Kenji Arai / BMX055

Small, versatile 9-axis sensor module by Bosch Sensortec 3D Accelerometer + 3D Gyroscope + 3D Magnetometer

Dependents:   Pruebas_Flex_IMU_copy BMX055_Madgwick

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BMX055 Class Reference
Public Member Functions

BMX055 Class Reference

BMX055 Small, versatile 9-axis sensor module by Bosch Sensortec. More...

#include <BMX055.h>

Public Member Functions

 BMX055 (PinName p_sda, PinName p_scl)
 Configure data pin.
 BMX055 (I2C &p_i2c)
 Configure data pin (with other devices on I2C line)
void get_accel (BMX055_ACCEL_TypeDef *acc)
 Get accel data.
void get_gyro (BMX055_GYRO_TypeDef *gyr)
 Get gyroscope data.
void get_magnet (BMX055_MAGNET_TypeDef *mag)
 Get magnet data.
float get_chip_temperature (void)
 Get Chip temperature data both Acc & Gyro.
void read_id_inf (BMX055_ID_INF_TypeDef *id)
 Read BMX055 ID information.
bool chip_ready (void)
 Check chip is avairable or not.
void set_parameter (const BMX055_TypeDef *bmx055_parameter)
 Check chip is avairable or not.
void frequency (int hz)
 Set I2C clock frequency.
uint8_t read_reg (uint8_t addr)
 Read register.
uint8_t write_reg (uint8_t addr, uint8_t data)
 Write register.

Detailed Description

BMX055 Small, versatile 9-axis sensor module by Bosch Sensortec. 

 #include    "mbed.h"
 #include    "BMX055.h"

 Serial pc(USBTX,USBRX);
 I2C    (I2C_SDA, I2C_SCL);
 BMX055 imu(i2c);

 const BMX055_TypeDef bmx055_my_parameters = {
   // ACC
   ACC_2G,
   ACC_BW250Hz,
   // GYR
   GYR_125DPS,
   GYR_200Hz23Hz,
   // MAG
   MAG_ODR10Hz
 };

 int main() {
     BMX055_ACCEL_TypeDef  acc;
     BMX055_GYRO_TypeDef   gyr;
     BMX055_MAGNET_TypeDef mag;

     if (imu.imu.chip_ready() == 0){
         pc.printf("Bosch BMX055 is NOT avirable!!\r\n");
     }
     imu.set_parameter(&bmx055_my_parameters);
     while(1) {
         imu.get_accel(&acc);
         pc.printf("//ACC: x=%+3.2f y=%+3.2f z=%+3.2f //",
                    acc.x, acc.y, acc.z);
         imu.get_gyro(&gyr);
         pc.printf("GYR: x=%+3.2f y=%+3.2f z=%+3.2f //",
                    gyr.x, gyr.y, gyr.z);
         imu.get_magnet(&mag);
         pc.printf("MAG: x=%+3.2f y=%+3.2f z=%+3.2f , passed %u sec\r\n",
                    mag.x, mag.y, mag.z, n++);
         wait(0.5f);
     }
 }

Definition at line 201 of file BMX055.h.

Constructor & Destructor Documentation

BMX055 ( PinName  p_sda,
PinName  p_scl 
)

Configure data pin.

Parameters:
dataSDA and SCL pins
Otherparameters are set automatically

Definition at line 26 of file BMX055.cpp.

BMX055 ( I2C &  p_i2c )

Configure data pin (with other devices on I2C line)

Parameters:
I2Cprevious definition
Otherparameters are set automatically

Definition at line 33 of file BMX055.cpp.

Member Function Documentation

bool chip_ready ( void   )

Check chip is avairable or not.

Parameters:
none
Returns:
OK = true, NG = false;

Definition at line 433 of file BMX055.cpp.

void frequency ( int  hz )

Set I2C clock frequency.

Parameters:
freq.
Returns:
none

Definition at line 442 of file BMX055.cpp.

void get_accel ( BMX055_ACCEL_TypeDef *  acc )

Get accel data.

Parameters:
floattype of 3D data address

Definition at line 48 of file BMX055.cpp.

float get_chip_temperature ( void   )

Get Chip temperature data both Acc & Gyro.

Parameters:
none
Returns:
temperature data

Definition at line 182 of file BMX055.cpp.

void get_gyro ( BMX055_GYRO_TypeDef *  gyr )

Get gyroscope data.

Parameters:
floattype of 3D data address

Definition at line 89 of file BMX055.cpp.

void get_magnet ( BMX055_MAGNET_TypeDef *  mag )

Get magnet data.

Parameters:
floattype of 3D data address

Definition at line 159 of file BMX055.cpp.

void read_id_inf ( BMX055_ID_INF_TypeDef *  id )

Read BMX055 ID information.

Parameters:
IDinformation address
Returns:
none

Definition at line 425 of file BMX055.cpp.

uint8_t read_reg ( uint8_t  addr )

Read register.

Parameters:
register'saddress
Returns:
register data

Definition at line 448 of file BMX055.cpp.

void set_parameter ( const BMX055_TypeDef *  bmx055_parameter )

Check chip is avairable or not.

Parameters:
configrationparameter
Returns:
none

Definition at line 40 of file BMX055.cpp.

uint8_t write_reg ( uint8_t  addr,
uint8_t  data 
)

Write register.

Parameters:
register'saddress
data
Returns:
register data

Definition at line 456 of file BMX055.cpp.

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