Library for Bosch Sensortech BMI160 IMU
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bmi160_i2c.cpp
00001 /********************************************************************** 00002 * Copyright (C) 2016 Maxim Integrated Products, Inc., All Rights Reserved. 00003 * 00004 * Permission is hereby granted, free of charge, to any person obtaining a 00005 * copy of this software and associated documentation files (the "Software"), 00006 * to deal in the Software without restriction, including without limitation 00007 * the rights to use, copy, modify, merge, publish, distribute, sublicense, 00008 * and/or sell copies of the Software, and to permit persons to whom the 00009 * Software is furnished to do so, subject to the following conditions: 00010 * 00011 * The above copyright notice and this permission notice shall be included 00012 * in all copies or substantial portions of the Software. 00013 * 00014 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS 00015 * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF 00016 * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. 00017 * IN NO EVENT SHALL MAXIM INTEGRATED BE LIABLE FOR ANY CLAIM, DAMAGES 00018 * OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, 00019 * ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR 00020 * OTHER DEALINGS IN THE SOFTWARE. 00021 * 00022 * Except as contained in this notice, the name of Maxim Integrated 00023 * Products, Inc. shall not be used except as stated in the Maxim Integrated 00024 * Products, Inc. Branding Policy. 00025 * 00026 * The mere transfer of this software does not imply any licenses 00027 * of trade secrets, proprietary technology, copyrights, patents, 00028 * trademarks, maskwork rights, or any other form of intellectual 00029 * property whatsoever. Maxim Integrated Products, Inc. retains all 00030 * ownership rights. 00031 **********************************************************************/ 00032 00033 00034 #include "bmi160.h" 00035 00036 00037 //***************************************************************************** 00038 BMI160_I2C::BMI160_I2C(I2C &i2cBus, uint8_t i2cAdrs) 00039 :m_i2cBus(i2cBus), m_Wadrs(i2cAdrs << 1), m_Radrs((i2cAdrs << 1) | 1) 00040 { 00041 00042 } 00043 00044 00045 //***************************************************************************** 00046 int32_t BMI160_I2C::readRegister(Registers reg, uint8_t *data) 00047 { 00048 int32_t rtnVal = -1; 00049 char packet[] = {static_cast<char>(reg)}; 00050 00051 if(m_i2cBus.write(m_Wadrs, packet, 1) == 0) 00052 { 00053 rtnVal = m_i2cBus.read(m_Radrs, reinterpret_cast<char *>(data), 1); 00054 } 00055 00056 return rtnVal; 00057 } 00058 00059 00060 //***************************************************************************** 00061 int32_t BMI160_I2C::writeRegister(Registers reg, const uint8_t data) 00062 { 00063 char packet[] = {static_cast<char>(reg), static_cast<char>(data)}; 00064 00065 return m_i2cBus.write(m_Wadrs, packet, sizeof(packet)); 00066 } 00067 00068 00069 //***************************************************************************** 00070 int32_t BMI160_I2C::readBlock(Registers startReg, Registers stopReg, 00071 uint8_t *data) 00072 { 00073 int32_t rtnVal = -1; 00074 int32_t numBytes = ((stopReg - startReg) + 1); 00075 char packet[] = {static_cast<char>(startReg)}; 00076 00077 if(m_i2cBus.write(m_Wadrs, packet, 1) == 0) 00078 { 00079 rtnVal = m_i2cBus.read(m_Radrs, reinterpret_cast<char *>(data), numBytes); 00080 } 00081 00082 return rtnVal; 00083 } 00084 00085 00086 //***************************************************************************** 00087 int32_t BMI160_I2C::writeBlock(Registers startReg, Registers stopReg, 00088 const uint8_t *data) 00089 { 00090 int32_t numBytes = ((stopReg - startReg) + 1); 00091 char packet[numBytes + 1]; 00092 00093 packet[0] = static_cast<char>(startReg); 00094 00095 memcpy(packet + 1, data, numBytes); 00096 00097 return m_i2cBus.write(m_Wadrs, packet, sizeof(packet)); 00098 }
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