Diff: BMI160.h

Revision:

3:9d3079170b35

Parent:

2:4cc456503e9f

Child:

4:93f16677f730

--- a/BMI160.h	Mon Sep 11 23:53:22 2017 +0000
+++ b/BMI160.h	Tue Sep 12 00:34:16 2017 +0000
@@ -29,27 +29,56 @@
  * BMI160 destructor
  */
   ~BMI160() ;
-  
+
+/**
+ * setCMD set value to the CMD register (0x7E)
+ *
+ * @param cmd uint8_t value to write
+ * @returns none
+ */
   void setCMD(uint8_t cmd) ;
+  
+/**
+ * getStatus get value of the STATUS register (0x1B)
+ * @param none
+ * @returns the value of the STATUS register
+ */
   uint8_t getStatus(void) ;
+  
+/**
+ * getChipID get value of the CHIP_ID register (0x10)
+ * @param none
+ * @returns the chip ID (supposed to be 0xD1)
+ */
   uint8_t getChipID(void) ;
   uint8_t getAccRange(void) ;
   int16_t getGyrRange(void) ;
-  int16_t getAccX(void) ;
-  int16_t getAccY(void) ;
-  int16_t getAccZ(void) ;
-  int16_t getGyrX(void) ;
-  int16_t getGyrY(void) ;
-  int16_t getGyrZ(void) ;
-  void getAcc(int16_t *value) ;
-  void getGyr(int16_t *value) ;
+  
+  int16_t getAccRawX(void) ;
+  int16_t getAccRawY(void) ;
+  int16_t getAccRawZ(void) ;
+  int16_t getGyrRawX(void) ;
+  int16_t getGyrRawY(void) ;
+  int16_t getGyrRawZ(void) ;
+  void getAccRaw(int16_t *value) ;
+  void getGyrRaw(int16_t *value) ;
   
-
+  float getAccX(void) ;
+  float getAccY(void) ;
+  float getAccZ(void) ;
+  float getGyrX(void) ;
+  float getGyrY(void) ;
+  float getGyrZ(void) ;
+  void getAcc(float *value) ;
+  void getGyr(float *value) ;
+  
 private:
   SPI *m_spi ;
   I2C *m_i2c ;
   DigitalOut *m_cs ;
   int m_addr ;
+  int acc_range ;
+  int gyr_range ;
   
   void init(void) ;
   void i2c_readRegs(int addr, uint8_t *data, int len) ;