Diff: bmi160.cpp

Revision:

14:646eb94fa2eb

Parent:

12:64931a80340d

Child:

15:dc35ccc0b08e

--- a/bmi160.cpp	Tue Dec 20 19:02:36 2016 +0000
+++ b/bmi160.cpp	Tue Dec 20 19:32:26 2016 +0000
@@ -66,12 +66,35 @@
 
 
 //*****************************************************************************
-int32_t setAccConfig(const AccConfig &config)
+int32_t BMI160::setAccConfig(const AccConfig &config)
 {
-    int32_t rtnVal = -1;
     uint8_t data[2];
     
+    data[0] = ((config.us << ACC_US_POS) | (config.bwp << ACC_BWP_POS) | 
+               (config.odr << ACC_ODR_POS));
+    data[1] = config.range;
     
+    return writeBlock(ACC_CONF, ACC_RANGE, data);
+}
+
+
+//*****************************************************************************
+int32_t BMI160::getAccConfig(AccConfig &config)
+{
+    uint8_t data[2];
+    int32_t rtnVal = readBlock(ACC_CONF, ACC_RANGE, data);
+    
+    if(rtnVal == RTN_NO_ERROR)
+    {
+        config.range = static_cast<BMI160::AccRange>(
+        (data[1] & ACC_RANGE_MASK));
+        config.us = static_cast<BMI160::AccUnderSampling>(
+        ((data[0] & ACC_US_MASK) >> ACC_US_POS));
+        config.bwp = static_cast<BMI160::AccBandWidthParam>(
+        ((data[0] & ACC_BWP_MASK) >> ACC_BWP_POS));
+        config.odr = static_cast<BMI160::AccOutPutDataRate>(
+        ((data[0] & ACC_ODR_MASK) >> ACC_ODR_POS));
+    }
     
     return rtnVal;
 }