Revision 0:bb5b832891fb, committed 2016-12-07

Comitter:

j3

Date:

Wed Dec 07 19:45:06 2016 +0000

Child:

1:a4c911640569

Commit message:

Init Commit, basic skeleton of class

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/bmi160.cpp	Wed Dec 07 19:45:06 2016 +0000
@@ -0,0 +1,101 @@
+/**********************************************************************
+* 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
+* the rights to use, copy, modify, merge, publish, distribute, sublicense,
+* 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
+* in all copies or substantial portions of the Software.
+*
+* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+* OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+* IN NO EVENT SHALL MAXIM INTEGRATED BE LIABLE FOR ANY CLAIM, DAMAGES
+* OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
+* 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
+* of trade secrets, proprietary technology, copyrights, patents,
+* trademarks, maskwork rights, or any other form of intellectual
+* property whatsoever. Maxim Integrated Products, Inc. retains all
+* ownership rights.
+**********************************************************************/
+
+
+#include "bmi160.h"
+
+
+//*****************************************************************************
+BMI160::BMI160(I2C &i2cBus, uint8_t i2cAdrs)
+:m_i2cBus(i2cBus), m_Wadrs(i2cAdrs << 1), m_Radrs((i2cAdrs << 1) | 1)
+{
+}
+
+
+//*****************************************************************************
+BMI160::~BMI160()
+{
+}
+
+
+//*****************************************************************************   
+int32_t BMI160::readRegister(Registers reg, uint8_t *data)
+{
+    int32_t rtnVal = -1;
+    char packet[] = {static_cast<char>(reg)};
+    
+    if(m_i2cBus.write(m_Wadrs, packet, 1) == 0)
+    {
+        rtnVal = m_i2cBus.read(m_Radrs, reinterpret_cast<char *>(data), 1);
+    }
+    
+    return rtnVal;
+}
+
+
+//*****************************************************************************
+int32_t BMI160::writeRegister(Registers reg, uint8_t data)
+{
+    char packet[] = {static_cast<char>(reg), static_cast<char>(data)};
+    
+    return m_i2cBus.write(m_Wadrs, packet, sizeof(packet));
+}
+
+
+//*****************************************************************************
+int32_t BMI160::readBlock(Registers startReg, Registers stopReg, uint8_t *data)
+{
+    int32_t rtnVal = -1;
+    int32_t numBytes = ((stopReg - startReg) + 1);
+    char packet[] = {static_cast<char>(startReg)};
+    
+    if(m_i2cBus.write(m_Wadrs, packet, 1) == 0)
+    {
+        rtnVal = m_i2cBus.read(m_Radrs, reinterpret_cast<char *>(data), numBytes);
+    }
+    
+    return rtnVal;
+}
+
+
+//*****************************************************************************
+int32_t BMI160::writeBlock(Registers startReg, Registers stopReg, uint8_t *data)
+{
+    int32_t numBytes = ((stopReg - startReg) + 1);
+    char packet[numBytes + 1];
+    
+    packet[0] = static_cast<char>(startReg);
+    
+    memcpy(packet + 1, data, numBytes);
+    
+    return m_i2cBus.write(m_Wadrs, packet, sizeof(packet));
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/bmi160.h	Wed Dec 07 19:45:06 2016 +0000
@@ -0,0 +1,253 @@
+/**********************************************************************
+* 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
+* the rights to use, copy, modify, merge, publish, distribute, sublicense,
+* 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
+* in all copies or substantial portions of the Software.
+*
+* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+* OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+* IN NO EVENT SHALL MAXIM INTEGRATED BE LIABLE FOR ANY CLAIM, DAMAGES
+* OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
+* 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
+* of trade secrets, proprietary technology, copyrights, patents,
+* trademarks, maskwork rights, or any other form of intellectual
+* property whatsoever. Maxim Integrated Products, Inc. retains all
+* ownership rights.
+**********************************************************************/
+
+
+#ifndef BMI160_H
+#define BMI160_H
+
+#include "mbed.h"
+
+/**
+@brief The BMI160 is a small, low power, low noise 16-bit inertial measurement
+unit designed for use in mobile applications like augmented reality or indoor
+navigation which require highly accurate, real-time sensor data.
+
+In full operation mode, with both the accelerometer and gyroscope enabled, the
+current consumption is typically 950 μA, enabling always-on applications in
+battery driven devices. It is available in a compact 14-pin 2.5 x 3.0 x 0.8 mm³
+LGA package."
+*/
+class BMI160
+{
+public:
+
+    static const uint8_t I2C_ADRS_SDO_LO = 0x68;
+    static const uint8_t I2C_ADRS_SDO_HI = 0x69;
+    
+    static const uint8_t NO_ERROR = 0;
+    
+    enum Registers
+    {
+        CHIP_ID = 0x00,
+        ERR_REG = 0x02,
+        PMU_STATUS,
+        DATA_0,
+        DATA_1,
+        DATA_2,
+        DATA_3,
+        DATA_4,
+        DATA_5,
+        DATA_6,
+        DATA_7,
+        DATA_8,
+        DATA_9,
+        DATA_10,
+        DATA_11,
+        DATA_12,
+        DATA_13,
+        DATA_14,
+        DATA_15,
+        DATA_16,
+        DATA_17,
+        DATA_18,
+        DATA_19,
+        SENSORTIME_0,
+        SENSORTIME_1,
+        SENSORTIME_2,
+        STATUS,
+        INT_STATUS_0,
+        INT_STATUS_1,
+        INT_STATUS_2,
+        INT_STATUS_3,
+        TEMPERATURE_0,
+        TEMPERATURE_1,
+        FIFO_LENGTH_0,
+        FIFO_LENGTH_1,
+        FIFO_DATA,
+        ACC_CONF = 0x40,
+        ACC_RANGE,
+        GYR_CONF,
+        GYR_RANGE,
+        MAG_CONF,
+        FIFO_DOWNS,
+        FIFO_CONFIG_0,
+        FIFO_CONFIG_1,
+        MAG_IF_0 = 0x4B,
+        MAG_IF_1,
+        MAG_IF_2,
+        MAG_IF_3,
+        MAG_IF_4,
+        INT_EN_0,
+        INT_EN_1,
+        INT_EN_2,
+        INT_OUT_CTRL,
+        INT_LATCH,
+        INT_MAP_0,
+        INT_MAP_1,
+        INT_MAP_2,
+        INT_DATA_0,
+        INT_DATA_1,
+        INT_LOWHIGH_0,
+        INT_LOWHIGH_1,
+        INT_LOWHIGH_2,
+        INT_LOWHIGH_3,
+        INT_LOWHIGH_4,
+        INT_MOTION_0,
+        INT_MOTION_1,
+        INT_MOTION_2,
+        INT_MOTION_3,
+        INT_TAP_0,
+        INT_TAP_1,
+        INT_ORIENT_0,
+        INT_ORIENT_1,
+        INT_FLAT_0,
+        INT_FLAT_1,
+        FOC_CONF,
+        CONF,
+        IF_CONF,
+        PMU_TRIGGER,
+        SELF_TEST,
+        NV_CONF = 0x70,
+        OFFSET_0,
+        OFFSET_1,
+        OFFSET_2,
+        OFFSET_3,
+        OFFSET_4,
+        OFFSET_5,
+        OFFSET_6,
+        STEP_CNT_0,
+        STEP_CNT_1,
+        STEP_CONF_0,
+        STEP_CONF_1,
+        CMD = 0x7E
+    };
+    
+    ///@brief BMI160 Constructor.\n
+    ///
+    ///On Entry:
+    ///@param[in] i2cBus - reference to I2C bus for this device
+    ///@param[in] i2cAdrs - 7-bit I2C address
+    ///
+    ///On Exit:
+    ///@param[out] none
+    ///
+    ///@returns none
+    BMI160(I2C &i2cBus, uint8_t i2cAdrs);
+    
+    
+    ///@brief BMI160 Destructor.\n
+    ///
+    ///On Entry:
+    ///@param[in] none 
+    ///
+    ///On Exit:
+    ///@param[out] none
+    ///
+    ///@returns none
+    ~BMI160();
+    
+    
+    ///@brief Reads a single register.\n
+    ///
+    ///On Entry:
+    ///@param[in] data - pointer to memory for storing read data
+    ///
+    ///On Exit:
+    ///@param[out] data - holds contents of read register on success
+    ///
+    ///@returns 0 on success, non 0 on failure
+    int32_t readRegister(Registers reg, uint8_t *data);
+    
+    
+    ///@brief Writes a single register.\n
+    ///
+    ///On Entry:
+    ///@param[in] data - data to write to register
+    ///
+    ///On Exit:
+    ///@param[out] none
+    ///
+    ///@returns 0 on success, non 0 on failure
+    int32_t writeRegister(Registers reg, uint8_t data);
+    
+    
+    ///@brief Reads a block of registers.\n
+    ///@detail User must ensure that all registers between 'startReg' and 
+    ///'stopReg' exist and are readable.  Function reads up to, including, 
+    ///'stopReg'.\n
+    ///
+    ///On Entry:
+    ///@param[in] startReg - register to start reading from
+    ///@param[in] stopReg - register to stop reading from
+    ///@param[in] data - pointer to memory for storing read data
+    ///
+    ///On Exit:
+    ///@param[out] data - holds contents of read registers on success
+    ///
+    ///@returns 0 on success, non 0 on failure
+    int32_t readBlock(Registers startReg, Registers stopReg, uint8_t *data);
+    
+    
+    ///@brief Writes a block of registers.\n
+    ///@detail User must ensure that all registers between 'startReg' and 
+    ///'stopReg' exist and are writeable.  Function writes up to, including, 
+    ///'stopReg'.\n
+    ///
+    ///On Entry:
+    ///@param[in] startReg - register to start writing at 
+    ///@param[in] stopReg - register to stop writing at
+    ///@param[in] data - pointer to data to write to registers
+    ///
+    ///On Exit:
+    ///@param[out] none
+    ///
+    ///@returns 0 on success, non 0 on failure
+    int32_t writeBlock(Registers startReg, Registers stopReg, uint8_t *data);
+    
+    
+    ///@brief fx documentation template.\n
+    ///
+    ///On Entry:
+    ///@param[in] none 
+    ///
+    ///On Exit:
+    ///@param[out] none
+    ///
+    ///@returns none
+
+private:
+
+    I2C m_i2cBus;
+    uint8_t m_Wadrs, m_Radrs;
+};
+
+#endif /* BMI160_H */