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@15:dc35ccc0b08e, 2016-12-20 (annotated)

Committer:
j3
Date:
Tue Dec 20 21:20:22 2016 +0000
Revision:
15:dc35ccc0b08e
Parent:
14:646eb94fa2eb
Child:
16:12782f5d4aa4
working

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j3 0:bb5b832891fb 1 /**********************************************************************
j3 0:bb5b832891fb 2 * Copyright (C) 2016 Maxim Integrated Products, Inc., All Rights Reserved.
j3 0:bb5b832891fb 3 *
j3 0:bb5b832891fb 4 * Permission is hereby granted, free of charge, to any person obtaining a
j3 0:bb5b832891fb 5 * copy of this software and associated documentation files (the "Software"),
j3 0:bb5b832891fb 6 * to deal in the Software without restriction, including without limitation
j3 0:bb5b832891fb 7 * the rights to use, copy, modify, merge, publish, distribute, sublicense,
j3 0:bb5b832891fb 8 * and/or sell copies of the Software, and to permit persons to whom the
j3 0:bb5b832891fb 9 * Software is furnished to do so, subject to the following conditions:
j3 0:bb5b832891fb 10 *
j3 0:bb5b832891fb 11 * The above copyright notice and this permission notice shall be included
j3 0:bb5b832891fb 12 * in all copies or substantial portions of the Software.
j3 0:bb5b832891fb 13 *
j3 0:bb5b832891fb 14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
j3 0:bb5b832891fb 15 * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
j3 0:bb5b832891fb 16 * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
j3 0:bb5b832891fb 17 * IN NO EVENT SHALL MAXIM INTEGRATED BE LIABLE FOR ANY CLAIM, DAMAGES
j3 0:bb5b832891fb 18 * OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
j3 0:bb5b832891fb 19 * ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
j3 0:bb5b832891fb 20 * OTHER DEALINGS IN THE SOFTWARE.
j3 0:bb5b832891fb 21 *
j3 0:bb5b832891fb 22 * Except as contained in this notice, the name of Maxim Integrated
j3 0:bb5b832891fb 23 * Products, Inc. shall not be used except as stated in the Maxim Integrated
j3 0:bb5b832891fb 24 * Products, Inc. Branding Policy.
j3 0:bb5b832891fb 25 *
j3 0:bb5b832891fb 26 * The mere transfer of this software does not imply any licenses
j3 0:bb5b832891fb 27 * of trade secrets, proprietary technology, copyrights, patents,
j3 0:bb5b832891fb 28 * trademarks, maskwork rights, or any other form of intellectual
j3 0:bb5b832891fb 29 * property whatsoever. Maxim Integrated Products, Inc. retains all
j3 0:bb5b832891fb 30 * ownership rights.
j3 0:bb5b832891fb 31 **********************************************************************/
j3 0:bb5b832891fb 32
j3 0:bb5b832891fb 33
j3 0:bb5b832891fb 34 #ifndef BMI160_H
j3 0:bb5b832891fb 35 #define BMI160_H
j3 0:bb5b832891fb 36
j3 0:bb5b832891fb 37 #include "mbed.h"
j3 0:bb5b832891fb 38
j3 0:bb5b832891fb 39 /**
j3 0:bb5b832891fb 40 @brief The BMI160 is a small, low power, low noise 16-bit inertial measurement
j3 0:bb5b832891fb 41 unit designed for use in mobile applications like augmented reality or indoor
j3 0:bb5b832891fb 42 navigation which require highly accurate, real-time sensor data.
j3 0:bb5b832891fb 43
j3 0:bb5b832891fb 44 In full operation mode, with both the accelerometer and gyroscope enabled, the
j3 0:bb5b832891fb 45 current consumption is typically 950 μA, enabling always-on applications in
j3 0:bb5b832891fb 46 battery driven devices. It is available in a compact 14-pin 2.5 x 3.0 x 0.8 mm³
j3 0:bb5b832891fb 47 LGA package."
j3 2:598e601e5846 48
j3 2:598e601e5846 49 This class is an abstract base class and can not be instaniated, use BMI160_I2C
j3 2:598e601e5846 50 or BMI160_SPI.
j3 0:bb5b832891fb 51 */
j3 0:bb5b832891fb 52 class BMI160
j3 0:bb5b832891fb 53 {
j3 0:bb5b832891fb 54 public:
j3 0:bb5b832891fb 55
j3 2:598e601e5846 56 ///Return value on success.
j3 3:e1770675eca4 57 static const uint8_t RTN_NO_ERROR = 0;
j3 0:bb5b832891fb 58
j3 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 8:a89b529b1d96 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 8:a89b529b1d96 278 ACC_BWP_0 = 0, ///< Average 1 cycle
j3 8:a89b529b1d96 279 ACC_BWP_1, ///< Average 2 cycles
j3 8:a89b529b1d96 280 ACC_BWP_2, ///< Average 4 cycles, use this setting when acc_us = 0
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 15:dc35ccc0b08e 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 14:646eb94fa2eb 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 14:646eb94fa2eb 326
j3 14:646eb94fa2eb 327 ///@}
j3 14:646eb94fa2eb 328
j3 14:646eb94fa2eb 329
j3 13:5d132f873b07 330 ///Enumerated power modes
j3 4:ebac8c8f6347 331 enum PowerModes
j3 4:ebac8c8f6347 332 {
j3 4:ebac8c8f6347 333 SUSPEND = 0, ///<Acc and Gyro, No sampling, No FIFO data readout
j3 4:ebac8c8f6347 334 NORMAL, ///<Acc and Gyro, Full chip operation
j3 4:ebac8c8f6347 335 LOW_POWER, ///<Acc duty-cycling between suspend and normal
j3 4:ebac8c8f6347 336 FAST_START_UP ///<Gyro start up delay time to normal mode <= 10 ms
j3 4:ebac8c8f6347 337 };
j3 4:ebac8c8f6347 338
j3 12:64931a80340d 339
j3 13:5d132f873b07 340 ///Enumerated commands used with CMD register
j3 5:35e032c8d8aa 341 enum Commands
j3 5:35e032c8d8aa 342 {
j3 5:35e032c8d8aa 343 START_FOC = 0x03, ///<Starts Fast Offset Calibrartion
j3 7:9848196cb65e 344 ACC_SET_PMU_MODE = 0x10, ///<Sets acc power mode
j3 8:a89b529b1d96 345 GYR_SET_PMU_MODE = 0x14, ///<Sets gyro power mode
j3 8:a89b529b1d96 346 MAG_SET_PMU_MODE = 0x18, ///<Sets mag power mode
j3 5:35e032c8d8aa 347 PROG_NVM = 0xA0, ///<Writes NVM backed registers into NVM
j3 5:35e032c8d8aa 348 FIFO_FLUSH = 0xB0, ///<Clears FIFO
j3 5:35e032c8d8aa 349 INT_RESET, ///<Clears interrupt engine, INT_STATUS, and
j3 5:35e032c8d8aa 350 ///<the interrupt pin
j3 5:35e032c8d8aa 351 STEP_CNT_CLR, ///<Triggers reset of the step counter
j3 5:35e032c8d8aa 352 SOFT_RESET = 0xB6 ///<Triggers a reset including a reboot.
j3 5:35e032c8d8aa 353 };
j3 5:35e032c8d8aa 354
j3 0:bb5b832891fb 355
j3 0:bb5b832891fb 356 ///@brief BMI160 Destructor.\n
j3 0:bb5b832891fb 357 ///
j3 0:bb5b832891fb 358 ///On Entry:
j3 0:bb5b832891fb 359 ///@param[in] none
j3 0:bb5b832891fb 360 ///
j3 0:bb5b832891fb 361 ///On Exit:
j3 0:bb5b832891fb 362 ///@param[out] none
j3 0:bb5b832891fb 363 ///
j3 0:bb5b832891fb 364 ///@returns none
j3 2:598e601e5846 365 virtual ~BMI160(){ }
j3 0:bb5b832891fb 366
j3 0:bb5b832891fb 367
j3 0:bb5b832891fb 368 ///@brief Reads a single register.\n
j3 0:bb5b832891fb 369 ///
j3 0:bb5b832891fb 370 ///On Entry:
j3 0:bb5b832891fb 371 ///@param[in] data - pointer to memory for storing read data
j3 0:bb5b832891fb 372 ///
j3 0:bb5b832891fb 373 ///On Exit:
j3 0:bb5b832891fb 374 ///@param[out] data - holds contents of read register on success
j3 0:bb5b832891fb 375 ///
j3 0:bb5b832891fb 376 ///@returns 0 on success, non 0 on failure
j3 2:598e601e5846 377 virtual int32_t readRegister(Registers reg, uint8_t *data) = 0;
j3 0:bb5b832891fb 378
j3 0:bb5b832891fb 379
j3 0:bb5b832891fb 380 ///@brief Writes a single register.\n
j3 0:bb5b832891fb 381 ///
j3 0:bb5b832891fb 382 ///On Entry:
j3 0:bb5b832891fb 383 ///@param[in] data - data to write to register
j3 0:bb5b832891fb 384 ///
j3 0:bb5b832891fb 385 ///On Exit:
j3 0:bb5b832891fb 386 ///@param[out] none
j3 0:bb5b832891fb 387 ///
j3 0:bb5b832891fb 388 ///@returns 0 on success, non 0 on failure
j3 2:598e601e5846 389 virtual int32_t writeRegister(Registers reg, const uint8_t data) = 0;
j3 0:bb5b832891fb 390
j3 0:bb5b832891fb 391
j3 0:bb5b832891fb 392 ///@brief Reads a block of registers.\n
j3 0:bb5b832891fb 393 ///@detail User must ensure that all registers between 'startReg' and
j3 0:bb5b832891fb 394 ///'stopReg' exist and are readable. Function reads up to, including,
j3 0:bb5b832891fb 395 ///'stopReg'.\n
j3 0:bb5b832891fb 396 ///
j3 0:bb5b832891fb 397 ///On Entry:
j3 0:bb5b832891fb 398 ///@param[in] startReg - register to start reading from
j3 0:bb5b832891fb 399 ///@param[in] stopReg - register to stop reading from
j3 0:bb5b832891fb 400 ///@param[in] data - pointer to memory for storing read data
j3 0:bb5b832891fb 401 ///
j3 0:bb5b832891fb 402 ///On Exit:
j3 0:bb5b832891fb 403 ///@param[out] data - holds contents of read registers on success
j3 0:bb5b832891fb 404 ///
j3 0:bb5b832891fb 405 ///@returns 0 on success, non 0 on failure
j3 3:e1770675eca4 406 virtual int32_t readBlock(Registers startReg, Registers stopReg,
j3 3:e1770675eca4 407 uint8_t *data) = 0;
j3 0:bb5b832891fb 408
j3 0:bb5b832891fb 409
j3 0:bb5b832891fb 410 ///@brief Writes a block of registers.\n
j3 0:bb5b832891fb 411 ///@detail User must ensure that all registers between 'startReg' and
j3 0:bb5b832891fb 412 ///'stopReg' exist and are writeable. Function writes up to, including,
j3 0:bb5b832891fb 413 ///'stopReg'.\n
j3 0:bb5b832891fb 414 ///
j3 0:bb5b832891fb 415 ///On Entry:
j3 0:bb5b832891fb 416 ///@param[in] startReg - register to start writing at
j3 0:bb5b832891fb 417 ///@param[in] stopReg - register to stop writing at
j3 0:bb5b832891fb 418 ///@param[in] data - pointer to data to write to registers
j3 0:bb5b832891fb 419 ///
j3 0:bb5b832891fb 420 ///On Exit:
j3 0:bb5b832891fb 421 ///@param[out] none
j3 0:bb5b832891fb 422 ///
j3 0:bb5b832891fb 423 ///@returns 0 on success, non 0 on failure
j3 3:e1770675eca4 424 virtual int32_t writeBlock(Registers startReg, Registers stopReg,
j3 3:e1770675eca4 425 const uint8_t *data) = 0;
j3 3:e1770675eca4 426
j3 3:e1770675eca4 427
j3 5:35e032c8d8aa 428 ///@brief Sets sensors power mode through CMD register.\n
j3 5:35e032c8d8aa 429 ///@details Observe command execution times given in datasheet.\n
j3 5:35e032c8d8aa 430 ///
j3 5:35e032c8d8aa 431 ///On Entry:
j3 5:35e032c8d8aa 432 ///@param[in] sensor - Sensor which power mode we are setting
j3 5:35e032c8d8aa 433 ///@param[in] pwrMode - Desired powermode of the sensor
j3 5:35e032c8d8aa 434 ///
j3 5:35e032c8d8aa 435 ///On Exit:
j3 5:35e032c8d8aa 436 ///@param[out]
j3 5:35e032c8d8aa 437 ///
j3 5:35e032c8d8aa 438 ///@returns 0 on success, non 0 on failure
j3 5:35e032c8d8aa 439 int32_t setSensorPowerMode(Sensors sensor, PowerModes pwrMode);
j3 5:35e032c8d8aa 440
j3 5:35e032c8d8aa 441
j3 12:64931a80340d 442 ///@brief Configure Accelerometer.\n
j3 3:e1770675eca4 443 ///
j3 3:e1770675eca4 444 ///On Entry:
j3 12:64931a80340d 445 ///@param[in] config - Accelerometer configuration
j3 3:e1770675eca4 446 ///
j3 3:e1770675eca4 447 ///On Exit:
j3 12:64931a80340d 448 ///@param[out] none
j3 3:e1770675eca4 449 ///
j3 3:e1770675eca4 450 ///@returns 0 on success, non 0 on failure
j3 12:64931a80340d 451 int32_t setAccConfig(const AccConfig &config);
j3 8:a89b529b1d96 452
j3 8:a89b529b1d96 453
j3 14:646eb94fa2eb 454 ///@brief Get accelerometer configuration.\n
j3 14:646eb94fa2eb 455 ///
j3 14:646eb94fa2eb 456 ///On Entry:
j3 14:646eb94fa2eb 457 ///@param[in] config - Accelerometer configuration data structure
j3 14:646eb94fa2eb 458 ///
j3 14:646eb94fa2eb 459 ///On Exit:
j3 14:646eb94fa2eb 460 ///@param[out] config - on success, holds accelerometer's current
j3 14:646eb94fa2eb 461 ///configuration
j3 14:646eb94fa2eb 462 ///
j3 14:646eb94fa2eb 463 ///@returns 0 on success, non 0 on failure
j3 14:646eb94fa2eb 464 int32_t getAccConfig(AccConfig &config);
j3 14:646eb94fa2eb 465
j3 14:646eb94fa2eb 466
j3 8:a89b529b1d96 467 ///@brief Get accelerometer axis as float.\n
j3 3:e1770675eca4 468 ///
j3 3:e1770675eca4 469 ///On Entry:
j3 8:a89b529b1d96 470 ///@param[in] axis - Sensor axis
j3 8:a89b529b1d96 471 ///@param[in] data - AxisData structure
j3 12:64931a80340d 472 ///@param[in] range - Accelerometer range
j3 8:a89b529b1d96 473 ///
j3 8:a89b529b1d96 474 ///On Exit:
j3 8:a89b529b1d96 475 ///@param[out] data - Structure holds raw and scaled axis data
j3 8:a89b529b1d96 476 ///
j3 8:a89b529b1d96 477 ///@returns 0 on success, non 0 on failure
j3 12:64931a80340d 478 int32_t getAccAxis(SensorAxis axis, AxisData &data, AccRange range);
j3 8:a89b529b1d96 479
j3 8:a89b529b1d96 480
j3 8:a89b529b1d96 481 ///@brief Get accelerometer xyz axis as float.\n
j3 8:a89b529b1d96 482 ///
j3 8:a89b529b1d96 483 ///On Entry:
j3 8:a89b529b1d96 484 ///@param[in] data - SensorData structure
j3 12:64931a80340d 485 ///@param[in] range - Accelerometer range
j3 3:e1770675eca4 486 ///
j3 3:e1770675eca4 487 ///On Exit:
j3 8:a89b529b1d96 488 ///@param[out] data - Structure holds raw and scaled data for all three axis
j3 3:e1770675eca4 489 ///
j3 8:a89b529b1d96 490 ///@returns 0 on success, non 0 on failure
j3 15:dc35ccc0b08e 491 int32_t getAccXYZ(SensorData &data, AccRange range);
j3 15:dc35ccc0b08e 492
j3 15:dc35ccc0b08e 493
j3 15:dc35ccc0b08e 494 ///@brief Get accelerometer xyz axis and sensor time.\n
j3 15:dc35ccc0b08e 495 ///
j3 15:dc35ccc0b08e 496 ///On Entry:
j3 15:dc35ccc0b08e 497 ///@param[in] data - SensorData structure
j3 15:dc35ccc0b08e 498 ///@param[in] sensorTime - SensorTime structure for data
j3 15:dc35ccc0b08e 499 ///@param[in] range - Accelerometer range
j3 15:dc35ccc0b08e 500 ///
j3 15:dc35ccc0b08e 501 ///On Exit:
j3 15:dc35ccc0b08e 502 ///@param[out] data - Structure holds raw and scaled data for all three axis
j3 15:dc35ccc0b08e 503 ///@param[out] sensorTime - Holds sensor time on success
j3 15:dc35ccc0b08e 504 ///
j3 15:dc35ccc0b08e 505 ///@returns 0 on success, non 0 on failure
j3 15:dc35ccc0b08e 506 int32_t getAccXYZandSensorTime(SensorData &data, SensorTime &sensorTime, AccRange range);
j3 10:9e219f2f1fb3 507
j3 10:9e219f2f1fb3 508
j3 10:9e219f2f1fb3 509 ///@brief Get sensor time.\n
j3 10:9e219f2f1fb3 510 ///
j3 10:9e219f2f1fb3 511 ///On Entry:
j3 15:dc35ccc0b08e 512 ///@param[in] sensorTime - SensorTime structure for data
j3 10:9e219f2f1fb3 513 ///
j3 10:9e219f2f1fb3 514 ///On Exit:
j3 15:dc35ccc0b08e 515 ///@param[out] sensorTime - Holds sensor time on success
j3 10:9e219f2f1fb3 516 ///
j3 10:9e219f2f1fb3 517 ///@returns returns 0 on success, non 0 on failure
j3 15:dc35ccc0b08e 518 int32_t getSensorTime(SensorTime &sensorTime);
j3 12:64931a80340d 519
j3 12:64931a80340d 520
j3 12:64931a80340d 521 ///@brief Get die temperature.\n
j3 12:64931a80340d 522 ///
j3 12:64931a80340d 523 ///On Entry:
j3 12:64931a80340d 524 ///@param[in] temp - pointer to float for temperature
j3 12:64931a80340d 525 ///
j3 12:64931a80340d 526 ///On Exit:
j3 12:64931a80340d 527 ///@param[out] temp - on success, holds the die temperature
j3 12:64931a80340d 528 ///
j3 12:64931a80340d 529 ///@returns 0 on success, non 0 on failure
j3 12:64931a80340d 530 int32_t getTemperature(float *temp);
j3 2:598e601e5846 531 };
j3 2:598e601e5846 532
j3 2:598e601e5846 533
j3 2:598e601e5846 534 /**
j3 2:598e601e5846 535 @brief BMI160_I2C - supports BMI160 object with I2C interface
j3 2:598e601e5846 536 */
j3 2:598e601e5846 537 class BMI160_I2C: public BMI160
j3 2:598e601e5846 538 {
j3 2:598e601e5846 539 public:
j3 2:598e601e5846 540
j3 2:598e601e5846 541 ///BMI160 default I2C address.
j3 2:598e601e5846 542 static const uint8_t I2C_ADRS_SDO_LO = 0x68;
j3 2:598e601e5846 543 ///BMI160 optional I2C address.
j3 2:598e601e5846 544 static const uint8_t I2C_ADRS_SDO_HI = 0x69;
j3 0:bb5b832891fb 545
j3 2:598e601e5846 546
j3 2:598e601e5846 547 ///@brief BMI160_I2C Constructor.\n
j3 0:bb5b832891fb 548 ///
j3 0:bb5b832891fb 549 ///On Entry:
j3 2:598e601e5846 550 ///@param[in] i2cBus - reference to I2C bus for this device
j3 2:598e601e5846 551 ///@param[in] i2cAdrs - 7-bit I2C address
j3 0:bb5b832891fb 552 ///
j3 0:bb5b832891fb 553 ///On Exit:
j3 0:bb5b832891fb 554 ///@param[out] none
j3 0:bb5b832891fb 555 ///
j3 0:bb5b832891fb 556 ///@returns none
j3 2:598e601e5846 557 BMI160_I2C(I2C &i2cBus, uint8_t i2cAdrs);
j3 2:598e601e5846 558
j3 2:598e601e5846 559
j3 2:598e601e5846 560 virtual int32_t readRegister(Registers reg, uint8_t *data);
j3 2:598e601e5846 561 virtual int32_t writeRegister(Registers reg, const uint8_t data);
j3 3:e1770675eca4 562 virtual int32_t readBlock(Registers startReg, Registers stopReg,
j3 3:e1770675eca4 563 uint8_t *data);
j3 3:e1770675eca4 564 virtual int32_t writeBlock(Registers startReg, Registers stopReg,
j3 3:e1770675eca4 565 const uint8_t *data);
j3 2:598e601e5846 566
j3 0:bb5b832891fb 567 private:
j3 0:bb5b832891fb 568
j3 0:bb5b832891fb 569 I2C m_i2cBus;
j3 0:bb5b832891fb 570 uint8_t m_Wadrs, m_Radrs;
j3 0:bb5b832891fb 571 };
j3 0:bb5b832891fb 572
j3 2:598e601e5846 573
j3 2:598e601e5846 574 /**
j3 2:598e601e5846 575 @brief BMI160_SPI - supports BMI160 object with SPI interface
j3 2:598e601e5846 576 */
j3 2:598e601e5846 577 class BMI160_SPI: public BMI160
j3 2:598e601e5846 578 {
j3 2:598e601e5846 579 public:
j3 2:598e601e5846 580
j3 2:598e601e5846 581 ///@brief BMI160_SPI Constructor.\n
j3 2:598e601e5846 582 ///
j3 2:598e601e5846 583 ///On Entry:
j3 2:598e601e5846 584 ///@param[in] spiBus - reference to SPI bus for this device
j3 2:598e601e5846 585 ///@param[in] cs - reference to DigitalOut used for chip select
j3 2:598e601e5846 586 ///
j3 2:598e601e5846 587 ///On Exit:
j3 2:598e601e5846 588 ///@param[out] none
j3 2:598e601e5846 589 ///
j3 2:598e601e5846 590 ///@returns none
j3 2:598e601e5846 591 BMI160_SPI(SPI &spiBus, DigitalOut &cs);
j3 2:598e601e5846 592
j3 2:598e601e5846 593 virtual int32_t readRegister(Registers reg, uint8_t *data);
j3 2:598e601e5846 594 virtual int32_t writeRegister(Registers reg, const uint8_t data);
j3 3:e1770675eca4 595 virtual int32_t readBlock(Registers startReg, Registers stopReg,
j3 3:e1770675eca4 596 uint8_t *data);
j3 3:e1770675eca4 597 virtual int32_t writeBlock(Registers startReg, Registers stopReg,
j3 3:e1770675eca4 598 const uint8_t *data);
j3 2:598e601e5846 599
j3 2:598e601e5846 600 private:
j3 2:598e601e5846 601
j3 2:598e601e5846 602 SPI m_spiBus;
j3 2:598e601e5846 603 DigitalOut m_cs;
j3 2:598e601e5846 604 };
j3 2:598e601e5846 605
j3 0:bb5b832891fb 606 #endif /* BMI160_H */
j3 8:a89b529b1d96 607
j3 8:a89b529b1d96 608
j3 8:a89b529b1d96 609 ///@brief fx documentation template.\n
j3 8:a89b529b1d96 610 ///
j3 8:a89b529b1d96 611 ///On Entry:
j3 8:a89b529b1d96 612 ///@param[in] none
j3 8:a89b529b1d96 613 ///
j3 8:a89b529b1d96 614 ///On Exit:
j3 8:a89b529b1d96 615 ///@param[out] none
j3 8:a89b529b1d96 616 ///
j3 8:a89b529b1d96 617 ///@returns none