Diff: bmi160.h

Revision:

12:64931a80340d

Parent:

11:24602ff07e9f

Child:

13:5d132f873b07

--- a/bmi160.h	Tue Dec 20 01:29:56 2016 +0000
+++ b/bmi160.h	Tue Dec 20 18:38:42 2016 +0000
@@ -201,18 +201,15 @@
     };
     
     
-    ///ERR_REG Bit Mask bit0
+    ///@name ERR_REG(0x02) Group
+    ///Bit masks, positions, and enumerations
+    ///@{
     static const uint8_t FATAL_ERR = 0x01;
-    ///ERR_REG Bit Mask bits4:1
     static const uint8_t ERR_CODE = 0x1E;
-    ///ERR_REG Bit Mask bit5
     static const uint8_t I2C_FAIL_ERR = 0x20;
-    ///ERR_REG Bit Mask bit6
     static const uint8_t DROP_CMD_ERR = 0x40;
-    ///ERR_REG Bit Mask bit7
     static const uint8_t MAG_DRDY_ERR = 0x80;
     
-    ///ERR_REG bits4:1 codes
     enum ErrorCodes
     {
         NO_ERROR = 0,        ///<No Error
@@ -224,16 +221,19 @@
                              ///<not match
         PFD_USED_LPM         ///<Pre-filtered data are used in low power mode
     };
+    ///@}
     
     
-    ///ACC_CONF Bit Mask bits3:0
+    ///@name ACC_CONF(0x40) and ACC_RANGE(0x41) Group 
+    ///Bit masks, positions, and enumerations
+    ///@{
     static const uint8_t ACC_ODR = 0x0F;
-    ///ACC_CONF Bit Mask bits6:4 
+    static const uint8_t ACC_ODR_POS = 0;
     static const uint8_t ACC_BWP = 0x70;
-    ///ACC_CONF Bit Mask bit7
+    static const uint8_t ACC_BWP_POS = 0x04;
     static const uint8_t ACC_US = 0x80;
+    static const uint8_t ACC_US_POS = 0x07;
     
-    ///ACC_CONF bits3:0 codes
     enum AccOutPutDataRate
     {
         ACC_ODR_1 = 1,  ///< 25/32Hz
@@ -250,7 +250,6 @@
         ACC_ODR_12      ///< 1600Hz
     };
     
-    ///ACC_CONF bits6:4 codes
     enum AccBandWidthParam
     {
         ACC_BWP_0 = 0, ///< Average 1 cycle
@@ -263,14 +262,12 @@
         ACC_BWP_7      ///< Average 128 cycles
     };
     
-    ///ACC_CONF bit7
     enum AccUnderSampling
     {
         ACC_US_OFF = 0,
         ACC_US_ON
     };
     
-    ///Accelerometer range values
     enum AccRange
     {
         SENS_2G = 0,  ///<Accelerometer range +-2G
@@ -279,7 +276,6 @@
         SENS_16G,     ///<Accelerometer range +-16G
     };
     
-    ///Structure for holding accelerometer configuration
     struct AccConfig
     {
         AccRange range;
@@ -288,10 +284,10 @@
         AccOutPutDataRate odr;
     };
     
-    ///Accelerometer default configuration
     static const AccConfig DEFAULT_ACC_CONFIG;
+    ///@}
     
-    ///BMI160 Power Modes
+    
     enum PowerModes
     {
         SUSPEND = 0,  ///<Acc and Gyro, No sampling, No FIFO data readout
@@ -300,7 +296,7 @@
         FAST_START_UP ///<Gyro start up delay time to normal mode <= 10 ms
     };
     
-    ///BMI160 Commands for CMD register
+    
     enum Commands
     {
         START_FOC = 0x03,        ///<Starts Fast Offset Calibrartion 
@@ -402,28 +398,16 @@
     int32_t setSensorPowerMode(Sensors sensor, PowerModes pwrMode);
     
     
-    ///@brief Get die temperature.\n
+    ///@brief Configure Accelerometer.\n
     ///
     ///On Entry:
-    ///@param[in] temp - pointer to float for temperature 
+    ///@param[in] config - Accelerometer configuration 
     ///
     ///On Exit:
-    ///@param[out] temp - on success, holds the die temperature
+    ///@param[out] none
     ///
     ///@returns 0 on success, non 0 on failure
-    int32_t getTemperature(float *temp);
-    
-    
-    ///@brief Read data registers and sensortime.\n
-    ///
-    ///On Entry:
-    ///@param[in] data - buffer at least 23 bytes long
-    ///
-    ///On Exit:
-    ///@param[out] data - holds raw sensor data on success
-    ///
-    ///@returns 0 on success, non 0 on failure
-    int32_t getSensorDataAndTime(uint8_t *data);
+    int32_t setAccConfig(const AccConfig &config);
     
     
     ///@brief Get accelerometer axis as float.\n
@@ -431,26 +415,26 @@
     ///On Entry:
     ///@param[in] axis - Sensor axis
     ///@param[in] data - AxisData structure
-    ///@param[in] accConfig - Accelerometer configuration structure
+    ///@param[in] range - Accelerometer range
     ///
     ///On Exit:
     ///@param[out] data - Structure holds raw and scaled axis data
     ///
     ///@returns 0 on success, non 0 on failure
-    int32_t getAccAxis(SensorAxis axis, AxisData &data, AccConfig accConfig);
+    int32_t getAccAxis(SensorAxis axis, AxisData &data, AccRange range);
     
     
     ///@brief Get accelerometer xyz axis as float.\n
     ///
     ///On Entry:
     ///@param[in] data - SensorData structure
-    ///@param[in] accConfig - Accelerometer configuration structure
+    ///@param[in] range - Accelerometer 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 getAccXYZ(SensorData &data, AccConfig accConfig);  
+    int32_t getAccXYZ(SensorData &data, AccRange range);  
     
     
     ///@brief Get sensor time.\n
@@ -463,6 +447,18 @@
     ///
     ///@returns returns 0 on success, non 0 on failure
     int32_t getSensorTime(float *data);
+    
+    
+    ///@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);
 };