Diff: accelerometer/bmi160.h

Revision:

0:b259fd1a88f5

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+++ b/accelerometer/bmi160.h	Mon Mar 18 14:09:48 2019 +0300
@@ -0,0 +1,846 @@
+/**********************************************************************
+* Copyright (C) 2016 Maxim Integrated Products, Inc., All Rights Reserved.
+*
+* Permission is hereby granted, free of charge, to any person obtaining a
+* copy of this software and associated documentation files (the "Software"),
+* to deal in the Software without restriction, including without limitation
+* the rights to use, copy, modify, merge, publish, distribute, sublicense,
+* and/or sell copies of the Software, and to permit persons to whom the
+* Software is furnished to do so, subject to the following conditions:
+*
+* The above copyright notice and this permission notice shall be included
+* in all copies or substantial portions of the Software.
+*
+* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+* OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+* IN NO EVENT SHALL MAXIM INTEGRATED BE LIABLE FOR ANY CLAIM, DAMAGES
+* OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
+* ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
+* OTHER DEALINGS IN THE SOFTWARE.
+*
+* Except as contained in this notice, the name of Maxim Integrated
+* Products, Inc. shall not be used except as stated in the Maxim Integrated
+* Products, Inc. Branding Policy.
+*
+* The mere transfer of this software does not imply any licenses
+* of trade secrets, proprietary technology, copyrights, patents,
+* trademarks, maskwork rights, or any other form of intellectual
+* property whatsoever. Maxim Integrated Products, Inc. retains all
+* ownership rights.
+**********************************************************************/
+
+
+#ifndef BMI160_H
+#define BMI160_H
+
+#include "mbed.h"
+
+/**
+@brief The BMI160 is a small, low power, low noise 16-bit inertial measurement
+unit designed for use in mobile applications like augmented reality or indoor
+navigation which require highly accurate, real-time sensor data.
+
+In full operation mode, with both the accelerometer and gyroscope enabled, the
+current consumption is typically 950 μA, enabling always-on applications in
+battery driven devices. It is available in a compact 14-pin 2.5 x 3.0 x 0.8 mm³
+LGA package."
+
+This class is an abstract base class and can not be instaniated, use BMI160_I2C
+or BMI160_SPI.
+*/
+class BMI160
+{
+public:
+
+    ///Return value on success.
+    static const uint8_t RTN_NO_ERROR = 0;
+
+    ///Sensor types
+    enum Sensors
+    {
+        MAG = 0, ///<Optional external sensor
+        GYRO,    ///<Angular rate sensor
+        ACC      ///<g sensor
+    };
+
+    ///Sensor Axis
+    enum SensorAxis
+    {
+        X_AXIS = 0,
+        Y_AXIS,
+        Z_AXIS
+    };
+
+    ///Structure for axis data
+    struct AxisData
+    {
+        int16_t raw;  ///<Axis raw data
+        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
+    {
+        AxisData xAxis; ///<Sensor X axis data
+        AxisData yAxis; ///<Sensor Y axis data
+        AxisData zAxis; ///<Sensor Z axis data
+    };
+
+
+    ///BMI160 registers
+    enum Registers
+    {
+        CHIP_ID = 0x00,  ///<Chip Identification.
+        ERR_REG = 0x02,  ///<Reports sensor error flags.  Flags reset when read.
+        PMU_STATUS,      ///<Reports current power mode for sensors.
+        DATA_0,          ///<MAG_X axis bits7:0
+        DATA_1,          ///<MAG_X axis bits15:8
+        DATA_2,          ///<MAG_Y axis bits7:0
+        DATA_3,          ///<MAG_Y axis bits15:8
+        DATA_4,          ///<MAG_Z axis bits7:0
+        DATA_5,          ///<MAG_Z axis bits15:8
+        DATA_6,          ///<RHALL bits7:0
+        DATA_7,          ///<RHALL bits15:8
+        DATA_8,          ///<GYR_X axis bits7:0
+        DATA_9,          ///<GYR_X axis bits15:8
+        DATA_10,         ///<GYR_Y axis bits7:0
+        DATA_11,         ///<GYR_Y axis bits15:8
+        DATA_12,         ///<GYR_Z axis bits7:0
+        DATA_13,         ///<GYR_Z axis bits15:8
+        DATA_14,         ///<ACC_X axis bits7:0
+        DATA_15,         ///<ACC_X axis bits15:8
+        DATA_16,         ///<ACC_Y axis bits7:0
+        DATA_17,         ///<ACC_Y axis bits15:8
+        DATA_18,         ///<ACC_Z axis bits7:0
+        DATA_19,         ///<ACC_Z axis bits15:8
+        SENSORTIME_0,    ///<24bit counter synchronized with data, bits7:0
+        SENSORTIME_1,    ///<24bit counter synchronized with data, bits15:8
+        SENSORTIME_2,    ///<24bit counter synchronized with data, bits23:16
+        STATUS,          ///<Reports sensors status flags
+        INT_STATUS_0,    ///<Contains interrupt status flags
+        INT_STATUS_1,    ///<Contains interrupt status flags
+        INT_STATUS_2,    ///<Contains interrupt status flags
+        INT_STATUS_3,    ///<Contains interrupt status flags
+        TEMPERATURE_0,   ///<Contains temperature of sensor, bits7:0
+        TEMPERATURE_1,   ///<Contains temperature of sensor, bits15:8
+        FIFO_LENGTH_0,   ///<Current fill level of FIFO, bits7:0
+        FIFO_LENGTH_1,   ///<Current fill level of FIFO, bits10:8
+        FIFO_DATA,       ///<FIFO data read out register, burst read
+        ACC_CONF = 0x40, ///<Set ODR, bandwidth, and read mode of accelerometer
+        ACC_RANGE,       ///<Sets accelerometer g-range
+        GYR_CONF,        ///<Set ODR, bandwidth, and read mode of gyroscope
+        GYR_RANGE,       ///<Sets gyroscope angular rate measurement range
+        MAG_CONF,        ///<Sets ODR of magnetometer interface
+        FIFO_DOWNS,      ///<Sets down sampling ratios of accel and gyro data
+                         ///<for FIFO
+        FIFO_CONFIG_0,   ///<Sets FIFO Watermark
+        FIFO_CONFIG_1,   ///<Sets which sensor data is available in FIFO,
+                         ///<Header/Headerless mode, Ext Int tagging, Sensortime
+        MAG_IF_0 = 0x4B, ///<Magnetometer 7-bit I2C address, bits7:1
+        MAG_IF_1,        ///<Magnetometer interface configuration
+        MAG_IF_2,        ///<Magnetometer address to read
+        MAG_IF_3,        ///<Magnetometer address to write
+        MAG_IF_4,        ///<Magnetometer data to write
+        INT_EN_0,        ///<Interrupt enable bits
+        INT_EN_1,        ///<Interrupt enable bits
+        INT_EN_2,        ///<Interrupt enable bits
+        INT_OUT_CTRL,    ///<Contains the behavioral configuration of INT pins
+        INT_LATCH,       ///<Contains the interrupt rest bit and the interrupt
+                         ///<mode selection
+        INT_MAP_0,       ///<Controls which interrupt signals are mapped to the
+                         ///<INT1 and INT2 pins
+        INT_MAP_1,       ///<Controls which interrupt signals are mapped to the
+                         ///<INT1 and INT2 pins
+        INT_MAP_2,       ///<Controls which interrupt signals are mapped to the
+                         ///<INT1 and INT2 pins
+        INT_DATA_0,      ///<Contains the data source definition for the two
+                         ///<interrupt groups
+        INT_DATA_1,      ///<Contains the data source definition for the two
+                         ///<interrupt groups
+        INT_LOWHIGH_0,   ///<Contains the configuration for the low g interrupt
+        INT_LOWHIGH_1,   ///<Contains the configuration for the low g interrupt
+        INT_LOWHIGH_2,   ///<Contains the configuration for the low g interrupt
+        INT_LOWHIGH_3,   ///<Contains the configuration for the low g interrupt
+        INT_LOWHIGH_4,   ///<Contains the configuration for the low g interrupt
+        INT_MOTION_0,    ///<Contains the configuration for the any motion and
+                         ///<no motion interrupts
+        INT_MOTION_1,    ///<Contains the configuration for the any motion and
+                         ///<no motion interrupts
+        INT_MOTION_2,    ///<Contains the configuration for the any motion and
+                         ///<no motion interrupts
+        INT_MOTION_3,    ///<Contains the configuration for the any motion and
+                         ///<no motion interrupts
+        INT_TAP_0,       ///<Contains the configuration for the tap interrupts
+        INT_TAP_1,       ///<Contains the configuration for the tap interrupts
+        INT_ORIENT_0,    ///<Contains the configuration for the oeientation
+                         ///<interrupt
+        INT_ORIENT_1,    ///<Contains the configuration for the oeientation
+                         ///<interrupt
+        INT_FLAT_0,      ///<Contains the configuration for the flat interrupt
+        INT_FLAT_1,      ///<Contains the configuration for the flat interrupt
+        FOC_CONF,        ///<Contains configuration for the fast offset
+                         ///<compensation for the accelerometer and gyroscope
+        CONF,            ///<Configuration of sensor, nvm_prog_en bit
+        IF_CONF,         ///<Contains settings for the digital interface
+        PMU_TRIGGER,     ///<Sets trigger conditions to change gyro power modes
+        SELF_TEST,       ///<Self test configuration
+        NV_CONF = 0x70,  ///<Contains settings for the digital interface
+        OFFSET_0,        ///<Contains offset comp values for acc_off_x7:0
+        OFFSET_1,        ///<Contains offset comp values for acc_off_y7:0
+        OFFSET_2,        ///<Contains offset comp values for acc_off_z7:0
+        OFFSET_3,        ///<Contains offset comp values for gyr_off_x7:0
+        OFFSET_4,        ///<Contains offset comp values for gyr_off_y7:0
+        OFFSET_5,        ///<Contains offset comp values for gyr_off_z7:0
+        OFFSET_6,        ///<gyr/acc offset enable bit and gyr_off_(zyx) bits9:8
+        STEP_CNT_0,      ///<Step counter bits 15:8
+        STEP_CNT_1,      ///<Step counter bits 7:0
+        STEP_CONF_0,     ///<Contains configuration of the step detector
+        STEP_CONF_1,     ///<Contains configuration of the step detector
+        CMD = 0x7E       ///<Command register triggers operations like
+                         ///<softreset, NVM programming, etc.
+    };
+
+
+    ///@name ERR_REG(0x02)
+    ///Error register data
+    ///@{
+
+    static const uint8_t FATAL_ERR_MASK = 0x01;
+    static const uint8_t FATAL_ERR_POS = 0x00;
+    static const uint8_t ERR_CODE_MASK = 0x1E;
+    static const uint8_t ERR_CODE_POS = 0x01;
+    static const uint8_t I2C_FAIL_ERR_MASK = 0x20;
+    static const uint8_t I2C_FAIL_ERR_POS = 0x05;
+    static const uint8_t DROP_CMD_ERR_MASK = 0x40;
+    static const uint8_t DROP_CMD_ERR_POS = 0x06;
+    static const uint8_t MAG_DRDY_ERR_MASK = 0x80;
+    static const uint8_t MAG_DRDY_ERR_POS = 0x08;
+
+    ///Enumerated error codes
+    enum ErrorCodes
+    {
+        NO_ERROR = 0,        ///<No Error
+        ERROR_1,             ///<Listed as error
+        ERROR_2,             ///<Listed as error
+        LPM_INT_PFD,         ///<Low-power mode and interrupt uses pre-filtered
+                             ///<data
+        ODR_MISMATCH = 0x06, ///<ODRs of enabled sensors in headerless mode do
+                             ///<not match
+        PFD_USED_LPM         ///<Pre-filtered data are used in low power mode
+    };
+    ///@}
+
+
+    ///@name ACC_CONF(0x40) and ACC_RANGE(0x41)
+    ///Data for configuring accelerometer
+    ///@{
+
+    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_MASK = 0x80;
+    static const uint8_t ACC_US_POS = 0x07;
+    static const uint8_t ACC_RANGE_MASK = 0x0F;
+    static const uint8_t ACC_RANGE_POS = 0x00;
+
+    ///Accelerometer output data rates
+    enum AccOutputDataRate
+    {
+        ACC_ODR_1 = 1,  ///< 25/32Hz
+        ACC_ODR_2,      ///< 25/16Hz
+        ACC_ODR_3,      ///< 25/8Hz
+        ACC_ODR_4,      ///< 25/4Hz
+        ACC_ODR_5,      ///< 25/2Hz
+        ACC_ODR_6,      ///< 25Hz
+        ACC_ODR_7,      ///< 50Hz
+        ACC_ODR_8,      ///< 100Hz
+        ACC_ODR_9,      ///< 200Hz
+        ACC_ODR_10,     ///< 400Hz
+        ACC_ODR_11,     ///< 800Hz
+        ACC_ODR_12      ///< 1600Hz
+    };
+
+    ///Accelerometer bandwidth parameters
+    enum AccBandWidthParam
+    {
+        ACC_BWP_0 = 0, ///< Average 1 cycle;  when acc_us = 0 OSR4
+        ACC_BWP_1,     ///< Average 2 cycles; when acc_us = 0 OSR2
+        ACC_BWP_2,     ///< Average 4 cycles; when acc_us = 0 normal mode
+        ACC_BWP_3,     ///< Average 8 cycles
+        ACC_BWP_4,     ///< Average 16 cycles
+        ACC_BWP_5,     ///< Average 32 cycles
+        ACC_BWP_6,     ///< Average 64 cycles
+        ACC_BWP_7      ///< Average 128 cycles
+    };
+
+    ///Accelerometer undersampling
+    enum AccUnderSampling
+    {
+        ACC_US_OFF = 0,
+        ACC_US_ON
+    };
+
+    ///Accelerometer ranges
+    enum AccRange
+    {
+        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
+    {
+        AccRange range;        ///<Accelerometer range
+        AccUnderSampling us;   ///<Accelerometr undersampling mode
+        AccBandWidthParam bwp; ///<Accelerometer bandwidth param
+        AccOutputDataRate odr; ///<Accelerometr output data rate
+    };
+
+    ///Accelerometer default configuration
+    static const AccConfig DEFAULT_ACC_CONFIG;
+    ///@}
+
+
+    ///@name GYR_CONF(0x42) and GYR_RANGE(0x43)
+    ///Data for configuring gyroscope
+    ///@{
+
+    static const uint8_t GYRO_ODR_MASK = 0x0F;
+    static const uint8_t GYRO_ODR_POS = 0x00;
+    static const uint8_t GYRO_BWP_MASK = 0x30;
+    static const uint8_t GYRO_BWP_POS = 0x04;
+    static const uint8_t GYRO_RANGE_MASK = 0x07;
+    static const uint8_t GYRO_RANGE_POS = 0x00;
+
+    ///Gyroscope output data rates
+    enum GyroOutputDataRate
+    {
+        GYRO_ODR_6 = 0x06,  ///<25Hz
+        GYRO_ODR_7 = 0x07,  ///<50Hz
+        GYRO_ODR_8 = 0x08,  ///<100Hz
+        GYRO_ODR_9 = 0x09,  ///<200Hz
+        GYRO_ODR_10 = 0x0A, ///<400Hz
+        GYRO_ODR_11 = 0x0B, ///<800Hz
+        GYRO_ODR_12 = 0x0C, ///<1600Hz
+        GYRO_ODR_13 = 0x0D  ///<3200Hz
+    };
+
+    ///Gyroscope bandwidth paramaters
+    enum GyroBandWidthParam
+    {
+        GYRO_BWP_0 = 0, ///<OSR4 Over Sampling Rate of 4
+        GYRO_BWP_1,     ///<OSR2 Over Sampling Rate of 2
+        GYRO_BWP_2      ///<Normal Mode, Equidistant Sampling
+    };
+
+    ///Gyroscope ranges
+    enum GyroRange
+    {
+        DPS_2000 = 0, ///<+-2000dps, 16.4LSB/dps
+        DPS_1000,     ///<+-1000dps, 32.8LSB/dps
+        DPS_500,      ///<+-500dps, 65.6LSB/dps
+        DPS_250,      ///<+-250dps, 131.2LSB/dps
+        DPS_125       ///<+-125dps, 262.4LSB/dps,
+    };
+
+    static const float SENS_2000_DPS_LSB_PER_DPS = 16.4F;
+    static const float SENS_1000_DPS_LSB_PER_DPS = 32.8F;
+    static const float SENS_500_DPS_LSB_PER_DPS = 65.6F;
+    static const float SENS_250_DPS_LSB_PER_DPS = 131.2F;
+    static const float SENS_125_DPS_LSB_PER_DPS = 262.4F;
+
+    ///Gyroscope configuration data structure
+    struct GyroConfig
+    {
+        GyroRange range;        ///<Gyroscope range
+        GyroBandWidthParam bwp; ///<Gyroscope bandwidth param
+        GyroOutputDataRate odr; ///<Gyroscope output data rate
+    };
+
+    ///Gyroscope default configuration
+    static const GyroConfig DEFAULT_GYRO_CONFIG;
+    ///@}
+
+
+    ///Enumerated power modes
+    enum PowerModes
+    {
+        SUSPEND = 0,  ///<Acc and Gyro, No sampling, No FIFO data readout
+        NORMAL,       ///<Acc and Gyro, Full chip operation
+        LOW_POWER,    ///<Acc duty-cycling between suspend and normal
+        FAST_START_UP ///<Gyro start up delay time to normal mode <= 10 ms
+    };
+
+
+    ///Enumerated commands used with CMD register
+    enum Commands
+    {
+        START_FOC = 0x03,        ///<Starts Fast Offset Calibrartion
+        ACC_SET_PMU_MODE = 0x10, ///<Sets acc power mode
+        GYR_SET_PMU_MODE = 0x14, ///<Sets gyro power mode
+        MAG_SET_PMU_MODE = 0x18, ///<Sets mag power mode
+        PROG_NVM = 0xA0,         ///<Writes NVM backed registers into NVM
+        FIFO_FLUSH = 0xB0,       ///<Clears FIFO
+        INT_RESET,               ///<Clears interrupt engine, INT_STATUS, and
+                                 ///<the interrupt pin
+        STEP_CNT_CLR,            ///<Triggers reset of the step counter
+        SOFT_RESET = 0xB6        ///<Triggers a reset including a reboot.
+    };
+
+
+    ///@brief BMI160 Destructor.\n
+    ///
+    ///On Entry:
+    ///@param[in] none
+    ///
+    ///On Exit:
+    ///@param[out] none
+    ///
+    ///@returns none
+    virtual ~BMI160(){ }
+
+
+    ///@brief Reads a single register.\n
+    ///
+    ///On Entry:
+    ///@param[in] data - pointer to memory for storing read data
+    ///
+    ///On Exit:
+    ///@param[out] data - holds contents of read register on success
+    ///
+    ///@returns 0 on success, non 0 on failure
+    virtual int32_t readRegister(Registers reg, uint8_t *data) = 0;
+
+
+    ///@brief Writes a single register.\n
+    ///
+    ///On Entry:
+    ///@param[in] data - data to write to register
+    ///
+    ///On Exit:
+    ///@param[out] none
+    ///
+    ///@returns 0 on success, non 0 on failure
+    virtual int32_t writeRegister(Registers reg, const uint8_t data) = 0;
+
+
+    ///@brief Reads a block of registers.\n
+    ///@detail User must ensure that all registers between 'startReg' and
+    ///'stopReg' exist and are readable.  Function reads up to, including,
+    ///'stopReg'.\n
+    ///
+    ///On Entry:
+    ///@param[in] startReg - register to start reading from
+    ///@param[in] stopReg - register to stop reading from
+    ///@param[in] data - pointer to memory for storing read data
+    ///
+    ///On Exit:
+    ///@param[out] data - holds contents of read registers on success
+    ///
+    ///@returns 0 on success, non 0 on failure
+    virtual int32_t readBlock(Registers startReg, Registers stopReg,
+    uint8_t *data) = 0;
+
+
+    ///@brief Writes a block of registers.\n
+    ///@detail User must ensure that all registers between 'startReg' and
+    ///'stopReg' exist and are writeable.  Function writes up to, including,
+    ///'stopReg'.\n
+    ///
+    ///On Entry:
+    ///@param[in] startReg - register to start writing at
+    ///@param[in] stopReg - register to stop writing at
+    ///@param[in] data - pointer to data to write to registers
+    ///
+    ///On Exit:
+    ///@param[out] none
+    ///
+    ///@returns 0 on success, non 0 on failure
+    virtual int32_t writeBlock(Registers startReg, Registers stopReg,
+    const uint8_t *data) = 0;
+
+
+    ///@brief Sets sensors power mode through CMD register.\n
+    ///@details Observe command execution times given in datasheet.\n
+    ///
+    ///On Entry:
+    ///@param[in] sensor - Sensor which power mode we are setting
+    ///@param[in] pwrMode - Desired powermode of the sensor
+    ///
+    ///On Exit:
+    ///@param[out]
+    ///
+    ///@returns 0 on success, non 0 on failure
+    int32_t setSensorPowerMode(Sensors sensor, PowerModes pwrMode);
+
+
+    ///@brief Configure sensor.\n
+    ///
+    ///On Entry:
+    ///@param[in] config - sSensor configuration data structure
+    ///
+    ///On Exit:
+    ///@param[out] none
+    ///
+    ///@returns 0 on success, non 0 on failure
+    int32_t setSensorConfig(const AccConfig &config);
+    int32_t setSensorConfig(const GyroConfig &config);
+
+
+    ///@brief Get sensor configuration.\n
+    ///
+    ///On Entry:
+    ///@param[in] config - Sensor configuration data structure
+    ///
+    ///On Exit:
+    ///@param[out] config - on success, holds sensor's current
+    ///configuration
+    ///
+    ///@returns 0 on success, non 0 on failure
+    int32_t getSensorConfig(AccConfig &config);
+    int32_t getSensorConfig(GyroConfig &config);
+
+
+    ///@brief Get sensor axis.\n
+    ///
+    ///On Entry:
+    ///@param[in] axis - Sensor axis
+    ///@param[in] data - AxisData structure
+    ///@param[in] range - Sensor range
+    ///
+    ///On Exit:
+    ///@param[out] data - Structure holds raw and scaled axis data
+    ///
+    ///@returns 0 on success, non 0 on failure
+    int32_t getSensorAxis(SensorAxis axis, AxisData &data, AccRange range);
+    int32_t getSensorAxis(SensorAxis axis, AxisData &data, GyroRange range);
+
+
+    ///@brief Get sensor xyz axis.\n
+    ///
+    ///On Entry:
+    ///@param[in] data - SensorData structure
+    ///@param[in] range - Sensor range
+    ///
+    ///On Exit:
+    ///@param[out] data - Structure holds raw and scaled data for all three axis
+    ///
+    ///@returns 0 on success, non 0 on failure
+    int32_t getSensorXYZ(SensorData &data, AccRange range);
+    int32_t getSensorXYZ(SensorData &data, GyroRange range);
+
+
+    ///@brief Get sensor xyz axis and sensor time.\n
+    ///
+    ///On Entry:
+    ///@param[in] data - SensorData structure
+    ///@param[in] sensorTime - SensorTime structure for data
+    ///@param[in] range - Sensor 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 getSensorXYZandSensorTime(SensorData &data, SensorTime &sensorTime,
+                                      AccRange range);
+    int32_t getSensorXYZandSensorTime(SensorData &data, SensorTime &sensorTime,
+                                      GyroRange range);
+
+
+    ///@brief Get Gyroscope/Accelerometer data and sensor time.\n
+    ///
+    ///On Entry:
+    ///@param[in] accData -  Sensor data structure for accelerometer
+    ///@param[in] gyroData - Sensor data structure for gyroscope
+    ///@param[in] sensorTime - SensorTime data structure
+    ///@param[in] accRange - Accelerometer range
+    ///@param[in] gyroRange - Gyroscope range
+    ///
+    ///On Exit:
+    ///@param[out] accData -  Synchronized accelerometer data
+    ///@param[out] gyroData - Synchronized gyroscope data
+    ///@param[out] sensorTime - Synchronized sensor time
+    ///
+    ///@returns 0 on success, non 0 on failure
+    int32_t getGyroAccXYZandSensorTime(SensorData &accData,
+                                       SensorData &gyroData,
+                                       SensorTime &sensorTime,
+                                       AccRange accRange, GyroRange gyroRange);
+
+
+    ///@brief Get sensor time.\n
+    ///
+    ///On Entry:
+    ///@param[in] sensorTime - SensorTime structure for data
+    ///
+    ///On Exit:
+    ///@param[out] sensorTime - Holds sensor time on success
+    ///
+    ///@returns returns 0 on success, non 0 on failure
+    int32_t getSensorTime(SensorTime &sensorTime);
+
+
+    ///@brief Get die temperature.\n
+    ///
+    ///On Entry:
+    ///@param[in] temp - pointer to float for temperature
+    ///
+    ///On Exit:
+    ///@param[out] temp - on success, holds the die temperature
+    ///
+    ///@returns 0 on success, non 0 on failure
+    int32_t getTemperature(float *temp);
+
+    // Initialize BMI160 with default parameters:
+    // set GYRO: Suspended, Acc Normal Mode, ODR:25 Hz
+    int32_t BMI160_DefaultInitalize();
+
+    //
+    //
+    int32_t enable_data_ready_interrupt();
+
+	//
+	// Set sample rate
+	// This function can be alled after BMI160_DefaultInitalize
+	int32_t setSampleRate(int sample_rate);
+
+	/// @brief Soft reset
+	///
+	int32_t reset();
+
+private:
+	bool m_use_irq;
+	bool bmi160_irq_asserted;
+	InterruptIn *m_bmi160_irq;
+	void irq_handler();
+
+protected:
+	BMI160(InterruptIn *int_pin): m_bmi160_irq(int_pin), m_use_irq(true) {
+		bmi160_irq_asserted = false;
+	}
+
+	BMI160(): m_use_irq(false) { }
+};
+
+
+/**
+@brief BMI160_I2C - supports BMI160 object with I2C interface
+*/
+class BMI160_I2C: public BMI160
+{
+public:
+
+    ///BMI160 default I2C address.
+    static const uint8_t I2C_ADRS_SDO_LO = 0x68;
+    ///BMI160 optional I2C address.
+    static const uint8_t I2C_ADRS_SDO_HI = 0x69;
+
+
+    ///@brief BMI160_I2C Constructor.\n
+    ///
+    ///On Entry:
+    ///@param[in] i2cBus - reference to I2C bus for this device
+    ///@param[in] i2cAdrs - 7-bit I2C address
+    ///
+    ///On Exit:
+    ///@param[out] none
+    ///
+    ///@returns none
+    BMI160_I2C(I2C *i2cBus, uint8_t i2cAdrs);
+
+    ///@brief BMI160_I2C Constructor.\n
+    ///
+    ///On Entry:
+    ///@param[in] i2cBus - reference to I2C bus for this device
+    ///@param[in] i2cAdrs - 7-bit I2C address
+    ///@param[in] int_pin - Interrupt pin
+    ///
+    ///On Exit:
+    ///@param[out] none
+    ///
+    ///@returns none
+	BMI160_I2C(I2C *i2cBus, uint8_t i2cAdrs, InterruptIn *int_pin);
+
+    ///@brief Reads a single register.\n
+    ///
+    ///On Entry:
+    ///@param[in] data - pointer to memory for storing read data
+    ///
+    ///On Exit:
+    ///@param[out] data - holds contents of read register on success
+    ///
+    ///@returns 0 on success, non 0 on failure
+    virtual int32_t readRegister(Registers reg, uint8_t *data);
+
+
+    ///@brief Writes a single register.\n
+    ///
+    ///On Entry:
+    ///@param[in] data - data to write to register
+    ///
+    ///On Exit:
+    ///@param[out] none
+    ///
+    ///@returns 0 on success, non 0 on failure
+    virtual int32_t writeRegister(Registers reg, const uint8_t data);
+
+
+    ///@brief Reads a block of registers.\n
+    ///@detail User must ensure that all registers between 'startReg' and
+    ///'stopReg' exist and are readable.  Function reads up to, including,
+    ///'stopReg'.\n
+    ///
+    ///On Entry:
+    ///@param[in] startReg - register to start reading from
+    ///@param[in] stopReg - register to stop reading from
+    ///@param[in] data - pointer to memory for storing read data
+    ///
+    ///On Exit:
+    ///@param[out] data - holds contents of read registers on success
+    ///
+    ///@returns 0 on success, non 0 on failure
+    virtual int32_t readBlock(Registers startReg, Registers stopReg,
+    uint8_t *data);
+
+
+    ///@brief Writes a block of registers.\n
+    ///@detail User must ensure that all registers between 'startReg' and
+    ///'stopReg' exist and are writeable.  Function writes up to, including,
+    ///'stopReg'.\n
+    ///
+    ///On Entry:
+    ///@param[in] startReg - register to start writing at
+    ///@param[in] stopReg - register to stop writing at
+    ///@param[in] data - pointer to data to write to registers
+    ///
+    ///On Exit:
+    ///@param[out] none
+    ///
+    ///@returns 0 on success, non 0 on failure
+    virtual int32_t writeBlock(Registers startReg, Registers stopReg,
+    const uint8_t *data);
+
+private:
+    I2C *m_i2cBus;
+    uint8_t m_Wadrs, m_Radrs;
+};
+
+
+/**
+@brief BMI160_SPI - supports BMI160 object with SPI interface
+*/
+class BMI160_SPI: public BMI160
+{
+public:
+
+    ///@brief BMI160_SPI Constructor.\n
+    ///
+    ///On Entry:
+    ///@param[in] spiBus - reference to SPI bus for this device
+    ///@param[in] cs - reference to DigitalOut used for chip select
+    ///
+    ///On Exit:
+    ///@param[out] none
+    ///
+    ///@returns none
+    BMI160_SPI(SPI *spiBus, DigitalOut &cs);
+
+
+    ///@brief Reads a single register.\n
+    ///
+    ///On Entry:
+    ///@param[in] data - pointer to memory for storing read data
+    ///
+    ///On Exit:
+    ///@param[out] data - holds contents of read register on success
+    ///
+    ///@returns 0 on success, non 0 on failure
+    virtual int32_t readRegister(Registers reg, uint8_t *data);
+
+
+    ///@brief Writes a single register.\n
+    ///
+    ///On Entry:
+    ///@param[in] data - data to write to register
+    ///
+    ///On Exit:
+    ///@param[out] none
+    ///
+    ///@returns 0 on success, non 0 on failure
+    virtual int32_t writeRegister(Registers reg, const uint8_t data);
+
+
+    ///@brief Reads a block of registers.\n
+    ///@detail User must ensure that all registers between 'startReg' and
+    ///'stopReg' exist and are readable.  Function reads up to, including,
+    ///'stopReg'.\n
+    ///
+    ///On Entry:
+    ///@param[in] startReg - register to start reading from
+    ///@param[in] stopReg - register to stop reading from
+    ///@param[in] data - pointer to memory for storing read data
+    ///
+    ///On Exit:
+    ///@param[out] data - holds contents of read registers on success
+    ///
+    ///@returns 0 on success, non 0 on failure
+    virtual int32_t readBlock(Registers startReg, Registers stopReg,
+    uint8_t *data);
+
+
+    ///@brief Writes a block of registers.\n
+    ///@detail User must ensure that all registers between 'startReg' and
+    ///'stopReg' exist and are writeable.  Function writes up to, including,
+    ///'stopReg'.\n
+    ///
+    ///On Entry:
+    ///@param[in] startReg - register to start writing at
+    ///@param[in] stopReg - register to stop writing at
+    ///@param[in] data - pointer to data to write to registers
+    ///
+    ///On Exit:
+    ///@param[out] none
+    ///
+    ///@returns 0 on success, non 0 on failure
+    virtual int32_t writeBlock(Registers startReg, Registers stopReg,
+    const uint8_t *data);
+
+private:
+
+    SPI *m_spiBus;
+    DigitalOut m_cs;
+};
+
+#endif /* BMI160_H */
+
+
+///@brief fx documentation template.\n
+///
+///On Entry:
+///@param[in] none
+///
+///On Exit:
+///@param[out] none
+///
+///@returns none
+