Arun Raj / Mbed OS MAXREFDES101_SOURCE

TEST

Dependencies:   max32630fthr Adafruit_FeatherOLED USBDevice

Drivers/BMI160/bmi160.cpp@1:f60eafbf009a, 2019-04-10 (annotated)

Committer:
gmehmet
Date:
Wed Apr 10 14:56:25 2019 +0300
Revision:
1:f60eafbf009a
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gmehmet 1:f60eafbf009a 1 /**********************************************************************
gmehmet 1:f60eafbf009a 2 * Copyright (C) 2016 Maxim Integrated Products, Inc., All Rights Reserved.
gmehmet 1:f60eafbf009a 3 *
gmehmet 1:f60eafbf009a 4 * Permission is hereby granted, free of charge, to any person obtaining a
gmehmet 1:f60eafbf009a 5 * copy of this software and associated documentation files (the "Software"),
gmehmet 1:f60eafbf009a 6 * to deal in the Software without restriction, including without limitation
gmehmet 1:f60eafbf009a 7 * the rights to use, copy, modify, merge, publish, distribute, sublicense,
gmehmet 1:f60eafbf009a 8 * and/or sell copies of the Software, and to permit persons to whom the
gmehmet 1:f60eafbf009a 9 * Software is furnished to do so, subject to the following conditions:
gmehmet 1:f60eafbf009a 10 *
gmehmet 1:f60eafbf009a 11 * The above copyright notice and this permission notice shall be included
gmehmet 1:f60eafbf009a 12 * in all copies or substantial portions of the Software.
gmehmet 1:f60eafbf009a 13 *
gmehmet 1:f60eafbf009a 14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
gmehmet 1:f60eafbf009a 15 * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
gmehmet 1:f60eafbf009a 16 * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
gmehmet 1:f60eafbf009a 17 * IN NO EVENT SHALL MAXIM INTEGRATED BE LIABLE FOR ANY CLAIM, DAMAGES
gmehmet 1:f60eafbf009a 18 * OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
gmehmet 1:f60eafbf009a 19 * ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
gmehmet 1:f60eafbf009a 20 * OTHER DEALINGS IN THE SOFTWARE.
gmehmet 1:f60eafbf009a 21 *
gmehmet 1:f60eafbf009a 22 * Except as contained in this notice, the name of Maxim Integrated
gmehmet 1:f60eafbf009a 23 * Products, Inc. shall not be used except as stated in the Maxim Integrated
gmehmet 1:f60eafbf009a 24 * Products, Inc. Branding Policy.
gmehmet 1:f60eafbf009a 25 *
gmehmet 1:f60eafbf009a 26 * The mere transfer of this software does not imply any licenses
gmehmet 1:f60eafbf009a 27 * of trade secrets, proprietary technology, copyrights, patents,
gmehmet 1:f60eafbf009a 28 * trademarks, maskwork rights, or any other form of intellectual
gmehmet 1:f60eafbf009a 29 * property whatsoever. Maxim Integrated Products, Inc. retains all
gmehmet 1:f60eafbf009a 30 * ownership rights.
gmehmet 1:f60eafbf009a 31 **********************************************************************/
gmehmet 1:f60eafbf009a 32
gmehmet 1:f60eafbf009a 33
gmehmet 1:f60eafbf009a 34 #include "bmi160.h"
gmehmet 1:f60eafbf009a 35
gmehmet 1:f60eafbf009a 36
gmehmet 1:f60eafbf009a 37 const struct BMI160::AccConfig BMI160::DEFAULT_ACC_CONFIG = {SENS_2G,
gmehmet 1:f60eafbf009a 38 ACC_US_OFF,
gmehmet 1:f60eafbf009a 39 ACC_BWP_2,
gmehmet 1:f60eafbf009a 40 ACC_ODR_8};
gmehmet 1:f60eafbf009a 41
gmehmet 1:f60eafbf009a 42 const struct BMI160::GyroConfig BMI160::DEFAULT_GYRO_CONFIG = {DPS_2000,
gmehmet 1:f60eafbf009a 43 GYRO_BWP_2,
gmehmet 1:f60eafbf009a 44 GYRO_ODR_8};
gmehmet 1:f60eafbf009a 45
gmehmet 1:f60eafbf009a 46
gmehmet 1:f60eafbf009a 47 //*****************************************************************************
gmehmet 1:f60eafbf009a 48 int32_t BMI160::setSensorPowerMode(Sensors sensor, PowerModes pwrMode)
gmehmet 1:f60eafbf009a 49 {
gmehmet 1:f60eafbf009a 50 int32_t rtnVal = -1;
gmehmet 1:f60eafbf009a 51
gmehmet 1:f60eafbf009a 52 switch(sensor)
gmehmet 1:f60eafbf009a 53 {
gmehmet 1:f60eafbf009a 54 case MAG:
gmehmet 1:f60eafbf009a 55 rtnVal = writeRegister(CMD, (MAG_SET_PMU_MODE | pwrMode));
gmehmet 1:f60eafbf009a 56 break;
gmehmet 1:f60eafbf009a 57
gmehmet 1:f60eafbf009a 58 case GYRO:
gmehmet 1:f60eafbf009a 59 rtnVal = writeRegister(CMD, (GYR_SET_PMU_MODE | pwrMode));
gmehmet 1:f60eafbf009a 60 break;
gmehmet 1:f60eafbf009a 61
gmehmet 1:f60eafbf009a 62 case ACC:
gmehmet 1:f60eafbf009a 63 rtnVal = writeRegister(CMD, (ACC_SET_PMU_MODE | pwrMode));
gmehmet 1:f60eafbf009a 64 break;
gmehmet 1:f60eafbf009a 65
gmehmet 1:f60eafbf009a 66 default:
gmehmet 1:f60eafbf009a 67 rtnVal = -1;
gmehmet 1:f60eafbf009a 68 break;
gmehmet 1:f60eafbf009a 69 }
gmehmet 1:f60eafbf009a 70
gmehmet 1:f60eafbf009a 71 return rtnVal;
gmehmet 1:f60eafbf009a 72 }
gmehmet 1:f60eafbf009a 73
gmehmet 1:f60eafbf009a 74
gmehmet 1:f60eafbf009a 75 //*****************************************************************************
gmehmet 1:f60eafbf009a 76 int32_t BMI160::setSensorConfig(const AccConfig &config)
gmehmet 1:f60eafbf009a 77 {
gmehmet 1:f60eafbf009a 78 uint8_t data[2];
gmehmet 1:f60eafbf009a 79
gmehmet 1:f60eafbf009a 80 data[0] = ((config.us << ACC_US_POS) | (config.bwp << ACC_BWP_POS) |
gmehmet 1:f60eafbf009a 81 (config.odr << ACC_ODR_POS));
gmehmet 1:f60eafbf009a 82 data[1] = config.range;
gmehmet 1:f60eafbf009a 83
gmehmet 1:f60eafbf009a 84 return writeBlock(ACC_CONF, ACC_RANGE, data);
gmehmet 1:f60eafbf009a 85 }
gmehmet 1:f60eafbf009a 86
gmehmet 1:f60eafbf009a 87
gmehmet 1:f60eafbf009a 88 //*****************************************************************************
gmehmet 1:f60eafbf009a 89 int32_t BMI160::setSensorConfig(const GyroConfig &config)
gmehmet 1:f60eafbf009a 90 {
gmehmet 1:f60eafbf009a 91 uint8_t data[2];
gmehmet 1:f60eafbf009a 92
gmehmet 1:f60eafbf009a 93 data[0] = ((config.bwp << GYRO_BWP_POS) | (config.odr << GYRO_ODR_POS));
gmehmet 1:f60eafbf009a 94 data[1] = config.range;
gmehmet 1:f60eafbf009a 95
gmehmet 1:f60eafbf009a 96 return writeBlock(GYR_CONF, GYR_RANGE, data);
gmehmet 1:f60eafbf009a 97 }
gmehmet 1:f60eafbf009a 98
gmehmet 1:f60eafbf009a 99
gmehmet 1:f60eafbf009a 100 //*****************************************************************************
gmehmet 1:f60eafbf009a 101 int32_t BMI160::getSensorConfig(AccConfig &config)
gmehmet 1:f60eafbf009a 102 {
gmehmet 1:f60eafbf009a 103 uint8_t data[2];
gmehmet 1:f60eafbf009a 104 int32_t rtnVal = readBlock(ACC_CONF, ACC_RANGE, data);
gmehmet 1:f60eafbf009a 105
gmehmet 1:f60eafbf009a 106 if(rtnVal == RTN_NO_ERROR)
gmehmet 1:f60eafbf009a 107 {
gmehmet 1:f60eafbf009a 108 config.range = static_cast<BMI160::AccRange>(
gmehmet 1:f60eafbf009a 109 (data[1] & ACC_RANGE_MASK));
gmehmet 1:f60eafbf009a 110 config.us = static_cast<BMI160::AccUnderSampling>(
gmehmet 1:f60eafbf009a 111 ((data[0] & ACC_US_MASK) >> ACC_US_POS));
gmehmet 1:f60eafbf009a 112 config.bwp = static_cast<BMI160::AccBandWidthParam>(
gmehmet 1:f60eafbf009a 113 ((data[0] & ACC_BWP_MASK) >> ACC_BWP_POS));
gmehmet 1:f60eafbf009a 114 config.odr = static_cast<BMI160::AccOutputDataRate>(
gmehmet 1:f60eafbf009a 115 ((data[0] & ACC_ODR_MASK) >> ACC_ODR_POS));
gmehmet 1:f60eafbf009a 116 }
gmehmet 1:f60eafbf009a 117
gmehmet 1:f60eafbf009a 118 return rtnVal;
gmehmet 1:f60eafbf009a 119 }
gmehmet 1:f60eafbf009a 120
gmehmet 1:f60eafbf009a 121
gmehmet 1:f60eafbf009a 122 //*****************************************************************************
gmehmet 1:f60eafbf009a 123 int32_t BMI160::getSensorConfig(GyroConfig &config)
gmehmet 1:f60eafbf009a 124 {
gmehmet 1:f60eafbf009a 125 uint8_t data[2];
gmehmet 1:f60eafbf009a 126 int32_t rtnVal = readBlock(GYR_CONF, GYR_RANGE, data);
gmehmet 1:f60eafbf009a 127
gmehmet 1:f60eafbf009a 128 if(rtnVal == RTN_NO_ERROR)
gmehmet 1:f60eafbf009a 129 {
gmehmet 1:f60eafbf009a 130 config.range = static_cast<BMI160::GyroRange>(
gmehmet 1:f60eafbf009a 131 (data[1] & GYRO_RANGE_MASK));
gmehmet 1:f60eafbf009a 132 config.bwp = static_cast<BMI160::GyroBandWidthParam>(
gmehmet 1:f60eafbf009a 133 ((data[0] & GYRO_BWP_MASK) >> GYRO_BWP_POS));
gmehmet 1:f60eafbf009a 134 config.odr = static_cast<BMI160::GyroOutputDataRate>(
gmehmet 1:f60eafbf009a 135 ((data[0] & GYRO_ODR_MASK) >> GYRO_ODR_POS));
gmehmet 1:f60eafbf009a 136 }
gmehmet 1:f60eafbf009a 137
gmehmet 1:f60eafbf009a 138 return rtnVal;
gmehmet 1:f60eafbf009a 139 }
gmehmet 1:f60eafbf009a 140
gmehmet 1:f60eafbf009a 141
gmehmet 1:f60eafbf009a 142 //*****************************************************************************
gmehmet 1:f60eafbf009a 143 int32_t BMI160::getSensorAxis(SensorAxis axis, AxisData &data, AccRange range)
gmehmet 1:f60eafbf009a 144 {
gmehmet 1:f60eafbf009a 145 uint8_t localData[2];
gmehmet 1:f60eafbf009a 146 int32_t rtnVal;
gmehmet 1:f60eafbf009a 147
gmehmet 1:f60eafbf009a 148 switch(axis)
gmehmet 1:f60eafbf009a 149 {
gmehmet 1:f60eafbf009a 150 case X_AXIS:
gmehmet 1:f60eafbf009a 151 rtnVal = readBlock(DATA_14, DATA_15, localData);
gmehmet 1:f60eafbf009a 152 break;
gmehmet 1:f60eafbf009a 153
gmehmet 1:f60eafbf009a 154 case Y_AXIS:
gmehmet 1:f60eafbf009a 155 rtnVal = readBlock(DATA_16, DATA_17, localData);
gmehmet 1:f60eafbf009a 156 break;
gmehmet 1:f60eafbf009a 157
gmehmet 1:f60eafbf009a 158 case Z_AXIS:
gmehmet 1:f60eafbf009a 159 rtnVal = readBlock(DATA_18, DATA_19, localData);
gmehmet 1:f60eafbf009a 160 break;
gmehmet 1:f60eafbf009a 161
gmehmet 1:f60eafbf009a 162 default:
gmehmet 1:f60eafbf009a 163 rtnVal = -1;
gmehmet 1:f60eafbf009a 164 break;
gmehmet 1:f60eafbf009a 165 }
gmehmet 1:f60eafbf009a 166
gmehmet 1:f60eafbf009a 167 if(rtnVal == RTN_NO_ERROR)
gmehmet 1:f60eafbf009a 168 {
gmehmet 1:f60eafbf009a 169 data.raw = ((localData[1] << 8) | localData[0]);
gmehmet 1:f60eafbf009a 170 switch(range)
gmehmet 1:f60eafbf009a 171 {
gmehmet 1:f60eafbf009a 172 case SENS_2G:
gmehmet 1:f60eafbf009a 173 data.scaled = (data.raw/SENS_2G_LSB_PER_G);
gmehmet 1:f60eafbf009a 174 break;
gmehmet 1:f60eafbf009a 175
gmehmet 1:f60eafbf009a 176 case SENS_4G:
gmehmet 1:f60eafbf009a 177 data.scaled = (data.raw/SENS_4G_LSB_PER_G);
gmehmet 1:f60eafbf009a 178 break;
gmehmet 1:f60eafbf009a 179
gmehmet 1:f60eafbf009a 180 case SENS_8G:
gmehmet 1:f60eafbf009a 181 data.scaled = (data.raw/SENS_8G_LSB_PER_G);
gmehmet 1:f60eafbf009a 182 break;
gmehmet 1:f60eafbf009a 183
gmehmet 1:f60eafbf009a 184 case SENS_16G:
gmehmet 1:f60eafbf009a 185 data.scaled = (data.raw/SENS_16G_LSB_PER_G);
gmehmet 1:f60eafbf009a 186 break;
gmehmet 1:f60eafbf009a 187 }
gmehmet 1:f60eafbf009a 188 }
gmehmet 1:f60eafbf009a 189
gmehmet 1:f60eafbf009a 190 return rtnVal;
gmehmet 1:f60eafbf009a 191 }
gmehmet 1:f60eafbf009a 192
gmehmet 1:f60eafbf009a 193
gmehmet 1:f60eafbf009a 194 //*****************************************************************************
gmehmet 1:f60eafbf009a 195 int32_t BMI160::getSensorAxis(SensorAxis axis, AxisData &data, GyroRange range)
gmehmet 1:f60eafbf009a 196 {
gmehmet 1:f60eafbf009a 197 uint8_t localData[2];
gmehmet 1:f60eafbf009a 198 int32_t rtnVal;
gmehmet 1:f60eafbf009a 199
gmehmet 1:f60eafbf009a 200 switch(axis)
gmehmet 1:f60eafbf009a 201 {
gmehmet 1:f60eafbf009a 202 case X_AXIS:
gmehmet 1:f60eafbf009a 203 rtnVal = readBlock(DATA_8, DATA_9, localData);
gmehmet 1:f60eafbf009a 204 break;
gmehmet 1:f60eafbf009a 205
gmehmet 1:f60eafbf009a 206 case Y_AXIS:
gmehmet 1:f60eafbf009a 207 rtnVal = readBlock(DATA_10, DATA_11, localData);
gmehmet 1:f60eafbf009a 208 break;
gmehmet 1:f60eafbf009a 209
gmehmet 1:f60eafbf009a 210 case Z_AXIS:
gmehmet 1:f60eafbf009a 211 rtnVal = readBlock(DATA_12, DATA_13, localData);
gmehmet 1:f60eafbf009a 212 break;
gmehmet 1:f60eafbf009a 213
gmehmet 1:f60eafbf009a 214 default:
gmehmet 1:f60eafbf009a 215 rtnVal = -1;
gmehmet 1:f60eafbf009a 216 break;
gmehmet 1:f60eafbf009a 217 }
gmehmet 1:f60eafbf009a 218
gmehmet 1:f60eafbf009a 219 if(rtnVal == RTN_NO_ERROR)
gmehmet 1:f60eafbf009a 220 {
gmehmet 1:f60eafbf009a 221 data.raw = ((localData[1] << 8) | localData[0]);
gmehmet 1:f60eafbf009a 222 switch(range)
gmehmet 1:f60eafbf009a 223 {
gmehmet 1:f60eafbf009a 224 case DPS_2000:
gmehmet 1:f60eafbf009a 225 data.scaled = (data.raw/SENS_2000_DPS_LSB_PER_DPS);
gmehmet 1:f60eafbf009a 226 break;
gmehmet 1:f60eafbf009a 227
gmehmet 1:f60eafbf009a 228 case DPS_1000:
gmehmet 1:f60eafbf009a 229 data.scaled = (data.raw/SENS_1000_DPS_LSB_PER_DPS);
gmehmet 1:f60eafbf009a 230 break;
gmehmet 1:f60eafbf009a 231
gmehmet 1:f60eafbf009a 232 case DPS_500:
gmehmet 1:f60eafbf009a 233 data.scaled = (data.raw/SENS_500_DPS_LSB_PER_DPS);
gmehmet 1:f60eafbf009a 234 break;
gmehmet 1:f60eafbf009a 235
gmehmet 1:f60eafbf009a 236 case DPS_250:
gmehmet 1:f60eafbf009a 237 data.scaled = (data.raw/SENS_250_DPS_LSB_PER_DPS);
gmehmet 1:f60eafbf009a 238 break;
gmehmet 1:f60eafbf009a 239
gmehmet 1:f60eafbf009a 240 case DPS_125:
gmehmet 1:f60eafbf009a 241 data.scaled = (data.raw/SENS_125_DPS_LSB_PER_DPS);
gmehmet 1:f60eafbf009a 242 break;
gmehmet 1:f60eafbf009a 243 }
gmehmet 1:f60eafbf009a 244 }
gmehmet 1:f60eafbf009a 245
gmehmet 1:f60eafbf009a 246 return rtnVal;
gmehmet 1:f60eafbf009a 247 }
gmehmet 1:f60eafbf009a 248
gmehmet 1:f60eafbf009a 249
gmehmet 1:f60eafbf009a 250 //*****************************************************************************
gmehmet 1:f60eafbf009a 251 int32_t BMI160::getSensorXYZ(SensorData &data, AccRange range)
gmehmet 1:f60eafbf009a 252 {
gmehmet 1:f60eafbf009a 253 uint8_t localData[6];
gmehmet 1:f60eafbf009a 254 int32_t rtnVal;
gmehmet 1:f60eafbf009a 255
gmehmet 1:f60eafbf009a 256 if (m_use_irq == true && bmi160_irq_asserted == false)
gmehmet 1:f60eafbf009a 257 return -1;
gmehmet 1:f60eafbf009a 258
gmehmet 1:f60eafbf009a 259 rtnVal = readBlock(DATA_14, DATA_19, localData);
gmehmet 1:f60eafbf009a 260 bmi160_irq_asserted = false;
gmehmet 1:f60eafbf009a 261 if(rtnVal == RTN_NO_ERROR)
gmehmet 1:f60eafbf009a 262 {
gmehmet 1:f60eafbf009a 263 data.xAxis.raw = ((localData[1] << 8) | localData[0]);
gmehmet 1:f60eafbf009a 264 data.yAxis.raw = ((localData[3] << 8) | localData[2]);
gmehmet 1:f60eafbf009a 265 data.zAxis.raw = ((localData[5] << 8) | localData[4]);
gmehmet 1:f60eafbf009a 266
gmehmet 1:f60eafbf009a 267 switch(range)
gmehmet 1:f60eafbf009a 268 {
gmehmet 1:f60eafbf009a 269 case SENS_2G:
gmehmet 1:f60eafbf009a 270 data.xAxis.scaled = (data.xAxis.raw/SENS_2G_LSB_PER_G);
gmehmet 1:f60eafbf009a 271 data.yAxis.scaled = (data.yAxis.raw/SENS_2G_LSB_PER_G);
gmehmet 1:f60eafbf009a 272 data.zAxis.scaled = (data.zAxis.raw/SENS_2G_LSB_PER_G);
gmehmet 1:f60eafbf009a 273 break;
gmehmet 1:f60eafbf009a 274
gmehmet 1:f60eafbf009a 275 case SENS_4G:
gmehmet 1:f60eafbf009a 276 data.xAxis.scaled = (data.xAxis.raw/SENS_4G_LSB_PER_G);
gmehmet 1:f60eafbf009a 277 data.yAxis.scaled = (data.yAxis.raw/SENS_4G_LSB_PER_G);
gmehmet 1:f60eafbf009a 278 data.zAxis.scaled = (data.zAxis.raw/SENS_4G_LSB_PER_G);
gmehmet 1:f60eafbf009a 279 break;
gmehmet 1:f60eafbf009a 280
gmehmet 1:f60eafbf009a 281 case SENS_8G:
gmehmet 1:f60eafbf009a 282 data.xAxis.scaled = (data.xAxis.raw/SENS_8G_LSB_PER_G);
gmehmet 1:f60eafbf009a 283 data.yAxis.scaled = (data.yAxis.raw/SENS_8G_LSB_PER_G);
gmehmet 1:f60eafbf009a 284 data.zAxis.scaled = (data.zAxis.raw/SENS_8G_LSB_PER_G);
gmehmet 1:f60eafbf009a 285 break;
gmehmet 1:f60eafbf009a 286
gmehmet 1:f60eafbf009a 287 case SENS_16G:
gmehmet 1:f60eafbf009a 288 data.xAxis.scaled = (data.xAxis.raw/SENS_16G_LSB_PER_G);
gmehmet 1:f60eafbf009a 289 data.yAxis.scaled = (data.yAxis.raw/SENS_16G_LSB_PER_G);
gmehmet 1:f60eafbf009a 290 data.zAxis.scaled = (data.zAxis.raw/SENS_16G_LSB_PER_G);
gmehmet 1:f60eafbf009a 291 break;
gmehmet 1:f60eafbf009a 292 }
gmehmet 1:f60eafbf009a 293 }
gmehmet 1:f60eafbf009a 294
gmehmet 1:f60eafbf009a 295 return rtnVal;
gmehmet 1:f60eafbf009a 296 }
gmehmet 1:f60eafbf009a 297
gmehmet 1:f60eafbf009a 298
gmehmet 1:f60eafbf009a 299 //*****************************************************************************
gmehmet 1:f60eafbf009a 300 int32_t BMI160::getSensorXYZ(SensorData &data, GyroRange range)
gmehmet 1:f60eafbf009a 301 {
gmehmet 1:f60eafbf009a 302 uint8_t localData[6];
gmehmet 1:f60eafbf009a 303 int32_t rtnVal = readBlock(DATA_8, DATA_13, localData);
gmehmet 1:f60eafbf009a 304
gmehmet 1:f60eafbf009a 305 if(rtnVal == RTN_NO_ERROR)
gmehmet 1:f60eafbf009a 306 {
gmehmet 1:f60eafbf009a 307 data.xAxis.raw = ((localData[1] << 8) | localData[0]);
gmehmet 1:f60eafbf009a 308 data.yAxis.raw = ((localData[3] << 8) | localData[2]);
gmehmet 1:f60eafbf009a 309 data.zAxis.raw = ((localData[5] << 8) | localData[4]);
gmehmet 1:f60eafbf009a 310
gmehmet 1:f60eafbf009a 311 switch(range)
gmehmet 1:f60eafbf009a 312 {
gmehmet 1:f60eafbf009a 313 case DPS_2000:
gmehmet 1:f60eafbf009a 314 data.xAxis.scaled = (data.xAxis.raw/SENS_2000_DPS_LSB_PER_DPS);
gmehmet 1:f60eafbf009a 315 data.yAxis.scaled = (data.yAxis.raw/SENS_2000_DPS_LSB_PER_DPS);
gmehmet 1:f60eafbf009a 316 data.zAxis.scaled = (data.zAxis.raw/SENS_2000_DPS_LSB_PER_DPS);
gmehmet 1:f60eafbf009a 317 break;
gmehmet 1:f60eafbf009a 318
gmehmet 1:f60eafbf009a 319 case DPS_1000:
gmehmet 1:f60eafbf009a 320 data.xAxis.scaled = (data.xAxis.raw/SENS_1000_DPS_LSB_PER_DPS);
gmehmet 1:f60eafbf009a 321 data.yAxis.scaled = (data.yAxis.raw/SENS_1000_DPS_LSB_PER_DPS);
gmehmet 1:f60eafbf009a 322 data.zAxis.scaled = (data.zAxis.raw/SENS_1000_DPS_LSB_PER_DPS);
gmehmet 1:f60eafbf009a 323 break;
gmehmet 1:f60eafbf009a 324
gmehmet 1:f60eafbf009a 325 case DPS_500:
gmehmet 1:f60eafbf009a 326 data.xAxis.scaled = (data.xAxis.raw/SENS_500_DPS_LSB_PER_DPS);
gmehmet 1:f60eafbf009a 327 data.yAxis.scaled = (data.yAxis.raw/SENS_500_DPS_LSB_PER_DPS);
gmehmet 1:f60eafbf009a 328 data.zAxis.scaled = (data.zAxis.raw/SENS_500_DPS_LSB_PER_DPS);
gmehmet 1:f60eafbf009a 329 break;
gmehmet 1:f60eafbf009a 330
gmehmet 1:f60eafbf009a 331 case DPS_250:
gmehmet 1:f60eafbf009a 332 data.xAxis.scaled = (data.xAxis.raw/SENS_250_DPS_LSB_PER_DPS);
gmehmet 1:f60eafbf009a 333 data.yAxis.scaled = (data.yAxis.raw/SENS_250_DPS_LSB_PER_DPS);
gmehmet 1:f60eafbf009a 334 data.zAxis.scaled = (data.zAxis.raw/SENS_250_DPS_LSB_PER_DPS);
gmehmet 1:f60eafbf009a 335 break;
gmehmet 1:f60eafbf009a 336
gmehmet 1:f60eafbf009a 337 case DPS_125:
gmehmet 1:f60eafbf009a 338 data.xAxis.scaled = (data.xAxis.raw/SENS_125_DPS_LSB_PER_DPS);
gmehmet 1:f60eafbf009a 339 data.yAxis.scaled = (data.yAxis.raw/SENS_125_DPS_LSB_PER_DPS);
gmehmet 1:f60eafbf009a 340 data.zAxis.scaled = (data.zAxis.raw/SENS_125_DPS_LSB_PER_DPS);
gmehmet 1:f60eafbf009a 341 break;
gmehmet 1:f60eafbf009a 342 }
gmehmet 1:f60eafbf009a 343 }
gmehmet 1:f60eafbf009a 344
gmehmet 1:f60eafbf009a 345 return rtnVal;
gmehmet 1:f60eafbf009a 346 }
gmehmet 1:f60eafbf009a 347
gmehmet 1:f60eafbf009a 348
gmehmet 1:f60eafbf009a 349 //*****************************************************************************
gmehmet 1:f60eafbf009a 350 int32_t BMI160::getSensorXYZandSensorTime(SensorData &data,
gmehmet 1:f60eafbf009a 351 SensorTime &sensorTime,
gmehmet 1:f60eafbf009a 352 AccRange range)
gmehmet 1:f60eafbf009a 353 {
gmehmet 1:f60eafbf009a 354 uint8_t localData[9];
gmehmet 1:f60eafbf009a 355 int32_t rtnVal = readBlock(DATA_14, SENSORTIME_2, localData);
gmehmet 1:f60eafbf009a 356 if(rtnVal == RTN_NO_ERROR)
gmehmet 1:f60eafbf009a 357 {
gmehmet 1:f60eafbf009a 358 data.xAxis.raw = ((localData[1] << 8) | localData[0]);
gmehmet 1:f60eafbf009a 359 data.yAxis.raw = ((localData[3] << 8) | localData[2]);
gmehmet 1:f60eafbf009a 360 data.zAxis.raw = ((localData[5] << 8) | localData[4]);
gmehmet 1:f60eafbf009a 361
gmehmet 1:f60eafbf009a 362 switch(range)
gmehmet 1:f60eafbf009a 363 {
gmehmet 1:f60eafbf009a 364 case SENS_2G:
gmehmet 1:f60eafbf009a 365 data.xAxis.scaled = (data.xAxis.raw/SENS_2G_LSB_PER_G);
gmehmet 1:f60eafbf009a 366 data.yAxis.scaled = (data.yAxis.raw/SENS_2G_LSB_PER_G);
gmehmet 1:f60eafbf009a 367 data.zAxis.scaled = (data.zAxis.raw/SENS_2G_LSB_PER_G);
gmehmet 1:f60eafbf009a 368 break;
gmehmet 1:f60eafbf009a 369
gmehmet 1:f60eafbf009a 370 case SENS_4G:
gmehmet 1:f60eafbf009a 371 data.xAxis.scaled = (data.xAxis.raw/SENS_4G_LSB_PER_G);
gmehmet 1:f60eafbf009a 372 data.yAxis.scaled = (data.yAxis.raw/SENS_4G_LSB_PER_G);
gmehmet 1:f60eafbf009a 373 data.zAxis.scaled = (data.zAxis.raw/SENS_4G_LSB_PER_G);
gmehmet 1:f60eafbf009a 374 break;
gmehmet 1:f60eafbf009a 375
gmehmet 1:f60eafbf009a 376 case SENS_8G:
gmehmet 1:f60eafbf009a 377 data.xAxis.scaled = (data.xAxis.raw/SENS_8G_LSB_PER_G);
gmehmet 1:f60eafbf009a 378 data.yAxis.scaled = (data.yAxis.raw/SENS_8G_LSB_PER_G);
gmehmet 1:f60eafbf009a 379 data.zAxis.scaled = (data.zAxis.raw/SENS_8G_LSB_PER_G);
gmehmet 1:f60eafbf009a 380 break;
gmehmet 1:f60eafbf009a 381
gmehmet 1:f60eafbf009a 382 case SENS_16G:
gmehmet 1:f60eafbf009a 383 data.xAxis.scaled = (data.xAxis.raw/SENS_16G_LSB_PER_G);
gmehmet 1:f60eafbf009a 384 data.yAxis.scaled = (data.yAxis.raw/SENS_16G_LSB_PER_G);
gmehmet 1:f60eafbf009a 385 data.zAxis.scaled = (data.zAxis.raw/SENS_16G_LSB_PER_G);
gmehmet 1:f60eafbf009a 386 break;
gmehmet 1:f60eafbf009a 387 }
gmehmet 1:f60eafbf009a 388
gmehmet 1:f60eafbf009a 389 sensorTime.raw = ((localData[8] << 16) | (localData[7] << 8) |
gmehmet 1:f60eafbf009a 390 localData[6]);
gmehmet 1:f60eafbf009a 391 sensorTime.seconds = (sensorTime.raw * SENSOR_TIME_LSB);
gmehmet 1:f60eafbf009a 392 }
gmehmet 1:f60eafbf009a 393
gmehmet 1:f60eafbf009a 394 return rtnVal;
gmehmet 1:f60eafbf009a 395 }
gmehmet 1:f60eafbf009a 396
gmehmet 1:f60eafbf009a 397
gmehmet 1:f60eafbf009a 398 //*****************************************************************************
gmehmet 1:f60eafbf009a 399 int32_t BMI160::getSensorXYZandSensorTime(SensorData &data,
gmehmet 1:f60eafbf009a 400 SensorTime &sensorTime,
gmehmet 1:f60eafbf009a 401 GyroRange range)
gmehmet 1:f60eafbf009a 402 {
gmehmet 1:f60eafbf009a 403 uint8_t localData[16];
gmehmet 1:f60eafbf009a 404 int32_t rtnVal = readBlock(DATA_8, SENSORTIME_2, localData);
gmehmet 1:f60eafbf009a 405 if(rtnVal == RTN_NO_ERROR)
gmehmet 1:f60eafbf009a 406 {
gmehmet 1:f60eafbf009a 407 data.xAxis.raw = ((localData[1] << 8) | localData[0]);
gmehmet 1:f60eafbf009a 408 data.yAxis.raw = ((localData[3] << 8) | localData[2]);
gmehmet 1:f60eafbf009a 409 data.zAxis.raw = ((localData[5] << 8) | localData[4]);
gmehmet 1:f60eafbf009a 410
gmehmet 1:f60eafbf009a 411 switch(range)
gmehmet 1:f60eafbf009a 412 {
gmehmet 1:f60eafbf009a 413 case DPS_2000:
gmehmet 1:f60eafbf009a 414 data.xAxis.scaled = (data.xAxis.raw/SENS_2000_DPS_LSB_PER_DPS);
gmehmet 1:f60eafbf009a 415 data.yAxis.scaled = (data.yAxis.raw/SENS_2000_DPS_LSB_PER_DPS);
gmehmet 1:f60eafbf009a 416 data.zAxis.scaled = (data.zAxis.raw/SENS_2000_DPS_LSB_PER_DPS);
gmehmet 1:f60eafbf009a 417 break;
gmehmet 1:f60eafbf009a 418
gmehmet 1:f60eafbf009a 419 case DPS_1000:
gmehmet 1:f60eafbf009a 420 data.xAxis.scaled = (data.xAxis.raw/SENS_1000_DPS_LSB_PER_DPS);
gmehmet 1:f60eafbf009a 421 data.yAxis.scaled = (data.yAxis.raw/SENS_1000_DPS_LSB_PER_DPS);
gmehmet 1:f60eafbf009a 422 data.zAxis.scaled = (data.zAxis.raw/SENS_1000_DPS_LSB_PER_DPS);
gmehmet 1:f60eafbf009a 423 break;
gmehmet 1:f60eafbf009a 424
gmehmet 1:f60eafbf009a 425 case DPS_500:
gmehmet 1:f60eafbf009a 426 data.xAxis.scaled = (data.xAxis.raw/SENS_500_DPS_LSB_PER_DPS);
gmehmet 1:f60eafbf009a 427 data.yAxis.scaled = (data.yAxis.raw/SENS_500_DPS_LSB_PER_DPS);
gmehmet 1:f60eafbf009a 428 data.zAxis.scaled = (data.zAxis.raw/SENS_500_DPS_LSB_PER_DPS);
gmehmet 1:f60eafbf009a 429 break;
gmehmet 1:f60eafbf009a 430
gmehmet 1:f60eafbf009a 431 case DPS_250:
gmehmet 1:f60eafbf009a 432 data.xAxis.scaled = (data.xAxis.raw/SENS_250_DPS_LSB_PER_DPS);
gmehmet 1:f60eafbf009a 433 data.yAxis.scaled = (data.yAxis.raw/SENS_250_DPS_LSB_PER_DPS);
gmehmet 1:f60eafbf009a 434 data.zAxis.scaled = (data.zAxis.raw/SENS_250_DPS_LSB_PER_DPS);
gmehmet 1:f60eafbf009a 435 break;
gmehmet 1:f60eafbf009a 436
gmehmet 1:f60eafbf009a 437 case DPS_125:
gmehmet 1:f60eafbf009a 438 data.xAxis.scaled = (data.xAxis.raw/SENS_125_DPS_LSB_PER_DPS);
gmehmet 1:f60eafbf009a 439 data.yAxis.scaled = (data.yAxis.raw/SENS_125_DPS_LSB_PER_DPS);
gmehmet 1:f60eafbf009a 440 data.zAxis.scaled = (data.zAxis.raw/SENS_125_DPS_LSB_PER_DPS);
gmehmet 1:f60eafbf009a 441 break;
gmehmet 1:f60eafbf009a 442 }
gmehmet 1:f60eafbf009a 443
gmehmet 1:f60eafbf009a 444 sensorTime.raw = ((localData[14] << 16) | (localData[13] << 8) |
gmehmet 1:f60eafbf009a 445 localData[12]);
gmehmet 1:f60eafbf009a 446 sensorTime.seconds = (sensorTime.raw * SENSOR_TIME_LSB);
gmehmet 1:f60eafbf009a 447 }
gmehmet 1:f60eafbf009a 448
gmehmet 1:f60eafbf009a 449 return rtnVal;
gmehmet 1:f60eafbf009a 450 }
gmehmet 1:f60eafbf009a 451
gmehmet 1:f60eafbf009a 452
gmehmet 1:f60eafbf009a 453 //*****************************************************************************
gmehmet 1:f60eafbf009a 454 int32_t BMI160::getGyroAccXYZandSensorTime(SensorData &accData,
gmehmet 1:f60eafbf009a 455 SensorData &gyroData,
gmehmet 1:f60eafbf009a 456 SensorTime &sensorTime,
gmehmet 1:f60eafbf009a 457 AccRange accRange,
gmehmet 1:f60eafbf009a 458 GyroRange gyroRange)
gmehmet 1:f60eafbf009a 459 {
gmehmet 1:f60eafbf009a 460 uint8_t localData[16];
gmehmet 1:f60eafbf009a 461 int32_t rtnVal = readBlock(DATA_8, SENSORTIME_2, localData);
gmehmet 1:f60eafbf009a 462 if(rtnVal == RTN_NO_ERROR)
gmehmet 1:f60eafbf009a 463 {
gmehmet 1:f60eafbf009a 464 gyroData.xAxis.raw = ((localData[1] << 8) | localData[0]);
gmehmet 1:f60eafbf009a 465 gyroData.yAxis.raw = ((localData[3] << 8) | localData[2]);
gmehmet 1:f60eafbf009a 466 gyroData.zAxis.raw = ((localData[5] << 8) | localData[4]);
gmehmet 1:f60eafbf009a 467
gmehmet 1:f60eafbf009a 468 accData.xAxis.raw = ((localData[7] << 8) | localData[6]);
gmehmet 1:f60eafbf009a 469 accData.yAxis.raw = ((localData[9] << 8) | localData[8]);
gmehmet 1:f60eafbf009a 470 accData.zAxis.raw = ((localData[11] << 8) | localData[10]);
gmehmet 1:f60eafbf009a 471
gmehmet 1:f60eafbf009a 472 switch(gyroRange)
gmehmet 1:f60eafbf009a 473 {
gmehmet 1:f60eafbf009a 474 case DPS_2000:
gmehmet 1:f60eafbf009a 475 gyroData.xAxis.scaled = (gyroData.xAxis.raw/SENS_2000_DPS_LSB_PER_DPS);
gmehmet 1:f60eafbf009a 476 gyroData.yAxis.scaled = (gyroData.yAxis.raw/SENS_2000_DPS_LSB_PER_DPS);
gmehmet 1:f60eafbf009a 477 gyroData.zAxis.scaled = (gyroData.zAxis.raw/SENS_2000_DPS_LSB_PER_DPS);
gmehmet 1:f60eafbf009a 478 break;
gmehmet 1:f60eafbf009a 479
gmehmet 1:f60eafbf009a 480 case DPS_1000:
gmehmet 1:f60eafbf009a 481 gyroData.xAxis.scaled = (gyroData.xAxis.raw/SENS_1000_DPS_LSB_PER_DPS);
gmehmet 1:f60eafbf009a 482 gyroData.yAxis.scaled = (gyroData.yAxis.raw/SENS_1000_DPS_LSB_PER_DPS);
gmehmet 1:f60eafbf009a 483 gyroData.zAxis.scaled = (gyroData.zAxis.raw/SENS_1000_DPS_LSB_PER_DPS);
gmehmet 1:f60eafbf009a 484 break;
gmehmet 1:f60eafbf009a 485
gmehmet 1:f60eafbf009a 486 case DPS_500:
gmehmet 1:f60eafbf009a 487 gyroData.xAxis.scaled = (gyroData.xAxis.raw/SENS_500_DPS_LSB_PER_DPS);
gmehmet 1:f60eafbf009a 488 gyroData.yAxis.scaled = (gyroData.yAxis.raw/SENS_500_DPS_LSB_PER_DPS);
gmehmet 1:f60eafbf009a 489 gyroData.zAxis.scaled = (gyroData.zAxis.raw/SENS_500_DPS_LSB_PER_DPS);
gmehmet 1:f60eafbf009a 490 break;
gmehmet 1:f60eafbf009a 491
gmehmet 1:f60eafbf009a 492 case DPS_250:
gmehmet 1:f60eafbf009a 493 gyroData.xAxis.scaled = (gyroData.xAxis.raw/SENS_250_DPS_LSB_PER_DPS);
gmehmet 1:f60eafbf009a 494 gyroData.yAxis.scaled = (gyroData.yAxis.raw/SENS_250_DPS_LSB_PER_DPS);
gmehmet 1:f60eafbf009a 495 gyroData.zAxis.scaled = (gyroData.zAxis.raw/SENS_250_DPS_LSB_PER_DPS);
gmehmet 1:f60eafbf009a 496 break;
gmehmet 1:f60eafbf009a 497
gmehmet 1:f60eafbf009a 498 case DPS_125:
gmehmet 1:f60eafbf009a 499 gyroData.xAxis.scaled = (gyroData.xAxis.raw/SENS_125_DPS_LSB_PER_DPS);
gmehmet 1:f60eafbf009a 500 gyroData.yAxis.scaled = (gyroData.yAxis.raw/SENS_125_DPS_LSB_PER_DPS);
gmehmet 1:f60eafbf009a 501 gyroData.zAxis.scaled = (gyroData.zAxis.raw/SENS_125_DPS_LSB_PER_DPS);
gmehmet 1:f60eafbf009a 502 break;
gmehmet 1:f60eafbf009a 503 }
gmehmet 1:f60eafbf009a 504
gmehmet 1:f60eafbf009a 505 switch(accRange)
gmehmet 1:f60eafbf009a 506 {
gmehmet 1:f60eafbf009a 507 case SENS_2G:
gmehmet 1:f60eafbf009a 508 accData.xAxis.scaled = (accData.xAxis.raw/SENS_2G_LSB_PER_G);
gmehmet 1:f60eafbf009a 509 accData.yAxis.scaled = (accData.yAxis.raw/SENS_2G_LSB_PER_G);
gmehmet 1:f60eafbf009a 510 accData.zAxis.scaled = (accData.zAxis.raw/SENS_2G_LSB_PER_G);
gmehmet 1:f60eafbf009a 511 break;
gmehmet 1:f60eafbf009a 512
gmehmet 1:f60eafbf009a 513 case SENS_4G:
gmehmet 1:f60eafbf009a 514 accData.xAxis.scaled = (accData.xAxis.raw/SENS_4G_LSB_PER_G);
gmehmet 1:f60eafbf009a 515 accData.yAxis.scaled = (accData.yAxis.raw/SENS_4G_LSB_PER_G);
gmehmet 1:f60eafbf009a 516 accData.zAxis.scaled = (accData.zAxis.raw/SENS_4G_LSB_PER_G);
gmehmet 1:f60eafbf009a 517 break;
gmehmet 1:f60eafbf009a 518
gmehmet 1:f60eafbf009a 519 case SENS_8G:
gmehmet 1:f60eafbf009a 520 accData.xAxis.scaled = (accData.xAxis.raw/SENS_8G_LSB_PER_G);
gmehmet 1:f60eafbf009a 521 accData.yAxis.scaled = (accData.yAxis.raw/SENS_8G_LSB_PER_G);
gmehmet 1:f60eafbf009a 522 accData.zAxis.scaled = (accData.zAxis.raw/SENS_8G_LSB_PER_G);
gmehmet 1:f60eafbf009a 523 break;
gmehmet 1:f60eafbf009a 524
gmehmet 1:f60eafbf009a 525 case SENS_16G:
gmehmet 1:f60eafbf009a 526 accData.xAxis.scaled = (accData.xAxis.raw/SENS_16G_LSB_PER_G);
gmehmet 1:f60eafbf009a 527 accData.yAxis.scaled = (accData.yAxis.raw/SENS_16G_LSB_PER_G);
gmehmet 1:f60eafbf009a 528 accData.zAxis.scaled = (accData.zAxis.raw/SENS_16G_LSB_PER_G);
gmehmet 1:f60eafbf009a 529 break;
gmehmet 1:f60eafbf009a 530 }
gmehmet 1:f60eafbf009a 531
gmehmet 1:f60eafbf009a 532 sensorTime.raw = ((localData[14] << 16) | (localData[13] << 8) |
gmehmet 1:f60eafbf009a 533 localData[12]);
gmehmet 1:f60eafbf009a 534 sensorTime.seconds = (sensorTime.raw * SENSOR_TIME_LSB);
gmehmet 1:f60eafbf009a 535 }
gmehmet 1:f60eafbf009a 536
gmehmet 1:f60eafbf009a 537 return rtnVal;
gmehmet 1:f60eafbf009a 538 }
gmehmet 1:f60eafbf009a 539
gmehmet 1:f60eafbf009a 540 int32_t BMI160::setSampleRate(int sample_rate)
gmehmet 1:f60eafbf009a 541 {
gmehmet 1:f60eafbf009a 542 int sr_reg_val = -1;
gmehmet 1:f60eafbf009a 543 int i;
gmehmet 1:f60eafbf009a 544 const uint16_t odr_table[][2] = {
gmehmet 1:f60eafbf009a 545 {25, GYRO_ODR_6}, ///<25Hz
gmehmet 1:f60eafbf009a 546 {50, GYRO_ODR_7}, ///<50Hz
gmehmet 1:f60eafbf009a 547 {100, GYRO_ODR_8}, ///<100Hz
gmehmet 1:f60eafbf009a 548 {200, GYRO_ODR_9}, ///<200Hz
gmehmet 1:f60eafbf009a 549 {400, GYRO_ODR_10}, ///<400Hz
gmehmet 1:f60eafbf009a 550 {800, GYRO_ODR_11}, ///<800Hz
gmehmet 1:f60eafbf009a 551 {1600, GYRO_ODR_12}, ///<1600Hz
gmehmet 1:f60eafbf009a 552 {3200, GYRO_ODR_13}, ///<3200Hz
gmehmet 1:f60eafbf009a 553 };
gmehmet 1:f60eafbf009a 554
gmehmet 1:f60eafbf009a 555 int num_sr = sizeof(odr_table)/sizeof(odr_table[0]);
gmehmet 1:f60eafbf009a 556 for (i = 0; i < num_sr; i++) {
gmehmet 1:f60eafbf009a 557 if (sample_rate == odr_table[i][0]) {
gmehmet 1:f60eafbf009a 558 sr_reg_val = odr_table[i][1];
gmehmet 1:f60eafbf009a 559 break;
gmehmet 1:f60eafbf009a 560 }
gmehmet 1:f60eafbf009a 561 }
gmehmet 1:f60eafbf009a 562
gmehmet 1:f60eafbf009a 563 if (sr_reg_val == -1)
gmehmet 1:f60eafbf009a 564 return -2;
gmehmet 1:f60eafbf009a 565
gmehmet 1:f60eafbf009a 566 AccConfig accConfigRead;
gmehmet 1:f60eafbf009a 567 if (getSensorConfig(accConfigRead) == BMI160::RTN_NO_ERROR) {
gmehmet 1:f60eafbf009a 568 accConfigRead.odr = (AccOutputDataRate)sr_reg_val;
gmehmet 1:f60eafbf009a 569 return setSensorConfig(accConfigRead) == BMI160::RTN_NO_ERROR ? 0 : -1;
gmehmet 1:f60eafbf009a 570 } else
gmehmet 1:f60eafbf009a 571 return -1;
gmehmet 1:f60eafbf009a 572 }
gmehmet 1:f60eafbf009a 573
gmehmet 1:f60eafbf009a 574
gmehmet 1:f60eafbf009a 575 //*****************************************************************************
gmehmet 1:f60eafbf009a 576 int32_t BMI160::getSensorTime(SensorTime &sensorTime)
gmehmet 1:f60eafbf009a 577 {
gmehmet 1:f60eafbf009a 578 uint8_t localData[3];
gmehmet 1:f60eafbf009a 579 int32_t rtnVal = readBlock(SENSORTIME_0, SENSORTIME_2, localData);
gmehmet 1:f60eafbf009a 580
gmehmet 1:f60eafbf009a 581 if(rtnVal == RTN_NO_ERROR)
gmehmet 1:f60eafbf009a 582 {
gmehmet 1:f60eafbf009a 583 sensorTime.raw = ((localData[2] << 16) | (localData[1] << 8) |
gmehmet 1:f60eafbf009a 584 localData[0]);
gmehmet 1:f60eafbf009a 585 sensorTime.seconds = (sensorTime.raw * SENSOR_TIME_LSB);
gmehmet 1:f60eafbf009a 586 }
gmehmet 1:f60eafbf009a 587
gmehmet 1:f60eafbf009a 588 return rtnVal;
gmehmet 1:f60eafbf009a 589 }
gmehmet 1:f60eafbf009a 590
gmehmet 1:f60eafbf009a 591
gmehmet 1:f60eafbf009a 592 //*****************************************************************************
gmehmet 1:f60eafbf009a 593 int32_t BMI160::getTemperature(float *temp)
gmehmet 1:f60eafbf009a 594 {
gmehmet 1:f60eafbf009a 595 uint8_t data[2];
gmehmet 1:f60eafbf009a 596 uint16_t rawTemp;
gmehmet 1:f60eafbf009a 597
gmehmet 1:f60eafbf009a 598 int32_t rtnVal = readBlock(TEMPERATURE_0, TEMPERATURE_1, data);
gmehmet 1:f60eafbf009a 599 if(rtnVal == RTN_NO_ERROR)
gmehmet 1:f60eafbf009a 600 {
gmehmet 1:f60eafbf009a 601 rawTemp = ((data[1] << 8) | data[0]);
gmehmet 1:f60eafbf009a 602 if(rawTemp & 0x8000)
gmehmet 1:f60eafbf009a 603 {
gmehmet 1:f60eafbf009a 604 *temp = (23.0F - ((0x10000 - rawTemp)/512.0F));
gmehmet 1:f60eafbf009a 605 }
gmehmet 1:f60eafbf009a 606 else
gmehmet 1:f60eafbf009a 607 {
gmehmet 1:f60eafbf009a 608 *temp = ((rawTemp/512.0F) + 23.0F);
gmehmet 1:f60eafbf009a 609 }
gmehmet 1:f60eafbf009a 610 }
gmehmet 1:f60eafbf009a 611
gmehmet 1:f60eafbf009a 612 return rtnVal;
gmehmet 1:f60eafbf009a 613 }
gmehmet 1:f60eafbf009a 614
gmehmet 1:f60eafbf009a 615 //***********************************************************************************
gmehmet 1:f60eafbf009a 616 int32_t BMI160::BMI160_DefaultInitalize(){
gmehmet 1:f60eafbf009a 617
gmehmet 1:f60eafbf009a 618 //soft reset the accelerometer
gmehmet 1:f60eafbf009a 619 writeRegister(CMD ,SOFT_RESET);
gmehmet 1:f60eafbf009a 620 wait(0.1);
gmehmet 1:f60eafbf009a 621
gmehmet 1:f60eafbf009a 622 //Power up sensors in normal mode
gmehmet 1:f60eafbf009a 623 if(setSensorPowerMode(BMI160::GYRO, BMI160::SUSPEND) != BMI160::RTN_NO_ERROR){
gmehmet 1:f60eafbf009a 624 printf("Failed to set gyroscope power mode\n");
gmehmet 1:f60eafbf009a 625 }
gmehmet 1:f60eafbf009a 626
gmehmet 1:f60eafbf009a 627 wait(0.1);
gmehmet 1:f60eafbf009a 628
gmehmet 1:f60eafbf009a 629 if(setSensorPowerMode(BMI160::ACC, BMI160::NORMAL) != BMI160::RTN_NO_ERROR){
gmehmet 1:f60eafbf009a 630 printf("Failed to set accelerometer power mode\n");
gmehmet 1:f60eafbf009a 631 }
gmehmet 1:f60eafbf009a 632 wait(0.1);
gmehmet 1:f60eafbf009a 633
gmehmet 1:f60eafbf009a 634 BMI160::AccConfig accConfig;
gmehmet 1:f60eafbf009a 635 BMI160::AccConfig accConfigRead;
gmehmet 1:f60eafbf009a 636 accConfig.range = BMI160::SENS_2G;
gmehmet 1:f60eafbf009a 637 accConfig.us = BMI160::ACC_US_OFF;
gmehmet 1:f60eafbf009a 638 accConfig.bwp = BMI160::ACC_BWP_2;
gmehmet 1:f60eafbf009a 639 accConfig.odr = BMI160::ACC_ODR_6;
gmehmet 1:f60eafbf009a 640 if(setSensorConfig(accConfig) == BMI160::RTN_NO_ERROR)
gmehmet 1:f60eafbf009a 641 {
gmehmet 1:f60eafbf009a 642 if(getSensorConfig(accConfigRead) == BMI160::RTN_NO_ERROR)
gmehmet 1:f60eafbf009a 643 {
gmehmet 1:f60eafbf009a 644 if((accConfig.range != accConfigRead.range) ||
gmehmet 1:f60eafbf009a 645 (accConfig.us != accConfigRead.us) ||
gmehmet 1:f60eafbf009a 646 (accConfig.bwp != accConfigRead.bwp) ||
gmehmet 1:f60eafbf009a 647 (accConfig.odr != accConfigRead.odr))
gmehmet 1:f60eafbf009a 648 {
gmehmet 1:f60eafbf009a 649 printf("ACC read data desn't equal set data\n\n");
gmehmet 1:f60eafbf009a 650 printf("ACC Set Range = %d\n", accConfig.range);
gmehmet 1:f60eafbf009a 651 printf("ACC Set UnderSampling = %d\n", accConfig.us);
gmehmet 1:f60eafbf009a 652 printf("ACC Set BandWidthParam = %d\n", accConfig.bwp);
gmehmet 1:f60eafbf009a 653 printf("ACC Set OutputDataRate = %d\n\n", accConfig.odr);
gmehmet 1:f60eafbf009a 654 printf("ACC Read Range = %d\n", accConfigRead.range);
gmehmet 1:f60eafbf009a 655 printf("ACC Read UnderSampling = %d\n", accConfigRead.us);
gmehmet 1:f60eafbf009a 656 printf("ACC Read BandWidthParam = %d\n", accConfigRead.bwp);
gmehmet 1:f60eafbf009a 657 printf("ACC Read OutputDataRate = %d\n\n", accConfigRead.odr);
gmehmet 1:f60eafbf009a 658 }
gmehmet 1:f60eafbf009a 659
gmehmet 1:f60eafbf009a 660 }
gmehmet 1:f60eafbf009a 661 else
gmehmet 1:f60eafbf009a 662 {
gmehmet 1:f60eafbf009a 663 printf("Failed to read back accelerometer configuration\n");
gmehmet 1:f60eafbf009a 664 }
gmehmet 1:f60eafbf009a 665 }
gmehmet 1:f60eafbf009a 666 else
gmehmet 1:f60eafbf009a 667 {
gmehmet 1:f60eafbf009a 668 printf("Failed to set accelerometer configuration\n");
gmehmet 1:f60eafbf009a 669 }
gmehmet 1:f60eafbf009a 670 return 0;
gmehmet 1:f60eafbf009a 671 }
gmehmet 1:f60eafbf009a 672
gmehmet 1:f60eafbf009a 673 //***********************************************************************************
gmehmet 1:f60eafbf009a 674 int32_t BMI160::enable_data_ready_interrupt() {
gmehmet 1:f60eafbf009a 675 uint8_t data = 0;
gmehmet 1:f60eafbf009a 676 uint8_t temp = 0;
gmehmet 1:f60eafbf009a 677 int32_t result;
gmehmet 1:f60eafbf009a 678
gmehmet 1:f60eafbf009a 679 result = readRegister(INT_EN_1, &data);
gmehmet 1:f60eafbf009a 680 temp = data & ~0x10;
gmehmet 1:f60eafbf009a 681 data = temp | ((1 << 4) & 0x10);
gmehmet 1:f60eafbf009a 682 /* Writing data to INT ENABLE 1 Address */
gmehmet 1:f60eafbf009a 683 result |= writeRegister(INT_EN_1, data);
gmehmet 1:f60eafbf009a 684
gmehmet 1:f60eafbf009a 685 // configure in_out ctrl
gmehmet 1:f60eafbf009a 686 //bmi160_get_regs(BMI160_INT_OUT_CTRL_ADDR, &data, 1, dev);
gmehmet 1:f60eafbf009a 687 result |= readRegister(INT_OUT_CTRL, &data);
gmehmet 1:f60eafbf009a 688 data = 0x09;
gmehmet 1:f60eafbf009a 689 result |= writeRegister(INT_OUT_CTRL,data);
gmehmet 1:f60eafbf009a 690
gmehmet 1:f60eafbf009a 691 //config int latch
gmehmet 1:f60eafbf009a 692 //bmi160_get_regs(BMI160_INT_LATCH_ADDR, &data, 1, dev);
gmehmet 1:f60eafbf009a 693 result |= readRegister(INT_LATCH, &data);
gmehmet 1:f60eafbf009a 694 data = 0x0F;
gmehmet 1:f60eafbf009a 695 result |= writeRegister(INT_LATCH, data);
gmehmet 1:f60eafbf009a 696
gmehmet 1:f60eafbf009a 697 //bmi160_get_regs(BMI160_INT_MAP_1_ADDR, &data, 1, dev);
gmehmet 1:f60eafbf009a 698 result |= readRegister(INT_MAP_1, &data);
gmehmet 1:f60eafbf009a 699 data = 0x80;
gmehmet 1:f60eafbf009a 700 result |= writeRegister(INT_MAP_1, data);
gmehmet 1:f60eafbf009a 701
gmehmet 1:f60eafbf009a 702 if(result != 0){
gmehmet 1:f60eafbf009a 703 printf("BMI160::%s failed.\r\n", __func__);
gmehmet 1:f60eafbf009a 704 return -1;
gmehmet 1:f60eafbf009a 705 }
gmehmet 1:f60eafbf009a 706
gmehmet 1:f60eafbf009a 707 m_bmi160_irq->disable_irq();
gmehmet 1:f60eafbf009a 708 m_bmi160_irq->mode(PullUp);
gmehmet 1:f60eafbf009a 709 m_bmi160_irq->fall(this, &BMI160::irq_handler);
gmehmet 1:f60eafbf009a 710 m_bmi160_irq->enable_irq();
gmehmet 1:f60eafbf009a 711 return 0;
gmehmet 1:f60eafbf009a 712 }
gmehmet 1:f60eafbf009a 713
gmehmet 1:f60eafbf009a 714 void BMI160::irq_handler() {
gmehmet 1:f60eafbf009a 715 bmi160_irq_asserted = true;
gmehmet 1:f60eafbf009a 716 }
gmehmet 1:f60eafbf009a 717
gmehmet 1:f60eafbf009a 718 int32_t BMI160::reset() {
gmehmet 1:f60eafbf009a 719 if (m_use_irq)
gmehmet 1:f60eafbf009a 720 m_bmi160_irq->disable_irq();
gmehmet 1:f60eafbf009a 721 bmi160_irq_asserted = false;
gmehmet 1:f60eafbf009a 722 writeRegister(CMD, SOFT_RESET);
gmehmet 1:f60eafbf009a 723 return 0;
gmehmet 1:f60eafbf009a 724 }