Diff: BMG160.cpp

Revision:

0:4f5c0b7acaa8

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/BMG160.cpp	Fri Apr 27 09:55:36 2018 +0000
@@ -0,0 +1,66 @@
+/* Copyright (c) 2016 MtM Technology Corporation, MIT License
+ *
+ * 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 THE AUTHORS OR COPYRIGHT HOLDERS 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.
+ */
+#include "BMG160.h"
+
+/******************************* 
+ * Public methods
+ *******************************/
+BMG160::BMG160(PinName i2c_sda, PinName i2c_scl, PinName interrupt1_pinname, PinName interrupt2_pinname,uint8_t range, uint8_t bandwith)
+    : i2c_(i2c_sda, i2c_scl), 
+      interrupt1_pinname_(interrupt1_pinname),
+      interrupt1_(interrupt1_pinname),
+      interrupt2_pinname_(interrupt2_pinname),  
+      interrupt2_(interrupt2_pinname),
+      range_(range), bandwith_(bandwith) {
+          
+    /* Basic */
+    RegWrite(0x10, bandwith_);  // bandwidth
+    RegWrite(0x0F, range_);     // range
+    RegWrite(0x1A, 0x20);       // slow_offset_unfilt = 1 
+    RegWrite(0x31, 0x07);      // SOC_REG slow_offset_en_x/y/z = 1
+   
+}
+
+void BMG160::ReadXYZ(int16_t *xyz) {
+    char val[6];
+
+    /* Read raw data */
+    RegRead(0x02, val, sizeof(val));
+    xyz[0] = ((int16_t)val[1] << 8) | (val[0] & 0xC0);
+    xyz[1] = ((int16_t)val[3] << 8) | (val[2] & 0xC0);
+    xyz[2] = ((int16_t)val[5] << 8) | (val[4] & 0xC0);
+
+    /* Align right */
+    xyz[0] >>= 6;
+    xyz[1] >>= 6;
+    xyz[2] >>= 6;
+}
+/******************************* 
+ * Private methods
+ *******************************/
+void BMG160::RegWrite(char reg, char val) {
+    char data[2];
+    data[0] = reg;
+    data[1] = val;
+    i2c_.write(BMG160_SLAVE_ADDR, data, 2, 0);
+}
+
+void BMG160::RegRead(char reg, char *val, int len) {
+    i2c_.write(BMG160_SLAVE_ADDR, &reg, 1, 0);
+    i2c_.read (BMG160_SLAVE_ADDR, val, len);
+}
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