mehmet gok
Utility library for HSP SPo2 HR demo including user interface, board support adn accelerometer.
Diff: demoAccelerometer/bmi160.h
- Revision:
- 0:a12d6976d64c
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/demoAccelerometer/bmi160.h Mon Dec 17 13:58:56 2018 +0300
@@ -0,0 +1,845 @@
+/**********************************************************************
+* Copyright (C) 2016 Maxim Integrated Products, Inc., All Rights Reserved.
+*
+* Permission is hereby granted, free of charge, to any person obtaining a
+* copy of this software and associated documentation files (the "Software"),
+* to deal in the Software without restriction, including without limitation
+* the rights to use, copy, modify, merge, publish, distribute, sublicense,
+* and/or sell copies of the Software, and to permit persons to whom the
+* Software is furnished to do so, subject to the following conditions:
+*
+* The above copyright notice and this permission notice shall be included
+* in all copies or substantial portions of the Software.
+*
+* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+* OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+* IN NO EVENT SHALL MAXIM INTEGRATED BE LIABLE FOR ANY CLAIM, DAMAGES
+* OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
+* ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
+* OTHER DEALINGS IN THE SOFTWARE.
+*
+* Except as contained in this notice, the name of Maxim Integrated
+* Products, Inc. shall not be used except as stated in the Maxim Integrated
+* Products, Inc. Branding Policy.
+*
+* The mere transfer of this software does not imply any licenses
+* of trade secrets, proprietary technology, copyrights, patents,
+* trademarks, maskwork rights, or any other form of intellectual
+* property whatsoever. Maxim Integrated Products, Inc. retains all
+* ownership rights.
+**********************************************************************/
+
+
+#ifndef BMI160_H
+#define BMI160_H
+
+#include "mbed.h"
+
+/**
+@brief The BMI160 is a small, low power, low noise 16-bit inertial measurement
+unit designed for use in mobile applications like augmented reality or indoor
+navigation which require highly accurate, real-time sensor data.
+
+In full operation mode, with both the accelerometer and gyroscope enabled, the
+current consumption is typically 950 μA, enabling always-on applications in
+battery driven devices. It is available in a compact 14-pin 2.5 x 3.0 x 0.8 mm³
+LGA package."
+
+This class is an abstract base class and can not be instaniated, use BMI160_I2C
+or BMI160_SPI.
+*/
+class BMI160
+{
+public:
+
+ ///Return value on success.
+ static const uint8_t RTN_NO_ERROR = 0;
+
+ ///Sensor types
+ enum Sensors
+ {
+ MAG = 0, ///<Optional external sensor
+ GYRO, ///<Angular rate sensor
+ ACC ///<g sensor
+ };
+
+ ///Sensor Axis
+ enum SensorAxis
+ {
+ X_AXIS = 0,
+ Y_AXIS,
+ Z_AXIS
+ };
+
+ ///Structure for axis data
+ struct AxisData
+ {
+ int16_t raw; ///<Axis raw data
+ float scaled; ///<Axis scaled data
+ };
+
+ ///Structure for sensor time data
+ struct SensorTime
+ {
+ uint32_t raw; ///<raw SensorTime
+ float seconds; ///<SensorTime as seconds
+ };
+
+ ///Period of internal counter
+ static const float SENSOR_TIME_LSB = 39e-6;
+
+ ///Structure for holding sensor data
+ struct SensorData
+ {
+ AxisData xAxis; ///<Sensor X axis data
+ AxisData yAxis; ///<Sensor Y axis data
+ AxisData zAxis; ///<Sensor Z axis data
+ };
+
+
+ ///BMI160 registers
+ enum Registers
+ {
+ CHIP_ID = 0x00, ///<Chip Identification.
+ ERR_REG = 0x02, ///<Reports sensor error flags. Flags reset when read.
+ PMU_STATUS, ///<Reports current power mode for sensors.
+ DATA_0, ///<MAG_X axis bits7:0
+ DATA_1, ///<MAG_X axis bits15:8
+ DATA_2, ///<MAG_Y axis bits7:0
+ DATA_3, ///<MAG_Y axis bits15:8
+ DATA_4, ///<MAG_Z axis bits7:0
+ DATA_5, ///<MAG_Z axis bits15:8
+ DATA_6, ///<RHALL bits7:0
+ DATA_7, ///<RHALL bits15:8
+ DATA_8, ///<GYR_X axis bits7:0
+ DATA_9, ///<GYR_X axis bits15:8
+ DATA_10, ///<GYR_Y axis bits7:0
+ DATA_11, ///<GYR_Y axis bits15:8
+ DATA_12, ///<GYR_Z axis bits7:0
+ DATA_13, ///<GYR_Z axis bits15:8
+ DATA_14, ///<ACC_X axis bits7:0
+ DATA_15, ///<ACC_X axis bits15:8
+ DATA_16, ///<ACC_Y axis bits7:0
+ DATA_17, ///<ACC_Y axis bits15:8
+ DATA_18, ///<ACC_Z axis bits7:0
+ DATA_19, ///<ACC_Z axis bits15:8
+ SENSORTIME_0, ///<24bit counter synchronized with data, bits7:0
+ SENSORTIME_1, ///<24bit counter synchronized with data, bits15:8
+ SENSORTIME_2, ///<24bit counter synchronized with data, bits23:16
+ STATUS, ///<Reports sensors status flags
+ INT_STATUS_0, ///<Contains interrupt status flags
+ INT_STATUS_1, ///<Contains interrupt status flags
+ INT_STATUS_2, ///<Contains interrupt status flags
+ INT_STATUS_3, ///<Contains interrupt status flags
+ TEMPERATURE_0, ///<Contains temperature of sensor, bits7:0
+ TEMPERATURE_1, ///<Contains temperature of sensor, bits15:8
+ FIFO_LENGTH_0, ///<Current fill level of FIFO, bits7:0
+ FIFO_LENGTH_1, ///<Current fill level of FIFO, bits10:8
+ FIFO_DATA, ///<FIFO data read out register, burst read
+ ACC_CONF = 0x40, ///<Set ODR, bandwidth, and read mode of accelerometer
+ ACC_RANGE, ///<Sets accelerometer g-range
+ GYR_CONF, ///<Set ODR, bandwidth, and read mode of gyroscope
+ GYR_RANGE, ///<Sets gyroscope angular rate measurement range
+ MAG_CONF, ///<Sets ODR of magnetometer interface
+ FIFO_DOWNS, ///<Sets down sampling ratios of accel and gyro data
+ ///<for FIFO
+ FIFO_CONFIG_0, ///<Sets FIFO Watermark
+ FIFO_CONFIG_1, ///<Sets which sensor data is available in FIFO,
+ ///<Header/Headerless mode, Ext Int tagging, Sensortime
+ MAG_IF_0 = 0x4B, ///<Magnetometer 7-bit I2C address, bits7:1
+ MAG_IF_1, ///<Magnetometer interface configuration
+ MAG_IF_2, ///<Magnetometer address to read
+ MAG_IF_3, ///<Magnetometer address to write
+ MAG_IF_4, ///<Magnetometer data to write
+ INT_EN_0, ///<Interrupt enable bits
+ INT_EN_1, ///<Interrupt enable bits
+ INT_EN_2, ///<Interrupt enable bits
+ INT_OUT_CTRL, ///<Contains the behavioral configuration of INT pins
+ INT_LATCH, ///<Contains the interrupt rest bit and the interrupt
+ ///<mode selection
+ INT_MAP_0, ///<Controls which interrupt signals are mapped to the
+ ///<INT1 and INT2 pins
+ INT_MAP_1, ///<Controls which interrupt signals are mapped to the
+ ///<INT1 and INT2 pins
+ INT_MAP_2, ///<Controls which interrupt signals are mapped to the
+ ///<INT1 and INT2 pins
+ INT_DATA_0, ///<Contains the data source definition for the two
+ ///<interrupt groups
+ INT_DATA_1, ///<Contains the data source definition for the two
+ ///<interrupt groups
+ INT_LOWHIGH_0, ///<Contains the configuration for the low g interrupt
+ INT_LOWHIGH_1, ///<Contains the configuration for the low g interrupt
+ INT_LOWHIGH_2, ///<Contains the configuration for the low g interrupt
+ INT_LOWHIGH_3, ///<Contains the configuration for the low g interrupt
+ INT_LOWHIGH_4, ///<Contains the configuration for the low g interrupt
+ INT_MOTION_0, ///<Contains the configuration for the any motion and
+ ///<no motion interrupts
+ INT_MOTION_1, ///<Contains the configuration for the any motion and
+ ///<no motion interrupts
+ INT_MOTION_2, ///<Contains the configuration for the any motion and
+ ///<no motion interrupts
+ INT_MOTION_3, ///<Contains the configuration for the any motion and
+ ///<no motion interrupts
+ INT_TAP_0, ///<Contains the configuration for the tap interrupts
+ INT_TAP_1, ///<Contains the configuration for the tap interrupts
+ INT_ORIENT_0, ///<Contains the configuration for the oeientation
+ ///<interrupt
+ INT_ORIENT_1, ///<Contains the configuration for the oeientation
+ ///<interrupt
+ INT_FLAT_0, ///<Contains the configuration for the flat interrupt
+ INT_FLAT_1, ///<Contains the configuration for the flat interrupt
+ FOC_CONF, ///<Contains configuration for the fast offset
+ ///<compensation for the accelerometer and gyroscope
+ CONF, ///<Configuration of sensor, nvm_prog_en bit
+ IF_CONF, ///<Contains settings for the digital interface
+ PMU_TRIGGER, ///<Sets trigger conditions to change gyro power modes
+ SELF_TEST, ///<Self test configuration
+ NV_CONF = 0x70, ///<Contains settings for the digital interface
+ OFFSET_0, ///<Contains offset comp values for acc_off_x7:0
+ OFFSET_1, ///<Contains offset comp values for acc_off_y7:0
+ OFFSET_2, ///<Contains offset comp values for acc_off_z7:0
+ OFFSET_3, ///<Contains offset comp values for gyr_off_x7:0
+ OFFSET_4, ///<Contains offset comp values for gyr_off_y7:0
+ OFFSET_5, ///<Contains offset comp values for gyr_off_z7:0
+ OFFSET_6, ///<gyr/acc offset enable bit and gyr_off_(zyx) bits9:8
+ STEP_CNT_0, ///<Step counter bits 15:8
+ STEP_CNT_1, ///<Step counter bits 7:0
+ STEP_CONF_0, ///<Contains configuration of the step detector
+ STEP_CONF_1, ///<Contains configuration of the step detector
+ CMD = 0x7E ///<Command register triggers operations like
+ ///<softreset, NVM programming, etc.
+ };
+
+
+ ///@name ERR_REG(0x02)
+ ///Error register data
+ ///@{
+
+ static const uint8_t FATAL_ERR_MASK = 0x01;
+ static const uint8_t FATAL_ERR_POS = 0x00;
+ static const uint8_t ERR_CODE_MASK = 0x1E;
+ static const uint8_t ERR_CODE_POS = 0x01;
+ static const uint8_t I2C_FAIL_ERR_MASK = 0x20;
+ static const uint8_t I2C_FAIL_ERR_POS = 0x05;
+ static const uint8_t DROP_CMD_ERR_MASK = 0x40;
+ static const uint8_t DROP_CMD_ERR_POS = 0x06;
+ static const uint8_t MAG_DRDY_ERR_MASK = 0x80;
+ static const uint8_t MAG_DRDY_ERR_POS = 0x08;
+
+ ///Enumerated error codes
+ enum ErrorCodes
+ {
+ NO_ERROR = 0, ///<No Error
+ ERROR_1, ///<Listed as error
+ ERROR_2, ///<Listed as error
+ LPM_INT_PFD, ///<Low-power mode and interrupt uses pre-filtered
+ ///<data
+ ODR_MISMATCH = 0x06, ///<ODRs of enabled sensors in headerless mode do
+ ///<not match
+ PFD_USED_LPM ///<Pre-filtered data are used in low power mode
+ };
+ ///@}
+
+
+ ///@name ACC_CONF(0x40) and ACC_RANGE(0x41)
+ ///Data for configuring accelerometer
+ ///@{
+
+ static const uint8_t ACC_ODR_MASK = 0x0F;
+ static const uint8_t ACC_ODR_POS = 0x00;
+ static const uint8_t ACC_BWP_MASK = 0x70;
+ static const uint8_t ACC_BWP_POS = 0x04;
+ static const uint8_t ACC_US_MASK = 0x80;
+ static const uint8_t ACC_US_POS = 0x07;
+ static const uint8_t ACC_RANGE_MASK = 0x0F;
+ static const uint8_t ACC_RANGE_POS = 0x00;
+
+ ///Accelerometer output data rates
+ enum AccOutputDataRate
+ {
+ ACC_ODR_1 = 1, ///< 25/32Hz
+ ACC_ODR_2, ///< 25/16Hz
+ ACC_ODR_3, ///< 25/8Hz
+ ACC_ODR_4, ///< 25/4Hz
+ ACC_ODR_5, ///< 25/2Hz
+ ACC_ODR_6, ///< 25Hz
+ ACC_ODR_7, ///< 50Hz
+ ACC_ODR_8, ///< 100Hz
+ ACC_ODR_9, ///< 200Hz
+ ACC_ODR_10, ///< 400Hz
+ ACC_ODR_11, ///< 800Hz
+ ACC_ODR_12 ///< 1600Hz
+ };
+
+ ///Accelerometer bandwidth parameters
+ enum AccBandWidthParam
+ {
+ ACC_BWP_0 = 0, ///< Average 1 cycle; when acc_us = 0 OSR4
+ ACC_BWP_1, ///< Average 2 cycles; when acc_us = 0 OSR2
+ ACC_BWP_2, ///< Average 4 cycles; when acc_us = 0 normal mode
+ ACC_BWP_3, ///< Average 8 cycles
+ ACC_BWP_4, ///< Average 16 cycles
+ ACC_BWP_5, ///< Average 32 cycles
+ ACC_BWP_6, ///< Average 64 cycles
+ ACC_BWP_7 ///< Average 128 cycles
+ };
+
+ ///Accelerometer undersampling
+ enum AccUnderSampling
+ {
+ ACC_US_OFF = 0,
+ ACC_US_ON
+ };
+
+ ///Accelerometer ranges
+ enum AccRange
+ {
+ SENS_2G = 0x03, ///<Accelerometer range +-2G
+ SENS_4G = 0x05, ///<Accelerometer range +-4G
+ SENS_8G = 0x08, ///<Accelerometer range +-8G
+ SENS_16G = 0x0C ///<Accelerometer range +-16G
+ };
+
+ static const float SENS_2G_LSB_PER_G = 16384.0F;
+ static const float SENS_4G_LSB_PER_G = 8192.0F;
+ static const float SENS_8G_LSB_PER_G = 4096.0F;
+ static const float SENS_16G_LSB_PER_G = 2048.0F;
+
+ ///Accelerometer configuration data structure
+ struct AccConfig
+ {
+ AccRange range; ///<Accelerometer range
+ AccUnderSampling us; ///<Accelerometr undersampling mode
+ AccBandWidthParam bwp; ///<Accelerometer bandwidth param
+ AccOutputDataRate odr; ///<Accelerometr output data rate
+ };
+
+ ///Accelerometer default configuration
+ static const AccConfig DEFAULT_ACC_CONFIG;
+ ///@}
+
+
+ ///@name GYR_CONF(0x42) and GYR_RANGE(0x43)
+ ///Data for configuring gyroscope
+ ///@{
+
+ static const uint8_t GYRO_ODR_MASK = 0x0F;
+ static const uint8_t GYRO_ODR_POS = 0x00;
+ static const uint8_t GYRO_BWP_MASK = 0x30;
+ static const uint8_t GYRO_BWP_POS = 0x04;
+ static const uint8_t GYRO_RANGE_MASK = 0x07;
+ static const uint8_t GYRO_RANGE_POS = 0x00;
+
+ ///Gyroscope output data rates
+ enum GyroOutputDataRate
+ {
+ GYRO_ODR_6 = 0x06, ///<25Hz
+ GYRO_ODR_7 = 0x07, ///<50Hz
+ GYRO_ODR_8 = 0x08, ///<100Hz
+ GYRO_ODR_9 = 0x09, ///<200Hz
+ GYRO_ODR_10 = 0x0A, ///<400Hz
+ GYRO_ODR_11 = 0x0B, ///<800Hz
+ GYRO_ODR_12 = 0x0C, ///<1600Hz
+ GYRO_ODR_13 = 0x0D ///<3200Hz
+ };
+
+ ///Gyroscope bandwidth paramaters
+ enum GyroBandWidthParam
+ {
+ GYRO_BWP_0 = 0, ///<OSR4 Over Sampling Rate of 4
+ GYRO_BWP_1, ///<OSR2 Over Sampling Rate of 2
+ GYRO_BWP_2 ///<Normal Mode, Equidistant Sampling
+ };
+
+ ///Gyroscope ranges
+ enum GyroRange
+ {
+ DPS_2000 = 0, ///<+-2000dps, 16.4LSB/dps
+ DPS_1000, ///<+-1000dps, 32.8LSB/dps
+ DPS_500, ///<+-500dps, 65.6LSB/dps
+ DPS_250, ///<+-250dps, 131.2LSB/dps
+ DPS_125 ///<+-125dps, 262.4LSB/dps,
+ };
+
+ static const float SENS_2000_DPS_LSB_PER_DPS = 16.4F;
+ static const float SENS_1000_DPS_LSB_PER_DPS = 32.8F;
+ static const float SENS_500_DPS_LSB_PER_DPS = 65.6F;
+ static const float SENS_250_DPS_LSB_PER_DPS = 131.2F;
+ static const float SENS_125_DPS_LSB_PER_DPS = 262.4F;
+
+ ///Gyroscope configuration data structure
+ struct GyroConfig
+ {
+ GyroRange range; ///<Gyroscope range
+ GyroBandWidthParam bwp; ///<Gyroscope bandwidth param
+ GyroOutputDataRate odr; ///<Gyroscope output data rate
+ };
+
+ ///Gyroscope default configuration
+ static const GyroConfig DEFAULT_GYRO_CONFIG;
+ ///@}
+
+
+ ///Enumerated power modes
+ enum PowerModes
+ {
+ SUSPEND = 0, ///<Acc and Gyro, No sampling, No FIFO data readout
+ NORMAL, ///<Acc and Gyro, Full chip operation
+ LOW_POWER, ///<Acc duty-cycling between suspend and normal
+ FAST_START_UP ///<Gyro start up delay time to normal mode <= 10 ms
+ };
+
+
+ ///Enumerated commands used with CMD register
+ enum Commands
+ {
+ START_FOC = 0x03, ///<Starts Fast Offset Calibrartion
+ ACC_SET_PMU_MODE = 0x10, ///<Sets acc power mode
+ GYR_SET_PMU_MODE = 0x14, ///<Sets gyro power mode
+ MAG_SET_PMU_MODE = 0x18, ///<Sets mag power mode
+ PROG_NVM = 0xA0, ///<Writes NVM backed registers into NVM
+ FIFO_FLUSH = 0xB0, ///<Clears FIFO
+ INT_RESET, ///<Clears interrupt engine, INT_STATUS, and
+ ///<the interrupt pin
+ STEP_CNT_CLR, ///<Triggers reset of the step counter
+ SOFT_RESET = 0xB6 ///<Triggers a reset including a reboot.
+ };
+
+
+ ///@brief BMI160 Destructor.\n
+ ///
+ ///On Entry:
+ ///@param[in] none
+ ///
+ ///On Exit:
+ ///@param[out] none
+ ///
+ ///@returns none
+ virtual ~BMI160(){ }
+
+
+ ///@brief Reads a single register.\n
+ ///
+ ///On Entry:
+ ///@param[in] data - pointer to memory for storing read data
+ ///
+ ///On Exit:
+ ///@param[out] data - holds contents of read register on success
+ ///
+ ///@returns 0 on success, non 0 on failure
+ virtual int32_t readRegister(Registers reg, uint8_t *data) = 0;
+
+
+ ///@brief Writes a single register.\n
+ ///
+ ///On Entry:
+ ///@param[in] data - data to write to register
+ ///
+ ///On Exit:
+ ///@param[out] none
+ ///
+ ///@returns 0 on success, non 0 on failure
+ virtual int32_t writeRegister(Registers reg, const uint8_t data) = 0;
+
+
+ ///@brief Reads a block of registers.\n
+ ///@detail User must ensure that all registers between 'startReg' and
+ ///'stopReg' exist and are readable. Function reads up to, including,
+ ///'stopReg'.\n
+ ///
+ ///On Entry:
+ ///@param[in] startReg - register to start reading from
+ ///@param[in] stopReg - register to stop reading from
+ ///@param[in] data - pointer to memory for storing read data
+ ///
+ ///On Exit:
+ ///@param[out] data - holds contents of read registers on success
+ ///
+ ///@returns 0 on success, non 0 on failure
+ virtual int32_t readBlock(Registers startReg, Registers stopReg,
+ uint8_t *data) = 0;
+
+
+ ///@brief Writes a block of registers.\n
+ ///@detail User must ensure that all registers between 'startReg' and
+ ///'stopReg' exist and are writeable. Function writes up to, including,
+ ///'stopReg'.\n
+ ///
+ ///On Entry:
+ ///@param[in] startReg - register to start writing at
+ ///@param[in] stopReg - register to stop writing at
+ ///@param[in] data - pointer to data to write to registers
+ ///
+ ///On Exit:
+ ///@param[out] none
+ ///
+ ///@returns 0 on success, non 0 on failure
+ virtual int32_t writeBlock(Registers startReg, Registers stopReg,
+ const uint8_t *data) = 0;
+
+
+ ///@brief Sets sensors power mode through CMD register.\n
+ ///@details Observe command execution times given in datasheet.\n
+ ///
+ ///On Entry:
+ ///@param[in] sensor - Sensor which power mode we are setting
+ ///@param[in] pwrMode - Desired powermode of the sensor
+ ///
+ ///On Exit:
+ ///@param[out]
+ ///
+ ///@returns 0 on success, non 0 on failure
+ int32_t setSensorPowerMode(Sensors sensor, PowerModes pwrMode);
+
+
+ ///@brief Configure sensor.\n
+ ///
+ ///On Entry:
+ ///@param[in] config - sSensor configuration data structure
+ ///
+ ///On Exit:
+ ///@param[out] none
+ ///
+ ///@returns 0 on success, non 0 on failure
+ int32_t setSensorConfig(const AccConfig &config);
+ int32_t setSensorConfig(const GyroConfig &config);
+
+
+ ///@brief Get sensor configuration.\n
+ ///
+ ///On Entry:
+ ///@param[in] config - Sensor configuration data structure
+ ///
+ ///On Exit:
+ ///@param[out] config - on success, holds sensor's current
+ ///configuration
+ ///
+ ///@returns 0 on success, non 0 on failure
+ int32_t getSensorConfig(AccConfig &config);
+ int32_t getSensorConfig(GyroConfig &config);
+
+
+ ///@brief Get sensor axis.\n
+ ///
+ ///On Entry:
+ ///@param[in] axis - Sensor axis
+ ///@param[in] data - AxisData structure
+ ///@param[in] range - Sensor range
+ ///
+ ///On Exit:
+ ///@param[out] data - Structure holds raw and scaled axis data
+ ///
+ ///@returns 0 on success, non 0 on failure
+ int32_t getSensorAxis(SensorAxis axis, AxisData &data, AccRange range);
+ int32_t getSensorAxis(SensorAxis axis, AxisData &data, GyroRange range);
+
+
+ ///@brief Get sensor xyz axis.\n
+ ///
+ ///On Entry:
+ ///@param[in] data - SensorData structure
+ ///@param[in] range - Sensor range
+ ///
+ ///On Exit:
+ ///@param[out] data - Structure holds raw and scaled data for all three axis
+ ///
+ ///@returns 0 on success, non 0 on failure
+ int32_t getSensorXYZ(SensorData &data, AccRange range);
+ int32_t getSensorXYZ(SensorData &data, GyroRange range);
+
+
+ ///@brief Get sensor xyz axis and sensor time.\n
+ ///
+ ///On Entry:
+ ///@param[in] data - SensorData structure
+ ///@param[in] sensorTime - SensorTime structure for data
+ ///@param[in] range - Sensor range
+ ///
+ ///On Exit:
+ ///@param[out] data - Structure holds raw and scaled data for all three axis
+ ///@param[out] sensorTime - Holds sensor time on success
+ ///
+ ///@returns 0 on success, non 0 on failure
+ int32_t getSensorXYZandSensorTime(SensorData &data, SensorTime &sensorTime,
+ AccRange range);
+ int32_t getSensorXYZandSensorTime(SensorData &data, SensorTime &sensorTime,
+ GyroRange range);
+
+
+ ///@brief Get Gyroscope/Accelerometer data and sensor time.\n
+ ///
+ ///On Entry:
+ ///@param[in] accData - Sensor data structure for accelerometer
+ ///@param[in] gyroData - Sensor data structure for gyroscope
+ ///@param[in] sensorTime - SensorTime data structure
+ ///@param[in] accRange - Accelerometer range
+ ///@param[in] gyroRange - Gyroscope range
+ ///
+ ///On Exit:
+ ///@param[out] accData - Synchronized accelerometer data
+ ///@param[out] gyroData - Synchronized gyroscope data
+ ///@param[out] sensorTime - Synchronized sensor time
+ ///
+ ///@returns 0 on success, non 0 on failure
+ int32_t getGyroAccXYZandSensorTime(SensorData &accData,
+ SensorData &gyroData,
+ SensorTime &sensorTime,
+ AccRange accRange, GyroRange gyroRange);
+
+
+ ///@brief Get sensor time.\n
+ ///
+ ///On Entry:
+ ///@param[in] sensorTime - SensorTime structure for data
+ ///
+ ///On Exit:
+ ///@param[out] sensorTime - Holds sensor time on success
+ ///
+ ///@returns returns 0 on success, non 0 on failure
+ int32_t getSensorTime(SensorTime &sensorTime);
+
+
+ ///@brief Get die temperature.\n
+ ///
+ ///On Entry:
+ ///@param[in] temp - pointer to float for temperature
+ ///
+ ///On Exit:
+ ///@param[out] temp - on success, holds the die temperature
+ ///
+ ///@returns 0 on success, non 0 on failure
+ int32_t getTemperature(float *temp);
+
+ // Initialize BMI160 with default parameters:
+ // set GYRO: Suspended, Acc Normal Mode, ODR:25 Hz
+ int32_t BMI160_DefaultInitalize();
+
+ //
+ //
+ int32_t enable_data_ready_interrupt();
+
+ //
+ // Set sample rate
+ // This function can be alled after BMI160_DefaultInitalize
+ int32_t setSampleRate(int sample_rate);
+
+ /// @brief Soft reset
+ ///
+ int32_t reset();
+
+private:
+ bool m_use_irq;
+ bool bmi160_irq_asserted;
+ InterruptIn *m_bmi160_irq;
+ void irq_handler();
+
+protected:
+ BMI160(InterruptIn *int_pin): m_bmi160_irq(int_pin), m_use_irq(true) {
+ bmi160_irq_asserted = false;
+ }
+
+ BMI160(): m_use_irq(false) { }
+};
+
+
+/**
+@brief BMI160_I2C - supports BMI160 object with I2C interface
+*/
+class BMI160_I2C: public BMI160
+{
+public:
+
+ ///BMI160 default I2C address.
+ static const uint8_t I2C_ADRS_SDO_LO = 0x68;
+ ///BMI160 optional I2C address.
+ static const uint8_t I2C_ADRS_SDO_HI = 0x69;
+
+
+ ///@brief BMI160_I2C Constructor.\n
+ ///
+ ///On Entry:
+ ///@param[in] i2cBus - reference to I2C bus for this device
+ ///@param[in] i2cAdrs - 7-bit I2C address
+ ///
+ ///On Exit:
+ ///@param[out] none
+ ///
+ ///@returns none
+ BMI160_I2C(I2C *i2cBus, uint8_t i2cAdrs);
+
+ ///@brief BMI160_I2C Constructor.\n
+ ///
+ ///On Entry:
+ ///@param[in] i2cBus - reference to I2C bus for this device
+ ///@param[in] i2cAdrs - 7-bit I2C address
+ ///@param[in] int_pin - Interrupt pin
+ ///
+ ///On Exit:
+ ///@param[out] none
+ ///
+ ///@returns none
+ BMI160_I2C(I2C *i2cBus, uint8_t i2cAdrs, InterruptIn *int_pin);
+
+ ///@brief Reads a single register.\n
+ ///
+ ///On Entry:
+ ///@param[in] data - pointer to memory for storing read data
+ ///
+ ///On Exit:
+ ///@param[out] data - holds contents of read register on success
+ ///
+ ///@returns 0 on success, non 0 on failure
+ virtual int32_t readRegister(Registers reg, uint8_t *data);
+
+
+ ///@brief Writes a single register.\n
+ ///
+ ///On Entry:
+ ///@param[in] data - data to write to register
+ ///
+ ///On Exit:
+ ///@param[out] none
+ ///
+ ///@returns 0 on success, non 0 on failure
+ virtual int32_t writeRegister(Registers reg, const uint8_t data);
+
+
+ ///@brief Reads a block of registers.\n
+ ///@detail User must ensure that all registers between 'startReg' and
+ ///'stopReg' exist and are readable. Function reads up to, including,
+ ///'stopReg'.\n
+ ///
+ ///On Entry:
+ ///@param[in] startReg - register to start reading from
+ ///@param[in] stopReg - register to stop reading from
+ ///@param[in] data - pointer to memory for storing read data
+ ///
+ ///On Exit:
+ ///@param[out] data - holds contents of read registers on success
+ ///
+ ///@returns 0 on success, non 0 on failure
+ virtual int32_t readBlock(Registers startReg, Registers stopReg,
+ uint8_t *data);
+
+
+ ///@brief Writes a block of registers.\n
+ ///@detail User must ensure that all registers between 'startReg' and
+ ///'stopReg' exist and are writeable. Function writes up to, including,
+ ///'stopReg'.\n
+ ///
+ ///On Entry:
+ ///@param[in] startReg - register to start writing at
+ ///@param[in] stopReg - register to stop writing at
+ ///@param[in] data - pointer to data to write to registers
+ ///
+ ///On Exit:
+ ///@param[out] none
+ ///
+ ///@returns 0 on success, non 0 on failure
+ virtual int32_t writeBlock(Registers startReg, Registers stopReg,
+ const uint8_t *data);
+
+private:
+ I2C *m_i2cBus;
+ uint8_t m_Wadrs, m_Radrs;
+};
+
+
+/**
+@brief BMI160_SPI - supports BMI160 object with SPI interface
+*/
+class BMI160_SPI: public BMI160
+{
+public:
+
+ ///@brief BMI160_SPI Constructor.\n
+ ///
+ ///On Entry:
+ ///@param[in] spiBus - reference to SPI bus for this device
+ ///@param[in] cs - reference to DigitalOut used for chip select
+ ///
+ ///On Exit:
+ ///@param[out] none
+ ///
+ ///@returns none
+ BMI160_SPI(SPI *spiBus, DigitalOut &cs);
+
+
+ ///@brief Reads a single register.\n
+ ///
+ ///On Entry:
+ ///@param[in] data - pointer to memory for storing read data
+ ///
+ ///On Exit:
+ ///@param[out] data - holds contents of read register on success
+ ///
+ ///@returns 0 on success, non 0 on failure
+ virtual int32_t readRegister(Registers reg, uint8_t *data);
+
+
+ ///@brief Writes a single register.\n
+ ///
+ ///On Entry:
+ ///@param[in] data - data to write to register
+ ///
+ ///On Exit:
+ ///@param[out] none
+ ///
+ ///@returns 0 on success, non 0 on failure
+ virtual int32_t writeRegister(Registers reg, const uint8_t data);
+
+
+ ///@brief Reads a block of registers.\n
+ ///@detail User must ensure that all registers between 'startReg' and
+ ///'stopReg' exist and are readable. Function reads up to, including,
+ ///'stopReg'.\n
+ ///
+ ///On Entry:
+ ///@param[in] startReg - register to start reading from
+ ///@param[in] stopReg - register to stop reading from
+ ///@param[in] data - pointer to memory for storing read data
+ ///
+ ///On Exit:
+ ///@param[out] data - holds contents of read registers on success
+ ///
+ ///@returns 0 on success, non 0 on failure
+ virtual int32_t readBlock(Registers startReg, Registers stopReg,
+ uint8_t *data);
+
+
+ ///@brief Writes a block of registers.\n
+ ///@detail User must ensure that all registers between 'startReg' and
+ ///'stopReg' exist and are writeable. Function writes up to, including,
+ ///'stopReg'.\n
+ ///
+ ///On Entry:
+ ///@param[in] startReg - register to start writing at
+ ///@param[in] stopReg - register to stop writing at
+ ///@param[in] data - pointer to data to write to registers
+ ///
+ ///On Exit:
+ ///@param[out] none
+ ///
+ ///@returns 0 on success, non 0 on failure
+ virtual int32_t writeBlock(Registers startReg, Registers stopReg,
+ const uint8_t *data);
+
+private:
+
+ SPI *m_spiBus;
+ DigitalOut m_cs;
+};
+
+#endif /* BMI160_H */
+
+
+///@brief fx documentation template.\n
+///
+///On Entry:
+///@param[in] none
+///
+///On Exit:
+///@param[out] none
+///
+///@returns none