Arun Raj
TEST
Dependencies: max32630fthr Adafruit_FeatherOLED USBDevice
Drivers/BMI160/bmi160.h
- Committer:
- gmehmet
- Date:
- 2019-04-10
- Revision:
- 1:f60eafbf009a
File content as of revision 1:f60eafbf009a:
/**********************************************************************
* Copyright (C) 2016 Maxim Integrated Products, Inc., All Rights Reserved.
*
* Permission is hereby granted, free of charge, to any person obtaining a
* copy of this software and associated documentation files (the "Software"),
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*
* The above copyright notice and this permission notice shall be included
* in all copies or substantial portions of the Software.
*
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* OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
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* OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
* ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
* OTHER DEALINGS IN THE SOFTWARE.
*
* Except as contained in this notice, the name of Maxim Integrated
* Products, Inc. shall not be used except as stated in the Maxim Integrated
* Products, Inc. Branding Policy.
*
* The mere transfer of this software does not imply any licenses
* of trade secrets, proprietary technology, copyrights, patents,
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* property whatsoever. Maxim Integrated Products, Inc. retains all
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**********************************************************************/
#ifndef BMI160_H
#define BMI160_H
#include "mbed.h"
/**
@brief The BMI160 is a small, low power, low noise 16-bit inertial measurement
unit designed for use in mobile applications like augmented reality or indoor
navigation which require highly accurate, real-time sensor data.
In full operation mode, with both the accelerometer and gyroscope enabled, the
current consumption is typically 950 μA, enabling always-on applications in
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
or BMI160_SPI.
*/
class BMI160
{
public:
///Return value on success.
static const uint8_t RTN_NO_ERROR = 0;
///Sensor types
enum Sensors
{
MAG = 0, ///<Optional external sensor
GYRO, ///<Angular rate sensor
ACC ///<g sensor
};
///Sensor Axis
enum SensorAxis
{
X_AXIS = 0,
Y_AXIS,
Z_AXIS
};
///Structure for axis data
struct AxisData
{
int16_t raw; ///<Axis raw 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
{
AxisData xAxis; ///<Sensor X axis data
AxisData yAxis; ///<Sensor Y axis data
AxisData zAxis; ///<Sensor Z axis data
};
///BMI160 registers
enum Registers
{
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
DATA_1, ///<MAG_X axis bits15:8
DATA_2, ///<MAG_Y axis bits7:0
DATA_3, ///<MAG_Y axis bits15:8
DATA_4, ///<MAG_Z axis bits7:0
DATA_5, ///<MAG_Z axis bits15:8
DATA_6, ///<RHALL bits7:0
DATA_7, ///<RHALL bits15:8
DATA_8, ///<GYR_X axis bits7:0
DATA_9, ///<GYR_X axis bits15:8
DATA_10, ///<GYR_Y axis bits7:0
DATA_11, ///<GYR_Y axis bits15:8
DATA_12, ///<GYR_Z axis bits7:0
DATA_13, ///<GYR_Z axis bits15:8
DATA_14, ///<ACC_X axis bits7:0
DATA_15, ///<ACC_X axis bits15:8
DATA_16, ///<ACC_Y axis bits7:0
DATA_17, ///<ACC_Y axis bits15:8
DATA_18, ///<ACC_Z axis bits7:0
DATA_19, ///<ACC_Z axis bits15:8
SENSORTIME_0, ///<24bit counter synchronized with data, bits7:0
SENSORTIME_1, ///<24bit counter synchronized with data, bits15:8
SENSORTIME_2, ///<24bit counter synchronized with data, bits23:16
STATUS, ///<Reports sensors status flags
INT_STATUS_0, ///<Contains interrupt status flags
INT_STATUS_1, ///<Contains interrupt status flags
INT_STATUS_2, ///<Contains interrupt status flags
INT_STATUS_3, ///<Contains interrupt status flags
TEMPERATURE_0, ///<Contains temperature of sensor, bits7:0
TEMPERATURE_1, ///<Contains temperature of sensor, bits15:8
FIFO_LENGTH_0, ///<Current fill level of FIFO, bits7:0
FIFO_LENGTH_1, ///<Current fill level of FIFO, bits10:8
FIFO_DATA, ///<FIFO data read out register, burst read
ACC_CONF = 0x40, ///<Set ODR, bandwidth, and read mode of accelerometer
ACC_RANGE, ///<Sets accelerometer g-range
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
///<for FIFO
FIFO_CONFIG_0, ///<Sets FIFO Watermark
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
MAG_IF_2, ///<Magnetometer address to read
MAG_IF_3, ///<Magnetometer address to write
MAG_IF_4, ///<Magnetometer data to write
INT_EN_0, ///<Interrupt enable bits
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
///<mode selection
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
///<INT1 and INT2 pins
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
///<interrupt groups
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
///<no motion interrupts
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
///<no motion interrupts
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
///<interrupt
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
///<compensation for the accelerometer and gyroscope
CONF, ///<Configuration of sensor, nvm_prog_en bit
IF_CONF, ///<Contains settings for the digital interface
PMU_TRIGGER, ///<Sets trigger conditions to change gyro power modes
SELF_TEST, ///<Self test configuration
NV_CONF = 0x70, ///<Contains settings for the digital interface
OFFSET_0, ///<Contains offset comp values for acc_off_x7:0
OFFSET_1, ///<Contains offset comp values for acc_off_y7:0
OFFSET_2, ///<Contains offset comp values for acc_off_z7:0
OFFSET_3, ///<Contains offset comp values for gyr_off_x7:0
OFFSET_4, ///<Contains offset comp values for gyr_off_y7:0
OFFSET_5, ///<Contains offset comp values for gyr_off_z7:0
OFFSET_6, ///<gyr/acc offset enable bit and gyr_off_(zyx) bits9:8
STEP_CNT_0, ///<Step counter bits 15:8
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
///<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;
static const uint8_t ERR_CODE_POS = 0x01;
static const uint8_t I2C_FAIL_ERR_MASK = 0x20;
static const uint8_t I2C_FAIL_ERR_POS = 0x05;
static const uint8_t DROP_CMD_ERR_MASK = 0x40;
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_2, ///<Listed as error
LPM_INT_PFD, ///<Low-power mode and interrupt uses pre-filtered
///<data
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)
///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;
static const uint8_t ACC_BWP_POS = 0x04;
static const uint8_t ACC_US_MASK = 0x80;
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
{
ACC_ODR_1 = 1, ///< 25/32Hz
ACC_ODR_2, ///< 25/16Hz
ACC_ODR_3, ///< 25/8Hz
ACC_ODR_4, ///< 25/4Hz
ACC_ODR_5, ///< 25/2Hz
ACC_ODR_6, ///< 25Hz
ACC_ODR_7, ///< 50Hz
ACC_ODR_8, ///< 100Hz
ACC_ODR_9, ///< 200Hz
ACC_ODR_10, ///< 400Hz
ACC_ODR_11, ///< 800Hz
ACC_ODR_12 ///< 1600Hz
};
///Accelerometer bandwidth parameters
enum AccBandWidthParam
{
ACC_BWP_0 = 0, ///< Average 1 cycle; when acc_us = 0 OSR4
ACC_BWP_1, ///< Average 2 cycles; when acc_us = 0 OSR2
ACC_BWP_2, ///< Average 4 cycles; when acc_us = 0 normal mode
ACC_BWP_3, ///< Average 8 cycles
ACC_BWP_4, ///< Average 16 cycles
ACC_BWP_5, ///< Average 32 cycles
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
{
SENS_2G = 0x03, ///<Accelerometer range +-2G
SENS_4G = 0x05, ///<Accelerometer range +-4G
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
{
AccRange range; ///<Accelerometer range
AccUnderSampling us; ///<Accelerometr undersampling mode
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)
///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_7 = 0x07, ///<50Hz
GYRO_ODR_8 = 0x08, ///<100Hz
GYRO_ODR_9 = 0x09, ///<200Hz
GYRO_ODR_10 = 0x0A, ///<400Hz
GYRO_ODR_11 = 0x0B, ///<800Hz
GYRO_ODR_12 = 0x0C, ///<1600Hz
GYRO_ODR_13 = 0x0D ///<3200Hz
};
///Gyroscope bandwidth paramaters
enum GyroBandWidthParam
{
GYRO_BWP_0 = 0, ///<OSR4 Over Sampling Rate of 4
GYRO_BWP_1, ///<OSR2 Over Sampling Rate of 2
GYRO_BWP_2 ///<Normal Mode, Equidistant Sampling
};
///Gyroscope ranges
enum GyroRange
{
DPS_2000 = 0, ///<+-2000dps, 16.4LSB/dps
DPS_1000, ///<+-1000dps, 32.8LSB/dps
DPS_500, ///<+-500dps, 65.6LSB/dps
DPS_250, ///<+-250dps, 131.2LSB/dps
DPS_125 ///<+-125dps, 262.4LSB/dps,
};
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
{
SUSPEND = 0, ///<Acc and Gyro, No sampling, No FIFO data readout
NORMAL, ///<Acc and Gyro, Full chip operation
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
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
///<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
///
///On Exit:
///@param[out] none
///
///@returns none
virtual ~BMI160(){ }
///@brief Reads a single register.\n
///
///On Entry:
///@param[in] data - pointer to memory for storing read data
///
///On Exit:
///@param[out] data - holds contents of read register on success
///
///@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:
///@param[in] data - data to write to register
///
///On Exit:
///@param[out] none
///
///@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,
///'stopReg'.\n
///
///On Entry:
///@param[in] startReg - register to start reading from
///@param[in] stopReg - register to stop reading from
///@param[in] data - pointer to memory for storing read data
///
///On Exit:
///@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,
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,
///'stopReg'.\n
///
///On Entry:
///@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
///
///On Exit:
///@param[out] none
///
///@returns 0 on success, non 0 on failure
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
///
///On Entry:
///@param[in] sensor - Sensor which power mode we are setting
///@param[in] pwrMode - Desired powermode of the sensor
///
///On Exit:
///@param[out]
///
///@returns 0 on success, non 0 on failure
int32_t setSensorPowerMode(Sensors sensor, PowerModes pwrMode);
///@brief Configure sensor.\n
///
///On Entry:
///@param[in] config - sSensor configuration data structure
///
///On Exit:
///@param[out] none
///
///@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
///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:
///@param[in] axis - Sensor axis
///@param[in] data - AxisData structure
///@param[in] range - Sensor range
///
///On Exit:
///@param[out] data - Structure holds raw and scaled axis data
///
///@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:
///@param[in] data - SensorData structure
///@param[in] range - Sensor range
///
///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 getSensorXYZ(SensorData &data, AccRange range);
int32_t getSensorXYZ(SensorData &data, GyroRange range);
///@brief Get sensor xyz axis and sensor time.\n
///
///On Entry:
///@param[in] data - SensorData structure
///@param[in] sensorTime - SensorTime structure for data
///@param[in] range - Sensor range
///
///On Exit:
///@param[out] data - Structure holds raw and scaled data for all three axis
///@param[out] sensorTime - Holds sensor time on success
///
///@returns 0 on success, non 0 on failure
int32_t getSensorXYZandSensorTime(SensorData &data, SensorTime &sensorTime,
AccRange range);
int32_t getSensorXYZandSensorTime(SensorData &data, SensorTime &sensorTime,
GyroRange range);
///@brief Get Gyroscope/Accelerometer data and sensor time.\n
///
///On Entry:
///@param[in] accData - Sensor data structure for accelerometer
///@param[in] gyroData - Sensor data structure for gyroscope
///@param[in] sensorTime - SensorTime data structure
///@param[in] accRange - Accelerometer range
///@param[in] gyroRange - Gyroscope range
///
///On Exit:
///@param[out] accData - Synchronized accelerometer data
///@param[out] gyroData - Synchronized gyroscope data
///@param[out] sensorTime - Synchronized sensor time
///
///@returns 0 on success, non 0 on failure
int32_t getGyroAccXYZandSensorTime(SensorData &accData,
SensorData &gyroData,
SensorTime &sensorTime,
AccRange accRange, GyroRange gyroRange);
///@brief Get sensor time.\n
///
///On Entry:
///@param[in] sensorTime - SensorTime structure for data
///
///On Exit:
///@param[out] sensorTime - Holds sensor time on success
///
///@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
///
///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) { }
};
/**
@brief BMI160_I2C - supports BMI160 object with I2C interface
*/
class BMI160_I2C: public BMI160
{
public:
///BMI160 default I2C address.
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
///
///On Entry:
///@param[in] i2cBus - reference to I2C bus for this device
///@param[in] i2cAdrs - 7-bit I2C address
///
///On Exit:
///@param[out] none
///
///@returns none
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:
///@param[in] data - pointer to memory for storing read data
///
///On Exit:
///@param[out] data - holds contents of read register on success
///
///@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:
///@param[in] data - data to write to register
///
///On Exit:
///@param[out] none
///
///@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,
///'stopReg'.\n
///
///On Entry:
///@param[in] startReg - register to start reading from
///@param[in] stopReg - register to stop reading from
///@param[in] data - pointer to memory for storing read data
///
///On Exit:
///@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,
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,
///'stopReg'.\n
///
///On Entry:
///@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
///
///On Exit:
///@param[out] none
///
///@returns 0 on success, non 0 on failure
virtual int32_t writeBlock(Registers startReg, Registers stopReg,
const uint8_t *data);
private:
I2C *m_i2cBus;
uint8_t m_Wadrs, m_Radrs;
};
/**
@brief BMI160_SPI - supports BMI160 object with SPI interface
*/
class BMI160_SPI: public BMI160
{
public:
///@brief BMI160_SPI Constructor.\n
///
///On Entry:
///@param[in] spiBus - reference to SPI bus for this device
///@param[in] cs - reference to DigitalOut used for chip select
///
///On Exit:
///@param[out] none
///
///@returns none
BMI160_SPI(SPI *spiBus, DigitalOut &cs);
///@brief Reads a single register.\n
///
///On Entry:
///@param[in] data - pointer to memory for storing read data
///
///On Exit:
///@param[out] data - holds contents of read register on success
///
///@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:
///@param[in] data - data to write to register
///
///On Exit:
///@param[out] none
///
///@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,
///'stopReg'.\n
///
///On Entry:
///@param[in] startReg - register to start reading from
///@param[in] stopReg - register to stop reading from
///@param[in] data - pointer to memory for storing read data
///
///On Exit:
///@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,
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,
///'stopReg'.\n
///
///On Entry:
///@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
///
///On Exit:
///@param[out] none
///
///@returns 0 on success, non 0 on failure
virtual int32_t writeBlock(Registers startReg, Registers stopReg,
const uint8_t *data);
private:
SPI *m_spiBus;
DigitalOut m_cs;
};
#endif /* BMI160_H */
///@brief fx documentation template.\n
///
///On Entry:
///@param[in] none
///
///On Exit:
///@param[out] none
///
///@returns none