File content as of revision 8:a89b529b1d96:

/**********************************************************************
* Copyright (C) 2016 Maxim Integrated Products, Inc., All Rights Reserved.
*
* Permission is hereby granted, free of charge, to any person obtaining a
* copy of this software and associated documentation files (the "Software"),
* to deal in the Software without restriction, including without limitation
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* and/or sell copies of the Software, and to permit persons to whom the
* Software is furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included
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*
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* ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
* OTHER DEALINGS IN THE SOFTWARE.
*
* Except as contained in this notice, the name of Maxim Integrated
* Products, Inc. shall not be used except as stated in the Maxim Integrated
* Products, Inc. Branding Policy.
*
* The mere transfer of this software does not imply any licenses
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**********************************************************************/


#include "bmi160.h"


//*****************************************************************************
int32_t BMI160::setSensorPowerMode(Sensors sensor, PowerModes pwrMode)
{
    int32_t rtnVal = -1;
    
    switch(sensor)
    {
        case MAG:
            rtnVal = writeRegister(CMD, (MAG_SET_PMU_MODE | pwrMode));
        break;
        
        case GYRO:
            rtnVal = writeRegister(CMD, (GYR_SET_PMU_MODE | pwrMode));
        break;
        
        case ACC:
            rtnVal = writeRegister(CMD, (ACC_SET_PMU_MODE | pwrMode));
        break;
        
        default:
            rtnVal = -1;
        break;
    }
    
    return rtnVal;
}


//*****************************************************************************
int32_t BMI160::getTemperature(float *temp)
{
    uint8_t data[2];
    uint16_t rawTemp;
    
    int32_t rtnVal = readBlock(TEMPERATURE_0, TEMPERATURE_1, data);
    if(rtnVal == RTN_NO_ERROR)
    {
        rawTemp = ((data[1] << 8) | data[0]);
        if(rawTemp & 0x8000)
        {
            *temp = (23.0F - ((0x10000 - rawTemp)/512.0F));
        }
        else
        {
            *temp = ((rawTemp/512.0F) + 23.0F);
        }
    }
    
    return rtnVal;
}


//*****************************************************************************
int32_t BMI160::getSensorDataAndTime(uint8_t *data)
{
    return readBlock(DATA_0, SENSORTIME_2, data);
}


//*****************************************************************************
int32_t BMI160::getAccAxis(SensorAxis axis, AxisData &data)
{
    uint8_t localData[2];
    int32_t rtnVal;
    
    switch(axis)
    {
        case X_AXIS:
            rtnVal = readBlock(DATA_14, DATA_15, localData);
        break;
        
        case Y_AXIS:
            rtnVal = readBlock(DATA_16, DATA_17, localData);
        break;
        
        case Z_AXIS:
            rtnVal = readBlock(DATA_18, DATA_19, localData);
        break;
        
        default:
            rtnVal = -1;
        break;
    }
    
    if(rtnVal == RTN_NO_ERROR)
    {
        data.raw = ((localData[1] << 8) | localData[0]);
        data.scaled = (data.raw/16384.0F); //only 2G range right now
    }
    
    return rtnVal;
}
    

//*****************************************************************************    
int32_t BMI160::getAccXYZ(SensorData &data)
{
    uint8_t localData[6];
    int32_t rtnVal = readBlock(DATA_14, DATA_19, localData);
    
    if(rtnVal == RTN_NO_ERROR)
    {
        data.xAxis.raw = ((localData[1] << 8) | localData[0]);
        data.yAxis.raw = ((localData[3] << 8) | localData[2]);
        data.zAxis.raw = ((localData[5] << 8) | localData[4]);
        
        //only 2G range right now
        data.xAxis.scaled = (data.xAxis.raw/16384.0F);
        data.yAxis.scaled = (data.yAxis.raw/16384.0F);
        data.zAxis.scaled = (data.zAxis.raw/16384.0F);
    }
    
    return rtnVal;
}