Maxim Integrated / Mbed OS Host_Software_MAX32664GWEB_HR_EXTENDED

ME11B Sample Code in Maxim Integrated Team

Dependencies:   BMI160 max32630hsp3 MemoryLCD USBDevice

Fork of Host_Software_MAX32664GWEB_HR_EXTENDED by Seyhmus Cacina

accelerometer/bmi160.h@0:ac4dea3e2894, 2019-03-18 (annotated)

Committer:
seyhmus.cacina
Date:
Mon Mar 18 10:21:53 2019 +0300
Revision:
0:ac4dea3e2894
ME11B Sample Code First Commit

Who changed what in which revision?

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seyhmus.cacina 0:ac4dea3e2894 1 /**********************************************************************
seyhmus.cacina 0:ac4dea3e2894 2 * Copyright (C) 2016 Maxim Integrated Products, Inc., All Rights Reserved.
seyhmus.cacina 0:ac4dea3e2894 3 *
seyhmus.cacina 0:ac4dea3e2894 4 * Permission is hereby granted, free of charge, to any person obtaining a
seyhmus.cacina 0:ac4dea3e2894 5 * copy of this software and associated documentation files (the "Software"),
seyhmus.cacina 0:ac4dea3e2894 6 * to deal in the Software without restriction, including without limitation
seyhmus.cacina 0:ac4dea3e2894 7 * the rights to use, copy, modify, merge, publish, distribute, sublicense,
seyhmus.cacina 0:ac4dea3e2894 8 * and/or sell copies of the Software, and to permit persons to whom the
seyhmus.cacina 0:ac4dea3e2894 9 * Software is furnished to do so, subject to the following conditions:
seyhmus.cacina 0:ac4dea3e2894 10 *
seyhmus.cacina 0:ac4dea3e2894 11 * The above copyright notice and this permission notice shall be included
seyhmus.cacina 0:ac4dea3e2894 12 * in all copies or substantial portions of the Software.
seyhmus.cacina 0:ac4dea3e2894 13 *
seyhmus.cacina 0:ac4dea3e2894 14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
seyhmus.cacina 0:ac4dea3e2894 15 * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
seyhmus.cacina 0:ac4dea3e2894 16 * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
seyhmus.cacina 0:ac4dea3e2894 17 * IN NO EVENT SHALL MAXIM INTEGRATED BE LIABLE FOR ANY CLAIM, DAMAGES
seyhmus.cacina 0:ac4dea3e2894 18 * OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
seyhmus.cacina 0:ac4dea3e2894 19 * ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
seyhmus.cacina 0:ac4dea3e2894 20 * OTHER DEALINGS IN THE SOFTWARE.
seyhmus.cacina 0:ac4dea3e2894 21 *
seyhmus.cacina 0:ac4dea3e2894 22 * Except as contained in this notice, the name of Maxim Integrated
seyhmus.cacina 0:ac4dea3e2894 23 * Products, Inc. shall not be used except as stated in the Maxim Integrated
seyhmus.cacina 0:ac4dea3e2894 24 * Products, Inc. Branding Policy.
seyhmus.cacina 0:ac4dea3e2894 25 *
seyhmus.cacina 0:ac4dea3e2894 26 * The mere transfer of this software does not imply any licenses
seyhmus.cacina 0:ac4dea3e2894 27 * of trade secrets, proprietary technology, copyrights, patents,
seyhmus.cacina 0:ac4dea3e2894 28 * trademarks, maskwork rights, or any other form of intellectual
seyhmus.cacina 0:ac4dea3e2894 29 * property whatsoever. Maxim Integrated Products, Inc. retains all
seyhmus.cacina 0:ac4dea3e2894 30 * ownership rights.
seyhmus.cacina 0:ac4dea3e2894 31 **********************************************************************/
seyhmus.cacina 0:ac4dea3e2894 32
seyhmus.cacina 0:ac4dea3e2894 33
seyhmus.cacina 0:ac4dea3e2894 34 #ifndef BMI160_H
seyhmus.cacina 0:ac4dea3e2894 35 #define BMI160_H
seyhmus.cacina 0:ac4dea3e2894 36
seyhmus.cacina 0:ac4dea3e2894 37 #include "mbed.h"
seyhmus.cacina 0:ac4dea3e2894 38
seyhmus.cacina 0:ac4dea3e2894 39 /**
seyhmus.cacina 0:ac4dea3e2894 40 @brief The BMI160 is a small, low power, low noise 16-bit inertial measurement
seyhmus.cacina 0:ac4dea3e2894 41 unit designed for use in mobile applications like augmented reality or indoor
seyhmus.cacina 0:ac4dea3e2894 42 navigation which require highly accurate, real-time sensor data.
seyhmus.cacina 0:ac4dea3e2894 43
seyhmus.cacina 0:ac4dea3e2894 44 In full operation mode, with both the accelerometer and gyroscope enabled, the
seyhmus.cacina 0:ac4dea3e2894 45 current consumption is typically 950 μA, enabling always-on applications in
seyhmus.cacina 0:ac4dea3e2894 46 battery driven devices. It is available in a compact 14-pin 2.5 x 3.0 x 0.8 mm³
seyhmus.cacina 0:ac4dea3e2894 47 LGA package."
seyhmus.cacina 0:ac4dea3e2894 48
seyhmus.cacina 0:ac4dea3e2894 49 This class is an abstract base class and can not be instaniated, use BMI160_I2C
seyhmus.cacina 0:ac4dea3e2894 50 or BMI160_SPI.
seyhmus.cacina 0:ac4dea3e2894 51 */
seyhmus.cacina 0:ac4dea3e2894 52 class BMI160
seyhmus.cacina 0:ac4dea3e2894 53 {
seyhmus.cacina 0:ac4dea3e2894 54 public:
seyhmus.cacina 0:ac4dea3e2894 55
seyhmus.cacina 0:ac4dea3e2894 56 ///Return value on success.
seyhmus.cacina 0:ac4dea3e2894 57 static const uint8_t RTN_NO_ERROR = 0;
seyhmus.cacina 0:ac4dea3e2894 58
seyhmus.cacina 0:ac4dea3e2894 59 ///Sensor types
seyhmus.cacina 0:ac4dea3e2894 60 enum Sensors
seyhmus.cacina 0:ac4dea3e2894 61 {
seyhmus.cacina 0:ac4dea3e2894 62 MAG = 0, ///<Optional external sensor
seyhmus.cacina 0:ac4dea3e2894 63 GYRO, ///<Angular rate sensor
seyhmus.cacina 0:ac4dea3e2894 64 ACC ///<g sensor
seyhmus.cacina 0:ac4dea3e2894 65 };
seyhmus.cacina 0:ac4dea3e2894 66
seyhmus.cacina 0:ac4dea3e2894 67 ///Sensor Axis
seyhmus.cacina 0:ac4dea3e2894 68 enum SensorAxis
seyhmus.cacina 0:ac4dea3e2894 69 {
seyhmus.cacina 0:ac4dea3e2894 70 X_AXIS = 0,
seyhmus.cacina 0:ac4dea3e2894 71 Y_AXIS,
seyhmus.cacina 0:ac4dea3e2894 72 Z_AXIS
seyhmus.cacina 0:ac4dea3e2894 73 };
seyhmus.cacina 0:ac4dea3e2894 74
seyhmus.cacina 0:ac4dea3e2894 75 ///Structure for axis data
seyhmus.cacina 0:ac4dea3e2894 76 struct AxisData
seyhmus.cacina 0:ac4dea3e2894 77 {
seyhmus.cacina 0:ac4dea3e2894 78 int16_t raw; ///<Axis raw data
seyhmus.cacina 0:ac4dea3e2894 79 float scaled; ///<Axis scaled data
seyhmus.cacina 0:ac4dea3e2894 80 };
seyhmus.cacina 0:ac4dea3e2894 81
seyhmus.cacina 0:ac4dea3e2894 82 ///Structure for sensor time data
seyhmus.cacina 0:ac4dea3e2894 83 struct SensorTime
seyhmus.cacina 0:ac4dea3e2894 84 {
seyhmus.cacina 0:ac4dea3e2894 85 uint32_t raw; ///<raw SensorTime
seyhmus.cacina 0:ac4dea3e2894 86 float seconds; ///<SensorTime as seconds
seyhmus.cacina 0:ac4dea3e2894 87 };
seyhmus.cacina 0:ac4dea3e2894 88
seyhmus.cacina 0:ac4dea3e2894 89 ///Period of internal counter
seyhmus.cacina 0:ac4dea3e2894 90 static const float SENSOR_TIME_LSB = 39e-6;
seyhmus.cacina 0:ac4dea3e2894 91
seyhmus.cacina 0:ac4dea3e2894 92 ///Structure for holding sensor data
seyhmus.cacina 0:ac4dea3e2894 93 struct SensorData
seyhmus.cacina 0:ac4dea3e2894 94 {
seyhmus.cacina 0:ac4dea3e2894 95 AxisData xAxis; ///<Sensor X axis data
seyhmus.cacina 0:ac4dea3e2894 96 AxisData yAxis; ///<Sensor Y axis data
seyhmus.cacina 0:ac4dea3e2894 97 AxisData zAxis; ///<Sensor Z axis data
seyhmus.cacina 0:ac4dea3e2894 98 };
seyhmus.cacina 0:ac4dea3e2894 99
seyhmus.cacina 0:ac4dea3e2894 100
seyhmus.cacina 0:ac4dea3e2894 101 ///BMI160 registers
seyhmus.cacina 0:ac4dea3e2894 102 enum Registers
seyhmus.cacina 0:ac4dea3e2894 103 {
seyhmus.cacina 0:ac4dea3e2894 104 CHIP_ID = 0x00, ///<Chip Identification.
seyhmus.cacina 0:ac4dea3e2894 105 ERR_REG = 0x02, ///<Reports sensor error flags. Flags reset when read.
seyhmus.cacina 0:ac4dea3e2894 106 PMU_STATUS, ///<Reports current power mode for sensors.
seyhmus.cacina 0:ac4dea3e2894 107 DATA_0, ///<MAG_X axis bits7:0
seyhmus.cacina 0:ac4dea3e2894 108 DATA_1, ///<MAG_X axis bits15:8
seyhmus.cacina 0:ac4dea3e2894 109 DATA_2, ///<MAG_Y axis bits7:0
seyhmus.cacina 0:ac4dea3e2894 110 DATA_3, ///<MAG_Y axis bits15:8
seyhmus.cacina 0:ac4dea3e2894 111 DATA_4, ///<MAG_Z axis bits7:0
seyhmus.cacina 0:ac4dea3e2894 112 DATA_5, ///<MAG_Z axis bits15:8
seyhmus.cacina 0:ac4dea3e2894 113 DATA_6, ///<RHALL bits7:0
seyhmus.cacina 0:ac4dea3e2894 114 DATA_7, ///<RHALL bits15:8
seyhmus.cacina 0:ac4dea3e2894 115 DATA_8, ///<GYR_X axis bits7:0
seyhmus.cacina 0:ac4dea3e2894 116 DATA_9, ///<GYR_X axis bits15:8
seyhmus.cacina 0:ac4dea3e2894 117 DATA_10, ///<GYR_Y axis bits7:0
seyhmus.cacina 0:ac4dea3e2894 118 DATA_11, ///<GYR_Y axis bits15:8
seyhmus.cacina 0:ac4dea3e2894 119 DATA_12, ///<GYR_Z axis bits7:0
seyhmus.cacina 0:ac4dea3e2894 120 DATA_13, ///<GYR_Z axis bits15:8
seyhmus.cacina 0:ac4dea3e2894 121 DATA_14, ///<ACC_X axis bits7:0
seyhmus.cacina 0:ac4dea3e2894 122 DATA_15, ///<ACC_X axis bits15:8
seyhmus.cacina 0:ac4dea3e2894 123 DATA_16, ///<ACC_Y axis bits7:0
seyhmus.cacina 0:ac4dea3e2894 124 DATA_17, ///<ACC_Y axis bits15:8
seyhmus.cacina 0:ac4dea3e2894 125 DATA_18, ///<ACC_Z axis bits7:0
seyhmus.cacina 0:ac4dea3e2894 126 DATA_19, ///<ACC_Z axis bits15:8
seyhmus.cacina 0:ac4dea3e2894 127 SENSORTIME_0, ///<24bit counter synchronized with data, bits7:0
seyhmus.cacina 0:ac4dea3e2894 128 SENSORTIME_1, ///<24bit counter synchronized with data, bits15:8
seyhmus.cacina 0:ac4dea3e2894 129 SENSORTIME_2, ///<24bit counter synchronized with data, bits23:16
seyhmus.cacina 0:ac4dea3e2894 130 STATUS, ///<Reports sensors status flags
seyhmus.cacina 0:ac4dea3e2894 131 INT_STATUS_0, ///<Contains interrupt status flags
seyhmus.cacina 0:ac4dea3e2894 132 INT_STATUS_1, ///<Contains interrupt status flags
seyhmus.cacina 0:ac4dea3e2894 133 INT_STATUS_2, ///<Contains interrupt status flags
seyhmus.cacina 0:ac4dea3e2894 134 INT_STATUS_3, ///<Contains interrupt status flags
seyhmus.cacina 0:ac4dea3e2894 135 TEMPERATURE_0, ///<Contains temperature of sensor, bits7:0
seyhmus.cacina 0:ac4dea3e2894 136 TEMPERATURE_1, ///<Contains temperature of sensor, bits15:8
seyhmus.cacina 0:ac4dea3e2894 137 FIFO_LENGTH_0, ///<Current fill level of FIFO, bits7:0
seyhmus.cacina 0:ac4dea3e2894 138 FIFO_LENGTH_1, ///<Current fill level of FIFO, bits10:8
seyhmus.cacina 0:ac4dea3e2894 139 FIFO_DATA, ///<FIFO data read out register, burst read
seyhmus.cacina 0:ac4dea3e2894 140 ACC_CONF = 0x40, ///<Set ODR, bandwidth, and read mode of accelerometer
seyhmus.cacina 0:ac4dea3e2894 141 ACC_RANGE, ///<Sets accelerometer g-range
seyhmus.cacina 0:ac4dea3e2894 142 GYR_CONF, ///<Set ODR, bandwidth, and read mode of gyroscope
seyhmus.cacina 0:ac4dea3e2894 143 GYR_RANGE, ///<Sets gyroscope angular rate measurement range
seyhmus.cacina 0:ac4dea3e2894 144 MAG_CONF, ///<Sets ODR of magnetometer interface
seyhmus.cacina 0:ac4dea3e2894 145 FIFO_DOWNS, ///<Sets down sampling ratios of accel and gyro data
seyhmus.cacina 0:ac4dea3e2894 146 ///<for FIFO
seyhmus.cacina 0:ac4dea3e2894 147 FIFO_CONFIG_0, ///<Sets FIFO Watermark
seyhmus.cacina 0:ac4dea3e2894 148 FIFO_CONFIG_1, ///<Sets which sensor data is available in FIFO,
seyhmus.cacina 0:ac4dea3e2894 149 ///<Header/Headerless mode, Ext Int tagging, Sensortime
seyhmus.cacina 0:ac4dea3e2894 150 MAG_IF_0 = 0x4B, ///<Magnetometer 7-bit I2C address, bits7:1
seyhmus.cacina 0:ac4dea3e2894 151 MAG_IF_1, ///<Magnetometer interface configuration
seyhmus.cacina 0:ac4dea3e2894 152 MAG_IF_2, ///<Magnetometer address to read
seyhmus.cacina 0:ac4dea3e2894 153 MAG_IF_3, ///<Magnetometer address to write
seyhmus.cacina 0:ac4dea3e2894 154 MAG_IF_4, ///<Magnetometer data to write
seyhmus.cacina 0:ac4dea3e2894 155 INT_EN_0, ///<Interrupt enable bits
seyhmus.cacina 0:ac4dea3e2894 156 INT_EN_1, ///<Interrupt enable bits
seyhmus.cacina 0:ac4dea3e2894 157 INT_EN_2, ///<Interrupt enable bits
seyhmus.cacina 0:ac4dea3e2894 158 INT_OUT_CTRL, ///<Contains the behavioral configuration of INT pins
seyhmus.cacina 0:ac4dea3e2894 159 INT_LATCH, ///<Contains the interrupt rest bit and the interrupt
seyhmus.cacina 0:ac4dea3e2894 160 ///<mode selection
seyhmus.cacina 0:ac4dea3e2894 161 INT_MAP_0, ///<Controls which interrupt signals are mapped to the
seyhmus.cacina 0:ac4dea3e2894 162 ///<INT1 and INT2 pins
seyhmus.cacina 0:ac4dea3e2894 163 INT_MAP_1, ///<Controls which interrupt signals are mapped to the
seyhmus.cacina 0:ac4dea3e2894 164 ///<INT1 and INT2 pins
seyhmus.cacina 0:ac4dea3e2894 165 INT_MAP_2, ///<Controls which interrupt signals are mapped to the
seyhmus.cacina 0:ac4dea3e2894 166 ///<INT1 and INT2 pins
seyhmus.cacina 0:ac4dea3e2894 167 INT_DATA_0, ///<Contains the data source definition for the two
seyhmus.cacina 0:ac4dea3e2894 168 ///<interrupt groups
seyhmus.cacina 0:ac4dea3e2894 169 INT_DATA_1, ///<Contains the data source definition for the two
seyhmus.cacina 0:ac4dea3e2894 170 ///<interrupt groups
seyhmus.cacina 0:ac4dea3e2894 171 INT_LOWHIGH_0, ///<Contains the configuration for the low g interrupt
seyhmus.cacina 0:ac4dea3e2894 172 INT_LOWHIGH_1, ///<Contains the configuration for the low g interrupt
seyhmus.cacina 0:ac4dea3e2894 173 INT_LOWHIGH_2, ///<Contains the configuration for the low g interrupt
seyhmus.cacina 0:ac4dea3e2894 174 INT_LOWHIGH_3, ///<Contains the configuration for the low g interrupt
seyhmus.cacina 0:ac4dea3e2894 175 INT_LOWHIGH_4, ///<Contains the configuration for the low g interrupt
seyhmus.cacina 0:ac4dea3e2894 176 INT_MOTION_0, ///<Contains the configuration for the any motion and
seyhmus.cacina 0:ac4dea3e2894 177 ///<no motion interrupts
seyhmus.cacina 0:ac4dea3e2894 178 INT_MOTION_1, ///<Contains the configuration for the any motion and
seyhmus.cacina 0:ac4dea3e2894 179 ///<no motion interrupts
seyhmus.cacina 0:ac4dea3e2894 180 INT_MOTION_2, ///<Contains the configuration for the any motion and
seyhmus.cacina 0:ac4dea3e2894 181 ///<no motion interrupts
seyhmus.cacina 0:ac4dea3e2894 182 INT_MOTION_3, ///<Contains the configuration for the any motion and
seyhmus.cacina 0:ac4dea3e2894 183 ///<no motion interrupts
seyhmus.cacina 0:ac4dea3e2894 184 INT_TAP_0, ///<Contains the configuration for the tap interrupts
seyhmus.cacina 0:ac4dea3e2894 185 INT_TAP_1, ///<Contains the configuration for the tap interrupts
seyhmus.cacina 0:ac4dea3e2894 186 INT_ORIENT_0, ///<Contains the configuration for the oeientation
seyhmus.cacina 0:ac4dea3e2894 187 ///<interrupt
seyhmus.cacina 0:ac4dea3e2894 188 INT_ORIENT_1, ///<Contains the configuration for the oeientation
seyhmus.cacina 0:ac4dea3e2894 189 ///<interrupt
seyhmus.cacina 0:ac4dea3e2894 190 INT_FLAT_0, ///<Contains the configuration for the flat interrupt
seyhmus.cacina 0:ac4dea3e2894 191 INT_FLAT_1, ///<Contains the configuration for the flat interrupt
seyhmus.cacina 0:ac4dea3e2894 192 FOC_CONF, ///<Contains configuration for the fast offset
seyhmus.cacina 0:ac4dea3e2894 193 ///<compensation for the accelerometer and gyroscope
seyhmus.cacina 0:ac4dea3e2894 194 CONF, ///<Configuration of sensor, nvm_prog_en bit
seyhmus.cacina 0:ac4dea3e2894 195 IF_CONF, ///<Contains settings for the digital interface
seyhmus.cacina 0:ac4dea3e2894 196 PMU_TRIGGER, ///<Sets trigger conditions to change gyro power modes
seyhmus.cacina 0:ac4dea3e2894 197 SELF_TEST, ///<Self test configuration
seyhmus.cacina 0:ac4dea3e2894 198 NV_CONF = 0x70, ///<Contains settings for the digital interface
seyhmus.cacina 0:ac4dea3e2894 199 OFFSET_0, ///<Contains offset comp values for acc_off_x7:0
seyhmus.cacina 0:ac4dea3e2894 200 OFFSET_1, ///<Contains offset comp values for acc_off_y7:0
seyhmus.cacina 0:ac4dea3e2894 201 OFFSET_2, ///<Contains offset comp values for acc_off_z7:0
seyhmus.cacina 0:ac4dea3e2894 202 OFFSET_3, ///<Contains offset comp values for gyr_off_x7:0
seyhmus.cacina 0:ac4dea3e2894 203 OFFSET_4, ///<Contains offset comp values for gyr_off_y7:0
seyhmus.cacina 0:ac4dea3e2894 204 OFFSET_5, ///<Contains offset comp values for gyr_off_z7:0
seyhmus.cacina 0:ac4dea3e2894 205 OFFSET_6, ///<gyr/acc offset enable bit and gyr_off_(zyx) bits9:8
seyhmus.cacina 0:ac4dea3e2894 206 STEP_CNT_0, ///<Step counter bits 15:8
seyhmus.cacina 0:ac4dea3e2894 207 STEP_CNT_1, ///<Step counter bits 7:0
seyhmus.cacina 0:ac4dea3e2894 208 STEP_CONF_0, ///<Contains configuration of the step detector
seyhmus.cacina 0:ac4dea3e2894 209 STEP_CONF_1, ///<Contains configuration of the step detector
seyhmus.cacina 0:ac4dea3e2894 210 CMD = 0x7E ///<Command register triggers operations like
seyhmus.cacina 0:ac4dea3e2894 211 ///<softreset, NVM programming, etc.
seyhmus.cacina 0:ac4dea3e2894 212 };
seyhmus.cacina 0:ac4dea3e2894 213
seyhmus.cacina 0:ac4dea3e2894 214
seyhmus.cacina 0:ac4dea3e2894 215 ///@name ERR_REG(0x02)
seyhmus.cacina 0:ac4dea3e2894 216 ///Error register data
seyhmus.cacina 0:ac4dea3e2894 217 ///@{
seyhmus.cacina 0:ac4dea3e2894 218
seyhmus.cacina 0:ac4dea3e2894 219 static const uint8_t FATAL_ERR_MASK = 0x01;
seyhmus.cacina 0:ac4dea3e2894 220 static const uint8_t FATAL_ERR_POS = 0x00;
seyhmus.cacina 0:ac4dea3e2894 221 static const uint8_t ERR_CODE_MASK = 0x1E;
seyhmus.cacina 0:ac4dea3e2894 222 static const uint8_t ERR_CODE_POS = 0x01;
seyhmus.cacina 0:ac4dea3e2894 223 static const uint8_t I2C_FAIL_ERR_MASK = 0x20;
seyhmus.cacina 0:ac4dea3e2894 224 static const uint8_t I2C_FAIL_ERR_POS = 0x05;
seyhmus.cacina 0:ac4dea3e2894 225 static const uint8_t DROP_CMD_ERR_MASK = 0x40;
seyhmus.cacina 0:ac4dea3e2894 226 static const uint8_t DROP_CMD_ERR_POS = 0x06;
seyhmus.cacina 0:ac4dea3e2894 227 static const uint8_t MAG_DRDY_ERR_MASK = 0x80;
seyhmus.cacina 0:ac4dea3e2894 228 static const uint8_t MAG_DRDY_ERR_POS = 0x08;
seyhmus.cacina 0:ac4dea3e2894 229
seyhmus.cacina 0:ac4dea3e2894 230 ///Enumerated error codes
seyhmus.cacina 0:ac4dea3e2894 231 enum ErrorCodes
seyhmus.cacina 0:ac4dea3e2894 232 {
seyhmus.cacina 0:ac4dea3e2894 233 NO_ERROR = 0, ///<No Error
seyhmus.cacina 0:ac4dea3e2894 234 ERROR_1, ///<Listed as error
seyhmus.cacina 0:ac4dea3e2894 235 ERROR_2, ///<Listed as error
seyhmus.cacina 0:ac4dea3e2894 236 LPM_INT_PFD, ///<Low-power mode and interrupt uses pre-filtered
seyhmus.cacina 0:ac4dea3e2894 237 ///<data
seyhmus.cacina 0:ac4dea3e2894 238 ODR_MISMATCH = 0x06, ///<ODRs of enabled sensors in headerless mode do
seyhmus.cacina 0:ac4dea3e2894 239 ///<not match
seyhmus.cacina 0:ac4dea3e2894 240 PFD_USED_LPM ///<Pre-filtered data are used in low power mode
seyhmus.cacina 0:ac4dea3e2894 241 };
seyhmus.cacina 0:ac4dea3e2894 242 ///@}
seyhmus.cacina 0:ac4dea3e2894 243
seyhmus.cacina 0:ac4dea3e2894 244
seyhmus.cacina 0:ac4dea3e2894 245 ///@name ACC_CONF(0x40) and ACC_RANGE(0x41)
seyhmus.cacina 0:ac4dea3e2894 246 ///Data for configuring accelerometer
seyhmus.cacina 0:ac4dea3e2894 247 ///@{
seyhmus.cacina 0:ac4dea3e2894 248
seyhmus.cacina 0:ac4dea3e2894 249 static const uint8_t ACC_ODR_MASK = 0x0F;
seyhmus.cacina 0:ac4dea3e2894 250 static const uint8_t ACC_ODR_POS = 0x00;
seyhmus.cacina 0:ac4dea3e2894 251 static const uint8_t ACC_BWP_MASK = 0x70;
seyhmus.cacina 0:ac4dea3e2894 252 static const uint8_t ACC_BWP_POS = 0x04;
seyhmus.cacina 0:ac4dea3e2894 253 static const uint8_t ACC_US_MASK = 0x80;
seyhmus.cacina 0:ac4dea3e2894 254 static const uint8_t ACC_US_POS = 0x07;
seyhmus.cacina 0:ac4dea3e2894 255 static const uint8_t ACC_RANGE_MASK = 0x0F;
seyhmus.cacina 0:ac4dea3e2894 256 static const uint8_t ACC_RANGE_POS = 0x00;
seyhmus.cacina 0:ac4dea3e2894 257
seyhmus.cacina 0:ac4dea3e2894 258 ///Accelerometer output data rates
seyhmus.cacina 0:ac4dea3e2894 259 enum AccOutputDataRate
seyhmus.cacina 0:ac4dea3e2894 260 {
seyhmus.cacina 0:ac4dea3e2894 261 ACC_ODR_1 = 1, ///< 25/32Hz
seyhmus.cacina 0:ac4dea3e2894 262 ACC_ODR_2, ///< 25/16Hz
seyhmus.cacina 0:ac4dea3e2894 263 ACC_ODR_3, ///< 25/8Hz
seyhmus.cacina 0:ac4dea3e2894 264 ACC_ODR_4, ///< 25/4Hz
seyhmus.cacina 0:ac4dea3e2894 265 ACC_ODR_5, ///< 25/2Hz
seyhmus.cacina 0:ac4dea3e2894 266 ACC_ODR_6, ///< 25Hz
seyhmus.cacina 0:ac4dea3e2894 267 ACC_ODR_7, ///< 50Hz
seyhmus.cacina 0:ac4dea3e2894 268 ACC_ODR_8, ///< 100Hz
seyhmus.cacina 0:ac4dea3e2894 269 ACC_ODR_9, ///< 200Hz
seyhmus.cacina 0:ac4dea3e2894 270 ACC_ODR_10, ///< 400Hz
seyhmus.cacina 0:ac4dea3e2894 271 ACC_ODR_11, ///< 800Hz
seyhmus.cacina 0:ac4dea3e2894 272 ACC_ODR_12 ///< 1600Hz
seyhmus.cacina 0:ac4dea3e2894 273 };
seyhmus.cacina 0:ac4dea3e2894 274
seyhmus.cacina 0:ac4dea3e2894 275 ///Accelerometer bandwidth parameters
seyhmus.cacina 0:ac4dea3e2894 276 enum AccBandWidthParam
seyhmus.cacina 0:ac4dea3e2894 277 {
seyhmus.cacina 0:ac4dea3e2894 278 ACC_BWP_0 = 0, ///< Average 1 cycle; when acc_us = 0 OSR4
seyhmus.cacina 0:ac4dea3e2894 279 ACC_BWP_1, ///< Average 2 cycles; when acc_us = 0 OSR2
seyhmus.cacina 0:ac4dea3e2894 280 ACC_BWP_2, ///< Average 4 cycles; when acc_us = 0 normal mode
seyhmus.cacina 0:ac4dea3e2894 281 ACC_BWP_3, ///< Average 8 cycles
seyhmus.cacina 0:ac4dea3e2894 282 ACC_BWP_4, ///< Average 16 cycles
seyhmus.cacina 0:ac4dea3e2894 283 ACC_BWP_5, ///< Average 32 cycles
seyhmus.cacina 0:ac4dea3e2894 284 ACC_BWP_6, ///< Average 64 cycles
seyhmus.cacina 0:ac4dea3e2894 285 ACC_BWP_7 ///< Average 128 cycles
seyhmus.cacina 0:ac4dea3e2894 286 };
seyhmus.cacina 0:ac4dea3e2894 287
seyhmus.cacina 0:ac4dea3e2894 288 ///Accelerometer undersampling
seyhmus.cacina 0:ac4dea3e2894 289 enum AccUnderSampling
seyhmus.cacina 0:ac4dea3e2894 290 {
seyhmus.cacina 0:ac4dea3e2894 291 ACC_US_OFF = 0,
seyhmus.cacina 0:ac4dea3e2894 292 ACC_US_ON
seyhmus.cacina 0:ac4dea3e2894 293 };
seyhmus.cacina 0:ac4dea3e2894 294
seyhmus.cacina 0:ac4dea3e2894 295 ///Accelerometer ranges
seyhmus.cacina 0:ac4dea3e2894 296 enum AccRange
seyhmus.cacina 0:ac4dea3e2894 297 {
seyhmus.cacina 0:ac4dea3e2894 298 SENS_2G = 0x03, ///<Accelerometer range +-2G
seyhmus.cacina 0:ac4dea3e2894 299 SENS_4G = 0x05, ///<Accelerometer range +-4G
seyhmus.cacina 0:ac4dea3e2894 300 SENS_8G = 0x08, ///<Accelerometer range +-8G
seyhmus.cacina 0:ac4dea3e2894 301 SENS_16G = 0x0C ///<Accelerometer range +-16G
seyhmus.cacina 0:ac4dea3e2894 302 };
seyhmus.cacina 0:ac4dea3e2894 303
seyhmus.cacina 0:ac4dea3e2894 304 static const float SENS_2G_LSB_PER_G = 16384.0F;
seyhmus.cacina 0:ac4dea3e2894 305 static const float SENS_4G_LSB_PER_G = 8192.0F;
seyhmus.cacina 0:ac4dea3e2894 306 static const float SENS_8G_LSB_PER_G = 4096.0F;
seyhmus.cacina 0:ac4dea3e2894 307 static const float SENS_16G_LSB_PER_G = 2048.0F;
seyhmus.cacina 0:ac4dea3e2894 308
seyhmus.cacina 0:ac4dea3e2894 309 ///Accelerometer configuration data structure
seyhmus.cacina 0:ac4dea3e2894 310 struct AccConfig
seyhmus.cacina 0:ac4dea3e2894 311 {
seyhmus.cacina 0:ac4dea3e2894 312 AccRange range; ///<Accelerometer range
seyhmus.cacina 0:ac4dea3e2894 313 AccUnderSampling us; ///<Accelerometr undersampling mode
seyhmus.cacina 0:ac4dea3e2894 314 AccBandWidthParam bwp; ///<Accelerometer bandwidth param
seyhmus.cacina 0:ac4dea3e2894 315 AccOutputDataRate odr; ///<Accelerometr output data rate
seyhmus.cacina 0:ac4dea3e2894 316 };
seyhmus.cacina 0:ac4dea3e2894 317
seyhmus.cacina 0:ac4dea3e2894 318 ///Accelerometer default configuration
seyhmus.cacina 0:ac4dea3e2894 319 static const AccConfig DEFAULT_ACC_CONFIG;
seyhmus.cacina 0:ac4dea3e2894 320 ///@}
seyhmus.cacina 0:ac4dea3e2894 321
seyhmus.cacina 0:ac4dea3e2894 322
seyhmus.cacina 0:ac4dea3e2894 323 ///@name GYR_CONF(0x42) and GYR_RANGE(0x43)
seyhmus.cacina 0:ac4dea3e2894 324 ///Data for configuring gyroscope
seyhmus.cacina 0:ac4dea3e2894 325 ///@{
seyhmus.cacina 0:ac4dea3e2894 326
seyhmus.cacina 0:ac4dea3e2894 327 static const uint8_t GYRO_ODR_MASK = 0x0F;
seyhmus.cacina 0:ac4dea3e2894 328 static const uint8_t GYRO_ODR_POS = 0x00;
seyhmus.cacina 0:ac4dea3e2894 329 static const uint8_t GYRO_BWP_MASK = 0x30;
seyhmus.cacina 0:ac4dea3e2894 330 static const uint8_t GYRO_BWP_POS = 0x04;
seyhmus.cacina 0:ac4dea3e2894 331 static const uint8_t GYRO_RANGE_MASK = 0x07;
seyhmus.cacina 0:ac4dea3e2894 332 static const uint8_t GYRO_RANGE_POS = 0x00;
seyhmus.cacina 0:ac4dea3e2894 333
seyhmus.cacina 0:ac4dea3e2894 334 ///Gyroscope output data rates
seyhmus.cacina 0:ac4dea3e2894 335 enum GyroOutputDataRate
seyhmus.cacina 0:ac4dea3e2894 336 {
seyhmus.cacina 0:ac4dea3e2894 337 GYRO_ODR_6 = 0x06, ///<25Hz
seyhmus.cacina 0:ac4dea3e2894 338 GYRO_ODR_7 = 0x07, ///<50Hz
seyhmus.cacina 0:ac4dea3e2894 339 GYRO_ODR_8 = 0x08, ///<100Hz
seyhmus.cacina 0:ac4dea3e2894 340 GYRO_ODR_9 = 0x09, ///<200Hz
seyhmus.cacina 0:ac4dea3e2894 341 GYRO_ODR_10 = 0x0A, ///<400Hz
seyhmus.cacina 0:ac4dea3e2894 342 GYRO_ODR_11 = 0x0B, ///<800Hz
seyhmus.cacina 0:ac4dea3e2894 343 GYRO_ODR_12 = 0x0C, ///<1600Hz
seyhmus.cacina 0:ac4dea3e2894 344 GYRO_ODR_13 = 0x0D ///<3200Hz
seyhmus.cacina 0:ac4dea3e2894 345 };
seyhmus.cacina 0:ac4dea3e2894 346
seyhmus.cacina 0:ac4dea3e2894 347 ///Gyroscope bandwidth paramaters
seyhmus.cacina 0:ac4dea3e2894 348 enum GyroBandWidthParam
seyhmus.cacina 0:ac4dea3e2894 349 {
seyhmus.cacina 0:ac4dea3e2894 350 GYRO_BWP_0 = 0, ///<OSR4 Over Sampling Rate of 4
seyhmus.cacina 0:ac4dea3e2894 351 GYRO_BWP_1, ///<OSR2 Over Sampling Rate of 2
seyhmus.cacina 0:ac4dea3e2894 352 GYRO_BWP_2 ///<Normal Mode, Equidistant Sampling
seyhmus.cacina 0:ac4dea3e2894 353 };
seyhmus.cacina 0:ac4dea3e2894 354
seyhmus.cacina 0:ac4dea3e2894 355 ///Gyroscope ranges
seyhmus.cacina 0:ac4dea3e2894 356 enum GyroRange
seyhmus.cacina 0:ac4dea3e2894 357 {
seyhmus.cacina 0:ac4dea3e2894 358 DPS_2000 = 0, ///<+-2000dps, 16.4LSB/dps
seyhmus.cacina 0:ac4dea3e2894 359 DPS_1000, ///<+-1000dps, 32.8LSB/dps
seyhmus.cacina 0:ac4dea3e2894 360 DPS_500, ///<+-500dps, 65.6LSB/dps
seyhmus.cacina 0:ac4dea3e2894 361 DPS_250, ///<+-250dps, 131.2LSB/dps
seyhmus.cacina 0:ac4dea3e2894 362 DPS_125 ///<+-125dps, 262.4LSB/dps,
seyhmus.cacina 0:ac4dea3e2894 363 };
seyhmus.cacina 0:ac4dea3e2894 364
seyhmus.cacina 0:ac4dea3e2894 365 static const float SENS_2000_DPS_LSB_PER_DPS = 16.4F;
seyhmus.cacina 0:ac4dea3e2894 366 static const float SENS_1000_DPS_LSB_PER_DPS = 32.8F;
seyhmus.cacina 0:ac4dea3e2894 367 static const float SENS_500_DPS_LSB_PER_DPS = 65.6F;
seyhmus.cacina 0:ac4dea3e2894 368 static const float SENS_250_DPS_LSB_PER_DPS = 131.2F;
seyhmus.cacina 0:ac4dea3e2894 369 static const float SENS_125_DPS_LSB_PER_DPS = 262.4F;
seyhmus.cacina 0:ac4dea3e2894 370
seyhmus.cacina 0:ac4dea3e2894 371 ///Gyroscope configuration data structure
seyhmus.cacina 0:ac4dea3e2894 372 struct GyroConfig
seyhmus.cacina 0:ac4dea3e2894 373 {
seyhmus.cacina 0:ac4dea3e2894 374 GyroRange range; ///<Gyroscope range
seyhmus.cacina 0:ac4dea3e2894 375 GyroBandWidthParam bwp; ///<Gyroscope bandwidth param
seyhmus.cacina 0:ac4dea3e2894 376 GyroOutputDataRate odr; ///<Gyroscope output data rate
seyhmus.cacina 0:ac4dea3e2894 377 };
seyhmus.cacina 0:ac4dea3e2894 378
seyhmus.cacina 0:ac4dea3e2894 379 ///Gyroscope default configuration
seyhmus.cacina 0:ac4dea3e2894 380 static const GyroConfig DEFAULT_GYRO_CONFIG;
seyhmus.cacina 0:ac4dea3e2894 381 ///@}
seyhmus.cacina 0:ac4dea3e2894 382
seyhmus.cacina 0:ac4dea3e2894 383
seyhmus.cacina 0:ac4dea3e2894 384 ///Enumerated power modes
seyhmus.cacina 0:ac4dea3e2894 385 enum PowerModes
seyhmus.cacina 0:ac4dea3e2894 386 {
seyhmus.cacina 0:ac4dea3e2894 387 SUSPEND = 0, ///<Acc and Gyro, No sampling, No FIFO data readout
seyhmus.cacina 0:ac4dea3e2894 388 NORMAL, ///<Acc and Gyro, Full chip operation
seyhmus.cacina 0:ac4dea3e2894 389 LOW_POWER, ///<Acc duty-cycling between suspend and normal
seyhmus.cacina 0:ac4dea3e2894 390 FAST_START_UP ///<Gyro start up delay time to normal mode <= 10 ms
seyhmus.cacina 0:ac4dea3e2894 391 };
seyhmus.cacina 0:ac4dea3e2894 392
seyhmus.cacina 0:ac4dea3e2894 393
seyhmus.cacina 0:ac4dea3e2894 394 ///Enumerated commands used with CMD register
seyhmus.cacina 0:ac4dea3e2894 395 enum Commands
seyhmus.cacina 0:ac4dea3e2894 396 {
seyhmus.cacina 0:ac4dea3e2894 397 START_FOC = 0x03, ///<Starts Fast Offset Calibrartion
seyhmus.cacina 0:ac4dea3e2894 398 ACC_SET_PMU_MODE = 0x10, ///<Sets acc power mode
seyhmus.cacina 0:ac4dea3e2894 399 GYR_SET_PMU_MODE = 0x14, ///<Sets gyro power mode
seyhmus.cacina 0:ac4dea3e2894 400 MAG_SET_PMU_MODE = 0x18, ///<Sets mag power mode
seyhmus.cacina 0:ac4dea3e2894 401 PROG_NVM = 0xA0, ///<Writes NVM backed registers into NVM
seyhmus.cacina 0:ac4dea3e2894 402 FIFO_FLUSH = 0xB0, ///<Clears FIFO
seyhmus.cacina 0:ac4dea3e2894 403 INT_RESET, ///<Clears interrupt engine, INT_STATUS, and
seyhmus.cacina 0:ac4dea3e2894 404 ///<the interrupt pin
seyhmus.cacina 0:ac4dea3e2894 405 STEP_CNT_CLR, ///<Triggers reset of the step counter
seyhmus.cacina 0:ac4dea3e2894 406 SOFT_RESET = 0xB6 ///<Triggers a reset including a reboot.
seyhmus.cacina 0:ac4dea3e2894 407 };
seyhmus.cacina 0:ac4dea3e2894 408
seyhmus.cacina 0:ac4dea3e2894 409
seyhmus.cacina 0:ac4dea3e2894 410 ///@brief BMI160 Destructor.\n
seyhmus.cacina 0:ac4dea3e2894 411 ///
seyhmus.cacina 0:ac4dea3e2894 412 ///On Entry:
seyhmus.cacina 0:ac4dea3e2894 413 ///@param[in] none
seyhmus.cacina 0:ac4dea3e2894 414 ///
seyhmus.cacina 0:ac4dea3e2894 415 ///On Exit:
seyhmus.cacina 0:ac4dea3e2894 416 ///@param[out] none
seyhmus.cacina 0:ac4dea3e2894 417 ///
seyhmus.cacina 0:ac4dea3e2894 418 ///@returns none
seyhmus.cacina 0:ac4dea3e2894 419 virtual ~BMI160(){ }
seyhmus.cacina 0:ac4dea3e2894 420
seyhmus.cacina 0:ac4dea3e2894 421
seyhmus.cacina 0:ac4dea3e2894 422 ///@brief Reads a single register.\n
seyhmus.cacina 0:ac4dea3e2894 423 ///
seyhmus.cacina 0:ac4dea3e2894 424 ///On Entry:
seyhmus.cacina 0:ac4dea3e2894 425 ///@param[in] data - pointer to memory for storing read data
seyhmus.cacina 0:ac4dea3e2894 426 ///
seyhmus.cacina 0:ac4dea3e2894 427 ///On Exit:
seyhmus.cacina 0:ac4dea3e2894 428 ///@param[out] data - holds contents of read register on success
seyhmus.cacina 0:ac4dea3e2894 429 ///
seyhmus.cacina 0:ac4dea3e2894 430 ///@returns 0 on success, non 0 on failure
seyhmus.cacina 0:ac4dea3e2894 431 virtual int32_t readRegister(Registers reg, uint8_t *data) = 0;
seyhmus.cacina 0:ac4dea3e2894 432
seyhmus.cacina 0:ac4dea3e2894 433
seyhmus.cacina 0:ac4dea3e2894 434 ///@brief Writes a single register.\n
seyhmus.cacina 0:ac4dea3e2894 435 ///
seyhmus.cacina 0:ac4dea3e2894 436 ///On Entry:
seyhmus.cacina 0:ac4dea3e2894 437 ///@param[in] data - data to write to register
seyhmus.cacina 0:ac4dea3e2894 438 ///
seyhmus.cacina 0:ac4dea3e2894 439 ///On Exit:
seyhmus.cacina 0:ac4dea3e2894 440 ///@param[out] none
seyhmus.cacina 0:ac4dea3e2894 441 ///
seyhmus.cacina 0:ac4dea3e2894 442 ///@returns 0 on success, non 0 on failure
seyhmus.cacina 0:ac4dea3e2894 443 virtual int32_t writeRegister(Registers reg, const uint8_t data) = 0;
seyhmus.cacina 0:ac4dea3e2894 444
seyhmus.cacina 0:ac4dea3e2894 445
seyhmus.cacina 0:ac4dea3e2894 446 ///@brief Reads a block of registers.\n
seyhmus.cacina 0:ac4dea3e2894 447 ///@detail User must ensure that all registers between 'startReg' and
seyhmus.cacina 0:ac4dea3e2894 448 ///'stopReg' exist and are readable. Function reads up to, including,
seyhmus.cacina 0:ac4dea3e2894 449 ///'stopReg'.\n
seyhmus.cacina 0:ac4dea3e2894 450 ///
seyhmus.cacina 0:ac4dea3e2894 451 ///On Entry:
seyhmus.cacina 0:ac4dea3e2894 452 ///@param[in] startReg - register to start reading from
seyhmus.cacina 0:ac4dea3e2894 453 ///@param[in] stopReg - register to stop reading from
seyhmus.cacina 0:ac4dea3e2894 454 ///@param[in] data - pointer to memory for storing read data
seyhmus.cacina 0:ac4dea3e2894 455 ///
seyhmus.cacina 0:ac4dea3e2894 456 ///On Exit:
seyhmus.cacina 0:ac4dea3e2894 457 ///@param[out] data - holds contents of read registers on success
seyhmus.cacina 0:ac4dea3e2894 458 ///
seyhmus.cacina 0:ac4dea3e2894 459 ///@returns 0 on success, non 0 on failure
seyhmus.cacina 0:ac4dea3e2894 460 virtual int32_t readBlock(Registers startReg, Registers stopReg,
seyhmus.cacina 0:ac4dea3e2894 461 uint8_t *data) = 0;
seyhmus.cacina 0:ac4dea3e2894 462
seyhmus.cacina 0:ac4dea3e2894 463
seyhmus.cacina 0:ac4dea3e2894 464 ///@brief Writes a block of registers.\n
seyhmus.cacina 0:ac4dea3e2894 465 ///@detail User must ensure that all registers between 'startReg' and
seyhmus.cacina 0:ac4dea3e2894 466 ///'stopReg' exist and are writeable. Function writes up to, including,
seyhmus.cacina 0:ac4dea3e2894 467 ///'stopReg'.\n
seyhmus.cacina 0:ac4dea3e2894 468 ///
seyhmus.cacina 0:ac4dea3e2894 469 ///On Entry:
seyhmus.cacina 0:ac4dea3e2894 470 ///@param[in] startReg - register to start writing at
seyhmus.cacina 0:ac4dea3e2894 471 ///@param[in] stopReg - register to stop writing at
seyhmus.cacina 0:ac4dea3e2894 472 ///@param[in] data - pointer to data to write to registers
seyhmus.cacina 0:ac4dea3e2894 473 ///
seyhmus.cacina 0:ac4dea3e2894 474 ///On Exit:
seyhmus.cacina 0:ac4dea3e2894 475 ///@param[out] none
seyhmus.cacina 0:ac4dea3e2894 476 ///
seyhmus.cacina 0:ac4dea3e2894 477 ///@returns 0 on success, non 0 on failure
seyhmus.cacina 0:ac4dea3e2894 478 virtual int32_t writeBlock(Registers startReg, Registers stopReg,
seyhmus.cacina 0:ac4dea3e2894 479 const uint8_t *data) = 0;
seyhmus.cacina 0:ac4dea3e2894 480
seyhmus.cacina 0:ac4dea3e2894 481
seyhmus.cacina 0:ac4dea3e2894 482 ///@brief Sets sensors power mode through CMD register.\n
seyhmus.cacina 0:ac4dea3e2894 483 ///@details Observe command execution times given in datasheet.\n
seyhmus.cacina 0:ac4dea3e2894 484 ///
seyhmus.cacina 0:ac4dea3e2894 485 ///On Entry:
seyhmus.cacina 0:ac4dea3e2894 486 ///@param[in] sensor - Sensor which power mode we are setting
seyhmus.cacina 0:ac4dea3e2894 487 ///@param[in] pwrMode - Desired powermode of the sensor
seyhmus.cacina 0:ac4dea3e2894 488 ///
seyhmus.cacina 0:ac4dea3e2894 489 ///On Exit:
seyhmus.cacina 0:ac4dea3e2894 490 ///@param[out]
seyhmus.cacina 0:ac4dea3e2894 491 ///
seyhmus.cacina 0:ac4dea3e2894 492 ///@returns 0 on success, non 0 on failure
seyhmus.cacina 0:ac4dea3e2894 493 int32_t setSensorPowerMode(Sensors sensor, PowerModes pwrMode);
seyhmus.cacina 0:ac4dea3e2894 494
seyhmus.cacina 0:ac4dea3e2894 495
seyhmus.cacina 0:ac4dea3e2894 496 ///@brief Configure sensor.\n
seyhmus.cacina 0:ac4dea3e2894 497 ///
seyhmus.cacina 0:ac4dea3e2894 498 ///On Entry:
seyhmus.cacina 0:ac4dea3e2894 499 ///@param[in] config - sSensor configuration data structure
seyhmus.cacina 0:ac4dea3e2894 500 ///
seyhmus.cacina 0:ac4dea3e2894 501 ///On Exit:
seyhmus.cacina 0:ac4dea3e2894 502 ///@param[out] none
seyhmus.cacina 0:ac4dea3e2894 503 ///
seyhmus.cacina 0:ac4dea3e2894 504 ///@returns 0 on success, non 0 on failure
seyhmus.cacina 0:ac4dea3e2894 505 int32_t setSensorConfig(const AccConfig &config);
seyhmus.cacina 0:ac4dea3e2894 506 int32_t setSensorConfig(const GyroConfig &config);
seyhmus.cacina 0:ac4dea3e2894 507
seyhmus.cacina 0:ac4dea3e2894 508
seyhmus.cacina 0:ac4dea3e2894 509 ///@brief Get sensor configuration.\n
seyhmus.cacina 0:ac4dea3e2894 510 ///
seyhmus.cacina 0:ac4dea3e2894 511 ///On Entry:
seyhmus.cacina 0:ac4dea3e2894 512 ///@param[in] config - Sensor configuration data structure
seyhmus.cacina 0:ac4dea3e2894 513 ///
seyhmus.cacina 0:ac4dea3e2894 514 ///On Exit:
seyhmus.cacina 0:ac4dea3e2894 515 ///@param[out] config - on success, holds sensor's current
seyhmus.cacina 0:ac4dea3e2894 516 ///configuration
seyhmus.cacina 0:ac4dea3e2894 517 ///
seyhmus.cacina 0:ac4dea3e2894 518 ///@returns 0 on success, non 0 on failure
seyhmus.cacina 0:ac4dea3e2894 519 int32_t getSensorConfig(AccConfig &config);
seyhmus.cacina 0:ac4dea3e2894 520 int32_t getSensorConfig(GyroConfig &config);
seyhmus.cacina 0:ac4dea3e2894 521
seyhmus.cacina 0:ac4dea3e2894 522
seyhmus.cacina 0:ac4dea3e2894 523 ///@brief Get sensor axis.\n
seyhmus.cacina 0:ac4dea3e2894 524 ///
seyhmus.cacina 0:ac4dea3e2894 525 ///On Entry:
seyhmus.cacina 0:ac4dea3e2894 526 ///@param[in] axis - Sensor axis
seyhmus.cacina 0:ac4dea3e2894 527 ///@param[in] data - AxisData structure
seyhmus.cacina 0:ac4dea3e2894 528 ///@param[in] range - Sensor range
seyhmus.cacina 0:ac4dea3e2894 529 ///
seyhmus.cacina 0:ac4dea3e2894 530 ///On Exit:
seyhmus.cacina 0:ac4dea3e2894 531 ///@param[out] data - Structure holds raw and scaled axis data
seyhmus.cacina 0:ac4dea3e2894 532 ///
seyhmus.cacina 0:ac4dea3e2894 533 ///@returns 0 on success, non 0 on failure
seyhmus.cacina 0:ac4dea3e2894 534 int32_t getSensorAxis(SensorAxis axis, AxisData &data, AccRange range);
seyhmus.cacina 0:ac4dea3e2894 535 int32_t getSensorAxis(SensorAxis axis, AxisData &data, GyroRange range);
seyhmus.cacina 0:ac4dea3e2894 536
seyhmus.cacina 0:ac4dea3e2894 537
seyhmus.cacina 0:ac4dea3e2894 538 ///@brief Get sensor xyz axis.\n
seyhmus.cacina 0:ac4dea3e2894 539 ///
seyhmus.cacina 0:ac4dea3e2894 540 ///On Entry:
seyhmus.cacina 0:ac4dea3e2894 541 ///@param[in] data - SensorData structure
seyhmus.cacina 0:ac4dea3e2894 542 ///@param[in] range - Sensor range
seyhmus.cacina 0:ac4dea3e2894 543 ///
seyhmus.cacina 0:ac4dea3e2894 544 ///On Exit:
seyhmus.cacina 0:ac4dea3e2894 545 ///@param[out] data - Structure holds raw and scaled data for all three axis
seyhmus.cacina 0:ac4dea3e2894 546 ///
seyhmus.cacina 0:ac4dea3e2894 547 ///@returns 0 on success, non 0 on failure
seyhmus.cacina 0:ac4dea3e2894 548 int32_t getSensorXYZ(SensorData &data, AccRange range);
seyhmus.cacina 0:ac4dea3e2894 549 int32_t getSensorXYZ(SensorData &data, GyroRange range);
seyhmus.cacina 0:ac4dea3e2894 550
seyhmus.cacina 0:ac4dea3e2894 551
seyhmus.cacina 0:ac4dea3e2894 552 ///@brief Get sensor xyz axis and sensor time.\n
seyhmus.cacina 0:ac4dea3e2894 553 ///
seyhmus.cacina 0:ac4dea3e2894 554 ///On Entry:
seyhmus.cacina 0:ac4dea3e2894 555 ///@param[in] data - SensorData structure
seyhmus.cacina 0:ac4dea3e2894 556 ///@param[in] sensorTime - SensorTime structure for data
seyhmus.cacina 0:ac4dea3e2894 557 ///@param[in] range - Sensor range
seyhmus.cacina 0:ac4dea3e2894 558 ///
seyhmus.cacina 0:ac4dea3e2894 559 ///On Exit:
seyhmus.cacina 0:ac4dea3e2894 560 ///@param[out] data - Structure holds raw and scaled data for all three axis
seyhmus.cacina 0:ac4dea3e2894 561 ///@param[out] sensorTime - Holds sensor time on success
seyhmus.cacina 0:ac4dea3e2894 562 ///
seyhmus.cacina 0:ac4dea3e2894 563 ///@returns 0 on success, non 0 on failure
seyhmus.cacina 0:ac4dea3e2894 564 int32_t getSensorXYZandSensorTime(SensorData &data, SensorTime &sensorTime,
seyhmus.cacina 0:ac4dea3e2894 565 AccRange range);
seyhmus.cacina 0:ac4dea3e2894 566 int32_t getSensorXYZandSensorTime(SensorData &data, SensorTime &sensorTime,
seyhmus.cacina 0:ac4dea3e2894 567 GyroRange range);
seyhmus.cacina 0:ac4dea3e2894 568
seyhmus.cacina 0:ac4dea3e2894 569
seyhmus.cacina 0:ac4dea3e2894 570 ///@brief Get Gyroscope/Accelerometer data and sensor time.\n
seyhmus.cacina 0:ac4dea3e2894 571 ///
seyhmus.cacina 0:ac4dea3e2894 572 ///On Entry:
seyhmus.cacina 0:ac4dea3e2894 573 ///@param[in] accData - Sensor data structure for accelerometer
seyhmus.cacina 0:ac4dea3e2894 574 ///@param[in] gyroData - Sensor data structure for gyroscope
seyhmus.cacina 0:ac4dea3e2894 575 ///@param[in] sensorTime - SensorTime data structure
seyhmus.cacina 0:ac4dea3e2894 576 ///@param[in] accRange - Accelerometer range
seyhmus.cacina 0:ac4dea3e2894 577 ///@param[in] gyroRange - Gyroscope range
seyhmus.cacina 0:ac4dea3e2894 578 ///
seyhmus.cacina 0:ac4dea3e2894 579 ///On Exit:
seyhmus.cacina 0:ac4dea3e2894 580 ///@param[out] accData - Synchronized accelerometer data
seyhmus.cacina 0:ac4dea3e2894 581 ///@param[out] gyroData - Synchronized gyroscope data
seyhmus.cacina 0:ac4dea3e2894 582 ///@param[out] sensorTime - Synchronized sensor time
seyhmus.cacina 0:ac4dea3e2894 583 ///
seyhmus.cacina 0:ac4dea3e2894 584 ///@returns 0 on success, non 0 on failure
seyhmus.cacina 0:ac4dea3e2894 585 int32_t getGyroAccXYZandSensorTime(SensorData &accData,
seyhmus.cacina 0:ac4dea3e2894 586 SensorData &gyroData,
seyhmus.cacina 0:ac4dea3e2894 587 SensorTime &sensorTime,
seyhmus.cacina 0:ac4dea3e2894 588 AccRange accRange, GyroRange gyroRange);
seyhmus.cacina 0:ac4dea3e2894 589
seyhmus.cacina 0:ac4dea3e2894 590
seyhmus.cacina 0:ac4dea3e2894 591 ///@brief Get sensor time.\n
seyhmus.cacina 0:ac4dea3e2894 592 ///
seyhmus.cacina 0:ac4dea3e2894 593 ///On Entry:
seyhmus.cacina 0:ac4dea3e2894 594 ///@param[in] sensorTime - SensorTime structure for data
seyhmus.cacina 0:ac4dea3e2894 595 ///
seyhmus.cacina 0:ac4dea3e2894 596 ///On Exit:
seyhmus.cacina 0:ac4dea3e2894 597 ///@param[out] sensorTime - Holds sensor time on success
seyhmus.cacina 0:ac4dea3e2894 598 ///
seyhmus.cacina 0:ac4dea3e2894 599 ///@returns returns 0 on success, non 0 on failure
seyhmus.cacina 0:ac4dea3e2894 600 int32_t getSensorTime(SensorTime &sensorTime);
seyhmus.cacina 0:ac4dea3e2894 601
seyhmus.cacina 0:ac4dea3e2894 602
seyhmus.cacina 0:ac4dea3e2894 603 ///@brief Get die temperature.\n
seyhmus.cacina 0:ac4dea3e2894 604 ///
seyhmus.cacina 0:ac4dea3e2894 605 ///On Entry:
seyhmus.cacina 0:ac4dea3e2894 606 ///@param[in] temp - pointer to float for temperature
seyhmus.cacina 0:ac4dea3e2894 607 ///
seyhmus.cacina 0:ac4dea3e2894 608 ///On Exit:
seyhmus.cacina 0:ac4dea3e2894 609 ///@param[out] temp - on success, holds the die temperature
seyhmus.cacina 0:ac4dea3e2894 610 ///
seyhmus.cacina 0:ac4dea3e2894 611 ///@returns 0 on success, non 0 on failure
seyhmus.cacina 0:ac4dea3e2894 612 int32_t getTemperature(float *temp);
seyhmus.cacina 0:ac4dea3e2894 613
seyhmus.cacina 0:ac4dea3e2894 614 // Initialize BMI160 with default parameters:
seyhmus.cacina 0:ac4dea3e2894 615 // set GYRO: Suspended, Acc Normal Mode, ODR:25 Hz
seyhmus.cacina 0:ac4dea3e2894 616 int32_t BMI160_DefaultInitalize();
seyhmus.cacina 0:ac4dea3e2894 617
seyhmus.cacina 0:ac4dea3e2894 618 //
seyhmus.cacina 0:ac4dea3e2894 619 //
seyhmus.cacina 0:ac4dea3e2894 620 int32_t enable_data_ready_interrupt();
seyhmus.cacina 0:ac4dea3e2894 621
seyhmus.cacina 0:ac4dea3e2894 622 //
seyhmus.cacina 0:ac4dea3e2894 623 // Set sample rate
seyhmus.cacina 0:ac4dea3e2894 624 // This function can be alled after BMI160_DefaultInitalize
seyhmus.cacina 0:ac4dea3e2894 625 int32_t setSampleRate(int sample_rate);
seyhmus.cacina 0:ac4dea3e2894 626
seyhmus.cacina 0:ac4dea3e2894 627 /// @brief Soft reset
seyhmus.cacina 0:ac4dea3e2894 628 ///
seyhmus.cacina 0:ac4dea3e2894 629 int32_t reset();
seyhmus.cacina 0:ac4dea3e2894 630
seyhmus.cacina 0:ac4dea3e2894 631 private:
seyhmus.cacina 0:ac4dea3e2894 632 bool m_use_irq;
seyhmus.cacina 0:ac4dea3e2894 633 bool bmi160_irq_asserted;
seyhmus.cacina 0:ac4dea3e2894 634 InterruptIn *m_bmi160_irq;
seyhmus.cacina 0:ac4dea3e2894 635 void irq_handler();
seyhmus.cacina 0:ac4dea3e2894 636
seyhmus.cacina 0:ac4dea3e2894 637 protected:
seyhmus.cacina 0:ac4dea3e2894 638 BMI160(InterruptIn *int_pin): m_bmi160_irq(int_pin), m_use_irq(true) {
seyhmus.cacina 0:ac4dea3e2894 639 bmi160_irq_asserted = false;
seyhmus.cacina 0:ac4dea3e2894 640 }
seyhmus.cacina 0:ac4dea3e2894 641
seyhmus.cacina 0:ac4dea3e2894 642 BMI160(): m_use_irq(false) { }
seyhmus.cacina 0:ac4dea3e2894 643 };
seyhmus.cacina 0:ac4dea3e2894 644
seyhmus.cacina 0:ac4dea3e2894 645
seyhmus.cacina 0:ac4dea3e2894 646 /**
seyhmus.cacina 0:ac4dea3e2894 647 @brief BMI160_I2C - supports BMI160 object with I2C interface
seyhmus.cacina 0:ac4dea3e2894 648 */
seyhmus.cacina 0:ac4dea3e2894 649 class BMI160_I2C: public BMI160
seyhmus.cacina 0:ac4dea3e2894 650 {
seyhmus.cacina 0:ac4dea3e2894 651 public:
seyhmus.cacina 0:ac4dea3e2894 652
seyhmus.cacina 0:ac4dea3e2894 653 ///BMI160 default I2C address.
seyhmus.cacina 0:ac4dea3e2894 654 static const uint8_t I2C_ADRS_SDO_LO = 0x68;
seyhmus.cacina 0:ac4dea3e2894 655 ///BMI160 optional I2C address.
seyhmus.cacina 0:ac4dea3e2894 656 static const uint8_t I2C_ADRS_SDO_HI = 0x69;
seyhmus.cacina 0:ac4dea3e2894 657
seyhmus.cacina 0:ac4dea3e2894 658
seyhmus.cacina 0:ac4dea3e2894 659 ///@brief BMI160_I2C Constructor.\n
seyhmus.cacina 0:ac4dea3e2894 660 ///
seyhmus.cacina 0:ac4dea3e2894 661 ///On Entry:
seyhmus.cacina 0:ac4dea3e2894 662 ///@param[in] i2cBus - reference to I2C bus for this device
seyhmus.cacina 0:ac4dea3e2894 663 ///@param[in] i2cAdrs - 7-bit I2C address
seyhmus.cacina 0:ac4dea3e2894 664 ///
seyhmus.cacina 0:ac4dea3e2894 665 ///On Exit:
seyhmus.cacina 0:ac4dea3e2894 666 ///@param[out] none
seyhmus.cacina 0:ac4dea3e2894 667 ///
seyhmus.cacina 0:ac4dea3e2894 668 ///@returns none
seyhmus.cacina 0:ac4dea3e2894 669 BMI160_I2C(I2C *i2cBus, uint8_t i2cAdrs);
seyhmus.cacina 0:ac4dea3e2894 670
seyhmus.cacina 0:ac4dea3e2894 671 ///@brief BMI160_I2C Constructor.\n
seyhmus.cacina 0:ac4dea3e2894 672 ///
seyhmus.cacina 0:ac4dea3e2894 673 ///On Entry:
seyhmus.cacina 0:ac4dea3e2894 674 ///@param[in] i2cBus - reference to I2C bus for this device
seyhmus.cacina 0:ac4dea3e2894 675 ///@param[in] i2cAdrs - 7-bit I2C address
seyhmus.cacina 0:ac4dea3e2894 676 ///@param[in] int_pin - Interrupt pin
seyhmus.cacina 0:ac4dea3e2894 677 ///
seyhmus.cacina 0:ac4dea3e2894 678 ///On Exit:
seyhmus.cacina 0:ac4dea3e2894 679 ///@param[out] none
seyhmus.cacina 0:ac4dea3e2894 680 ///
seyhmus.cacina 0:ac4dea3e2894 681 ///@returns none
seyhmus.cacina 0:ac4dea3e2894 682 BMI160_I2C(I2C *i2cBus, uint8_t i2cAdrs, InterruptIn *int_pin);
seyhmus.cacina 0:ac4dea3e2894 683
seyhmus.cacina 0:ac4dea3e2894 684 ///@brief Reads a single register.\n
seyhmus.cacina 0:ac4dea3e2894 685 ///
seyhmus.cacina 0:ac4dea3e2894 686 ///On Entry:
seyhmus.cacina 0:ac4dea3e2894 687 ///@param[in] data - pointer to memory for storing read data
seyhmus.cacina 0:ac4dea3e2894 688 ///
seyhmus.cacina 0:ac4dea3e2894 689 ///On Exit:
seyhmus.cacina 0:ac4dea3e2894 690 ///@param[out] data - holds contents of read register on success
seyhmus.cacina 0:ac4dea3e2894 691 ///
seyhmus.cacina 0:ac4dea3e2894 692 ///@returns 0 on success, non 0 on failure
seyhmus.cacina 0:ac4dea3e2894 693 virtual int32_t readRegister(Registers reg, uint8_t *data);
seyhmus.cacina 0:ac4dea3e2894 694
seyhmus.cacina 0:ac4dea3e2894 695
seyhmus.cacina 0:ac4dea3e2894 696 ///@brief Writes a single register.\n
seyhmus.cacina 0:ac4dea3e2894 697 ///
seyhmus.cacina 0:ac4dea3e2894 698 ///On Entry:
seyhmus.cacina 0:ac4dea3e2894 699 ///@param[in] data - data to write to register
seyhmus.cacina 0:ac4dea3e2894 700 ///
seyhmus.cacina 0:ac4dea3e2894 701 ///On Exit:
seyhmus.cacina 0:ac4dea3e2894 702 ///@param[out] none
seyhmus.cacina 0:ac4dea3e2894 703 ///
seyhmus.cacina 0:ac4dea3e2894 704 ///@returns 0 on success, non 0 on failure
seyhmus.cacina 0:ac4dea3e2894 705 virtual int32_t writeRegister(Registers reg, const uint8_t data);
seyhmus.cacina 0:ac4dea3e2894 706
seyhmus.cacina 0:ac4dea3e2894 707
seyhmus.cacina 0:ac4dea3e2894 708 ///@brief Reads a block of registers.\n
seyhmus.cacina 0:ac4dea3e2894 709 ///@detail User must ensure that all registers between 'startReg' and
seyhmus.cacina 0:ac4dea3e2894 710 ///'stopReg' exist and are readable. Function reads up to, including,
seyhmus.cacina 0:ac4dea3e2894 711 ///'stopReg'.\n
seyhmus.cacina 0:ac4dea3e2894 712 ///
seyhmus.cacina 0:ac4dea3e2894 713 ///On Entry:
seyhmus.cacina 0:ac4dea3e2894 714 ///@param[in] startReg - register to start reading from
seyhmus.cacina 0:ac4dea3e2894 715 ///@param[in] stopReg - register to stop reading from
seyhmus.cacina 0:ac4dea3e2894 716 ///@param[in] data - pointer to memory for storing read data
seyhmus.cacina 0:ac4dea3e2894 717 ///
seyhmus.cacina 0:ac4dea3e2894 718 ///On Exit:
seyhmus.cacina 0:ac4dea3e2894 719 ///@param[out] data - holds contents of read registers on success
seyhmus.cacina 0:ac4dea3e2894 720 ///
seyhmus.cacina 0:ac4dea3e2894 721 ///@returns 0 on success, non 0 on failure
seyhmus.cacina 0:ac4dea3e2894 722 virtual int32_t readBlock(Registers startReg, Registers stopReg,
seyhmus.cacina 0:ac4dea3e2894 723 uint8_t *data);
seyhmus.cacina 0:ac4dea3e2894 724
seyhmus.cacina 0:ac4dea3e2894 725
seyhmus.cacina 0:ac4dea3e2894 726 ///@brief Writes a block of registers.\n
seyhmus.cacina 0:ac4dea3e2894 727 ///@detail User must ensure that all registers between 'startReg' and
seyhmus.cacina 0:ac4dea3e2894 728 ///'stopReg' exist and are writeable. Function writes up to, including,
seyhmus.cacina 0:ac4dea3e2894 729 ///'stopReg'.\n
seyhmus.cacina 0:ac4dea3e2894 730 ///
seyhmus.cacina 0:ac4dea3e2894 731 ///On Entry:
seyhmus.cacina 0:ac4dea3e2894 732 ///@param[in] startReg - register to start writing at
seyhmus.cacina 0:ac4dea3e2894 733 ///@param[in] stopReg - register to stop writing at
seyhmus.cacina 0:ac4dea3e2894 734 ///@param[in] data - pointer to data to write to registers
seyhmus.cacina 0:ac4dea3e2894 735 ///
seyhmus.cacina 0:ac4dea3e2894 736 ///On Exit:
seyhmus.cacina 0:ac4dea3e2894 737 ///@param[out] none
seyhmus.cacina 0:ac4dea3e2894 738 ///
seyhmus.cacina 0:ac4dea3e2894 739 ///@returns 0 on success, non 0 on failure
seyhmus.cacina 0:ac4dea3e2894 740 virtual int32_t writeBlock(Registers startReg, Registers stopReg,
seyhmus.cacina 0:ac4dea3e2894 741 const uint8_t *data);
seyhmus.cacina 0:ac4dea3e2894 742
seyhmus.cacina 0:ac4dea3e2894 743 private:
seyhmus.cacina 0:ac4dea3e2894 744 I2C *m_i2cBus;
seyhmus.cacina 0:ac4dea3e2894 745 uint8_t m_Wadrs, m_Radrs;
seyhmus.cacina 0:ac4dea3e2894 746 };
seyhmus.cacina 0:ac4dea3e2894 747
seyhmus.cacina 0:ac4dea3e2894 748
seyhmus.cacina 0:ac4dea3e2894 749 /**
seyhmus.cacina 0:ac4dea3e2894 750 @brief BMI160_SPI - supports BMI160 object with SPI interface
seyhmus.cacina 0:ac4dea3e2894 751 */
seyhmus.cacina 0:ac4dea3e2894 752 class BMI160_SPI: public BMI160
seyhmus.cacina 0:ac4dea3e2894 753 {
seyhmus.cacina 0:ac4dea3e2894 754 public:
seyhmus.cacina 0:ac4dea3e2894 755
seyhmus.cacina 0:ac4dea3e2894 756 ///@brief BMI160_SPI Constructor.\n
seyhmus.cacina 0:ac4dea3e2894 757 ///
seyhmus.cacina 0:ac4dea3e2894 758 ///On Entry:
seyhmus.cacina 0:ac4dea3e2894 759 ///@param[in] spiBus - reference to SPI bus for this device
seyhmus.cacina 0:ac4dea3e2894 760 ///@param[in] cs - reference to DigitalOut used for chip select
seyhmus.cacina 0:ac4dea3e2894 761 ///
seyhmus.cacina 0:ac4dea3e2894 762 ///On Exit:
seyhmus.cacina 0:ac4dea3e2894 763 ///@param[out] none
seyhmus.cacina 0:ac4dea3e2894 764 ///
seyhmus.cacina 0:ac4dea3e2894 765 ///@returns none
seyhmus.cacina 0:ac4dea3e2894 766 BMI160_SPI(SPI *spiBus, DigitalOut &cs);
seyhmus.cacina 0:ac4dea3e2894 767
seyhmus.cacina 0:ac4dea3e2894 768
seyhmus.cacina 0:ac4dea3e2894 769 ///@brief Reads a single register.\n
seyhmus.cacina 0:ac4dea3e2894 770 ///
seyhmus.cacina 0:ac4dea3e2894 771 ///On Entry:
seyhmus.cacina 0:ac4dea3e2894 772 ///@param[in] data - pointer to memory for storing read data
seyhmus.cacina 0:ac4dea3e2894 773 ///
seyhmus.cacina 0:ac4dea3e2894 774 ///On Exit:
seyhmus.cacina 0:ac4dea3e2894 775 ///@param[out] data - holds contents of read register on success
seyhmus.cacina 0:ac4dea3e2894 776 ///
seyhmus.cacina 0:ac4dea3e2894 777 ///@returns 0 on success, non 0 on failure
seyhmus.cacina 0:ac4dea3e2894 778 virtual int32_t readRegister(Registers reg, uint8_t *data);
seyhmus.cacina 0:ac4dea3e2894 779
seyhmus.cacina 0:ac4dea3e2894 780
seyhmus.cacina 0:ac4dea3e2894 781 ///@brief Writes a single register.\n
seyhmus.cacina 0:ac4dea3e2894 782 ///
seyhmus.cacina 0:ac4dea3e2894 783 ///On Entry:
seyhmus.cacina 0:ac4dea3e2894 784 ///@param[in] data - data to write to register
seyhmus.cacina 0:ac4dea3e2894 785 ///
seyhmus.cacina 0:ac4dea3e2894 786 ///On Exit:
seyhmus.cacina 0:ac4dea3e2894 787 ///@param[out] none
seyhmus.cacina 0:ac4dea3e2894 788 ///
seyhmus.cacina 0:ac4dea3e2894 789 ///@returns 0 on success, non 0 on failure
seyhmus.cacina 0:ac4dea3e2894 790 virtual int32_t writeRegister(Registers reg, const uint8_t data);
seyhmus.cacina 0:ac4dea3e2894 791
seyhmus.cacina 0:ac4dea3e2894 792
seyhmus.cacina 0:ac4dea3e2894 793 ///@brief Reads a block of registers.\n
seyhmus.cacina 0:ac4dea3e2894 794 ///@detail User must ensure that all registers between 'startReg' and
seyhmus.cacina 0:ac4dea3e2894 795 ///'stopReg' exist and are readable. Function reads up to, including,
seyhmus.cacina 0:ac4dea3e2894 796 ///'stopReg'.\n
seyhmus.cacina 0:ac4dea3e2894 797 ///
seyhmus.cacina 0:ac4dea3e2894 798 ///On Entry:
seyhmus.cacina 0:ac4dea3e2894 799 ///@param[in] startReg - register to start reading from
seyhmus.cacina 0:ac4dea3e2894 800 ///@param[in] stopReg - register to stop reading from
seyhmus.cacina 0:ac4dea3e2894 801 ///@param[in] data - pointer to memory for storing read data
seyhmus.cacina 0:ac4dea3e2894 802 ///
seyhmus.cacina 0:ac4dea3e2894 803 ///On Exit:
seyhmus.cacina 0:ac4dea3e2894 804 ///@param[out] data - holds contents of read registers on success
seyhmus.cacina 0:ac4dea3e2894 805 ///
seyhmus.cacina 0:ac4dea3e2894 806 ///@returns 0 on success, non 0 on failure
seyhmus.cacina 0:ac4dea3e2894 807 virtual int32_t readBlock(Registers startReg, Registers stopReg,
seyhmus.cacina 0:ac4dea3e2894 808 uint8_t *data);
seyhmus.cacina 0:ac4dea3e2894 809
seyhmus.cacina 0:ac4dea3e2894 810
seyhmus.cacina 0:ac4dea3e2894 811 ///@brief Writes a block of registers.\n
seyhmus.cacina 0:ac4dea3e2894 812 ///@detail User must ensure that all registers between 'startReg' and
seyhmus.cacina 0:ac4dea3e2894 813 ///'stopReg' exist and are writeable. Function writes up to, including,
seyhmus.cacina 0:ac4dea3e2894 814 ///'stopReg'.\n
seyhmus.cacina 0:ac4dea3e2894 815 ///
seyhmus.cacina 0:ac4dea3e2894 816 ///On Entry:
seyhmus.cacina 0:ac4dea3e2894 817 ///@param[in] startReg - register to start writing at
seyhmus.cacina 0:ac4dea3e2894 818 ///@param[in] stopReg - register to stop writing at
seyhmus.cacina 0:ac4dea3e2894 819 ///@param[in] data - pointer to data to write to registers
seyhmus.cacina 0:ac4dea3e2894 820 ///
seyhmus.cacina 0:ac4dea3e2894 821 ///On Exit:
seyhmus.cacina 0:ac4dea3e2894 822 ///@param[out] none
seyhmus.cacina 0:ac4dea3e2894 823 ///
seyhmus.cacina 0:ac4dea3e2894 824 ///@returns 0 on success, non 0 on failure
seyhmus.cacina 0:ac4dea3e2894 825 virtual int32_t writeBlock(Registers startReg, Registers stopReg,
seyhmus.cacina 0:ac4dea3e2894 826 const uint8_t *data);
seyhmus.cacina 0:ac4dea3e2894 827
seyhmus.cacina 0:ac4dea3e2894 828 private:
seyhmus.cacina 0:ac4dea3e2894 829
seyhmus.cacina 0:ac4dea3e2894 830 SPI *m_spiBus;
seyhmus.cacina 0:ac4dea3e2894 831 DigitalOut m_cs;
seyhmus.cacina 0:ac4dea3e2894 832 };
seyhmus.cacina 0:ac4dea3e2894 833
seyhmus.cacina 0:ac4dea3e2894 834 #endif /* BMI160_H */
seyhmus.cacina 0:ac4dea3e2894 835
seyhmus.cacina 0:ac4dea3e2894 836
seyhmus.cacina 0:ac4dea3e2894 837 ///@brief fx documentation template.\n
seyhmus.cacina 0:ac4dea3e2894 838 ///
seyhmus.cacina 0:ac4dea3e2894 839 ///On Entry:
seyhmus.cacina 0:ac4dea3e2894 840 ///@param[in] none
seyhmus.cacina 0:ac4dea3e2894 841 ///
seyhmus.cacina 0:ac4dea3e2894 842 ///On Exit:
seyhmus.cacina 0:ac4dea3e2894 843 ///@param[out] none
seyhmus.cacina 0:ac4dea3e2894 844 ///
seyhmus.cacina 0:ac4dea3e2894 845 ///@returns none
seyhmus.cacina 0:ac4dea3e2894 846