Revision 9:ca6b5fecdd63, committed 2016-12-20

Comitter:

j3

Date:

Tue Dec 20 01:08:33 2016 +0000

Parent:

8:a89b529b1d96

Child:

10:9e219f2f1fb3

Commit message:

Added range support for accelerometer

Changed in this revision

--- a/bmi160.cpp	Tue Dec 20 00:10:04 2016 +0000
+++ b/bmi160.cpp	Tue Dec 20 01:08:33 2016 +0000
@@ -34,6 +34,9 @@
 #include "bmi160.h"
 
 
+const struct BMI160::AccConfig BMI160::DEFAULT_ACC_CONFIG = {SENS_2G, ACC_US_OFF, ACC_BWP_2, ACC_ODR_8};
+    
+
 //*****************************************************************************
 int32_t BMI160::setSensorPowerMode(Sensors sensor, PowerModes pwrMode)
 {
@@ -94,7 +97,7 @@
 
 
 //*****************************************************************************
-int32_t BMI160::getAccAxis(SensorAxis axis, AxisData &data)
+int32_t BMI160::getAccAxis(SensorAxis axis, AxisData &data, AccConfig accConfig)
 {
     uint8_t localData[2];
     int32_t rtnVal;
@@ -121,7 +124,25 @@
     if(rtnVal == RTN_NO_ERROR)
     {
         data.raw = ((localData[1] << 8) | localData[0]);
-        data.scaled = (data.raw/16384.0F); //only 2G range right now
+        switch(accConfig.range)
+        {
+            //magic numbers are typical values for LSB/g from EC table
+            case SENS_2G:
+                data.scaled = (data.raw/16384.0F);
+            break;
+            
+            case SENS_4G:
+                data.scaled = (data.raw/8192.0F);
+            break;
+            
+            case SENS_8G:
+                data.scaled = (data.raw/4096.0F);
+            break;
+            
+            case SENS_16G:
+                data.scaled = (data.raw/2048.0F);
+            break;
+        }
     }
     
     return rtnVal;
@@ -129,7 +150,7 @@
     
 
 //*****************************************************************************    
-int32_t BMI160::getAccXYZ(SensorData &data)
+int32_t BMI160::getAccXYZ(SensorData &data, AccConfig accConfig)
 {
     uint8_t localData[6];
     int32_t rtnVal = readBlock(DATA_14, DATA_19, localData);
@@ -140,10 +161,33 @@
         data.yAxis.raw = ((localData[3] << 8) | localData[2]);
         data.zAxis.raw = ((localData[5] << 8) | localData[4]);
         
-        //only 2G range right now
-        data.xAxis.scaled = (data.xAxis.raw/16384.0F);
-        data.yAxis.scaled = (data.yAxis.raw/16384.0F);
-        data.zAxis.scaled = (data.zAxis.raw/16384.0F);
+        switch(accConfig.range)
+        {
+            //magic numbers are typical values for LSB/g from EC table
+            case SENS_2G:
+                data.xAxis.scaled = (data.xAxis.raw/16384.0F);
+                data.yAxis.scaled = (data.yAxis.raw/16384.0F);
+                data.zAxis.scaled = (data.zAxis.raw/16384.0F);
+            break;
+            
+            case SENS_4G:
+                data.xAxis.scaled = (data.xAxis.raw/8192.0F);
+                data.yAxis.scaled = (data.yAxis.raw/8192.0F);
+                data.zAxis.scaled = (data.zAxis.raw/8192.0F);
+            break;
+            
+            case SENS_8G:
+                data.xAxis.scaled = (data.xAxis.raw/4096.0F);
+                data.yAxis.scaled = (data.yAxis.raw/4096.0F);
+                data.zAxis.scaled = (data.zAxis.raw/4096.0F);
+            break;
+            
+            case SENS_16G:
+                data.xAxis.scaled = (data.xAxis.raw/2048.0F);
+                data.yAxis.scaled = (data.yAxis.raw/2048.0F);
+                data.zAxis.scaled = (data.zAxis.raw/2048.0F);
+            break;
+        }
     }
     
     return rtnVal;

--- a/bmi160.h	Tue Dec 20 00:10:04 2016 +0000
+++ b/bmi160.h	Tue Dec 20 01:08:33 2016 +0000
@@ -279,6 +279,18 @@
         SENS_16G,     ///<Accelerometer range +-16G
     };
     
+    ///Structure for holding accelerometer configuration
+    struct AccConfig
+    {
+        AccRange range;
+        AccUnderSampling us;
+        AccBandWidthParam bwp;
+        AccOutPutDataRate odr;
+    };
+    
+    ///Accelerometer default configuration
+    static const AccConfig DEFAULT_ACC_CONFIG;
+    
     ///BMI160 Power Modes
     enum PowerModes
     {
@@ -419,36 +431,26 @@
     ///On Entry:
     ///@param[in] axis - Sensor axis
     ///@param[in] data - AxisData structure
+    ///@param[in] accConfig - Accelerometer configuration structure
     ///
     ///On Exit:
     ///@param[out] data - Structure holds raw and scaled axis data
     ///
     ///@returns 0 on success, non 0 on failure
-    int32_t getAccAxis(SensorAxis axis, AxisData &data);
+    int32_t getAccAxis(SensorAxis axis, AxisData &data, AccConfig accConfig);
     
     
     ///@brief Get accelerometer xyz axis as float.\n
     ///
     ///On Entry:
     ///@param[in] data - SensorData structure
+    ///@param[in] accConfig - Accelerometer configuration structure
     ///
     ///On Exit:
     ///@param[out] data - Structure holds raw and scaled data for all three axis
     ///
     ///@returns 0 on success, non 0 on failure
-    int32_t getAccXYZ(SensorData &data);
-
-    
-protected:
-
-    struct AccConfig
-    {
-        AccRange range;
-        AccUnderSampling us;
-        AccBandWidthParam bwp;
-        AccOutPutDataRate odr;
-    };
-    
+    int32_t getAccXYZ(SensorData &data, AccConfig accConfig);  
 };
 
 

--- a/bmi160_i2c.cpp	Tue Dec 20 00:10:04 2016 +0000
+++ b/bmi160_i2c.cpp	Tue Dec 20 01:08:33 2016 +0000
@@ -38,6 +38,7 @@
 BMI160_I2C::BMI160_I2C(I2C &i2cBus, uint8_t i2cAdrs)
 :m_i2cBus(i2cBus), m_Wadrs(i2cAdrs << 1), m_Radrs((i2cAdrs << 1) | 1)
 {
+    
 }
 
 

--- a/bmi160_spi.cpp	Tue Dec 20 00:10:04 2016 +0000
+++ b/bmi160_spi.cpp	Tue Dec 20 01:08:33 2016 +0000
@@ -38,6 +38,7 @@
 BMI160_SPI::BMI160_SPI(SPI &spiBus, DigitalOut &cs)
 :m_spiBus(spiBus), m_cs(cs)
 {
+    
 }