My implementation of Bosh BMI160 Only I2C is tested so far.
Dependents: test_BMI160 TFT_test_MAX32630FTHR
BMI160.h
- Committer:
- Rhyme
- Date:
- 2017-09-12
- Revision:
- 3:9d3079170b35
- Parent:
- 2:4cc456503e9f
- Child:
- 4:93f16677f730
File content as of revision 3:9d3079170b35:
#ifndef _BMI160_H_ #define _BMI160_H_ /** * @brief BMI160 Bosch Small, low power inertial measurement unit * */ class BMI160 { public: /** * BMI160 I2C Interface * * @param sda SDA pin * @param scl SCL pin * @param addr address of the I2C peripheral */ BMI160(PinName sda, PinName scl, int addr) ; /** * BMI160 SPI Interface * * @param sck SPI SCKL pin * @param miso SPI Master In Slave Out pin * @param mosi SPI Master Out Slave In pin * @param cs SPI Chip Select pin */ BMI160(PinName sck, PinName miso, PinName mosi, PinName cs) ; /** * 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 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) ; void i2c_writeRegs(uint8_t *data, int len) ; void spi_readRegs(int addr, uint8_t *data, int len) ; void spi_writeRegs(uint8_t *data, int len) ; void readRegs(int addr, uint8_t *data, int len) ; void writeRegs(uint8_t *data, int len) ; } ; #define ACC_PMU_SUSPEND 0x00 #define ACC_PMU_NORMAL 0x01 #define ACC_PMU_LOWPOWER 0x02 #define GYR_PMU_SUSPEND 0x00 #define GYR_PMU_NORMAL 0x01 #define GYR_PMU_FASTSU 0x03 #define MAG_PMU_SUSPEND 0x00 #define MAG_PMU_NORMAL 0x01 #define MAG_PMU_LOWPOWER 0x02 #endif /* _BMI160_H_ */