Diff: bmi160.h

Revision:

15:dc35ccc0b08e

Parent:

14:646eb94fa2eb

Child:

16:12782f5d4aa4

--- a/bmi160.h	Tue Dec 20 19:32:26 2016 +0000
+++ b/bmi160.h	Tue Dec 20 21:20:22 2016 +0000
@@ -69,7 +69,7 @@
     {
         X_AXIS = 0,
         Y_AXIS,
-        Z_AXIS   
+        Z_AXIS
     };
     
     ///Structure for axis data
@@ -79,6 +79,16 @@
         float scaled; ///<Axis scaled data 
     };
     
+    ///Structure for sensor time data
+    struct SensorTime
+    {
+        uint32_t raw;  ///<raw SensorTime
+        float seconds; ///<SensorTime as seconds
+    };
+    
+    ///Period of internal counter
+    static const float SENSOR_TIME_LSB = 39e-6;
+    
     ///Structure for holding sensor data
     struct SensorData
     {
@@ -285,12 +295,17 @@
     ///Accelerometer ranges
     enum AccRange
     {
-        SENS_2G = 0,  ///<Accelerometer range +-2G
-        SENS_4G,      ///<Accelerometer range +-4G
-        SENS_8G,      ///<Accelerometer range +-8G
-        SENS_16G,     ///<Accelerometer range +-16G
+        SENS_2G = 0x03,  ///<Accelerometer range +-2G
+        SENS_4G = 0x05,  ///<Accelerometer range +-4G
+        SENS_8G = 0x08,  ///<Accelerometer range +-8G
+        SENS_16G = 0x0C, ///<Accelerometer range +-16G
     };
     
+    static const float SENS_2G_LSB_PER_G = 16384.0F;
+    static const float SENS_4G_LSB_PER_G = 8192.0F; 
+    static const float SENS_8G_LSB_PER_G = 4096.0F;
+    static const float SENS_16G_LSB_PER_G = 2048.0F;
+    
     ///Accelerometer configuration data structure
     struct AccConfig
     {
@@ -473,19 +488,34 @@
     ///@param[out] data - Structure holds raw and scaled data for all three axis
     ///
     ///@returns 0 on success, non 0 on failure
-    int32_t getAccXYZ(SensorData &data, AccRange range);  
+    int32_t getAccXYZ(SensorData &data, AccRange range); 
+    
+    
+    ///@brief Get accelerometer xyz axis and sensor time.\n
+    ///
+    ///On Entry:
+    ///@param[in] data - SensorData structure
+    ///@param[in] sensorTime - SensorTime structure for data
+    ///@param[in] range - Accelerometer range
+    ///
+    ///On Exit:
+    ///@param[out] data - Structure holds raw and scaled data for all three axis
+    ///@param[out] sensorTime - Holds sensor time on success
+    ///
+    ///@returns 0 on success, non 0 on failure
+    int32_t getAccXYZandSensorTime(SensorData &data, SensorTime &sensorTime, AccRange range); 
     
     
     ///@brief Get sensor time.\n
     ///
     ///On Entry:
-    ///@param[in] data - pointer to float for holding data 
+    ///@param[in] sensorTime - SensorTime structure for data
     ///
     ///On Exit:
-    ///@param[out] data - time in seconds, as float
+    ///@param[out] sensorTime - Holds sensor time on success
     ///
     ///@returns returns 0 on success, non 0 on failure
-    int32_t getSensorTime(float *data);
+    int32_t getSensorTime(SensorTime &sensorTime);
     
     
     ///@brief Get die temperature.\n