Revision 3:9d3079170b35, committed 2017-09-12

Comitter:

Rhyme

Date:

Tue Sep 12 00:34:16 2017 +0000

Parent:

2:4cc456503e9f

Child:

4:93f16677f730

Commit message:

started adding documents

Changed in this revision

--- a/BMI160.cpp	Mon Sep 11 23:53:22 2017 +0000
+++ b/BMI160.cpp	Tue Sep 12 00:34:16 2017 +0000
@@ -95,6 +95,8 @@
 #define REG_STEP_CONF_1   0x7B
 #define REG_CMD           0x7E
 
+#define FLOAT_MAX_16BIT   32768.0
+
 /* 0x00 CHIP_ID reset value = 0xD1 */
 /* 0x02 ERR_REG Reports sensor error flags. Flags are cleared when read.
  *      bit[7]   mag_drdy_err
@@ -552,8 +554,11 @@
 
 void BMI160::init(void)
 {
+    acc_range = getAccRange() ;
+    gyr_range = getGyrRange() ;
 }
 
+
 void BMI160::setCMD(uint8_t cmd) 
 {
     uint8_t data[2] ;
@@ -595,6 +600,7 @@
         printf("illegal Acc Range %X detected\n", data & 0x0F) ;
         break ;
     }
+    acc_range = range ;
     return(range) ;
 }
 
@@ -623,10 +629,11 @@
         printf("illegal Gyr Range %d detected\n", data & 0x07) ;
         break ;
     }
+    gyr_range = range ;
     return(range) ;
 }
 
-int16_t BMI160::getAccX(void) 
+int16_t BMI160::getAccRawX(void) 
 {
     uint8_t data[2] ;
     int16_t value = 0 ;
@@ -635,7 +642,7 @@
     return( value ) ;
 }
 
-int16_t BMI160::getAccY(void) 
+int16_t BMI160::getAccRawY(void) 
 {
     uint8_t data[2] ;
     int16_t value = 0 ;
@@ -644,7 +651,7 @@
     return( value ) ;
 }
 
-int16_t BMI160::getAccZ(void) 
+int16_t BMI160::getAccRawZ(void) 
 {
     uint8_t data[2] ;
     int16_t value = 0 ;
@@ -653,7 +660,7 @@
     return( value ) ;
 }
 
-void BMI160::getAcc(int16_t *value)
+void BMI160::getAccRaw(int16_t *value)
 {
     uint8_t data[6] ;
     readRegs(REG_DATA_14, data, 6) ;
@@ -662,7 +669,7 @@
     value[2] = (data[5] << 8) | data[4] ;
 } 
 
-int16_t BMI160::getGyrX(void) 
+int16_t BMI160::getGyrRawX(void) 
 {
     uint8_t data[2] ;
     int16_t value = 0 ;
@@ -671,7 +678,7 @@
     return( value ) ;
 }
 
-int16_t BMI160::getGyrY(void) 
+int16_t BMI160::getGyrRawY(void) 
 {
     uint8_t data[2] ;
     int16_t value = 0 ;
@@ -680,7 +687,7 @@
     return( value ) ;
 }
 
-int16_t BMI160::getGyrZ(void) 
+int16_t BMI160::getGyrRawZ(void) 
 {
     uint8_t data[2] ;
     int16_t value = 0 ;
@@ -689,11 +696,71 @@
     return( value ) ;
 }
 
-void BMI160::getGyr(int16_t *value)
+void BMI160::getGyrRaw(int16_t *value)
 {
     uint8_t data[6] ;
     readRegs(REG_DATA_8, data, 6) ;
     value[0] = (data[1] << 8) | data[0] ;
     value[1] = (data[3] << 8) | data[2] ;
     value[2] = (data[5] << 8) | data[4] ;
-} 
\ No newline at end of file
+} 
+
+float BMI160::getAccX(void)
+{
+    float value ;
+    value = acc_range * getAccRawX() / FLOAT_MAX_16BIT ;
+    return(value) ;
+}
+
+float BMI160::getAccY(void)
+{
+    float value ;
+    value = acc_range * getAccRawY() / FLOAT_MAX_16BIT ;
+    return(value) ;
+}
+
+float BMI160::getAccZ(void)
+{
+    float value ;
+    value = acc_range * getAccRawZ() / FLOAT_MAX_16BIT ;
+    return(value) ;
+}
+
+void BMI160::getAcc(float *value)
+{
+    int16_t data[3] ;
+    getAccRaw(data) ;
+    value[0] = acc_range * data[0] / FLOAT_MAX_16BIT ;
+    value[1] = acc_range * data[1] / FLOAT_MAX_16BIT ;
+    value[2] = acc_range * data[2] / FLOAT_MAX_16BIT ;
+}
+
+float BMI160::getGyrX(void)
+{
+    float value ;
+    value = gyr_range * getGyrRawX() / FLOAT_MAX_16BIT ;
+    return(value) ;
+}
+
+float BMI160::getGyrY(void)
+{
+    float value ;
+    value = gyr_range * getGyrRawY() / FLOAT_MAX_16BIT ;
+    return(value) ;
+}
+
+float BMI160::getGyrZ(void)
+{
+    float value ;
+    value = gyr_range * getGyrRawZ() / FLOAT_MAX_16BIT ;
+    return(value) ;
+}
+
+void BMI160::getGyr(float *value)
+{
+    int16_t data[3] ;
+    getGyrRaw(data) ;
+    value[0] = gyr_range * data[0] / FLOAT_MAX_16BIT ;
+    value[1] = gyr_range * data[1] / FLOAT_MAX_16BIT ;
+    value[2] = gyr_range * data[2] / FLOAT_MAX_16BIT ;
+}
\ No newline at end of file

--- 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) ;