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@20:a521606048bb, 2018-05-04 (annotated)

Committer:
Emre.Eken
Date:
Fri May 04 13:35:59 2018 +0300
Revision:
20:a521606048bb
Parent:
19:8e66f58bef44 
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 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
Emre.Eken 20:a521606048bb 45 current consumption is typically 950 μA, enabling always-on applications in
Emre.Eken 20:a521606048bb 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 8:a89b529b1d96 89 ///Structure for holding sensor data
j3 8:a89b529b1d96 90 struct SensorData
j3 8:a89b529b1d96 91 {
j3 8:a89b529b1d96 92 AxisData xAxis; ///<Sensor X axis data
j3 8:a89b529b1d96 93 AxisData yAxis; ///<Sensor Y axis data
j3 8:a89b529b1d96 94 AxisData zAxis; ///<Sensor Z axis data
j3 8:a89b529b1d96 95 };
j3 8:a89b529b1d96 96
j3 13:5d132f873b07 97
j3 1:a4c911640569 98 ///BMI160 registers
j3 0:bb5b832891fb 99 enum Registers
j3 0:bb5b832891fb 100 {
j3 3:e1770675eca4 101 CHIP_ID = 0x00, ///<Chip Identification.
j3 3:e1770675eca4 102 ERR_REG = 0x02, ///<Reports sensor error flags. Flags reset when read.
j3 3:e1770675eca4 103 PMU_STATUS, ///<Reports current power mode for sensors.
j3 3:e1770675eca4 104 DATA_0, ///<MAG_X axis bits7:0
j3 3:e1770675eca4 105 DATA_1, ///<MAG_X axis bits15:8
j3 3:e1770675eca4 106 DATA_2, ///<MAG_Y axis bits7:0
j3 3:e1770675eca4 107 DATA_3, ///<MAG_Y axis bits15:8
j3 3:e1770675eca4 108 DATA_4, ///<MAG_Z axis bits7:0
j3 3:e1770675eca4 109 DATA_5, ///<MAG_Z axis bits15:8
j3 3:e1770675eca4 110 DATA_6, ///<RHALL bits7:0
j3 3:e1770675eca4 111 DATA_7, ///<RHALL bits15:8
j3 3:e1770675eca4 112 DATA_8, ///<GYR_X axis bits7:0
j3 3:e1770675eca4 113 DATA_9, ///<GYR_X axis bits15:8
j3 3:e1770675eca4 114 DATA_10, ///<GYR_Y axis bits7:0
j3 3:e1770675eca4 115 DATA_11, ///<GYR_Y axis bits15:8
j3 3:e1770675eca4 116 DATA_12, ///<GYR_Z axis bits7:0
j3 3:e1770675eca4 117 DATA_13, ///<GYR_Z axis bits15:8
j3 3:e1770675eca4 118 DATA_14, ///<ACC_X axis bits7:0
j3 3:e1770675eca4 119 DATA_15, ///<ACC_X axis bits15:8
j3 3:e1770675eca4 120 DATA_16, ///<ACC_Y axis bits7:0
j3 3:e1770675eca4 121 DATA_17, ///<ACC_Y axis bits15:8
j3 3:e1770675eca4 122 DATA_18, ///<ACC_Z axis bits7:0
j3 3:e1770675eca4 123 DATA_19, ///<ACC_Z axis bits15:8
j3 3:e1770675eca4 124 SENSORTIME_0, ///<24bit counter synchronized with data, bits7:0
j3 3:e1770675eca4 125 SENSORTIME_1, ///<24bit counter synchronized with data, bits15:8
j3 3:e1770675eca4 126 SENSORTIME_2, ///<24bit counter synchronized with data, bits23:16
j3 3:e1770675eca4 127 STATUS, ///<Reports sensors status flags
j3 3:e1770675eca4 128 INT_STATUS_0, ///<Contains interrupt status flags
j3 3:e1770675eca4 129 INT_STATUS_1, ///<Contains interrupt status flags
j3 3:e1770675eca4 130 INT_STATUS_2, ///<Contains interrupt status flags
j3 3:e1770675eca4 131 INT_STATUS_3, ///<Contains interrupt status flags
j3 3:e1770675eca4 132 TEMPERATURE_0, ///<Contains temperature of sensor, bits7:0
j3 3:e1770675eca4 133 TEMPERATURE_1, ///<Contains temperature of sensor, bits15:8
j3 3:e1770675eca4 134 FIFO_LENGTH_0, ///<Current fill level of FIFO, bits7:0
j3 3:e1770675eca4 135 FIFO_LENGTH_1, ///<Current fill level of FIFO, bits10:8
j3 3:e1770675eca4 136 FIFO_DATA, ///<FIFO data read out register, burst read
j3 3:e1770675eca4 137 ACC_CONF = 0x40, ///<Set ODR, bandwidth, and read mode of accelerometer
j3 3:e1770675eca4 138 ACC_RANGE, ///<Sets accelerometer g-range
j3 3:e1770675eca4 139 GYR_CONF, ///<Set ODR, bandwidth, and read mode of gyroscope
j3 3:e1770675eca4 140 GYR_RANGE, ///<Sets gyroscope angular rate measurement range
j3 3:e1770675eca4 141 MAG_CONF, ///<Sets ODR of magnetometer interface
j3 3:e1770675eca4 142 FIFO_DOWNS, ///<Sets down sampling ratios of accel and gyro data
j3 3:e1770675eca4 143 ///<for FIFO
j3 3:e1770675eca4 144 FIFO_CONFIG_0, ///<Sets FIFO Watermark
j3 3:e1770675eca4 145 FIFO_CONFIG_1, ///<Sets which sensor data is available in FIFO,
j3 3:e1770675eca4 146 ///<Header/Headerless mode, Ext Int tagging, Sensortime
j3 3:e1770675eca4 147 MAG_IF_0 = 0x4B, ///<Magnetometer 7-bit I2C address, bits7:1
j3 3:e1770675eca4 148 MAG_IF_1, ///<Magnetometer interface configuration
j3 3:e1770675eca4 149 MAG_IF_2, ///<Magnetometer address to read
j3 3:e1770675eca4 150 MAG_IF_3, ///<Magnetometer address to write
j3 3:e1770675eca4 151 MAG_IF_4, ///<Magnetometer data to write
j3 3:e1770675eca4 152 INT_EN_0, ///<Interrupt enable bits
j3 3:e1770675eca4 153 INT_EN_1, ///<Interrupt enable bits
j3 3:e1770675eca4 154 INT_EN_2, ///<Interrupt enable bits
j3 3:e1770675eca4 155 INT_OUT_CTRL, ///<Contains the behavioral configuration of INT pins
j3 3:e1770675eca4 156 INT_LATCH, ///<Contains the interrupt rest bit and the interrupt
j3 3:e1770675eca4 157 ///<mode selection
j3 3:e1770675eca4 158 INT_MAP_0, ///<Controls which interrupt signals are mapped to the
j3 3:e1770675eca4 159 ///<INT1 and INT2 pins
j3 3:e1770675eca4 160 INT_MAP_1, ///<Controls which interrupt signals are mapped to the
j3 3:e1770675eca4 161 ///<INT1 and INT2 pins
j3 3:e1770675eca4 162 INT_MAP_2, ///<Controls which interrupt signals are mapped to the
j3 3:e1770675eca4 163 ///<INT1 and INT2 pins
j3 3:e1770675eca4 164 INT_DATA_0, ///<Contains the data source definition for the two
j3 3:e1770675eca4 165 ///<interrupt groups
j3 3:e1770675eca4 166 INT_DATA_1, ///<Contains the data source definition for the two
j3 3:e1770675eca4 167 ///<interrupt groups
j3 3:e1770675eca4 168 INT_LOWHIGH_0, ///<Contains the configuration for the low g interrupt
j3 3:e1770675eca4 169 INT_LOWHIGH_1, ///<Contains the configuration for the low g interrupt
j3 3:e1770675eca4 170 INT_LOWHIGH_2, ///<Contains the configuration for the low g interrupt
j3 3:e1770675eca4 171 INT_LOWHIGH_3, ///<Contains the configuration for the low g interrupt
j3 3:e1770675eca4 172 INT_LOWHIGH_4, ///<Contains the configuration for the low g interrupt
j3 3:e1770675eca4 173 INT_MOTION_0, ///<Contains the configuration for the any motion and
j3 3:e1770675eca4 174 ///<no motion interrupts
j3 3:e1770675eca4 175 INT_MOTION_1, ///<Contains the configuration for the any motion and
j3 3:e1770675eca4 176 ///<no motion interrupts
j3 3:e1770675eca4 177 INT_MOTION_2, ///<Contains the configuration for the any motion and
j3 3:e1770675eca4 178 ///<no motion interrupts
j3 3:e1770675eca4 179 INT_MOTION_3, ///<Contains the configuration for the any motion and
j3 3:e1770675eca4 180 ///<no motion interrupts
j3 3:e1770675eca4 181 INT_TAP_0, ///<Contains the configuration for the tap interrupts
j3 3:e1770675eca4 182 INT_TAP_1, ///<Contains the configuration for the tap interrupts
j3 3:e1770675eca4 183 INT_ORIENT_0, ///<Contains the configuration for the oeientation
j3 3:e1770675eca4 184 ///<interrupt
j3 3:e1770675eca4 185 INT_ORIENT_1, ///<Contains the configuration for the oeientation
j3 3:e1770675eca4 186 ///<interrupt
j3 3:e1770675eca4 187 INT_FLAT_0, ///<Contains the configuration for the flat interrupt
j3 3:e1770675eca4 188 INT_FLAT_1, ///<Contains the configuration for the flat interrupt
j3 3:e1770675eca4 189 FOC_CONF, ///<Contains configuration for the fast offset
j3 3:e1770675eca4 190 ///<compensation for the accelerometer and gyroscope
j3 3:e1770675eca4 191 CONF, ///<Configuration of sensor, nvm_prog_en bit
j3 3:e1770675eca4 192 IF_CONF, ///<Contains settings for the digital interface
j3 3:e1770675eca4 193 PMU_TRIGGER, ///<Sets trigger conditions to change gyro power modes
j3 3:e1770675eca4 194 SELF_TEST, ///<Self test configuration
j3 3:e1770675eca4 195 NV_CONF = 0x70, ///<Contains settings for the digital interface
j3 3:e1770675eca4 196 OFFSET_0, ///<Contains offset comp values for acc_off_x7:0
j3 3:e1770675eca4 197 OFFSET_1, ///<Contains offset comp values for acc_off_y7:0
j3 3:e1770675eca4 198 OFFSET_2, ///<Contains offset comp values for acc_off_z7:0
j3 3:e1770675eca4 199 OFFSET_3, ///<Contains offset comp values for gyr_off_x7:0
j3 3:e1770675eca4 200 OFFSET_4, ///<Contains offset comp values for gyr_off_y7:0
j3 3:e1770675eca4 201 OFFSET_5, ///<Contains offset comp values for gyr_off_z7:0
j3 3:e1770675eca4 202 OFFSET_6, ///<gyr/acc offset enable bit and gyr_off_(zyx) bits9:8
j3 3:e1770675eca4 203 STEP_CNT_0, ///<Step counter bits 15:8
j3 3:e1770675eca4 204 STEP_CNT_1, ///<Step counter bits 7:0
j3 3:e1770675eca4 205 STEP_CONF_0, ///<Contains configuration of the step detector
j3 3:e1770675eca4 206 STEP_CONF_1, ///<Contains configuration of the step detector
j3 3:e1770675eca4 207 CMD = 0x7E ///<Command register triggers operations like
j3 3:e1770675eca4 208 ///<softreset, NVM programming, etc.
j3 3:e1770675eca4 209 };
j3 3:e1770675eca4 210
j3 8:a89b529b1d96 211
j3 13:5d132f873b07 212 ///@name ERR_REG(0x02)
j3 13:5d132f873b07 213 ///Error register data
j3 12:64931a80340d 214 ///@{
j3 13:5d132f873b07 215
j3 14:646eb94fa2eb 216 static const uint8_t FATAL_ERR_MASK = 0x01;
j3 14:646eb94fa2eb 217 static const uint8_t FATAL_ERR_POS = 0x00;
j3 14:646eb94fa2eb 218 static const uint8_t ERR_CODE_MASK = 0x1E;
j3 14:646eb94fa2eb 219 static const uint8_t ERR_CODE_POS = 0x01;
j3 14:646eb94fa2eb 220 static const uint8_t I2C_FAIL_ERR_MASK = 0x20;
j3 14:646eb94fa2eb 221 static const uint8_t I2C_FAIL_ERR_POS = 0x05;
j3 14:646eb94fa2eb 222 static const uint8_t DROP_CMD_ERR_MASK = 0x40;
j3 14:646eb94fa2eb 223 static const uint8_t DROP_CMD_ERR_POS = 0x06;
j3 14:646eb94fa2eb 224 static const uint8_t MAG_DRDY_ERR_MASK = 0x80;
j3 14:646eb94fa2eb 225 static const uint8_t MAG_DRDY_ERR_POS = 0x08;
j3 3:e1770675eca4 226
j3 13:5d132f873b07 227 ///Enumerated error codes
j3 3:e1770675eca4 228 enum ErrorCodes
j3 3:e1770675eca4 229 {
j3 3:e1770675eca4 230 NO_ERROR = 0, ///<No Error
j3 3:e1770675eca4 231 ERROR_1, ///<Listed as error
j3 3:e1770675eca4 232 ERROR_2, ///<Listed as error
j3 3:e1770675eca4 233 LPM_INT_PFD, ///<Low-power mode and interrupt uses pre-filtered
j3 3:e1770675eca4 234 ///<data
j3 4:ebac8c8f6347 235 ODR_MISMATCH = 0x06, ///<ODRs of enabled sensors in headerless mode do
j3 4:ebac8c8f6347 236 ///<not match
j3 3:e1770675eca4 237 PFD_USED_LPM ///<Pre-filtered data are used in low power mode
j3 0:bb5b832891fb 238 };
j3 12:64931a80340d 239 ///@}
j3 0:bb5b832891fb 240
j3 8:a89b529b1d96 241
j3 13:5d132f873b07 242 ///@name ACC_CONF(0x40) and ACC_RANGE(0x41)
j3 13:5d132f873b07 243 ///Data for configuring accelerometer
j3 12:64931a80340d 244 ///@{
j3 13:5d132f873b07 245
j3 13:5d132f873b07 246 static const uint8_t ACC_ODR_MASK = 0x0F;
j3 13:5d132f873b07 247 static const uint8_t ACC_ODR_POS = 0x00;
j3 13:5d132f873b07 248 static const uint8_t ACC_BWP_MASK = 0x70;
j3 12:64931a80340d 249 static const uint8_t ACC_BWP_POS = 0x04;
j3 13:5d132f873b07 250 static const uint8_t ACC_US_MASK = 0x80;
j3 12:64931a80340d 251 static const uint8_t ACC_US_POS = 0x07;
j3 14:646eb94fa2eb 252 static const uint8_t ACC_RANGE_MASK = 0x0F;
j3 14:646eb94fa2eb 253 static const uint8_t ACC_RANGE_POS = 0x00;
j3 8:a89b529b1d96 254
j3 13:5d132f873b07 255 ///Accelerometer output data rates
j3 16:12782f5d4aa4 256 enum AccOutputDataRate
j3 8:a89b529b1d96 257 {
j3 8:a89b529b1d96 258 ACC_ODR_1 = 1, ///< 25/32Hz
j3 8:a89b529b1d96 259 ACC_ODR_2, ///< 25/16Hz
j3 8:a89b529b1d96 260 ACC_ODR_3, ///< 25/8Hz
j3 8:a89b529b1d96 261 ACC_ODR_4, ///< 25/4Hz
j3 8:a89b529b1d96 262 ACC_ODR_5, ///< 25/2Hz
j3 8:a89b529b1d96 263 ACC_ODR_6, ///< 25Hz
j3 8:a89b529b1d96 264 ACC_ODR_7, ///< 50Hz
j3 8:a89b529b1d96 265 ACC_ODR_8, ///< 100Hz
j3 8:a89b529b1d96 266 ACC_ODR_9, ///< 200Hz
j3 8:a89b529b1d96 267 ACC_ODR_10, ///< 400Hz
j3 8:a89b529b1d96 268 ACC_ODR_11, ///< 800Hz
j3 8:a89b529b1d96 269 ACC_ODR_12 ///< 1600Hz
j3 8:a89b529b1d96 270 };
j3 8:a89b529b1d96 271
j3 13:5d132f873b07 272 ///Accelerometer bandwidth parameters
j3 8:a89b529b1d96 273 enum AccBandWidthParam
j3 8:a89b529b1d96 274 {
j3 16:12782f5d4aa4 275 ACC_BWP_0 = 0, ///< Average 1 cycle; when acc_us = 0 OSR4
j3 16:12782f5d4aa4 276 ACC_BWP_1, ///< Average 2 cycles; when acc_us = 0 OSR2
j3 16:12782f5d4aa4 277 ACC_BWP_2, ///< Average 4 cycles; when acc_us = 0 normal mode
j3 8:a89b529b1d96 278 ACC_BWP_3, ///< Average 8 cycles
j3 8:a89b529b1d96 279 ACC_BWP_4, ///< Average 16 cycles
j3 8:a89b529b1d96 280 ACC_BWP_5, ///< Average 32 cycles
j3 8:a89b529b1d96 281 ACC_BWP_6, ///< Average 64 cycles
j3 8:a89b529b1d96 282 ACC_BWP_7 ///< Average 128 cycles
j3 8:a89b529b1d96 283 };
j3 8:a89b529b1d96 284
j3 13:5d132f873b07 285 ///Accelerometer undersampling
j3 8:a89b529b1d96 286 enum AccUnderSampling
j3 8:a89b529b1d96 287 {
j3 8:a89b529b1d96 288 ACC_US_OFF = 0,
j3 8:a89b529b1d96 289 ACC_US_ON
j3 8:a89b529b1d96 290 };
j3 8:a89b529b1d96 291
j3 13:5d132f873b07 292 ///Accelerometer ranges
j3 8:a89b529b1d96 293 enum AccRange
j3 8:a89b529b1d96 294 {
j3 15:dc35ccc0b08e 295 SENS_2G = 0x03, ///<Accelerometer range +-2G
j3 15:dc35ccc0b08e 296 SENS_4G = 0x05, ///<Accelerometer range +-4G
j3 15:dc35ccc0b08e 297 SENS_8G = 0x08, ///<Accelerometer range +-8G
j3 16:12782f5d4aa4 298 SENS_16G = 0x0C ///<Accelerometer range +-16G
j3 8:a89b529b1d96 299 };
j3 8:a89b529b1d96 300
j3 13:5d132f873b07 301 ///Accelerometer configuration data structure
j3 9:ca6b5fecdd63 302 struct AccConfig
j3 9:ca6b5fecdd63 303 {
j3 14:646eb94fa2eb 304 AccRange range; ///<Accelerometer range
j3 14:646eb94fa2eb 305 AccUnderSampling us; ///<Accelerometr undersampling mode
j3 14:646eb94fa2eb 306 AccBandWidthParam bwp; ///<Accelerometer bandwidth param
j3 16:12782f5d4aa4 307 AccOutputDataRate odr; ///<Accelerometr output data rate
j3 9:ca6b5fecdd63 308 };
j3 9:ca6b5fecdd63 309
j3 13:5d132f873b07 310 ///Accelerometer default configuration
j3 9:ca6b5fecdd63 311 static const AccConfig DEFAULT_ACC_CONFIG;
j3 12:64931a80340d 312 ///@}
j3 9:ca6b5fecdd63 313
j3 12:64931a80340d 314
j3 14:646eb94fa2eb 315 ///@name GYR_CONF(0x42) and GYR_RANGE(0x43)
j3 14:646eb94fa2eb 316 ///Data for configuring gyroscope
j3 14:646eb94fa2eb 317 ///@{
j3 16:12782f5d4aa4 318
j3 16:12782f5d4aa4 319 static const uint8_t GYRO_ODR_MASK = 0x0F;
j3 16:12782f5d4aa4 320 static const uint8_t GYRO_ODR_POS = 0x00;
j3 16:12782f5d4aa4 321 static const uint8_t GYRO_BWP_MASK = 0x30;
j3 16:12782f5d4aa4 322 static const uint8_t GYRO_BWP_POS = 0x04;
j3 16:12782f5d4aa4 323 static const uint8_t GYRO_RANGE_MASK = 0x07;
j3 16:12782f5d4aa4 324 static const uint8_t GYRO_RANGE_POS = 0x00;
j3 16:12782f5d4aa4 325
j3 16:12782f5d4aa4 326 ///Gyroscope output data rates
j3 16:12782f5d4aa4 327 enum GyroOutputDataRate
j3 16:12782f5d4aa4 328 {
j3 16:12782f5d4aa4 329 GYRO_ODR_6 = 0x06, ///<25Hz
j3 16:12782f5d4aa4 330 GYRO_ODR_7 = 0x07, ///<50Hz
j3 16:12782f5d4aa4 331 GYRO_ODR_8 = 0x08, ///<100Hz
j3 16:12782f5d4aa4 332 GYRO_ODR_9 = 0x09, ///<200Hz
j3 16:12782f5d4aa4 333 GYRO_ODR_10 = 0x0A, ///<400Hz
j3 16:12782f5d4aa4 334 GYRO_ODR_11 = 0x0B, ///<800Hz
j3 16:12782f5d4aa4 335 GYRO_ODR_12 = 0x0C, ///<1600Hz
j3 16:12782f5d4aa4 336 GYRO_ODR_13 = 0x0D ///<3200Hz
j3 16:12782f5d4aa4 337 };
j3 16:12782f5d4aa4 338
j3 16:12782f5d4aa4 339 ///Gyroscope bandwidth paramaters
j3 16:12782f5d4aa4 340 enum GyroBandWidthParam
j3 16:12782f5d4aa4 341 {
j3 16:12782f5d4aa4 342 GYRO_BWP_0 = 0, ///<OSR4 Over Sampling Rate of 4
j3 16:12782f5d4aa4 343 GYRO_BWP_1, ///<OSR2 Over Sampling Rate of 2
j3 16:12782f5d4aa4 344 GYRO_BWP_2 ///<Normal Mode, Equidistant Sampling
j3 16:12782f5d4aa4 345 };
j3 16:12782f5d4aa4 346
j3 16:12782f5d4aa4 347 ///Gyroscope ranges
j3 16:12782f5d4aa4 348 enum GyroRange
j3 16:12782f5d4aa4 349 {
j3 16:12782f5d4aa4 350 DPS_2000 = 0, ///<+-2000dps, 16.4LSB/dps
j3 16:12782f5d4aa4 351 DPS_1000, ///<+-1000dps, 32.8LSB/dps
j3 16:12782f5d4aa4 352 DPS_500, ///<+-500dps, 65.6LSB/dps
j3 16:12782f5d4aa4 353 DPS_250, ///<+-250dps, 131.2LSB/dps
j3 16:12782f5d4aa4 354 DPS_125 ///<+-125dps, 262.4LSB/dps,
j3 16:12782f5d4aa4 355 };
j3 16:12782f5d4aa4 356
j3 16:12782f5d4aa4 357 ///Gyroscope configuration data structure
j3 16:12782f5d4aa4 358 struct GyroConfig
j3 16:12782f5d4aa4 359 {
j3 16:12782f5d4aa4 360 GyroRange range; ///<Gyroscope range
j3 16:12782f5d4aa4 361 GyroBandWidthParam bwp; ///<Gyroscope bandwidth param
j3 16:12782f5d4aa4 362 GyroOutputDataRate odr; ///<Gyroscope output data rate
j3 16:12782f5d4aa4 363 };
j3 16:12782f5d4aa4 364
j3 16:12782f5d4aa4 365 ///Gyroscope default configuration
j3 16:12782f5d4aa4 366 static const GyroConfig DEFAULT_GYRO_CONFIG;
j3 14:646eb94fa2eb 367 ///@}
j3 14:646eb94fa2eb 368
j3 14:646eb94fa2eb 369
j3 13:5d132f873b07 370 ///Enumerated power modes
j3 4:ebac8c8f6347 371 enum PowerModes
j3 4:ebac8c8f6347 372 {
j3 4:ebac8c8f6347 373 SUSPEND = 0, ///<Acc and Gyro, No sampling, No FIFO data readout
j3 4:ebac8c8f6347 374 NORMAL, ///<Acc and Gyro, Full chip operation
j3 4:ebac8c8f6347 375 LOW_POWER, ///<Acc duty-cycling between suspend and normal
j3 4:ebac8c8f6347 376 FAST_START_UP ///<Gyro start up delay time to normal mode <= 10 ms
j3 4:ebac8c8f6347 377 };
j3 4:ebac8c8f6347 378
j3 12:64931a80340d 379
j3 13:5d132f873b07 380 ///Enumerated commands used with CMD register
j3 5:35e032c8d8aa 381 enum Commands
j3 5:35e032c8d8aa 382 {
j3 5:35e032c8d8aa 383 START_FOC = 0x03, ///<Starts Fast Offset Calibrartion
j3 7:9848196cb65e 384 ACC_SET_PMU_MODE = 0x10, ///<Sets acc power mode
j3 8:a89b529b1d96 385 GYR_SET_PMU_MODE = 0x14, ///<Sets gyro power mode
j3 8:a89b529b1d96 386 MAG_SET_PMU_MODE = 0x18, ///<Sets mag power mode
j3 5:35e032c8d8aa 387 PROG_NVM = 0xA0, ///<Writes NVM backed registers into NVM
j3 5:35e032c8d8aa 388 FIFO_FLUSH = 0xB0, ///<Clears FIFO
j3 5:35e032c8d8aa 389 INT_RESET, ///<Clears interrupt engine, INT_STATUS, and
j3 5:35e032c8d8aa 390 ///<the interrupt pin
j3 5:35e032c8d8aa 391 STEP_CNT_CLR, ///<Triggers reset of the step counter
j3 5:35e032c8d8aa 392 SOFT_RESET = 0xB6 ///<Triggers a reset including a reboot.
j3 5:35e032c8d8aa 393 };
j3 5:35e032c8d8aa 394
j3 0:bb5b832891fb 395
j3 0:bb5b832891fb 396 ///@brief BMI160 Destructor.\n
j3 0:bb5b832891fb 397 ///
j3 0:bb5b832891fb 398 ///On Entry:
j3 0:bb5b832891fb 399 ///@param[in] none
j3 0:bb5b832891fb 400 ///
j3 0:bb5b832891fb 401 ///On Exit:
j3 0:bb5b832891fb 402 ///@param[out] none
j3 0:bb5b832891fb 403 ///
j3 0:bb5b832891fb 404 ///@returns none
j3 2:598e601e5846 405 virtual ~BMI160(){ }
j3 0:bb5b832891fb 406
j3 0:bb5b832891fb 407
j3 0:bb5b832891fb 408 ///@brief Reads a single register.\n
j3 0:bb5b832891fb 409 ///
j3 0:bb5b832891fb 410 ///On Entry:
j3 0:bb5b832891fb 411 ///@param[in] data - pointer to memory for storing read data
j3 0:bb5b832891fb 412 ///
j3 0:bb5b832891fb 413 ///On Exit:
j3 0:bb5b832891fb 414 ///@param[out] data - holds contents of read register on success
j3 0:bb5b832891fb 415 ///
j3 0:bb5b832891fb 416 ///@returns 0 on success, non 0 on failure
j3 2:598e601e5846 417 virtual int32_t readRegister(Registers reg, uint8_t *data) = 0;
j3 0:bb5b832891fb 418
j3 0:bb5b832891fb 419
j3 0:bb5b832891fb 420 ///@brief Writes a single register.\n
j3 0:bb5b832891fb 421 ///
j3 0:bb5b832891fb 422 ///On Entry:
j3 0:bb5b832891fb 423 ///@param[in] data - data to write to register
j3 0:bb5b832891fb 424 ///
j3 0:bb5b832891fb 425 ///On Exit:
j3 0:bb5b832891fb 426 ///@param[out] none
j3 0:bb5b832891fb 427 ///
j3 0:bb5b832891fb 428 ///@returns 0 on success, non 0 on failure
j3 2:598e601e5846 429 virtual int32_t writeRegister(Registers reg, const uint8_t data) = 0;
j3 0:bb5b832891fb 430
j3 0:bb5b832891fb 431
j3 0:bb5b832891fb 432 ///@brief Reads a block of registers.\n
j3 0:bb5b832891fb 433 ///@detail User must ensure that all registers between 'startReg' and
j3 0:bb5b832891fb 434 ///'stopReg' exist and are readable. Function reads up to, including,
j3 0:bb5b832891fb 435 ///'stopReg'.\n
j3 0:bb5b832891fb 436 ///
j3 0:bb5b832891fb 437 ///On Entry:
j3 0:bb5b832891fb 438 ///@param[in] startReg - register to start reading from
j3 0:bb5b832891fb 439 ///@param[in] stopReg - register to stop reading from
j3 0:bb5b832891fb 440 ///@param[in] data - pointer to memory for storing read data
j3 0:bb5b832891fb 441 ///
j3 0:bb5b832891fb 442 ///On Exit:
j3 0:bb5b832891fb 443 ///@param[out] data - holds contents of read registers on success
j3 0:bb5b832891fb 444 ///
j3 0:bb5b832891fb 445 ///@returns 0 on success, non 0 on failure
j3 3:e1770675eca4 446 virtual int32_t readBlock(Registers startReg, Registers stopReg,
j3 3:e1770675eca4 447 uint8_t *data) = 0;
j3 0:bb5b832891fb 448
j3 0:bb5b832891fb 449
j3 0:bb5b832891fb 450 ///@brief Writes a block of registers.\n
j3 0:bb5b832891fb 451 ///@detail User must ensure that all registers between 'startReg' and
j3 0:bb5b832891fb 452 ///'stopReg' exist and are writeable. Function writes up to, including,
j3 0:bb5b832891fb 453 ///'stopReg'.\n
j3 0:bb5b832891fb 454 ///
j3 0:bb5b832891fb 455 ///On Entry:
j3 0:bb5b832891fb 456 ///@param[in] startReg - register to start writing at
j3 0:bb5b832891fb 457 ///@param[in] stopReg - register to stop writing at
j3 0:bb5b832891fb 458 ///@param[in] data - pointer to data to write to registers
j3 0:bb5b832891fb 459 ///
j3 0:bb5b832891fb 460 ///On Exit:
j3 0:bb5b832891fb 461 ///@param[out] none
j3 0:bb5b832891fb 462 ///
j3 0:bb5b832891fb 463 ///@returns 0 on success, non 0 on failure
j3 3:e1770675eca4 464 virtual int32_t writeBlock(Registers startReg, Registers stopReg,
j3 3:e1770675eca4 465 const uint8_t *data) = 0;
j3 3:e1770675eca4 466
j3 3:e1770675eca4 467
j3 5:35e032c8d8aa 468 ///@brief Sets sensors power mode through CMD register.\n
j3 5:35e032c8d8aa 469 ///@details Observe command execution times given in datasheet.\n
j3 5:35e032c8d8aa 470 ///
j3 5:35e032c8d8aa 471 ///On Entry:
j3 5:35e032c8d8aa 472 ///@param[in] sensor - Sensor which power mode we are setting
j3 5:35e032c8d8aa 473 ///@param[in] pwrMode - Desired powermode of the sensor
j3 5:35e032c8d8aa 474 ///
j3 5:35e032c8d8aa 475 ///On Exit:
j3 5:35e032c8d8aa 476 ///@param[out]
j3 5:35e032c8d8aa 477 ///
j3 5:35e032c8d8aa 478 ///@returns 0 on success, non 0 on failure
j3 5:35e032c8d8aa 479 int32_t setSensorPowerMode(Sensors sensor, PowerModes pwrMode);
j3 5:35e032c8d8aa 480
j3 5:35e032c8d8aa 481
j3 16:12782f5d4aa4 482 ///@brief Configure sensor.\n
j3 3:e1770675eca4 483 ///
j3 3:e1770675eca4 484 ///On Entry:
j3 16:12782f5d4aa4 485 ///@param[in] config - sSensor configuration data structure
j3 3:e1770675eca4 486 ///
j3 3:e1770675eca4 487 ///On Exit:
j3 12:64931a80340d 488 ///@param[out] none
j3 3:e1770675eca4 489 ///
j3 3:e1770675eca4 490 ///@returns 0 on success, non 0 on failure
j3 16:12782f5d4aa4 491 int32_t setSensorConfig(const AccConfig &config);
j3 16:12782f5d4aa4 492 int32_t setSensorConfig(const GyroConfig &config);
j3 8:a89b529b1d96 493
j3 8:a89b529b1d96 494
j3 16:12782f5d4aa4 495 ///@brief Get sensor configuration.\n
j3 14:646eb94fa2eb 496 ///
j3 14:646eb94fa2eb 497 ///On Entry:
j3 16:12782f5d4aa4 498 ///@param[in] config - Sensor configuration data structure
j3 14:646eb94fa2eb 499 ///
j3 14:646eb94fa2eb 500 ///On Exit:
j3 16:12782f5d4aa4 501 ///@param[out] config - on success, holds sensor's current
j3 14:646eb94fa2eb 502 ///configuration
j3 14:646eb94fa2eb 503 ///
j3 14:646eb94fa2eb 504 ///@returns 0 on success, non 0 on failure
j3 16:12782f5d4aa4 505 int32_t getSensorConfig(AccConfig &config);
j3 16:12782f5d4aa4 506 int32_t getSensorConfig(GyroConfig &config);
j3 14:646eb94fa2eb 507
j3 14:646eb94fa2eb 508
j3 16:12782f5d4aa4 509 ///@brief Get sensor axis.\n
j3 3:e1770675eca4 510 ///
j3 3:e1770675eca4 511 ///On Entry:
j3 8:a89b529b1d96 512 ///@param[in] axis - Sensor axis
j3 8:a89b529b1d96 513 ///@param[in] data - AxisData structure
j3 16:12782f5d4aa4 514 ///@param[in] range - Sensor range
j3 8:a89b529b1d96 515 ///
j3 8:a89b529b1d96 516 ///On Exit:
j3 8:a89b529b1d96 517 ///@param[out] data - Structure holds raw and scaled axis data
j3 8:a89b529b1d96 518 ///
j3 8:a89b529b1d96 519 ///@returns 0 on success, non 0 on failure
j3 16:12782f5d4aa4 520 int32_t getSensorAxis(SensorAxis axis, AxisData &data, AccRange range);
j3 16:12782f5d4aa4 521 int32_t getSensorAxis(SensorAxis axis, AxisData &data, GyroRange range);
j3 8:a89b529b1d96 522
j3 8:a89b529b1d96 523
j3 16:12782f5d4aa4 524 ///@brief Get sensor xyz axis.\n
j3 8:a89b529b1d96 525 ///
j3 8:a89b529b1d96 526 ///On Entry:
j3 8:a89b529b1d96 527 ///@param[in] data - SensorData structure
j3 16:12782f5d4aa4 528 ///@param[in] range - Sensor range
j3 3:e1770675eca4 529 ///
j3 3:e1770675eca4 530 ///On Exit:
j3 8:a89b529b1d96 531 ///@param[out] data - Structure holds raw and scaled data for all three axis
j3 3:e1770675eca4 532 ///
j3 8:a89b529b1d96 533 ///@returns 0 on success, non 0 on failure
j3 16:12782f5d4aa4 534 int32_t getSensorXYZ(SensorData &data, AccRange range);
j3 16:12782f5d4aa4 535 int32_t getSensorXYZ(SensorData &data, GyroRange range);
j3 15:dc35ccc0b08e 536
j3 15:dc35ccc0b08e 537
j3 16:12782f5d4aa4 538 ///@brief Get sensor xyz axis and sensor time.\n
j3 15:dc35ccc0b08e 539 ///
j3 15:dc35ccc0b08e 540 ///On Entry:
j3 15:dc35ccc0b08e 541 ///@param[in] data - SensorData structure
j3 15:dc35ccc0b08e 542 ///@param[in] sensorTime - SensorTime structure for data
j3 16:12782f5d4aa4 543 ///@param[in] range - Sensor range
j3 15:dc35ccc0b08e 544 ///
j3 15:dc35ccc0b08e 545 ///On Exit:
j3 15:dc35ccc0b08e 546 ///@param[out] data - Structure holds raw and scaled data for all three axis
j3 15:dc35ccc0b08e 547 ///@param[out] sensorTime - Holds sensor time on success
j3 15:dc35ccc0b08e 548 ///
j3 15:dc35ccc0b08e 549 ///@returns 0 on success, non 0 on failure
j3 16:12782f5d4aa4 550 int32_t getSensorXYZandSensorTime(SensorData &data, SensorTime &sensorTime,
j3 16:12782f5d4aa4 551 AccRange range);
j3 16:12782f5d4aa4 552 int32_t getSensorXYZandSensorTime(SensorData &data, SensorTime &sensorTime,
j3 16:12782f5d4aa4 553 GyroRange range);
j3 16:12782f5d4aa4 554
j3 16:12782f5d4aa4 555
j3 16:12782f5d4aa4 556 ///@brief Get Gyroscope/Accelerometer data and sensor time.\n
j3 16:12782f5d4aa4 557 ///
j3 16:12782f5d4aa4 558 ///On Entry:
j3 16:12782f5d4aa4 559 ///@param[in] accData - Sensor data structure for accelerometer
j3 16:12782f5d4aa4 560 ///@param[in] gyroData - Sensor data structure for gyroscope
j3 16:12782f5d4aa4 561 ///@param[in] sensorTime - SensorTime data structure
j3 16:12782f5d4aa4 562 ///@param[in] accRange - Accelerometer range
j3 16:12782f5d4aa4 563 ///@param[in] gyroRange - Gyroscope range
j3 16:12782f5d4aa4 564 ///
j3 16:12782f5d4aa4 565 ///On Exit:
j3 16:12782f5d4aa4 566 ///@param[out] accData - Synchronized accelerometer data
j3 16:12782f5d4aa4 567 ///@param[out] gyroData - Synchronized gyroscope data
j3 16:12782f5d4aa4 568 ///@param[out] sensorTime - Synchronized sensor time
j3 16:12782f5d4aa4 569 ///
j3 16:12782f5d4aa4 570 ///@returns 0 on success, non 0 on failure
j3 16:12782f5d4aa4 571 int32_t getGyroAccXYZandSensorTime(SensorData &accData,
j3 16:12782f5d4aa4 572 SensorData &gyroData,
j3 16:12782f5d4aa4 573 SensorTime &sensorTime,
j3 16:12782f5d4aa4 574 AccRange accRange, GyroRange gyroRange);
j3 10:9e219f2f1fb3 575
j3 10:9e219f2f1fb3 576
j3 10:9e219f2f1fb3 577 ///@brief Get sensor time.\n
j3 10:9e219f2f1fb3 578 ///
j3 10:9e219f2f1fb3 579 ///On Entry:
j3 15:dc35ccc0b08e 580 ///@param[in] sensorTime - SensorTime structure for data
j3 10:9e219f2f1fb3 581 ///
j3 10:9e219f2f1fb3 582 ///On Exit:
j3 15:dc35ccc0b08e 583 ///@param[out] sensorTime - Holds sensor time on success
j3 10:9e219f2f1fb3 584 ///
j3 10:9e219f2f1fb3 585 ///@returns returns 0 on success, non 0 on failure
j3 15:dc35ccc0b08e 586 int32_t getSensorTime(SensorTime &sensorTime);
j3 12:64931a80340d 587
j3 12:64931a80340d 588
j3 12:64931a80340d 589 ///@brief Get die temperature.\n
j3 12:64931a80340d 590 ///
j3 12:64931a80340d 591 ///On Entry:
j3 12:64931a80340d 592 ///@param[in] temp - pointer to float for temperature
j3 12:64931a80340d 593 ///
j3 12:64931a80340d 594 ///On Exit:
j3 12:64931a80340d 595 ///@param[out] temp - on success, holds the die temperature
j3 12:64931a80340d 596 ///
j3 12:64931a80340d 597 ///@returns 0 on success, non 0 on failure
j3 12:64931a80340d 598 int32_t getTemperature(float *temp);
j3 2:598e601e5846 599 };
j3 2:598e601e5846 600
j3 2:598e601e5846 601
j3 2:598e601e5846 602 /**
j3 2:598e601e5846 603 @brief BMI160_I2C - supports BMI160 object with I2C interface
j3 2:598e601e5846 604 */
j3 2:598e601e5846 605 class BMI160_I2C: public BMI160
j3 2:598e601e5846 606 {
j3 2:598e601e5846 607 public:
j3 2:598e601e5846 608
j3 2:598e601e5846 609 ///BMI160 default I2C address.
j3 2:598e601e5846 610 static const uint8_t I2C_ADRS_SDO_LO = 0x68;
j3 2:598e601e5846 611 ///BMI160 optional I2C address.
j3 2:598e601e5846 612 static const uint8_t I2C_ADRS_SDO_HI = 0x69;
j3 0:bb5b832891fb 613
j3 2:598e601e5846 614
j3 2:598e601e5846 615 ///@brief BMI160_I2C Constructor.\n
j3 0:bb5b832891fb 616 ///
j3 0:bb5b832891fb 617 ///On Entry:
j3 2:598e601e5846 618 ///@param[in] i2cBus - reference to I2C bus for this device
j3 2:598e601e5846 619 ///@param[in] i2cAdrs - 7-bit I2C address
j3 0:bb5b832891fb 620 ///
j3 0:bb5b832891fb 621 ///On Exit:
j3 0:bb5b832891fb 622 ///@param[out] none
j3 0:bb5b832891fb 623 ///
j3 0:bb5b832891fb 624 ///@returns none
j3 2:598e601e5846 625 BMI160_I2C(I2C &i2cBus, uint8_t i2cAdrs);
j3 2:598e601e5846 626
j3 2:598e601e5846 627
j3 17:0ae99e97bcf5 628 ///@brief Reads a single register.\n
j3 17:0ae99e97bcf5 629 ///
j3 17:0ae99e97bcf5 630 ///On Entry:
j3 17:0ae99e97bcf5 631 ///@param[in] data - pointer to memory for storing read data
j3 17:0ae99e97bcf5 632 ///
j3 17:0ae99e97bcf5 633 ///On Exit:
j3 17:0ae99e97bcf5 634 ///@param[out] data - holds contents of read register on success
j3 17:0ae99e97bcf5 635 ///
j3 17:0ae99e97bcf5 636 ///@returns 0 on success, non 0 on failure
j3 2:598e601e5846 637 virtual int32_t readRegister(Registers reg, uint8_t *data);
j3 17:0ae99e97bcf5 638
j3 17:0ae99e97bcf5 639
j3 17:0ae99e97bcf5 640 ///@brief Writes a single register.\n
j3 17:0ae99e97bcf5 641 ///
j3 17:0ae99e97bcf5 642 ///On Entry:
j3 17:0ae99e97bcf5 643 ///@param[in] data - data to write to register
j3 17:0ae99e97bcf5 644 ///
j3 17:0ae99e97bcf5 645 ///On Exit:
j3 17:0ae99e97bcf5 646 ///@param[out] none
j3 17:0ae99e97bcf5 647 ///
j3 17:0ae99e97bcf5 648 ///@returns 0 on success, non 0 on failure
j3 2:598e601e5846 649 virtual int32_t writeRegister(Registers reg, const uint8_t data);
j3 17:0ae99e97bcf5 650
j3 17:0ae99e97bcf5 651
j3 17:0ae99e97bcf5 652 ///@brief Reads a block of registers.\n
j3 17:0ae99e97bcf5 653 ///@detail User must ensure that all registers between 'startReg' and
j3 17:0ae99e97bcf5 654 ///'stopReg' exist and are readable. Function reads up to, including,
j3 17:0ae99e97bcf5 655 ///'stopReg'.\n
j3 17:0ae99e97bcf5 656 ///
j3 17:0ae99e97bcf5 657 ///On Entry:
j3 17:0ae99e97bcf5 658 ///@param[in] startReg - register to start reading from
j3 17:0ae99e97bcf5 659 ///@param[in] stopReg - register to stop reading from
j3 17:0ae99e97bcf5 660 ///@param[in] data - pointer to memory for storing read data
j3 17:0ae99e97bcf5 661 ///
j3 17:0ae99e97bcf5 662 ///On Exit:
j3 17:0ae99e97bcf5 663 ///@param[out] data - holds contents of read registers on success
j3 17:0ae99e97bcf5 664 ///
j3 17:0ae99e97bcf5 665 ///@returns 0 on success, non 0 on failure
j3 3:e1770675eca4 666 virtual int32_t readBlock(Registers startReg, Registers stopReg,
j3 3:e1770675eca4 667 uint8_t *data);
j3 17:0ae99e97bcf5 668
j3 17:0ae99e97bcf5 669
j3 17:0ae99e97bcf5 670 ///@brief Writes a block of registers.\n
j3 17:0ae99e97bcf5 671 ///@detail User must ensure that all registers between 'startReg' and
j3 17:0ae99e97bcf5 672 ///'stopReg' exist and are writeable. Function writes up to, including,
j3 17:0ae99e97bcf5 673 ///'stopReg'.\n
j3 17:0ae99e97bcf5 674 ///
j3 17:0ae99e97bcf5 675 ///On Entry:
j3 17:0ae99e97bcf5 676 ///@param[in] startReg - register to start writing at
j3 17:0ae99e97bcf5 677 ///@param[in] stopReg - register to stop writing at
j3 17:0ae99e97bcf5 678 ///@param[in] data - pointer to data to write to registers
j3 17:0ae99e97bcf5 679 ///
j3 17:0ae99e97bcf5 680 ///On Exit:
j3 17:0ae99e97bcf5 681 ///@param[out] none
j3 17:0ae99e97bcf5 682 ///
j3 17:0ae99e97bcf5 683 ///@returns 0 on success, non 0 on failure
j3 3:e1770675eca4 684 virtual int32_t writeBlock(Registers startReg, Registers stopReg,
j3 3:e1770675eca4 685 const uint8_t *data);
j3 2:598e601e5846 686
j3 0:bb5b832891fb 687 private:
j3 0:bb5b832891fb 688
j3 18:4949e9b15b6e 689 I2C &m_i2cBus;
j3 0:bb5b832891fb 690 uint8_t m_Wadrs, m_Radrs;
j3 0:bb5b832891fb 691 };
j3 0:bb5b832891fb 692
j3 2:598e601e5846 693
j3 2:598e601e5846 694 /**
j3 2:598e601e5846 695 @brief BMI160_SPI - supports BMI160 object with SPI interface
j3 2:598e601e5846 696 */
j3 2:598e601e5846 697 class BMI160_SPI: public BMI160
j3 2:598e601e5846 698 {
j3 2:598e601e5846 699 public:
j3 2:598e601e5846 700
j3 2:598e601e5846 701 ///@brief BMI160_SPI Constructor.\n
j3 2:598e601e5846 702 ///
j3 2:598e601e5846 703 ///On Entry:
j3 2:598e601e5846 704 ///@param[in] spiBus - reference to SPI bus for this device
j3 2:598e601e5846 705 ///@param[in] cs - reference to DigitalOut used for chip select
j3 2:598e601e5846 706 ///
j3 2:598e601e5846 707 ///On Exit:
j3 2:598e601e5846 708 ///@param[out] none
j3 2:598e601e5846 709 ///
j3 2:598e601e5846 710 ///@returns none
j3 2:598e601e5846 711 BMI160_SPI(SPI &spiBus, DigitalOut &cs);
j3 2:598e601e5846 712
j3 17:0ae99e97bcf5 713
j3 17:0ae99e97bcf5 714 ///@brief Reads a single register.\n
j3 17:0ae99e97bcf5 715 ///
j3 17:0ae99e97bcf5 716 ///On Entry:
j3 17:0ae99e97bcf5 717 ///@param[in] data - pointer to memory for storing read data
j3 17:0ae99e97bcf5 718 ///
j3 17:0ae99e97bcf5 719 ///On Exit:
j3 17:0ae99e97bcf5 720 ///@param[out] data - holds contents of read register on success
j3 17:0ae99e97bcf5 721 ///
j3 17:0ae99e97bcf5 722 ///@returns 0 on success, non 0 on failure
j3 2:598e601e5846 723 virtual int32_t readRegister(Registers reg, uint8_t *data);
j3 17:0ae99e97bcf5 724
j3 17:0ae99e97bcf5 725
j3 17:0ae99e97bcf5 726 ///@brief Writes a single register.\n
j3 17:0ae99e97bcf5 727 ///
j3 17:0ae99e97bcf5 728 ///On Entry:
j3 17:0ae99e97bcf5 729 ///@param[in] data - data to write to register
j3 17:0ae99e97bcf5 730 ///
j3 17:0ae99e97bcf5 731 ///On Exit:
j3 17:0ae99e97bcf5 732 ///@param[out] none
j3 17:0ae99e97bcf5 733 ///
j3 17:0ae99e97bcf5 734 ///@returns 0 on success, non 0 on failure
j3 2:598e601e5846 735 virtual int32_t writeRegister(Registers reg, const uint8_t data);
j3 17:0ae99e97bcf5 736
j3 17:0ae99e97bcf5 737
j3 17:0ae99e97bcf5 738 ///@brief Reads a block of registers.\n
j3 17:0ae99e97bcf5 739 ///@detail User must ensure that all registers between 'startReg' and
j3 17:0ae99e97bcf5 740 ///'stopReg' exist and are readable. Function reads up to, including,
j3 17:0ae99e97bcf5 741 ///'stopReg'.\n
j3 17:0ae99e97bcf5 742 ///
j3 17:0ae99e97bcf5 743 ///On Entry:
j3 17:0ae99e97bcf5 744 ///@param[in] startReg - register to start reading from
j3 17:0ae99e97bcf5 745 ///@param[in] stopReg - register to stop reading from
j3 17:0ae99e97bcf5 746 ///@param[in] data - pointer to memory for storing read data
j3 17:0ae99e97bcf5 747 ///
j3 17:0ae99e97bcf5 748 ///On Exit:
j3 17:0ae99e97bcf5 749 ///@param[out] data - holds contents of read registers on success
j3 17:0ae99e97bcf5 750 ///
j3 17:0ae99e97bcf5 751 ///@returns 0 on success, non 0 on failure
j3 3:e1770675eca4 752 virtual int32_t readBlock(Registers startReg, Registers stopReg,
j3 3:e1770675eca4 753 uint8_t *data);
j3 17:0ae99e97bcf5 754
j3 17:0ae99e97bcf5 755
j3 17:0ae99e97bcf5 756 ///@brief Writes a block of registers.\n
j3 17:0ae99e97bcf5 757 ///@detail User must ensure that all registers between 'startReg' and
j3 17:0ae99e97bcf5 758 ///'stopReg' exist and are writeable. Function writes up to, including,
j3 17:0ae99e97bcf5 759 ///'stopReg'.\n
j3 17:0ae99e97bcf5 760 ///
j3 17:0ae99e97bcf5 761 ///On Entry:
j3 17:0ae99e97bcf5 762 ///@param[in] startReg - register to start writing at
j3 17:0ae99e97bcf5 763 ///@param[in] stopReg - register to stop writing at
j3 17:0ae99e97bcf5 764 ///@param[in] data - pointer to data to write to registers
j3 17:0ae99e97bcf5 765 ///
j3 17:0ae99e97bcf5 766 ///On Exit:
j3 17:0ae99e97bcf5 767 ///@param[out] none
j3 17:0ae99e97bcf5 768 ///
j3 17:0ae99e97bcf5 769 ///@returns 0 on success, non 0 on failure
j3 3:e1770675eca4 770 virtual int32_t writeBlock(Registers startReg, Registers stopReg,
j3 3:e1770675eca4 771 const uint8_t *data);
j3 2:598e601e5846 772
j3 2:598e601e5846 773 private:
j3 2:598e601e5846 774
j3 18:4949e9b15b6e 775 SPI &m_spiBus;
j3 2:598e601e5846 776 DigitalOut m_cs;
j3 2:598e601e5846 777 };
j3 2:598e601e5846 778
j3 0:bb5b832891fb 779 #endif /* BMI160_H */
j3 8:a89b529b1d96 780
j3 8:a89b529b1d96 781
j3 8:a89b529b1d96 782 ///@brief fx documentation template.\n
j3 8:a89b529b1d96 783 ///
j3 8:a89b529b1d96 784 ///On Entry:
j3 8:a89b529b1d96 785 ///@param[in] none
j3 8:a89b529b1d96 786 ///
j3 8:a89b529b1d96 787 ///On Exit:
j3 8:a89b529b1d96 788 ///@param[out] none
j3 8:a89b529b1d96 789 ///
j3 8:a89b529b1d96 790 ///@returns none