Diff: accelerometer/bmi160.cpp

Revision:

1:cb15208e5c31

Parent:

0:b259fd1a88f5

Child:

2:3b5d2467e6c7

--- a/accelerometer/bmi160.cpp	Mon Mar 18 14:09:48 2019 +0300
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,724 +0,0 @@
-/**********************************************************************
-* 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.
-**********************************************************************/
-
-
-#include "bmi160.h"
-
-
-const struct BMI160::AccConfig BMI160::DEFAULT_ACC_CONFIG = {SENS_2G,
-                                                             ACC_US_OFF,
-                                                             ACC_BWP_2,
-                                                             ACC_ODR_8};
-
-const struct BMI160::GyroConfig BMI160::DEFAULT_GYRO_CONFIG = {DPS_2000,
-                                                               GYRO_BWP_2,
-                                                               GYRO_ODR_8};
-
-
-//*****************************************************************************
-int32_t BMI160::setSensorPowerMode(Sensors sensor, PowerModes pwrMode)
-{
-    int32_t rtnVal = -1;
-
-    switch(sensor)
-    {
-        case MAG:
-            rtnVal = writeRegister(CMD, (MAG_SET_PMU_MODE | pwrMode));
-        break;
-
-        case GYRO:
-            rtnVal = writeRegister(CMD, (GYR_SET_PMU_MODE | pwrMode));
-        break;
-
-        case ACC:
-            rtnVal = writeRegister(CMD, (ACC_SET_PMU_MODE | pwrMode));
-        break;
-
-        default:
-            rtnVal = -1;
-        break;
-    }
-
-    return rtnVal;
-}
-
-
-//*****************************************************************************
-int32_t BMI160::setSensorConfig(const AccConfig &config)
-{
-    uint8_t data[2];
-
-    data[0] = ((config.us << ACC_US_POS) | (config.bwp << ACC_BWP_POS) |
-               (config.odr << ACC_ODR_POS));
-    data[1] = config.range;
-
-    return writeBlock(ACC_CONF, ACC_RANGE, data);
-}
-
-
-//*****************************************************************************
-int32_t BMI160::setSensorConfig(const GyroConfig &config)
-{
-    uint8_t data[2];
-
-    data[0] = ((config.bwp << GYRO_BWP_POS) | (config.odr << GYRO_ODR_POS));
-    data[1] = config.range;
-
-    return writeBlock(GYR_CONF, GYR_RANGE, data);
-}
-
-
-//*****************************************************************************
-int32_t BMI160::getSensorConfig(AccConfig &config)
-{
-    uint8_t data[2];
-    int32_t rtnVal = readBlock(ACC_CONF, ACC_RANGE, data);
-
-    if(rtnVal == RTN_NO_ERROR)
-    {
-        config.range = static_cast<BMI160::AccRange>(
-        (data[1] & ACC_RANGE_MASK));
-        config.us = static_cast<BMI160::AccUnderSampling>(
-        ((data[0] & ACC_US_MASK) >> ACC_US_POS));
-        config.bwp = static_cast<BMI160::AccBandWidthParam>(
-        ((data[0] & ACC_BWP_MASK) >> ACC_BWP_POS));
-        config.odr = static_cast<BMI160::AccOutputDataRate>(
-        ((data[0] & ACC_ODR_MASK) >> ACC_ODR_POS));
-    }
-
-    return rtnVal;
-}
-
-
-//*****************************************************************************
-int32_t BMI160::getSensorConfig(GyroConfig &config)
-{
-    uint8_t data[2];
-    int32_t rtnVal = readBlock(GYR_CONF, GYR_RANGE, data);
-
-    if(rtnVal == RTN_NO_ERROR)
-    {
-        config.range = static_cast<BMI160::GyroRange>(
-        (data[1] & GYRO_RANGE_MASK));
-        config.bwp = static_cast<BMI160::GyroBandWidthParam>(
-        ((data[0] & GYRO_BWP_MASK) >> GYRO_BWP_POS));
-        config.odr = static_cast<BMI160::GyroOutputDataRate>(
-        ((data[0] & GYRO_ODR_MASK) >> GYRO_ODR_POS));
-    }
-
-    return rtnVal;
-}
-
-
-//*****************************************************************************
-int32_t BMI160::getSensorAxis(SensorAxis axis, AxisData &data, AccRange range)
-{
-    uint8_t localData[2];
-    int32_t rtnVal;
-
-    switch(axis)
-    {
-        case X_AXIS:
-            rtnVal = readBlock(DATA_14, DATA_15, localData);
-        break;
-
-        case Y_AXIS:
-            rtnVal = readBlock(DATA_16, DATA_17, localData);
-        break;
-
-        case Z_AXIS:
-            rtnVal = readBlock(DATA_18, DATA_19, localData);
-        break;
-
-        default:
-            rtnVal = -1;
-        break;
-    }
-
-    if(rtnVal == RTN_NO_ERROR)
-    {
-        data.raw = ((localData[1] << 8) | localData[0]);
-        switch(range)
-        {
-            case SENS_2G:
-                data.scaled = (data.raw/SENS_2G_LSB_PER_G);
-            break;
-
-            case SENS_4G:
-                data.scaled = (data.raw/SENS_4G_LSB_PER_G);
-            break;
-
-            case SENS_8G:
-                data.scaled = (data.raw/SENS_8G_LSB_PER_G);
-            break;
-
-            case SENS_16G:
-                data.scaled = (data.raw/SENS_16G_LSB_PER_G);
-            break;
-        }
-    }
-
-    return rtnVal;
-}
-
-
-//*****************************************************************************
-int32_t BMI160::getSensorAxis(SensorAxis axis, AxisData &data, GyroRange range)
-{
-    uint8_t localData[2];
-    int32_t rtnVal;
-
-    switch(axis)
-    {
-        case X_AXIS:
-            rtnVal = readBlock(DATA_8, DATA_9, localData);
-        break;
-
-        case Y_AXIS:
-            rtnVal = readBlock(DATA_10, DATA_11, localData);
-        break;
-
-        case Z_AXIS:
-            rtnVal = readBlock(DATA_12, DATA_13, localData);
-        break;
-
-        default:
-            rtnVal = -1;
-        break;
-    }
-
-    if(rtnVal == RTN_NO_ERROR)
-    {
-        data.raw = ((localData[1] << 8) | localData[0]);
-        switch(range)
-        {
-            case DPS_2000:
-                data.scaled = (data.raw/SENS_2000_DPS_LSB_PER_DPS);
-            break;
-
-            case DPS_1000:
-                data.scaled = (data.raw/SENS_1000_DPS_LSB_PER_DPS);
-            break;
-
-            case DPS_500:
-                data.scaled = (data.raw/SENS_500_DPS_LSB_PER_DPS);
-            break;
-
-            case DPS_250:
-                data.scaled = (data.raw/SENS_250_DPS_LSB_PER_DPS);
-            break;
-
-            case DPS_125:
-                data.scaled = (data.raw/SENS_125_DPS_LSB_PER_DPS);
-            break;
-        }
-    }
-
-    return rtnVal;
-}
-
-
-//*****************************************************************************
-int32_t BMI160::getSensorXYZ(SensorData &data, AccRange range)
-{
-    uint8_t localData[6];
-    int32_t rtnVal = readBlock(DATA_14, DATA_19, localData);
-
-	if (m_use_irq == true && bmi160_irq_asserted == false)
-		return -1;
-
-	bmi160_irq_asserted = false;
-    if(rtnVal == RTN_NO_ERROR)
-    {
-        data.xAxis.raw = ((localData[1] << 8) | localData[0]);
-        data.yAxis.raw = ((localData[3] << 8) | localData[2]);
-        data.zAxis.raw = ((localData[5] << 8) | localData[4]);
-
-        switch(range)
-        {
-            case SENS_2G:
-                data.xAxis.scaled = (data.xAxis.raw/SENS_2G_LSB_PER_G);
-                data.yAxis.scaled = (data.yAxis.raw/SENS_2G_LSB_PER_G);
-                data.zAxis.scaled = (data.zAxis.raw/SENS_2G_LSB_PER_G);
-            break;
-
-            case SENS_4G:
-                data.xAxis.scaled = (data.xAxis.raw/SENS_4G_LSB_PER_G);
-                data.yAxis.scaled = (data.yAxis.raw/SENS_4G_LSB_PER_G);
-                data.zAxis.scaled = (data.zAxis.raw/SENS_4G_LSB_PER_G);
-            break;
-
-            case SENS_8G:
-                data.xAxis.scaled = (data.xAxis.raw/SENS_8G_LSB_PER_G);
-                data.yAxis.scaled = (data.yAxis.raw/SENS_8G_LSB_PER_G);
-                data.zAxis.scaled = (data.zAxis.raw/SENS_8G_LSB_PER_G);
-            break;
-
-            case SENS_16G:
-                data.xAxis.scaled = (data.xAxis.raw/SENS_16G_LSB_PER_G);
-                data.yAxis.scaled = (data.yAxis.raw/SENS_16G_LSB_PER_G);
-                data.zAxis.scaled = (data.zAxis.raw/SENS_16G_LSB_PER_G);
-            break;
-        }
-    }
-
-    return rtnVal;
-}
-
-
-//*****************************************************************************
-int32_t BMI160::getSensorXYZ(SensorData &data, GyroRange range)
-{
-    uint8_t localData[6];
-    int32_t rtnVal = readBlock(DATA_8, DATA_13, localData);
-
-    if(rtnVal == RTN_NO_ERROR)
-    {
-        data.xAxis.raw = ((localData[1] << 8) | localData[0]);
-        data.yAxis.raw = ((localData[3] << 8) | localData[2]);
-        data.zAxis.raw = ((localData[5] << 8) | localData[4]);
-
-        switch(range)
-        {
-            case DPS_2000:
-                data.xAxis.scaled = (data.xAxis.raw/SENS_2000_DPS_LSB_PER_DPS);
-                data.yAxis.scaled = (data.yAxis.raw/SENS_2000_DPS_LSB_PER_DPS);
-                data.zAxis.scaled = (data.zAxis.raw/SENS_2000_DPS_LSB_PER_DPS);
-            break;
-
-            case DPS_1000:
-                data.xAxis.scaled = (data.xAxis.raw/SENS_1000_DPS_LSB_PER_DPS);
-                data.yAxis.scaled = (data.yAxis.raw/SENS_1000_DPS_LSB_PER_DPS);
-                data.zAxis.scaled = (data.zAxis.raw/SENS_1000_DPS_LSB_PER_DPS);
-            break;
-
-            case DPS_500:
-                data.xAxis.scaled = (data.xAxis.raw/SENS_500_DPS_LSB_PER_DPS);
-                data.yAxis.scaled = (data.yAxis.raw/SENS_500_DPS_LSB_PER_DPS);
-                data.zAxis.scaled = (data.zAxis.raw/SENS_500_DPS_LSB_PER_DPS);
-            break;
-
-            case DPS_250:
-                data.xAxis.scaled = (data.xAxis.raw/SENS_250_DPS_LSB_PER_DPS);
-                data.yAxis.scaled = (data.yAxis.raw/SENS_250_DPS_LSB_PER_DPS);
-                data.zAxis.scaled = (data.zAxis.raw/SENS_250_DPS_LSB_PER_DPS);
-            break;
-
-            case DPS_125:
-                data.xAxis.scaled = (data.xAxis.raw/SENS_125_DPS_LSB_PER_DPS);
-                data.yAxis.scaled = (data.yAxis.raw/SENS_125_DPS_LSB_PER_DPS);
-                data.zAxis.scaled = (data.zAxis.raw/SENS_125_DPS_LSB_PER_DPS);
-            break;
-        }
-    }
-
-    return rtnVal;
-}
-
-
-//*****************************************************************************
-int32_t BMI160::getSensorXYZandSensorTime(SensorData &data,
-                                          SensorTime &sensorTime,
-                                          AccRange range)
-{
-    uint8_t localData[9];
-    int32_t rtnVal = readBlock(DATA_14, SENSORTIME_2, localData);
-    if(rtnVal == RTN_NO_ERROR)
-    {
-        data.xAxis.raw = ((localData[1] << 8) | localData[0]);
-        data.yAxis.raw = ((localData[3] << 8) | localData[2]);
-        data.zAxis.raw = ((localData[5] << 8) | localData[4]);
-
-        switch(range)
-        {
-            case SENS_2G:
-                data.xAxis.scaled = (data.xAxis.raw/SENS_2G_LSB_PER_G);
-                data.yAxis.scaled = (data.yAxis.raw/SENS_2G_LSB_PER_G);
-                data.zAxis.scaled = (data.zAxis.raw/SENS_2G_LSB_PER_G);
-            break;
-
-            case SENS_4G:
-                data.xAxis.scaled = (data.xAxis.raw/SENS_4G_LSB_PER_G);
-                data.yAxis.scaled = (data.yAxis.raw/SENS_4G_LSB_PER_G);
-                data.zAxis.scaled = (data.zAxis.raw/SENS_4G_LSB_PER_G);
-            break;
-
-            case SENS_8G:
-                data.xAxis.scaled = (data.xAxis.raw/SENS_8G_LSB_PER_G);
-                data.yAxis.scaled = (data.yAxis.raw/SENS_8G_LSB_PER_G);
-                data.zAxis.scaled = (data.zAxis.raw/SENS_8G_LSB_PER_G);
-            break;
-
-            case SENS_16G:
-                data.xAxis.scaled = (data.xAxis.raw/SENS_16G_LSB_PER_G);
-                data.yAxis.scaled = (data.yAxis.raw/SENS_16G_LSB_PER_G);
-                data.zAxis.scaled = (data.zAxis.raw/SENS_16G_LSB_PER_G);
-            break;
-        }
-
-        sensorTime.raw = ((localData[8] << 16) | (localData[7] << 8) |
-                           localData[6]);
-        sensorTime.seconds = (sensorTime.raw * SENSOR_TIME_LSB);
-    }
-
-    return rtnVal;
-}
-
-
-//*****************************************************************************
-int32_t BMI160::getSensorXYZandSensorTime(SensorData &data,
-                                          SensorTime &sensorTime,
-                                          GyroRange range)
-{
-    uint8_t localData[16];
-    int32_t rtnVal = readBlock(DATA_8, SENSORTIME_2, localData);
-    if(rtnVal == RTN_NO_ERROR)
-    {
-        data.xAxis.raw = ((localData[1] << 8) | localData[0]);
-        data.yAxis.raw = ((localData[3] << 8) | localData[2]);
-        data.zAxis.raw = ((localData[5] << 8) | localData[4]);
-
-        switch(range)
-        {
-            case DPS_2000:
-                data.xAxis.scaled = (data.xAxis.raw/SENS_2000_DPS_LSB_PER_DPS);
-                data.yAxis.scaled = (data.yAxis.raw/SENS_2000_DPS_LSB_PER_DPS);
-                data.zAxis.scaled = (data.zAxis.raw/SENS_2000_DPS_LSB_PER_DPS);
-            break;
-
-            case DPS_1000:
-                data.xAxis.scaled = (data.xAxis.raw/SENS_1000_DPS_LSB_PER_DPS);
-                data.yAxis.scaled = (data.yAxis.raw/SENS_1000_DPS_LSB_PER_DPS);
-                data.zAxis.scaled = (data.zAxis.raw/SENS_1000_DPS_LSB_PER_DPS);
-            break;
-
-            case DPS_500:
-                data.xAxis.scaled = (data.xAxis.raw/SENS_500_DPS_LSB_PER_DPS);
-                data.yAxis.scaled = (data.yAxis.raw/SENS_500_DPS_LSB_PER_DPS);
-                data.zAxis.scaled = (data.zAxis.raw/SENS_500_DPS_LSB_PER_DPS);
-            break;
-
-            case DPS_250:
-                data.xAxis.scaled = (data.xAxis.raw/SENS_250_DPS_LSB_PER_DPS);
-                data.yAxis.scaled = (data.yAxis.raw/SENS_250_DPS_LSB_PER_DPS);
-                data.zAxis.scaled = (data.zAxis.raw/SENS_250_DPS_LSB_PER_DPS);
-            break;
-
-            case DPS_125:
-                data.xAxis.scaled = (data.xAxis.raw/SENS_125_DPS_LSB_PER_DPS);
-                data.yAxis.scaled = (data.yAxis.raw/SENS_125_DPS_LSB_PER_DPS);
-                data.zAxis.scaled = (data.zAxis.raw/SENS_125_DPS_LSB_PER_DPS);
-            break;
-        }
-
-        sensorTime.raw = ((localData[14] << 16) | (localData[13] << 8) |
-                           localData[12]);
-        sensorTime.seconds = (sensorTime.raw * SENSOR_TIME_LSB);
-    }
-
-    return rtnVal;
-}
-
-
-//*****************************************************************************
-int32_t BMI160::getGyroAccXYZandSensorTime(SensorData &accData,
-                                           SensorData &gyroData,
-                                           SensorTime &sensorTime,
-                                           AccRange accRange,
-                                           GyroRange gyroRange)
-{
-    uint8_t localData[16];
-    int32_t rtnVal = readBlock(DATA_8, SENSORTIME_2, localData);
-    if(rtnVal == RTN_NO_ERROR)
-    {
-        gyroData.xAxis.raw = ((localData[1] << 8) | localData[0]);
-        gyroData.yAxis.raw = ((localData[3] << 8) | localData[2]);
-        gyroData.zAxis.raw = ((localData[5] << 8) | localData[4]);
-
-        accData.xAxis.raw = ((localData[7] << 8) | localData[6]);
-        accData.yAxis.raw = ((localData[9] << 8) | localData[8]);
-        accData.zAxis.raw = ((localData[11] << 8) | localData[10]);
-
-        switch(gyroRange)
-        {
-            case DPS_2000:
-                gyroData.xAxis.scaled = (gyroData.xAxis.raw/SENS_2000_DPS_LSB_PER_DPS);
-                gyroData.yAxis.scaled = (gyroData.yAxis.raw/SENS_2000_DPS_LSB_PER_DPS);
-                gyroData.zAxis.scaled = (gyroData.zAxis.raw/SENS_2000_DPS_LSB_PER_DPS);
-            break;
-
-            case DPS_1000:
-                gyroData.xAxis.scaled = (gyroData.xAxis.raw/SENS_1000_DPS_LSB_PER_DPS);
-                gyroData.yAxis.scaled = (gyroData.yAxis.raw/SENS_1000_DPS_LSB_PER_DPS);
-                gyroData.zAxis.scaled = (gyroData.zAxis.raw/SENS_1000_DPS_LSB_PER_DPS);
-            break;
-
-            case DPS_500:
-                gyroData.xAxis.scaled = (gyroData.xAxis.raw/SENS_500_DPS_LSB_PER_DPS);
-                gyroData.yAxis.scaled = (gyroData.yAxis.raw/SENS_500_DPS_LSB_PER_DPS);
-                gyroData.zAxis.scaled = (gyroData.zAxis.raw/SENS_500_DPS_LSB_PER_DPS);
-            break;
-
-            case DPS_250:
-                gyroData.xAxis.scaled = (gyroData.xAxis.raw/SENS_250_DPS_LSB_PER_DPS);
-                gyroData.yAxis.scaled = (gyroData.yAxis.raw/SENS_250_DPS_LSB_PER_DPS);
-                gyroData.zAxis.scaled = (gyroData.zAxis.raw/SENS_250_DPS_LSB_PER_DPS);
-            break;
-
-            case DPS_125:
-                gyroData.xAxis.scaled = (gyroData.xAxis.raw/SENS_125_DPS_LSB_PER_DPS);
-                gyroData.yAxis.scaled = (gyroData.yAxis.raw/SENS_125_DPS_LSB_PER_DPS);
-                gyroData.zAxis.scaled = (gyroData.zAxis.raw/SENS_125_DPS_LSB_PER_DPS);
-            break;
-        }
-
-        switch(accRange)
-        {
-            case SENS_2G:
-                accData.xAxis.scaled = (accData.xAxis.raw/SENS_2G_LSB_PER_G);
-                accData.yAxis.scaled = (accData.yAxis.raw/SENS_2G_LSB_PER_G);
-                accData.zAxis.scaled = (accData.zAxis.raw/SENS_2G_LSB_PER_G);
-            break;
-
-            case SENS_4G:
-                accData.xAxis.scaled = (accData.xAxis.raw/SENS_4G_LSB_PER_G);
-                accData.yAxis.scaled = (accData.yAxis.raw/SENS_4G_LSB_PER_G);
-                accData.zAxis.scaled = (accData.zAxis.raw/SENS_4G_LSB_PER_G);
-            break;
-
-            case SENS_8G:
-                accData.xAxis.scaled = (accData.xAxis.raw/SENS_8G_LSB_PER_G);
-                accData.yAxis.scaled = (accData.yAxis.raw/SENS_8G_LSB_PER_G);
-                accData.zAxis.scaled = (accData.zAxis.raw/SENS_8G_LSB_PER_G);
-            break;
-
-            case SENS_16G:
-                accData.xAxis.scaled = (accData.xAxis.raw/SENS_16G_LSB_PER_G);
-                accData.yAxis.scaled = (accData.yAxis.raw/SENS_16G_LSB_PER_G);
-                accData.zAxis.scaled = (accData.zAxis.raw/SENS_16G_LSB_PER_G);
-            break;
-        }
-
-        sensorTime.raw = ((localData[14] << 16) | (localData[13] << 8) |
-                           localData[12]);
-        sensorTime.seconds = (sensorTime.raw * SENSOR_TIME_LSB);
-    }
-
-    return rtnVal;
-}
-
-int32_t BMI160::setSampleRate(int sample_rate)
-{
-	int sr_reg_val = -1;
-	int i;
-	const uint16_t odr_table[][2] = {
-	    {25, GYRO_ODR_6}, ///<25Hz
-        {50, GYRO_ODR_7}, ///<50Hz
-        {100, GYRO_ODR_8}, ///<100Hz
-        {200, GYRO_ODR_9}, ///<200Hz
-        {400, GYRO_ODR_10}, ///<400Hz
-        {800, GYRO_ODR_11}, ///<800Hz
-        {1600, GYRO_ODR_12}, ///<1600Hz
-        {3200, GYRO_ODR_13}, ///<3200Hz
-	};
-
-	int num_sr = sizeof(odr_table)/sizeof(odr_table[0]);
-	for (i = 0; i < num_sr; i++) {
-		if (sample_rate == odr_table[i][0]) {
-			sr_reg_val = odr_table[i][1];
-			break;
-		}
-	}
-
-	if (sr_reg_val == -1)
-		return -2;
-
-	AccConfig accConfigRead;
-	if (getSensorConfig(accConfigRead) == BMI160::RTN_NO_ERROR) {
-	accConfigRead.odr = (AccOutputDataRate)sr_reg_val;
-		return setSensorConfig(accConfigRead) == BMI160::RTN_NO_ERROR ? 0 : -1;
-	} else
-		return -1;
-}
-
-
-//*****************************************************************************
-int32_t BMI160::getSensorTime(SensorTime &sensorTime)
-{
-    uint8_t localData[3];
-    int32_t rtnVal = readBlock(SENSORTIME_0, SENSORTIME_2, localData);
-
-    if(rtnVal == RTN_NO_ERROR)
-    {
-        sensorTime.raw = ((localData[2] << 16) | (localData[1] << 8) |
-                           localData[0]);
-        sensorTime.seconds = (sensorTime.raw * SENSOR_TIME_LSB);
-    }
-
-    return rtnVal;
-}
-
-
-//*****************************************************************************
-int32_t BMI160::getTemperature(float *temp)
-{
-    uint8_t data[2];
-    uint16_t rawTemp;
-
-    int32_t rtnVal = readBlock(TEMPERATURE_0, TEMPERATURE_1, data);
-    if(rtnVal == RTN_NO_ERROR)
-    {
-        rawTemp = ((data[1] << 8) | data[0]);
-        if(rawTemp & 0x8000)
-        {
-            *temp = (23.0F - ((0x10000 - rawTemp)/512.0F));
-        }
-        else
-        {
-            *temp = ((rawTemp/512.0F) + 23.0F);
-        }
-    }
-
-    return rtnVal;
-}
-
-//***********************************************************************************
-int32_t BMI160::BMI160_DefaultInitalize(){
-
-		//soft reset the accelerometer
-		writeRegister(CMD ,SOFT_RESET);
-		wait(0.1);
-
-	    //Power up sensors in normal mode
-	    if(setSensorPowerMode(BMI160::GYRO, BMI160::SUSPEND) != BMI160::RTN_NO_ERROR){
-	        //printf("Failed to set gyroscope power mode\n");
-	    }
-
-	    wait(0.1);
-
-	    if(setSensorPowerMode(BMI160::ACC, BMI160::NORMAL) != BMI160::RTN_NO_ERROR){
-	        //printf("Failed to set accelerometer power mode\n");
-	    }
-	    wait(0.1);
-
-	    BMI160::AccConfig accConfig;
-	    BMI160::AccConfig accConfigRead;
-	    accConfig.range = BMI160::SENS_2G;
-	    accConfig.us = BMI160::ACC_US_OFF;
-	    accConfig.bwp = BMI160::ACC_BWP_2;
-	    accConfig.odr = BMI160::ACC_ODR_6;
-	    if(setSensorConfig(accConfig) == BMI160::RTN_NO_ERROR)
-	    {
-	        if(getSensorConfig(accConfigRead) == BMI160::RTN_NO_ERROR)
-	        {
-	            if((accConfig.range != accConfigRead.range) ||
-	                    (accConfig.us != accConfigRead.us) ||
-	                    (accConfig.bwp != accConfigRead.bwp) ||
-	                    (accConfig.odr != accConfigRead.odr))
-	            {
-	               /* printf("ACC read data desn't equal set data\n\n");
-	                printf("ACC Set Range = %d\n", accConfig.range);
-	                printf("ACC Set UnderSampling = %d\n", accConfig.us);
-	                printf("ACC Set BandWidthParam = %d\n", accConfig.bwp);
-	                printf("ACC Set OutputDataRate = %d\n\n", accConfig.odr);
-	                printf("ACC Read Range = %d\n", accConfigRead.range);
-	                printf("ACC Read UnderSampling = %d\n", accConfigRead.us);
-	                printf("ACC Read BandWidthParam = %d\n", accConfigRead.bwp);
-	                printf("ACC Read OutputDataRate = %d\n\n", accConfigRead.odr);*/
-	            }
-
-	        }
-	        else
-	        {
-	             //printf("Failed to read back accelerometer configuration\n");
-	        }
-	    }
-	    else
-	    {
-	        //printf("Failed to set accelerometer configuration\n");
-	    }
-	    return 0;
-}
-
-//***********************************************************************************
-int32_t BMI160::enable_data_ready_interrupt() {
-	uint8_t data = 0;
-	uint8_t temp = 0;
-	int32_t result;
-
-	result = readRegister(INT_EN_1, &data);
-	temp = data & ~0x10;
-	data = temp | ((1 << 4) & 0x10);
-	/* Writing data to INT ENABLE 1 Address */
-	result |= writeRegister(INT_EN_1, data);
-
-	// configure in_out ctrl
-	//bmi160_get_regs(BMI160_INT_OUT_CTRL_ADDR, &data, 1, dev);
-	result |= readRegister(INT_OUT_CTRL, &data);
-	data = 0x09;
-	result |= writeRegister(INT_OUT_CTRL,data);
-
-	//config int latch
-	//bmi160_get_regs(BMI160_INT_LATCH_ADDR, &data, 1, dev);
-	result |= readRegister(INT_LATCH, &data);
-	data = 0x0F;
-	result |= writeRegister(INT_LATCH, data);
-
-	//bmi160_get_regs(BMI160_INT_MAP_1_ADDR, &data, 1, dev);
-	result |= readRegister(INT_MAP_1, &data);
-	data = 0x80;
-	result |= writeRegister(INT_MAP_1, data);
-
-	if(result != 0){
-		//printf("BMI160::%s failed.\r\n", __func__);
-		return -1;
-	}
-
-	m_bmi160_irq->disable_irq();
-	m_bmi160_irq->mode(PullUp);
-	m_bmi160_irq->fall(this, &BMI160::irq_handler);
-	m_bmi160_irq->enable_irq();
-	return 0;
-}
-
-void BMI160::irq_handler() {
-	bmi160_irq_asserted = true;
-}
-
-int32_t BMI160::reset() {
-	if (m_use_irq)
-		m_bmi160_irq->disable_irq();
-	bmi160_irq_asserted = false;
-	writeRegister(CMD, SOFT_RESET);
-	return 0;
-}
-