Diff: accelerometer/bmi160.h

Revision:

1:cb15208e5c31

Parent:

0:b259fd1a88f5

Child:

2:3b5d2467e6c7

--- a/accelerometer/bmi160.h	Mon Mar 18 14:09:48 2019 +0300
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,846 +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.
-**********************************************************************/
-
-
-#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
-