Library for Bosch Sensortech BMI160 IMU
Dependents: MAX32630FTHR_BALANCE_BOT MPSMAX_copy MAX32630FTHR_BALANCE_BOT SELF_BALANCING_BOT
bmi160.h
- Committer:
- j3
- Date:
- 2016-12-09
- Revision:
- 4:ebac8c8f6347
- Parent:
- 3:e1770675eca4
- Child:
- 5:35e032c8d8aa
File content as of revision 4:ebac8c8f6347:
/********************************************************************** * 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; ///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. }; ///ERR_REG Bit Mask bit0 static const uint8_t FATAL_ERR = 0x01; ///ERR_REG Bit Mask bits4:1 static const uint8_t ERR_CODE = 0x1E; ///ERR_REG Bit Mask bit5 static const uint8_t I2C_FAIL_ERR = 0x20; ///ERR_REG Bit Mask bit6 static const uint8_t DROP_CMD_ERR = 0x40; ///ERR_REG Bit Mask bit7 static const uint8_t MAG_DRDY_ERR = 0x80; ///ERR_REG bits4:1 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 }; 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 }; ///@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 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); ///@brief fx documentation template.\n /// ///On Entry: ///@param[in] none /// ///On Exit: ///@param[out] none /// ///@returns none private: }; /** @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); virtual int32_t readRegister(Registers reg, uint8_t *data); virtual int32_t writeRegister(Registers reg, const uint8_t data); virtual int32_t readBlock(Registers startReg, Registers stopReg, uint8_t *data); 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); virtual int32_t readRegister(Registers reg, uint8_t *data); virtual int32_t writeRegister(Registers reg, const uint8_t data); virtual int32_t readBlock(Registers startReg, Registers stopReg, uint8_t *data); virtual int32_t writeBlock(Registers startReg, Registers stopReg, const uint8_t *data); private: SPI m_spiBus; DigitalOut m_cs; }; #endif /* BMI160_H */