Revision 1:b387585de3b5, committed 2020-07-25

Comitter:

Joeatsumi

Date:

Sat Jul 25 11:02:21 2020 +0000

Parent:

0:3df2d4d2d393

Commit message:

This is a modified library of BMX055. This enables us to use BMX055 and BME280 sensor with a I2c bus.

Changed in this revision

diff -r 3df2d4d2d393 -r b387585de3b5 test_BMX055.cpp
--- a/test_BMX055.cpp	Sat May 23 13:17:09 2020 +0000
+++ b/test_BMX055.cpp	Sat Jul 25 11:02:21 2020 +0000
@@ -1,16 +1,31 @@
 #include "mbed.h"
 #include "test_BMX055.h"
 
-test_BMX055::test_BMX055(PinName sda,PinName scl):i2c(sda ,scl){
+/*
+test_BMX055::test_BMX055(PinName sda,PinName scl, char slave_adr):i2c(sda ,scl),address(slave_adr),t_fine(0){
     
     //I2C initialization
-    i2c.frequency(400000); //400 kHz
+    i2c.frequency(100000); //100 kHz
     
     currentGyroRange = 0;
     currentAcceleroRange=0;
     gravity=9.80665;
     RAD_TO_DEG=57.3;
-    }
+}
+*/
+//BME280::BME280(I2C &i2c_obj, char slave_adr)
+
+test_BMX055::test_BMX055(I2C &i2c_obj, char slave_adr):i2c(i2c_obj),address(slave_adr),t_fine(0){
+    
+    //I2C initialization
+    i2c.frequency(100000); //100 kHz
+    
+    currentGyroRange = 0;
+    currentAcceleroRange=0;
+    gravity=9.80665;
+    RAD_TO_DEG=57.3;
+}
+
 
 test_BMX055::~test_BMX055(){
     }
@@ -28,7 +43,7 @@
     return;
     
     }
-    
+
 //i2c read function
 int test_BMX055::i2c_mem_read(int device_address, int mem_address)
 {   
@@ -107,7 +122,7 @@
         y_data = -1 * (65536 - y_data);    
     }
 
-    y_rate=(float(y_data) * gyro_scale_factor)/RAD_TO_DEG; // deg/sec
+    y_rate=(float(y_data) * gyro_scale_factor)/RAD_TO_DEG; //  rad/sec
     
     return y_rate;
 }
@@ -130,7 +145,7 @@
 
     z_data = -1 * z_data;
 
-    z_rate=(float(z_data) * gyro_scale_factor)/RAD_TO_DEG; // deg/sec
+    z_rate=(float(z_data) * gyro_scale_factor)/RAD_TO_DEG; //  rad/sec
     
     return z_rate;
 }
@@ -174,7 +189,7 @@
         x_data = -1 * (4096 - x_data);    
     }
     
-    x_acc=float(x_data)*gravity/acc_scale_factor;
+    x_acc=float(x_data)*gravity/acc_scale_factor;//m/s^2
     
     return x_acc;
 }
@@ -198,7 +213,7 @@
         y_data = -1 * (4096 - y_data);    
     }
     
-    y_acc=float(y_data)*gravity/acc_scale_factor;
+    y_acc=float(y_data)*gravity/acc_scale_factor;//m/s^2
     
     return y_acc;
 }
@@ -219,10 +234,10 @@
     int z_data = z_temp_L + 16 * z_temp_H;
     if(z_data > 2047)
     {
-        z_data = (4096 - z_data);    
+        z_data = -1*(4096 - z_data);    
     }
     
-    z_acc=float(z_data)*gravity/acc_scale_factor;
+    z_acc=float(-z_data)*gravity/acc_scale_factor;//m/s^2
     
     return z_acc;
 }
@@ -230,24 +245,24 @@
 void test_BMX055::initiate_mag()
 {
     i2c_mem_write(MAG_ADDRESS, 0x4b, 0x83);
-    wait_ms(10);
+    wait_us(10000);
     i2c_mem_write(MAG_ADDRESS, 0x4b, 0x01);
-    wait_ms(10);
+    wait_us(10000);
     i2c_mem_write(MAG_ADDRESS, 0x4c, 0x00);
-    wait_ms(10);
+    wait_us(10000);
     i2c_mem_write(MAG_ADDRESS, 0x4c, 0x00);
-    wait_ms(10);
+    wait_us(10000);
     i2c_mem_write(MAG_ADDRESS, 0x4e, 0x84);
-    wait_ms(10);    
+    wait_us(10000); 
     i2c_mem_write(MAG_ADDRESS, 0x51, 0x04);
-    wait_ms(10);
+    wait_us(10000);
     i2c_mem_write(MAG_ADDRESS, 0x52, 0x16);
-    wait_ms(10);
+    wait_us(10000);
     
         
     
 }
-    
+
 float test_BMX055::get_mag_x_data()
 {
     float x_mag;
@@ -321,4 +336,345 @@
     
     return z_mag;
     
-}
\ No newline at end of file
+}
+
+//Pressure sensor BME280
+
+void test_BMX055::initialize()
+{
+    //I2C initialization
+    //i2c.frequency(400000); //400 kHz
+    //i2c.frequency(100000); //100 kHz
+    
+    char cmd[18];
+ 
+    cmd[0] = 0xf2; // ctrl_hum
+    cmd[1] = 0x01; // Humidity oversampling x1
+    i2c.write(address, cmd, 2);
+ 
+    cmd[0] = 0xf4; // ctrl_meas
+    cmd[1] = 0x27; // Temparature oversampling x1, Pressure oversampling x1, Normal mode
+    i2c.write(address, cmd, 2);
+ 
+    cmd[0] = 0xf5; // config
+    cmd[1] = 0xa0; // Standby 1000ms, Filter off
+    i2c.write(address, cmd, 2);
+ 
+    cmd[0] = 0x88; // read dig_T regs
+    i2c.write(address, cmd, 1);
+    i2c.read(address, cmd, 6);
+ 
+    dig_T1 = (cmd[1] << 8) | cmd[0];
+    dig_T2 = (cmd[3] << 8) | cmd[2];
+    dig_T3 = (cmd[5] << 8) | cmd[4];
+ 
+    //DEBUG_PRINT("dig_T = 0x%x, 0x%x, 0x%x\n", dig_T1, dig_T2, dig_T3);
+ 
+    cmd[0] = 0x8E; // read dig_P regs
+    i2c.write(address, cmd, 1);
+    i2c.read(address, cmd, 18);
+ 
+    dig_P1 = (cmd[ 1] << 8) | cmd[ 0];
+    dig_P2 = (cmd[ 3] << 8) | cmd[ 2];
+    dig_P3 = (cmd[ 5] << 8) | cmd[ 4];
+    dig_P4 = (cmd[ 7] << 8) | cmd[ 6];
+    dig_P5 = (cmd[ 9] << 8) | cmd[ 8];
+    dig_P6 = (cmd[11] << 8) | cmd[10];
+    dig_P7 = (cmd[13] << 8) | cmd[12];
+    dig_P8 = (cmd[15] << 8) | cmd[14];
+    dig_P9 = (cmd[17] << 8) | cmd[16];
+ 
+    //DEBUG_PRINT("dig_P = 0x%x, 0x%x, 0x%x, 0x%x, 0x%x, 0x%x, 0x%x, 0x%x, 0x%x\n", dig_P1, dig_P2, dig_P3, dig_P4, dig_P5, dig_P6, dig_P7, dig_P8, dig_P9);
+ 
+    cmd[0] = 0xA1; // read dig_H regs
+    i2c.write(address, cmd, 1);
+    i2c.read(address, cmd, 1);
+     cmd[1] = 0xE1; // read dig_H regs
+    i2c.write(address, &cmd[1], 1);
+    i2c.read(address, &cmd[1], 7);
+
+    dig_H1 = cmd[0];
+    dig_H2 = (cmd[2] << 8) | cmd[1];
+    dig_H3 = cmd[3];
+    dig_H4 = (cmd[4] << 4) | (cmd[5] & 0x0f);
+    dig_H5 = (cmd[6] << 4) | ((cmd[5]>>4) & 0x0f);
+    dig_H6 = cmd[7];
+ 
+    //DEBUG_PRINT("dig_H = 0x%x, 0x%x, 0x%x, 0x%x, 0x%x, 0x%x\n", dig_H1, dig_H2, dig_H3, dig_H4, dig_H5, dig_H6);
+}
+
+float test_BMX055::getTemperature()
+{
+    uint32_t temp_raw;
+    float tempf;
+    char cmd[4];
+ 
+    cmd[0] = 0xfa; // temp_msb
+    i2c.write(address, cmd, 1);
+    i2c.read(address, &cmd[1], 3);
+ 
+    temp_raw = (cmd[1] << 12) | (cmd[2] << 4) | (cmd[3] >> 4);
+ 
+    int32_t temp;
+ 
+    temp =
+        (((((temp_raw >> 3) - (dig_T1 << 1))) * dig_T2) >> 11) +
+        ((((((temp_raw >> 4) - dig_T1) * ((temp_raw >> 4) - dig_T1)) >> 12) * dig_T3) >> 14);
+ 
+    t_fine = temp;
+    temp = (temp * 5 + 128) >> 8;
+    tempf = (float)temp;
+ 
+    return (tempf/100.0f);
+}
+ 
+float test_BMX055::getPressure()
+{
+    uint32_t press_raw;
+    float pressf;
+    char cmd[4];
+ 
+    cmd[0] = 0xf7; // press_msb
+    i2c.write(address, cmd, 1);
+    i2c.read(address, &cmd[1], 3);
+ 
+    press_raw = (cmd[1] << 12) | (cmd[2] << 4) | (cmd[3] >> 4);
+ 
+    int32_t var1, var2;
+    uint32_t press;
+ 
+    var1 = (t_fine >> 1) - 64000;
+    var2 = (((var1 >> 2) * (var1 >> 2)) >> 11) * dig_P6;
+    var2 = var2 + ((var1 * dig_P5) << 1);
+    var2 = (var2 >> 2) + (dig_P4 << 16);
+    var1 = (((dig_P3 * (((var1 >> 2)*(var1 >> 2)) >> 13)) >> 3) + ((dig_P2 * var1) >> 1)) >> 18;
+    var1 = ((32768 + var1) * dig_P1) >> 15;
+    if (var1 == 0) {
+        return 0;
+    }
+    press = (((1048576 - press_raw) - (var2 >> 12))) * 3125;
+    if(press < 0x80000000) {
+        press = (press << 1) / var1;
+    } else {
+        press = (press / var1) * 2;
+    }
+    var1 = ((int32_t)dig_P9 * ((int32_t)(((press >> 3) * (press >> 3)) >> 13))) >> 12;
+    var2 = (((int32_t)(press >> 2)) * (int32_t)dig_P8) >> 13;
+    press = (press + ((var1 + var2 + dig_P7) >> 4));
+ 
+    pressf = (float)press;
+    return (pressf/100.0f);
+}
+ 
+float test_BMX055::getHumidity()
+{
+    uint32_t hum_raw;
+    float humf;
+    char cmd[4];
+ 
+    cmd[0] = 0xfd; // hum_msb
+    i2c.write(address, cmd, 1);
+    i2c.read(address, &cmd[1], 2);
+ 
+    hum_raw = (cmd[1] << 8) | cmd[2];
+ 
+    int32_t v_x1;
+ 
+    v_x1 = t_fine - 76800;
+    v_x1 =  (((((hum_raw << 14) -(((int32_t)dig_H4) << 20) - (((int32_t)dig_H5) * v_x1)) +
+               ((int32_t)16384)) >> 15) * (((((((v_x1 * (int32_t)dig_H6) >> 10) *
+                                            (((v_x1 * ((int32_t)dig_H3)) >> 11) + 32768)) >> 10) + 2097152) *
+                                            (int32_t)dig_H2 + 8192) >> 14));
+    v_x1 = (v_x1 - (((((v_x1 >> 15) * (v_x1 >> 15)) >> 7) * (int32_t)dig_H1) >> 4));
+    v_x1 = (v_x1 < 0 ? 0 : v_x1);
+    v_x1 = (v_x1 > 419430400 ? 419430400 : v_x1);
+ 
+    humf = (float)(v_x1 >> 12);
+ 
+    return (humf/1024.0f);
+}
+/*
+void test_BMX055::initiate_pres()
+{
+ 
+    i2c_mem_write(PRES_ADDRESS, CTRL_HUM, 0x01);
+    i2c_mem_write(PRES_ADDRESS, CONFIG, 0xa0);
+ 
+    //dig_T1
+    int dig_t1_Low = i2c_mem_read(PRES_ADDRESS,DIG_T1_LOW_REGS);
+    int dig_t1_High = i2c_mem_read(PRES_ADDRESS,DIG_T1_HIGH_REGS);
+    dig_T1 = uint16_t(dig_t1_Low + 256 * dig_t1_High);
+
+    //dig_T2
+    int dig_t2_Low = i2c_mem_read(PRES_ADDRESS, DIG_T2_LOW_REGS);
+    int dig_t2_High = i2c_mem_read(PRES_ADDRESS, DIG_T2_HIGH_REGS);
+    dig_T2 = int16_t(dig_t2_Low + 256 * dig_t2_High);
+    
+    //dig_T3
+    int dig_t3_Low = i2c_mem_read(PRES_ADDRESS, DIG_T3_LOW_REGS);
+    int dig_t3_High = i2c_mem_read(PRES_ADDRESS, DIG_T3_HIGH_REGS);
+    dig_T3 = int16_t(dig_t3_Low + 256 * dig_t3_High);
+ 
+ 
+    //Pressure
+
+    //dig_P1
+    int dig_p1_Low = i2c_mem_read(PRES_ADDRESS, DIG_P1_LOW_REGS);
+    int dig_p1_High = i2c_mem_read(PRES_ADDRESS, DIG_P1_HIGH_REGS);
+    dig_P1 = uint16_t(dig_p1_Low + 256 * dig_p1_High);
+
+    //dig_P2
+    int dig_p2_Low = i2c_mem_read(PRES_ADDRESS, DIG_P2_LOW_REGS);
+    int dig_p2_High = i2c_mem_read(PRES_ADDRESS, DIG_P2_HIGH_REGS);
+    dig_P2 = int16_t(dig_p2_Low + 256 * dig_p2_High);
+    
+    //dig_P3
+    int dig_p3_Low = i2c_mem_read(PRES_ADDRESS, DIG_P3_LOW_REGS);
+    int dig_p3_High = i2c_mem_read(PRES_ADDRESS, DIG_P3_HIGH_REGS);
+    dig_P3 = int16_t(dig_p3_Low + 256 * dig_p3_High);
+
+    //dig_P4
+    int dig_p4_Low = i2c_mem_read(PRES_ADDRESS, DIG_P4_LOW_REGS);
+    int dig_p4_High = i2c_mem_read(PRES_ADDRESS, DIG_P4_HIGH_REGS);
+    dig_P4 = int16_t(dig_p4_Low + 256 * dig_p4_High);
+    
+    //dig_P5
+    int dig_p5_Low = i2c_mem_read(PRES_ADDRESS, DIG_P5_LOW_REGS);
+    int dig_p5_High = i2c_mem_read(PRES_ADDRESS, DIG_P5_HIGH_REGS);
+    dig_P5 = int16_t(dig_p5_Low + 256 * dig_p5_High);
+    
+    //dig_P6
+    int dig_p6_Low = i2c_mem_read(PRES_ADDRESS, DIG_P6_LOW_REGS);
+    int dig_p6_High = i2c_mem_read(PRES_ADDRESS, DIG_P6_HIGH_REGS);
+    dig_P6 = int16_t(dig_p6_Low + 256 * dig_p6_High);
+    
+    //dig_P7
+    int dig_p7_Low = i2c_mem_read(PRES_ADDRESS, DIG_P7_LOW_REGS);
+    int dig_p7_High = i2c_mem_read(PRES_ADDRESS, DIG_P7_HIGH_REGS);
+    dig_P7 = int16_t(dig_p7_Low + 256 * dig_p7_High);
+    
+    //dig_P8
+    int dig_p8_Low = i2c_mem_read(PRES_ADDRESS, DIG_P8_LOW_REGS);
+    int dig_p8_High = i2c_mem_read(PRES_ADDRESS, DIG_P8_HIGH_REGS);
+    dig_P8 = int16_t(dig_p8_Low + 256 * dig_p8_High);
+    
+    //dig_P9
+    int dig_p9_Low = i2c_mem_read(PRES_ADDRESS, DIG_P9_LOW_REGS);
+    int dig_p9_High = i2c_mem_read(PRES_ADDRESS, DIG_P9_HIGH_REGS);
+    dig_P9 = int16_t(dig_p2_Low + 256 * dig_p9_High);
+    
+    
+    //Humid
+    //dig_H1
+    dig_H1 = uint16_t(i2c_mem_read(PRES_ADDRESS, HUD_H1_REGS));
+    
+    //dig_H2
+    int dig_h2_Low = i2c_mem_read(PRES_ADDRESS, HUD_H2_LOW_REGS);
+    int dig_h2_High = i2c_mem_read(PRES_ADDRESS, HUD_H2_HIGH_REGS);
+    dig_H2 = int16_t(dig_h2_Low + 256 * dig_h2_High);
+    
+    //dig_H3
+    dig_H3 = uint16_t(i2c_mem_read(PRES_ADDRESS, HUD_H3_REGS));    
+    
+    //dig_H4
+    int dig_h4_Low = i2c_mem_read(PRES_ADDRESS, HUD_H4_LOW_REGS);
+    int dig_h4_High = i2c_mem_read(PRES_ADDRESS, HUD_H4_HIGH_REGS);
+    dig_H4 = int16_t((dig_h4_High << 4) | (dig_h4_Low & 0x0f));
+    
+    //HUD_H5_HIGH_REGS
+    int dig_h5_High = i2c_mem_read(PRES_ADDRESS, HUD_H5_HIGH_REGS);
+    dig_H5 = int16_t((dig_h5_High << 4) | ((dig_h4_Low>>4) & 0x0f));
+    
+    //HUD H6
+    dig_H6 = int16_t(i2c_mem_read(PRES_ADDRESS, HUD_H6_REGS));
+ 
+}
+
+float test_BMX055::getTemperature()
+{
+    uint32_t temp_raw;
+    float tempf;
+    
+    //Tempreture raw data
+    int temp_XLow = i2c_mem_read(PRES_ADDRESS, TEMP_XLSB);
+    int temp_Low = i2c_mem_read(PRES_ADDRESS, TEMP_LSB);
+    int temp_High = i2c_mem_read(PRES_ADDRESS, TEMP_MSB);
+
+    temp_raw = (temp_High << 12) | (temp_Low << 4) | (temp_XLow >> 4);    
+ 
+    int32_t temp;
+ 
+    temp =
+        (((((temp_raw >> 3) - (dig_T1 << 1))) * dig_T2) >> 11) +
+        ((((((temp_raw >> 4) - dig_T1) * ((temp_raw >> 4) - dig_T1)) >> 12) * dig_T3) >> 14);
+ 
+    t_fine = temp;
+    temp = (temp * 5 + 128) >> 8;
+    tempf = (float)temp;
+ 
+    return (tempf/100.0f);
+}
+
+float test_BMX055::getPressure()
+{
+    uint32_t press_raw;
+    float pressf;
+ 
+    int press_XLow = i2c_mem_read(PRES_ADDRESS, PRES_XLSB);
+    int press_Low = i2c_mem_read(PRES_ADDRESS, PRES_LSB);
+    int press_High = i2c_mem_read(PRES_ADDRESS, PRES_MSB);
+ 
+    press_raw = (press_High << 12) | (press_Low << 4) | (press_XLow >> 4);
+ 
+    int32_t var1, var2;
+    uint32_t press;
+ 
+    var1 = (t_fine >> 1) - 64000;
+    var2 = (((var1 >> 2) * (var1 >> 2)) >> 11) * dig_P6;
+    var2 = var2 + ((var1 * dig_P5) << 1);
+    var2 = (var2 >> 2) + (dig_P4 << 16);
+    var1 = (((dig_P3 * (((var1 >> 2)*(var1 >> 2)) >> 13)) >> 3) + ((dig_P2 * var1) >> 1)) >> 18;
+    var1 = ((32768 + var1) * dig_P1) >> 15;
+    if (var1 == 0) {
+        return 0;
+    }
+    press = (((1048576 - press_raw) - (var2 >> 12))) * 3125;
+    if(press < 0x80000000) {
+        press = (press << 1) / var1;
+    } else {
+        press = (press / var1) * 2;
+    }
+    var1 = ((int32_t)dig_P9 * ((int32_t)(((press >> 3) * (press >> 3)) >> 13))) >> 12;
+    var2 = (((int32_t)(press >> 2)) * (int32_t)dig_P8) >> 13;
+    press = (press + ((var1 + var2 + dig_P7) >> 4));
+ 
+    pressf = (float)press;
+    return (pressf/100.0f);
+}
+
+float test_BMX055::getHumidity()
+{
+    uint32_t hum_raw;
+    float humf;
+ 
+    int hud_Low = i2c_mem_read(PRES_ADDRESS, HUM_LSB);
+    int hud_High = i2c_mem_read(PRES_ADDRESS, HUM_MSB);
+ 
+    hum_raw = (hud_High << 8) | hud_Low;
+ 
+    int32_t v_x1;
+ 
+    v_x1 = t_fine - 76800;
+    v_x1 =  (((((hum_raw << 14) -(((int32_t)dig_H4) << 20) - (((int32_t)dig_H5) * v_x1)) +
+               ((int32_t)16384)) >> 15) * (((((((v_x1 * (int32_t)dig_H6) >> 10) *
+                                            (((v_x1 * ((int32_t)dig_H3)) >> 11) + 32768)) >> 10) + 2097152) *
+                                            (int32_t)dig_H2 + 8192) >> 14));
+    v_x1 = (v_x1 - (((((v_x1 >> 15) * (v_x1 >> 15)) >> 7) * (int32_t)dig_H1) >> 4));
+    v_x1 = (v_x1 < 0 ? 0 : v_x1);
+    v_x1 = (v_x1 > 419430400 ? 419430400 : v_x1);
+ 
+    humf = (float)(v_x1 >> 12);
+ 
+    return (humf/1024.0f);
+}
+*/
\ No newline at end of file

diff -r 3df2d4d2d393 -r b387585de3b5 test_BMX055.h
--- a/test_BMX055.h	Sat May 23 13:17:09 2020 +0000
+++ b/test_BMX055.h	Sat Jul 25 11:02:21 2020 +0000
@@ -4,6 +4,8 @@
 #define ACC_ADDRESS 0x19
 #define MAG_ADDRESS 0x13
 
+#define PRES_ADDRESS 0x76
+
 #define MAG_SOFT_RESET 0x4B
 #define MAG_ENEBLE 0x4E
 
@@ -32,12 +34,69 @@
 #define GYRO_RANGE_SET 0x0f
 #define ACC_RANGE_SET 0x0f
 
+
+#define CTRL_HUM 0xf2
+#define CTRL_MEAS 0xf4
+#define CONFIG 0xf5
+
+#define DIG_T1_LOW_REGS 0x88 // read dig_T1 regs
+#define DIG_T1_HIGH_REGS 0x89 // read dig_T1 regs
+#define DIG_T2_LOW_REGS 0x8a // read dig_T2 regs
+#define DIG_T2_HIGH_REGS 0x8b // read dig_T2 regs
+#define DIG_T3_LOW_REGS 0x8c // read dig_T3 regs
+#define DIG_T3_HIGH_REGS 0x8d // read dig_T3 regs
+
+#define DIG_P1_LOW_REGS 0x8e // read dig_P1 regs
+#define DIG_P1_HIGH_REGS 0x8f // read dig_P1 regs
+#define DIG_P2_LOW_REGS 0x90 // read dig_P2 regs
+#define DIG_P2_HIGH_REGS 0x91 // read dig_P2 regs
+#define DIG_P3_LOW_REGS 0x92 // read dig_P3 regs
+#define DIG_P3_HIGH_REGS 0x93 // read dig_P3 regs
+#define DIG_P4_LOW_REGS 0x94 // read dig_P4 regs
+#define DIG_P4_HIGH_REGS 0x95 // read dig_P4 regs
+#define DIG_P5_LOW_REGS 0x96 // read dig_P5 regs
+#define DIG_P5_HIGH_REGS 0x97 // read dig_P5 regs
+#define DIG_P6_LOW_REGS 0x98 // read dig_P6 regs
+#define DIG_P6_HIGH_REGS 0x99 // read dig_P6 regs
+#define DIG_P7_LOW_REGS 0x9a // read dig_P7 regs
+#define DIG_P7_HIGH_REGS 0x9b // read dig_P7 regs
+#define DIG_P8_LOW_REGS 0x9c // read dig_P8 regs
+#define DIG_P8_HIGH_REGS 0x9d // read dig_P8 regs
+#define DIG_P9_LOW_REGS 0x9e // read dig_P9 regs
+#define DIG_P9_HIGH_REGS 0x9f // read dig_P9 regs
+
+#define HUD_H1_REGS 0xA1 // read dig_H1 regs
+#define HUD_H2_LOW_REGS 0xe1 // read dig_H2 regs
+#define HUD_H2_HIGH_REGS 0xe2 // read dig_H2 regs
+#define HUD_H3_REGS 0xe3 // read dig_H3 regs
+#define HUD_H4_LOW_REGS 0xe5 // read dig_H4 regs  and HIGh of H5
+#define HUD_H4_HIGH_REGS 0xe4 // read dig_H4 regs
+#define HUD_H5_HIGH_REGS 0xe6 // read dig_H5 regs
+#define HUD_H6_REGS 0xe7 // read dig_H6 regs
+
+#define TEMP_MSB 0xFa
+#define TEMP_LSB 0xFb
+#define TEMP_XLSB 0xFc
+
+#define PRES_MSB 0xF7
+#define PRES_LSB 0xF8
+#define PRES_XLSB 0xF9
+
+#define HUM_MSB 0xFd
+#define HUM_LSB 0xFe
+
 class test_BMX055
 {
 public:
-    test_BMX055(PinName sda,PinName scl);
+/*
+test_BMX055::test_BMX055(PinName sda,PinName scl, char slave_adr):i2c(sda ,scl),address(slave_adr){
+*/
+    //test_BMX055(PinName sda,PinName scl, char slave_adr);
+    //~test_BMX055();
+
+    test_BMX055(I2C &i2c_obj, char slave_adr);
     ~test_BMX055();
-    
+            
     void i2c_mem_write(int device_address, int mem_address, int mem_data);
     int i2c_mem_read(int device_address, int mem_address);
     
@@ -58,15 +117,47 @@
     float get_mag_x_data(void);
     float get_mag_y_data(void);
     float get_mag_z_data(void);
-        
+    
+    
+    //void initiate_pres(void);
+    void initialize(void);
+    /** Read the current temperature value (degree Celsius) from BME280 sensor
+     *
+     */
+    float getTemperature(void);
+
+    /** Read the current pressure value (hectopascal)from BME280 sensor
+     *
+     */
+    float getPressure(void);
+
+    /** Read the current humidity value (humidity %) from BME280 sensor
+     *
+     */
+    float getHumidity(void);
+    
+    
 private:
 
-    I2C     i2c;
+    //I2C     i2c;
     int     currentAcceleroRange;
     int     currentGyroRange;
     float   gyro_scale_factor;
     int     acc_scale_factor;
     float   gravity;
     float   RAD_TO_DEG;
+    
+    I2C         *i2c_p;
+    I2C         &i2c;
+    
+    char        address;
+    uint16_t    dig_T1;
+    int16_t     dig_T2, dig_T3;
+    uint16_t    dig_P1;
+    int16_t     dig_P2, dig_P3, dig_P4, dig_P5, dig_P6, dig_P7, dig_P8, dig_P9;
+    uint16_t    dig_H1, dig_H3;
+    int16_t     dig_H2, dig_H4, dig_H5, dig_H6;
+    int32_t     t_fine;
+    
 
 };
\ No newline at end of file