BMI160_I2C - supports BMI160 object with I2C interface. More...

#include <bmi160.h>

Inherits BMI160.

Public Types
enum	Sensors { MAG = 0, GYRO, ACC }
	Sensor types. More...
enum	SensorAxis
	Sensor Axis. More...
enum	Registers { CHIP_ID = 0x00, ERR_REG = 0x02, PMU_STATUS, DATA_0, DATA_1, DATA_2, DATA_3, DATA_4, DATA_5, DATA_6, DATA_7, DATA_8, DATA_9, DATA_10, DATA_11, DATA_12, DATA_13, DATA_14, DATA_15, DATA_16, DATA_17, DATA_18, DATA_19, SENSORTIME_0, SENSORTIME_1, SENSORTIME_2, STATUS, INT_STATUS_0, INT_STATUS_1, INT_STATUS_2, INT_STATUS_3, TEMPERATURE_0, TEMPERATURE_1, FIFO_LENGTH_0, FIFO_LENGTH_1, FIFO_DATA, ACC_CONF = 0x40, ACC_RANGE, GYR_CONF, GYR_RANGE, MAG_CONF, FIFO_DOWNS, FIFO_CONFIG_0, FIFO_CONFIG_1, MAG_IF_0 = 0x4B, MAG_IF_1, MAG_IF_2, MAG_IF_3, MAG_IF_4, INT_EN_0, INT_EN_1, INT_EN_2, INT_OUT_CTRL, INT_LATCH, INT_MAP_0, INT_MAP_1, INT_MAP_2, INT_DATA_0, INT_DATA_1, INT_LOWHIGH_0, INT_LOWHIGH_1, INT_LOWHIGH_2, INT_LOWHIGH_3, INT_LOWHIGH_4, INT_MOTION_0, INT_MOTION_1, INT_MOTION_2, INT_MOTION_3, INT_TAP_0, INT_TAP_1, INT_ORIENT_0, INT_ORIENT_1, INT_FLAT_0, INT_FLAT_1, FOC_CONF, CONF, IF_CONF, PMU_TRIGGER, SELF_TEST, NV_CONF = 0x70, OFFSET_0, OFFSET_1, OFFSET_2, OFFSET_3, OFFSET_4, OFFSET_5, OFFSET_6, STEP_CNT_0, STEP_CNT_1, STEP_CONF_0, STEP_CONF_1, CMD = 0x7E }
	BMI160 registers. More...
enum	PowerModes { SUSPEND = 0, NORMAL, LOW_POWER, FAST_START_UP }
	Enumerated power modes. More...
enum	Commands { START_FOC = 0x03, ACC_SET_PMU_MODE = 0x10, GYR_SET_PMU_MODE = 0x14, MAG_SET_PMU_MODE = 0x18, PROG_NVM = 0xA0, FIFO_FLUSH = 0xB0, INT_RESET, STEP_CNT_CLR, SOFT_RESET = 0xB6 }
	Enumerated commands used with CMD register. More...
Public Member Functions
	BMI160_I2C (I2C *i2cBus, uint8_t i2cAdrs)
	BMI160_I2C Constructor.
	BMI160_I2C (I2C i2cBus, uint8_t i2cAdrs, InterruptIn int_pin)
	BMI160_I2C Constructor.
virtual int32_t	readRegister (Registers reg, uint8_t *data)
	Reads a single register.
virtual int32_t	writeRegister (Registers reg, const uint8_t data)
	Writes a single register.
virtual int32_t	readBlock (Registers startReg, Registers stopReg, uint8_t *data)
	Reads a block of registers.
virtual int32_t	writeBlock (Registers startReg, Registers stopReg, const uint8_t *data)
	Writes a block of registers.
int32_t	setSensorPowerMode (Sensors sensor, PowerModes pwrMode)
	Sets sensors power mode through CMD register.
int32_t	setSensorConfig (const AccConfig &config)
	Configure sensor.
int32_t	getSensorConfig (AccConfig &config)
	Get sensor configuration.
int32_t	getSensorAxis (SensorAxis axis, AxisData &data, AccRange range)
	Get sensor axis.
int32_t	getSensorXYZ (SensorData &data, AccRange range)
	Get sensor xyz axis.
int32_t	getSensorXYZandSensorTime (SensorData &data, SensorTime &sensorTime, AccRange range)
	Get sensor xyz axis and sensor time.
int32_t	getGyroAccXYZandSensorTime (SensorData &accData, SensorData &gyroData, SensorTime &sensorTime, AccRange accRange, GyroRange gyroRange)
	Get Gyroscope/Accelerometer data and sensor time.
int32_t	getSensorTime (SensorTime &sensorTime)
	Get sensor time.
int32_t	getTemperature (float *temp)
	Get die temperature.
int32_t	setSampleRate (int sample_rate)
int32_t	reset ()
	Soft reset.
Static Public Attributes
static const uint8_t	I2C_ADRS_SDO_LO = 0x68
	BMI160 default I2C address.
static const uint8_t	I2C_ADRS_SDO_HI = 0x69
	BMI160 optional I2C address.
static const uint8_t	RTN_NO_ERROR = 0
	Return value on success.
static const float	SENSOR_TIME_LSB = 39e-6
	Period of internal counter.
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
enum	ErrorCodes { NO_ERROR = 0, ERROR_1, ERROR_2, LPM_INT_PFD, ODR_MISMATCH = 0x06, PFD_USED_LPM }
	Enumerated error codes. More...
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
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
static const AccConfig	DEFAULT_ACC_CONFIG
	Accelerometer default configuration.
enum	AccOutputDataRate { ACC_ODR_1 = 1, ACC_ODR_2, ACC_ODR_3, ACC_ODR_4, ACC_ODR_5, ACC_ODR_6, ACC_ODR_7, ACC_ODR_8, ACC_ODR_9, ACC_ODR_10, ACC_ODR_11, ACC_ODR_12 }
	Accelerometer output data rates. More...
enum	AccBandWidthParam { ACC_BWP_0 = 0, ACC_BWP_1, ACC_BWP_2, ACC_BWP_3, ACC_BWP_4, ACC_BWP_5, ACC_BWP_6, ACC_BWP_7 }
	Accelerometer bandwidth parameters. More...
enum	AccUnderSampling
	Accelerometer undersampling. More...
enum	AccRange { SENS_2G = 0x03, SENS_4G = 0x05, SENS_8G = 0x08, SENS_16G = 0x0C }
	Accelerometer ranges. More...
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
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
static const GyroConfig	DEFAULT_GYRO_CONFIG
	Gyroscope default configuration.
enum	GyroOutputDataRate { GYRO_ODR_6 = 0x06, GYRO_ODR_7 = 0x07, GYRO_ODR_8 = 0x08, GYRO_ODR_9 = 0x09, GYRO_ODR_10 = 0x0A, GYRO_ODR_11 = 0x0B, GYRO_ODR_12 = 0x0C, GYRO_ODR_13 = 0x0D }
	Gyroscope output data rates. More...
enum	GyroBandWidthParam { GYRO_BWP_0 = 0, GYRO_BWP_1, GYRO_BWP_2 }
	Gyroscope bandwidth paramaters. More...
enum	GyroRange { DPS_2000 = 0, DPS_1000, DPS_500, DPS_250, DPS_125 }
	Gyroscope ranges. More...

Detailed Description

BMI160_I2C - supports BMI160 object with I2C interface.

Definition at line 649 of file bmi160.h.

Member Enumeration Documentation

enum AccBandWidthParam [inherited]

Accelerometer bandwidth parameters.

Definition at line 276 of file bmi160.h.

enum AccOutputDataRate [inherited]

Accelerometer output data rates.

Definition at line 259 of file bmi160.h.

enum AccRange [inherited]

Accelerometer ranges.

Definition at line 296 of file bmi160.h.

enum AccUnderSampling [inherited]

Accelerometer undersampling.

Definition at line 289 of file bmi160.h.

enum Commands [inherited]

Enumerated commands used with CMD register.

Definition at line 395 of file bmi160.h.

enum ErrorCodes [inherited]

Enumerated error codes.

Definition at line 231 of file bmi160.h.

enum GyroBandWidthParam [inherited]

Gyroscope bandwidth paramaters.

Definition at line 348 of file bmi160.h.

enum GyroOutputDataRate [inherited]

Gyroscope output data rates.

Definition at line 335 of file bmi160.h.

enum GyroRange [inherited]

Gyroscope ranges.

Definition at line 356 of file bmi160.h.

enum PowerModes [inherited]

Enumerated power modes.

Definition at line 385 of file bmi160.h.

enum Registers [inherited]

BMI160 registers.

Definition at line 102 of file bmi160.h.

enum SensorAxis [inherited]

Sensor Axis.

Definition at line 68 of file bmi160.h.

enum Sensors [inherited]

Sensor types.

Definition at line 60 of file bmi160.h.

Constructor & Destructor Documentation

BMI160_I2C	(	I2C *	i2cBus,
		uint8_t	i2cAdrs
	)

BMI160_I2C Constructor.

On Entry:

Parameters:

[in]	i2cBus	- reference to I2C bus for this device
[in]	i2cAdrs	- 7-bit I2C address

On Exit:

Parameters:

[out] none

Returns:: none

Definition at line 38 of file bmi160_i2c.cpp.

BMI160_I2C	(	I2C *	i2cBus,
		uint8_t	i2cAdrs,
		InterruptIn *	int_pin
	)

BMI160_I2C Constructor.

On Entry:

Parameters:

[in]	i2cBus	- reference to I2C bus for this device
[in]	i2cAdrs	- 7-bit I2C address
[in]	int_pin	- Interrupt pin

On Exit:

Parameters:

[out] none

Returns:: none

Definition at line 44 of file bmi160_i2c.cpp.

Member Function Documentation

int32_t getGyroAccXYZandSensorTime	(	SensorData &	accData,
		SensorData &	gyroData,
		SensorTime &	sensorTime,
		AccRange	accRange,
		GyroRange	gyroRange
	)		`[inherited]`

Get Gyroscope/Accelerometer data and sensor time.

On Entry:

Parameters:

[in]	accData	- Sensor data structure for accelerometer
[in]	gyroData	- Sensor data structure for gyroscope
[in]	sensorTime	- SensorTime data structure
[in]	accRange	- Accelerometer range
[in]	gyroRange	- Gyroscope range

On Exit:

Parameters:

[out]	accData	- Synchronized accelerometer data
[out]	gyroData	- Synchronized gyroscope data
[out]	sensorTime	- Synchronized sensor time

Returns:: 0 on success, non 0 on failure

Definition at line 453 of file bmi160.cpp.

int32_t getSensorAxis	(	SensorAxis	axis,
		AxisData &	data,
		AccRange	range
	)		`[inherited]`

Get sensor axis.

On Entry:

Parameters:

[in]	axis	- Sensor axis
[in]	data	- AxisData structure
[in]	range	- Sensor range

On Exit:

Parameters:

[out] data - Structure holds raw and scaled axis data

Returns:: 0 on success, non 0 on failure

Definition at line 143 of file bmi160.cpp.

int32_t getSensorConfig ( AccConfig & config ) [inherited]

Get sensor configuration.

On Entry:

Parameters:

[in] config - Sensor configuration data structure

On Exit:

Parameters:

[out] config - on success, holds sensor's current configuration

Returns:: 0 on success, non 0 on failure

Definition at line 101 of file bmi160.cpp.

int32_t getSensorTime ( SensorTime & sensorTime ) [inherited]

Get sensor time.

On Entry:

Parameters:

[in] sensorTime - SensorTime structure for data

On Exit:

Parameters:

[out] sensorTime - Holds sensor time on success

Returns:: returns 0 on success, non 0 on failure

Definition at line 575 of file bmi160.cpp.

int32_t getSensorXYZ	(	SensorData &	data,
		AccRange	range
	)		`[inherited]`

Get sensor xyz axis.

On Entry:

Parameters:

[in]	data	- SensorData structure
[in]	range	- Sensor range

On Exit:

Parameters:

[out] data - Structure holds raw and scaled data for all three axis

Returns:: 0 on success, non 0 on failure

Definition at line 251 of file bmi160.cpp.

int32_t getSensorXYZandSensorTime	(	SensorData &	data,
		SensorTime &	sensorTime,
		AccRange	range
	)		`[inherited]`

Get sensor xyz axis and sensor time.

On Entry:

Parameters:

[in]	data	- SensorData structure
[in]	sensorTime	- SensorTime structure for data
[in]	range	- Sensor range

On Exit:

Parameters:

[out]	data	- Structure holds raw and scaled data for all three axis
[out]	sensorTime	- Holds sensor time on success

Returns:: 0 on success, non 0 on failure

Definition at line 349 of file bmi160.cpp.

int32_t getTemperature ( float * temp ) [inherited]

Get die temperature.

On Entry:

Parameters:

[in] temp - pointer to float for temperature

On Exit:

Parameters:

[out] temp - on success, holds the die temperature

Returns:: 0 on success, non 0 on failure

Definition at line 592 of file bmi160.cpp.

int32_t readBlock	(	Registers	startReg,
		Registers	stopReg,
		uint8_t *	data
	)		`[virtual]`

Reads a block of registers.

User must ensure that all registers between 'startReg' and 'stopReg' exist and are readable. Function reads up to, including, 'stopReg'.

On Entry:

Parameters:

[in]	startReg	- register to start reading from
[in]	stopReg	- register to stop reading from
[in]	data	- pointer to memory for storing read data

On Exit:

Parameters:

[out] data - holds contents of read registers on success

Returns:: 0 on success, non 0 on failure

Definition at line 75 of file bmi160_i2c.cpp.

int32_t readRegister	(	Registers	reg,
		uint8_t *	data
	)		`[virtual]`

Reads a single register.

On Entry:

Parameters:

[in] data - pointer to memory for storing read data

On Exit:

Parameters:

[out] data - holds contents of read register on success

Returns:: 0 on success, non 0 on failure

Definition at line 51 of file bmi160_i2c.cpp.

int32_t reset ( ) [inherited]

Soft reset.

Definition at line 717 of file bmi160.cpp.

int32_t setSampleRate ( int sample_rate ) [inherited]

<25Hz

<50Hz

<100Hz

<200Hz

<400Hz

<800Hz

<1600Hz

<3200Hz

Definition at line 539 of file bmi160.cpp.

int32_t setSensorConfig ( const AccConfig & config ) [inherited]

Configure sensor.

On Entry:

Parameters:

[in] config - sSensor configuration data structure

On Exit:

Parameters:

[out] none

Returns:: 0 on success, non 0 on failure

Definition at line 76 of file bmi160.cpp.

int32_t setSensorPowerMode	(	Sensors	sensor,
		PowerModes	pwrMode
	)		`[inherited]`

Sets sensors power mode through CMD register.

Observe command execution times given in datasheet.

On Entry:

Parameters:

[in]	sensor	- Sensor which power mode we are setting
[in]	pwrMode	- Desired powermode of the sensor

On Exit:

Parameters:

[out]

Returns:: 0 on success, non 0 on failure

Definition at line 48 of file bmi160.cpp.

int32_t writeBlock	(	Registers	startReg,
		Registers	stopReg,
		const uint8_t *	data
	)		`[virtual]`

Writes a block of registers.

User must ensure that all registers between 'startReg' and 'stopReg' exist and are writeable. Function writes up to, including, 'stopReg'.

On Entry:

Parameters:

[in]	startReg	- register to start writing at
[in]	stopReg	- register to stop writing at
[in]	data	- pointer to data to write to registers

On Exit:

Parameters:

[out] none

Returns:: 0 on success, non 0 on failure

Definition at line 92 of file bmi160_i2c.cpp.

int32_t writeRegister	(	Registers	reg,
		const uint8_t	data
	)		`[virtual]`

Writes a single register.

On Entry:

Parameters:

[in] data - data to write to register

On Exit:

Parameters:

[out] none

Returns:: 0 on success, non 0 on failure

Definition at line 66 of file bmi160_i2c.cpp.

Field Documentation

const AccConfig DEFAULT_ACC_CONFIG [static, inherited]

Accelerometer default configuration.

Definition at line 319 of file bmi160.h.

const GyroConfig DEFAULT_GYRO_CONFIG [static, inherited]

Gyroscope default configuration.

Definition at line 380 of file bmi160.h.

const uint8_t I2C_ADRS_SDO_HI = 0x69 [static]

BMI160 optional I2C address.

Definition at line 656 of file bmi160.h.

const uint8_t I2C_ADRS_SDO_LO = 0x68 [static]

BMI160 default I2C address.

Definition at line 654 of file bmi160.h.

const uint8_t RTN_NO_ERROR = 0 [static, inherited]

Return value on success.

Definition at line 57 of file bmi160.h.

const float SENSOR_TIME_LSB = 39e-6 [static, inherited]

Period of internal counter.

Definition at line 90 of file bmi160.h.

Type:	Library
Created:	17 Dec 2018
Imports:	1
Forks:	0
Commits:	1
Dependents:	0
Dependencies:	0
Followers:	1

BMI160_I2C Class Reference

Public Types

Public Member Functions

Static Public Attributes

ERR_REG(0x02)

ACC_CONF(0x40) and ACC_RANGE(0x41)

GYR_CONF(0x42) and GYR_RANGE(0x43)

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Field Documentation

Repository toolbox

Repository details

Important Information for this Arm website

BMI160_I2C Class Reference

Public Types

Public Member Functions

Static Public Attributes

ERR_REG(0x02)

ACC_CONF(0x40) and ACC_RANGE(0x41)

GYR_CONF(0x42) and GYR_RANGE(0x43)

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Field Documentation

Repository toolbox

Repository details

Important Information for this Arm website

Access Warning