BMG160.cpp

00001 /* Copyright (c) 2016 MtM Technology Corporation, MIT License
00002  *
00003  * Permission is hereby granted, free of charge, to any person obtaining a copy of this software 
00004  * and associated documentation files (the "Software"), to deal in the Software without restriction, 
00005  * including without limitation the rights to use, copy, modify, merge, publish, distribute, 
00006  * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is 
00007  * furnished to do so, subject to the following conditions:
00008  *
00009  * The above copyright notice and this permission notice shall be included in all copies or 
00010  * substantial portions of the Software.
00011  *
00012  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING 
00013  * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND 
00014  * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, 
00015  * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 
00016  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
00017  */
00018 #include "BMG160.h"
00019 
00020 /******************************* 
00021  * Public methods
00022  *******************************/
00023 BMG160::BMG160(PinName i2c_sda, PinName i2c_scl, PinName interrupt1_pinname, PinName interrupt2_pinname,uint8_t range, uint8_t bandwith)
00024     : i2c_(i2c_sda, i2c_scl), 
00025       interrupt1_pinname_(interrupt1_pinname),
00026       interrupt1_(interrupt1_pinname),
00027       interrupt2_pinname_(interrupt2_pinname),  
00028       interrupt2_(interrupt2_pinname),
00029       range_(range), bandwith_(bandwith) {
00030           
00031     /* Basic */
00032     RegWrite(0x10, bandwith_);  // bandwidth
00033     RegWrite(0x0F, range_);     // range
00034     RegWrite(0x1A, 0x20);       // slow_offset_unfilt = 1 
00035     RegWrite(0x31, 0x07);      // SOC_REG slow_offset_en_x/y/z = 1
00036    
00037 }
00038 
00039 void BMG160::ReadXYZ(int16_t *xyz) {
00040     char val[6];
00041 
00042     /* Read raw data */
00043     RegRead(0x02, val, sizeof(val));
00044     xyz[0] = ((int16_t)val[1] << 8) | (val[0] & 0xC0);
00045     xyz[1] = ((int16_t)val[3] << 8) | (val[2] & 0xC0);
00046     xyz[2] = ((int16_t)val[5] << 8) | (val[4] & 0xC0);
00047 
00048     /* Align right */
00049     xyz[0] >>= 6;
00050     xyz[1] >>= 6;
00051     xyz[2] >>= 6;
00052 }
00053 /******************************* 
00054  * Private methods
00055  *******************************/
00056 void BMG160::RegWrite(char reg, char val) {
00057     char data[2];
00058     data[0] = reg;
00059     data[1] = val;
00060     i2c_.write(BMG160_SLAVE_ADDR, data, 2, 0);
00061 }
00062 
00063 void BMG160::RegRead(char reg, char *val, int len) {
00064     i2c_.write(BMG160_SLAVE_ADDR, &reg, 1, 0);
00065     i2c_.read (BMG160_SLAVE_ADDR, val, len);
00066 }