Seyhmus Cacina
First Commit as a new library
Dependents: Host_Software_MAX32664GWEB_HR_wrist Host_Software_MAX32664GWEC_SpO2_HR Host_Software_MAX32664GWEB_HR_EXTENDED Host_Software_MAX32664GWEC_SpO2_HR-_EXTE ... more
Diff: bmi160.cpp
- Revision:
- 21:f7216b5dc6c0
- Parent:
- 19:8e66f58bef44
--- a/bmi160.cpp Fri May 04 13:35:59 2018 +0300
+++ b/bmi160.cpp Wed Dec 19 14:54:05 2018 +0300
@@ -34,54 +34,40 @@
#include "bmi160.h"
-const struct BMI160::AccConfig BMI160::DEFAULT_ACC_CONFIG = {SENS_2G,
- ACC_US_OFF,
- ACC_BWP_2,
+const struct BMI160::AccConfig BMI160::DEFAULT_ACC_CONFIG = {SENS_2G,
+ ACC_US_OFF,
+ ACC_BWP_2,
ACC_ODR_8};
-
-const struct BMI160::GyroConfig BMI160::DEFAULT_GYRO_CONFIG = {DPS_2000,
- GYRO_BWP_2,
+
+const struct BMI160::GyroConfig BMI160::DEFAULT_GYRO_CONFIG = {DPS_2000,
+ GYRO_BWP_2,
GYRO_ODR_8};
-///Period of internal counter
-static const float SENSOR_TIME_LSB = 39e-6;
-
-static const float SENS_2G_LSB_PER_G = 16384.0F;
-static const float SENS_4G_LSB_PER_G = 8192.0F;
-static const float SENS_8G_LSB_PER_G = 4096.0F;
-static const float SENS_16G_LSB_PER_G = 2048.0F;
-
-static const float SENS_2000_DPS_LSB_PER_DPS = 16.4F;
-static const float SENS_1000_DPS_LSB_PER_DPS = 32.8F;
-static const float SENS_500_DPS_LSB_PER_DPS = 65.6F;
-static const float SENS_250_DPS_LSB_PER_DPS = 131.2F;
-static const float SENS_125_DPS_LSB_PER_DPS = 262.4F;
-
//*****************************************************************************
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;
}
@@ -90,11 +76,11 @@
int32_t BMI160::setSensorConfig(const AccConfig &config)
{
uint8_t data[2];
-
- data[0] = ((config.us << ACC_US_POS) | (config.bwp << ACC_BWP_POS) |
+
+ data[0] = ((config.us << ACC_US_POS) | (config.bwp << ACC_BWP_POS) |
(config.odr << ACC_ODR_POS));
data[1] = config.range;
-
+
return writeBlock(ACC_CONF, ACC_RANGE, data);
}
@@ -103,10 +89,10 @@
int32_t BMI160::setSensorConfig(const GyroConfig &config)
{
uint8_t data[2];
-
+
data[0] = ((config.bwp << GYRO_BWP_POS) | (config.odr << GYRO_ODR_POS));
data[1] = config.range;
-
+
return writeBlock(GYR_CONF, GYR_RANGE, data);
}
@@ -116,7 +102,7 @@
{
uint8_t data[2];
int32_t rtnVal = readBlock(ACC_CONF, ACC_RANGE, data);
-
+
if(rtnVal == RTN_NO_ERROR)
{
config.range = static_cast<BMI160::AccRange>(
@@ -128,7 +114,7 @@
config.odr = static_cast<BMI160::AccOutputDataRate>(
((data[0] & ACC_ODR_MASK) >> ACC_ODR_POS));
}
-
+
return rtnVal;
}
@@ -138,7 +124,7 @@
{
uint8_t data[2];
int32_t rtnVal = readBlock(GYR_CONF, GYR_RANGE, data);
-
+
if(rtnVal == RTN_NO_ERROR)
{
config.range = static_cast<BMI160::GyroRange>(
@@ -148,7 +134,7 @@
config.odr = static_cast<BMI160::GyroOutputDataRate>(
((data[0] & GYRO_ODR_MASK) >> GYRO_ODR_POS));
}
-
+
return rtnVal;
}
@@ -158,26 +144,26 @@
{
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]);
@@ -186,21 +172,21 @@
case SENS_2G:
data.scaled = (data.raw/SENS_2G_LSB_PER_G);
break;
-
+
case SENS_4G:
data.scaled = (data.raw/SENS_4G_LSB_PER_G);
break;
-
+
case SENS_8G:
data.scaled = (data.raw/SENS_8G_LSB_PER_G);
break;
-
+
case SENS_16G:
data.scaled = (data.raw/SENS_16G_LSB_PER_G);
break;
}
}
-
+
return rtnVal;
}
@@ -210,26 +196,26 @@
{
uint8_t localData[2];
int32_t rtnVal;
-
+
switch(axis)
{
case X_AXIS:
rtnVal = readBlock(DATA_8, DATA_9, localData);
break;
-
+
case Y_AXIS:
rtnVal = readBlock(DATA_10, DATA_11, localData);
break;
-
+
case Z_AXIS:
rtnVal = readBlock(DATA_12, DATA_13, localData);
break;
-
+
default:
rtnVal = -1;
break;
}
-
+
if(rtnVal == RTN_NO_ERROR)
{
data.raw = ((localData[1] << 8) | localData[0]);
@@ -238,41 +224,45 @@
case DPS_2000:
data.scaled = (data.raw/SENS_2000_DPS_LSB_PER_DPS);
break;
-
+
case DPS_1000:
data.scaled = (data.raw/SENS_1000_DPS_LSB_PER_DPS);
break;
-
+
case DPS_500:
data.scaled = (data.raw/SENS_500_DPS_LSB_PER_DPS);
break;
-
+
case DPS_250:
data.scaled = (data.raw/SENS_250_DPS_LSB_PER_DPS);
break;
-
+
case DPS_125:
data.scaled = (data.raw/SENS_125_DPS_LSB_PER_DPS);
break;
}
}
-
+
return rtnVal;
}
-
+
-//*****************************************************************************
+//*****************************************************************************
int32_t BMI160::getSensorXYZ(SensorData &data, AccRange range)
{
uint8_t localData[6];
int32_t rtnVal = readBlock(DATA_14, DATA_19, localData);
-
+
+ if (m_use_irq == true && bmi160_irq_asserted == false)
+ return -1;
+
+ bmi160_irq_asserted = false;
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(range)
{
case SENS_2G:
@@ -280,19 +270,19 @@
data.yAxis.scaled = (data.yAxis.raw/SENS_2G_LSB_PER_G);
data.zAxis.scaled = (data.zAxis.raw/SENS_2G_LSB_PER_G);
break;
-
+
case SENS_4G:
data.xAxis.scaled = (data.xAxis.raw/SENS_4G_LSB_PER_G);
data.yAxis.scaled = (data.yAxis.raw/SENS_4G_LSB_PER_G);
data.zAxis.scaled = (data.zAxis.raw/SENS_4G_LSB_PER_G);
break;
-
+
case SENS_8G:
data.xAxis.scaled = (data.xAxis.raw/SENS_8G_LSB_PER_G);
data.yAxis.scaled = (data.yAxis.raw/SENS_8G_LSB_PER_G);
data.zAxis.scaled = (data.zAxis.raw/SENS_8G_LSB_PER_G);
break;
-
+
case SENS_16G:
data.xAxis.scaled = (data.xAxis.raw/SENS_16G_LSB_PER_G);
data.yAxis.scaled = (data.yAxis.raw/SENS_16G_LSB_PER_G);
@@ -300,23 +290,23 @@
break;
}
}
-
+
return rtnVal;
}
-//*****************************************************************************
+//*****************************************************************************
int32_t BMI160::getSensorXYZ(SensorData &data, GyroRange range)
{
uint8_t localData[6];
int32_t rtnVal = readBlock(DATA_8, DATA_13, 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(range)
{
case DPS_2000:
@@ -324,25 +314,25 @@
data.yAxis.scaled = (data.yAxis.raw/SENS_2000_DPS_LSB_PER_DPS);
data.zAxis.scaled = (data.zAxis.raw/SENS_2000_DPS_LSB_PER_DPS);
break;
-
+
case DPS_1000:
data.xAxis.scaled = (data.xAxis.raw/SENS_1000_DPS_LSB_PER_DPS);
data.yAxis.scaled = (data.yAxis.raw/SENS_1000_DPS_LSB_PER_DPS);
data.zAxis.scaled = (data.zAxis.raw/SENS_1000_DPS_LSB_PER_DPS);
break;
-
+
case DPS_500:
data.xAxis.scaled = (data.xAxis.raw/SENS_500_DPS_LSB_PER_DPS);
data.yAxis.scaled = (data.yAxis.raw/SENS_500_DPS_LSB_PER_DPS);
data.zAxis.scaled = (data.zAxis.raw/SENS_500_DPS_LSB_PER_DPS);
break;
-
+
case DPS_250:
data.xAxis.scaled = (data.xAxis.raw/SENS_250_DPS_LSB_PER_DPS);
data.yAxis.scaled = (data.yAxis.raw/SENS_250_DPS_LSB_PER_DPS);
data.zAxis.scaled = (data.zAxis.raw/SENS_250_DPS_LSB_PER_DPS);
break;
-
+
case DPS_125:
data.xAxis.scaled = (data.xAxis.raw/SENS_125_DPS_LSB_PER_DPS);
data.yAxis.scaled = (data.yAxis.raw/SENS_125_DPS_LSB_PER_DPS);
@@ -350,14 +340,14 @@
break;
}
}
-
+
return rtnVal;
}
-//*****************************************************************************
-int32_t BMI160::getSensorXYZandSensorTime(SensorData &data,
- SensorTime &sensorTime,
+//*****************************************************************************
+int32_t BMI160::getSensorXYZandSensorTime(SensorData &data,
+ SensorTime &sensorTime,
AccRange range)
{
uint8_t localData[9];
@@ -367,7 +357,7 @@
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(range)
{
case SENS_2G:
@@ -375,38 +365,38 @@
data.yAxis.scaled = (data.yAxis.raw/SENS_2G_LSB_PER_G);
data.zAxis.scaled = (data.zAxis.raw/SENS_2G_LSB_PER_G);
break;
-
+
case SENS_4G:
data.xAxis.scaled = (data.xAxis.raw/SENS_4G_LSB_PER_G);
data.yAxis.scaled = (data.yAxis.raw/SENS_4G_LSB_PER_G);
data.zAxis.scaled = (data.zAxis.raw/SENS_4G_LSB_PER_G);
break;
-
+
case SENS_8G:
data.xAxis.scaled = (data.xAxis.raw/SENS_8G_LSB_PER_G);
data.yAxis.scaled = (data.yAxis.raw/SENS_8G_LSB_PER_G);
data.zAxis.scaled = (data.zAxis.raw/SENS_8G_LSB_PER_G);
break;
-
+
case SENS_16G:
data.xAxis.scaled = (data.xAxis.raw/SENS_16G_LSB_PER_G);
data.yAxis.scaled = (data.yAxis.raw/SENS_16G_LSB_PER_G);
data.zAxis.scaled = (data.zAxis.raw/SENS_16G_LSB_PER_G);
break;
}
-
- sensorTime.raw = ((localData[8] << 16) | (localData[7] << 8) |
+
+ sensorTime.raw = ((localData[8] << 16) | (localData[7] << 8) |
localData[6]);
sensorTime.seconds = (sensorTime.raw * SENSOR_TIME_LSB);
}
-
+
return rtnVal;
}
-//*****************************************************************************
-int32_t BMI160::getSensorXYZandSensorTime(SensorData &data,
- SensorTime &sensorTime,
+//*****************************************************************************
+int32_t BMI160::getSensorXYZandSensorTime(SensorData &data,
+ SensorTime &sensorTime,
GyroRange range)
{
uint8_t localData[16];
@@ -416,7 +406,7 @@
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(range)
{
case DPS_2000:
@@ -424,46 +414,46 @@
data.yAxis.scaled = (data.yAxis.raw/SENS_2000_DPS_LSB_PER_DPS);
data.zAxis.scaled = (data.zAxis.raw/SENS_2000_DPS_LSB_PER_DPS);
break;
-
+
case DPS_1000:
data.xAxis.scaled = (data.xAxis.raw/SENS_1000_DPS_LSB_PER_DPS);
data.yAxis.scaled = (data.yAxis.raw/SENS_1000_DPS_LSB_PER_DPS);
data.zAxis.scaled = (data.zAxis.raw/SENS_1000_DPS_LSB_PER_DPS);
break;
-
+
case DPS_500:
data.xAxis.scaled = (data.xAxis.raw/SENS_500_DPS_LSB_PER_DPS);
data.yAxis.scaled = (data.yAxis.raw/SENS_500_DPS_LSB_PER_DPS);
data.zAxis.scaled = (data.zAxis.raw/SENS_500_DPS_LSB_PER_DPS);
break;
-
+
case DPS_250:
data.xAxis.scaled = (data.xAxis.raw/SENS_250_DPS_LSB_PER_DPS);
data.yAxis.scaled = (data.yAxis.raw/SENS_250_DPS_LSB_PER_DPS);
data.zAxis.scaled = (data.zAxis.raw/SENS_250_DPS_LSB_PER_DPS);
break;
-
+
case DPS_125:
data.xAxis.scaled = (data.xAxis.raw/SENS_125_DPS_LSB_PER_DPS);
data.yAxis.scaled = (data.yAxis.raw/SENS_125_DPS_LSB_PER_DPS);
data.zAxis.scaled = (data.zAxis.raw/SENS_125_DPS_LSB_PER_DPS);
break;
}
-
- sensorTime.raw = ((localData[14] << 16) | (localData[13] << 8) |
+
+ sensorTime.raw = ((localData[14] << 16) | (localData[13] << 8) |
localData[12]);
sensorTime.seconds = (sensorTime.raw * SENSOR_TIME_LSB);
}
-
+
return rtnVal;
}
-//*****************************************************************************
-int32_t BMI160::getGyroAccXYZandSensorTime(SensorData &accData,
- SensorData &gyroData,
- SensorTime &sensorTime,
- AccRange accRange,
+//*****************************************************************************
+int32_t BMI160::getGyroAccXYZandSensorTime(SensorData &accData,
+ SensorData &gyroData,
+ SensorTime &sensorTime,
+ AccRange accRange,
GyroRange gyroRange)
{
uint8_t localData[16];
@@ -473,11 +463,11 @@
gyroData.xAxis.raw = ((localData[1] << 8) | localData[0]);
gyroData.yAxis.raw = ((localData[3] << 8) | localData[2]);
gyroData.zAxis.raw = ((localData[5] << 8) | localData[4]);
-
+
accData.xAxis.raw = ((localData[7] << 8) | localData[6]);
accData.yAxis.raw = ((localData[9] << 8) | localData[8]);
accData.zAxis.raw = ((localData[11] << 8) | localData[10]);
-
+
switch(gyroRange)
{
case DPS_2000:
@@ -485,32 +475,32 @@
gyroData.yAxis.scaled = (gyroData.yAxis.raw/SENS_2000_DPS_LSB_PER_DPS);
gyroData.zAxis.scaled = (gyroData.zAxis.raw/SENS_2000_DPS_LSB_PER_DPS);
break;
-
+
case DPS_1000:
gyroData.xAxis.scaled = (gyroData.xAxis.raw/SENS_1000_DPS_LSB_PER_DPS);
gyroData.yAxis.scaled = (gyroData.yAxis.raw/SENS_1000_DPS_LSB_PER_DPS);
gyroData.zAxis.scaled = (gyroData.zAxis.raw/SENS_1000_DPS_LSB_PER_DPS);
break;
-
+
case DPS_500:
gyroData.xAxis.scaled = (gyroData.xAxis.raw/SENS_500_DPS_LSB_PER_DPS);
gyroData.yAxis.scaled = (gyroData.yAxis.raw/SENS_500_DPS_LSB_PER_DPS);
gyroData.zAxis.scaled = (gyroData.zAxis.raw/SENS_500_DPS_LSB_PER_DPS);
break;
-
+
case DPS_250:
gyroData.xAxis.scaled = (gyroData.xAxis.raw/SENS_250_DPS_LSB_PER_DPS);
gyroData.yAxis.scaled = (gyroData.yAxis.raw/SENS_250_DPS_LSB_PER_DPS);
gyroData.zAxis.scaled = (gyroData.zAxis.raw/SENS_250_DPS_LSB_PER_DPS);
break;
-
+
case DPS_125:
gyroData.xAxis.scaled = (gyroData.xAxis.raw/SENS_125_DPS_LSB_PER_DPS);
gyroData.yAxis.scaled = (gyroData.yAxis.raw/SENS_125_DPS_LSB_PER_DPS);
gyroData.zAxis.scaled = (gyroData.zAxis.raw/SENS_125_DPS_LSB_PER_DPS);
break;
}
-
+
switch(accRange)
{
case SENS_2G:
@@ -518,48 +508,82 @@
accData.yAxis.scaled = (accData.yAxis.raw/SENS_2G_LSB_PER_G);
accData.zAxis.scaled = (accData.zAxis.raw/SENS_2G_LSB_PER_G);
break;
-
+
case SENS_4G:
accData.xAxis.scaled = (accData.xAxis.raw/SENS_4G_LSB_PER_G);
accData.yAxis.scaled = (accData.yAxis.raw/SENS_4G_LSB_PER_G);
accData.zAxis.scaled = (accData.zAxis.raw/SENS_4G_LSB_PER_G);
break;
-
+
case SENS_8G:
accData.xAxis.scaled = (accData.xAxis.raw/SENS_8G_LSB_PER_G);
accData.yAxis.scaled = (accData.yAxis.raw/SENS_8G_LSB_PER_G);
accData.zAxis.scaled = (accData.zAxis.raw/SENS_8G_LSB_PER_G);
break;
-
+
case SENS_16G:
accData.xAxis.scaled = (accData.xAxis.raw/SENS_16G_LSB_PER_G);
accData.yAxis.scaled = (accData.yAxis.raw/SENS_16G_LSB_PER_G);
accData.zAxis.scaled = (accData.zAxis.raw/SENS_16G_LSB_PER_G);
break;
}
-
- sensorTime.raw = ((localData[14] << 16) | (localData[13] << 8) |
+
+ sensorTime.raw = ((localData[14] << 16) | (localData[13] << 8) |
localData[12]);
sensorTime.seconds = (sensorTime.raw * SENSOR_TIME_LSB);
}
-
+
return rtnVal;
}
+int32_t BMI160::setSampleRate(int sample_rate)
+{
+ int sr_reg_val = -1;
+ int i;
+ const uint16_t odr_table[][2] = {
+ {25, GYRO_ODR_6}, ///<25Hz
+ {50, GYRO_ODR_7}, ///<50Hz
+ {100, GYRO_ODR_8}, ///<100Hz
+ {200, GYRO_ODR_9}, ///<200Hz
+ {400, GYRO_ODR_10}, ///<400Hz
+ {800, GYRO_ODR_11}, ///<800Hz
+ {1600, GYRO_ODR_12}, ///<1600Hz
+ {3200, GYRO_ODR_13}, ///<3200Hz
+ };
-//*****************************************************************************
+ int num_sr = sizeof(odr_table)/sizeof(odr_table[0]);
+ for (i = 0; i < num_sr; i++) {
+ if (sample_rate == odr_table[i][0]) {
+ sr_reg_val = odr_table[i][1];
+ break;
+ }
+ }
+
+ if (sr_reg_val == -1)
+ return -2;
+
+ AccConfig accConfigRead;
+ if (getSensorConfig(accConfigRead) == BMI160::RTN_NO_ERROR) {
+ accConfigRead.odr = (AccOutputDataRate)sr_reg_val;
+ return setSensorConfig(accConfigRead) == BMI160::RTN_NO_ERROR ? 0 : -1;
+ } else
+ return -1;
+}
+
+
+//*****************************************************************************
int32_t BMI160::getSensorTime(SensorTime &sensorTime)
{
uint8_t localData[3];
int32_t rtnVal = readBlock(SENSORTIME_0, SENSORTIME_2, localData);
-
+
if(rtnVal == RTN_NO_ERROR)
{
- sensorTime.raw = ((localData[2] << 16) | (localData[1] << 8) |
+ sensorTime.raw = ((localData[2] << 16) | (localData[1] << 8) |
localData[0]);
sensorTime.seconds = (sensorTime.raw * SENSOR_TIME_LSB);
}
-
+
return rtnVal;
}
@@ -569,7 +593,7 @@
{
uint8_t data[2];
uint16_t rawTemp;
-
+
int32_t rtnVal = readBlock(TEMPERATURE_0, TEMPERATURE_1, data);
if(rtnVal == RTN_NO_ERROR)
{
@@ -583,6 +607,117 @@
*temp = ((rawTemp/512.0F) + 23.0F);
}
}
-
+
return rtnVal;
}
+
+//***********************************************************************************
+int32_t BMI160::BMI160_DefaultInitalize(){
+
+ //soft reset the accelerometer
+ writeRegister(CMD ,SOFT_RESET);
+ wait(0.1);
+
+ //Power up sensors in normal mode
+ if(setSensorPowerMode(BMI160::GYRO, BMI160::SUSPEND) != BMI160::RTN_NO_ERROR){
+ printf("Failed to set gyroscope power mode\n");
+ }
+
+ wait(0.1);
+
+ if(setSensorPowerMode(BMI160::ACC, BMI160::NORMAL) != BMI160::RTN_NO_ERROR){
+ printf("Failed to set accelerometer power mode\n");
+ }
+ wait(0.1);
+
+ BMI160::AccConfig accConfig;
+ BMI160::AccConfig accConfigRead;
+ accConfig.range = BMI160::SENS_2G;
+ accConfig.us = BMI160::ACC_US_OFF;
+ accConfig.bwp = BMI160::ACC_BWP_2;
+ accConfig.odr = BMI160::ACC_ODR_6;
+ if(setSensorConfig(accConfig) == BMI160::RTN_NO_ERROR)
+ {
+ if(getSensorConfig(accConfigRead) == BMI160::RTN_NO_ERROR)
+ {
+ if((accConfig.range != accConfigRead.range) ||
+ (accConfig.us != accConfigRead.us) ||
+ (accConfig.bwp != accConfigRead.bwp) ||
+ (accConfig.odr != accConfigRead.odr))
+ {
+ printf("ACC read data desn't equal set data\n\n");
+ printf("ACC Set Range = %d\n", accConfig.range);
+ printf("ACC Set UnderSampling = %d\n", accConfig.us);
+ printf("ACC Set BandWidthParam = %d\n", accConfig.bwp);
+ printf("ACC Set OutputDataRate = %d\n\n", accConfig.odr);
+ printf("ACC Read Range = %d\n", accConfigRead.range);
+ printf("ACC Read UnderSampling = %d\n", accConfigRead.us);
+ printf("ACC Read BandWidthParam = %d\n", accConfigRead.bwp);
+ printf("ACC Read OutputDataRate = %d\n\n", accConfigRead.odr);
+ }
+
+ }
+ else
+ {
+ printf("Failed to read back accelerometer configuration\n");
+ }
+ }
+ else
+ {
+ printf("Failed to set accelerometer configuration\n");
+ }
+ return 0;
+}
+
+//***********************************************************************************
+int32_t BMI160::enable_data_ready_interrupt() {
+ uint8_t data = 0;
+ uint8_t temp = 0;
+ int32_t result;
+
+ result = readRegister(INT_EN_1, &data);
+ temp = data & ~0x10;
+ data = temp | ((1 << 4) & 0x10);
+ /* Writing data to INT ENABLE 1 Address */
+ result |= writeRegister(INT_EN_1, data);
+
+ // configure in_out ctrl
+ //bmi160_get_regs(BMI160_INT_OUT_CTRL_ADDR, &data, 1, dev);
+ result |= readRegister(INT_OUT_CTRL, &data);
+ data = 0x09;
+ result |= writeRegister(INT_OUT_CTRL,data);
+
+ //config int latch
+ //bmi160_get_regs(BMI160_INT_LATCH_ADDR, &data, 1, dev);
+ result |= readRegister(INT_LATCH, &data);
+ data = 0x0F;
+ result |= writeRegister(INT_LATCH, data);
+
+ //bmi160_get_regs(BMI160_INT_MAP_1_ADDR, &data, 1, dev);
+ result |= readRegister(INT_MAP_1, &data);
+ data = 0x80;
+ result |= writeRegister(INT_MAP_1, data);
+
+ if(result != 0){
+ printf("BMI160::%s failed.\r\n", __func__);
+ return -1;
+ }
+
+ m_bmi160_irq->disable_irq();
+ m_bmi160_irq->mode(PullUp);
+ m_bmi160_irq->fall(this, &BMI160::irq_handler);
+ m_bmi160_irq->enable_irq();
+ return 0;
+}
+
+void BMI160::irq_handler() {
+ bmi160_irq_asserted = true;
+}
+
+int32_t BMI160::reset() {
+ if (m_use_irq)
+ m_bmi160_irq->disable_irq();
+ bmi160_irq_asserted = false;
+ writeRegister(CMD, SOFT_RESET);
+ return 0;
+}