BMI160 Initial
Dependents: MAX32630HSP3_IMU_HelloWorld MAX32630HSP3_IMU_HelloWorld MAX32630HSP3_Pitch_Charles Maxim_Squeeks
bmi160.cpp@12:64931a80340d, 2016-12-20 (annotated)
- Committer:
- j3
- Date:
- Tue Dec 20 18:38:42 2016 +0000
- Revision:
- 12:64931a80340d
- Parent:
- 10:9e219f2f1fb3
- Child:
- 14:646eb94fa2eb
experimenting with doxygen
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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j3 | 3:e1770675eca4 | 1 | /********************************************************************** |
j3 | 3:e1770675eca4 | 2 | * Copyright (C) 2016 Maxim Integrated Products, Inc., All Rights Reserved. |
j3 | 3:e1770675eca4 | 3 | * |
j3 | 3:e1770675eca4 | 4 | * Permission is hereby granted, free of charge, to any person obtaining a |
j3 | 3:e1770675eca4 | 5 | * copy of this software and associated documentation files (the "Software"), |
j3 | 3:e1770675eca4 | 6 | * to deal in the Software without restriction, including without limitation |
j3 | 3:e1770675eca4 | 7 | * the rights to use, copy, modify, merge, publish, distribute, sublicense, |
j3 | 3:e1770675eca4 | 8 | * and/or sell copies of the Software, and to permit persons to whom the |
j3 | 3:e1770675eca4 | 9 | * Software is furnished to do so, subject to the following conditions: |
j3 | 3:e1770675eca4 | 10 | * |
j3 | 3:e1770675eca4 | 11 | * The above copyright notice and this permission notice shall be included |
j3 | 3:e1770675eca4 | 12 | * in all copies or substantial portions of the Software. |
j3 | 3:e1770675eca4 | 13 | * |
j3 | 3:e1770675eca4 | 14 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS |
j3 | 3:e1770675eca4 | 15 | * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF |
j3 | 3:e1770675eca4 | 16 | * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. |
j3 | 3:e1770675eca4 | 17 | * IN NO EVENT SHALL MAXIM INTEGRATED BE LIABLE FOR ANY CLAIM, DAMAGES |
j3 | 3:e1770675eca4 | 18 | * OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, |
j3 | 3:e1770675eca4 | 19 | * ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
j3 | 3:e1770675eca4 | 20 | * OTHER DEALINGS IN THE SOFTWARE. |
j3 | 3:e1770675eca4 | 21 | * |
j3 | 3:e1770675eca4 | 22 | * Except as contained in this notice, the name of Maxim Integrated |
j3 | 3:e1770675eca4 | 23 | * Products, Inc. shall not be used except as stated in the Maxim Integrated |
j3 | 3:e1770675eca4 | 24 | * Products, Inc. Branding Policy. |
j3 | 3:e1770675eca4 | 25 | * |
j3 | 3:e1770675eca4 | 26 | * The mere transfer of this software does not imply any licenses |
j3 | 3:e1770675eca4 | 27 | * of trade secrets, proprietary technology, copyrights, patents, |
j3 | 3:e1770675eca4 | 28 | * trademarks, maskwork rights, or any other form of intellectual |
j3 | 3:e1770675eca4 | 29 | * property whatsoever. Maxim Integrated Products, Inc. retains all |
j3 | 3:e1770675eca4 | 30 | * ownership rights. |
j3 | 3:e1770675eca4 | 31 | **********************************************************************/ |
j3 | 3:e1770675eca4 | 32 | |
j3 | 3:e1770675eca4 | 33 | |
j3 | 3:e1770675eca4 | 34 | #include "bmi160.h" |
j3 | 3:e1770675eca4 | 35 | |
j3 | 3:e1770675eca4 | 36 | |
j3 | 9:ca6b5fecdd63 | 37 | const struct BMI160::AccConfig BMI160::DEFAULT_ACC_CONFIG = {SENS_2G, ACC_US_OFF, ACC_BWP_2, ACC_ODR_8}; |
j3 | 9:ca6b5fecdd63 | 38 | |
j3 | 9:ca6b5fecdd63 | 39 | |
j3 | 3:e1770675eca4 | 40 | //***************************************************************************** |
j3 | 5:35e032c8d8aa | 41 | int32_t BMI160::setSensorPowerMode(Sensors sensor, PowerModes pwrMode) |
j3 | 3:e1770675eca4 | 42 | { |
j3 | 3:e1770675eca4 | 43 | int32_t rtnVal = -1; |
j3 | 3:e1770675eca4 | 44 | |
j3 | 5:35e032c8d8aa | 45 | switch(sensor) |
j3 | 5:35e032c8d8aa | 46 | { |
j3 | 5:35e032c8d8aa | 47 | case MAG: |
j3 | 5:35e032c8d8aa | 48 | rtnVal = writeRegister(CMD, (MAG_SET_PMU_MODE | pwrMode)); |
j3 | 5:35e032c8d8aa | 49 | break; |
j3 | 5:35e032c8d8aa | 50 | |
j3 | 5:35e032c8d8aa | 51 | case GYRO: |
j3 | 5:35e032c8d8aa | 52 | rtnVal = writeRegister(CMD, (GYR_SET_PMU_MODE | pwrMode)); |
j3 | 5:35e032c8d8aa | 53 | break; |
j3 | 5:35e032c8d8aa | 54 | |
j3 | 5:35e032c8d8aa | 55 | case ACC: |
j3 | 5:35e032c8d8aa | 56 | rtnVal = writeRegister(CMD, (ACC_SET_PMU_MODE | pwrMode)); |
j3 | 5:35e032c8d8aa | 57 | break; |
j3 | 5:35e032c8d8aa | 58 | |
j3 | 5:35e032c8d8aa | 59 | default: |
j3 | 5:35e032c8d8aa | 60 | rtnVal = -1; |
j3 | 5:35e032c8d8aa | 61 | break; |
j3 | 5:35e032c8d8aa | 62 | } |
j3 | 5:35e032c8d8aa | 63 | |
j3 | 3:e1770675eca4 | 64 | return rtnVal; |
j3 | 3:e1770675eca4 | 65 | } |
j3 | 5:35e032c8d8aa | 66 | |
j3 | 5:35e032c8d8aa | 67 | |
j3 | 5:35e032c8d8aa | 68 | //***************************************************************************** |
j3 | 12:64931a80340d | 69 | int32_t setAccConfig(const AccConfig &config) |
j3 | 5:35e032c8d8aa | 70 | { |
j3 | 12:64931a80340d | 71 | int32_t rtnVal = -1; |
j3 | 5:35e032c8d8aa | 72 | uint8_t data[2]; |
j3 | 5:35e032c8d8aa | 73 | |
j3 | 12:64931a80340d | 74 | |
j3 | 5:35e032c8d8aa | 75 | |
j3 | 5:35e032c8d8aa | 76 | return rtnVal; |
j3 | 5:35e032c8d8aa | 77 | } |
j3 | 8:a89b529b1d96 | 78 | |
j3 | 8:a89b529b1d96 | 79 | |
j3 | 8:a89b529b1d96 | 80 | //***************************************************************************** |
j3 | 12:64931a80340d | 81 | int32_t BMI160::getAccAxis(SensorAxis axis, AxisData &data, AccRange range) |
j3 | 8:a89b529b1d96 | 82 | { |
j3 | 8:a89b529b1d96 | 83 | uint8_t localData[2]; |
j3 | 8:a89b529b1d96 | 84 | int32_t rtnVal; |
j3 | 8:a89b529b1d96 | 85 | |
j3 | 8:a89b529b1d96 | 86 | switch(axis) |
j3 | 8:a89b529b1d96 | 87 | { |
j3 | 8:a89b529b1d96 | 88 | case X_AXIS: |
j3 | 8:a89b529b1d96 | 89 | rtnVal = readBlock(DATA_14, DATA_15, localData); |
j3 | 8:a89b529b1d96 | 90 | break; |
j3 | 8:a89b529b1d96 | 91 | |
j3 | 8:a89b529b1d96 | 92 | case Y_AXIS: |
j3 | 8:a89b529b1d96 | 93 | rtnVal = readBlock(DATA_16, DATA_17, localData); |
j3 | 8:a89b529b1d96 | 94 | break; |
j3 | 8:a89b529b1d96 | 95 | |
j3 | 8:a89b529b1d96 | 96 | case Z_AXIS: |
j3 | 8:a89b529b1d96 | 97 | rtnVal = readBlock(DATA_18, DATA_19, localData); |
j3 | 8:a89b529b1d96 | 98 | break; |
j3 | 8:a89b529b1d96 | 99 | |
j3 | 8:a89b529b1d96 | 100 | default: |
j3 | 8:a89b529b1d96 | 101 | rtnVal = -1; |
j3 | 8:a89b529b1d96 | 102 | break; |
j3 | 8:a89b529b1d96 | 103 | } |
j3 | 8:a89b529b1d96 | 104 | |
j3 | 8:a89b529b1d96 | 105 | if(rtnVal == RTN_NO_ERROR) |
j3 | 8:a89b529b1d96 | 106 | { |
j3 | 8:a89b529b1d96 | 107 | data.raw = ((localData[1] << 8) | localData[0]); |
j3 | 12:64931a80340d | 108 | switch(range) |
j3 | 9:ca6b5fecdd63 | 109 | { |
j3 | 9:ca6b5fecdd63 | 110 | //magic numbers are typical values for LSB/g from EC table |
j3 | 9:ca6b5fecdd63 | 111 | case SENS_2G: |
j3 | 9:ca6b5fecdd63 | 112 | data.scaled = (data.raw/16384.0F); |
j3 | 9:ca6b5fecdd63 | 113 | break; |
j3 | 9:ca6b5fecdd63 | 114 | |
j3 | 9:ca6b5fecdd63 | 115 | case SENS_4G: |
j3 | 9:ca6b5fecdd63 | 116 | data.scaled = (data.raw/8192.0F); |
j3 | 9:ca6b5fecdd63 | 117 | break; |
j3 | 9:ca6b5fecdd63 | 118 | |
j3 | 9:ca6b5fecdd63 | 119 | case SENS_8G: |
j3 | 9:ca6b5fecdd63 | 120 | data.scaled = (data.raw/4096.0F); |
j3 | 9:ca6b5fecdd63 | 121 | break; |
j3 | 9:ca6b5fecdd63 | 122 | |
j3 | 9:ca6b5fecdd63 | 123 | case SENS_16G: |
j3 | 9:ca6b5fecdd63 | 124 | data.scaled = (data.raw/2048.0F); |
j3 | 9:ca6b5fecdd63 | 125 | break; |
j3 | 9:ca6b5fecdd63 | 126 | } |
j3 | 8:a89b529b1d96 | 127 | } |
j3 | 8:a89b529b1d96 | 128 | |
j3 | 8:a89b529b1d96 | 129 | return rtnVal; |
j3 | 8:a89b529b1d96 | 130 | } |
j3 | 8:a89b529b1d96 | 131 | |
j3 | 8:a89b529b1d96 | 132 | |
j3 | 8:a89b529b1d96 | 133 | //***************************************************************************** |
j3 | 12:64931a80340d | 134 | int32_t BMI160::getAccXYZ(SensorData &data, AccRange range) |
j3 | 8:a89b529b1d96 | 135 | { |
j3 | 8:a89b529b1d96 | 136 | uint8_t localData[6]; |
j3 | 8:a89b529b1d96 | 137 | int32_t rtnVal = readBlock(DATA_14, DATA_19, localData); |
j3 | 8:a89b529b1d96 | 138 | |
j3 | 8:a89b529b1d96 | 139 | if(rtnVal == RTN_NO_ERROR) |
j3 | 8:a89b529b1d96 | 140 | { |
j3 | 8:a89b529b1d96 | 141 | data.xAxis.raw = ((localData[1] << 8) | localData[0]); |
j3 | 8:a89b529b1d96 | 142 | data.yAxis.raw = ((localData[3] << 8) | localData[2]); |
j3 | 8:a89b529b1d96 | 143 | data.zAxis.raw = ((localData[5] << 8) | localData[4]); |
j3 | 8:a89b529b1d96 | 144 | |
j3 | 12:64931a80340d | 145 | switch(range) |
j3 | 9:ca6b5fecdd63 | 146 | { |
j3 | 9:ca6b5fecdd63 | 147 | //magic numbers are typical values for LSB/g from EC table |
j3 | 9:ca6b5fecdd63 | 148 | case SENS_2G: |
j3 | 9:ca6b5fecdd63 | 149 | data.xAxis.scaled = (data.xAxis.raw/16384.0F); |
j3 | 9:ca6b5fecdd63 | 150 | data.yAxis.scaled = (data.yAxis.raw/16384.0F); |
j3 | 9:ca6b5fecdd63 | 151 | data.zAxis.scaled = (data.zAxis.raw/16384.0F); |
j3 | 9:ca6b5fecdd63 | 152 | break; |
j3 | 9:ca6b5fecdd63 | 153 | |
j3 | 9:ca6b5fecdd63 | 154 | case SENS_4G: |
j3 | 9:ca6b5fecdd63 | 155 | data.xAxis.scaled = (data.xAxis.raw/8192.0F); |
j3 | 9:ca6b5fecdd63 | 156 | data.yAxis.scaled = (data.yAxis.raw/8192.0F); |
j3 | 9:ca6b5fecdd63 | 157 | data.zAxis.scaled = (data.zAxis.raw/8192.0F); |
j3 | 9:ca6b5fecdd63 | 158 | break; |
j3 | 9:ca6b5fecdd63 | 159 | |
j3 | 9:ca6b5fecdd63 | 160 | case SENS_8G: |
j3 | 9:ca6b5fecdd63 | 161 | data.xAxis.scaled = (data.xAxis.raw/4096.0F); |
j3 | 9:ca6b5fecdd63 | 162 | data.yAxis.scaled = (data.yAxis.raw/4096.0F); |
j3 | 9:ca6b5fecdd63 | 163 | data.zAxis.scaled = (data.zAxis.raw/4096.0F); |
j3 | 9:ca6b5fecdd63 | 164 | break; |
j3 | 9:ca6b5fecdd63 | 165 | |
j3 | 9:ca6b5fecdd63 | 166 | case SENS_16G: |
j3 | 9:ca6b5fecdd63 | 167 | data.xAxis.scaled = (data.xAxis.raw/2048.0F); |
j3 | 9:ca6b5fecdd63 | 168 | data.yAxis.scaled = (data.yAxis.raw/2048.0F); |
j3 | 9:ca6b5fecdd63 | 169 | data.zAxis.scaled = (data.zAxis.raw/2048.0F); |
j3 | 9:ca6b5fecdd63 | 170 | break; |
j3 | 9:ca6b5fecdd63 | 171 | } |
j3 | 8:a89b529b1d96 | 172 | } |
j3 | 8:a89b529b1d96 | 173 | |
j3 | 8:a89b529b1d96 | 174 | return rtnVal; |
j3 | 8:a89b529b1d96 | 175 | } |
j3 | 10:9e219f2f1fb3 | 176 | |
j3 | 10:9e219f2f1fb3 | 177 | |
j3 | 10:9e219f2f1fb3 | 178 | //***************************************************************************** |
j3 | 10:9e219f2f1fb3 | 179 | int32_t BMI160::getSensorTime(float *data) |
j3 | 10:9e219f2f1fb3 | 180 | { |
j3 | 10:9e219f2f1fb3 | 181 | uint8_t localData[3]; |
j3 | 10:9e219f2f1fb3 | 182 | int32_t rtnVal = readBlock(SENSORTIME_0, SENSORTIME_2, localData); |
j3 | 10:9e219f2f1fb3 | 183 | |
j3 | 10:9e219f2f1fb3 | 184 | if(rtnVal == RTN_NO_ERROR) |
j3 | 10:9e219f2f1fb3 | 185 | { |
j3 | 10:9e219f2f1fb3 | 186 | *data = (((localData[2] << 16) | (localData[1] << 8) | localData[0]) * 39e-6); |
j3 | 10:9e219f2f1fb3 | 187 | } |
j3 | 10:9e219f2f1fb3 | 188 | |
j3 | 10:9e219f2f1fb3 | 189 | return rtnVal; |
j3 | 10:9e219f2f1fb3 | 190 | } |
j3 | 10:9e219f2f1fb3 | 191 | |
j3 | 12:64931a80340d | 192 | |
j3 | 12:64931a80340d | 193 | //***************************************************************************** |
j3 | 12:64931a80340d | 194 | int32_t BMI160::getTemperature(float *temp) |
j3 | 12:64931a80340d | 195 | { |
j3 | 12:64931a80340d | 196 | uint8_t data[2]; |
j3 | 12:64931a80340d | 197 | uint16_t rawTemp; |
j3 | 12:64931a80340d | 198 | |
j3 | 12:64931a80340d | 199 | int32_t rtnVal = readBlock(TEMPERATURE_0, TEMPERATURE_1, data); |
j3 | 12:64931a80340d | 200 | if(rtnVal == RTN_NO_ERROR) |
j3 | 12:64931a80340d | 201 | { |
j3 | 12:64931a80340d | 202 | rawTemp = ((data[1] << 8) | data[0]); |
j3 | 12:64931a80340d | 203 | if(rawTemp & 0x8000) |
j3 | 12:64931a80340d | 204 | { |
j3 | 12:64931a80340d | 205 | *temp = (23.0F - ((0x10000 - rawTemp)/512.0F)); |
j3 | 12:64931a80340d | 206 | } |
j3 | 12:64931a80340d | 207 | else |
j3 | 12:64931a80340d | 208 | { |
j3 | 12:64931a80340d | 209 | *temp = ((rawTemp/512.0F) + 23.0F); |
j3 | 12:64931a80340d | 210 | } |
j3 | 12:64931a80340d | 211 | } |
j3 | 12:64931a80340d | 212 | |
j3 | 12:64931a80340d | 213 | return rtnVal; |
j3 | 12:64931a80340d | 214 | } |