Library for Bosch Sensortech BMI160 IMU
Dependents: MAX32630FTHR_BALANCE_BOT MPSMAX_copy MAX32630FTHR_BALANCE_BOT SELF_BALANCING_BOT
bmi160.cpp@9:ca6b5fecdd63, 2016-12-20 (annotated)
- Committer:
- j3
- Date:
- Tue Dec 20 01:08:33 2016 +0000
- Revision:
- 9:ca6b5fecdd63
- Parent:
- 8:a89b529b1d96
- Child:
- 10:9e219f2f1fb3
Added range support for accelerometer
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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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 | 9:ca6b5fecdd63 | 37 | const struct BMI160::AccConfig BMI160::DEFAULT_ACC_CONFIG = {SENS_2G, ACC_US_OFF, ACC_BWP_2, ACC_ODR_8}; |
j3 | 9:ca6b5fecdd63 | 38 | |
j3 | 9:ca6b5fecdd63 | 39 | |
j3 | 3:e1770675eca4 | 40 | //***************************************************************************** |
j3 | 5:35e032c8d8aa | 41 | int32_t BMI160::setSensorPowerMode(Sensors sensor, PowerModes pwrMode) |
j3 | 3:e1770675eca4 | 42 | { |
j3 | 3:e1770675eca4 | 43 | int32_t rtnVal = -1; |
j3 | 3:e1770675eca4 | 44 | |
j3 | 5:35e032c8d8aa | 45 | switch(sensor) |
j3 | 5:35e032c8d8aa | 46 | { |
j3 | 5:35e032c8d8aa | 47 | case MAG: |
j3 | 5:35e032c8d8aa | 48 | rtnVal = writeRegister(CMD, (MAG_SET_PMU_MODE | pwrMode)); |
j3 | 5:35e032c8d8aa | 49 | break; |
j3 | 5:35e032c8d8aa | 50 | |
j3 | 5:35e032c8d8aa | 51 | case GYRO: |
j3 | 5:35e032c8d8aa | 52 | rtnVal = writeRegister(CMD, (GYR_SET_PMU_MODE | pwrMode)); |
j3 | 5:35e032c8d8aa | 53 | break; |
j3 | 5:35e032c8d8aa | 54 | |
j3 | 5:35e032c8d8aa | 55 | case ACC: |
j3 | 5:35e032c8d8aa | 56 | rtnVal = writeRegister(CMD, (ACC_SET_PMU_MODE | pwrMode)); |
j3 | 5:35e032c8d8aa | 57 | break; |
j3 | 5:35e032c8d8aa | 58 | |
j3 | 5:35e032c8d8aa | 59 | default: |
j3 | 5:35e032c8d8aa | 60 | rtnVal = -1; |
j3 | 5:35e032c8d8aa | 61 | break; |
j3 | 5:35e032c8d8aa | 62 | } |
j3 | 5:35e032c8d8aa | 63 | |
j3 | 3:e1770675eca4 | 64 | return rtnVal; |
j3 | 3:e1770675eca4 | 65 | } |
j3 | 5:35e032c8d8aa | 66 | |
j3 | 5:35e032c8d8aa | 67 | |
j3 | 5:35e032c8d8aa | 68 | //***************************************************************************** |
j3 | 5:35e032c8d8aa | 69 | int32_t BMI160::getTemperature(float *temp) |
j3 | 5:35e032c8d8aa | 70 | { |
j3 | 5:35e032c8d8aa | 71 | uint8_t data[2]; |
j3 | 6:9615aa90087d | 72 | uint16_t rawTemp; |
j3 | 5:35e032c8d8aa | 73 | |
j3 | 5:35e032c8d8aa | 74 | int32_t rtnVal = readBlock(TEMPERATURE_0, TEMPERATURE_1, data); |
j3 | 5:35e032c8d8aa | 75 | if(rtnVal == RTN_NO_ERROR) |
j3 | 5:35e032c8d8aa | 76 | { |
j3 | 6:9615aa90087d | 77 | rawTemp = ((data[1] << 8) | data[0]); |
j3 | 6:9615aa90087d | 78 | if(rawTemp & 0x8000) |
j3 | 6:9615aa90087d | 79 | { |
j3 | 7:9848196cb65e | 80 | *temp = (23.0F - ((0x10000 - rawTemp)/512.0F)); |
j3 | 6:9615aa90087d | 81 | } |
j3 | 6:9615aa90087d | 82 | else |
j3 | 6:9615aa90087d | 83 | { |
j3 | 6:9615aa90087d | 84 | *temp = ((rawTemp/512.0F) + 23.0F); |
j3 | 6:9615aa90087d | 85 | } |
j3 | 5:35e032c8d8aa | 86 | } |
j3 | 5:35e032c8d8aa | 87 | |
j3 | 5:35e032c8d8aa | 88 | return rtnVal; |
j3 | 5:35e032c8d8aa | 89 | } |
j3 | 8:a89b529b1d96 | 90 | |
j3 | 8:a89b529b1d96 | 91 | |
j3 | 8:a89b529b1d96 | 92 | //***************************************************************************** |
j3 | 8:a89b529b1d96 | 93 | int32_t BMI160::getSensorDataAndTime(uint8_t *data) |
j3 | 8:a89b529b1d96 | 94 | { |
j3 | 8:a89b529b1d96 | 95 | return readBlock(DATA_0, SENSORTIME_2, data); |
j3 | 8:a89b529b1d96 | 96 | } |
j3 | 8:a89b529b1d96 | 97 | |
j3 | 8:a89b529b1d96 | 98 | |
j3 | 8:a89b529b1d96 | 99 | //***************************************************************************** |
j3 | 9:ca6b5fecdd63 | 100 | int32_t BMI160::getAccAxis(SensorAxis axis, AxisData &data, AccConfig accConfig) |
j3 | 8:a89b529b1d96 | 101 | { |
j3 | 8:a89b529b1d96 | 102 | uint8_t localData[2]; |
j3 | 8:a89b529b1d96 | 103 | int32_t rtnVal; |
j3 | 8:a89b529b1d96 | 104 | |
j3 | 8:a89b529b1d96 | 105 | switch(axis) |
j3 | 8:a89b529b1d96 | 106 | { |
j3 | 8:a89b529b1d96 | 107 | case X_AXIS: |
j3 | 8:a89b529b1d96 | 108 | rtnVal = readBlock(DATA_14, DATA_15, localData); |
j3 | 8:a89b529b1d96 | 109 | break; |
j3 | 8:a89b529b1d96 | 110 | |
j3 | 8:a89b529b1d96 | 111 | case Y_AXIS: |
j3 | 8:a89b529b1d96 | 112 | rtnVal = readBlock(DATA_16, DATA_17, localData); |
j3 | 8:a89b529b1d96 | 113 | break; |
j3 | 8:a89b529b1d96 | 114 | |
j3 | 8:a89b529b1d96 | 115 | case Z_AXIS: |
j3 | 8:a89b529b1d96 | 116 | rtnVal = readBlock(DATA_18, DATA_19, localData); |
j3 | 8:a89b529b1d96 | 117 | break; |
j3 | 8:a89b529b1d96 | 118 | |
j3 | 8:a89b529b1d96 | 119 | default: |
j3 | 8:a89b529b1d96 | 120 | rtnVal = -1; |
j3 | 8:a89b529b1d96 | 121 | break; |
j3 | 8:a89b529b1d96 | 122 | } |
j3 | 8:a89b529b1d96 | 123 | |
j3 | 8:a89b529b1d96 | 124 | if(rtnVal == RTN_NO_ERROR) |
j3 | 8:a89b529b1d96 | 125 | { |
j3 | 8:a89b529b1d96 | 126 | data.raw = ((localData[1] << 8) | localData[0]); |
j3 | 9:ca6b5fecdd63 | 127 | switch(accConfig.range) |
j3 | 9:ca6b5fecdd63 | 128 | { |
j3 | 9:ca6b5fecdd63 | 129 | //magic numbers are typical values for LSB/g from EC table |
j3 | 9:ca6b5fecdd63 | 130 | case SENS_2G: |
j3 | 9:ca6b5fecdd63 | 131 | data.scaled = (data.raw/16384.0F); |
j3 | 9:ca6b5fecdd63 | 132 | break; |
j3 | 9:ca6b5fecdd63 | 133 | |
j3 | 9:ca6b5fecdd63 | 134 | case SENS_4G: |
j3 | 9:ca6b5fecdd63 | 135 | data.scaled = (data.raw/8192.0F); |
j3 | 9:ca6b5fecdd63 | 136 | break; |
j3 | 9:ca6b5fecdd63 | 137 | |
j3 | 9:ca6b5fecdd63 | 138 | case SENS_8G: |
j3 | 9:ca6b5fecdd63 | 139 | data.scaled = (data.raw/4096.0F); |
j3 | 9:ca6b5fecdd63 | 140 | break; |
j3 | 9:ca6b5fecdd63 | 141 | |
j3 | 9:ca6b5fecdd63 | 142 | case SENS_16G: |
j3 | 9:ca6b5fecdd63 | 143 | data.scaled = (data.raw/2048.0F); |
j3 | 9:ca6b5fecdd63 | 144 | break; |
j3 | 9:ca6b5fecdd63 | 145 | } |
j3 | 8:a89b529b1d96 | 146 | } |
j3 | 8:a89b529b1d96 | 147 | |
j3 | 8:a89b529b1d96 | 148 | return rtnVal; |
j3 | 8:a89b529b1d96 | 149 | } |
j3 | 8:a89b529b1d96 | 150 | |
j3 | 8:a89b529b1d96 | 151 | |
j3 | 8:a89b529b1d96 | 152 | //***************************************************************************** |
j3 | 9:ca6b5fecdd63 | 153 | int32_t BMI160::getAccXYZ(SensorData &data, AccConfig accConfig) |
j3 | 8:a89b529b1d96 | 154 | { |
j3 | 8:a89b529b1d96 | 155 | uint8_t localData[6]; |
j3 | 8:a89b529b1d96 | 156 | int32_t rtnVal = readBlock(DATA_14, DATA_19, localData); |
j3 | 8:a89b529b1d96 | 157 | |
j3 | 8:a89b529b1d96 | 158 | if(rtnVal == RTN_NO_ERROR) |
j3 | 8:a89b529b1d96 | 159 | { |
j3 | 8:a89b529b1d96 | 160 | data.xAxis.raw = ((localData[1] << 8) | localData[0]); |
j3 | 8:a89b529b1d96 | 161 | data.yAxis.raw = ((localData[3] << 8) | localData[2]); |
j3 | 8:a89b529b1d96 | 162 | data.zAxis.raw = ((localData[5] << 8) | localData[4]); |
j3 | 8:a89b529b1d96 | 163 | |
j3 | 9:ca6b5fecdd63 | 164 | switch(accConfig.range) |
j3 | 9:ca6b5fecdd63 | 165 | { |
j3 | 9:ca6b5fecdd63 | 166 | //magic numbers are typical values for LSB/g from EC table |
j3 | 9:ca6b5fecdd63 | 167 | case SENS_2G: |
j3 | 9:ca6b5fecdd63 | 168 | data.xAxis.scaled = (data.xAxis.raw/16384.0F); |
j3 | 9:ca6b5fecdd63 | 169 | data.yAxis.scaled = (data.yAxis.raw/16384.0F); |
j3 | 9:ca6b5fecdd63 | 170 | data.zAxis.scaled = (data.zAxis.raw/16384.0F); |
j3 | 9:ca6b5fecdd63 | 171 | break; |
j3 | 9:ca6b5fecdd63 | 172 | |
j3 | 9:ca6b5fecdd63 | 173 | case SENS_4G: |
j3 | 9:ca6b5fecdd63 | 174 | data.xAxis.scaled = (data.xAxis.raw/8192.0F); |
j3 | 9:ca6b5fecdd63 | 175 | data.yAxis.scaled = (data.yAxis.raw/8192.0F); |
j3 | 9:ca6b5fecdd63 | 176 | data.zAxis.scaled = (data.zAxis.raw/8192.0F); |
j3 | 9:ca6b5fecdd63 | 177 | break; |
j3 | 9:ca6b5fecdd63 | 178 | |
j3 | 9:ca6b5fecdd63 | 179 | case SENS_8G: |
j3 | 9:ca6b5fecdd63 | 180 | data.xAxis.scaled = (data.xAxis.raw/4096.0F); |
j3 | 9:ca6b5fecdd63 | 181 | data.yAxis.scaled = (data.yAxis.raw/4096.0F); |
j3 | 9:ca6b5fecdd63 | 182 | data.zAxis.scaled = (data.zAxis.raw/4096.0F); |
j3 | 9:ca6b5fecdd63 | 183 | break; |
j3 | 9:ca6b5fecdd63 | 184 | |
j3 | 9:ca6b5fecdd63 | 185 | case SENS_16G: |
j3 | 9:ca6b5fecdd63 | 186 | data.xAxis.scaled = (data.xAxis.raw/2048.0F); |
j3 | 9:ca6b5fecdd63 | 187 | data.yAxis.scaled = (data.yAxis.raw/2048.0F); |
j3 | 9:ca6b5fecdd63 | 188 | data.zAxis.scaled = (data.zAxis.raw/2048.0F); |
j3 | 9:ca6b5fecdd63 | 189 | break; |
j3 | 9:ca6b5fecdd63 | 190 | } |
j3 | 8:a89b529b1d96 | 191 | } |
j3 | 8:a89b529b1d96 | 192 | |
j3 | 8:a89b529b1d96 | 193 | return rtnVal; |
j3 | 8:a89b529b1d96 | 194 | } |