Diff: bmi160.h

Revision:

13:5d132f873b07

Parent:

12:64931a80340d

Child:

14:646eb94fa2eb

--- a/bmi160.h	Tue Dec 20 18:38:42 2016 +0000
+++ b/bmi160.h	Tue Dec 20 19:02:36 2016 +0000
@@ -56,7 +56,7 @@
     ///Return value on success.
     static const uint8_t RTN_NO_ERROR = 0;
     
-    ///BMI160 Sensors
+    ///Sensor types
     enum Sensors
     {
         MAG = 0, ///<Optional external sensor
@@ -87,6 +87,7 @@
         AxisData zAxis; ///<Sensor Z axis data
     };
     
+    
     ///BMI160 registers
     enum Registers
     {
@@ -201,15 +202,17 @@
     };
     
     
-    ///@name ERR_REG(0x02) Group
-    ///Bit masks, positions, and enumerations
+    ///@name ERR_REG(0x02)
+    ///Error register data
     ///@{
+        
     static const uint8_t FATAL_ERR = 0x01;
     static const uint8_t ERR_CODE = 0x1E;
     static const uint8_t I2C_FAIL_ERR = 0x20;
     static const uint8_t DROP_CMD_ERR = 0x40;
     static const uint8_t MAG_DRDY_ERR = 0x80;
     
+    ///Enumerated error codes
     enum ErrorCodes
     {
         NO_ERROR = 0,        ///<No Error
@@ -224,16 +227,18 @@
     ///@}
     
     
-    ///@name ACC_CONF(0x40) and ACC_RANGE(0x41) Group 
-    ///Bit masks, positions, and enumerations
+    ///@name ACC_CONF(0x40) and ACC_RANGE(0x41) 
+    ///Data for configuring accelerometer
     ///@{
-    static const uint8_t ACC_ODR = 0x0F;
-    static const uint8_t ACC_ODR_POS = 0;
-    static const uint8_t ACC_BWP = 0x70;
+        
+    static const uint8_t ACC_ODR_MASK = 0x0F;
+    static const uint8_t ACC_ODR_POS = 0x00;
+    static const uint8_t ACC_BWP_MASK = 0x70;
     static const uint8_t ACC_BWP_POS = 0x04;
-    static const uint8_t ACC_US = 0x80;
+    static const uint8_t ACC_US_MASK = 0x80;
     static const uint8_t ACC_US_POS = 0x07;
     
+    ///Accelerometer output data rates
     enum AccOutPutDataRate
     {
         ACC_ODR_1 = 1,  ///< 25/32Hz
@@ -250,6 +255,7 @@
         ACC_ODR_12      ///< 1600Hz
     };
     
+    ///Accelerometer bandwidth parameters
     enum AccBandWidthParam
     {
         ACC_BWP_0 = 0, ///< Average 1 cycle
@@ -262,12 +268,14 @@
         ACC_BWP_7      ///< Average 128 cycles
     };
     
+    ///Accelerometer undersampling
     enum AccUnderSampling
     {
         ACC_US_OFF = 0,
         ACC_US_ON
     };
     
+    ///Accelerometer ranges
     enum AccRange
     {
         SENS_2G = 0,  ///<Accelerometer range +-2G
@@ -276,6 +284,7 @@
         SENS_16G,     ///<Accelerometer range +-16G
     };
     
+    ///Accelerometer configuration data structure
     struct AccConfig
     {
         AccRange range;
@@ -284,10 +293,12 @@
         AccOutPutDataRate odr;
     };
     
+    ///Accelerometer default configuration
     static const AccConfig DEFAULT_ACC_CONFIG;
     ///@}
     
     
+    ///Enumerated power modes
     enum PowerModes
     {
         SUSPEND = 0,  ///<Acc and Gyro, No sampling, No FIFO data readout
@@ -297,6 +308,7 @@
     };
     
     
+    ///Enumerated commands used with CMD register
     enum Commands
     {
         START_FOC = 0x03,        ///<Starts Fast Offset Calibrartion