Justin Jordan / BMI160

Library for Bosch Sensortech BMI160 IMU

Dependents:   MAX32630FTHR_BALANCE_BOT MPSMAX_copy MAX32630FTHR_BALANCE_BOT SELF_BALANCING_BOT

bmi160.cpp@17:0ae99e97bcf5, 2017-01-05 (annotated)

Committer:
j3
Date:
Thu Jan 05 21:11:47 2017 +0000
Revision:
17:0ae99e97bcf5
Parent:
16:12782f5d4aa4 
Updated docs for virtual fxs;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
j3 3:e1770675eca4 1 /**********************************************************************
j3 3:e1770675eca4 2 * Copyright (C) 2016 Maxim Integrated Products, Inc., All Rights Reserved.
j3 3:e1770675eca4 3 *
j3 3:e1770675eca4 4 * Permission is hereby granted, free of charge, to any person obtaining a
j3 3:e1770675eca4 5 * copy of this software and associated documentation files (the "Software"),
j3 3:e1770675eca4 6 * to deal in the Software without restriction, including without limitation
j3 3:e1770675eca4 7 * the rights to use, copy, modify, merge, publish, distribute, sublicense,
j3 3:e1770675eca4 8 * and/or sell copies of the Software, and to permit persons to whom the
j3 3:e1770675eca4 9 * Software is furnished to do so, subject to the following conditions:
j3 3:e1770675eca4 10 *
j3 3:e1770675eca4 11 * The above copyright notice and this permission notice shall be included
j3 3:e1770675eca4 12 * in all copies or substantial portions of the Software.
j3 3:e1770675eca4 13 *
j3 3:e1770675eca4 14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
j3 3:e1770675eca4 15 * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
j3 3:e1770675eca4 16 * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
j3 3:e1770675eca4 17 * IN NO EVENT SHALL MAXIM INTEGRATED BE LIABLE FOR ANY CLAIM, DAMAGES
j3 3:e1770675eca4 18 * OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
j3 3:e1770675eca4 19 * ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
j3 3:e1770675eca4 20 * OTHER DEALINGS IN THE SOFTWARE.
j3 3:e1770675eca4 21 *
j3 3:e1770675eca4 22 * Except as contained in this notice, the name of Maxim Integrated
j3 3:e1770675eca4 23 * Products, Inc. shall not be used except as stated in the Maxim Integrated
j3 3:e1770675eca4 24 * Products, Inc. Branding Policy.
j3 3:e1770675eca4 25 *
j3 3:e1770675eca4 26 * The mere transfer of this software does not imply any licenses
j3 3:e1770675eca4 27 * of trade secrets, proprietary technology, copyrights, patents,
j3 3:e1770675eca4 28 * trademarks, maskwork rights, or any other form of intellectual
j3 3:e1770675eca4 29 * property whatsoever. Maxim Integrated Products, Inc. retains all
j3 3:e1770675eca4 30 * ownership rights.
j3 3:e1770675eca4 31 **********************************************************************/
j3 3:e1770675eca4 32
j3 3:e1770675eca4 33
j3 3:e1770675eca4 34 #include "bmi160.h"
j3 3:e1770675eca4 35
j3 3:e1770675eca4 36
j3 16:12782f5d4aa4 37 const struct BMI160::AccConfig BMI160::DEFAULT_ACC_CONFIG = {SENS_2G,
j3 16:12782f5d4aa4 38 ACC_US_OFF,
j3 16:12782f5d4aa4 39 ACC_BWP_2,
j3 16:12782f5d4aa4 40 ACC_ODR_8};
j3 16:12782f5d4aa4 41
j3 16:12782f5d4aa4 42 const struct BMI160::GyroConfig BMI160::DEFAULT_GYRO_CONFIG = {DPS_2000,
j3 16:12782f5d4aa4 43 GYRO_BWP_2,
j3 16:12782f5d4aa4 44 GYRO_ODR_8};
j3 9:ca6b5fecdd63 45
j3 9:ca6b5fecdd63 46
j3 3:e1770675eca4 47 //*****************************************************************************
j3 5:35e032c8d8aa 48 int32_t BMI160::setSensorPowerMode(Sensors sensor, PowerModes pwrMode)
j3 3:e1770675eca4 49 {
j3 3:e1770675eca4 50 int32_t rtnVal = -1;
j3 3:e1770675eca4 51
j3 5:35e032c8d8aa 52 switch(sensor)
j3 5:35e032c8d8aa 53 {
j3 5:35e032c8d8aa 54 case MAG:
j3 5:35e032c8d8aa 55 rtnVal = writeRegister(CMD, (MAG_SET_PMU_MODE | pwrMode));
j3 5:35e032c8d8aa 56 break;
j3 5:35e032c8d8aa 57
j3 5:35e032c8d8aa 58 case GYRO:
j3 5:35e032c8d8aa 59 rtnVal = writeRegister(CMD, (GYR_SET_PMU_MODE | pwrMode));
j3 5:35e032c8d8aa 60 break;
j3 5:35e032c8d8aa 61
j3 5:35e032c8d8aa 62 case ACC:
j3 5:35e032c8d8aa 63 rtnVal = writeRegister(CMD, (ACC_SET_PMU_MODE | pwrMode));
j3 5:35e032c8d8aa 64 break;
j3 5:35e032c8d8aa 65
j3 5:35e032c8d8aa 66 default:
j3 5:35e032c8d8aa 67 rtnVal = -1;
j3 5:35e032c8d8aa 68 break;
j3 5:35e032c8d8aa 69 }
j3 5:35e032c8d8aa 70
j3 3:e1770675eca4 71 return rtnVal;
j3 3:e1770675eca4 72 }
j3 5:35e032c8d8aa 73
j3 5:35e032c8d8aa 74
j3 5:35e032c8d8aa 75 //*****************************************************************************
j3 16:12782f5d4aa4 76 int32_t BMI160::setSensorConfig(const AccConfig &config)
j3 5:35e032c8d8aa 77 {
j3 5:35e032c8d8aa 78 uint8_t data[2];
j3 5:35e032c8d8aa 79
j3 14:646eb94fa2eb 80 data[0] = ((config.us << ACC_US_POS) | (config.bwp << ACC_BWP_POS) |
j3 14:646eb94fa2eb 81 (config.odr << ACC_ODR_POS));
j3 14:646eb94fa2eb 82 data[1] = config.range;
j3 12:64931a80340d 83
j3 14:646eb94fa2eb 84 return writeBlock(ACC_CONF, ACC_RANGE, data);
j3 14:646eb94fa2eb 85 }
j3 14:646eb94fa2eb 86
j3 14:646eb94fa2eb 87
j3 14:646eb94fa2eb 88 //*****************************************************************************
j3 16:12782f5d4aa4 89 int32_t BMI160::setSensorConfig(const GyroConfig &config)
j3 16:12782f5d4aa4 90 {
j3 16:12782f5d4aa4 91 uint8_t data[2];
j3 16:12782f5d4aa4 92
j3 16:12782f5d4aa4 93 data[0] = ((config.bwp << GYRO_BWP_POS) | (config.odr << GYRO_ODR_POS));
j3 16:12782f5d4aa4 94 data[1] = config.range;
j3 16:12782f5d4aa4 95
j3 16:12782f5d4aa4 96 return writeBlock(GYR_CONF, GYR_RANGE, data);
j3 16:12782f5d4aa4 97 }
j3 16:12782f5d4aa4 98
j3 16:12782f5d4aa4 99
j3 16:12782f5d4aa4 100 //*****************************************************************************
j3 16:12782f5d4aa4 101 int32_t BMI160::getSensorConfig(AccConfig &config)
j3 14:646eb94fa2eb 102 {
j3 14:646eb94fa2eb 103 uint8_t data[2];
j3 14:646eb94fa2eb 104 int32_t rtnVal = readBlock(ACC_CONF, ACC_RANGE, data);
j3 14:646eb94fa2eb 105
j3 14:646eb94fa2eb 106 if(rtnVal == RTN_NO_ERROR)
j3 14:646eb94fa2eb 107 {
j3 14:646eb94fa2eb 108 config.range = static_cast<BMI160::AccRange>(
j3 14:646eb94fa2eb 109 (data[1] & ACC_RANGE_MASK));
j3 14:646eb94fa2eb 110 config.us = static_cast<BMI160::AccUnderSampling>(
j3 14:646eb94fa2eb 111 ((data[0] & ACC_US_MASK) >> ACC_US_POS));
j3 14:646eb94fa2eb 112 config.bwp = static_cast<BMI160::AccBandWidthParam>(
j3 14:646eb94fa2eb 113 ((data[0] & ACC_BWP_MASK) >> ACC_BWP_POS));
j3 16:12782f5d4aa4 114 config.odr = static_cast<BMI160::AccOutputDataRate>(
j3 14:646eb94fa2eb 115 ((data[0] & ACC_ODR_MASK) >> ACC_ODR_POS));
j3 14:646eb94fa2eb 116 }
j3 5:35e032c8d8aa 117
j3 5:35e032c8d8aa 118 return rtnVal;
j3 5:35e032c8d8aa 119 }
j3 8:a89b529b1d96 120
j3 8:a89b529b1d96 121
j3 8:a89b529b1d96 122 //*****************************************************************************
j3 16:12782f5d4aa4 123 int32_t BMI160::getSensorConfig(GyroConfig &config)
j3 16:12782f5d4aa4 124 {
j3 16:12782f5d4aa4 125 uint8_t data[2];
j3 16:12782f5d4aa4 126 int32_t rtnVal = readBlock(GYR_CONF, GYR_RANGE, data);
j3 16:12782f5d4aa4 127
j3 16:12782f5d4aa4 128 if(rtnVal == RTN_NO_ERROR)
j3 16:12782f5d4aa4 129 {
j3 16:12782f5d4aa4 130 config.range = static_cast<BMI160::GyroRange>(
j3 16:12782f5d4aa4 131 (data[1] & GYRO_RANGE_MASK));
j3 16:12782f5d4aa4 132 config.bwp = static_cast<BMI160::GyroBandWidthParam>(
j3 16:12782f5d4aa4 133 ((data[0] & GYRO_BWP_MASK) >> GYRO_BWP_POS));
j3 16:12782f5d4aa4 134 config.odr = static_cast<BMI160::GyroOutputDataRate>(
j3 16:12782f5d4aa4 135 ((data[0] & GYRO_ODR_MASK) >> GYRO_ODR_POS));
j3 16:12782f5d4aa4 136 }
j3 16:12782f5d4aa4 137
j3 16:12782f5d4aa4 138 return rtnVal;
j3 16:12782f5d4aa4 139 }
j3 16:12782f5d4aa4 140
j3 16:12782f5d4aa4 141
j3 16:12782f5d4aa4 142 //*****************************************************************************
j3 16:12782f5d4aa4 143 int32_t BMI160::getSensorAxis(SensorAxis axis, AxisData &data, AccRange range)
j3 8:a89b529b1d96 144 {
j3 8:a89b529b1d96 145 uint8_t localData[2];
j3 8:a89b529b1d96 146 int32_t rtnVal;
j3 8:a89b529b1d96 147
j3 8:a89b529b1d96 148 switch(axis)
j3 8:a89b529b1d96 149 {
j3 8:a89b529b1d96 150 case X_AXIS:
j3 8:a89b529b1d96 151 rtnVal = readBlock(DATA_14, DATA_15, localData);
j3 8:a89b529b1d96 152 break;
j3 8:a89b529b1d96 153
j3 8:a89b529b1d96 154 case Y_AXIS:
j3 8:a89b529b1d96 155 rtnVal = readBlock(DATA_16, DATA_17, localData);
j3 8:a89b529b1d96 156 break;
j3 8:a89b529b1d96 157
j3 8:a89b529b1d96 158 case Z_AXIS:
j3 8:a89b529b1d96 159 rtnVal = readBlock(DATA_18, DATA_19, localData);
j3 8:a89b529b1d96 160 break;
j3 8:a89b529b1d96 161
j3 8:a89b529b1d96 162 default:
j3 8:a89b529b1d96 163 rtnVal = -1;
j3 8:a89b529b1d96 164 break;
j3 8:a89b529b1d96 165 }
j3 8:a89b529b1d96 166
j3 8:a89b529b1d96 167 if(rtnVal == RTN_NO_ERROR)
j3 8:a89b529b1d96 168 {
j3 8:a89b529b1d96 169 data.raw = ((localData[1] << 8) | localData[0]);
j3 12:64931a80340d 170 switch(range)
j3 9:ca6b5fecdd63 171 {
j3 9:ca6b5fecdd63 172 case SENS_2G:
j3 15:dc35ccc0b08e 173 data.scaled = (data.raw/SENS_2G_LSB_PER_G);
j3 9:ca6b5fecdd63 174 break;
j3 9:ca6b5fecdd63 175
j3 9:ca6b5fecdd63 176 case SENS_4G:
j3 15:dc35ccc0b08e 177 data.scaled = (data.raw/SENS_4G_LSB_PER_G);
j3 9:ca6b5fecdd63 178 break;
j3 9:ca6b5fecdd63 179
j3 9:ca6b5fecdd63 180 case SENS_8G:
j3 15:dc35ccc0b08e 181 data.scaled = (data.raw/SENS_8G_LSB_PER_G);
j3 9:ca6b5fecdd63 182 break;
j3 9:ca6b5fecdd63 183
j3 9:ca6b5fecdd63 184 case SENS_16G:
j3 15:dc35ccc0b08e 185 data.scaled = (data.raw/SENS_16G_LSB_PER_G);
j3 9:ca6b5fecdd63 186 break;
j3 9:ca6b5fecdd63 187 }
j3 8:a89b529b1d96 188 }
j3 8:a89b529b1d96 189
j3 8:a89b529b1d96 190 return rtnVal;
j3 8:a89b529b1d96 191 }
j3 16:12782f5d4aa4 192
j3 16:12782f5d4aa4 193
j3 16:12782f5d4aa4 194 //*****************************************************************************
j3 16:12782f5d4aa4 195 int32_t BMI160::getSensorAxis(SensorAxis axis, AxisData &data, GyroRange range)
j3 16:12782f5d4aa4 196 {
j3 16:12782f5d4aa4 197 uint8_t localData[2];
j3 16:12782f5d4aa4 198 int32_t rtnVal;
j3 16:12782f5d4aa4 199
j3 16:12782f5d4aa4 200 switch(axis)
j3 16:12782f5d4aa4 201 {
j3 16:12782f5d4aa4 202 case X_AXIS:
j3 16:12782f5d4aa4 203 rtnVal = readBlock(DATA_8, DATA_9, localData);
j3 16:12782f5d4aa4 204 break;
j3 16:12782f5d4aa4 205
j3 16:12782f5d4aa4 206 case Y_AXIS:
j3 16:12782f5d4aa4 207 rtnVal = readBlock(DATA_10, DATA_11, localData);
j3 16:12782f5d4aa4 208 break;
j3 16:12782f5d4aa4 209
j3 16:12782f5d4aa4 210 case Z_AXIS:
j3 16:12782f5d4aa4 211 rtnVal = readBlock(DATA_12, DATA_13, localData);
j3 16:12782f5d4aa4 212 break;
j3 16:12782f5d4aa4 213
j3 16:12782f5d4aa4 214 default:
j3 16:12782f5d4aa4 215 rtnVal = -1;
j3 16:12782f5d4aa4 216 break;
j3 16:12782f5d4aa4 217 }
j3 16:12782f5d4aa4 218
j3 16:12782f5d4aa4 219 if(rtnVal == RTN_NO_ERROR)
j3 16:12782f5d4aa4 220 {
j3 16:12782f5d4aa4 221 data.raw = ((localData[1] << 8) | localData[0]);
j3 16:12782f5d4aa4 222 switch(range)
j3 16:12782f5d4aa4 223 {
j3 16:12782f5d4aa4 224 case DPS_2000:
j3 16:12782f5d4aa4 225 data.scaled = (data.raw/SENS_2000_DPS_LSB_PER_DPS);
j3 16:12782f5d4aa4 226 break;
j3 16:12782f5d4aa4 227
j3 16:12782f5d4aa4 228 case DPS_1000:
j3 16:12782f5d4aa4 229 data.scaled = (data.raw/SENS_1000_DPS_LSB_PER_DPS);
j3 16:12782f5d4aa4 230 break;
j3 16:12782f5d4aa4 231
j3 16:12782f5d4aa4 232 case DPS_500:
j3 16:12782f5d4aa4 233 data.scaled = (data.raw/SENS_500_DPS_LSB_PER_DPS);
j3 16:12782f5d4aa4 234 break;
j3 16:12782f5d4aa4 235
j3 16:12782f5d4aa4 236 case DPS_250:
j3 16:12782f5d4aa4 237 data.scaled = (data.raw/SENS_250_DPS_LSB_PER_DPS);
j3 16:12782f5d4aa4 238 break;
j3 16:12782f5d4aa4 239
j3 16:12782f5d4aa4 240 case DPS_125:
j3 16:12782f5d4aa4 241 data.scaled = (data.raw/SENS_125_DPS_LSB_PER_DPS);
j3 16:12782f5d4aa4 242 break;
j3 16:12782f5d4aa4 243 }
j3 16:12782f5d4aa4 244 }
j3 16:12782f5d4aa4 245
j3 16:12782f5d4aa4 246 return rtnVal;
j3 16:12782f5d4aa4 247 }
j3 8:a89b529b1d96 248
j3 8:a89b529b1d96 249
j3 8:a89b529b1d96 250 //*****************************************************************************
j3 16:12782f5d4aa4 251 int32_t BMI160::getSensorXYZ(SensorData &data, AccRange range)
j3 8:a89b529b1d96 252 {
j3 8:a89b529b1d96 253 uint8_t localData[6];
j3 8:a89b529b1d96 254 int32_t rtnVal = readBlock(DATA_14, DATA_19, localData);
j3 8:a89b529b1d96 255
j3 8:a89b529b1d96 256 if(rtnVal == RTN_NO_ERROR)
j3 8:a89b529b1d96 257 {
j3 8:a89b529b1d96 258 data.xAxis.raw = ((localData[1] << 8) | localData[0]);
j3 8:a89b529b1d96 259 data.yAxis.raw = ((localData[3] << 8) | localData[2]);
j3 8:a89b529b1d96 260 data.zAxis.raw = ((localData[5] << 8) | localData[4]);
j3 8:a89b529b1d96 261
j3 12:64931a80340d 262 switch(range)
j3 9:ca6b5fecdd63 263 {
j3 9:ca6b5fecdd63 264 case SENS_2G:
j3 15:dc35ccc0b08e 265 data.xAxis.scaled = (data.xAxis.raw/SENS_2G_LSB_PER_G);
j3 15:dc35ccc0b08e 266 data.yAxis.scaled = (data.yAxis.raw/SENS_2G_LSB_PER_G);
j3 15:dc35ccc0b08e 267 data.zAxis.scaled = (data.zAxis.raw/SENS_2G_LSB_PER_G);
j3 9:ca6b5fecdd63 268 break;
j3 9:ca6b5fecdd63 269
j3 9:ca6b5fecdd63 270 case SENS_4G:
j3 15:dc35ccc0b08e 271 data.xAxis.scaled = (data.xAxis.raw/SENS_4G_LSB_PER_G);
j3 15:dc35ccc0b08e 272 data.yAxis.scaled = (data.yAxis.raw/SENS_4G_LSB_PER_G);
j3 15:dc35ccc0b08e 273 data.zAxis.scaled = (data.zAxis.raw/SENS_4G_LSB_PER_G);
j3 9:ca6b5fecdd63 274 break;
j3 9:ca6b5fecdd63 275
j3 9:ca6b5fecdd63 276 case SENS_8G:
j3 15:dc35ccc0b08e 277 data.xAxis.scaled = (data.xAxis.raw/SENS_8G_LSB_PER_G);
j3 15:dc35ccc0b08e 278 data.yAxis.scaled = (data.yAxis.raw/SENS_8G_LSB_PER_G);
j3 15:dc35ccc0b08e 279 data.zAxis.scaled = (data.zAxis.raw/SENS_8G_LSB_PER_G);
j3 9:ca6b5fecdd63 280 break;
j3 9:ca6b5fecdd63 281
j3 9:ca6b5fecdd63 282 case SENS_16G:
j3 15:dc35ccc0b08e 283 data.xAxis.scaled = (data.xAxis.raw/SENS_16G_LSB_PER_G);
j3 15:dc35ccc0b08e 284 data.yAxis.scaled = (data.yAxis.raw/SENS_16G_LSB_PER_G);
j3 15:dc35ccc0b08e 285 data.zAxis.scaled = (data.zAxis.raw/SENS_16G_LSB_PER_G);
j3 9:ca6b5fecdd63 286 break;
j3 9:ca6b5fecdd63 287 }
j3 8:a89b529b1d96 288 }
j3 8:a89b529b1d96 289
j3 8:a89b529b1d96 290 return rtnVal;
j3 8:a89b529b1d96 291 }
j3 10:9e219f2f1fb3 292
j3 10:9e219f2f1fb3 293
j3 16:12782f5d4aa4 294 //*****************************************************************************
j3 16:12782f5d4aa4 295 int32_t BMI160::getSensorXYZ(SensorData &data, GyroRange range)
j3 16:12782f5d4aa4 296 {
j3 16:12782f5d4aa4 297 uint8_t localData[6];
j3 16:12782f5d4aa4 298 int32_t rtnVal = readBlock(DATA_8, DATA_13, localData);
j3 16:12782f5d4aa4 299
j3 16:12782f5d4aa4 300 if(rtnVal == RTN_NO_ERROR)
j3 16:12782f5d4aa4 301 {
j3 16:12782f5d4aa4 302 data.xAxis.raw = ((localData[1] << 8) | localData[0]);
j3 16:12782f5d4aa4 303 data.yAxis.raw = ((localData[3] << 8) | localData[2]);
j3 16:12782f5d4aa4 304 data.zAxis.raw = ((localData[5] << 8) | localData[4]);
j3 16:12782f5d4aa4 305
j3 16:12782f5d4aa4 306 switch(range)
j3 16:12782f5d4aa4 307 {
j3 16:12782f5d4aa4 308 case DPS_2000:
j3 16:12782f5d4aa4 309 data.xAxis.scaled = (data.xAxis.raw/SENS_2000_DPS_LSB_PER_DPS);
j3 16:12782f5d4aa4 310 data.yAxis.scaled = (data.yAxis.raw/SENS_2000_DPS_LSB_PER_DPS);
j3 16:12782f5d4aa4 311 data.zAxis.scaled = (data.zAxis.raw/SENS_2000_DPS_LSB_PER_DPS);
j3 16:12782f5d4aa4 312 break;
j3 16:12782f5d4aa4 313
j3 16:12782f5d4aa4 314 case DPS_1000:
j3 16:12782f5d4aa4 315 data.xAxis.scaled = (data.xAxis.raw/SENS_1000_DPS_LSB_PER_DPS);
j3 16:12782f5d4aa4 316 data.yAxis.scaled = (data.yAxis.raw/SENS_1000_DPS_LSB_PER_DPS);
j3 16:12782f5d4aa4 317 data.zAxis.scaled = (data.zAxis.raw/SENS_1000_DPS_LSB_PER_DPS);
j3 16:12782f5d4aa4 318 break;
j3 16:12782f5d4aa4 319
j3 16:12782f5d4aa4 320 case DPS_500:
j3 16:12782f5d4aa4 321 data.xAxis.scaled = (data.xAxis.raw/SENS_500_DPS_LSB_PER_DPS);
j3 16:12782f5d4aa4 322 data.yAxis.scaled = (data.yAxis.raw/SENS_500_DPS_LSB_PER_DPS);
j3 16:12782f5d4aa4 323 data.zAxis.scaled = (data.zAxis.raw/SENS_500_DPS_LSB_PER_DPS);
j3 16:12782f5d4aa4 324 break;
j3 16:12782f5d4aa4 325
j3 16:12782f5d4aa4 326 case DPS_250:
j3 16:12782f5d4aa4 327 data.xAxis.scaled = (data.xAxis.raw/SENS_250_DPS_LSB_PER_DPS);
j3 16:12782f5d4aa4 328 data.yAxis.scaled = (data.yAxis.raw/SENS_250_DPS_LSB_PER_DPS);
j3 16:12782f5d4aa4 329 data.zAxis.scaled = (data.zAxis.raw/SENS_250_DPS_LSB_PER_DPS);
j3 16:12782f5d4aa4 330 break;
j3 16:12782f5d4aa4 331
j3 16:12782f5d4aa4 332 case DPS_125:
j3 16:12782f5d4aa4 333 data.xAxis.scaled = (data.xAxis.raw/SENS_125_DPS_LSB_PER_DPS);
j3 16:12782f5d4aa4 334 data.yAxis.scaled = (data.yAxis.raw/SENS_125_DPS_LSB_PER_DPS);
j3 16:12782f5d4aa4 335 data.zAxis.scaled = (data.zAxis.raw/SENS_125_DPS_LSB_PER_DPS);
j3 16:12782f5d4aa4 336 break;
j3 16:12782f5d4aa4 337 }
j3 16:12782f5d4aa4 338 }
j3 16:12782f5d4aa4 339
j3 16:12782f5d4aa4 340 return rtnVal;
j3 16:12782f5d4aa4 341 }
j3 16:12782f5d4aa4 342
j3 16:12782f5d4aa4 343
j3 10:9e219f2f1fb3 344 //*****************************************************************************
j3 16:12782f5d4aa4 345 int32_t BMI160::getSensorXYZandSensorTime(SensorData &data,
j3 16:12782f5d4aa4 346 SensorTime &sensorTime,
j3 16:12782f5d4aa4 347 AccRange range)
j3 15:dc35ccc0b08e 348 {
j3 15:dc35ccc0b08e 349 uint8_t localData[9];
j3 15:dc35ccc0b08e 350 int32_t rtnVal = readBlock(DATA_14, SENSORTIME_2, localData);
j3 15:dc35ccc0b08e 351 if(rtnVal == RTN_NO_ERROR)
j3 15:dc35ccc0b08e 352 {
j3 15:dc35ccc0b08e 353 data.xAxis.raw = ((localData[1] << 8) | localData[0]);
j3 15:dc35ccc0b08e 354 data.yAxis.raw = ((localData[3] << 8) | localData[2]);
j3 15:dc35ccc0b08e 355 data.zAxis.raw = ((localData[5] << 8) | localData[4]);
j3 15:dc35ccc0b08e 356
j3 15:dc35ccc0b08e 357 switch(range)
j3 15:dc35ccc0b08e 358 {
j3 15:dc35ccc0b08e 359 case SENS_2G:
j3 15:dc35ccc0b08e 360 data.xAxis.scaled = (data.xAxis.raw/SENS_2G_LSB_PER_G);
j3 15:dc35ccc0b08e 361 data.yAxis.scaled = (data.yAxis.raw/SENS_2G_LSB_PER_G);
j3 15:dc35ccc0b08e 362 data.zAxis.scaled = (data.zAxis.raw/SENS_2G_LSB_PER_G);
j3 15:dc35ccc0b08e 363 break;
j3 15:dc35ccc0b08e 364
j3 15:dc35ccc0b08e 365 case SENS_4G:
j3 15:dc35ccc0b08e 366 data.xAxis.scaled = (data.xAxis.raw/SENS_4G_LSB_PER_G);
j3 15:dc35ccc0b08e 367 data.yAxis.scaled = (data.yAxis.raw/SENS_4G_LSB_PER_G);
j3 15:dc35ccc0b08e 368 data.zAxis.scaled = (data.zAxis.raw/SENS_4G_LSB_PER_G);
j3 15:dc35ccc0b08e 369 break;
j3 15:dc35ccc0b08e 370
j3 15:dc35ccc0b08e 371 case SENS_8G:
j3 15:dc35ccc0b08e 372 data.xAxis.scaled = (data.xAxis.raw/SENS_8G_LSB_PER_G);
j3 15:dc35ccc0b08e 373 data.yAxis.scaled = (data.yAxis.raw/SENS_8G_LSB_PER_G);
j3 15:dc35ccc0b08e 374 data.zAxis.scaled = (data.zAxis.raw/SENS_8G_LSB_PER_G);
j3 15:dc35ccc0b08e 375 break;
j3 15:dc35ccc0b08e 376
j3 15:dc35ccc0b08e 377 case SENS_16G:
j3 15:dc35ccc0b08e 378 data.xAxis.scaled = (data.xAxis.raw/SENS_16G_LSB_PER_G);
j3 15:dc35ccc0b08e 379 data.yAxis.scaled = (data.yAxis.raw/SENS_16G_LSB_PER_G);
j3 15:dc35ccc0b08e 380 data.zAxis.scaled = (data.zAxis.raw/SENS_16G_LSB_PER_G);
j3 15:dc35ccc0b08e 381 break;
j3 15:dc35ccc0b08e 382 }
j3 15:dc35ccc0b08e 383
j3 15:dc35ccc0b08e 384 sensorTime.raw = ((localData[8] << 16) | (localData[7] << 8) |
j3 15:dc35ccc0b08e 385 localData[6]);
j3 15:dc35ccc0b08e 386 sensorTime.seconds = (sensorTime.raw * SENSOR_TIME_LSB);
j3 15:dc35ccc0b08e 387 }
j3 15:dc35ccc0b08e 388
j3 15:dc35ccc0b08e 389 return rtnVal;
j3 15:dc35ccc0b08e 390 }
j3 15:dc35ccc0b08e 391
j3 15:dc35ccc0b08e 392
j3 15:dc35ccc0b08e 393 //*****************************************************************************
j3 16:12782f5d4aa4 394 int32_t BMI160::getSensorXYZandSensorTime(SensorData &data,
j3 16:12782f5d4aa4 395 SensorTime &sensorTime,
j3 16:12782f5d4aa4 396 GyroRange range)
j3 16:12782f5d4aa4 397 {
j3 16:12782f5d4aa4 398 uint8_t localData[16];
j3 16:12782f5d4aa4 399 int32_t rtnVal = readBlock(DATA_8, SENSORTIME_2, localData);
j3 16:12782f5d4aa4 400 if(rtnVal == RTN_NO_ERROR)
j3 16:12782f5d4aa4 401 {
j3 16:12782f5d4aa4 402 data.xAxis.raw = ((localData[1] << 8) | localData[0]);
j3 16:12782f5d4aa4 403 data.yAxis.raw = ((localData[3] << 8) | localData[2]);
j3 16:12782f5d4aa4 404 data.zAxis.raw = ((localData[5] << 8) | localData[4]);
j3 16:12782f5d4aa4 405
j3 16:12782f5d4aa4 406 switch(range)
j3 16:12782f5d4aa4 407 {
j3 16:12782f5d4aa4 408 case DPS_2000:
j3 16:12782f5d4aa4 409 data.xAxis.scaled = (data.xAxis.raw/SENS_2000_DPS_LSB_PER_DPS);
j3 16:12782f5d4aa4 410 data.yAxis.scaled = (data.yAxis.raw/SENS_2000_DPS_LSB_PER_DPS);
j3 16:12782f5d4aa4 411 data.zAxis.scaled = (data.zAxis.raw/SENS_2000_DPS_LSB_PER_DPS);
j3 16:12782f5d4aa4 412 break;
j3 16:12782f5d4aa4 413
j3 16:12782f5d4aa4 414 case DPS_1000:
j3 16:12782f5d4aa4 415 data.xAxis.scaled = (data.xAxis.raw/SENS_1000_DPS_LSB_PER_DPS);
j3 16:12782f5d4aa4 416 data.yAxis.scaled = (data.yAxis.raw/SENS_1000_DPS_LSB_PER_DPS);
j3 16:12782f5d4aa4 417 data.zAxis.scaled = (data.zAxis.raw/SENS_1000_DPS_LSB_PER_DPS);
j3 16:12782f5d4aa4 418 break;
j3 16:12782f5d4aa4 419
j3 16:12782f5d4aa4 420 case DPS_500:
j3 16:12782f5d4aa4 421 data.xAxis.scaled = (data.xAxis.raw/SENS_500_DPS_LSB_PER_DPS);
j3 16:12782f5d4aa4 422 data.yAxis.scaled = (data.yAxis.raw/SENS_500_DPS_LSB_PER_DPS);
j3 16:12782f5d4aa4 423 data.zAxis.scaled = (data.zAxis.raw/SENS_500_DPS_LSB_PER_DPS);
j3 16:12782f5d4aa4 424 break;
j3 16:12782f5d4aa4 425
j3 16:12782f5d4aa4 426 case DPS_250:
j3 16:12782f5d4aa4 427 data.xAxis.scaled = (data.xAxis.raw/SENS_250_DPS_LSB_PER_DPS);
j3 16:12782f5d4aa4 428 data.yAxis.scaled = (data.yAxis.raw/SENS_250_DPS_LSB_PER_DPS);
j3 16:12782f5d4aa4 429 data.zAxis.scaled = (data.zAxis.raw/SENS_250_DPS_LSB_PER_DPS);
j3 16:12782f5d4aa4 430 break;
j3 16:12782f5d4aa4 431
j3 16:12782f5d4aa4 432 case DPS_125:
j3 16:12782f5d4aa4 433 data.xAxis.scaled = (data.xAxis.raw/SENS_125_DPS_LSB_PER_DPS);
j3 16:12782f5d4aa4 434 data.yAxis.scaled = (data.yAxis.raw/SENS_125_DPS_LSB_PER_DPS);
j3 16:12782f5d4aa4 435 data.zAxis.scaled = (data.zAxis.raw/SENS_125_DPS_LSB_PER_DPS);
j3 16:12782f5d4aa4 436 break;
j3 16:12782f5d4aa4 437 }
j3 16:12782f5d4aa4 438
j3 16:12782f5d4aa4 439 sensorTime.raw = ((localData[14] << 16) | (localData[13] << 8) |
j3 16:12782f5d4aa4 440 localData[12]);
j3 16:12782f5d4aa4 441 sensorTime.seconds = (sensorTime.raw * SENSOR_TIME_LSB);
j3 16:12782f5d4aa4 442 }
j3 16:12782f5d4aa4 443
j3 16:12782f5d4aa4 444 return rtnVal;
j3 16:12782f5d4aa4 445 }
j3 16:12782f5d4aa4 446
j3 16:12782f5d4aa4 447
j3 16:12782f5d4aa4 448 //*****************************************************************************
j3 16:12782f5d4aa4 449 int32_t BMI160::getGyroAccXYZandSensorTime(SensorData &accData,
j3 16:12782f5d4aa4 450 SensorData &gyroData,
j3 16:12782f5d4aa4 451 SensorTime &sensorTime,
j3 16:12782f5d4aa4 452 AccRange accRange,
j3 16:12782f5d4aa4 453 GyroRange gyroRange)
j3 16:12782f5d4aa4 454 {
j3 16:12782f5d4aa4 455 uint8_t localData[16];
j3 16:12782f5d4aa4 456 int32_t rtnVal = readBlock(DATA_8, SENSORTIME_2, localData);
j3 16:12782f5d4aa4 457 if(rtnVal == RTN_NO_ERROR)
j3 16:12782f5d4aa4 458 {
j3 16:12782f5d4aa4 459 gyroData.xAxis.raw = ((localData[1] << 8) | localData[0]);
j3 16:12782f5d4aa4 460 gyroData.yAxis.raw = ((localData[3] << 8) | localData[2]);
j3 16:12782f5d4aa4 461 gyroData.zAxis.raw = ((localData[5] << 8) | localData[4]);
j3 16:12782f5d4aa4 462
j3 16:12782f5d4aa4 463 accData.xAxis.raw = ((localData[7] << 8) | localData[6]);
j3 16:12782f5d4aa4 464 accData.yAxis.raw = ((localData[9] << 8) | localData[8]);
j3 16:12782f5d4aa4 465 accData.zAxis.raw = ((localData[11] << 8) | localData[10]);
j3 16:12782f5d4aa4 466
j3 16:12782f5d4aa4 467 switch(gyroRange)
j3 16:12782f5d4aa4 468 {
j3 16:12782f5d4aa4 469 case DPS_2000:
j3 16:12782f5d4aa4 470 gyroData.xAxis.scaled = (gyroData.xAxis.raw/SENS_2000_DPS_LSB_PER_DPS);
j3 16:12782f5d4aa4 471 gyroData.yAxis.scaled = (gyroData.yAxis.raw/SENS_2000_DPS_LSB_PER_DPS);
j3 16:12782f5d4aa4 472 gyroData.zAxis.scaled = (gyroData.zAxis.raw/SENS_2000_DPS_LSB_PER_DPS);
j3 16:12782f5d4aa4 473 break;
j3 16:12782f5d4aa4 474
j3 16:12782f5d4aa4 475 case DPS_1000:
j3 16:12782f5d4aa4 476 gyroData.xAxis.scaled = (gyroData.xAxis.raw/SENS_1000_DPS_LSB_PER_DPS);
j3 16:12782f5d4aa4 477 gyroData.yAxis.scaled = (gyroData.yAxis.raw/SENS_1000_DPS_LSB_PER_DPS);
j3 16:12782f5d4aa4 478 gyroData.zAxis.scaled = (gyroData.zAxis.raw/SENS_1000_DPS_LSB_PER_DPS);
j3 16:12782f5d4aa4 479 break;
j3 16:12782f5d4aa4 480
j3 16:12782f5d4aa4 481 case DPS_500:
j3 16:12782f5d4aa4 482 gyroData.xAxis.scaled = (gyroData.xAxis.raw/SENS_500_DPS_LSB_PER_DPS);
j3 16:12782f5d4aa4 483 gyroData.yAxis.scaled = (gyroData.yAxis.raw/SENS_500_DPS_LSB_PER_DPS);
j3 16:12782f5d4aa4 484 gyroData.zAxis.scaled = (gyroData.zAxis.raw/SENS_500_DPS_LSB_PER_DPS);
j3 16:12782f5d4aa4 485 break;
j3 16:12782f5d4aa4 486
j3 16:12782f5d4aa4 487 case DPS_250:
j3 16:12782f5d4aa4 488 gyroData.xAxis.scaled = (gyroData.xAxis.raw/SENS_250_DPS_LSB_PER_DPS);
j3 16:12782f5d4aa4 489 gyroData.yAxis.scaled = (gyroData.yAxis.raw/SENS_250_DPS_LSB_PER_DPS);
j3 16:12782f5d4aa4 490 gyroData.zAxis.scaled = (gyroData.zAxis.raw/SENS_250_DPS_LSB_PER_DPS);
j3 16:12782f5d4aa4 491 break;
j3 16:12782f5d4aa4 492
j3 16:12782f5d4aa4 493 case DPS_125:
j3 16:12782f5d4aa4 494 gyroData.xAxis.scaled = (gyroData.xAxis.raw/SENS_125_DPS_LSB_PER_DPS);
j3 16:12782f5d4aa4 495 gyroData.yAxis.scaled = (gyroData.yAxis.raw/SENS_125_DPS_LSB_PER_DPS);
j3 16:12782f5d4aa4 496 gyroData.zAxis.scaled = (gyroData.zAxis.raw/SENS_125_DPS_LSB_PER_DPS);
j3 16:12782f5d4aa4 497 break;
j3 16:12782f5d4aa4 498 }
j3 16:12782f5d4aa4 499
j3 16:12782f5d4aa4 500 switch(accRange)
j3 16:12782f5d4aa4 501 {
j3 16:12782f5d4aa4 502 case SENS_2G:
j3 16:12782f5d4aa4 503 accData.xAxis.scaled = (accData.xAxis.raw/SENS_2G_LSB_PER_G);
j3 16:12782f5d4aa4 504 accData.yAxis.scaled = (accData.yAxis.raw/SENS_2G_LSB_PER_G);
j3 16:12782f5d4aa4 505 accData.zAxis.scaled = (accData.zAxis.raw/SENS_2G_LSB_PER_G);
j3 16:12782f5d4aa4 506 break;
j3 16:12782f5d4aa4 507
j3 16:12782f5d4aa4 508 case SENS_4G:
j3 16:12782f5d4aa4 509 accData.xAxis.scaled = (accData.xAxis.raw/SENS_4G_LSB_PER_G);
j3 16:12782f5d4aa4 510 accData.yAxis.scaled = (accData.yAxis.raw/SENS_4G_LSB_PER_G);
j3 16:12782f5d4aa4 511 accData.zAxis.scaled = (accData.zAxis.raw/SENS_4G_LSB_PER_G);
j3 16:12782f5d4aa4 512 break;
j3 16:12782f5d4aa4 513
j3 16:12782f5d4aa4 514 case SENS_8G:
j3 16:12782f5d4aa4 515 accData.xAxis.scaled = (accData.xAxis.raw/SENS_8G_LSB_PER_G);
j3 16:12782f5d4aa4 516 accData.yAxis.scaled = (accData.yAxis.raw/SENS_8G_LSB_PER_G);
j3 16:12782f5d4aa4 517 accData.zAxis.scaled = (accData.zAxis.raw/SENS_8G_LSB_PER_G);
j3 16:12782f5d4aa4 518 break;
j3 16:12782f5d4aa4 519
j3 16:12782f5d4aa4 520 case SENS_16G:
j3 16:12782f5d4aa4 521 accData.xAxis.scaled = (accData.xAxis.raw/SENS_16G_LSB_PER_G);
j3 16:12782f5d4aa4 522 accData.yAxis.scaled = (accData.yAxis.raw/SENS_16G_LSB_PER_G);
j3 16:12782f5d4aa4 523 accData.zAxis.scaled = (accData.zAxis.raw/SENS_16G_LSB_PER_G);
j3 16:12782f5d4aa4 524 break;
j3 16:12782f5d4aa4 525 }
j3 16:12782f5d4aa4 526
j3 16:12782f5d4aa4 527 sensorTime.raw = ((localData[14] << 16) | (localData[13] << 8) |
j3 16:12782f5d4aa4 528 localData[12]);
j3 16:12782f5d4aa4 529 sensorTime.seconds = (sensorTime.raw * SENSOR_TIME_LSB);
j3 16:12782f5d4aa4 530 }
j3 16:12782f5d4aa4 531
j3 16:12782f5d4aa4 532 return rtnVal;
j3 16:12782f5d4aa4 533 }
j3 16:12782f5d4aa4 534
j3 16:12782f5d4aa4 535
j3 16:12782f5d4aa4 536 //*****************************************************************************
j3 15:dc35ccc0b08e 537 int32_t BMI160::getSensorTime(SensorTime &sensorTime)
j3 10:9e219f2f1fb3 538 {
j3 10:9e219f2f1fb3 539 uint8_t localData[3];
j3 10:9e219f2f1fb3 540 int32_t rtnVal = readBlock(SENSORTIME_0, SENSORTIME_2, localData);
j3 10:9e219f2f1fb3 541
j3 10:9e219f2f1fb3 542 if(rtnVal == RTN_NO_ERROR)
j3 10:9e219f2f1fb3 543 {
j3 15:dc35ccc0b08e 544 sensorTime.raw = ((localData[2] << 16) | (localData[1] << 8) |
j3 15:dc35ccc0b08e 545 localData[0]);
j3 15:dc35ccc0b08e 546 sensorTime.seconds = (sensorTime.raw * SENSOR_TIME_LSB);
j3 10:9e219f2f1fb3 547 }
j3 10:9e219f2f1fb3 548
j3 10:9e219f2f1fb3 549 return rtnVal;
j3 10:9e219f2f1fb3 550 }
j3 10:9e219f2f1fb3 551
j3 12:64931a80340d 552
j3 12:64931a80340d 553 //*****************************************************************************
j3 12:64931a80340d 554 int32_t BMI160::getTemperature(float *temp)
j3 12:64931a80340d 555 {
j3 12:64931a80340d 556 uint8_t data[2];
j3 12:64931a80340d 557 uint16_t rawTemp;
j3 12:64931a80340d 558
j3 12:64931a80340d 559 int32_t rtnVal = readBlock(TEMPERATURE_0, TEMPERATURE_1, data);
j3 12:64931a80340d 560 if(rtnVal == RTN_NO_ERROR)
j3 12:64931a80340d 561 {
j3 12:64931a80340d 562 rawTemp = ((data[1] << 8) | data[0]);
j3 12:64931a80340d 563 if(rawTemp & 0x8000)
j3 12:64931a80340d 564 {
j3 12:64931a80340d 565 *temp = (23.0F - ((0x10000 - rawTemp)/512.0F));
j3 12:64931a80340d 566 }
j3 12:64931a80340d 567 else
j3 12:64931a80340d 568 {
j3 12:64931a80340d 569 *temp = ((rawTemp/512.0F) + 23.0F);
j3 12:64931a80340d 570 }
j3 12:64931a80340d 571 }
j3 12:64931a80340d 572
j3 12:64931a80340d 573 return rtnVal;
j3 12:64931a80340d 574 }