598e601e5846 710 */
j3 2:598e601e5846 711 class BMI160_SPI: public BMI160
j3 2:598e601e5846 712 {
j3 2:598e601e5846 713 public:
j3 2:598e601e5846 714
j3 2:598e601e5846 715 ///@brief BMI160_SPI Constructor.\n
j3 2:598e601e5846 716 ///
j3 2:598e601e5846 717 ///On Entry:
j3 2:598e601e5846 718 ///@param[in] spiBus - reference to SPI bus for this device
j3 2:598e601e5846 719 ///@param[in] cs - reference to DigitalOut used for chip select
j3 2:598e601e5846 720 ///
j3 2:598e601e5846 721 ///On Exit:
j3 2:598e601e5846 722 ///@param[out] none
j3 2:598e601e5846 723 ///
j3 2:598e601e5846 724 ///@returns none
j3 2:598e601e5846 725 BMI160_SPI(SPI &spiBus, DigitalOut &cs);
j3 2:598e601e5846 726
j3 17:0ae99e97bcf5 727
j3 17:0ae99e97bcf5 728 ///@brief Reads a single register.\n
j3 17:0ae99e97bcf5 729 ///
j3 17:0ae99e97bcf5 730 ///On Entry:
j3 17:0ae99e97bcf5 731 ///@param[in] data - pointer to memory for storing read data
j3 17:0ae99e97bcf5 732 ///
j3 17:0ae99e97bcf5 733 ///On Exit:
j3 17:0ae99e97bcf5 734 ///@param[out] data - holds contents of read register on success
j3 17:0ae99e97bcf5 735 ///
j3 17:0ae99e97bcf5 736 ///@returns 0 on success, non 0 on failure
j3 2:598e601e5846 737 virtual int32_t readRegister(Registers reg, uint8_t *data);
j3 17:0ae99e97bcf5 738
j3 17:0ae99e97bcf5 739
j3 17:0ae99e97bcf5 740 ///@brief Writes a single register.\n
j3 17:0ae99e97bcf5 741 ///
j3 17:0ae99e97bcf5 742 ///On Entry:
j3 17:0ae99e97bcf5 743 ///@param[in] data - data to write to register
j3 17:0ae99e97bcf5 744 ///
j3 17:0ae99e97bcf5 745 ///On Exit:
j3 17:0ae99e97bcf5 746 ///@param[out] none
j3 17:0ae99e97bcf5 747 ///
j3 17:0ae99e97bcf5 748 ///@returns 0 on success, non 0 on failure
j3 2:598e601e5846 749 virtual int32_t writeRegister(Registers reg, const uint8_t data);
j3 17:0ae99e97bcf5 750
j3 17:0ae99e97bcf5 751
j3 17:0ae99e97bcf5 752 ///@brief Reads a block of registers.\n
j3 17:0ae99e97bcf5 753 ///@detail User must ensure that all registers between 'startReg' and
j3 17:0ae99e97bcf5 754 ///'stopReg' exist and are readable. Function reads up to, including,
j3 17:0ae99e97bcf5 755 ///'stopReg'.\n
j3 17:0ae99e97bcf5 756 ///
j3 17:0ae99e97bcf5 757 ///On Entry:
j3 17:0ae99e97bcf5 758 ///@param[in] startReg - register to start reading from
j3 17:0ae99e97bcf5 759 ///@param[in] stopReg - register to stop reading from
j3 17:0ae99e97bcf5 760 ///@param[in] data - pointer to memory for storing read data
j3 17:0ae99e97bcf5 761 ///
j3 17:0ae99e97bcf5 762 ///On Exit:
j3 17:0ae99e97bcf5 763 ///@param[out] data - holds contents of read registers on success
j3 17:0ae99e97bcf5 764 ///
j3 17:0ae99e97bcf5 765 ///@returns 0 on success, non 0 on failure
j3 3:e1770675eca4 766 virtual int32_t readBlock(Registers startReg, Registers stopReg,
j3 3:e1770675eca4 767 uint8_t *data);
j3 17:0ae99e97bcf5 768
j3 17:0ae99e97bcf5 769
j3 17:0ae99e97bcf5 770 ///@brief Writes a block of registers.\n
j3 17:0ae99e97bcf5 771 ///@detail User must ensure that all registers between 'startReg' and
j3 17:0ae99e97bcf5 772 ///'stopReg' exist and are writeable. Function writes up to, including,
j3 17:0ae99e97bcf5 773 ///'stopReg'.\n
j3 17:0ae99e97bcf5 774 ///
j3 17:0ae99e97bcf5 775 ///On Entry:
j3 17:0ae99e97bcf5 776 ///@param[in] startReg - register to start writing at
j3 17:0ae99e97bcf5 777 ///@param[in] stopReg - register to stop writing at
j3 17:0ae99e97bcf5 778 ///@param[in] data - pointer to data to write to registers
j3 17:0ae99e97bcf5 779 ///
j3 17:0ae99e97bcf5 780 ///On Exit:
j3 17:0ae99e97bcf5 781 ///@param[out] none
j3 17:0ae99e97bcf5 782 ///
j3 17:0ae99e97bcf5 783 ///@returns 0 on success, non 0 on failure
j3 3:e1770675eca4 784 virtual int32_t writeBlock(Registers startReg, Registers stopReg,
j3 3:e1770675eca4 785 const uint8_t *data);
j3 2:598e601e5846 786
j3 2:598e601e5846 787 private:
j3 2:598e601e5846 788
j3 18:4949e9b15b6e 789 SPI &m_spiBus;
j3 2:598e601e5846 790 DigitalOut m_cs;
j3 2:598e601e5846 791 };
j3 2:598e601e5846 792
j3 0:bb5b832891fb 793 #endif /* BMI160_H */
j3 8:a89b529b1d96 794
j3 8:a89b529b1d96 795
j3 8:a89b529b1d96 796 ///@brief fx documentation template.\n
j3 8:a89b529b1d96 797 ///
j3 8:a89b529b1d96 798 ///On Entry:
j3 8:a89b529b1d96 799 ///@param[in] none
j3 8:a89b529b1d96 800 ///
j3 8:a89b529b1d96 801 ///On Exit:
j3 8:a89b529b1d96 802 ///@param[out] none
j3 8:a89b529b1d96 803 ///
j3 8:a89b529b1d96 804 ///@returns none