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_i2c.cpp@19:8e66f58bef44, 2018-05-04 (annotated)

Committer:
Emre.Eken
Date:
Fri May 04 13:32:36 2018 +0300
Revision:
19:8e66f58bef44
Parent:
9:ca6b5fecdd63 
Some minor changes are done to make it be compiled by IAR. It can be still compiled by GCC, mbed online, Keil compilers and it has the same functionality with the previous revision

Who changed what in which revision?

UserRevisionLine numberNew contents of line
j3 2:598e601e5846 1 /**********************************************************************
j3 2:598e601e5846 2 * Copyright (C) 2016 Maxim Integrated Products, Inc., All Rights Reserved.
j3 2:598e601e5846 3 *
j3 2:598e601e5846 4 * Permission is hereby granted, free of charge, to any person obtaining a
j3 2:598e601e5846 5 * copy of this software and associated documentation files (the "Software"),
j3 2:598e601e5846 6 * to deal in the Software without restriction, including without limitation
j3 2:598e601e5846 7 * the rights to use, copy, modify, merge, publish, distribute, sublicense,
j3 2:598e601e5846 8 * and/or sell copies of the Software, and to permit persons to whom the
j3 2:598e601e5846 9 * Software is furnished to do so, subject to the following conditions:
j3 2:598e601e5846 10 *
j3 2:598e601e5846 11 * The above copyright notice and this permission notice shall be included
j3 2:598e601e5846 12 * in all copies or substantial portions of the Software.
j3 2:598e601e5846 13 *
j3 2:598e601e5846 14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
j3 2:598e601e5846 15 * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
j3 2:598e601e5846 16 * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
j3 2:598e601e5846 17 * IN NO EVENT SHALL MAXIM INTEGRATED BE LIABLE FOR ANY CLAIM, DAMAGES
j3 2:598e601e5846 18 * OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
j3 2:598e601e5846 19 * ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
j3 2:598e601e5846 20 * OTHER DEALINGS IN THE SOFTWARE.
j3 2:598e601e5846 21 *
j3 2:598e601e5846 22 * Except as contained in this notice, the name of Maxim Integrated
j3 2:598e601e5846 23 * Products, Inc. shall not be used except as stated in the Maxim Integrated
j3 2:598e601e5846 24 * Products, Inc. Branding Policy.
j3 2:598e601e5846 25 *
j3 2:598e601e5846 26 * The mere transfer of this software does not imply any licenses
j3 2:598e601e5846 27 * of trade secrets, proprietary technology, copyrights, patents,
j3 2:598e601e5846 28 * trademarks, maskwork rights, or any other form of intellectual
j3 2:598e601e5846 29 * property whatsoever. Maxim Integrated Products, Inc. retains all
j3 2:598e601e5846 30 * ownership rights.
j3 2:598e601e5846 31 **********************************************************************/
j3 2:598e601e5846 32
j3 2:598e601e5846 33
j3 2:598e601e5846 34 #include "bmi160.h"
j3 2:598e601e5846 35
j3 2:598e601e5846 36
j3 2:598e601e5846 37 //*****************************************************************************
j3 2:598e601e5846 38 BMI160_I2C::BMI160_I2C(I2C &i2cBus, uint8_t i2cAdrs)
j3 2:598e601e5846 39 :m_i2cBus(i2cBus), m_Wadrs(i2cAdrs << 1), m_Radrs((i2cAdrs << 1) | 1)
j3 2:598e601e5846 40 {
j3 9:ca6b5fecdd63 41
j3 2:598e601e5846 42 }
j3 2:598e601e5846 43
j3 2:598e601e5846 44
j3 2:598e601e5846 45 //*****************************************************************************
j3 2:598e601e5846 46 int32_t BMI160_I2C::readRegister(Registers reg, uint8_t *data)
j3 2:598e601e5846 47 {
j3 2:598e601e5846 48 int32_t rtnVal = -1;
j3 2:598e601e5846 49 char packet[] = {static_cast<char>(reg)};
j3 2:598e601e5846 50
j3 2:598e601e5846 51 if(m_i2cBus.write(m_Wadrs, packet, 1) == 0)
j3 2:598e601e5846 52 {
j3 2:598e601e5846 53 rtnVal = m_i2cBus.read(m_Radrs, reinterpret_cast<char *>(data), 1);
j3 2:598e601e5846 54 }
j3 2:598e601e5846 55
j3 2:598e601e5846 56 return rtnVal;
j3 2:598e601e5846 57 }
j3 2:598e601e5846 58
j3 2:598e601e5846 59
j3 2:598e601e5846 60 //*****************************************************************************
j3 2:598e601e5846 61 int32_t BMI160_I2C::writeRegister(Registers reg, const uint8_t data)
j3 2:598e601e5846 62 {
j3 2:598e601e5846 63 char packet[] = {static_cast<char>(reg), static_cast<char>(data)};
j3 2:598e601e5846 64
j3 2:598e601e5846 65 return m_i2cBus.write(m_Wadrs, packet, sizeof(packet));
j3 2:598e601e5846 66 }
j3 2:598e601e5846 67
j3 2:598e601e5846 68
j3 2:598e601e5846 69 //*****************************************************************************
j3 3:e1770675eca4 70 int32_t BMI160_I2C::readBlock(Registers startReg, Registers stopReg,
j3 3:e1770675eca4 71 uint8_t *data)
j3 2:598e601e5846 72 {
j3 2:598e601e5846 73 int32_t rtnVal = -1;
j3 2:598e601e5846 74 int32_t numBytes = ((stopReg - startReg) + 1);
j3 2:598e601e5846 75 char packet[] = {static_cast<char>(startReg)};
j3 2:598e601e5846 76
j3 2:598e601e5846 77 if(m_i2cBus.write(m_Wadrs, packet, 1) == 0)
j3 2:598e601e5846 78 {
j3 2:598e601e5846 79 rtnVal = m_i2cBus.read(m_Radrs, reinterpret_cast<char *>(data), numBytes);
j3 2:598e601e5846 80 }
j3 2:598e601e5846 81
j3 2:598e601e5846 82 return rtnVal;
j3 2:598e601e5846 83 }
j3 2:598e601e5846 84
j3 2:598e601e5846 85
j3 2:598e601e5846 86 //*****************************************************************************
j3 3:e1770675eca4 87 int32_t BMI160_I2C::writeBlock(Registers startReg, Registers stopReg,
j3 3:e1770675eca4 88 const uint8_t *data)
j3 2:598e601e5846 89 {
j3 2:598e601e5846 90 int32_t numBytes = ((stopReg - startReg) + 1);
Emre.Eken 19:8e66f58bef44 91 char packet[32];
j3 2:598e601e5846 92
j3 2:598e601e5846 93 packet[0] = static_cast<char>(startReg);
j3 2:598e601e5846 94
j3 2:598e601e5846 95 memcpy(packet + 1, data, numBytes);
j3 2:598e601e5846 96
Emre.Eken 19:8e66f58bef44 97 return m_i2cBus.write(m_Wadrs, packet, (numBytes+1) * sizeof(char));
j3 2:598e601e5846 98 }