BMI160 Initial
Dependents: MAX32630HSP3_IMU_HelloWorld MAX32630HSP3_IMU_HelloWorld MAX32630HSP3_Pitch_Charles Maxim_Squeeks
bmi160.cpp@19:8e66f58bef44, 2018-05-04 (annotated)
- Committer:
- Emre.Eken
- Date:
- Fri May 04 13:32:36 2018 +0300
- Revision:
- 19:8e66f58bef44
- Parent:
- 16:12782f5d4aa4
Some minor changes are done to make it be compiled by IAR. It can be still compiled by GCC, mbed online, Keil compilers and it has the same functionality with the previous revision
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 | 16:12782f5d4aa4 | 37 | const struct BMI160::AccConfig BMI160::DEFAULT_ACC_CONFIG = {SENS_2G, |
j3 | 16:12782f5d4aa4 | 38 | ACC_US_OFF, |
j3 | 16:12782f5d4aa4 | 39 | ACC_BWP_2, |
j3 | 16:12782f5d4aa4 | 40 | ACC_ODR_8}; |
j3 | 16:12782f5d4aa4 | 41 | |
j3 | 16:12782f5d4aa4 | 42 | const struct BMI160::GyroConfig BMI160::DEFAULT_GYRO_CONFIG = {DPS_2000, |
j3 | 16:12782f5d4aa4 | 43 | GYRO_BWP_2, |
j3 | 16:12782f5d4aa4 | 44 | GYRO_ODR_8}; |
Emre.Eken | 19:8e66f58bef44 | 45 | |
Emre.Eken | 19:8e66f58bef44 | 46 | ///Period of internal counter |
Emre.Eken | 19:8e66f58bef44 | 47 | static const float SENSOR_TIME_LSB = 39e-6; |
Emre.Eken | 19:8e66f58bef44 | 48 | |
Emre.Eken | 19:8e66f58bef44 | 49 | static const float SENS_2G_LSB_PER_G = 16384.0F; |
Emre.Eken | 19:8e66f58bef44 | 50 | static const float SENS_4G_LSB_PER_G = 8192.0F; |
Emre.Eken | 19:8e66f58bef44 | 51 | static const float SENS_8G_LSB_PER_G = 4096.0F; |
Emre.Eken | 19:8e66f58bef44 | 52 | static const float SENS_16G_LSB_PER_G = 2048.0F; |
Emre.Eken | 19:8e66f58bef44 | 53 | |
Emre.Eken | 19:8e66f58bef44 | 54 | static const float SENS_2000_DPS_LSB_PER_DPS = 16.4F; |
Emre.Eken | 19:8e66f58bef44 | 55 | static const float SENS_1000_DPS_LSB_PER_DPS = 32.8F; |
Emre.Eken | 19:8e66f58bef44 | 56 | static const float SENS_500_DPS_LSB_PER_DPS = 65.6F; |
Emre.Eken | 19:8e66f58bef44 | 57 | static const float SENS_250_DPS_LSB_PER_DPS = 131.2F; |
Emre.Eken | 19:8e66f58bef44 | 58 | static const float SENS_125_DPS_LSB_PER_DPS = 262.4F; |
j3 | 9:ca6b5fecdd63 | 59 | |
j3 | 9:ca6b5fecdd63 | 60 | |
j3 | 3:e1770675eca4 | 61 | //***************************************************************************** |
j3 | 5:35e032c8d8aa | 62 | int32_t BMI160::setSensorPowerMode(Sensors sensor, PowerModes pwrMode) |
j3 | 3:e1770675eca4 | 63 | { |
j3 | 3:e1770675eca4 | 64 | int32_t rtnVal = -1; |
j3 | 3:e1770675eca4 | 65 | |
j3 | 5:35e032c8d8aa | 66 | switch(sensor) |
j3 | 5:35e032c8d8aa | 67 | { |
j3 | 5:35e032c8d8aa | 68 | case MAG: |
j3 | 5:35e032c8d8aa | 69 | rtnVal = writeRegister(CMD, (MAG_SET_PMU_MODE | pwrMode)); |
j3 | 5:35e032c8d8aa | 70 | break; |
j3 | 5:35e032c8d8aa | 71 | |
j3 | 5:35e032c8d8aa | 72 | case GYRO: |
j3 | 5:35e032c8d8aa | 73 | rtnVal = writeRegister(CMD, (GYR_SET_PMU_MODE | pwrMode)); |
j3 | 5:35e032c8d8aa | 74 | break; |
j3 | 5:35e032c8d8aa | 75 | |
j3 | 5:35e032c8d8aa | 76 | case ACC: |
j3 | 5:35e032c8d8aa | 77 | rtnVal = writeRegister(CMD, (ACC_SET_PMU_MODE | pwrMode)); |
j3 | 5:35e032c8d8aa | 78 | break; |
j3 | 5:35e032c8d8aa | 79 | |
j3 | 5:35e032c8d8aa | 80 | default: |
j3 | 5:35e032c8d8aa | 81 | rtnVal = -1; |
j3 | 5:35e032c8d8aa | 82 | break; |
j3 | 5:35e032c8d8aa | 83 | } |
j3 | 5:35e032c8d8aa | 84 | |
j3 | 3:e1770675eca4 | 85 | return rtnVal; |
j3 | 3:e1770675eca4 | 86 | } |
j3 | 5:35e032c8d8aa | 87 | |
j3 | 5:35e032c8d8aa | 88 | |
j3 | 5:35e032c8d8aa | 89 | //***************************************************************************** |
j3 | 16:12782f5d4aa4 | 90 | int32_t BMI160::setSensorConfig(const AccConfig &config) |
j3 | 5:35e032c8d8aa | 91 | { |
j3 | 5:35e032c8d8aa | 92 | uint8_t data[2]; |
j3 | 5:35e032c8d8aa | 93 | |
j3 | 14:646eb94fa2eb | 94 | data[0] = ((config.us << ACC_US_POS) | (config.bwp << ACC_BWP_POS) | |
j3 | 14:646eb94fa2eb | 95 | (config.odr << ACC_ODR_POS)); |
j3 | 14:646eb94fa2eb | 96 | data[1] = config.range; |
j3 | 12:64931a80340d | 97 | |
j3 | 14:646eb94fa2eb | 98 | return writeBlock(ACC_CONF, ACC_RANGE, data); |
j3 | 14:646eb94fa2eb | 99 | } |
j3 | 14:646eb94fa2eb | 100 | |
j3 | 14:646eb94fa2eb | 101 | |
j3 | 14:646eb94fa2eb | 102 | //***************************************************************************** |
j3 | 16:12782f5d4aa4 | 103 | int32_t BMI160::setSensorConfig(const GyroConfig &config) |
j3 | 16:12782f5d4aa4 | 104 | { |
j3 | 16:12782f5d4aa4 | 105 | uint8_t data[2]; |
j3 | 16:12782f5d4aa4 | 106 | |
j3 | 16:12782f5d4aa4 | 107 | data[0] = ((config.bwp << GYRO_BWP_POS) | (config.odr << GYRO_ODR_POS)); |
j3 | 16:12782f5d4aa4 | 108 | data[1] = config.range; |
j3 | 16:12782f5d4aa4 | 109 | |
j3 | 16:12782f5d4aa4 | 110 | return writeBlock(GYR_CONF, GYR_RANGE, data); |
j3 | 16:12782f5d4aa4 | 111 | } |
j3 | 16:12782f5d4aa4 | 112 | |
j3 | 16:12782f5d4aa4 | 113 | |
j3 | 16:12782f5d4aa4 | 114 | //***************************************************************************** |
j3 | 16:12782f5d4aa4 | 115 | int32_t BMI160::getSensorConfig(AccConfig &config) |
j3 | 14:646eb94fa2eb | 116 | { |
j3 | 14:646eb94fa2eb | 117 | uint8_t data[2]; |
j3 | 14:646eb94fa2eb | 118 | int32_t rtnVal = readBlock(ACC_CONF, ACC_RANGE, data); |
j3 | 14:646eb94fa2eb | 119 | |
j3 | 14:646eb94fa2eb | 120 | if(rtnVal == RTN_NO_ERROR) |
j3 | 14:646eb94fa2eb | 121 | { |
j3 | 14:646eb94fa2eb | 122 | config.range = static_cast<BMI160::AccRange>( |
j3 | 14:646eb94fa2eb | 123 | (data[1] & ACC_RANGE_MASK)); |
j3 | 14:646eb94fa2eb | 124 | config.us = static_cast<BMI160::AccUnderSampling>( |
j3 | 14:646eb94fa2eb | 125 | ((data[0] & ACC_US_MASK) >> ACC_US_POS)); |
j3 | 14:646eb94fa2eb | 126 | config.bwp = static_cast<BMI160::AccBandWidthParam>( |
j3 | 14:646eb94fa2eb | 127 | ((data[0] & ACC_BWP_MASK) >> ACC_BWP_POS)); |
j3 | 16:12782f5d4aa4 | 128 | config.odr = static_cast<BMI160::AccOutputDataRate>( |
j3 | 14:646eb94fa2eb | 129 | ((data[0] & ACC_ODR_MASK) >> ACC_ODR_POS)); |
j3 | 14:646eb94fa2eb | 130 | } |
j3 | 5:35e032c8d8aa | 131 | |
j3 | 5:35e032c8d8aa | 132 | return rtnVal; |
j3 | 5:35e032c8d8aa | 133 | } |
j3 | 8:a89b529b1d96 | 134 | |
j3 | 8:a89b529b1d96 | 135 | |
j3 | 8:a89b529b1d96 | 136 | //***************************************************************************** |
j3 | 16:12782f5d4aa4 | 137 | int32_t BMI160::getSensorConfig(GyroConfig &config) |
j3 | 16:12782f5d4aa4 | 138 | { |
j3 | 16:12782f5d4aa4 | 139 | uint8_t data[2]; |
j3 | 16:12782f5d4aa4 | 140 | int32_t rtnVal = readBlock(GYR_CONF, GYR_RANGE, data); |
j3 | 16:12782f5d4aa4 | 141 | |
j3 | 16:12782f5d4aa4 | 142 | if(rtnVal == RTN_NO_ERROR) |
j3 | 16:12782f5d4aa4 | 143 | { |
j3 | 16:12782f5d4aa4 | 144 | config.range = static_cast<BMI160::GyroRange>( |
j3 | 16:12782f5d4aa4 | 145 | (data[1] & GYRO_RANGE_MASK)); |
j3 | 16:12782f5d4aa4 | 146 | config.bwp = static_cast<BMI160::GyroBandWidthParam>( |
j3 | 16:12782f5d4aa4 | 147 | ((data[0] & GYRO_BWP_MASK) >> GYRO_BWP_POS)); |
j3 | 16:12782f5d4aa4 | 148 | config.odr = static_cast<BMI160::GyroOutputDataRate>( |
j3 | 16:12782f5d4aa4 | 149 | ((data[0] & GYRO_ODR_MASK) >> GYRO_ODR_POS)); |
j3 | 16:12782f5d4aa4 | 150 | } |
j3 | 16:12782f5d4aa4 | 151 | |
j3 | 16:12782f5d4aa4 | 152 | return rtnVal; |
j3 | 16:12782f5d4aa4 | 153 | } |
j3 | 16:12782f5d4aa4 | 154 | |
j3 | 16:12782f5d4aa4 | 155 | |
j3 | 16:12782f5d4aa4 | 156 | //***************************************************************************** |
j3 | 16:12782f5d4aa4 | 157 | int32_t BMI160::getSensorAxis(SensorAxis axis, AxisData &data, AccRange range) |
j3 | 8:a89b529b1d96 | 158 | { |
j3 | 8:a89b529b1d96 | 159 | uint8_t localData[2]; |
j3 | 8:a89b529b1d96 | 160 | int32_t rtnVal; |
j3 | 8:a89b529b1d96 | 161 | |
j3 | 8:a89b529b1d96 | 162 | switch(axis) |
j3 | 8:a89b529b1d96 | 163 | { |
j3 | 8:a89b529b1d96 | 164 | case X_AXIS: |
j3 | 8:a89b529b1d96 | 165 | rtnVal = readBlock(DATA_14, DATA_15, localData); |
j3 | 8:a89b529b1d96 | 166 | break; |
j3 | 8:a89b529b1d96 | 167 | |
j3 | 8:a89b529b1d96 | 168 | case Y_AXIS: |
j3 | 8:a89b529b1d96 | 169 | rtnVal = readBlock(DATA_16, DATA_17, localData); |
j3 | 8:a89b529b1d96 | 170 | break; |
j3 | 8:a89b529b1d96 | 171 | |
j3 | 8:a89b529b1d96 | 172 | case Z_AXIS: |
j3 | 8:a89b529b1d96 | 173 | rtnVal = readBlock(DATA_18, DATA_19, localData); |
j3 | 8:a89b529b1d96 | 174 | break; |
j3 | 8:a89b529b1d96 | 175 | |
j3 | 8:a89b529b1d96 | 176 | default: |
j3 | 8:a89b529b1d96 | 177 | rtnVal = -1; |
j3 | 8:a89b529b1d96 | 178 | break; |
j3 | 8:a89b529b1d96 | 179 | } |
j3 | 8:a89b529b1d96 | 180 | |
j3 | 8:a89b529b1d96 | 181 | if(rtnVal == RTN_NO_ERROR) |
j3 | 8:a89b529b1d96 | 182 | { |
j3 | 8:a89b529b1d96 | 183 | data.raw = ((localData[1] << 8) | localData[0]); |
j3 | 12:64931a80340d | 184 | switch(range) |
j3 | 9:ca6b5fecdd63 | 185 | { |
j3 | 9:ca6b5fecdd63 | 186 | case SENS_2G: |
j3 | 15:dc35ccc0b08e | 187 | data.scaled = (data.raw/SENS_2G_LSB_PER_G); |
j3 | 9:ca6b5fecdd63 | 188 | break; |
j3 | 9:ca6b5fecdd63 | 189 | |
j3 | 9:ca6b5fecdd63 | 190 | case SENS_4G: |
j3 | 15:dc35ccc0b08e | 191 | data.scaled = (data.raw/SENS_4G_LSB_PER_G); |
j3 | 9:ca6b5fecdd63 | 192 | break; |
j3 | 9:ca6b5fecdd63 | 193 | |
j3 | 9:ca6b5fecdd63 | 194 | case SENS_8G: |
j3 | 15:dc35ccc0b08e | 195 | data.scaled = (data.raw/SENS_8G_LSB_PER_G); |
j3 | 9:ca6b5fecdd63 | 196 | break; |
j3 | 9:ca6b5fecdd63 | 197 | |
j3 | 9:ca6b5fecdd63 | 198 | case SENS_16G: |
j3 | 15:dc35ccc0b08e | 199 | data.scaled = (data.raw/SENS_16G_LSB_PER_G); |
j3 | 9:ca6b5fecdd63 | 200 | break; |
j3 | 9:ca6b5fecdd63 | 201 | } |
j3 | 8:a89b529b1d96 | 202 | } |
j3 | 8:a89b529b1d96 | 203 | |
j3 | 8:a89b529b1d96 | 204 | return rtnVal; |
j3 | 8:a89b529b1d96 | 205 | } |
j3 | 16:12782f5d4aa4 | 206 | |
j3 | 16:12782f5d4aa4 | 207 | |
j3 | 16:12782f5d4aa4 | 208 | //***************************************************************************** |
j3 | 16:12782f5d4aa4 | 209 | int32_t BMI160::getSensorAxis(SensorAxis axis, AxisData &data, GyroRange range) |
j3 | 16:12782f5d4aa4 | 210 | { |
j3 | 16:12782f5d4aa4 | 211 | uint8_t localData[2]; |
j3 | 16:12782f5d4aa4 | 212 | int32_t rtnVal; |
j3 | 16:12782f5d4aa4 | 213 | |
j3 | 16:12782f5d4aa4 | 214 | switch(axis) |
j3 | 16:12782f5d4aa4 | 215 | { |
j3 | 16:12782f5d4aa4 | 216 | case X_AXIS: |
j3 | 16:12782f5d4aa4 | 217 | rtnVal = readBlock(DATA_8, DATA_9, localData); |
j3 | 16:12782f5d4aa4 | 218 | break; |
j3 | 16:12782f5d4aa4 | 219 | |
j3 | 16:12782f5d4aa4 | 220 | case Y_AXIS: |
j3 | 16:12782f5d4aa4 | 221 | rtnVal = readBlock(DATA_10, DATA_11, localData); |
j3 | 16:12782f5d4aa4 | 222 | break; |
j3 | 16:12782f5d4aa4 | 223 | |
j3 | 16:12782f5d4aa4 | 224 | case Z_AXIS: |
j3 | 16:12782f5d4aa4 | 225 | rtnVal = readBlock(DATA_12, DATA_13, localData); |
j3 | 16:12782f5d4aa4 | 226 | break; |
j3 | 16:12782f5d4aa4 | 227 | |
j3 | 16:12782f5d4aa4 | 228 | default: |
j3 | 16:12782f5d4aa4 | 229 | rtnVal = -1; |
j3 | 16:12782f5d4aa4 | 230 | break; |
j3 | 16:12782f5d4aa4 | 231 | } |
j3 | 16:12782f5d4aa4 | 232 | |
j3 | 16:12782f5d4aa4 | 233 | if(rtnVal == RTN_NO_ERROR) |
j3 | 16:12782f5d4aa4 | 234 | { |
j3 | 16:12782f5d4aa4 | 235 | data.raw = ((localData[1] << 8) | localData[0]); |
j3 | 16:12782f5d4aa4 | 236 | switch(range) |
j3 | 16:12782f5d4aa4 | 237 | { |
j3 | 16:12782f5d4aa4 | 238 | case DPS_2000: |
j3 | 16:12782f5d4aa4 | 239 | data.scaled = (data.raw/SENS_2000_DPS_LSB_PER_DPS); |
j3 | 16:12782f5d4aa4 | 240 | break; |
j3 | 16:12782f5d4aa4 | 241 | |
j3 | 16:12782f5d4aa4 | 242 | case DPS_1000: |
j3 | 16:12782f5d4aa4 | 243 | data.scaled = (data.raw/SENS_1000_DPS_LSB_PER_DPS); |
j3 | 16:12782f5d4aa4 | 244 | break; |
j3 | 16:12782f5d4aa4 | 245 | |
j3 | 16:12782f5d4aa4 | 246 | case DPS_500: |
j3 | 16:12782f5d4aa4 | 247 | data.scaled = (data.raw/SENS_500_DPS_LSB_PER_DPS); |
j3 | 16:12782f5d4aa4 | 248 | break; |
j3 | 16:12782f5d4aa4 | 249 | |
j3 | 16:12782f5d4aa4 | 250 | case DPS_250: |
j3 | 16:12782f5d4aa4 | 251 | data.scaled = (data.raw/SENS_250_DPS_LSB_PER_DPS); |
j3 | 16:12782f5d4aa4 | 252 | break; |
j3 | 16:12782f5d4aa4 | 253 | |
j3 | 16:12782f5d4aa4 | 254 | case DPS_125: |
j3 | 16:12782f5d4aa4 | 255 | data.scaled = (data.raw/SENS_125_DPS_LSB_PER_DPS); |
j3 | 16:12782f5d4aa4 | 256 | break; |
j3 | 16:12782f5d4aa4 | 257 | } |
j3 | 16:12782f5d4aa4 | 258 | } |
j3 | 16:12782f5d4aa4 | 259 | |
j3 | 16:12782f5d4aa4 | 260 | return rtnVal; |
j3 | 16:12782f5d4aa4 | 261 | } |
j3 | 8:a89b529b1d96 | 262 | |
j3 | 8:a89b529b1d96 | 263 | |
j3 | 8:a89b529b1d96 | 264 | //***************************************************************************** |
j3 | 16:12782f5d4aa4 | 265 | int32_t BMI160::getSensorXYZ(SensorData &data, AccRange range) |
j3 | 8:a89b529b1d96 | 266 | { |
j3 | 8:a89b529b1d96 | 267 | uint8_t localData[6]; |
j3 | 8:a89b529b1d96 | 268 | int32_t rtnVal = readBlock(DATA_14, DATA_19, localData); |
j3 | 8:a89b529b1d96 | 269 | |
j3 | 8:a89b529b1d96 | 270 | if(rtnVal == RTN_NO_ERROR) |
j3 | 8:a89b529b1d96 | 271 | { |
j3 | 8:a89b529b1d96 | 272 | data.xAxis.raw = ((localData[1] << 8) | localData[0]); |
j3 | 8:a89b529b1d96 | 273 | data.yAxis.raw = ((localData[3] << 8) | localData[2]); |
j3 | 8:a89b529b1d96 | 274 | data.zAxis.raw = ((localData[5] << 8) | localData[4]); |
j3 | 8:a89b529b1d96 | 275 | |
j3 | 12:64931a80340d | 276 | switch(range) |
j3 | 9:ca6b5fecdd63 | 277 | { |
j3 | 9:ca6b5fecdd63 | 278 | case SENS_2G: |
j3 | 15:dc35ccc0b08e | 279 | data.xAxis.scaled = (data.xAxis.raw/SENS_2G_LSB_PER_G); |
j3 | 15:dc35ccc0b08e | 280 | data.yAxis.scaled = (data.yAxis.raw/SENS_2G_LSB_PER_G); |
j3 | 15:dc35ccc0b08e | 281 | data.zAxis.scaled = (data.zAxis.raw/SENS_2G_LSB_PER_G); |
j3 | 9:ca6b5fecdd63 | 282 | break; |
j3 | 9:ca6b5fecdd63 | 283 | |
j3 | 9:ca6b5fecdd63 | 284 | case SENS_4G: |
j3 | 15:dc35ccc0b08e | 285 | data.xAxis.scaled = (data.xAxis.raw/SENS_4G_LSB_PER_G); |
j3 | 15:dc35ccc0b08e | 286 | data.yAxis.scaled = (data.yAxis.raw/SENS_4G_LSB_PER_G); |
j3 | 15:dc35ccc0b08e | 287 | data.zAxis.scaled = (data.zAxis.raw/SENS_4G_LSB_PER_G); |
j3 | 9:ca6b5fecdd63 | 288 | break; |
j3 | 9:ca6b5fecdd63 | 289 | |
j3 | 9:ca6b5fecdd63 | 290 | case SENS_8G: |
j3 | 15:dc35ccc0b08e | 291 | data.xAxis.scaled = (data.xAxis.raw/SENS_8G_LSB_PER_G); |
j3 | 15:dc35ccc0b08e | 292 | data.yAxis.scaled = (data.yAxis.raw/SENS_8G_LSB_PER_G); |
j3 | 15:dc35ccc0b08e | 293 | data.zAxis.scaled = (data.zAxis.raw/SENS_8G_LSB_PER_G); |
j3 | 9:ca6b5fecdd63 | 294 | break; |
j3 | 9:ca6b5fecdd63 | 295 | |
j3 | 9:ca6b5fecdd63 | 296 | case SENS_16G: |
j3 | 15:dc35ccc0b08e | 297 | data.xAxis.scaled = (data.xAxis.raw/SENS_16G_LSB_PER_G); |
j3 | 15:dc35ccc0b08e | 298 | data.yAxis.scaled = (data.yAxis.raw/SENS_16G_LSB_PER_G); |
j3 | 15:dc35ccc0b08e | 299 | data.zAxis.scaled = (data.zAxis.raw/SENS_16G_LSB_PER_G); |
j3 | 9:ca6b5fecdd63 | 300 | break; |
j3 | 9:ca6b5fecdd63 | 301 | } |
j3 | 8:a89b529b1d96 | 302 | } |
j3 | 8:a89b529b1d96 | 303 | |
j3 | 8:a89b529b1d96 | 304 | return rtnVal; |
j3 | 8:a89b529b1d96 | 305 | } |
j3 | 10:9e219f2f1fb3 | 306 | |
j3 | 10:9e219f2f1fb3 | 307 | |
j3 | 16:12782f5d4aa4 | 308 | //***************************************************************************** |
j3 | 16:12782f5d4aa4 | 309 | int32_t BMI160::getSensorXYZ(SensorData &data, GyroRange range) |
j3 | 16:12782f5d4aa4 | 310 | { |
j3 | 16:12782f5d4aa4 | 311 | uint8_t localData[6]; |
j3 | 16:12782f5d4aa4 | 312 | int32_t rtnVal = readBlock(DATA_8, DATA_13, localData); |
j3 | 16:12782f5d4aa4 | 313 | |
j3 | 16:12782f5d4aa4 | 314 | if(rtnVal == RTN_NO_ERROR) |
j3 | 16:12782f5d4aa4 | 315 | { |
j3 | 16:12782f5d4aa4 | 316 | data.xAxis.raw = ((localData[1] << 8) | localData[0]); |
j3 | 16:12782f5d4aa4 | 317 | data.yAxis.raw = ((localData[3] << 8) | localData[2]); |
j3 | 16:12782f5d4aa4 | 318 | data.zAxis.raw = ((localData[5] << 8) | localData[4]); |
j3 | 16:12782f5d4aa4 | 319 | |
j3 | 16:12782f5d4aa4 | 320 | switch(range) |
j3 | 16:12782f5d4aa4 | 321 | { |
j3 | 16:12782f5d4aa4 | 322 | case DPS_2000: |
j3 | 16:12782f5d4aa4 | 323 | data.xAxis.scaled = (data.xAxis.raw/SENS_2000_DPS_LSB_PER_DPS); |
j3 | 16:12782f5d4aa4 | 324 | data.yAxis.scaled = (data.yAxis.raw/SENS_2000_DPS_LSB_PER_DPS); |
j3 | 16:12782f5d4aa4 | 325 | data.zAxis.scaled = (data.zAxis.raw/SENS_2000_DPS_LSB_PER_DPS); |
j3 | 16:12782f5d4aa4 | 326 | break; |
j3 | 16:12782f5d4aa4 | 327 | |
j3 | 16:12782f5d4aa4 | 328 | case DPS_1000: |
j3 | 16:12782f5d4aa4 | 329 | data.xAxis.scaled = (data.xAxis.raw/SENS_1000_DPS_LSB_PER_DPS); |
j3 | 16:12782f5d4aa4 | 330 | data.yAxis.scaled = (data.yAxis.raw/SENS_1000_DPS_LSB_PER_DPS); |
j3 | 16:12782f5d4aa4 | 331 | data.zAxis.scaled = (data.zAxis.raw/SENS_1000_DPS_LSB_PER_DPS); |
j3 | 16:12782f5d4aa4 | 332 | break; |
j3 | 16:12782f5d4aa4 | 333 | |
j3 | 16:12782f5d4aa4 | 334 | case DPS_500: |
j3 | 16:12782f5d4aa4 | 335 | data.xAxis.scaled = (data.xAxis.raw/SENS_500_DPS_LSB_PER_DPS); |
j3 | 16:12782f5d4aa4 | 336 | data.yAxis.scaled = (data.yAxis.raw/SENS_500_DPS_LSB_PER_DPS); |
j3 | 16:12782f5d4aa4 | 337 | data.zAxis.scaled = (data.zAxis.raw/SENS_500_DPS_LSB_PER_DPS); |
j3 | 16:12782f5d4aa4 | 338 | break; |
j3 | 16:12782f5d4aa4 | 339 | |
j3 | 16:12782f5d4aa4 | 340 | case DPS_250: |
j3 | 16:12782f5d4aa4 | 341 | data.xAxis.scaled = (data.xAxis.raw/SENS_250_DPS_LSB_PER_DPS); |
j3 | 16:12782f5d4aa4 | 342 | data.yAxis.scaled = (data.yAxis.raw/SENS_250_DPS_LSB_PER_DPS); |
j3 | 16:12782f5d4aa4 | 343 | data.zAxis.scaled = (data.zAxis.raw/SENS_250_DPS_LSB_PER_DPS); |
j3 | 16:12782f5d4aa4 | 344 | break; |
j3 | 16:12782f5d4aa4 | 345 | |
j3 | 16:12782f5d4aa4 | 346 | case DPS_125: |
j3 | 16:12782f5d4aa4 | 347 | data.xAxis.scaled = (data.xAxis.raw/SENS_125_DPS_LSB_PER_DPS); |
j3 | 16:12782f5d4aa4 | 348 | data.yAxis.scaled = (data.yAxis.raw/SENS_125_DPS_LSB_PER_DPS); |
j3 | 16:12782f5d4aa4 | 349 | data.zAxis.scaled = (data.zAxis.raw/SENS_125_DPS_LSB_PER_DPS); |
j3 | 16:12782f5d4aa4 | 350 | break; |
j3 | 16:12782f5d4aa4 | 351 | } |
j3 | 16:12782f5d4aa4 | 352 | } |
j3 | 16:12782f5d4aa4 | 353 | |
j3 | 16:12782f5d4aa4 | 354 | return rtnVal; |
j3 | 16:12782f5d4aa4 | 355 | } |
j3 | 16:12782f5d4aa4 | 356 | |
j3 | 16:12782f5d4aa4 | 357 | |
j3 | 10:9e219f2f1fb3 | 358 | //***************************************************************************** |
j3 | 16:12782f5d4aa4 | 359 | int32_t BMI160::getSensorXYZandSensorTime(SensorData &data, |
j3 | 16:12782f5d4aa4 | 360 | SensorTime &sensorTime, |
j3 | 16:12782f5d4aa4 | 361 | AccRange range) |
j3 | 15:dc35ccc0b08e | 362 | { |
j3 | 15:dc35ccc0b08e | 363 | uint8_t localData[9]; |
j3 | 15:dc35ccc0b08e | 364 | int32_t rtnVal = readBlock(DATA_14, SENSORTIME_2, localData); |
j3 | 15:dc35ccc0b08e | 365 | if(rtnVal == RTN_NO_ERROR) |
j3 | 15:dc35ccc0b08e | 366 | { |
j3 | 15:dc35ccc0b08e | 367 | data.xAxis.raw = ((localData[1] << 8) | localData[0]); |
j3 | 15:dc35ccc0b08e | 368 | data.yAxis.raw = ((localData[3] << 8) | localData[2]); |
j3 | 15:dc35ccc0b08e | 369 | data.zAxis.raw = ((localData[5] << 8) | localData[4]); |
j3 | 15:dc35ccc0b08e | 370 | |
j3 | 15:dc35ccc0b08e | 371 | switch(range) |
j3 | 15:dc35ccc0b08e | 372 | { |
j3 | 15:dc35ccc0b08e | 373 | case SENS_2G: |
j3 | 15:dc35ccc0b08e | 374 | data.xAxis.scaled = (data.xAxis.raw/SENS_2G_LSB_PER_G); |
j3 | 15:dc35ccc0b08e | 375 | data.yAxis.scaled = (data.yAxis.raw/SENS_2G_LSB_PER_G); |
j3 | 15:dc35ccc0b08e | 376 | data.zAxis.scaled = (data.zAxis.raw/SENS_2G_LSB_PER_G); |
j3 | 15:dc35ccc0b08e | 377 | break; |
j3 | 15:dc35ccc0b08e | 378 | |
j3 | 15:dc35ccc0b08e | 379 | case SENS_4G: |
j3 | 15:dc35ccc0b08e | 380 | data.xAxis.scaled = (data.xAxis.raw/SENS_4G_LSB_PER_G); |
j3 | 15:dc35ccc0b08e | 381 | data.yAxis.scaled = (data.yAxis.raw/SENS_4G_LSB_PER_G); |
j3 | 15:dc35ccc0b08e | 382 | data.zAxis.scaled = (data.zAxis.raw/SENS_4G_LSB_PER_G); |
j3 | 15:dc35ccc0b08e | 383 | break; |
j3 | 15:dc35ccc0b08e | 384 | |
j3 | 15:dc35ccc0b08e | 385 | case SENS_8G: |
j3 | 15:dc35ccc0b08e | 386 | data.xAxis.scaled = (data.xAxis.raw/SENS_8G_LSB_PER_G); |
j3 | 15:dc35ccc0b08e | 387 | data.yAxis.scaled = (data.yAxis.raw/SENS_8G_LSB_PER_G); |
j3 | 15:dc35ccc0b08e | 388 | data.zAxis.scaled = (data.zAxis.raw/SENS_8G_LSB_PER_G); |
j3 | 15:dc35ccc0b08e | 389 | break; |
j3 | 15:dc35ccc0b08e | 390 | |
j3 | 15:dc35ccc0b08e | 391 | case SENS_16G: |
j3 | 15:dc35ccc0b08e | 392 | data.xAxis.scaled = (data.xAxis.raw/SENS_16G_LSB_PER_G); |
j3 | 15:dc35ccc0b08e | 393 | data.yAxis.scaled = (data.yAxis.raw/SENS_16G_LSB_PER_G); |
j3 | 15:dc35ccc0b08e | 394 | data.zAxis.scaled = (data.zAxis.raw/SENS_16G_LSB_PER_G); |
j3 | 15:dc35ccc0b08e | 395 | break; |
j3 | 15:dc35ccc0b08e | 396 | } |
j3 | 15:dc35ccc0b08e | 397 | |
j3 | 15:dc35ccc0b08e | 398 | sensorTime.raw = ((localData[8] << 16) | (localData[7] << 8) | |
j3 | 15:dc35ccc0b08e | 399 | localData[6]); |
j3 | 15:dc35ccc0b08e | 400 | sensorTime.seconds = (sensorTime.raw * SENSOR_TIME_LSB); |
j3 | 15:dc35ccc0b08e | 401 | } |
j3 | 15:dc35ccc0b08e | 402 | |
j3 | 15:dc35ccc0b08e | 403 | return rtnVal; |
j3 | 15:dc35ccc0b08e | 404 | } |
j3 | 15:dc35ccc0b08e | 405 | |
j3 | 15:dc35ccc0b08e | 406 | |
j3 | 15:dc35ccc0b08e | 407 | //***************************************************************************** |
j3 | 16:12782f5d4aa4 | 408 | int32_t BMI160::getSensorXYZandSensorTime(SensorData &data, |
j3 | 16:12782f5d4aa4 | 409 | SensorTime &sensorTime, |
j3 | 16:12782f5d4aa4 | 410 | GyroRange range) |
j3 | 16:12782f5d4aa4 | 411 | { |
j3 | 16:12782f5d4aa4 | 412 | uint8_t localData[16]; |
j3 | 16:12782f5d4aa4 | 413 | int32_t rtnVal = readBlock(DATA_8, SENSORTIME_2, localData); |
j3 | 16:12782f5d4aa4 | 414 | if(rtnVal == RTN_NO_ERROR) |
j3 | 16:12782f5d4aa4 | 415 | { |
j3 | 16:12782f5d4aa4 | 416 | data.xAxis.raw = ((localData[1] << 8) | localData[0]); |
j3 | 16:12782f5d4aa4 | 417 | data.yAxis.raw = ((localData[3] << 8) | localData[2]); |
j3 | 16:12782f5d4aa4 | 418 | data.zAxis.raw = ((localData[5] << 8) | localData[4]); |
j3 | 16:12782f5d4aa4 | 419 | |
j3 | 16:12782f5d4aa4 | 420 | switch(range) |
j3 | 16:12782f5d4aa4 | 421 | { |
j3 | 16:12782f5d4aa4 | 422 | case DPS_2000: |
j3 | 16:12782f5d4aa4 | 423 | data.xAxis.scaled = (data.xAxis.raw/SENS_2000_DPS_LSB_PER_DPS); |
j3 | 16:12782f5d4aa4 | 424 | data.yAxis.scaled = (data.yAxis.raw/SENS_2000_DPS_LSB_PER_DPS); |
j3 | 16:12782f5d4aa4 | 425 | data.zAxis.scaled = (data.zAxis.raw/SENS_2000_DPS_LSB_PER_DPS); |
j3 | 16:12782f5d4aa4 | 426 | break; |
j3 | 16:12782f5d4aa4 | 427 | |
j3 | 16:12782f5d4aa4 | 428 | case DPS_1000: |
j3 | 16:12782f5d4aa4 | 429 | data.xAxis.scaled = (data.xAxis.raw/SENS_1000_DPS_LSB_PER_DPS); |
j3 | 16:12782f5d4aa4 | 430 | data.yAxis.scaled = (data.yAxis.raw/SENS_1000_DPS_LSB_PER_DPS); |
j3 | 16:12782f5d4aa4 | 431 | data.zAxis.scaled = (data.zAxis.raw/SENS_1000_DPS_LSB_PER_DPS); |
j3 | 16:12782f5d4aa4 | 432 | break; |
j3 | 16:12782f5d4aa4 | 433 | |
j3 | 16:12782f5d4aa4 | 434 | case DPS_500: |
j3 | 16:12782f5d4aa4 | 435 | data.xAxis.scaled = (data.xAxis.raw/SENS_500_DPS_LSB_PER_DPS); |
j3 | 16:12782f5d4aa4 | 436 | data.yAxis.scaled = (data.yAxis.raw/SENS_500_DPS_LSB_PER_DPS); |
j3 | 16:12782f5d4aa4 | 437 | data.zAxis.scaled = (data.zAxis.raw/SENS_500_DPS_LSB_PER_DPS); |
j3 | 16:12782f5d4aa4 | 438 | break; |
j3 | 16:12782f5d4aa4 | 439 | |
j3 | 16:12782f5d4aa4 | 440 | case DPS_250: |
j3 | 16:12782f5d4aa4 | 441 | data.xAxis.scaled = (data.xAxis.raw/SENS_250_DPS_LSB_PER_DPS); |
j3 | 16:12782f5d4aa4 | 442 | data.yAxis.scaled = (data.yAxis.raw/SENS_250_DPS_LSB_PER_DPS); |
j3 | 16:12782f5d4aa4 | 443 | data.zAxis.scaled = (data.zAxis.raw/SENS_250_DPS_LSB_PER_DPS); |
j3 | 16:12782f5d4aa4 | 444 | break; |
j3 | 16:12782f5d4aa4 | 445 | |
j3 | 16:12782f5d4aa4 | 446 | case DPS_125: |
j3 | 16:12782f5d4aa4 | 447 | data.xAxis.scaled = (data.xAxis.raw/SENS_125_DPS_LSB_PER_DPS); |
j3 | 16:12782f5d4aa4 | 448 | data.yAxis.scaled = (data.yAxis.raw/SENS_125_DPS_LSB_PER_DPS); |
j3 | 16:12782f5d4aa4 | 449 | data.zAxis.scaled = (data.zAxis.raw/SENS_125_DPS_LSB_PER_DPS); |
j3 | 16:12782f5d4aa4 | 450 | break; |
j3 | 16:12782f5d4aa4 | 451 | } |
j3 | 16:12782f5d4aa4 | 452 | |
j3 | 16:12782f5d4aa4 | 453 | sensorTime.raw = ((localData[14] << 16) | (localData[13] << 8) | |
j3 | 16:12782f5d4aa4 | 454 | localData[12]); |
j3 | 16:12782f5d4aa4 | 455 | sensorTime.seconds = (sensorTime.raw * SENSOR_TIME_LSB); |
j3 | 16:12782f5d4aa4 | 456 | } |
j3 | 16:12782f5d4aa4 | 457 | |
j3 | 16:12782f5d4aa4 | 458 | return rtnVal; |
j3 | 16:12782f5d4aa4 | 459 | } |
j3 | 16:12782f5d4aa4 | 460 | |
j3 | 16:12782f5d4aa4 | 461 | |
j3 | 16:12782f5d4aa4 | 462 | //***************************************************************************** |
j3 | 16:12782f5d4aa4 | 463 | int32_t BMI160::getGyroAccXYZandSensorTime(SensorData &accData, |
j3 | 16:12782f5d4aa4 | 464 | SensorData &gyroData, |
j3 | 16:12782f5d4aa4 | 465 | SensorTime &sensorTime, |
j3 | 16:12782f5d4aa4 | 466 | AccRange accRange, |
j3 | 16:12782f5d4aa4 | 467 | GyroRange gyroRange) |
j3 | 16:12782f5d4aa4 | 468 | { |
j3 | 16:12782f5d4aa4 | 469 | uint8_t localData[16]; |
j3 | 16:12782f5d4aa4 | 470 | int32_t rtnVal = readBlock(DATA_8, SENSORTIME_2, localData); |
j3 | 16:12782f5d4aa4 | 471 | if(rtnVal == RTN_NO_ERROR) |
j3 | 16:12782f5d4aa4 | 472 | { |
j3 | 16:12782f5d4aa4 | 473 | gyroData.xAxis.raw = ((localData[1] << 8) | localData[0]); |
j3 | 16:12782f5d4aa4 | 474 | gyroData.yAxis.raw = ((localData[3] << 8) | localData[2]); |
j3 | 16:12782f5d4aa4 | 475 | gyroData.zAxis.raw = ((localData[5] << 8) | localData[4]); |
j3 | 16:12782f5d4aa4 | 476 | |
j3 | 16:12782f5d4aa4 | 477 | accData.xAxis.raw = ((localData[7] << 8) | localData[6]); |
j3 | 16:12782f5d4aa4 | 478 | accData.yAxis.raw = ((localData[9] << 8) | localData[8]); |
j3 | 16:12782f5d4aa4 | 479 | accData.zAxis.raw = ((localData[11] << 8) | localData[10]); |
j3 | 16:12782f5d4aa4 | 480 | |
j3 | 16:12782f5d4aa4 | 481 | switch(gyroRange) |
j3 | 16:12782f5d4aa4 | 482 | { |
j3 | 16:12782f5d4aa4 | 483 | case DPS_2000: |
j3 | 16:12782f5d4aa4 | 484 | gyroData.xAxis.scaled = (gyroData.xAxis.raw/SENS_2000_DPS_LSB_PER_DPS); |
j3 | 16:12782f5d4aa4 | 485 | gyroData.yAxis.scaled = (gyroData.yAxis.raw/SENS_2000_DPS_LSB_PER_DPS); |
j3 | 16:12782f5d4aa4 | 486 | gyroData.zAxis.scaled = (gyroData.zAxis.raw/SENS_2000_DPS_LSB_PER_DPS); |
j3 | 16:12782f5d4aa4 | 487 | break; |
j3 | 16:12782f5d4aa4 | 488 | |
j3 | 16:12782f5d4aa4 | 489 | case DPS_1000: |
j3 | 16:12782f5d4aa4 | 490 | gyroData.xAxis.scaled = (gyroData.xAxis.raw/SENS_1000_DPS_LSB_PER_DPS); |
j3 | 16:12782f5d4aa4 | 491 | gyroData.yAxis.scaled = (gyroData.yAxis.raw/SENS_1000_DPS_LSB_PER_DPS); |
j3 | 16:12782f5d4aa4 | 492 | gyroData.zAxis.scaled = (gyroData.zAxis.raw/SENS_1000_DPS_LSB_PER_DPS); |
j3 | 16:12782f5d4aa4 | 493 | break; |
j3 | 16:12782f5d4aa4 | 494 | |
j3 | 16:12782f5d4aa4 | 495 | case DPS_500: |
j3 | 16:12782f5d4aa4 | 496 | gyroData.xAxis.scaled = (gyroData.xAxis.raw/SENS_500_DPS_LSB_PER_DPS); |
j3 | 16:12782f5d4aa4 | 497 | gyroData.yAxis.scaled = (gyroData.yAxis.raw/SENS_500_DPS_LSB_PER_DPS); |
j3 | 16:12782f5d4aa4 | 498 | gyroData.zAxis.scaled = (gyroData.zAxis.raw/SENS_500_DPS_LSB_PER_DPS); |
j3 | 16:12782f5d4aa4 | 499 | break; |
j3 | 16:12782f5d4aa4 | 500 | |
j3 | 16:12782f5d4aa4 | 501 | case DPS_250: |
j3 | 16:12782f5d4aa4 | 502 | gyroData.xAxis.scaled = (gyroData.xAxis.raw/SENS_250_DPS_LSB_PER_DPS); |
j3 | 16:12782f5d4aa4 | 503 | gyroData.yAxis.scaled = (gyroData.yAxis.raw/SENS_250_DPS_LSB_PER_DPS); |
j3 | 16:12782f5d4aa4 | 504 | gyroData.zAxis.scaled = (gyroData.zAxis.raw/SENS_250_DPS_LSB_PER_DPS); |
j3 | 16:12782f5d4aa4 | 505 | break; |
j3 | 16:12782f5d4aa4 | 506 | |
j3 | 16:12782f5d4aa4 | 507 | case DPS_125: |
j3 | 16:12782f5d4aa4 | 508 | gyroData.xAxis.scaled = (gyroData.xAxis.raw/SENS_125_DPS_LSB_PER_DPS); |
j3 | 16:12782f5d4aa4 | 509 | gyroData.yAxis.scaled = (gyroData.yAxis.raw/SENS_125_DPS_LSB_PER_DPS); |
j3 | 16:12782f5d4aa4 | 510 | gyroData.zAxis.scaled = (gyroData.zAxis.raw/SENS_125_DPS_LSB_PER_DPS); |
j3 | 16:12782f5d4aa4 | 511 | break; |
j3 | 16:12782f5d4aa4 | 512 | } |
j3 | 16:12782f5d4aa4 | 513 | |
j3 | 16:12782f5d4aa4 | 514 | switch(accRange) |
j3 | 16:12782f5d4aa4 | 515 | { |
j3 | 16:12782f5d4aa4 | 516 | case SENS_2G: |
j3 | 16:12782f5d4aa4 | 517 | accData.xAxis.scaled = (accData.xAxis.raw/SENS_2G_LSB_PER_G); |
j3 | 16:12782f5d4aa4 | 518 | accData.yAxis.scaled = (accData.yAxis.raw/SENS_2G_LSB_PER_G); |
j3 | 16:12782f5d4aa4 | 519 | accData.zAxis.scaled = (accData.zAxis.raw/SENS_2G_LSB_PER_G); |
j3 | 16:12782f5d4aa4 | 520 | break; |
j3 | 16:12782f5d4aa4 | 521 | |
j3 | 16:12782f5d4aa4 | 522 | case SENS_4G: |
j3 | 16:12782f5d4aa4 | 523 | accData.xAxis.scaled = (accData.xAxis.raw/SENS_4G_LSB_PER_G); |
j3 | 16:12782f5d4aa4 | 524 | accData.yAxis.scaled = (accData.yAxis.raw/SENS_4G_LSB_PER_G); |
j3 | 16:12782f5d4aa4 | 525 | accData.zAxis.scaled = (accData.zAxis.raw/SENS_4G_LSB_PER_G); |
j3 | 16:12782f5d4aa4 | 526 | break; |
j3 | 16:12782f5d4aa4 | 527 | |
j3 | 16:12782f5d4aa4 | 528 | case SENS_8G: |
j3 | 16:12782f5d4aa4 | 529 | accData.xAxis.scaled = (accData.xAxis.raw/SENS_8G_LSB_PER_G); |
j3 | 16:12782f5d4aa4 | 530 | accData.yAxis.scaled = (accData.yAxis.raw/SENS_8G_LSB_PER_G); |
j3 | 16:12782f5d4aa4 | 531 | accData.zAxis.scaled = (accData.zAxis.raw/SENS_8G_LSB_PER_G); |
j3 | 16:12782f5d4aa4 | 532 | break; |
j3 | 16:12782f5d4aa4 | 533 | |
j3 | 16:12782f5d4aa4 | 534 | case SENS_16G: |
j3 | 16:12782f5d4aa4 | 535 | accData.xAxis.scaled = (accData.xAxis.raw/SENS_16G_LSB_PER_G); |
j3 | 16:12782f5d4aa4 | 536 | accData.yAxis.scaled = (accData.yAxis.raw/SENS_16G_LSB_PER_G); |
j3 | 16:12782f5d4aa4 | 537 | accData.zAxis.scaled = (accData.zAxis.raw/SENS_16G_LSB_PER_G); |
j3 | 16:12782f5d4aa4 | 538 | break; |
j3 | 16:12782f5d4aa4 | 539 | } |
j3 | 16:12782f5d4aa4 | 540 | |
j3 | 16:12782f5d4aa4 | 541 | sensorTime.raw = ((localData[14] << 16) | (localData[13] << 8) | |
j3 | 16:12782f5d4aa4 | 542 | localData[12]); |
j3 | 16:12782f5d4aa4 | 543 | sensorTime.seconds = (sensorTime.raw * SENSOR_TIME_LSB); |
j3 | 16:12782f5d4aa4 | 544 | } |
j3 | 16:12782f5d4aa4 | 545 | |
j3 | 16:12782f5d4aa4 | 546 | return rtnVal; |
j3 | 16:12782f5d4aa4 | 547 | } |
j3 | 16:12782f5d4aa4 | 548 | |
j3 | 16:12782f5d4aa4 | 549 | |
j3 | 16:12782f5d4aa4 | 550 | //***************************************************************************** |
j3 | 15:dc35ccc0b08e | 551 | int32_t BMI160::getSensorTime(SensorTime &sensorTime) |
j3 | 10:9e219f2f1fb3 | 552 | { |
j3 | 10:9e219f2f1fb3 | 553 | uint8_t localData[3]; |
j3 | 10:9e219f2f1fb3 | 554 | int32_t rtnVal = readBlock(SENSORTIME_0, SENSORTIME_2, localData); |
j3 | 10:9e219f2f1fb3 | 555 | |
j3 | 10:9e219f2f1fb3 | 556 | if(rtnVal == RTN_NO_ERROR) |
j3 | 10:9e219f2f1fb3 | 557 | { |
j3 | 15:dc35ccc0b08e | 558 | sensorTime.raw = ((localData[2] << 16) | (localData[1] << 8) | |
j3 | 15:dc35ccc0b08e | 559 | localData[0]); |
j3 | 15:dc35ccc0b08e | 560 | sensorTime.seconds = (sensorTime.raw * SENSOR_TIME_LSB); |
j3 | 10:9e219f2f1fb3 | 561 | } |
j3 | 10:9e219f2f1fb3 | 562 | |
j3 | 10:9e219f2f1fb3 | 563 | return rtnVal; |
j3 | 10:9e219f2f1fb3 | 564 | } |
j3 | 10:9e219f2f1fb3 | 565 | |
j3 | 12:64931a80340d | 566 | |
j3 | 12:64931a80340d | 567 | //***************************************************************************** |
j3 | 12:64931a80340d | 568 | int32_t BMI160::getTemperature(float *temp) |
j3 | 12:64931a80340d | 569 | { |
j3 | 12:64931a80340d | 570 | uint8_t data[2]; |
j3 | 12:64931a80340d | 571 | uint16_t rawTemp; |
j3 | 12:64931a80340d | 572 | |
j3 | 12:64931a80340d | 573 | int32_t rtnVal = readBlock(TEMPERATURE_0, TEMPERATURE_1, data); |
j3 | 12:64931a80340d | 574 | if(rtnVal == RTN_NO_ERROR) |
j3 | 12:64931a80340d | 575 | { |
j3 | 12:64931a80340d | 576 | rawTemp = ((data[1] << 8) | data[0]); |
j3 | 12:64931a80340d | 577 | if(rawTemp & 0x8000) |
j3 | 12:64931a80340d | 578 | { |
j3 | 12:64931a80340d | 579 | *temp = (23.0F - ((0x10000 - rawTemp)/512.0F)); |
j3 | 12:64931a80340d | 580 | } |
j3 | 12:64931a80340d | 581 | else |
j3 | 12:64931a80340d | 582 | { |
j3 | 12:64931a80340d | 583 | *temp = ((rawTemp/512.0F) + 23.0F); |
j3 | 12:64931a80340d | 584 | } |
j3 | 12:64931a80340d | 585 | } |
j3 | 12:64931a80340d | 586 | |
j3 | 12:64931a80340d | 587 | return rtnVal; |
j3 | 12:64931a80340d | 588 | } |