Maxim Integrated
Example host software to display SpO2 or Heart Rate on wrist using the MAX32664GWEC or MAXREFDES101 with IR/Red LED board. It is recommended that the MAX32664 be loaded with the latest Maxim supplied algorithm (.msbl file).
Dependencies: Maxim_Sensor_Hub_Communications BMI160 demoUI max32630hsp3
Fork of
Host_Software_MAX32664GWEC_SpO2_HR
by 
mehmet gok
Revision 7:9ad2947512a6, committed 2018-12-17
- Comitter:
- gmehmet
- Date:
- Mon Dec 17 11:20:26 2018 +0000
- Parent:
- 6:f2bd1cff0796
- Child:
- 8:5c9d43f84ab8
- Commit message:
- commit 24
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/accelerometer.lib Mon Dec 17 11:20:26 2018 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/gmehmet/code/accelerometer/#6ae45b98ab03
--- a/accelerometer/bmi160.cpp Mon Dec 17 10:44:03 2018 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,723 +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;
-}
--- a/accelerometer/bmi160.h Mon Dec 17 10:44:03 2018 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,845 +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
--- a/accelerometer/bmi160_i2c.cpp Mon Dec 17 10:44:03 2018 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,103 +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"
-
-
-//*****************************************************************************
-BMI160_I2C::BMI160_I2C(I2C *i2cBus, uint8_t i2cAdrs)
-:m_i2cBus(i2cBus), m_Wadrs(i2cAdrs << 1), m_Radrs((i2cAdrs << 1) | 1)
-{
-
-}
-
-BMI160_I2C::BMI160_I2C(I2C *i2cBus, uint8_t i2cAdrs, InterruptIn *int_pin)
-:m_i2cBus(i2cBus), m_Wadrs(i2cAdrs << 1), m_Radrs((i2cAdrs << 1) | 1), BMI160(int_pin)
-{
-
-}
-
-//*****************************************************************************
-int32_t BMI160_I2C::readRegister(Registers reg, uint8_t *data)
-{
- int32_t rtnVal = -1;
- char packet[] = {static_cast<char>(reg)};
-
- if(m_i2cBus->write(m_Wadrs, packet, 1) == 0)
- {
- rtnVal = m_i2cBus->read(m_Radrs, reinterpret_cast<char *>(data), 1);
- }
-
- return rtnVal;
-}
-
-
-//*****************************************************************************
-int32_t BMI160_I2C::writeRegister(Registers reg, const uint8_t data)
-{
- char packet[] = {static_cast<char>(reg), static_cast<char>(data)};
-
- return m_i2cBus->write(m_Wadrs, packet, sizeof(packet));
-}
-
-
-//*****************************************************************************
-int32_t BMI160_I2C::readBlock(Registers startReg, Registers stopReg,
-uint8_t *data)
-{
- int32_t rtnVal = -1;
- int32_t numBytes = ((stopReg - startReg) + 1);
- char packet[] = {static_cast<char>(startReg)};
-
- if(m_i2cBus->write(m_Wadrs, packet, 1) == 0)
- {
- rtnVal = m_i2cBus->read(m_Radrs, reinterpret_cast<char *>(data), numBytes);
- }
-
- return rtnVal;
-}
-
-
-//*****************************************************************************
-int32_t BMI160_I2C::writeBlock(Registers startReg, Registers stopReg,
-const uint8_t *data)
-{
- int32_t numBytes = ((stopReg - startReg) + 1);
- char packet[numBytes + 1];
-
- packet[0] = static_cast<char>(startReg);
-
- memcpy(packet + 1, data, numBytes);
-
- return m_i2cBus->write(m_Wadrs, packet, sizeof(packet));
-}
--- a/accelerometer/bmi160_spi.cpp Mon Dec 17 10:44:03 2018 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,80 +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"
-
-
-//*****************************************************************************
-BMI160_SPI::BMI160_SPI(SPI *spiBus, DigitalOut &cs)
-:m_spiBus(spiBus), m_cs(cs)
-{
-
-}
-
-
-//*****************************************************************************
-int32_t BMI160_SPI::readRegister(Registers reg, uint8_t *data)
-{
- int32_t rtnVal = -1;
-
- return rtnVal;
-}
-
-
-//*****************************************************************************
-int32_t BMI160_SPI::writeRegister(Registers reg, const uint8_t data)
-{
- int32_t rtnVal = -1;
-
- return rtnVal;
-}
-
-
-//*****************************************************************************
-int32_t BMI160_SPI::readBlock(Registers startReg, Registers stopReg,
-uint8_t *data)
-{
- int32_t rtnVal = -1;
-
- return rtnVal;
-}
-
-
-//*****************************************************************************
-int32_t BMI160_SPI::writeBlock(Registers startReg, Registers stopReg,
-const uint8_t *data)
-{
- int32_t rtnVal = -1;
-
- return rtnVal;
-}
--- a/demoUI.lib Mon Dec 17 10:44:03 2018 +0000 +++ b/demoUI.lib Mon Dec 17 11:20:26 2018 +0000 @@ -1,1 +1,1 @@ -https://os.mbed.com/users/gmehmet/code/demoUI/#5b8e9710eca1 +https://os.mbed.com/users/gmehmet/code/demoUI/#74ca5c764550