Seyhmus Cacina
/
BMI160
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Revision 21:f7216b5dc6c0, committed 2018-12-19
- Comitter:
- seyhmuscacina
- Date:
- Wed Dec 19 14:54:05 2018 +0300
- Parent:
- 20:a521606048bb
- Commit message:
- adds interrupt support to the BMI160 library
Changed in this revision
--- 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;
+}
--- 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
--- a/bmi160_i2c.cpp Fri May 04 13:35:59 2018 +0300
+++ b/bmi160_i2c.cpp Wed Dec 19 14:54:05 2018 +0300
@@ -35,24 +35,29 @@
//*****************************************************************************
-BMI160_I2C::BMI160_I2C(I2C &i2cBus, uint8_t i2cAdrs)
+BMI160_I2C::BMI160_I2C(I2C *i2cBus, uint8_t i2cAdrs)
:m_i2cBus(i2cBus), m_Wadrs(i2cAdrs << 1), m_Radrs((i2cAdrs << 1) | 1)
{
-
+
}
+BMI160_I2C::BMI160_I2C(I2C *i2cBus, uint8_t i2cAdrs, InterruptIn *int_pin)
+:m_i2cBus(i2cBus), m_Wadrs(i2cAdrs << 1), m_Radrs((i2cAdrs << 1) | 1), BMI160(int_pin)
+{
-//*****************************************************************************
+}
+
+//*****************************************************************************
int32_t BMI160_I2C::readRegister(Registers reg, uint8_t *data)
{
int32_t rtnVal = -1;
char packet[] = {static_cast<char>(reg)};
-
- if(m_i2cBus.write(m_Wadrs, packet, 1) == 0)
+
+ if(m_i2cBus->write(m_Wadrs, packet, 1) == 0)
{
- rtnVal = m_i2cBus.read(m_Radrs, reinterpret_cast<char *>(data), 1);
+ rtnVal = m_i2cBus->read(m_Radrs, reinterpret_cast<char *>(data), 1);
}
-
+
return rtnVal;
}
@@ -61,38 +66,38 @@
int32_t BMI160_I2C::writeRegister(Registers reg, const uint8_t data)
{
char packet[] = {static_cast<char>(reg), static_cast<char>(data)};
-
- return m_i2cBus.write(m_Wadrs, packet, sizeof(packet));
+
+ return m_i2cBus->write(m_Wadrs, packet, sizeof(packet));
}
//*****************************************************************************
-int32_t BMI160_I2C::readBlock(Registers startReg, Registers stopReg,
+int32_t BMI160_I2C::readBlock(Registers startReg, Registers stopReg,
uint8_t *data)
{
int32_t rtnVal = -1;
int32_t numBytes = ((stopReg - startReg) + 1);
char packet[] = {static_cast<char>(startReg)};
-
- if(m_i2cBus.write(m_Wadrs, packet, 1) == 0)
+
+ if(m_i2cBus->write(m_Wadrs, packet, 1) == 0)
{
- rtnVal = m_i2cBus.read(m_Radrs, reinterpret_cast<char *>(data), numBytes);
+ rtnVal = m_i2cBus->read(m_Radrs, reinterpret_cast<char *>(data), numBytes);
}
-
+
return rtnVal;
}
//*****************************************************************************
-int32_t BMI160_I2C::writeBlock(Registers startReg, Registers stopReg,
+int32_t BMI160_I2C::writeBlock(Registers startReg, Registers stopReg,
const uint8_t *data)
{
int32_t numBytes = ((stopReg - startReg) + 1);
- char packet[32];
-
+ char packet[numBytes + 1];
+
packet[0] = static_cast<char>(startReg);
-
+
memcpy(packet + 1, data, numBytes);
-
- return m_i2cBus.write(m_Wadrs, packet, (numBytes+1) * sizeof(char));
+
+ return m_i2cBus->write(m_Wadrs, packet, sizeof(packet));
}
--- a/bmi160_spi.cpp Fri May 04 13:35:59 2018 +0300
+++ b/bmi160_spi.cpp Wed Dec 19 14:54:05 2018 +0300
@@ -35,18 +35,18 @@
//*****************************************************************************
-BMI160_SPI::BMI160_SPI(SPI &spiBus, DigitalOut &cs)
+BMI160_SPI::BMI160_SPI(SPI *spiBus, DigitalOut &cs)
:m_spiBus(spiBus), m_cs(cs)
{
-
+
}
-//*****************************************************************************
+//*****************************************************************************
int32_t BMI160_SPI::readRegister(Registers reg, uint8_t *data)
{
int32_t rtnVal = -1;
-
+
return rtnVal;
}
@@ -55,26 +55,26 @@
int32_t BMI160_SPI::writeRegister(Registers reg, const uint8_t data)
{
int32_t rtnVal = -1;
-
+
return rtnVal;
}
//*****************************************************************************
-int32_t BMI160_SPI::readBlock(Registers startReg, Registers stopReg,
+int32_t BMI160_SPI::readBlock(Registers startReg, Registers stopReg,
uint8_t *data)
{
int32_t rtnVal = -1;
-
+
return rtnVal;
}
//*****************************************************************************
-int32_t BMI160_SPI::writeBlock(Registers startReg, Registers stopReg,
+int32_t BMI160_SPI::writeBlock(Registers startReg, Registers stopReg,
const uint8_t *data)
{
int32_t rtnVal = -1;
-
+
return rtnVal;
}