initial

Dependents:   Mt05_MtSense03

Files at this revision

API Documentation at this revision

Comitter:
johnathanlyu
Date:
Fri Apr 27 09:55:36 2018 +0000
Commit message:
update library flow

Changed in this revision

BMG160.cpp Show annotated file Show diff for this revision Revisions of this file
BMG160.h Show annotated file Show diff for this revision Revisions of this file
diff -r 000000000000 -r 4f5c0b7acaa8 BMG160.cpp
--- /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);
+}
\ No newline at end of file
diff -r 000000000000 -r 4f5c0b7acaa8 BMG160.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/BMG160.h	Fri Apr 27 09:55:36 2018 +0000
@@ -0,0 +1,43 @@
+/* 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.
+ */
+#ifndef BMG160_h
+#define BMG160_h
+
+#include "mbed.h"
+
+#define BMG160_SLAVE_ADDR 0xd0
+
+class BMG160 {    
+public:
+    BMG160(PinName i2c_sda, PinName i2c_scl, PinName int1 = NC, PinName int2 = NC, uint8_t range = 0x00, uint8_t bandwith = 0x00);
+    void ReadXYZ(int16_t *xyz);
+    
+private:
+    I2C i2c_;
+    PinName interrupt1_pinname_;
+    InterruptIn interrupt1_;
+    PinName interrupt2_pinname_;
+    InterruptIn interrupt2_;
+    uint8_t range_;
+    uint8_t bandwith_;
+    
+    void RegWrite(char reg, char  val);
+    void RegRead (char reg, char *val, int len);
+};
+
+#endif
\ No newline at end of file