mehmet gok / HSPdemoUtils

Utility library for HSP SPo2 HR demo including user interface, board support adn accelerometer.

demoAccelerometer/bmi160.h@0:a12d6976d64c, 2018-12-17 (annotated)

Committer:
gmehmet
Date:
Mon Dec 17 13:58:56 2018 +0300
Revision:
0:a12d6976d64c
create and put source to HSP demo utility repo

Who changed what in which revision?

UserRevisionLine numberNew contents of line
gmehmet 0:a12d6976d64c 1 /**********************************************************************
gmehmet 0:a12d6976d64c 2 * Copyright (C) 2016 Maxim Integrated Products, Inc., All Rights Reserved.
gmehmet 0:a12d6976d64c 3 *
gmehmet 0:a12d6976d64c 4 * Permission is hereby granted, free of charge, to any person obtaining a
gmehmet 0:a12d6976d64c 5 * copy of this software and associated documentation files (the "Software"),
gmehmet 0:a12d6976d64c 6 * to deal in the Software without restriction, including without limitation
gmehmet 0:a12d6976d64c 7 * the rights to use, copy, modify, merge, publish, distribute, sublicense,
gmehmet 0:a12d6976d64c 8 * and/or sell copies of the Software, and to permit persons to whom the
gmehmet 0:a12d6976d64c 9 * Software is furnished to do so, subject to the following conditions:
gmehmet 0:a12d6976d64c 10 *
gmehmet 0:a12d6976d64c 11 * The above copyright notice and this permission notice shall be included
gmehmet 0:a12d6976d64c 12 * in all copies or substantial portions of the Software.
gmehmet 0:a12d6976d64c 13 *
gmehmet 0:a12d6976d64c 14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
gmehmet 0:a12d6976d64c 15 * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
gmehmet 0:a12d6976d64c 16 * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
gmehmet 0:a12d6976d64c 17 * IN NO EVENT SHALL MAXIM INTEGRATED BE LIABLE FOR ANY CLAIM, DAMAGES
gmehmet 0:a12d6976d64c 18 * OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
gmehmet 0:a12d6976d64c 19 * ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
gmehmet 0:a12d6976d64c 20 * OTHER DEALINGS IN THE SOFTWARE.
gmehmet 0:a12d6976d64c 21 *
gmehmet 0:a12d6976d64c 22 * Except as contained in this notice, the name of Maxim Integrated
gmehmet 0:a12d6976d64c 23 * Products, Inc. shall not be used except as stated in the Maxim Integrated
gmehmet 0:a12d6976d64c 24 * Products, Inc. Branding Policy.
gmehmet 0:a12d6976d64c 25 *
gmehmet 0:a12d6976d64c 26 * The mere transfer of this software does not imply any licenses
gmehmet 0:a12d6976d64c 27 * of trade secrets, proprietary technology, copyrights, patents,
gmehmet 0:a12d6976d64c 28 * trademarks, maskwork rights, or any other form of intellectual
gmehmet 0:a12d6976d64c 29 * property whatsoever. Maxim Integrated Products, Inc. retains all
gmehmet 0:a12d6976d64c 30 * ownership rights.
gmehmet 0:a12d6976d64c 31 **********************************************************************/
gmehmet 0:a12d6976d64c 32
gmehmet 0:a12d6976d64c 33
gmehmet 0:a12d6976d64c 34 #ifndef BMI160_H
gmehmet 0:a12d6976d64c 35 #define BMI160_H
gmehmet 0:a12d6976d64c 36
gmehmet 0:a12d6976d64c 37 #include "mbed.h"
gmehmet 0:a12d6976d64c 38
gmehmet 0:a12d6976d64c 39 /**
gmehmet 0:a12d6976d64c 40 @brief The BMI160 is a small, low power, low noise 16-bit inertial measurement
gmehmet 0:a12d6976d64c 41 unit designed for use in mobile applications like augmented reality or indoor
gmehmet 0:a12d6976d64c 42 navigation which require highly accurate, real-time sensor data.
gmehmet 0:a12d6976d64c 43
gmehmet 0:a12d6976d64c 44 In full operation mode, with both the accelerometer and gyroscope enabled, the
gmehmet 0:a12d6976d64c 45 current consumption is typically 950 μA, enabling always-on applications in
gmehmet 0:a12d6976d64c 46 battery driven devices. It is available in a compact 14-pin 2.5 x 3.0 x 0.8 mm³
gmehmet 0:a12d6976d64c 47 LGA package."
gmehmet 0:a12d6976d64c 48
gmehmet 0:a12d6976d64c 49 This class is an abstract base class and can not be instaniated, use BMI160_I2C
gmehmet 0:a12d6976d64c 50 or BMI160_SPI.
gmehmet 0:a12d6976d64c 51 */
gmehmet 0:a12d6976d64c 52 class BMI160
gmehmet 0:a12d6976d64c 53 {
gmehmet 0:a12d6976d64c 54 public:
gmehmet 0:a12d6976d64c 55
gmehmet 0:a12d6976d64c 56 ///Return value on success.
gmehmet 0:a12d6976d64c 57 static const uint8_t RTN_NO_ERROR = 0;
gmehmet 0:a12d6976d64c 58
gmehmet 0:a12d6976d64c 59 ///Sensor types
gmehmet 0:a12d6976d64c 60 enum Sensors
gmehmet 0:a12d6976d64c 61 {
gmehmet 0:a12d6976d64c 62 MAG = 0, ///<Optional external sensor
gmehmet 0:a12d6976d64c 63 GYRO, ///<Angular rate sensor
gmehmet 0:a12d6976d64c 64 ACC ///<g sensor
gmehmet 0:a12d6976d64c 65 };
gmehmet 0:a12d6976d64c 66
gmehmet 0:a12d6976d64c 67 ///Sensor Axis
gmehmet 0:a12d6976d64c 68 enum SensorAxis
gmehmet 0:a12d6976d64c 69 {
gmehmet 0:a12d6976d64c 70 X_AXIS = 0,
gmehmet 0:a12d6976d64c 71 Y_AXIS,
gmehmet 0:a12d6976d64c 72 Z_AXIS
gmehmet 0:a12d6976d64c 73 };
gmehmet 0:a12d6976d64c 74
gmehmet 0:a12d6976d64c 75 ///Structure for axis data
gmehmet 0:a12d6976d64c 76 struct AxisData
gmehmet 0:a12d6976d64c 77 {
gmehmet 0:a12d6976d64c 78 int16_t raw; ///<Axis raw data
gmehmet 0:a12d6976d64c 79 float scaled; ///<Axis scaled data
gmehmet 0:a12d6976d64c 80 };
gmehmet 0:a12d6976d64c 81
gmehmet 0:a12d6976d64c 82 ///Structure for sensor time data
gmehmet 0:a12d6976d64c 83 struct SensorTime
gmehmet 0:a12d6976d64c 84 {
gmehmet 0:a12d6976d64c 85 uint32_t raw; ///<raw SensorTime
gmehmet 0:a12d6976d64c 86 float seconds; ///<SensorTime as seconds
gmehmet 0:a12d6976d64c 87 };
gmehmet 0:a12d6976d64c 88
gmehmet 0:a12d6976d64c 89 ///Period of internal counter
gmehmet 0:a12d6976d64c 90 static const float SENSOR_TIME_LSB = 39e-6;
gmehmet 0:a12d6976d64c 91
gmehmet 0:a12d6976d64c 92 ///Structure for holding sensor data
gmehmet 0:a12d6976d64c 93 struct SensorData
gmehmet 0:a12d6976d64c 94 {
gmehmet 0:a12d6976d64c 95 AxisData xAxis; ///<Sensor X axis data
gmehmet 0:a12d6976d64c 96 AxisData yAxis; ///<Sensor Y axis data
gmehmet 0:a12d6976d64c 97 AxisData zAxis; ///<Sensor Z axis data
gmehmet 0:a12d6976d64c 98 };
gmehmet 0:a12d6976d64c 99
gmehmet 0:a12d6976d64c 100
gmehmet 0:a12d6976d64c 101 ///BMI160 registers
gmehmet 0:a12d6976d64c 102 enum Registers
gmehmet 0:a12d6976d64c 103 {
gmehmet 0:a12d6976d64c 104 CHIP_ID = 0x00, ///<Chip Identification.
gmehmet 0:a12d6976d64c 105 ERR_REG = 0x02, ///<Reports sensor error flags. Flags reset when read.
gmehmet 0:a12d6976d64c 106 PMU_STATUS, ///<Reports current power mode for sensors.
gmehmet 0:a12d6976d64c 107 DATA_0, ///<MAG_X axis bits7:0
gmehmet 0:a12d6976d64c 108 DATA_1, ///<MAG_X axis bits15:8
gmehmet 0:a12d6976d64c 109 DATA_2, ///<MAG_Y axis bits7:0
gmehmet 0:a12d6976d64c 110 DATA_3, ///<MAG_Y axis bits15:8
gmehmet 0:a12d6976d64c 111 DATA_4, ///<MAG_Z axis bits7:0
gmehmet 0:a12d6976d64c 112 DATA_5, ///<MAG_Z axis bits15:8
gmehmet 0:a12d6976d64c 113 DATA_6, ///<RHALL bits7:0
gmehmet 0:a12d6976d64c 114 DATA_7, ///<RHALL bits15:8
gmehmet 0:a12d6976d64c 115 DATA_8, ///<GYR_X axis bits7:0
gmehmet 0:a12d6976d64c 116 DATA_9, ///<GYR_X axis bits15:8
gmehmet 0:a12d6976d64c 117 DATA_10, ///<GYR_Y axis bits7:0
gmehmet 0:a12d6976d64c 118 DATA_11, ///<GYR_Y axis bits15:8
gmehmet 0:a12d6976d64c 119 DATA_12, ///<GYR_Z axis bits7:0
gmehmet 0:a12d6976d64c 120 DATA_13, ///<GYR_Z axis bits15:8
gmehmet 0:a12d6976d64c 121 DATA_14, ///<ACC_X axis bits7:0
gmehmet 0:a12d6976d64c 122 DATA_15, ///<ACC_X axis bits15:8
gmehmet 0:a12d6976d64c 123 DATA_16, ///<ACC_Y axis bits7:0
gmehmet 0:a12d6976d64c 124 DATA_17, ///<ACC_Y axis bits15:8
gmehmet 0:a12d6976d64c 125 DATA_18, ///<ACC_Z axis bits7:0
gmehmet 0:a12d6976d64c 126 DATA_19, ///<ACC_Z axis bits15:8
gmehmet 0:a12d6976d64c 127 SENSORTIME_0, ///<24bit counter synchronized with data, bits7:0
gmehmet 0:a12d6976d64c 128 SENSORTIME_1, ///<24bit counter synchronized with data, bits15:8
gmehmet 0:a12d6976d64c 129 SENSORTIME_2, ///<24bit counter synchronized with data, bits23:16
gmehmet 0:a12d6976d64c 130 STATUS, ///<Reports sensors status flags
gmehmet 0:a12d6976d64c 131 INT_STATUS_0, ///<Contains interrupt status flags
gmehmet 0:a12d6976d64c 132 INT_STATUS_1, ///<Contains interrupt status flags
gmehmet 0:a12d6976d64c 133 INT_STATUS_2, ///<Contains interrupt status flags
gmehmet 0:a12d6976d64c 134 INT_STATUS_3, ///<Contains interrupt status flags
gmehmet 0:a12d6976d64c 135 TEMPERATURE_0, ///<Contains temperature of sensor, bits7:0
gmehmet 0:a12d6976d64c 136 TEMPERATURE_1, ///<Contains temperature of sensor, bits15:8
gmehmet 0:a12d6976d64c 137 FIFO_LENGTH_0, ///<Current fill level of FIFO, bits7:0
gmehmet 0:a12d6976d64c 138 FIFO_LENGTH_1, ///<Current fill level of FIFO, bits10:8
gmehmet 0:a12d6976d64c 139 FIFO_DATA, ///<FIFO data read out register, burst read
gmehmet 0:a12d6976d64c 140 ACC_CONF = 0x40, ///<Set ODR, bandwidth, and read mode of accelerometer
gmehmet 0:a12d6976d64c 141 ACC_RANGE, ///<Sets accelerometer g-range
gmehmet 0:a12d6976d64c 142 GYR_CONF, ///<Set ODR, bandwidth, and read mode of gyroscope
gmehmet 0:a12d6976d64c 143 GYR_RANGE, ///<Sets gyroscope angular rate measurement range
gmehmet 0:a12d6976d64c 144 MAG_CONF, ///<Sets ODR of magnetometer interface
gmehmet 0:a12d6976d64c 145 FIFO_DOWNS, ///<Sets down sampling ratios of accel and gyro data
gmehmet 0:a12d6976d64c 146 ///<for FIFO
gmehmet 0:a12d6976d64c 147 FIFO_CONFIG_0, ///<Sets FIFO Watermark
gmehmet 0:a12d6976d64c 148 FIFO_CONFIG_1, ///<Sets which sensor data is available in FIFO,
gmehmet 0:a12d6976d64c 149 ///<Header/Headerless mode, Ext Int tagging, Sensortime
gmehmet 0:a12d6976d64c 150 MAG_IF_0 = 0x4B, ///<Magnetometer 7-bit I2C address, bits7:1
gmehmet 0:a12d6976d64c 151 MAG_IF_1, ///<Magnetometer interface configuration
gmehmet 0:a12d6976d64c 152 MAG_IF_2, ///<Magnetometer address to read
gmehmet 0:a12d6976d64c 153 MAG_IF_3, ///<Magnetometer address to write
gmehmet 0:a12d6976d64c 154 MAG_IF_4, ///<Magnetometer data to write
gmehmet 0:a12d6976d64c 155 INT_EN_0, ///<Interrupt enable bits
gmehmet 0:a12d6976d64c 156 INT_EN_1, ///<Interrupt enable bits
gmehmet 0:a12d6976d64c 157 INT_EN_2, ///<Interrupt enable bits
gmehmet 0:a12d6976d64c 158 INT_OUT_CTRL, ///<Contains the behavioral configuration of INT pins
gmehmet 0:a12d6976d64c 159 INT_LATCH, ///<Contains the interrupt rest bit and the interrupt
gmehmet 0:a12d6976d64c 160 ///<mode selection
gmehmet 0:a12d6976d64c 161 INT_MAP_0, ///<Controls which interrupt signals are mapped to the
gmehmet 0:a12d6976d64c 162 ///<INT1 and INT2 pins
gmehmet 0:a12d6976d64c 163 INT_MAP_1, ///<Controls which interrupt signals are mapped to the
gmehmet 0:a12d6976d64c 164 ///<INT1 and INT2 pins
gmehmet 0:a12d6976d64c 165 INT_MAP_2, ///<Controls which interrupt signals are mapped to the
gmehmet 0:a12d6976d64c 166 ///<INT1 and INT2 pins
gmehmet 0:a12d6976d64c 167 INT_DATA_0, ///<Contains the data source definition for the two
gmehmet 0:a12d6976d64c 168 ///<interrupt groups
gmehmet 0:a12d6976d64c 169 INT_DATA_1, ///<Contains the data source definition for the two
gmehmet 0:a12d6976d64c 170 ///<interrupt groups
gmehmet 0:a12d6976d64c 171 INT_LOWHIGH_0, ///<Contains the configuration for the low g interrupt
gmehmet 0:a12d6976d64c 172 INT_LOWHIGH_1, ///<Contains the configuration for the low g interrupt
gmehmet 0:a12d6976d64c 173 INT_LOWHIGH_2, ///<Contains the configuration for the low g interrupt
gmehmet 0:a12d6976d64c 174 INT_LOWHIGH_3, ///<Contains the configuration for the low g interrupt
gmehmet 0:a12d6976d64c 175 INT_LOWHIGH_4, ///<Contains the configuration for the low g interrupt
gmehmet 0:a12d6976d64c 176 INT_MOTION_0, ///<Contains the configuration for the any motion and
gmehmet 0:a12d6976d64c 177 ///<no motion interrupts
gmehmet 0:a12d6976d64c 178 INT_MOTION_1, ///<Contains the configuration for the any motion and
gmehmet 0:a12d6976d64c 179 ///<no motion interrupts
gmehmet 0:a12d6976d64c 180 INT_MOTION_2, ///<Contains the configuration for the any motion and
gmehmet 0:a12d6976d64c 181 ///<no motion interrupts
gmehmet 0:a12d6976d64c 182 INT_MOTION_3, ///<Contains the configuration for the any motion and
gmehmet 0:a12d6976d64c 183 ///<no motion interrupts
gmehmet 0:a12d6976d64c 184 INT_TAP_0, ///<Contains the configuration for the tap interrupts
gmehmet 0:a12d6976d64c 185 INT_TAP_1, ///<Contains the configuration for the tap interrupts
gmehmet 0:a12d6976d64c 186 INT_ORIENT_0, ///<Contains the configuration for the oeientation
gmehmet 0:a12d6976d64c 187 ///<interrupt
gmehmet 0:a12d6976d64c 188 INT_ORIENT_1, ///<Contains the configuration for the oeientation
gmehmet 0:a12d6976d64c 189 ///<interrupt
gmehmet 0:a12d6976d64c 190 INT_FLAT_0, ///<Contains the configuration for the flat interrupt
gmehmet 0:a12d6976d64c 191 INT_FLAT_1, ///<Contains the configuration for the flat interrupt
gmehmet 0:a12d6976d64c 192 FOC_CONF, ///<Contains configuration for the fast offset
gmehmet 0:a12d6976d64c 193 ///<compensation for the accelerometer and gyroscope
gmehmet 0:a12d6976d64c 194 CONF, ///<Configuration of sensor, nvm_prog_en bit
gmehmet 0:a12d6976d64c 195 IF_CONF, ///<Contains settings for the digital interface
gmehmet 0:a12d6976d64c 196 PMU_TRIGGER, ///<Sets trigger conditions to change gyro power modes
gmehmet 0:a12d6976d64c 197 SELF_TEST, ///<Self test configuration
gmehmet 0:a12d6976d64c 198 NV_CONF = 0x70, ///<Contains settings for the digital interface
gmehmet 0:a12d6976d64c 199 OFFSET_0, ///<Contains offset comp values for acc_off_x7:0
gmehmet 0:a12d6976d64c 200 OFFSET_1, ///<Contains offset comp values for acc_off_y7:0
gmehmet 0:a12d6976d64c 201 OFFSET_2, ///<Contains offset comp values for acc_off_z7:0
gmehmet 0:a12d6976d64c 202 OFFSET_3, ///<Contains offset comp values for gyr_off_x7:0
gmehmet 0:a12d6976d64c 203 OFFSET_4, ///<Contains offset comp values for gyr_off_y7:0
gmehmet 0:a12d6976d64c 204 OFFSET_5, ///<Contains offset comp values for gyr_off_z7:0
gmehmet 0:a12d6976d64c 205 OFFSET_6, ///<gyr/acc offset enable bit and gyr_off_(zyx) bits9:8
gmehmet 0:a12d6976d64c 206 STEP_CNT_0, ///<Step counter bits 15:8
gmehmet 0:a12d6976d64c 207 STEP_CNT_1, ///<Step counter bits 7:0
gmehmet 0:a12d6976d64c 208 STEP_CONF_0, ///<Contains configuration of the step detector
gmehmet 0:a12d6976d64c 209 STEP_CONF_1, ///<Contains configuration of the step detector
gmehmet 0:a12d6976d64c 210 CMD = 0x7E ///<Command register triggers operations like
gmehmet 0:a12d6976d64c 211 ///<softreset, NVM programming, etc.
gmehmet 0:a12d6976d64c 212 };
gmehmet 0:a12d6976d64c 213
gmehmet 0:a12d6976d64c 214
gmehmet 0:a12d6976d64c 215 ///@name ERR_REG(0x02)
gmehmet 0:a12d6976d64c 216 ///Error register data
gmehmet 0:a12d6976d64c 217 ///@{
gmehmet 0:a12d6976d64c 218
gmehmet 0:a12d6976d64c 219 static const uint8_t FATAL_ERR_MASK = 0x01;
gmehmet 0:a12d6976d64c 220 static const uint8_t FATAL_ERR_POS = 0x00;
gmehmet 0:a12d6976d64c 221 static const uint8_t ERR_CODE_MASK = 0x1E;
gmehmet 0:a12d6976d64c 222 static const uint8_t ERR_CODE_POS = 0x01;
gmehmet 0:a12d6976d64c 223 static const uint8_t I2C_FAIL_ERR_MASK = 0x20;
gmehmet 0:a12d6976d64c 224 static const uint8_t I2C_FAIL_ERR_POS = 0x05;
gmehmet 0:a12d6976d64c 225 static const uint8_t DROP_CMD_ERR_MASK = 0x40;
gmehmet 0:a12d6976d64c 226 static const uint8_t DROP_CMD_ERR_POS = 0x06;
gmehmet 0:a12d6976d64c 227 static const uint8_t MAG_DRDY_ERR_MASK = 0x80;
gmehmet 0:a12d6976d64c 228 static const uint8_t MAG_DRDY_ERR_POS = 0x08;
gmehmet 0:a12d6976d64c 229
gmehmet 0:a12d6976d64c 230 ///Enumerated error codes
gmehmet 0:a12d6976d64c 231 enum ErrorCodes
gmehmet 0:a12d6976d64c 232 {
gmehmet 0:a12d6976d64c 233 NO_ERROR = 0, ///<No Error
gmehmet 0:a12d6976d64c 234 ERROR_1, ///<Listed as error
gmehmet 0:a12d6976d64c 235 ERROR_2, ///<Listed as error
gmehmet 0:a12d6976d64c 236 LPM_INT_PFD, ///<Low-power mode and interrupt uses pre-filtered
gmehmet 0:a12d6976d64c 237 ///<data
gmehmet 0:a12d6976d64c 238 ODR_MISMATCH = 0x06, ///<ODRs of enabled sensors in headerless mode do
gmehmet 0:a12d6976d64c 239 ///<not match
gmehmet 0:a12d6976d64c 240 PFD_USED_LPM ///<Pre-filtered data are used in low power mode
gmehmet 0:a12d6976d64c 241 };
gmehmet 0:a12d6976d64c 242 ///@}
gmehmet 0:a12d6976d64c 243
gmehmet 0:a12d6976d64c 244
gmehmet 0:a12d6976d64c 245 ///@name ACC_CONF(0x40) and ACC_RANGE(0x41)
gmehmet 0:a12d6976d64c 246 ///Data for configuring accelerometer
gmehmet 0:a12d6976d64c 247 ///@{
gmehmet 0:a12d6976d64c 248
gmehmet 0:a12d6976d64c 249 static const uint8_t ACC_ODR_MASK = 0x0F;
gmehmet 0:a12d6976d64c 250 static const uint8_t ACC_ODR_POS = 0x00;
gmehmet 0:a12d6976d64c 251 static const uint8_t ACC_BWP_MASK = 0x70;
gmehmet 0:a12d6976d64c 252 static const uint8_t ACC_BWP_POS = 0x04;
gmehmet 0:a12d6976d64c 253 static const uint8_t ACC_US_MASK = 0x80;
gmehmet 0:a12d6976d64c 254 static const uint8_t ACC_US_POS = 0x07;
gmehmet 0:a12d6976d64c 255 static const uint8_t ACC_RANGE_MASK = 0x0F;
gmehmet 0:a12d6976d64c 256 static const uint8_t ACC_RANGE_POS = 0x00;
gmehmet 0:a12d6976d64c 257
gmehmet 0:a12d6976d64c 258 ///Accelerometer output data rates
gmehmet 0:a12d6976d64c 259 enum AccOutputDataRate
gmehmet 0:a12d6976d64c 260 {
gmehmet 0:a12d6976d64c 261 ACC_ODR_1 = 1, ///< 25/32Hz
gmehmet 0:a12d6976d64c 262 ACC_ODR_2, ///< 25/16Hz
gmehmet 0:a12d6976d64c 263 ACC_ODR_3, ///< 25/8Hz
gmehmet 0:a12d6976d64c 264 ACC_ODR_4, ///< 25/4Hz
gmehmet 0:a12d6976d64c 265 ACC_ODR_5, ///< 25/2Hz
gmehmet 0:a12d6976d64c 266 ACC_ODR_6, ///< 25Hz
gmehmet 0:a12d6976d64c 267 ACC_ODR_7, ///< 50Hz
gmehmet 0:a12d6976d64c 268 ACC_ODR_8, ///< 100Hz
gmehmet 0:a12d6976d64c 269 ACC_ODR_9, ///< 200Hz
gmehmet 0:a12d6976d64c 270 ACC_ODR_10, ///< 400Hz
gmehmet 0:a12d6976d64c 271 ACC_ODR_11, ///< 800Hz
gmehmet 0:a12d6976d64c 272 ACC_ODR_12 ///< 1600Hz
gmehmet 0:a12d6976d64c 273 };
gmehmet 0:a12d6976d64c 274
gmehmet 0:a12d6976d64c 275 ///Accelerometer bandwidth parameters
gmehmet 0:a12d6976d64c 276 enum AccBandWidthParam
gmehmet 0:a12d6976d64c 277 {
gmehmet 0:a12d6976d64c 278 ACC_BWP_0 = 0, ///< Average 1 cycle; when acc_us = 0 OSR4
gmehmet 0:a12d6976d64c 279 ACC_BWP_1, ///< Average 2 cycles; when acc_us = 0 OSR2
gmehmet 0:a12d6976d64c 280 ACC_BWP_2, ///< Average 4 cycles; when acc_us = 0 normal mode
gmehmet 0:a12d6976d64c 281 ACC_BWP_3, ///< Average 8 cycles
gmehmet 0:a12d6976d64c 282 ACC_BWP_4, ///< Average 16 cycles
gmehmet 0:a12d6976d64c 283 ACC_BWP_5, ///< Average 32 cycles
gmehmet 0:a12d6976d64c 284 ACC_BWP_6, ///< Average 64 cycles
gmehmet 0:a12d6976d64c 285 ACC_BWP_7 ///< Average 128 cycles
gmehmet 0:a12d6976d64c 286 };
gmehmet 0:a12d6976d64c 287
gmehmet 0:a12d6976d64c 288 ///Accelerometer undersampling
gmehmet 0:a12d6976d64c 289 enum AccUnderSampling
gmehmet 0:a12d6976d64c 290 {
gmehmet 0:a12d6976d64c 291 ACC_US_OFF = 0,
gmehmet 0:a12d6976d64c 292 ACC_US_ON
gmehmet 0:a12d6976d64c 293 };
gmehmet 0:a12d6976d64c 294
gmehmet 0:a12d6976d64c 295 ///Accelerometer ranges
gmehmet 0:a12d6976d64c 296 enum AccRange
gmehmet 0:a12d6976d64c 297 {
gmehmet 0:a12d6976d64c 298 SENS_2G = 0x03, ///<Accelerometer range +-2G
gmehmet 0:a12d6976d64c 299 SENS_4G = 0x05, ///<Accelerometer range +-4G
gmehmet 0:a12d6976d64c 300 SENS_8G = 0x08, ///<Accelerometer range +-8G
gmehmet 0:a12d6976d64c 301 SENS_16G = 0x0C ///<Accelerometer range +-16G
gmehmet 0:a12d6976d64c 302 };
gmehmet 0:a12d6976d64c 303
gmehmet 0:a12d6976d64c 304 static const float SENS_2G_LSB_PER_G = 16384.0F;
gmehmet 0:a12d6976d64c 305 static const float SENS_4G_LSB_PER_G = 8192.0F;
gmehmet 0:a12d6976d64c 306 static const float SENS_8G_LSB_PER_G = 4096.0F;
gmehmet 0:a12d6976d64c 307 static const float SENS_16G_LSB_PER_G = 2048.0F;
gmehmet 0:a12d6976d64c 308
gmehmet 0:a12d6976d64c 309 ///Accelerometer configuration data structure
gmehmet 0:a12d6976d64c 310 struct AccConfig
gmehmet 0:a12d6976d64c 311 {
gmehmet 0:a12d6976d64c 312 AccRange range; ///<Accelerometer range
gmehmet 0:a12d6976d64c 313 AccUnderSampling us; ///<Accelerometr undersampling mode
gmehmet 0:a12d6976d64c 314 AccBandWidthParam bwp; ///<Accelerometer bandwidth param
gmehmet 0:a12d6976d64c 315 AccOutputDataRate odr; ///<Accelerometr output data rate
gmehmet 0:a12d6976d64c 316 };
gmehmet 0:a12d6976d64c 317
gmehmet 0:a12d6976d64c 318 ///Accelerometer default configuration
gmehmet 0:a12d6976d64c 319 static const AccConfig DEFAULT_ACC_CONFIG;
gmehmet 0:a12d6976d64c 320 ///@}
gmehmet 0:a12d6976d64c 321
gmehmet 0:a12d6976d64c 322
gmehmet 0:a12d6976d64c 323 ///@name GYR_CONF(0x42) and GYR_RANGE(0x43)
gmehmet 0:a12d6976d64c 324 ///Data for configuring gyroscope
gmehmet 0:a12d6976d64c 325 ///@{
gmehmet 0:a12d6976d64c 326
gmehmet 0:a12d6976d64c 327 static const uint8_t GYRO_ODR_MASK = 0x0F;
gmehmet 0:a12d6976d64c 328 static const uint8_t GYRO_ODR_POS = 0x00;
gmehmet 0:a12d6976d64c 329 static const uint8_t GYRO_BWP_MASK = 0x30;
gmehmet 0:a12d6976d64c 330 static const uint8_t GYRO_BWP_POS = 0x04;
gmehmet 0:a12d6976d64c 331 static const uint8_t GYRO_RANGE_MASK = 0x07;
gmehmet 0:a12d6976d64c 332 static const uint8_t GYRO_RANGE_POS = 0x00;
gmehmet 0:a12d6976d64c 333
gmehmet 0:a12d6976d64c 334 ///Gyroscope output data rates
gmehmet 0:a12d6976d64c 335 enum GyroOutputDataRate
gmehmet 0:a12d6976d64c 336 {
gmehmet 0:a12d6976d64c 337 GYRO_ODR_6 = 0x06, ///<25Hz
gmehmet 0:a12d6976d64c 338 GYRO_ODR_7 = 0x07, ///<50Hz
gmehmet 0:a12d6976d64c 339 GYRO_ODR_8 = 0x08, ///<100Hz
gmehmet 0:a12d6976d64c 340 GYRO_ODR_9 = 0x09, ///<200Hz
gmehmet 0:a12d6976d64c 341 GYRO_ODR_10 = 0x0A, ///<400Hz
gmehmet 0:a12d6976d64c 342 GYRO_ODR_11 = 0x0B, ///<800Hz
gmehmet 0:a12d6976d64c 343 GYRO_ODR_12 = 0x0C, ///<1600Hz
gmehmet 0:a12d6976d64c 344 GYRO_ODR_13 = 0x0D ///<3200Hz
gmehmet 0:a12d6976d64c 345 };
gmehmet 0:a12d6976d64c 346
gmehmet 0:a12d6976d64c 347 ///Gyroscope bandwidth paramaters
gmehmet 0:a12d6976d64c 348 enum GyroBandWidthParam
gmehmet 0:a12d6976d64c 349 {
gmehmet 0:a12d6976d64c 350 GYRO_BWP_0 = 0, ///<OSR4 Over Sampling Rate of 4
gmehmet 0:a12d6976d64c 351 GYRO_BWP_1, ///<OSR2 Over Sampling Rate of 2
gmehmet 0:a12d6976d64c 352 GYRO_BWP_2 ///<Normal Mode, Equidistant Sampling
gmehmet 0:a12d6976d64c 353 };
gmehmet 0:a12d6976d64c 354
gmehmet 0:a12d6976d64c 355 ///Gyroscope ranges
gmehmet 0:a12d6976d64c 356 enum GyroRange
gmehmet 0:a12d6976d64c 357 {
gmehmet 0:a12d6976d64c 358 DPS_2000 = 0, ///<+-2000dps, 16.4LSB/dps
gmehmet 0:a12d6976d64c 359 DPS_1000, ///<+-1000dps, 32.8LSB/dps
gmehmet 0:a12d6976d64c 360 DPS_500, ///<+-500dps, 65.6LSB/dps
gmehmet 0:a12d6976d64c 361 DPS_250, ///<+-250dps, 131.2LSB/dps
gmehmet 0:a12d6976d64c 362 DPS_125 ///<+-125dps, 262.4LSB/dps,
gmehmet 0:a12d6976d64c 363 };
gmehmet 0:a12d6976d64c 364
gmehmet 0:a12d6976d64c 365 static const float SENS_2000_DPS_LSB_PER_DPS = 16.4F;
gmehmet 0:a12d6976d64c 366 static const float SENS_1000_DPS_LSB_PER_DPS = 32.8F;
gmehmet 0:a12d6976d64c 367 static const float SENS_500_DPS_LSB_PER_DPS = 65.6F;
gmehmet 0:a12d6976d64c 368 static const float SENS_250_DPS_LSB_PER_DPS = 131.2F;
gmehmet 0:a12d6976d64c 369 static const float SENS_125_DPS_LSB_PER_DPS = 262.4F;
gmehmet 0:a12d6976d64c 370
gmehmet 0:a12d6976d64c 371 ///Gyroscope configuration data structure
gmehmet 0:a12d6976d64c 372 struct GyroConfig
gmehmet 0:a12d6976d64c 373 {
gmehmet 0:a12d6976d64c 374 GyroRange range; ///<Gyroscope range
gmehmet 0:a12d6976d64c 375 GyroBandWidthParam bwp; ///<Gyroscope bandwidth param
gmehmet 0:a12d6976d64c 376 GyroOutputDataRate odr; ///<Gyroscope output data rate
gmehmet 0:a12d6976d64c 377 };
gmehmet 0:a12d6976d64c 378
gmehmet 0:a12d6976d64c 379 ///Gyroscope default configuration
gmehmet 0:a12d6976d64c 380 static const GyroConfig DEFAULT_GYRO_CONFIG;
gmehmet 0:a12d6976d64c 381 ///@}
gmehmet 0:a12d6976d64c 382
gmehmet 0:a12d6976d64c 383
gmehmet 0:a12d6976d64c 384 ///Enumerated power modes
gmehmet 0:a12d6976d64c 385 enum PowerModes
gmehmet 0:a12d6976d64c 386 {
gmehmet 0:a12d6976d64c 387 SUSPEND = 0, ///<Acc and Gyro, No sampling, No FIFO data readout
gmehmet 0:a12d6976d64c 388 NORMAL, ///<Acc and Gyro, Full chip operation
gmehmet 0:a12d6976d64c 389 LOW_POWER, ///<Acc duty-cycling between suspend and normal
gmehmet 0:a12d6976d64c 390 FAST_START_UP ///<Gyro start up delay time to normal mode <= 10 ms
gmehmet 0:a12d6976d64c 391 };
gmehmet 0:a12d6976d64c 392
gmehmet 0:a12d6976d64c 393
gmehmet 0:a12d6976d64c 394 ///Enumerated commands used with CMD register
gmehmet 0:a12d6976d64c 395 enum Commands
gmehmet 0:a12d6976d64c 396 {
gmehmet 0:a12d6976d64c 397 START_FOC = 0x03, ///<Starts Fast Offset Calibrartion
gmehmet 0:a12d6976d64c 398 ACC_SET_PMU_MODE = 0x10, ///<Sets acc power mode
gmehmet 0:a12d6976d64c 399 GYR_SET_PMU_MODE = 0x14, ///<Sets gyro power mode
gmehmet 0:a12d6976d64c 400 MAG_SET_PMU_MODE = 0x18, ///<Sets mag power mode
gmehmet 0:a12d6976d64c 401 PROG_NVM = 0xA0, ///<Writes NVM backed registers into NVM
gmehmet 0:a12d6976d64c 402 FIFO_FLUSH = 0xB0, ///<Clears FIFO
gmehmet 0:a12d6976d64c 403 INT_RESET, ///<Clears interrupt engine, INT_STATUS, and
gmehmet 0:a12d6976d64c 404 ///<the interrupt pin
gmehmet 0:a12d6976d64c 405 STEP_CNT_CLR, ///<Triggers reset of the step counter
gmehmet 0:a12d6976d64c 406 SOFT_RESET = 0xB6 ///<Triggers a reset including a reboot.
gmehmet 0:a12d6976d64c 407 };
gmehmet 0:a12d6976d64c 408
gmehmet 0:a12d6976d64c 409
gmehmet 0:a12d6976d64c 410 ///@brief BMI160 Destructor.\n
gmehmet 0:a12d6976d64c 411 ///
gmehmet 0:a12d6976d64c 412 ///On Entry:
gmehmet 0:a12d6976d64c 413 ///@param[in] none
gmehmet 0:a12d6976d64c 414 ///
gmehmet 0:a12d6976d64c 415 ///On Exit:
gmehmet 0:a12d6976d64c 416 ///@param[out] none
gmehmet 0:a12d6976d64c 417 ///
gmehmet 0:a12d6976d64c 418 ///@returns none
gmehmet 0:a12d6976d64c 419 virtual ~BMI160(){ }
gmehmet 0:a12d6976d64c 420
gmehmet 0:a12d6976d64c 421
gmehmet 0:a12d6976d64c 422 ///@brief Reads a single register.\n
gmehmet 0:a12d6976d64c 423 ///
gmehmet 0:a12d6976d64c 424 ///On Entry:
gmehmet 0:a12d6976d64c 425 ///@param[in] data - pointer to memory for storing read data
gmehmet 0:a12d6976d64c 426 ///
gmehmet 0:a12d6976d64c 427 ///On Exit:
gmehmet 0:a12d6976d64c 428 ///@param[out] data - holds contents of read register on success
gmehmet 0:a12d6976d64c 429 ///
gmehmet 0:a12d6976d64c 430 ///@returns 0 on success, non 0 on failure
gmehmet 0:a12d6976d64c 431 virtual int32_t readRegister(Registers reg, uint8_t *data) = 0;
gmehmet 0:a12d6976d64c 432
gmehmet 0:a12d6976d64c 433
gmehmet 0:a12d6976d64c 434 ///@brief Writes a single register.\n
gmehmet 0:a12d6976d64c 435 ///
gmehmet 0:a12d6976d64c 436 ///On Entry:
gmehmet 0:a12d6976d64c 437 ///@param[in] data - data to write to register
gmehmet 0:a12d6976d64c 438 ///
gmehmet 0:a12d6976d64c 439 ///On Exit:
gmehmet 0:a12d6976d64c 440 ///@param[out] none
gmehmet 0:a12d6976d64c 441 ///
gmehmet 0:a12d6976d64c 442 ///@returns 0 on success, non 0 on failure
gmehmet 0:a12d6976d64c 443 virtual int32_t writeRegister(Registers reg, const uint8_t data) = 0;
gmehmet 0:a12d6976d64c 444
gmehmet 0:a12d6976d64c 445
gmehmet 0:a12d6976d64c 446 ///@brief Reads a block of registers.\n
gmehmet 0:a12d6976d64c 447 ///@detail User must ensure that all registers between 'startReg' and
gmehmet 0:a12d6976d64c 448 ///'stopReg' exist and are readable. Function reads up to, including,
gmehmet 0:a12d6976d64c 449 ///'stopReg'.\n
gmehmet 0:a12d6976d64c 450 ///
gmehmet 0:a12d6976d64c 451 ///On Entry:
gmehmet 0:a12d6976d64c 452 ///@param[in] startReg - register to start reading from
gmehmet 0:a12d6976d64c 453 ///@param[in] stopReg - register to stop reading from
gmehmet 0:a12d6976d64c 454 ///@param[in] data - pointer to memory for storing read data
gmehmet 0:a12d6976d64c 455 ///
gmehmet 0:a12d6976d64c 456 ///On Exit:
gmehmet 0:a12d6976d64c 457 ///@param[out] data - holds contents of read registers on success
gmehmet 0:a12d6976d64c 458 ///
gmehmet 0:a12d6976d64c 459 ///@returns 0 on success, non 0 on failure
gmehmet 0:a12d6976d64c 460 virtual int32_t readBlock(Registers startReg, Registers stopReg,
gmehmet 0:a12d6976d64c 461 uint8_t *data) = 0;
gmehmet 0:a12d6976d64c 462
gmehmet 0:a12d6976d64c 463
gmehmet 0:a12d6976d64c 464 ///@brief Writes a block of registers.\n
gmehmet 0:a12d6976d64c 465 ///@detail User must ensure that all registers between 'startReg' and
gmehmet 0:a12d6976d64c 466 ///'stopReg' exist and are writeable. Function writes up to, including,
gmehmet 0:a12d6976d64c 467 ///'stopReg'.\n
gmehmet 0:a12d6976d64c 468 ///
gmehmet 0:a12d6976d64c 469 ///On Entry:
gmehmet 0:a12d6976d64c 470 ///@param[in] startReg - register to start writing at
gmehmet 0:a12d6976d64c 471 ///@param[in] stopReg - register to stop writing at
gmehmet 0:a12d6976d64c 472 ///@param[in] data - pointer to data to write to registers
gmehmet 0:a12d6976d64c 473 ///
gmehmet 0:a12d6976d64c 474 ///On Exit:
gmehmet 0:a12d6976d64c 475 ///@param[out] none
gmehmet 0:a12d6976d64c 476 ///
gmehmet 0:a12d6976d64c 477 ///@returns 0 on success, non 0 on failure
gmehmet 0:a12d6976d64c 478 virtual int32_t writeBlock(Registers startReg, Registers stopReg,
gmehmet 0:a12d6976d64c 479 const uint8_t *data) = 0;
gmehmet 0:a12d6976d64c 480
gmehmet 0:a12d6976d64c 481
gmehmet 0:a12d6976d64c 482 ///@brief Sets sensors power mode through CMD register.\n
gmehmet 0:a12d6976d64c 483 ///@details Observe command execution times given in datasheet.\n
gmehmet 0:a12d6976d64c 484 ///
gmehmet 0:a12d6976d64c 485 ///On Entry:
gmehmet 0:a12d6976d64c 486 ///@param[in] sensor - Sensor which power mode we are setting
gmehmet 0:a12d6976d64c 487 ///@param[in] pwrMode - Desired powermode of the sensor
gmehmet 0:a12d6976d64c 488 ///
gmehmet 0:a12d6976d64c 489 ///On Exit:
gmehmet 0:a12d6976d64c 490 ///@param[out]
gmehmet 0:a12d6976d64c 491 ///
gmehmet 0:a12d6976d64c 492 ///@returns 0 on success, non 0 on failure
gmehmet 0:a12d6976d64c 493 int32_t setSensorPowerMode(Sensors sensor, PowerModes pwrMode);
gmehmet 0:a12d6976d64c 494
gmehmet 0:a12d6976d64c 495
gmehmet 0:a12d6976d64c 496 ///@brief Configure sensor.\n
gmehmet 0:a12d6976d64c 497 ///
gmehmet 0:a12d6976d64c 498 ///On Entry:
gmehmet 0:a12d6976d64c 499 ///@param[in] config - sSensor configuration data structure
gmehmet 0:a12d6976d64c 500 ///
gmehmet 0:a12d6976d64c 501 ///On Exit:
gmehmet 0:a12d6976d64c 502 ///@param[out] none
gmehmet 0:a12d6976d64c 503 ///
gmehmet 0:a12d6976d64c 504 ///@returns 0 on success, non 0 on failure
gmehmet 0:a12d6976d64c 505 int32_t setSensorConfig(const AccConfig &config);
gmehmet 0:a12d6976d64c 506 int32_t setSensorConfig(const GyroConfig &config);
gmehmet 0:a12d6976d64c 507
gmehmet 0:a12d6976d64c 508
gmehmet 0:a12d6976d64c 509 ///@brief Get sensor configuration.\n
gmehmet 0:a12d6976d64c 510 ///
gmehmet 0:a12d6976d64c 511 ///On Entry:
gmehmet 0:a12d6976d64c 512 ///@param[in] config - Sensor configuration data structure
gmehmet 0:a12d6976d64c 513 ///
gmehmet 0:a12d6976d64c 514 ///On Exit:
gmehmet 0:a12d6976d64c 515 ///@param[out] config - on success, holds sensor's current
gmehmet 0:a12d6976d64c 516 ///configuration
gmehmet 0:a12d6976d64c 517 ///
gmehmet 0:a12d6976d64c 518 ///@returns 0 on success, non 0 on failure
gmehmet 0:a12d6976d64c 519 int32_t getSensorConfig(AccConfig &config);
gmehmet 0:a12d6976d64c 520 int32_t getSensorConfig(GyroConfig &config);
gmehmet 0:a12d6976d64c 521
gmehmet 0:a12d6976d64c 522
gmehmet 0:a12d6976d64c 523 ///@brief Get sensor axis.\n
gmehmet 0:a12d6976d64c 524 ///
gmehmet 0:a12d6976d64c 525 ///On Entry:
gmehmet 0:a12d6976d64c 526 ///@param[in] axis - Sensor axis
gmehmet 0:a12d6976d64c 527 ///@param[in] data - AxisData structure
gmehmet 0:a12d6976d64c 528 ///@param[in] range - Sensor range
gmehmet 0:a12d6976d64c 529 ///
gmehmet 0:a12d6976d64c 530 ///On Exit:
gmehmet 0:a12d6976d64c 531 ///@param[out] data - Structure holds raw and scaled axis data
gmehmet 0:a12d6976d64c 532 ///
gmehmet 0:a12d6976d64c 533 ///@returns 0 on success, non 0 on failure
gmehmet 0:a12d6976d64c 534 int32_t getSensorAxis(SensorAxis axis, AxisData &data, AccRange range);
gmehmet 0:a12d6976d64c 535 int32_t getSensorAxis(SensorAxis axis, AxisData &data, GyroRange range);
gmehmet 0:a12d6976d64c 536
gmehmet 0:a12d6976d64c 537
gmehmet 0:a12d6976d64c 538 ///@brief Get sensor xyz axis.\n
gmehmet 0:a12d6976d64c 539 ///
gmehmet 0:a12d6976d64c 540 ///On Entry:
gmehmet 0:a12d6976d64c 541 ///@param[in] data - SensorData structure
gmehmet 0:a12d6976d64c 542 ///@param[in] range - Sensor range
gmehmet 0:a12d6976d64c 543 ///
gmehmet 0:a12d6976d64c 544 ///On Exit:
gmehmet 0:a12d6976d64c 545 ///@param[out] data - Structure holds raw and scaled data for all three axis
gmehmet 0:a12d6976d64c 546 ///
gmehmet 0:a12d6976d64c 547 ///@returns 0 on success, non 0 on failure
gmehmet 0:a12d6976d64c 548 int32_t getSensorXYZ(SensorData &data, AccRange range);
gmehmet 0:a12d6976d64c 549 int32_t getSensorXYZ(SensorData &data, GyroRange range);
gmehmet 0:a12d6976d64c 550
gmehmet 0:a12d6976d64c 551
gmehmet 0:a12d6976d64c 552 ///@brief Get sensor xyz axis and sensor time.\n
gmehmet 0:a12d6976d64c 553 ///
gmehmet 0:a12d6976d64c 554 ///On Entry:
gmehmet 0:a12d6976d64c 555 ///@param[in] data - SensorData structure
gmehmet 0:a12d6976d64c 556 ///@param[in] sensorTime - SensorTime structure for data
gmehmet 0:a12d6976d64c 557 ///@param[in] range - Sensor range
gmehmet 0:a12d6976d64c 558 ///
gmehmet 0:a12d6976d64c 559 ///On Exit:
gmehmet 0:a12d6976d64c 560 ///@param[out] data - Structure holds raw and scaled data for all three axis
gmehmet 0:a12d6976d64c 561 ///@param[out] sensorTime - Holds sensor time on success
gmehmet 0:a12d6976d64c 562 ///
gmehmet 0:a12d6976d64c 563 ///@returns 0 on success, non 0 on failure
gmehmet 0:a12d6976d64c 564 int32_t getSensorXYZandSensorTime(SensorData &data, SensorTime &sensorTime,
gmehmet 0:a12d6976d64c 565 AccRange range);
gmehmet 0:a12d6976d64c 566 int32_t getSensorXYZandSensorTime(SensorData &data, SensorTime &sensorTime,
gmehmet 0:a12d6976d64c 567 GyroRange range);
gmehmet 0:a12d6976d64c 568
gmehmet 0:a12d6976d64c 569
gmehmet 0:a12d6976d64c 570 ///@brief Get Gyroscope/Accelerometer data and sensor time.\n
gmehmet 0:a12d6976d64c 571 ///
gmehmet 0:a12d6976d64c 572 ///On Entry:
gmehmet 0:a12d6976d64c 573 ///@param[in] accData - Sensor data structure for accelerometer
gmehmet 0:a12d6976d64c 574 ///@param[in] gyroData - Sensor data structure for gyroscope
gmehmet 0:a12d6976d64c 575 ///@param[in] sensorTime - SensorTime data structure
gmehmet 0:a12d6976d64c 576 ///@param[in] accRange - Accelerometer range
gmehmet 0:a12d6976d64c 577 ///@param[in] gyroRange - Gyroscope range
gmehmet 0:a12d6976d64c 578 ///
gmehmet 0:a12d6976d64c 579 ///On Exit:
gmehmet 0:a12d6976d64c 580 ///@param[out] accData - Synchronized accelerometer data
gmehmet 0:a12d6976d64c 581 ///@param[out] gyroData - Synchronized gyroscope data
gmehmet 0:a12d6976d64c 582 ///@param[out] sensorTime - Synchronized sensor time
gmehmet 0:a12d6976d64c 583 ///
gmehmet 0:a12d6976d64c 584 ///@returns 0 on success, non 0 on failure
gmehmet 0:a12d6976d64c 585 int32_t getGyroAccXYZandSensorTime(SensorData &accData,
gmehmet 0:a12d6976d64c 586 SensorData &gyroData,
gmehmet 0:a12d6976d64c 587 SensorTime &sensorTime,
gmehmet 0:a12d6976d64c 588 AccRange accRange, GyroRange gyroRange);
gmehmet 0:a12d6976d64c 589
gmehmet 0:a12d6976d64c 590
gmehmet 0:a12d6976d64c 591 ///@brief Get sensor time.\n
gmehmet 0:a12d6976d64c 592 ///
gmehmet 0:a12d6976d64c 593 ///On Entry:
gmehmet 0:a12d6976d64c 594 ///@param[in] sensorTime - SensorTime structure for data
gmehmet 0:a12d6976d64c 595 ///
gmehmet 0:a12d6976d64c 596 ///On Exit:
gmehmet 0:a12d6976d64c 597 ///@param[out] sensorTime - Holds sensor time on success
gmehmet 0:a12d6976d64c 598 ///
gmehmet 0:a12d6976d64c 599 ///@returns returns 0 on success, non 0 on failure
gmehmet 0:a12d6976d64c 600 int32_t getSensorTime(SensorTime &sensorTime);
gmehmet 0:a12d6976d64c 601
gmehmet 0:a12d6976d64c 602
gmehmet 0:a12d6976d64c 603 ///@brief Get die temperature.\n
gmehmet 0:a12d6976d64c 604 ///
gmehmet 0:a12d6976d64c 605 ///On Entry:
gmehmet 0:a12d6976d64c 606 ///@param[in] temp - pointer to float for temperature
gmehmet 0:a12d6976d64c 607 ///
gmehmet 0:a12d6976d64c 608 ///On Exit:
gmehmet 0:a12d6976d64c 609 ///@param[out] temp - on success, holds the die temperature
gmehmet 0:a12d6976d64c 610 ///
gmehmet 0:a12d6976d64c 611 ///@returns 0 on success, non 0 on failure
gmehmet 0:a12d6976d64c 612 int32_t getTemperature(float *temp);
gmehmet 0:a12d6976d64c 613
gmehmet 0:a12d6976d64c 614 // Initialize BMI160 with default parameters:
gmehmet 0:a12d6976d64c 615 // set GYRO: Suspended, Acc Normal Mode, ODR:25 Hz
gmehmet 0:a12d6976d64c 616 int32_t BMI160_DefaultInitalize();
gmehmet 0:a12d6976d64c 617
gmehmet 0:a12d6976d64c 618 //
gmehmet 0:a12d6976d64c 619 //
gmehmet 0:a12d6976d64c 620 int32_t enable_data_ready_interrupt();
gmehmet 0:a12d6976d64c 621
gmehmet 0:a12d6976d64c 622 //
gmehmet 0:a12d6976d64c 623 // Set sample rate
gmehmet 0:a12d6976d64c 624 // This function can be alled after BMI160_DefaultInitalize
gmehmet 0:a12d6976d64c 625 int32_t setSampleRate(int sample_rate);
gmehmet 0:a12d6976d64c 626
gmehmet 0:a12d6976d64c 627 /// @brief Soft reset
gmehmet 0:a12d6976d64c 628 ///
gmehmet 0:a12d6976d64c 629 int32_t reset();
gmehmet 0:a12d6976d64c 630
gmehmet 0:a12d6976d64c 631 private:
gmehmet 0:a12d6976d64c 632 bool m_use_irq;
gmehmet 0:a12d6976d64c 633 bool bmi160_irq_asserted;
gmehmet 0:a12d6976d64c 634 InterruptIn *m_bmi160_irq;
gmehmet 0:a12d6976d64c 635 void irq_handler();
gmehmet 0:a12d6976d64c 636
gmehmet 0:a12d6976d64c 637 protected:
gmehmet 0:a12d6976d64c 638 BMI160(InterruptIn *int_pin): m_bmi160_irq(int_pin), m_use_irq(true) {
gmehmet 0:a12d6976d64c 639 bmi160_irq_asserted = false;
gmehmet 0:a12d6976d64c 640 }
gmehmet 0:a12d6976d64c 641
gmehmet 0:a12d6976d64c 642 BMI160(): m_use_irq(false) { }
gmehmet 0:a12d6976d64c 643 };
gmehmet 0:a12d6976d64c 644
gmehmet 0:a12d6976d64c 645
gmehmet 0:a12d6976d64c 646 /**
gmehmet 0:a12d6976d64c 647 @brief BMI160_I2C - supports BMI160 object with I2C interface
gmehmet 0:a12d6976d64c 648 */
gmehmet 0:a12d6976d64c 649 class BMI160_I2C: public BMI160
gmehmet 0:a12d6976d64c 650 {
gmehmet 0:a12d6976d64c 651 public:
gmehmet 0:a12d6976d64c 652
gmehmet 0:a12d6976d64c 653 ///BMI160 default I2C address.
gmehmet 0:a12d6976d64c 654 static const uint8_t I2C_ADRS_SDO_LO = 0x68;
gmehmet 0:a12d6976d64c 655 ///BMI160 optional I2C address.
gmehmet 0:a12d6976d64c 656 static const uint8_t I2C_ADRS_SDO_HI = 0x69;
gmehmet 0:a12d6976d64c 657
gmehmet 0:a12d6976d64c 658
gmehmet 0:a12d6976d64c 659 ///@brief BMI160_I2C Constructor.\n
gmehmet 0:a12d6976d64c 660 ///
gmehmet 0:a12d6976d64c 661 ///On Entry:
gmehmet 0:a12d6976d64c 662 ///@param[in] i2cBus - reference to I2C bus for this device
gmehmet 0:a12d6976d64c 663 ///@param[in] i2cAdrs - 7-bit I2C address
gmehmet 0:a12d6976d64c 664 ///
gmehmet 0:a12d6976d64c 665 ///On Exit:
gmehmet 0:a12d6976d64c 666 ///@param[out] none
gmehmet 0:a12d6976d64c 667 ///
gmehmet 0:a12d6976d64c 668 ///@returns none
gmehmet 0:a12d6976d64c 669 BMI160_I2C(I2C *i2cBus, uint8_t i2cAdrs);
gmehmet 0:a12d6976d64c 670
gmehmet 0:a12d6976d64c 671 ///@brief BMI160_I2C Constructor.\n
gmehmet 0:a12d6976d64c 672 ///
gmehmet 0:a12d6976d64c 673 ///On Entry:
gmehmet 0:a12d6976d64c 674 ///@param[in] i2cBus - reference to I2C bus for this device
gmehmet 0:a12d6976d64c 675 ///@param[in] i2cAdrs - 7-bit I2C address
gmehmet 0:a12d6976d64c 676 ///@param[in] int_pin - Interrupt pin
gmehmet 0:a12d6976d64c 677 ///
gmehmet 0:a12d6976d64c 678 ///On Exit:
gmehmet 0:a12d6976d64c 679 ///@param[out] none
gmehmet 0:a12d6976d64c 680 ///
gmehmet 0:a12d6976d64c 681 ///@returns none
gmehmet 0:a12d6976d64c 682 BMI160_I2C(I2C *i2cBus, uint8_t i2cAdrs, InterruptIn *int_pin);
gmehmet 0:a12d6976d64c 683
gmehmet 0:a12d6976d64c 684 ///@brief Reads a single register.\n
gmehmet 0:a12d6976d64c 685 ///
gmehmet 0:a12d6976d64c 686 ///On Entry:
gmehmet 0:a12d6976d64c 687 ///@param[in] data - pointer to memory for storing read data
gmehmet 0:a12d6976d64c 688 ///
gmehmet 0:a12d6976d64c 689 ///On Exit:
gmehmet 0:a12d6976d64c 690 ///@param[out] data - holds contents of read register on success
gmehmet 0:a12d6976d64c 691 ///
gmehmet 0:a12d6976d64c 692 ///@returns 0 on success, non 0 on failure
gmehmet 0:a12d6976d64c 693 virtual int32_t readRegister(Registers reg, uint8_t *data);
gmehmet 0:a12d6976d64c 694
gmehmet 0:a12d6976d64c 695
gmehmet 0:a12d6976d64c 696 ///@brief Writes a single register.\n
gmehmet 0:a12d6976d64c 697 ///
gmehmet 0:a12d6976d64c 698 ///On Entry:
gmehmet 0:a12d6976d64c 699 ///@param[in] data - data to write to register
gmehmet 0:a12d6976d64c 700 ///
gmehmet 0:a12d6976d64c 701 ///On Exit:
gmehmet 0:a12d6976d64c 702 ///@param[out] none
gmehmet 0:a12d6976d64c 703 ///
gmehmet 0:a12d6976d64c 704 ///@returns 0 on success, non 0 on failure
gmehmet 0:a12d6976d64c 705 virtual int32_t writeRegister(Registers reg, const uint8_t data);
gmehmet 0:a12d6976d64c 706
gmehmet 0:a12d6976d64c 707
gmehmet 0:a12d6976d64c 708 ///@brief Reads a block of registers.\n
gmehmet 0:a12d6976d64c 709 ///@detail User must ensure that all registers between 'startReg' and
gmehmet 0:a12d6976d64c 710 ///'stopReg' exist and are readable. Function reads up to, including,
gmehmet 0:a12d6976d64c 711 ///'stopReg'.\n
gmehmet 0:a12d6976d64c 712 ///
gmehmet 0:a12d6976d64c 713 ///On Entry:
gmehmet 0:a12d6976d64c 714 ///@param[in] startReg - register to start reading from
gmehmet 0:a12d6976d64c 715 ///@param[in] stopReg - register to stop reading from
gmehmet 0:a12d6976d64c 716 ///@param[in] data - pointer to memory for storing read data
gmehmet 0:a12d6976d64c 717 ///
gmehmet 0:a12d6976d64c 718 ///On Exit:
gmehmet 0:a12d6976d64c 719 ///@param[out] data - holds contents of read registers on success
gmehmet 0:a12d6976d64c 720 ///
gmehmet 0:a12d6976d64c 721 ///@returns 0 on success, non 0 on failure
gmehmet 0:a12d6976d64c 722 virtual int32_t readBlock(Registers startReg, Registers stopReg,
gmehmet 0:a12d6976d64c 723 uint8_t *data);
gmehmet 0:a12d6976d64c 724
gmehmet 0:a12d6976d64c 725
gmehmet 0:a12d6976d64c 726 ///@brief Writes a block of registers.\n
gmehmet 0:a12d6976d64c 727 ///@detail User must ensure that all registers between 'startReg' and
gmehmet 0:a12d6976d64c 728 ///'stopReg' exist and are writeable. Function writes up to, including,
gmehmet 0:a12d6976d64c 729 ///'stopReg'.\n
gmehmet 0:a12d6976d64c 730 ///
gmehmet 0:a12d6976d64c 731 ///On Entry:
gmehmet 0:a12d6976d64c 732 ///@param[in] startReg - register to start writing at
gmehmet 0:a12d6976d64c 733 ///@param[in] stopReg - register to stop writing at
gmehmet 0:a12d6976d64c 734 ///@param[in] data - pointer to data to write to registers
gmehmet 0:a12d6976d64c 735 ///
gmehmet 0:a12d6976d64c 736 ///On Exit:
gmehmet 0:a12d6976d64c 737 ///@param[out] none
gmehmet 0:a12d6976d64c 738 ///
gmehmet 0:a12d6976d64c 739 ///@returns 0 on success, non 0 on failure
gmehmet 0:a12d6976d64c 740 virtual int32_t writeBlock(Registers startReg, Registers stopReg,
gmehmet 0:a12d6976d64c 741 const uint8_t *data);
gmehmet 0:a12d6976d64c 742
gmehmet 0:a12d6976d64c 743 private:
gmehmet 0:a12d6976d64c 744 I2C *m_i2cBus;
gmehmet 0:a12d6976d64c 745 uint8_t m_Wadrs, m_Radrs;
gmehmet 0:a12d6976d64c 746 };
gmehmet 0:a12d6976d64c 747
gmehmet 0:a12d6976d64c 748
gmehmet 0:a12d6976d64c 749 /**
gmehmet 0:a12d6976d64c 750 @brief BMI160_SPI - supports BMI160 object with SPI interface
gmehmet 0:a12d6976d64c 751 */
gmehmet 0:a12d6976d64c 752 class BMI160_SPI: public BMI160
gmehmet 0:a12d6976d64c 753 {
gmehmet 0:a12d6976d64c 754 public:
gmehmet 0:a12d6976d64c 755
gmehmet 0:a12d6976d64c 756 ///@brief BMI160_SPI Constructor.\n
gmehmet 0:a12d6976d64c 757 ///
gmehmet 0:a12d6976d64c 758 ///On Entry:
gmehmet 0:a12d6976d64c 759 ///@param[in] spiBus - reference to SPI bus for this device
gmehmet 0:a12d6976d64c 760 ///@param[in] cs - reference to DigitalOut used for chip select
gmehmet 0:a12d6976d64c 761 ///
gmehmet 0:a12d6976d64c 762 ///On Exit:
gmehmet 0:a12d6976d64c 763 ///@param[out] none
gmehmet 0:a12d6976d64c 764 ///
gmehmet 0:a12d6976d64c 765 ///@returns none
gmehmet 0:a12d6976d64c 766 BMI160_SPI(SPI *spiBus, DigitalOut &cs);
gmehmet 0:a12d6976d64c 767
gmehmet 0:a12d6976d64c 768
gmehmet 0:a12d6976d64c 769 ///@brief Reads a single register.\n
gmehmet 0:a12d6976d64c 770 ///
gmehmet 0:a12d6976d64c 771 ///On Entry:
gmehmet 0:a12d6976d64c 772 ///@param[in] data - pointer to memory for storing read data
gmehmet 0:a12d6976d64c 773 ///
gmehmet 0:a12d6976d64c 774 ///On Exit:
gmehmet 0:a12d6976d64c 775 ///@param[out] data - holds contents of read register on success
gmehmet 0:a12d6976d64c 776 ///
gmehmet 0:a12d6976d64c 777 ///@returns 0 on success, non 0 on failure
gmehmet 0:a12d6976d64c 778 virtual int32_t readRegister(Registers reg, uint8_t *data);
gmehmet 0:a12d6976d64c 779
gmehmet 0:a12d6976d64c 780
gmehmet 0:a12d6976d64c 781 ///@brief Writes a single register.\n
gmehmet 0:a12d6976d64c 782 ///
gmehmet 0:a12d6976d64c 783 ///On Entry:
gmehmet 0:a12d6976d64c 784 ///@param[in] data - data to write to register
gmehmet 0:a12d6976d64c 785 ///
gmehmet 0:a12d6976d64c 786 ///On Exit:
gmehmet 0:a12d6976d64c 787 ///@param[out] none
gmehmet 0:a12d6976d64c 788 ///
gmehmet 0:a12d6976d64c 789 ///@returns 0 on success, non 0 on failure
gmehmet 0:a12d6976d64c 790 virtual int32_t writeRegister(Registers reg, const uint8_t data);
gmehmet 0:a12d6976d64c 791
gmehmet 0:a12d6976d64c 792
gmehmet 0:a12d6976d64c 793 ///@brief Reads a block of registers.\n
gmehmet 0:a12d6976d64c 794 ///@detail User must ensure that all registers between 'startReg' and
gmehmet 0:a12d6976d64c 795 ///'stopReg' exist and are readable. Function reads up to, including,
gmehmet 0:a12d6976d64c 796 ///'stopReg'.\n
gmehmet 0:a12d6976d64c 797 ///
gmehmet 0:a12d6976d64c 798 ///On Entry:
gmehmet 0:a12d6976d64c 799 ///@param[in] startReg - register to start reading from
gmehmet 0:a12d6976d64c 800 ///@param[in] stopReg - register to stop reading from
gmehmet 0:a12d6976d64c 801 ///@param[in] data - pointer to memory for storing read data
gmehmet 0:a12d6976d64c 802 ///
gmehmet 0:a12d6976d64c 803 ///On Exit:
gmehmet 0:a12d6976d64c 804 ///@param[out] data - holds contents of read registers on success
gmehmet 0:a12d6976d64c 805 ///
gmehmet 0:a12d6976d64c 806 ///@returns 0 on success, non 0 on failure
gmehmet 0:a12d6976d64c 807 virtual int32_t readBlock(Registers startReg, Registers stopReg,
gmehmet 0:a12d6976d64c 808 uint8_t *data);
gmehmet 0:a12d6976d64c 809
gmehmet 0:a12d6976d64c 810
gmehmet 0:a12d6976d64c 811 ///@brief Writes a block of registers.\n
gmehmet 0:a12d6976d64c 812 ///@detail User must ensure that all registers between 'startReg' and
gmehmet 0:a12d6976d64c 813 ///'stopReg' exist and are writeable. Function writes up to, including,
gmehmet 0:a12d6976d64c 814 ///'stopReg'.\n
gmehmet 0:a12d6976d64c 815 ///
gmehmet 0:a12d6976d64c 816 ///On Entry:
gmehmet 0:a12d6976d64c 817 ///@param[in] startReg - register to start writing at
gmehmet 0:a12d6976d64c 818 ///@param[in] stopReg - register to stop writing at
gmehmet 0:a12d6976d64c 819 ///@param[in] data - pointer to data to write to registers
gmehmet 0:a12d6976d64c 820 ///
gmehmet 0:a12d6976d64c 821 ///On Exit:
gmehmet 0:a12d6976d64c 822 ///@param[out] none
gmehmet 0:a12d6976d64c 823 ///
gmehmet 0:a12d6976d64c 824 ///@returns 0 on success, non 0 on failure
gmehmet 0:a12d6976d64c 825 virtual int32_t writeBlock(Registers startReg, Registers stopReg,
gmehmet 0:a12d6976d64c 826 const uint8_t *data);
gmehmet 0:a12d6976d64c 827
gmehmet 0:a12d6976d64c 828 private:
gmehmet 0:a12d6976d64c 829
gmehmet 0:a12d6976d64c 830 SPI *m_spiBus;
gmehmet 0:a12d6976d64c 831 DigitalOut m_cs;
gmehmet 0:a12d6976d64c 832 };
gmehmet 0:a12d6976d64c 833
gmehmet 0:a12d6976d64c 834 #endif /* BMI160_H */
gmehmet 0:a12d6976d64c 835
gmehmet 0:a12d6976d64c 836
gmehmet 0:a12d6976d64c 837 ///@brief fx documentation template.\n
gmehmet 0:a12d6976d64c 838 ///
gmehmet 0:a12d6976d64c 839 ///On Entry:
gmehmet 0:a12d6976d64c 840 ///@param[in] none
gmehmet 0:a12d6976d64c 841 ///
gmehmet 0:a12d6976d64c 842 ///On Exit:
gmehmet 0:a12d6976d64c 843 ///@param[out] none
gmehmet 0:a12d6976d64c 844 ///
gmehmet 0:a12d6976d64c 845 ///@returns none