Library for Bosch Sensortech BMI160 IMU
Dependents: MAX32630FTHR_BALANCE_BOT MPSMAX_copy MAX32630FTHR_BALANCE_BOT SELF_BALANCING_BOT
bmi160.cpp
- Committer:
- j3
- Date:
- 2016-12-20
- Revision:
- 9:ca6b5fecdd63
- Parent:
- 8:a89b529b1d96
- Child:
- 10:9e219f2f1fb3
File content as of revision 9:ca6b5fecdd63:
/********************************************************************** * 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. **********************************************************************/ #include "bmi160.h" const struct BMI160::AccConfig BMI160::DEFAULT_ACC_CONFIG = {SENS_2G, ACC_US_OFF, ACC_BWP_2, ACC_ODR_8}; //***************************************************************************** int32_t BMI160::setSensorPowerMode(Sensors sensor, PowerModes pwrMode) { int32_t rtnVal = -1; switch(sensor) { case MAG: rtnVal = writeRegister(CMD, (MAG_SET_PMU_MODE | pwrMode)); break; case GYRO: rtnVal = writeRegister(CMD, (GYR_SET_PMU_MODE | pwrMode)); break; case ACC: rtnVal = writeRegister(CMD, (ACC_SET_PMU_MODE | pwrMode)); break; default: rtnVal = -1; break; } return rtnVal; } //***************************************************************************** int32_t BMI160::getTemperature(float *temp) { uint8_t data[2]; uint16_t rawTemp; int32_t rtnVal = readBlock(TEMPERATURE_0, TEMPERATURE_1, data); if(rtnVal == RTN_NO_ERROR) { rawTemp = ((data[1] << 8) | data[0]); if(rawTemp & 0x8000) { *temp = (23.0F - ((0x10000 - rawTemp)/512.0F)); } else { *temp = ((rawTemp/512.0F) + 23.0F); } } return rtnVal; } //***************************************************************************** int32_t BMI160::getSensorDataAndTime(uint8_t *data) { return readBlock(DATA_0, SENSORTIME_2, data); } //***************************************************************************** int32_t BMI160::getAccAxis(SensorAxis axis, AxisData &data, AccConfig accConfig) { uint8_t localData[2]; int32_t rtnVal; switch(axis) { case X_AXIS: rtnVal = readBlock(DATA_14, DATA_15, localData); break; case Y_AXIS: rtnVal = readBlock(DATA_16, DATA_17, localData); break; case Z_AXIS: rtnVal = readBlock(DATA_18, DATA_19, localData); break; default: rtnVal = -1; break; } if(rtnVal == RTN_NO_ERROR) { data.raw = ((localData[1] << 8) | localData[0]); switch(accConfig.range) { //magic numbers are typical values for LSB/g from EC table case SENS_2G: data.scaled = (data.raw/16384.0F); break; case SENS_4G: data.scaled = (data.raw/8192.0F); break; case SENS_8G: data.scaled = (data.raw/4096.0F); break; case SENS_16G: data.scaled = (data.raw/2048.0F); break; } } return rtnVal; } //***************************************************************************** int32_t BMI160::getAccXYZ(SensorData &data, AccConfig accConfig) { uint8_t localData[6]; int32_t rtnVal = readBlock(DATA_14, DATA_19, localData); if(rtnVal == RTN_NO_ERROR) { data.xAxis.raw = ((localData[1] << 8) | localData[0]); data.yAxis.raw = ((localData[3] << 8) | localData[2]); data.zAxis.raw = ((localData[5] << 8) | localData[4]); switch(accConfig.range) { //magic numbers are typical values for LSB/g from EC table case SENS_2G: data.xAxis.scaled = (data.xAxis.raw/16384.0F); data.yAxis.scaled = (data.yAxis.raw/16384.0F); data.zAxis.scaled = (data.zAxis.raw/16384.0F); break; case SENS_4G: data.xAxis.scaled = (data.xAxis.raw/8192.0F); data.yAxis.scaled = (data.yAxis.raw/8192.0F); data.zAxis.scaled = (data.zAxis.raw/8192.0F); break; case SENS_8G: data.xAxis.scaled = (data.xAxis.raw/4096.0F); data.yAxis.scaled = (data.yAxis.raw/4096.0F); data.zAxis.scaled = (data.zAxis.raw/4096.0F); break; case SENS_16G: data.xAxis.scaled = (data.xAxis.raw/2048.0F); data.yAxis.scaled = (data.yAxis.raw/2048.0F); data.zAxis.scaled = (data.zAxis.raw/2048.0F); break; } } return rtnVal; }