TSDA Robotics
BMI160 Initial
Dependents: MAX32630HSP3_IMU_HelloWorld MAX32630HSP3_IMU_HelloWorld MAX32630HSP3_Pitch_Charles Maxim_Squeeks
Revision 15:dc35ccc0b08e, committed 2016-12-20
- Comitter:
- j3
- Date:
- Tue Dec 20 21:20:22 2016 +0000
- Parent:
- 14:646eb94fa2eb
- Child:
- 16:12782f5d4aa4
- Commit message:
- working
Changed in this revision
| bmi160.cpp | Show annotated file Show diff for this revision Revisions of this file |
| bmi160.h | Show annotated file Show diff for this revision Revisions of this file |
--- a/bmi160.cpp Tue Dec 20 19:32:26 2016 +0000
+++ b/bmi160.cpp Tue Dec 20 21:20:22 2016 +0000
@@ -130,21 +130,20 @@
data.raw = ((localData[1] << 8) | localData[0]);
switch(range)
{
- //magic numbers are typical values for LSB/g from EC table
case SENS_2G:
- data.scaled = (data.raw/16384.0F);
+ data.scaled = (data.raw/SENS_2G_LSB_PER_G);
break;
case SENS_4G:
- data.scaled = (data.raw/8192.0F);
+ data.scaled = (data.raw/SENS_4G_LSB_PER_G);
break;
case SENS_8G:
- data.scaled = (data.raw/4096.0F);
+ data.scaled = (data.raw/SENS_8G_LSB_PER_G);
break;
case SENS_16G:
- data.scaled = (data.raw/2048.0F);
+ data.scaled = (data.raw/SENS_16G_LSB_PER_G);
break;
}
}
@@ -167,29 +166,28 @@
switch(range)
{
- //magic numbers are typical values for LSB/g from EC table
case SENS_2G:
- data.xAxis.scaled = (data.xAxis.raw/16384.0F);
- data.yAxis.scaled = (data.yAxis.raw/16384.0F);
- data.zAxis.scaled = (data.zAxis.raw/16384.0F);
+ data.xAxis.scaled = (data.xAxis.raw/SENS_2G_LSB_PER_G);
+ data.yAxis.scaled = (data.yAxis.raw/SENS_2G_LSB_PER_G);
+ data.zAxis.scaled = (data.zAxis.raw/SENS_2G_LSB_PER_G);
break;
case SENS_4G:
- data.xAxis.scaled = (data.xAxis.raw/8192.0F);
- data.yAxis.scaled = (data.yAxis.raw/8192.0F);
- data.zAxis.scaled = (data.zAxis.raw/8192.0F);
+ data.xAxis.scaled = (data.xAxis.raw/SENS_4G_LSB_PER_G);
+ data.yAxis.scaled = (data.yAxis.raw/SENS_4G_LSB_PER_G);
+ data.zAxis.scaled = (data.zAxis.raw/SENS_4G_LSB_PER_G);
break;
case SENS_8G:
- data.xAxis.scaled = (data.xAxis.raw/4096.0F);
- data.yAxis.scaled = (data.yAxis.raw/4096.0F);
- data.zAxis.scaled = (data.zAxis.raw/4096.0F);
+ data.xAxis.scaled = (data.xAxis.raw/SENS_8G_LSB_PER_G);
+ data.yAxis.scaled = (data.yAxis.raw/SENS_8G_LSB_PER_G);
+ data.zAxis.scaled = (data.zAxis.raw/SENS_8G_LSB_PER_G);
break;
case SENS_16G:
- data.xAxis.scaled = (data.xAxis.raw/2048.0F);
- data.yAxis.scaled = (data.yAxis.raw/2048.0F);
- data.zAxis.scaled = (data.zAxis.raw/2048.0F);
+ data.xAxis.scaled = (data.xAxis.raw/SENS_16G_LSB_PER_G);
+ data.yAxis.scaled = (data.yAxis.raw/SENS_16G_LSB_PER_G);
+ data.zAxis.scaled = (data.zAxis.raw/SENS_16G_LSB_PER_G);
break;
}
}
@@ -199,14 +197,63 @@
//*****************************************************************************
-int32_t BMI160::getSensorTime(float *data)
+int32_t BMI160::getAccXYZandSensorTime(SensorData &data, SensorTime &sensorTime, AccRange range)
+{
+ uint8_t localData[9];
+ int32_t rtnVal = readBlock(DATA_14, SENSORTIME_2, 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]);
+
+ switch(range)
+ {
+ case SENS_2G:
+ data.xAxis.scaled = (data.xAxis.raw/SENS_2G_LSB_PER_G);
+ data.yAxis.scaled = (data.yAxis.raw/SENS_2G_LSB_PER_G);
+ data.zAxis.scaled = (data.zAxis.raw/SENS_2G_LSB_PER_G);
+ break;
+
+ case SENS_4G:
+ data.xAxis.scaled = (data.xAxis.raw/SENS_4G_LSB_PER_G);
+ data.yAxis.scaled = (data.yAxis.raw/SENS_4G_LSB_PER_G);
+ data.zAxis.scaled = (data.zAxis.raw/SENS_4G_LSB_PER_G);
+ break;
+
+ case SENS_8G:
+ data.xAxis.scaled = (data.xAxis.raw/SENS_8G_LSB_PER_G);
+ data.yAxis.scaled = (data.yAxis.raw/SENS_8G_LSB_PER_G);
+ data.zAxis.scaled = (data.zAxis.raw/SENS_8G_LSB_PER_G);
+ break;
+
+ case SENS_16G:
+ data.xAxis.scaled = (data.xAxis.raw/SENS_16G_LSB_PER_G);
+ data.yAxis.scaled = (data.yAxis.raw/SENS_16G_LSB_PER_G);
+ data.zAxis.scaled = (data.zAxis.raw/SENS_16G_LSB_PER_G);
+ break;
+ }
+
+ sensorTime.raw = ((localData[8] << 16) | (localData[7] << 8) |
+ localData[6]);
+ sensorTime.seconds = (sensorTime.raw * SENSOR_TIME_LSB);
+ }
+
+ return rtnVal;
+}
+
+
+//*****************************************************************************
+int32_t BMI160::getSensorTime(SensorTime &sensorTime)
{
uint8_t localData[3];
int32_t rtnVal = readBlock(SENSORTIME_0, SENSORTIME_2, localData);
if(rtnVal == RTN_NO_ERROR)
{
- *data = (((localData[2] << 16) | (localData[1] << 8) | localData[0]) * 39e-6);
+ sensorTime.raw = ((localData[2] << 16) | (localData[1] << 8) |
+ localData[0]);
+ sensorTime.seconds = (sensorTime.raw * SENSOR_TIME_LSB);
}
return rtnVal;
--- a/bmi160.h Tue Dec 20 19:32:26 2016 +0000
+++ b/bmi160.h Tue Dec 20 21:20:22 2016 +0000
@@ -69,7 +69,7 @@
{
X_AXIS = 0,
Y_AXIS,
- Z_AXIS
+ Z_AXIS
};
///Structure for axis data
@@ -79,6 +79,16 @@
float scaled; ///<Axis scaled data
};
+ ///Structure for sensor time data
+ struct SensorTime
+ {
+ uint32_t raw; ///<raw SensorTime
+ float seconds; ///<SensorTime as seconds
+ };
+
+ ///Period of internal counter
+ static const float SENSOR_TIME_LSB = 39e-6;
+
///Structure for holding sensor data
struct SensorData
{
@@ -285,12 +295,17 @@
///Accelerometer ranges
enum AccRange
{
- SENS_2G = 0, ///<Accelerometer range +-2G
- SENS_4G, ///<Accelerometer range +-4G
- SENS_8G, ///<Accelerometer range +-8G
- SENS_16G, ///<Accelerometer range +-16G
+ SENS_2G = 0x03, ///<Accelerometer range +-2G
+ SENS_4G = 0x05, ///<Accelerometer range +-4G
+ SENS_8G = 0x08, ///<Accelerometer range +-8G
+ SENS_16G = 0x0C, ///<Accelerometer range +-16G
};
+ static const float SENS_2G_LSB_PER_G = 16384.0F;
+ static const float SENS_4G_LSB_PER_G = 8192.0F;
+ static const float SENS_8G_LSB_PER_G = 4096.0F;
+ static const float SENS_16G_LSB_PER_G = 2048.0F;
+
///Accelerometer configuration data structure
struct AccConfig
{
@@ -473,19 +488,34 @@
///@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, AccRange range);
+ int32_t getAccXYZ(SensorData &data, AccRange range);
+
+
+ ///@brief Get accelerometer xyz axis and sensor time.\n
+ ///
+ ///On Entry:
+ ///@param[in] data - SensorData structure
+ ///@param[in] sensorTime - SensorTime structure for data
+ ///@param[in] range - Accelerometer range
+ ///
+ ///On Exit:
+ ///@param[out] data - Structure holds raw and scaled data for all three axis
+ ///@param[out] sensorTime - Holds sensor time on success
+ ///
+ ///@returns 0 on success, non 0 on failure
+ int32_t getAccXYZandSensorTime(SensorData &data, SensorTime &sensorTime, AccRange range);
///@brief Get sensor time.\n
///
///On Entry:
- ///@param[in] data - pointer to float for holding data
+ ///@param[in] sensorTime - SensorTime structure for data
///
///On Exit:
- ///@param[out] data - time in seconds, as float
+ ///@param[out] sensorTime - Holds sensor time on success
///
///@returns returns 0 on success, non 0 on failure
- int32_t getSensorTime(float *data);
+ int32_t getSensorTime(SensorTime &sensorTime);
///@brief Get die temperature.\n