BMI160.h

00001 #ifndef _BMI160_H_
00002 #define _BMI160_H_
00003 /**
00004  * @brief BMI160 Bosch Small, low power inertial measurement unit
00005  *
00006  */
00007 class BMI160 {
00008 public:
00009  /**
00010   * BMI160 I2C Interface
00011   *
00012   * @param sda SDA pin
00013   * @param scl SCL pin
00014   * @param addr address of the I2C peripheral
00015   */
00016   BMI160(PinName sda, PinName scl, int addr) ;
00017 
00018  /**
00019   * BMI160 SPI Interface
00020   *
00021   * @param sck  SPI SCKL pin
00022   * @param miso SPI Master In Slave Out pin
00023   * @param mosi SPI Master Out Slave In pin
00024   * @param cs   SPI Chip Select pin
00025   */
00026   BMI160(PinName sck, PinName miso, PinName mosi, PinName cs) ;
00027 
00028 /**
00029  * BMI160 destructor
00030  */
00031   ~BMI160() ;
00032 
00033 /**
00034  * setCMD set value to the CMD register (0x7E)
00035  *
00036  * @param cmd uint8_t value to write
00037  * @returns none
00038  */
00039   void setCMD(uint8_t cmd) ;
00040   
00041 /**
00042  * getStatus get value of the STATUS register (0x1B)
00043  * @param none
00044  * @returns the value of the STATUS register
00045  */
00046   uint8_t getStatus(void) ;
00047   
00048 /**
00049  * getChipID get value of the CHIP_ID register (0x10)
00050  * @param none
00051  * @returns the chip ID (supposed to be 0xD1)
00052  */
00053   uint8_t getChipID(void) ;
00054   
00055 /**
00056  * get range of Acc  (0x41)
00057  * @param none
00058  * @returns accelerometer g-range
00059  * @note the value is 2, 4, or 8
00060  */
00061   uint8_t getAccRange(void) ;
00062   
00063 /**
00064  * get range of Gyr (0x43)
00065  * @param none
00066  * @returns Angular Rate Range and Resolution
00067  * @note the values are
00068  * @note 2000 ( 16.4 LSB/deg/s <-> 61.0 mdeg/s/LSB)
00069  * @note 1000 ( 32.8 LSB/deg/s <-> 30.5 mdeg/s/LSB)
00070  * @note  500 ( 65.6 LSB/deg/s <-> 15.3 mdeg/s/LSB)
00071  * @note  250 (131.2 LSB/deg/s <->  7.6 mdeg/s/LSB)
00072  * @note  125 (262.4 LSB/deg/s <->  3.8 mdeg/s/LSB)
00073  */
00074   int16_t getGyrRange(void) ;
00075 
00076 /**
00077  * get Raw acc x value
00078  * @param none
00079  * @returns 16bit signed value
00080  */
00081   int16_t getAccRawX(void) ;
00082   
00083 /**
00084  * get Raw acc y value
00085  * @param none
00086  * @returns 16bit signed value
00087  */
00088   int16_t getAccRawY(void) ;
00089 
00090 /**
00091  * get Raw acc z value
00092  * @param none
00093  * @returns 16bit signed value
00094  */  
00095   int16_t getAccRawZ(void) ;
00096 
00097 /**
00098  * get Raw gyr x value
00099  * @param none
00100  * @returns 16bit signed value
00101  */
00102   int16_t getGyrRawX(void) ;
00103 
00104 /**
00105  * get Raw gyr y value
00106  * @param none
00107  * @returns 16bit signed value
00108  */
00109   int16_t getGyrRawY(void) ;
00110 
00111 /**
00112  * get Raw gyr z value
00113  * @param none
00114  * @returns 16bit signed value
00115  */
00116   int16_t getGyrRawZ(void) ;
00117 
00118 /**
00119  * get Raw acc x,y,z values
00120  * @param 16bit array address to receive the data
00121  * @returns none
00122  */
00123   void getAccRaw(int16_t *value) ;
00124   
00125 /**
00126  * get Raw gyr x,y,z values
00127  * @param 16bit array address to receive the data
00128  * @returns none
00129  */
00130   void getGyrRaw(int16_t *value) ;
00131 
00132 /**
00133  * get acc x value
00134  * @param none
00135  * @returns value (-acc_range ~ +acc_range)
00136  */
00137   float getAccX(void) ;
00138   
00139 /**
00140  * get acc y value
00141  * @param none
00142  * @returns value (-acc_range ~ +acc_range)
00143  */  
00144   float getAccY(void) ;
00145   
00146 /**
00147  * get acc z value
00148  * @param none
00149  * @returns value (-acc_range ~ +acc_range)
00150  */  
00151   float getAccZ(void) ;
00152   
00153 /**
00154  * get gyr x value
00155  * @param none
00156  * @returns value (-gyr_range ~ +gyr_range)
00157  */    
00158   float getGyrX(void) ;
00159     
00160 /**
00161  * get gyr y value
00162  * @param none
00163  * @returns value (-gyr_range ~ +gyr_range)
00164  */ 
00165   float getGyrY(void) ;
00166   
00167 /**
00168  * get gyr z value
00169  * @param none
00170  * @returns value (-gyr_range ~ +gyr_range)
00171  */ 
00172   float getGyrZ(void) ;
00173   
00174 /**
00175  * get acc x, y, z values
00176  * @param float array address to receive the values
00177  * @returns none
00178  * @note the value range is (-acc_range ~ +acc_range) 
00179  */
00180   void getAcc(float *value) ;
00181 
00182 /**
00183  * get gyr x, y, z values
00184  * @param float array address to receive the values
00185  * @returns none
00186  * @note the value range is (-gyr_range ~ +gyr_range) 
00187  */
00188   void getGyr(float *value) ;
00189   
00190 private:
00191   SPI *m_spi ;
00192   I2C *m_i2c ;
00193   DigitalOut *m_cs ;
00194   int m_addr ;
00195   int acc_range ;
00196   int gyr_range ;
00197   
00198   void init(void) ;
00199   void i2c_readRegs(int addr, uint8_t *data, int len) ;
00200   void i2c_writeRegs(uint8_t *data, int len) ;
00201   void spi_readRegs(int addr, uint8_t *data, int len) ;
00202   void spi_writeRegs(uint8_t *data, int len) ;
00203   void readRegs(int addr, uint8_t *data, int len) ;
00204   void writeRegs(uint8_t *data, int len) ;
00205 } ;
00206 
00207 #define ACC_PMU_SUSPEND  0x00
00208 #define ACC_PMU_NORMAL   0x01
00209 #define ACC_PMU_LOWPOWER 0x02
00210 #define GYR_PMU_SUSPEND  0x00
00211 #define GYR_PMU_NORMAL   0x01
00212 #define GYR_PMU_FASTSU   0x03
00213 #define MAG_PMU_SUSPEND  0x00
00214 #define MAG_PMU_NORMAL   0x01
00215 #define MAG_PMU_LOWPOWER 0x02
00216 #endif /* _BMI160_H_ */