File content as of revision 1:55d35606b477:

#include "BMI160.h"

/* defines the axis for acc */
#define ACC_NOOF_AXIS       3

/* bmi160 slave address */
#define BMI160_ADDR         ((0x68)<<1)

/*Valor para Transformar de Radiano para Graus*/
#define RAD_DEG           57.29577951

/* buffer to store acc samples */
int16_t acc_sample_buffer[ACC_NOOF_AXIS] = {0x5555, 0x5555, 0x5555};
 
double acc_result_buffer[ACC_NOOF_AXIS] = {0x5555, 0x5555, 0x5555};
 
double accel_ang_x, accel_ang_y;
 
char i2c_reg_buffer[2] = {0};

//Instancia o LCD
ST7567 lcd(D11, D13, D12, D9, D10); // mosi, sclk, reset, A0, nCS

 /*Comunicacao I2C*/
I2C i2c(P2_3, P2_4);


void BMI160::lcdClear(){
    for(int i=0;i<5;i++)
        lcd.printf("\n");
}
void BMI160::configureAccelerometer(){
    
    /*Config Freq. I2C Bus*/
    i2c.frequency(20000);
    
    /*Reset BMI160*/
    i2c_reg_buffer[0] = 0x7E;
    i2c_reg_buffer[1] = 0xB6;    
    i2c.write(BMI160_ADDR, i2c_reg_buffer, sizeof(i2c_reg_buffer), false);
    wait_ms(200);
    //lcd.printf("BMI160 Resetado\n\r");
    wait_ms(100);
    
    /*Habilita o Acelerometro*/
    i2c_reg_buffer[0] = 0x7E;
    i2c_reg_buffer[1] = 0x11; //PMU Normal   
    i2c.write(BMI160_ADDR, i2c_reg_buffer, sizeof(i2c_reg_buffer), false);
    //lcd.printf("Acc Habilitado\n\r");

    /*Config o Data Rate ACC em 1600Hz*/
    i2c_reg_buffer[0] = 0x40;
    i2c_reg_buffer[1] = 0x2C;    
    i2c.write(BMI160_ADDR, i2c_reg_buffer, sizeof(i2c_reg_buffer), false);
    //lcd.printf("Data Rate ACC Selecionado a 1600Hz\n\r");
    
}

void BMI160::calculateMovement(){  
        
    /*Ajusta dados brutos Acelerometro em unidades de g */
    acc_result_buffer[0] = (acc_sample_buffer[0]/16384.0);
    acc_result_buffer[1] = (acc_sample_buffer[1]/16384.0);
    acc_result_buffer[2] = (acc_sample_buffer[2]/16384.0);
                
    /*Calcula os Angulos de Inclinacao com valor do Acelerometro*/
    accel_ang_x=atan(acc_result_buffer[0]/sqrt(pow(acc_result_buffer[1],2) + pow(acc_result_buffer[2],2)))*RAD_DEG;
   // accel_ang_y=atan(acc_result_buffer[1]/sqrt(pow(acc_result_buffer[0],2) + pow(acc_result_buffer[2],2)))*RAD_DEG;
  
  
    /*Imprime os dados ACC pre-formatados*/
  //  lcd.printf("Acc(G): %.3f,%.3f,%.3f\n\r",acc_result_buffer[0], acc_result_buffer[1], acc_result_buffer[2]);
    lcd.printf("Angles(x,y): %.3f\n\r", accel_ang_x);
    wait_ms(3000);
    lcdClear();
}

void BMI160::readAccelerometer(){
    
    while(1) { 
        /*Le os Registradores do Acelerometro*/
        i2c_reg_buffer[0] = 0x12;
        i2c.write(BMI160_ADDR, i2c_reg_buffer, 1, true);
        i2c.read(BMI160_ADDR, (char *)&acc_sample_buffer, sizeof(acc_sample_buffer), false);
        calculateMovement();
    }
}

void BMI160::runTempCommands(){
    configureAccelerometer();
    readAccelerometer();
    
}