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.h
- Revision:
- 21:f7216b5dc6c0
- Parent:
- 20:a521606048bb
--- a/bmi160.h Fri May 04 13:35:59 2018 +0300
+++ b/bmi160.h Wed Dec 19 14:54:05 2018 +0300
@@ -46,7 +46,7 @@
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
+This class is an abstract base class and can not be instaniated, use BMI160_I2C
or BMI160_SPI.
*/
class BMI160
@@ -55,7 +55,7 @@
///Return value on success.
static const uint8_t RTN_NO_ERROR = 0;
-
+
///Sensor types
enum Sensors
{
@@ -63,7 +63,7 @@
GYRO, ///<Angular rate sensor
ACC ///<g sensor
};
-
+
///Sensor Axis
enum SensorAxis
{
@@ -71,21 +71,24 @@
Y_AXIS,
Z_AXIS
};
-
+
///Structure for axis data
struct AxisData
{
int16_t raw; ///<Axis raw data
- float scaled; ///<Axis scaled data
+ float scaled; ///<Axis scaled data
};
-
+
///Structure for sensor time data
struct SensorTime
{
uint32_t raw; ///<raw SensorTime
float seconds; ///<SensorTime as seconds
};
-
+
+ ///Period of internal counter
+ static const float SENSOR_TIME_LSB = 39e-6;
+
///Structure for holding sensor data
struct SensorData
{
@@ -93,12 +96,12 @@
AxisData yAxis; ///<Sensor Y axis data
AxisData zAxis; ///<Sensor Z axis data
};
-
-
+
+
///BMI160 registers
enum Registers
{
- CHIP_ID = 0x00, ///<Chip Identification.
+ 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
@@ -139,10 +142,10 @@
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
+ 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,
+ 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
@@ -153,40 +156,40 @@
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
+ INT_LATCH, ///<Contains the interrupt rest bit and the interrupt
///<mode selection
- INT_MAP_0, ///<Controls which interrupt signals are mapped to the
+ 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
+ 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
+ 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
+ INT_DATA_0, ///<Contains the data source definition for the two
///<interrupt groups
- INT_DATA_1, ///<Contains the data source definition for the two
+ 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
+ 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
+ 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
+ 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
+ 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
+ INT_ORIENT_0, ///<Contains the configuration for the oeientation
///<interrupt
- INT_ORIENT_1, ///<Contains the configuration for the oeientation
+ 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
+ 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
@@ -204,15 +207,15 @@
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
+ CMD = 0x7E ///<Command register triggers operations like
///<softreset, NVM programming, etc.
};
-
-
+
+
///@name ERR_REG(0x02)
///Error register data
///@{
-
+
static const uint8_t FATAL_ERR_MASK = 0x01;
static const uint8_t FATAL_ERR_POS = 0x00;
static const uint8_t ERR_CODE_MASK = 0x1E;
@@ -223,26 +226,26 @@
static const uint8_t DROP_CMD_ERR_POS = 0x06;
static const uint8_t MAG_DRDY_ERR_MASK = 0x80;
static const uint8_t MAG_DRDY_ERR_POS = 0x08;
-
+
///Enumerated error codes
enum ErrorCodes
{
NO_ERROR = 0, ///<No Error
- ERROR_1, ///<Listed as error
+ ERROR_1, ///<Listed as error
ERROR_2, ///<Listed as error
- LPM_INT_PFD, ///<Low-power mode and interrupt uses pre-filtered
+ LPM_INT_PFD, ///<Low-power mode and interrupt uses pre-filtered
///<data
- ODR_MISMATCH = 0x06, ///<ODRs of enabled sensors in headerless mode do
+ 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
};
///@}
-
-
- ///@name ACC_CONF(0x40) and ACC_RANGE(0x41)
+
+
+ ///@name ACC_CONF(0x40) and ACC_RANGE(0x41)
///Data for configuring accelerometer
///@{
-
+
static const uint8_t ACC_ODR_MASK = 0x0F;
static const uint8_t ACC_ODR_POS = 0x00;
static const uint8_t ACC_BWP_MASK = 0x70;
@@ -251,7 +254,7 @@
static const uint8_t ACC_US_POS = 0x07;
static const uint8_t ACC_RANGE_MASK = 0x0F;
static const uint8_t ACC_RANGE_POS = 0x00;
-
+
///Accelerometer output data rates
enum AccOutputDataRate
{
@@ -268,7 +271,7 @@
ACC_ODR_11, ///< 800Hz
ACC_ODR_12 ///< 1600Hz
};
-
+
///Accelerometer bandwidth parameters
enum AccBandWidthParam
{
@@ -281,14 +284,14 @@
ACC_BWP_6, ///< Average 64 cycles
ACC_BWP_7 ///< Average 128 cycles
};
-
+
///Accelerometer undersampling
enum AccUnderSampling
{
ACC_US_OFF = 0,
ACC_US_ON
};
-
+
///Accelerometer ranges
enum AccRange
{
@@ -297,7 +300,12 @@
SENS_8G = 0x08, ///<Accelerometer range +-8G
SENS_16G = 0x0C ///<Accelerometer range +-16G
};
-
+
+ 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;
+
///Accelerometer configuration data structure
struct AccConfig
{
@@ -306,27 +314,27 @@
AccBandWidthParam bwp; ///<Accelerometer bandwidth param
AccOutputDataRate odr; ///<Accelerometr output data rate
};
-
+
///Accelerometer default configuration
static const AccConfig DEFAULT_ACC_CONFIG;
///@}
-
-
- ///@name GYR_CONF(0x42) and GYR_RANGE(0x43)
+
+
+ ///@name GYR_CONF(0x42) and GYR_RANGE(0x43)
///Data for configuring gyroscope
///@{
-
+
static const uint8_t GYRO_ODR_MASK = 0x0F;
static const uint8_t GYRO_ODR_POS = 0x00;
static const uint8_t GYRO_BWP_MASK = 0x30;
static const uint8_t GYRO_BWP_POS = 0x04;
static const uint8_t GYRO_RANGE_MASK = 0x07;
static const uint8_t GYRO_RANGE_POS = 0x00;
-
+
///Gyroscope output data rates
enum GyroOutputDataRate
{
- GYRO_ODR_6 = 0x06, ///<25Hz
+ GYRO_ODR_6 = 0x06, ///<25Hz
GYRO_ODR_7 = 0x07, ///<50Hz
GYRO_ODR_8 = 0x08, ///<100Hz
GYRO_ODR_9 = 0x09, ///<200Hz
@@ -335,7 +343,7 @@
GYRO_ODR_12 = 0x0C, ///<1600Hz
GYRO_ODR_13 = 0x0D ///<3200Hz
};
-
+
///Gyroscope bandwidth paramaters
enum GyroBandWidthParam
{
@@ -343,7 +351,7 @@
GYRO_BWP_1, ///<OSR2 Over Sampling Rate of 2
GYRO_BWP_2 ///<Normal Mode, Equidistant Sampling
};
-
+
///Gyroscope ranges
enum GyroRange
{
@@ -351,22 +359,28 @@
DPS_1000, ///<+-1000dps, 32.8LSB/dps
DPS_500, ///<+-500dps, 65.6LSB/dps
DPS_250, ///<+-250dps, 131.2LSB/dps
- DPS_125 ///<+-125dps, 262.4LSB/dps,
+ DPS_125 ///<+-125dps, 262.4LSB/dps,
};
-
- ///Gyroscope configuration data structure
+
+ 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;
+
+ ///Gyroscope configuration data structure
struct GyroConfig
{
GyroRange range; ///<Gyroscope range
GyroBandWidthParam bwp; ///<Gyroscope bandwidth param
GyroOutputDataRate odr; ///<Gyroscope output data rate
};
-
+
///Gyroscope default configuration
static const GyroConfig DEFAULT_GYRO_CONFIG;
///@}
-
-
+
+
///Enumerated power modes
enum PowerModes
{
@@ -375,36 +389,36 @@
LOW_POWER, ///<Acc duty-cycling between suspend and normal
FAST_START_UP ///<Gyro start up delay time to normal mode <= 10 ms
};
-
-
+
+
///Enumerated commands used with CMD register
enum Commands
{
- START_FOC = 0x03, ///<Starts Fast Offset Calibrartion
+ START_FOC = 0x03, ///<Starts Fast Offset Calibrartion
ACC_SET_PMU_MODE = 0x10, ///<Sets acc power mode
GYR_SET_PMU_MODE = 0x14, ///<Sets gyro power mode
MAG_SET_PMU_MODE = 0x18, ///<Sets mag power mode
PROG_NVM = 0xA0, ///<Writes NVM backed registers into NVM
FIFO_FLUSH = 0xB0, ///<Clears FIFO
- INT_RESET, ///<Clears interrupt engine, INT_STATUS, and
+ INT_RESET, ///<Clears interrupt engine, INT_STATUS, and
///<the interrupt pin
STEP_CNT_CLR, ///<Triggers reset of the step counter
SOFT_RESET = 0xB6 ///<Triggers a reset including a reboot.
};
-
-
+
+
///@brief BMI160 Destructor.\n
///
///On Entry:
- ///@param[in] none
+ ///@param[in] none
///
///On Exit:
///@param[out] none
///
///@returns none
virtual ~BMI160(){ }
-
-
+
+
///@brief Reads a single register.\n
///
///On Entry:
@@ -415,8 +429,8 @@
///
///@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:
@@ -427,11 +441,11 @@
///
///@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,
+ ///@detail User must ensure that all registers between 'startReg' and
+ ///'stopReg' exist and are readable. Function reads up to, including,
///'stopReg'.\n
///
///On Entry:
@@ -443,17 +457,17 @@
///@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,
+ 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,
+ ///@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] startReg - register to start writing at
///@param[in] stopReg - register to stop writing at
///@param[in] data - pointer to data to write to registers
///
@@ -461,24 +475,24 @@
///@param[out] none
///
///@returns 0 on success, non 0 on failure
- virtual int32_t writeBlock(Registers startReg, Registers stopReg,
+ virtual int32_t writeBlock(Registers startReg, Registers stopReg,
const uint8_t *data) = 0;
-
-
+
+
///@brief Sets sensors power mode through CMD register.\n
- ///@details Observe command execution times given in datasheet.\n
+ ///@details Observe command execution times given in datasheet.\n
///
///On Entry:
///@param[in] sensor - Sensor which power mode we are setting
///@param[in] pwrMode - Desired powermode of the sensor
///
///On Exit:
- ///@param[out]
+ ///@param[out]
///
///@returns 0 on success, non 0 on failure
int32_t setSensorPowerMode(Sensors sensor, PowerModes pwrMode);
-
-
+
+
///@brief Configure sensor.\n
///
///On Entry:
@@ -490,22 +504,22 @@
///@returns 0 on success, non 0 on failure
int32_t setSensorConfig(const AccConfig &config);
int32_t setSensorConfig(const GyroConfig &config);
-
-
+
+
///@brief Get sensor configuration.\n
///
///On Entry:
///@param[in] config - Sensor configuration data structure
///
///On Exit:
- ///@param[out] config - on success, holds sensor's current
+ ///@param[out] config - on success, holds sensor's current
///configuration
///
///@returns 0 on success, non 0 on failure
int32_t getSensorConfig(AccConfig &config);
int32_t getSensorConfig(GyroConfig &config);
-
-
+
+
///@brief Get sensor axis.\n
///
///On Entry:
@@ -519,8 +533,8 @@
///@returns 0 on success, non 0 on failure
int32_t getSensorAxis(SensorAxis axis, AxisData &data, AccRange range);
int32_t getSensorAxis(SensorAxis axis, AxisData &data, GyroRange range);
-
-
+
+
///@brief Get sensor xyz axis.\n
///
///On Entry:
@@ -533,8 +547,8 @@
///@returns 0 on success, non 0 on failure
int32_t getSensorXYZ(SensorData &data, AccRange range);
int32_t getSensorXYZ(SensorData &data, GyroRange range);
-
-
+
+
///@brief Get sensor xyz axis and sensor time.\n
///
///On Entry:
@@ -547,12 +561,12 @@
///@param[out] sensorTime - Holds sensor time on success
///
///@returns 0 on success, non 0 on failure
- int32_t getSensorXYZandSensorTime(SensorData &data, SensorTime &sensorTime,
+ int32_t getSensorXYZandSensorTime(SensorData &data, SensorTime &sensorTime,
AccRange range);
- int32_t getSensorXYZandSensorTime(SensorData &data, SensorTime &sensorTime,
+ int32_t getSensorXYZandSensorTime(SensorData &data, SensorTime &sensorTime,
GyroRange range);
-
-
+
+
///@brief Get Gyroscope/Accelerometer data and sensor time.\n
///
///On Entry:
@@ -568,12 +582,12 @@
///@param[out] sensorTime - Synchronized sensor time
///
///@returns 0 on success, non 0 on failure
- int32_t getGyroAccXYZandSensorTime(SensorData &accData,
- SensorData &gyroData,
- SensorTime &sensorTime,
+ int32_t getGyroAccXYZandSensorTime(SensorData &accData,
+ SensorData &gyroData,
+ SensorTime &sensorTime,
AccRange accRange, GyroRange gyroRange);
-
-
+
+
///@brief Get sensor time.\n
///
///On Entry:
@@ -584,18 +598,48 @@
///
///@returns returns 0 on success, non 0 on failure
int32_t getSensorTime(SensorTime &sensorTime);
-
-
+
+
///@brief Get die temperature.\n
///
///On Entry:
- ///@param[in] temp - pointer to float for temperature
+ ///@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);
+
+ // Initialize BMI160 with default parameters:
+ // set GYRO: Suspended, Acc Normal Mode, ODR:25 Hz
+ int32_t BMI160_DefaultInitalize();
+
+ //
+ //
+ int32_t enable_data_ready_interrupt();
+
+ //
+ // Set sample rate
+ // This function can be alled after BMI160_DefaultInitalize
+ int32_t setSampleRate(int sample_rate);
+
+ /// @brief Soft reset
+ ///
+ int32_t reset();
+
+private:
+ bool m_use_irq;
+ bool bmi160_irq_asserted;
+ InterruptIn *m_bmi160_irq;
+ void irq_handler();
+
+protected:
+ BMI160(InterruptIn *int_pin): m_bmi160_irq(int_pin), m_use_irq(true) {
+ bmi160_irq_asserted = false;
+ }
+
+ BMI160(): m_use_irq(false) { }
};
@@ -610,7 +654,7 @@
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
///
@@ -622,9 +666,21 @@
///@param[out] none
///
///@returns none
- BMI160_I2C(I2C &i2cBus, uint8_t i2cAdrs);
-
-
+ BMI160_I2C(I2C *i2cBus, uint8_t i2cAdrs);
+
+ ///@brief BMI160_I2C Constructor.\n
+ ///
+ ///On Entry:
+ ///@param[in] i2cBus - reference to I2C bus for this device
+ ///@param[in] i2cAdrs - 7-bit I2C address
+ ///@param[in] int_pin - Interrupt pin
+ ///
+ ///On Exit:
+ ///@param[out] none
+ ///
+ ///@returns none
+ BMI160_I2C(I2C *i2cBus, uint8_t i2cAdrs, InterruptIn *int_pin);
+
///@brief Reads a single register.\n
///
///On Entry:
@@ -635,8 +691,8 @@
///
///@returns 0 on success, non 0 on failure
virtual int32_t readRegister(Registers reg, uint8_t *data);
-
-
+
+
///@brief Writes a single register.\n
///
///On Entry:
@@ -647,11 +703,11 @@
///
///@returns 0 on success, non 0 on failure
virtual int32_t writeRegister(Registers reg, const uint8_t data);
-
-
+
+
///@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,
+ ///@detail User must ensure that all registers between 'startReg' and
+ ///'stopReg' exist and are readable. Function reads up to, including,
///'stopReg'.\n
///
///On Entry:
@@ -663,17 +719,17 @@
///@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,
+ virtual int32_t readBlock(Registers startReg, Registers stopReg,
uint8_t *data);
-
-
+
+
///@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,
+ ///@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] startReg - register to start writing at
///@param[in] stopReg - register to stop writing at
///@param[in] data - pointer to data to write to registers
///
@@ -681,12 +737,11 @@
///@param[out] none
///
///@returns 0 on success, non 0 on failure
- virtual int32_t writeBlock(Registers startReg, Registers stopReg,
+ virtual int32_t writeBlock(Registers startReg, Registers stopReg,
const uint8_t *data);
-
+
private:
-
- I2C &m_i2cBus;
+ I2C *m_i2cBus;
uint8_t m_Wadrs, m_Radrs;
};
@@ -708,9 +763,9 @@
///@param[out] none
///
///@returns none
- BMI160_SPI(SPI &spiBus, DigitalOut &cs);
-
-
+ BMI160_SPI(SPI *spiBus, DigitalOut &cs);
+
+
///@brief Reads a single register.\n
///
///On Entry:
@@ -721,8 +776,8 @@
///
///@returns 0 on success, non 0 on failure
virtual int32_t readRegister(Registers reg, uint8_t *data);
-
-
+
+
///@brief Writes a single register.\n
///
///On Entry:
@@ -733,11 +788,11 @@
///
///@returns 0 on success, non 0 on failure
virtual int32_t writeRegister(Registers reg, const uint8_t data);
-
-
+
+
///@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,
+ ///@detail User must ensure that all registers between 'startReg' and
+ ///'stopReg' exist and are readable. Function reads up to, including,
///'stopReg'.\n
///
///On Entry:
@@ -749,17 +804,17 @@
///@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,
+ virtual int32_t readBlock(Registers startReg, Registers stopReg,
uint8_t *data);
-
-
+
+
///@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,
+ ///@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] startReg - register to start writing at
///@param[in] stopReg - register to stop writing at
///@param[in] data - pointer to data to write to registers
///
@@ -767,12 +822,12 @@
///@param[out] none
///
///@returns 0 on success, non 0 on failure
- virtual int32_t writeBlock(Registers startReg, Registers stopReg,
+ virtual int32_t writeBlock(Registers startReg, Registers stopReg,
const uint8_t *data);
-
+
private:
- SPI &m_spiBus;
+ SPI *m_spiBus;
DigitalOut m_cs;
};
@@ -782,7 +837,7 @@
///@brief fx documentation template.\n
///
///On Entry:
-///@param[in] none
+///@param[in] none
///
///On Exit:
///@param[out] none