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.cpp@10:9e219f2f1fb3, 2016-12-20 (annotated)

Committer:
j3
Date:
Tue Dec 20 01:27:13 2016 +0000
Revision:
10:9e219f2f1fb3
Parent:
9:ca6b5fecdd63
Child:
12:64931a80340d
Added get sensor time fx

Who changed what in which revision?

UserRevisionLine numberNew contents of line
j3 3:e1770675eca4 1 /**********************************************************************
j3 3:e1770675eca4 2 * Copyright (C) 2016 Maxim Integrated Products, Inc., All Rights Reserved.
j3 3:e1770675eca4 3 *
j3 3:e1770675eca4 4 * Permission is hereby granted, free of charge, to any person obtaining a
j3 3:e1770675eca4 5 * copy of this software and associated documentation files (the "Software"),
j3 3:e1770675eca4 6 * to deal in the Software without restriction, including without limitation
j3 3:e1770675eca4 7 * the rights to use, copy, modify, merge, publish, distribute, sublicense,
j3 3:e1770675eca4 8 * and/or sell copies of the Software, and to permit persons to whom the
j3 3:e1770675eca4 9 * Software is furnished to do so, subject to the following conditions:
j3 3:e1770675eca4 10 *
j3 3:e1770675eca4 11 * The above copyright notice and this permission notice shall be included
j3 3:e1770675eca4 12 * in all copies or substantial portions of the Software.
j3 3:e1770675eca4 13 *
j3 3:e1770675eca4 14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
j3 3:e1770675eca4 15 * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
j3 3:e1770675eca4 16 * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
j3 3:e1770675eca4 17 * IN NO EVENT SHALL MAXIM INTEGRATED BE LIABLE FOR ANY CLAIM, DAMAGES
j3 3:e1770675eca4 18 * OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
j3 3:e1770675eca4 19 * ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
j3 3:e1770675eca4 20 * OTHER DEALINGS IN THE SOFTWARE.
j3 3:e1770675eca4 21 *
j3 3:e1770675eca4 22 * Except as contained in this notice, the name of Maxim Integrated
j3 3:e1770675eca4 23 * Products, Inc. shall not be used except as stated in the Maxim Integrated
j3 3:e1770675eca4 24 * Products, Inc. Branding Policy.
j3 3:e1770675eca4 25 *
j3 3:e1770675eca4 26 * The mere transfer of this software does not imply any licenses
j3 3:e1770675eca4 27 * of trade secrets, proprietary technology, copyrights, patents,
j3 3:e1770675eca4 28 * trademarks, maskwork rights, or any other form of intellectual
j3 3:e1770675eca4 29 * property whatsoever. Maxim Integrated Products, Inc. retains all
j3 3:e1770675eca4 30 * ownership rights.
j3 3:e1770675eca4 31 **********************************************************************/
j3 3:e1770675eca4 32
j3 3:e1770675eca4 33
j3 3:e1770675eca4 34 #include "bmi160.h"
j3 3:e1770675eca4 35
j3 3:e1770675eca4 36
j3 9:ca6b5fecdd63 37 const struct BMI160::AccConfig BMI160::DEFAULT_ACC_CONFIG = {SENS_2G, ACC_US_OFF, ACC_BWP_2, ACC_ODR_8};
j3 9:ca6b5fecdd63 38
j3 9:ca6b5fecdd63 39
j3 3:e1770675eca4 40 //*****************************************************************************
j3 5:35e032c8d8aa 41 int32_t BMI160::setSensorPowerMode(Sensors sensor, PowerModes pwrMode)
j3 3:e1770675eca4 42 {
j3 3:e1770675eca4 43 int32_t rtnVal = -1;
j3 3:e1770675eca4 44
j3 5:35e032c8d8aa 45 switch(sensor)
j3 5:35e032c8d8aa 46 {
j3 5:35e032c8d8aa 47 case MAG:
j3 5:35e032c8d8aa 48 rtnVal = writeRegister(CMD, (MAG_SET_PMU_MODE | pwrMode));
j3 5:35e032c8d8aa 49 break;
j3 5:35e032c8d8aa 50
j3 5:35e032c8d8aa 51 case GYRO:
j3 5:35e032c8d8aa 52 rtnVal = writeRegister(CMD, (GYR_SET_PMU_MODE | pwrMode));
j3 5:35e032c8d8aa 53 break;
j3 5:35e032c8d8aa 54
j3 5:35e032c8d8aa 55 case ACC:
j3 5:35e032c8d8aa 56 rtnVal = writeRegister(CMD, (ACC_SET_PMU_MODE | pwrMode));
j3 5:35e032c8d8aa 57 break;
j3 5:35e032c8d8aa 58
j3 5:35e032c8d8aa 59 default:
j3 5:35e032c8d8aa 60 rtnVal = -1;
j3 5:35e032c8d8aa 61 break;
j3 5:35e032c8d8aa 62 }
j3 5:35e032c8d8aa 63
j3 3:e1770675eca4 64 return rtnVal;
j3 3:e1770675eca4 65 }
j3 5:35e032c8d8aa 66
j3 5:35e032c8d8aa 67
j3 5:35e032c8d8aa 68 //*****************************************************************************
j3 5:35e032c8d8aa 69 int32_t BMI160::getTemperature(float *temp)
j3 5:35e032c8d8aa 70 {
j3 5:35e032c8d8aa 71 uint8_t data[2];
j3 6:9615aa90087d 72 uint16_t rawTemp;
j3 5:35e032c8d8aa 73
j3 5:35e032c8d8aa 74 int32_t rtnVal = readBlock(TEMPERATURE_0, TEMPERATURE_1, data);
j3 5:35e032c8d8aa 75 if(rtnVal == RTN_NO_ERROR)
j3 5:35e032c8d8aa 76 {
j3 6:9615aa90087d 77 rawTemp = ((data[1] << 8) | data[0]);
j3 6:9615aa90087d 78 if(rawTemp & 0x8000)
j3 6:9615aa90087d 79 {
j3 7:9848196cb65e 80 *temp = (23.0F - ((0x10000 - rawTemp)/512.0F));
j3 6:9615aa90087d 81 }
j3 6:9615aa90087d 82 else
j3 6:9615aa90087d 83 {
j3 6:9615aa90087d 84 *temp = ((rawTemp/512.0F) + 23.0F);
j3 6:9615aa90087d 85 }
j3 5:35e032c8d8aa 86 }
j3 5:35e032c8d8aa 87
j3 5:35e032c8d8aa 88 return rtnVal;
j3 5:35e032c8d8aa 89 }
j3 8:a89b529b1d96 90
j3 8:a89b529b1d96 91
j3 8:a89b529b1d96 92 //*****************************************************************************
j3 8:a89b529b1d96 93 int32_t BMI160::getSensorDataAndTime(uint8_t *data)
j3 8:a89b529b1d96 94 {
j3 8:a89b529b1d96 95 return readBlock(DATA_0, SENSORTIME_2, data);
j3 8:a89b529b1d96 96 }
j3 8:a89b529b1d96 97
j3 8:a89b529b1d96 98
j3 8:a89b529b1d96 99 //*****************************************************************************
j3 9:ca6b5fecdd63 100 int32_t BMI160::getAccAxis(SensorAxis axis, AxisData &data, AccConfig accConfig)
j3 8:a89b529b1d96 101 {
j3 8:a89b529b1d96 102 uint8_t localData[2];
j3 8:a89b529b1d96 103 int32_t rtnVal;
j3 8:a89b529b1d96 104
j3 8:a89b529b1d96 105 switch(axis)
j3 8:a89b529b1d96 106 {
j3 8:a89b529b1d96 107 case X_AXIS:
j3 8:a89b529b1d96 108 rtnVal = readBlock(DATA_14, DATA_15, localData);
j3 8:a89b529b1d96 109 break;
j3 8:a89b529b1d96 110
j3 8:a89b529b1d96 111 case Y_AXIS:
j3 8:a89b529b1d96 112 rtnVal = readBlock(DATA_16, DATA_17, localData);
j3 8:a89b529b1d96 113 break;
j3 8:a89b529b1d96 114
j3 8:a89b529b1d96 115 case Z_AXIS:
j3 8:a89b529b1d96 116 rtnVal = readBlock(DATA_18, DATA_19, localData);
j3 8:a89b529b1d96 117 break;
j3 8:a89b529b1d96 118
j3 8:a89b529b1d96 119 default:
j3 8:a89b529b1d96 120 rtnVal = -1;
j3 8:a89b529b1d96 121 break;
j3 8:a89b529b1d96 122 }
j3 8:a89b529b1d96 123
j3 8:a89b529b1d96 124 if(rtnVal == RTN_NO_ERROR)
j3 8:a89b529b1d96 125 {
j3 8:a89b529b1d96 126 data.raw = ((localData[1] << 8) | localData[0]);
j3 9:ca6b5fecdd63 127 switch(accConfig.range)
j3 9:ca6b5fecdd63 128 {
j3 9:ca6b5fecdd63 129 //magic numbers are typical values for LSB/g from EC table
j3 9:ca6b5fecdd63 130 case SENS_2G:
j3 9:ca6b5fecdd63 131 data.scaled = (data.raw/16384.0F);
j3 9:ca6b5fecdd63 132 break;
j3 9:ca6b5fecdd63 133
j3 9:ca6b5fecdd63 134 case SENS_4G:
j3 9:ca6b5fecdd63 135 data.scaled = (data.raw/8192.0F);
j3 9:ca6b5fecdd63 136 break;
j3 9:ca6b5fecdd63 137
j3 9:ca6b5fecdd63 138 case SENS_8G:
j3 9:ca6b5fecdd63 139 data.scaled = (data.raw/4096.0F);
j3 9:ca6b5fecdd63 140 break;
j3 9:ca6b5fecdd63 141
j3 9:ca6b5fecdd63 142 case SENS_16G:
j3 9:ca6b5fecdd63 143 data.scaled = (data.raw/2048.0F);
j3 9:ca6b5fecdd63 144 break;
j3 9:ca6b5fecdd63 145 }
j3 8:a89b529b1d96 146 }
j3 8:a89b529b1d96 147
j3 8:a89b529b1d96 148 return rtnVal;
j3 8:a89b529b1d96 149 }
j3 8:a89b529b1d96 150
j3 8:a89b529b1d96 151
j3 8:a89b529b1d96 152 //*****************************************************************************
j3 9:ca6b5fecdd63 153 int32_t BMI160::getAccXYZ(SensorData &data, AccConfig accConfig)
j3 8:a89b529b1d96 154 {
j3 8:a89b529b1d96 155 uint8_t localData[6];
j3 8:a89b529b1d96 156 int32_t rtnVal = readBlock(DATA_14, DATA_19, localData);
j3 8:a89b529b1d96 157
j3 8:a89b529b1d96 158 if(rtnVal == RTN_NO_ERROR)
j3 8:a89b529b1d96 159 {
j3 8:a89b529b1d96 160 data.xAxis.raw = ((localData[1] << 8) | localData[0]);
j3 8:a89b529b1d96 161 data.yAxis.raw = ((localData[3] << 8) | localData[2]);
j3 8:a89b529b1d96 162 data.zAxis.raw = ((localData[5] << 8) | localData[4]);
j3 8:a89b529b1d96 163
j3 9:ca6b5fecdd63 164 switch(accConfig.range)
j3 9:ca6b5fecdd63 165 {
j3 9:ca6b5fecdd63 166 //magic numbers are typical values for LSB/g from EC table
j3 9:ca6b5fecdd63 167 case SENS_2G:
j3 9:ca6b5fecdd63 168 data.xAxis.scaled = (data.xAxis.raw/16384.0F);
j3 9:ca6b5fecdd63 169 data.yAxis.scaled = (data.yAxis.raw/16384.0F);
j3 9:ca6b5fecdd63 170 data.zAxis.scaled = (data.zAxis.raw/16384.0F);
j3 9:ca6b5fecdd63 171 break;
j3 9:ca6b5fecdd63 172
j3 9:ca6b5fecdd63 173 case SENS_4G:
j3 9:ca6b5fecdd63 174 data.xAxis.scaled = (data.xAxis.raw/8192.0F);
j3 9:ca6b5fecdd63 175 data.yAxis.scaled = (data.yAxis.raw/8192.0F);
j3 9:ca6b5fecdd63 176 data.zAxis.scaled = (data.zAxis.raw/8192.0F);
j3 9:ca6b5fecdd63 177 break;
j3 9:ca6b5fecdd63 178
j3 9:ca6b5fecdd63 179 case SENS_8G:
j3 9:ca6b5fecdd63 180 data.xAxis.scaled = (data.xAxis.raw/4096.0F);
j3 9:ca6b5fecdd63 181 data.yAxis.scaled = (data.yAxis.raw/4096.0F);
j3 9:ca6b5fecdd63 182 data.zAxis.scaled = (data.zAxis.raw/4096.0F);
j3 9:ca6b5fecdd63 183 break;
j3 9:ca6b5fecdd63 184
j3 9:ca6b5fecdd63 185 case SENS_16G:
j3 9:ca6b5fecdd63 186 data.xAxis.scaled = (data.xAxis.raw/2048.0F);
j3 9:ca6b5fecdd63 187 data.yAxis.scaled = (data.yAxis.raw/2048.0F);
j3 9:ca6b5fecdd63 188 data.zAxis.scaled = (data.zAxis.raw/2048.0F);
j3 9:ca6b5fecdd63 189 break;
j3 9:ca6b5fecdd63 190 }
j3 8:a89b529b1d96 191 }
j3 8:a89b529b1d96 192
j3 8:a89b529b1d96 193 return rtnVal;
j3 8:a89b529b1d96 194 }
j3 10:9e219f2f1fb3 195
j3 10:9e219f2f1fb3 196
j3 10:9e219f2f1fb3 197 //*****************************************************************************
j3 10:9e219f2f1fb3 198 int32_t BMI160::getSensorTime(float *data)
j3 10:9e219f2f1fb3 199 {
j3 10:9e219f2f1fb3 200 uint8_t localData[3];
j3 10:9e219f2f1fb3 201 int32_t rtnVal = readBlock(SENSORTIME_0, SENSORTIME_2, localData);
j3 10:9e219f2f1fb3 202
j3 10:9e219f2f1fb3 203 if(rtnVal == RTN_NO_ERROR)
j3 10:9e219f2f1fb3 204 {
j3 10:9e219f2f1fb3 205 *data = (((localData[2] << 16) | (localData[1] << 8) | localData[0]) * 39e-6);
j3 10:9e219f2f1fb3 206 }
j3 10:9e219f2f1fb3 207
j3 10:9e219f2f1fb3 208 return rtnVal;
j3 10:9e219f2f1fb3 209 }
j3 10:9e219f2f1fb3 210