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Copy pathDFRobot_BMI160.cpp
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DFRobot_BMI160.cpp
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/*!
* @file DFRobot_BMI160.cpp
* @brief Define the basic structure of class DFRobot_BMI160
* @copyright Copyright (c) 2010 DFRobot Co.Ltd (http://www.dfrobot.com)
* @license The MIT License (MIT)
* @author DFRobot_haoJ([email protected])
* @version V1.0
* @date 2017-12-01
* @url https://github.com/DFRobot/DFRobot_BMI160
*/
#include"DFRobot_BMI160.h"
const uint8_t int_mask_lookup_table[13] = {
BMI160_INT1_SLOPE_MASK,
BMI160_INT1_SLOPE_MASK,
BMI160_INT2_LOW_STEP_DETECT_MASK,
BMI160_INT1_DOUBLE_TAP_MASK,
BMI160_INT1_SINGLE_TAP_MASK,
BMI160_INT1_ORIENT_MASK,
BMI160_INT1_FLAT_MASK,
BMI160_INT1_HIGH_G_MASK,
BMI160_INT1_LOW_G_MASK,
BMI160_INT1_NO_MOTION_MASK,
BMI160_INT2_DATA_READY_MASK,
BMI160_INT2_FIFO_FULL_MASK,
BMI160_INT2_FIFO_WM_MASK
};
DFRobot_BMI160::DFRobot_BMI160()
{
Wire.begin();
Obmi160=(struct bmi160Dev *)malloc(sizeof(struct bmi160Dev));
//Obmi160->id = BMI160_I2C_ADDR;
//Obmi160->interface = BMI160_I2C_INTF;
Oaccel= (struct bmi160SensorData*)malloc(sizeof(struct bmi160SensorData));
Ogyro = (struct bmi160SensorData*)malloc(sizeof(struct bmi160SensorData));
}
int8_t DFRobot_BMI160::I2cInit(int8_t i2c_addr)
{
Obmi160->id = i2c_addr;
Obmi160->interface = BMI160_I2C_INTF;
return DFRobot_BMI160::I2cInit(Obmi160);
}
int8_t DFRobot_BMI160::SPIInit()
{
//SPI.begin();
//pinMode(10,OUTPUT);
//Obmi160->id = 0;
//Obmi160->interface = BMI160_SPI_INTF;
return BMI160_OK;
}
int8_t DFRobot_BMI160::SPIInit(struct bmi160Dev *dev)
{
return BMI160_OK;
}
int8_t DFRobot_BMI160::I2cInit(struct bmi160Dev *dev)
{
int8_t rslt=BMI160_OK;
uint8_t chip_id=0;
uint8_t data=0;
if (dev==NULL){
return BMI160_E_NULL_PTR;
}
if (dev->interface == BMI160_SPI_INTF){
rslt = getRegs(BMI160_SPI_COMM_TEST_ADDR, &data, 1, dev);
}
if (rslt == BMI160_OK){
rslt = getRegs(BMI160_CHIP_ID_ADDR, &chip_id, 1, dev);
if ((rslt == BMI160_OK)&&(chip_id==BMI160_CHIP_ID)){
dev->any_sig_sel = eBmi160BothAnySigMotionDisabled;
dev->chipId = chip_id;
rslt = softReset(dev);
if (rslt==BMI160_OK){
rslt = setSensConf(dev);
}
}else{
rslt = BMI160_E_DEV_NOT_FOUND;
}
}
return rslt;
}
int8_t DFRobot_BMI160::softReset()
{
int8_t rslt=BMI160_OK;
if (Obmi160 == NULL){
rslt = BMI160_E_NULL_PTR;
}
rslt = softReset(Obmi160);
return rslt;
}
int8_t DFRobot_BMI160::softReset(struct bmi160Dev *dev)
{
int8_t rslt=BMI160_OK;
uint8_t data = BMI160_SOFT_RESET_CMD;
if (dev==NULL){
rslt = BMI160_E_NULL_PTR;
}
rslt = DFRobot_BMI160::setRegs(BMI160_COMMAND_REG_ADDR, &data, 1, dev);
delay(BMI160_SOFT_RESET_DELAY_MS);
if (rslt == BMI160_OK){
DFRobot_BMI160::defaultParamSettg(dev);
}
return rslt;
}
void DFRobot_BMI160::defaultParamSettg(struct bmi160Dev *dev)
{
/* Initializing accel and gyro params with
* default values */
dev->accelCfg.bw = BMI160_ACCEL_BW_NORMAL_AVG4;
dev->accelCfg.odr = BMI160_ACCEL_ODR_100HZ;
dev->accelCfg.power = BMI160_ACCEL_SUSPEND_MODE;
dev->accelCfg.range = BMI160_ACCEL_RANGE_2G;
dev->gyroCfg.bw = BMI160_GYRO_BW_NORMAL_MODE;
dev->gyroCfg.odr = BMI160_GYRO_ODR_100HZ;
dev->gyroCfg.power = BMI160_GYRO_SUSPEND_MODE;
dev->gyroCfg.range = BMI160_GYRO_RANGE_2000_DPS;
/* To maintain the previous state of accel configuration */
dev->prevAccelCfg = dev->accelCfg;
/* To maintain the previous state of gyro configuration */
dev->prevGyroCfg = dev->gyroCfg;
}
int8_t DFRobot_BMI160::setSensConf()
{
return DFRobot_BMI160::setSensConf(Obmi160);
}
int8_t DFRobot_BMI160::setSensConf(struct bmi160Dev *dev)
{
int8_t rslt = BMI160_OK;
dev->accelCfg.odr = BMI160_ACCEL_ODR_1600HZ;
dev->accelCfg.range = BMI160_ACCEL_RANGE_2G;
dev->accelCfg.bw = BMI160_ACCEL_BW_NORMAL_AVG4;
dev->accelCfg.power = BMI160_ACCEL_NORMAL_MODE;
dev->gyroCfg.odr = BMI160_GYRO_ODR_3200HZ;
dev->gyroCfg.range = BMI160_GYRO_RANGE_2000_DPS;
dev->gyroCfg.bw = BMI160_GYRO_BW_NORMAL_MODE;
dev->gyroCfg.power = BMI160_GYRO_NORMAL_MODE;
rslt = DFRobot_BMI160::setAccelConf(dev);
if (rslt == BMI160_OK) {
rslt = DFRobot_BMI160::setGyroConf(dev);
if (rslt == BMI160_OK) {
/* write power mode for accel and gyro */
rslt = DFRobot_BMI160::setPowerMode(dev);
if (rslt == BMI160_OK)
rslt = DFRobot_BMI160::checkInvalidSettg(dev);
}
}
return rslt;
}
int8_t DFRobot_BMI160::setAccelConf(struct bmi160Dev *dev)
{
int8_t rslt = BMI160_OK;
uint8_t data[2] = {0};
rslt = DFRobot_BMI160::checkAccelConfig(data, dev);
if (rslt == BMI160_OK) {
rslt = DFRobot_BMI160::setRegs(BMI160_ACCEL_CONFIG_ADDR, &data[0], 1, dev);
if (rslt == BMI160_OK) {
dev->prevAccelCfg.odr = dev->accelCfg.odr;
dev->prevAccelCfg.bw = dev->accelCfg.bw;
delay(BMI160_ONE_MS_DELAY);
rslt = DFRobot_BMI160::setRegs(BMI160_ACCEL_RANGE_ADDR, &data[1], 1, dev);
if (rslt == BMI160_OK){
dev->prevAccelCfg.range = dev->accelCfg.range;
}
}
}
return rslt;
}
int8_t DFRobot_BMI160::checkAccelConfig(uint8_t *data, struct bmi160Dev *dev)
{
int8_t rslt;
/* read accel Output data rate and bandwidth */
rslt = DFRobot_BMI160::getRegs(BMI160_ACCEL_CONFIG_ADDR, data, 2, dev);
if (rslt == BMI160_OK) {
rslt = DFRobot_BMI160::processAccelOdr(&data[0], dev);
if (rslt == BMI160_OK) {
rslt = DFRobot_BMI160::processAccelBw(&data[0], dev);
if (rslt == BMI160_OK)
rslt = DFRobot_BMI160::processAccelRange(&data[1], dev);
}
}
return rslt;
}
int8_t DFRobot_BMI160::processAccelOdr(uint8_t *data, struct bmi160Dev *dev)
{
int8_t rslt = 0;
uint8_t temp = 0;
uint8_t odr = 0;
if (dev->accelCfg.odr <= BMI160_ACCEL_ODR_MAX) {
if (dev->accelCfg.odr != dev->prevAccelCfg.odr) {
odr = (uint8_t)dev->accelCfg.odr;
temp = *data & ~BMI160_ACCEL_ODR_MASK;
/* Adding output data rate */
*data = temp | (odr & BMI160_ACCEL_ODR_MASK);
}
} else {
rslt = BMI160_E_OUT_OF_RANGE;
}
return rslt;
}
int8_t DFRobot_BMI160::processAccelBw(uint8_t *data, struct bmi160Dev *dev)
{
int8_t rslt = 0;
uint8_t temp = 0;
uint8_t bw = 0;
if (dev->accelCfg.bw <= BMI160_ACCEL_BW_MAX) {
if (dev->accelCfg.bw != dev->prevAccelCfg.bw) {
bw = (uint8_t)dev->accelCfg.bw;
temp = *data & ~BMI160_ACCEL_BW_MASK;
/* Adding bandwidth */
*data = temp | ((bw << 4) & BMI160_ACCEL_ODR_MASK);
}
} else {
rslt = BMI160_E_OUT_OF_RANGE;
}
return rslt;
}
int8_t DFRobot_BMI160::processAccelRange(uint8_t *data, struct bmi160Dev *dev)
{
int8_t rslt = 0;
uint8_t temp = 0;
uint8_t range = 0;
if (dev->accelCfg.range <= BMI160_ACCEL_RANGE_MAX) {
if (dev->accelCfg.range != dev->prevAccelCfg.range) {
range = (uint8_t)dev->accelCfg.range;
temp = *data & ~BMI160_ACCEL_RANGE_MASK;
/* Adding range */
*data = temp | (range & BMI160_ACCEL_RANGE_MASK);
}
} else {
rslt = BMI160_E_OUT_OF_RANGE;
}
return rslt;
}
int8_t DFRobot_BMI160::setGyroConf(struct bmi160Dev *dev)
{
int8_t rslt;
uint8_t data[2]={0};
rslt = DFRobot_BMI160::checkGyroConfig(data, dev);
if (rslt == BMI160_OK) {
// Write output data rate and bandwidth
rslt = DFRobot_BMI160::setRegs(BMI160_GYRO_CONFIG_ADDR, &data[0], 1, dev);
if (rslt == BMI160_OK) {
dev->prevGyroCfg.odr = dev->gyroCfg.odr;
dev->prevGyroCfg.bw = dev->gyroCfg.bw;
delay(BMI160_ONE_MS_DELAY);
// Write gyro range
rslt = DFRobot_BMI160::setRegs(BMI160_GYRO_RANGE_ADDR, &data[1], 1, dev);
if (rslt == BMI160_OK)
dev->prevGyroCfg.range = dev->gyroCfg.range;
}
}
return rslt;
}
int8_t DFRobot_BMI160::checkGyroConfig(uint8_t *data, struct bmi160Dev *dev)
{
int8_t rslt;
/* read gyro Output data rate and bandwidth */
rslt = DFRobot_BMI160::getRegs(BMI160_GYRO_CONFIG_ADDR, data, 2, dev);
if (rslt == BMI160_OK) {
rslt = DFRobot_BMI160::processGyroOdr(&data[0], dev);
if (rslt == BMI160_OK) {
rslt = DFRobot_BMI160::processGyroBw(&data[0], dev);
if (rslt == BMI160_OK)
rslt = DFRobot_BMI160::processGyroRange(&data[1], dev);
}
}
return rslt;
}
int8_t DFRobot_BMI160::processGyroOdr(uint8_t *data, struct bmi160Dev *dev)
{
int8_t rslt = 0;
uint8_t temp = 0;
uint8_t odr = 0;
if (dev->gyroCfg.odr <= BMI160_GYRO_ODR_MAX) {
if (dev->gyroCfg.odr != dev->prevGyroCfg.odr) {
odr = (uint8_t)dev->gyroCfg.odr;
temp = (*data & ~BMI160_GYRO_ODR_MASK);
/* Adding output data rate */
*data = temp | (odr & BMI160_GYRO_ODR_MASK);
}
} else {
rslt = BMI160_E_OUT_OF_RANGE;
}
return rslt;
}
int8_t DFRobot_BMI160::processGyroBw(uint8_t *data, struct bmi160Dev *dev)
{
int8_t rslt = 0;
uint8_t temp = 0;
uint8_t bw = 0;
if (dev->gyroCfg.bw <= BMI160_GYRO_BW_MAX) {
bw = (uint8_t)dev->gyroCfg.bw;
temp = *data & ~BMI160_GYRO_BW_MASK;
/* Adding bandwidth */
*data = temp | ((bw << 4) & BMI160_GYRO_BW_MASK);
} else {
rslt = BMI160_E_OUT_OF_RANGE;
}
return rslt;
}
int8_t DFRobot_BMI160::processGyroRange(uint8_t *data, struct bmi160Dev *dev)
{
int8_t rslt = 0;
uint8_t temp = 0;
uint8_t range = 0;
if (dev->gyroCfg.range <= BMI160_GYRO_RANGE_MAX) {
if (dev->gyroCfg.range != dev->prevGyroCfg.range) {
range = (uint8_t)dev->gyroCfg.range;
temp = *data & ~BMI160_GYRO_RANGE_MSK;
/* Adding range */
*data = temp | (range & BMI160_GYRO_RANGE_MSK);
}
} else {
rslt = BMI160_E_OUT_OF_RANGE;
}
return rslt;
}
int8_t DFRobot_BMI160::setPowerMode(struct bmi160Dev *dev)
{
int8_t rslt = 0;
rslt = DFRobot_BMI160::setAccelPwr(dev);
if (rslt == BMI160_OK){
rslt = DFRobot_BMI160::setGyroPwr(dev);
}
return rslt;
}
int8_t DFRobot_BMI160::setAccelPwr(struct bmi160Dev *dev)
{
int8_t rslt = 0;
uint8_t data = 0;
if ((dev->accelCfg.power >= BMI160_ACCEL_SUSPEND_MODE) &&
(dev->accelCfg.power <= BMI160_ACCEL_LOWPOWER_MODE)) {
if (dev->accelCfg.power != dev->prevAccelCfg.power) {
rslt = DFRobot_BMI160::processUnderSampling(&data, dev);
if (rslt == BMI160_OK) {
/* Write accel power */
rslt = DFRobot_BMI160::setRegs(BMI160_COMMAND_REG_ADDR, &dev->accelCfg.power, 1, dev);
/* Add delay of 5 ms */
if (dev->prevAccelCfg.power == BMI160_ACCEL_SUSPEND_MODE){
delay(BMI160_ACCEL_DELAY_MS);
}
dev->prevAccelCfg.power = dev->accelCfg.power;
}
}
} else {
rslt = BMI160_E_OUT_OF_RANGE;
}
return rslt;
}
int8_t DFRobot_BMI160::processUnderSampling(uint8_t *data, struct bmi160Dev *dev)
{
int8_t rslt;
uint8_t temp = 0;
uint8_t pre_filter = 0;
rslt = DFRobot_BMI160::getRegs(BMI160_ACCEL_CONFIG_ADDR, data, 1, dev);
if (rslt == BMI160_OK) {
if (dev->accelCfg.power == BMI160_ACCEL_LOWPOWER_MODE) {
temp = *data & ~BMI160_ACCEL_UNDERSAMPLING_MASK;
/* Set under-sampling parameter */
*data = temp | ((1 << 7) & BMI160_ACCEL_UNDERSAMPLING_MASK);
/* Write data */
rslt = setRegs(BMI160_ACCEL_CONFIG_ADDR, data, 1, dev);
/* disable the pre-filter data in
* low power mode */
if (rslt == BMI160_OK)
/* Disable the Pre-filter data*/
rslt = DFRobot_BMI160::setRegs(BMI160_INT_DATA_0_ADDR, &pre_filter, 2, dev);
} else {
if (*data & BMI160_ACCEL_UNDERSAMPLING_MASK) {
temp = *data & ~BMI160_ACCEL_UNDERSAMPLING_MASK;
/* disable under-sampling parameter
if already enabled */
*data = temp;
/* Write data */
rslt = DFRobot_BMI160::setRegs(BMI160_ACCEL_CONFIG_ADDR, data, 1, dev);
}
}
}
return rslt;
}
int8_t DFRobot_BMI160::setGyroPwr(struct bmi160Dev *dev)
{
int8_t rslt = 0;
if ((dev->gyroCfg.power == BMI160_GYRO_SUSPEND_MODE) || (dev->gyroCfg.power == BMI160_GYRO_NORMAL_MODE)
|| (dev->gyroCfg.power == BMI160_GYRO_FASTSTARTUP_MODE)) {
if (dev->gyroCfg.power != dev->prevGyroCfg.power) {
/* Write gyro power */
rslt = DFRobot_BMI160::setRegs(BMI160_COMMAND_REG_ADDR, &dev->gyroCfg.power, 1, dev);
if (dev->prevGyroCfg.power == BMI160_GYRO_SUSPEND_MODE) {
/* Delay of 81 ms */
delay(BMI160_GYRO_DELAY_MS);
} else if ((dev->prevGyroCfg.power == BMI160_GYRO_FASTSTARTUP_MODE)
&& (dev->gyroCfg.power == BMI160_GYRO_NORMAL_MODE)) {
/* This delay is required for transition from
fast-startup mode to normal mode */
delay(10);
} else {
/* do nothing */
}
dev->prevGyroCfg.power = dev->gyroCfg.power;
}
} else {
rslt = BMI160_E_OUT_OF_RANGE;
}
return rslt;
}
int8_t DFRobot_BMI160::checkInvalidSettg( struct bmi160Dev *dev)
{
int8_t rslt;
uint8_t data = 0;
// read the error reg
rslt = DFRobot_BMI160::getRegs(BMI160_ERROR_REG_ADDR, &data, 1, dev);
data = data >> 1;
data = data & BMI160_ERR_REG_MASK;
if (data == 1)
rslt = BMI160_E_ACCEL_ODR_BW_INVALID;
else if (data == 2)
rslt = BMI160_E_GYRO_ODR_BW_INVALID;
else if (data == 3)
rslt = BMI160_E_LWP_PRE_FLTR_INT_INVALID;
else if (data == 7)
rslt = BMI160_E_LWP_PRE_FLTR_INVALID;
return rslt;
}
int8_t DFRobot_BMI160::getSensorData(uint8_t type, int16_t* data)
{
int8_t rslt=BMI160_OK;
if (type==onlyAccel){
rslt = getSensorData(BMI160_ACCEL_SEL, Oaccel, NULL, Obmi160);
if(rslt == BMI160_OK){
data[0]=Ogyro->x;
data[1]=Ogyro->y;
data[2]=Ogyro->z;
}
}else if(type==onlyGyro){
rslt = getSensorData(BMI160_GYRO_SEL, NULL, Ogyro, Obmi160);
if(rslt == BMI160_OK){
data[0]=Oaccel->x;
data[1]=Oaccel->y;
data[2]=Oaccel->z;
}
}else if(type==bothAccelGyro){
rslt = DFRobot_BMI160::getSensorData((BMI160_ACCEL_SEL | BMI160_GYRO_SEL),Oaccel, Ogyro, Obmi160);
if(rslt == BMI160_OK){
data[0]=Ogyro->x;
data[1]=Ogyro->y;
data[2]=Ogyro->z;
data[3]=Oaccel->x;
data[4]=Oaccel->y;
data[5]=Oaccel->z;
}
}else{
rslt = BMI160_ERR_CHOOSE;
}
return rslt;
}
int8_t DFRobot_BMI160::getAccelData( int16_t* data)
{
int8_t rslt=BMI160_OK;
rslt = getSensorData(BMI160_ACCEL_SEL, Oaccel, NULL, Obmi160);
if(rslt == BMI160_OK){
data[0]=Oaccel->x;
data[1]=Oaccel->y;
data[2]=Oaccel->z;
}
return rslt;
}
int8_t DFRobot_BMI160::getAccelData( int16_t* data, uint32_t* timestamp)
{
int8_t rslt=BMI160_OK;
rslt = getSensorData((BMI160_ACCEL_SEL | BMI160_TIME_SEL), Oaccel, NULL, Obmi160);
if(rslt == BMI160_OK){
data[0]=Oaccel->x;
data[1]=Oaccel->y;
data[2]=Oaccel->z;
*timestamp=Oaccel->sensortime;
}
return rslt;
}
int8_t DFRobot_BMI160::getGyroData( int16_t* data)
{
int rslt = BMI160_OK;
rslt = getSensorData(BMI160_GYRO_SEL, NULL, Ogyro, Obmi160);
if(rslt == BMI160_OK){
data[0]=Ogyro->x;
data[1]=Ogyro->y;
data[2]=Ogyro->z;
}
return rslt;
}
int8_t DFRobot_BMI160::getGyroData( int16_t* data, uint32_t* timestamp)
{
int rslt = BMI160_OK;
rslt = getSensorData((BMI160_GYRO_SEL | BMI160_TIME_SEL), NULL, Ogyro, Obmi160);
if(rslt == BMI160_OK){
data[0]=Ogyro->x;
data[1]=Ogyro->y;
data[2]=Ogyro->z;
*timestamp=Ogyro->sensortime;
}
return rslt;
}
int8_t DFRobot_BMI160::getAccelGyroData( int16_t* data)
{
int8_t rslt = BMI160_OK;
rslt = getSensorData((BMI160_ACCEL_SEL | BMI160_GYRO_SEL),Oaccel, Ogyro, Obmi160);
if(rslt == BMI160_OK){
data[0]=Ogyro->x;
data[1]=Ogyro->y;
data[2]=Ogyro->z;
data[3]=Oaccel->x;
data[4]=Oaccel->y;
data[5]=Oaccel->z;
}
return rslt;
}
int8_t DFRobot_BMI160::getAccelGyroData( int16_t* data, uint32_t* timestamp)
{
int8_t rslt = BMI160_OK;
rslt = getSensorData((BMI160_ACCEL_SEL | BMI160_GYRO_SEL | BMI160_TIME_SEL),Oaccel, Ogyro, Obmi160);
if(rslt == BMI160_OK){
data[0]=Ogyro->x;
data[1]=Ogyro->y;
data[2]=Ogyro->z;
data[3]=Oaccel->x;
data[4]=Oaccel->y;
data[5]=Oaccel->z;
timestamp[0]=Oaccel->sensortime;
timestamp[1]=Ogyro->sensortime;
}
return rslt;
}
int8_t DFRobot_BMI160::getSensorData(uint8_t select_sensor, struct bmi160SensorData *accel, struct bmi160SensorData *gyro,struct bmi160Dev *dev)
{
int8_t rslt = BMI160_OK;
uint8_t time_sel;
uint8_t sen_sel;
uint8_t len = 0;
/*Extract the sensor and time select information*/
sen_sel = select_sensor & BMI160_SEN_SEL_MASK;
time_sel = ((sen_sel & BMI160_TIME_SEL) >> 2);
sen_sel = sen_sel & (BMI160_ACCEL_SEL | BMI160_GYRO_SEL);
if (time_sel == 1)
len = 3;
/* Null-pointer check */
if (dev != NULL) {
switch (sen_sel) {
case eBmi160AccelOnly:
/* Null-pointer check */
if (accel == NULL)
rslt = BMI160_E_NULL_PTR;
else
rslt = DFRobot_BMI160::getAccelData(len, accel, dev);
break;
case eBmi160GyroOnly:
/* Null-pointer check */
if (gyro == NULL)
rslt = BMI160_E_NULL_PTR;
else
rslt = DFRobot_BMI160::getGyroData(len, gyro, dev);
break;
case eBmi160BothAccelAndGyro:
/* Null-pointer check */
if ((gyro == NULL) || (accel == NULL))
rslt = BMI160_E_NULL_PTR;
else
rslt = DFRobot_BMI160::getAccelGyroData(len, accel, gyro, dev);
break;
default:
rslt = BMI160_E_INVALID_INPUT;
break;
}
} else {
rslt = BMI160_E_NULL_PTR;
}
return rslt;
}
int8_t DFRobot_BMI160::getAccelData(uint8_t len, struct bmi160SensorData *accel, struct bmi160Dev *dev)
{
int8_t rslt;
uint8_t idx = 0;
uint8_t data_array[9] = {0};
uint8_t time_0 = 0;
uint16_t time_1 = 0;
uint32_t time_2 = 0;
uint8_t lsb;
uint8_t msb;
float msblsb;
rslt = DFRobot_BMI160::getRegs(BMI160_ACCEL_DATA_ADDR, data_array, 6 + len, dev);
if (rslt == BMI160_OK){
lsb = data_array[idx++];
msb = data_array[idx++];
msblsb = (int16_t)((msb << 8) | lsb);
accel->x = msblsb; /* Data in X axis */
lsb = data_array[idx++];
msb = data_array[idx++];
msblsb = (int16_t)((msb << 8) | lsb);
accel->y = msblsb; /* Data in X axis */
lsb = data_array[idx++];
msb = data_array[idx++];
msblsb = (int16_t)((msb << 8) | lsb);
accel->z = msblsb; /* Data in X axis */
if (len == 3){
time_0 = data_array[idx++];
time_1 = (uint16_t)(data_array[idx++] << 8);
time_2 = (uint32_t)(data_array[idx++] << 16);
accel->sensortime = (uint32_t)(time_2 | time_1 | time_0);
}
}else{
rslt = BMI160_E_COM_FAIL;
}
return rslt;
}
int8_t DFRobot_BMI160::getGyroData(uint8_t len, struct bmi160SensorData *gyro, struct bmi160Dev *dev)
{
int8_t rslt;
uint8_t idx = 0;
uint8_t data_array[15] = {0};
uint8_t time_0 = 0;
uint16_t time_1 = 0;
uint32_t time_2 = 0;
uint8_t lsb;
uint8_t msb;
float msblsb;
if (len == 0) {
/* read gyro data only */
rslt = DFRobot_BMI160::getRegs(BMI160_GYRO_DATA_ADDR, data_array, 6, dev);
if (rslt == BMI160_OK) {
/* Gyro Data */
lsb = data_array[idx++];
msb = data_array[idx++];
msblsb = (int16_t)((msb << 8) | lsb);
gyro->x = msblsb; /* Data in X axis */
lsb = data_array[idx++];
msb = data_array[idx++];
msblsb = (int16_t)((msb << 8) | lsb);
gyro->y = msblsb; /* Data in Y axis */
lsb = data_array[idx++];
msb = data_array[idx++];
msblsb = (int16_t)((msb << 8) | lsb);
gyro->z = msblsb; /* Data in Z axis */
} else {
rslt = BMI160_E_COM_FAIL;
}
} else {
/* read gyro sensor data along with time */
rslt = DFRobot_BMI160::getRegs(BMI160_GYRO_DATA_ADDR, data_array, 12 + len, dev);
if (rslt == BMI160_OK) {
/* Gyro Data */
lsb = data_array[idx++];
msb = data_array[idx++];
msblsb = (int16_t)((msb << 8) | lsb);
gyro->x = msblsb; /* gyro X axis data */
lsb = data_array[idx++];
msb = data_array[idx++];
msblsb = (int16_t)((msb << 8) | lsb);
gyro->y = msblsb; /* gyro Y axis data */
lsb = data_array[idx++];
msb = data_array[idx++];
msblsb = (int16_t)((msb << 8) | lsb);
gyro->z = msblsb; /* gyro Z axis data */
idx = idx + 6;
time_0 = data_array[idx++];
time_1 = (uint16_t)(data_array[idx++] << 8);
time_2 = (uint32_t)(data_array[idx++] << 16);
gyro->sensortime = (uint32_t)(time_2 | time_1 | time_0);
} else {
rslt = BMI160_E_COM_FAIL;
}
}
return rslt;
}
int8_t DFRobot_BMI160::getAccelGyroData(uint8_t len, struct bmi160SensorData *accel, struct bmi160SensorData *gyro, struct bmi160Dev *dev)
{
int8_t rslt;
uint8_t idx = 0;
uint8_t data_array[15] = {0};
uint8_t time_0 = 0;
uint16_t time_1 = 0;
uint32_t time_2 = 0;
uint8_t lsb;
uint8_t msb;
int16_t msblsb;
/* read both accel and gyro sensor data
* along with time if requested */
rslt = DFRobot_BMI160::getRegs(BMI160_GYRO_DATA_ADDR, data_array, 12 + len, dev);
if (rslt == BMI160_OK) {
/* Gyro Data */
lsb = data_array[idx++];
msb = data_array[idx++];
msblsb = (int16_t)((msb << 8) | lsb);
gyro->x = msblsb; /* gyro X axis data */
lsb = data_array[idx++];
msb = data_array[idx++];
msblsb = (int16_t)((msb << 8) | lsb);
gyro->y = msblsb; /* gyro Y axis data */
lsb = data_array[idx++];
msb = data_array[idx++];
msblsb = (int16_t)((msb << 8) | lsb);
gyro->z = msblsb; /* gyro Z axis data */
/* Accel Data */
lsb = data_array[idx++];
msb = data_array[idx++];
msblsb = (int16_t)((msb << 8) | lsb);
accel->x = (int16_t)msblsb; /* accel X axis data */
lsb = data_array[idx++];
msb = data_array[idx++];
msblsb = (int16_t)((msb << 8) | lsb);
accel->y = (int16_t)msblsb; /* accel Y axis data */
lsb = data_array[idx++];
msb = data_array[idx++];
msblsb = (int16_t)((msb << 8) | lsb);
accel->z = (int16_t)msblsb; /* accel Z axis data */
if (len == 3) {
time_0 = data_array[idx++];
time_1 = (uint16_t)(data_array[idx++] << 8);
time_2 = (uint32_t)(data_array[idx++] << 16);
accel->sensortime = (uint32_t)(time_2 | time_1 | time_0);
gyro->sensortime = (uint32_t)(time_2 | time_1 | time_0);
} else {
accel->sensortime = 0;
gyro->sensortime = 0;
;
}
} else {
rslt = BMI160_E_COM_FAIL;
}
return rslt;
}
int8_t DFRobot_BMI160::getRegs(uint8_t reg_addr, uint8_t *data, uint16_t len, struct bmi160Dev *dev)
{
int8_t rslt = BMI160_OK;
//Null-pointer check
if (dev == NULL) {
rslt = BMI160_E_NULL_PTR;
} else {
//Configuring reg_addr for SPI Interface
if (dev->interface == BMI160_SPI_INTF){
reg_addr = (reg_addr | BMI160_SPI_RD_MASK);
rslt = DFRobot_BMI160::SPIGetRegs(dev, reg_addr, data, len);
}else{
rslt = DFRobot_BMI160::I2cGetRegs(dev, reg_addr, data, len);
}
delay(1);
if (rslt != BMI160_OK){
rslt = BMI160_E_COM_FAIL;
}
}
return rslt;
}
int8_t DFRobot_BMI160::I2cGetRegs(struct bmi160Dev *dev, uint8_t reg_addr, uint8_t *data, uint16_t len)
{
Wire.beginTransmission(dev->id);
Wire.write(reg_addr);
Wire.endTransmission(true);
delay(10);
Wire.requestFrom(dev->id,len);
for(int i = 0; i < len; i++){
data[i]=Wire.read();
delay(1);
}
return BMI160_OK;
}
int8_t DFRobot_BMI160::setRegs(uint8_t reg_addr, uint8_t *data, uint16_t len, struct bmi160Dev *dev)
{
int8_t rslt = BMI160_OK;
uint8_t count = 0;
//Null-pointer check
if (dev == NULL) {
rslt = BMI160_E_NULL_PTR;
} else {
//Configuring reg_addr for SPI Interface
if (dev->interface == BMI160_SPI_INTF){
reg_addr = (reg_addr & BMI160_SPI_WR_MASK);
rslt = DFRobot_BMI160::SPISetRegs(dev,reg_addr,data,len);
}else{
rslt = DFRobot_BMI160::I2cSetRegs(dev,reg_addr,data,len);
}
delay(1);
if (rslt != BMI160_OK)
rslt = BMI160_E_COM_FAIL;
}
return rslt;
}
int8_t DFRobot_BMI160::I2cSetRegs(struct bmi160Dev *dev, uint8_t reg_addr, uint8_t *data, uint16_t len)
{
if ((dev->prevAccelCfg.power == BMI160_ACCEL_NORMAL_MODE)||(dev->prevGyroCfg.power == BMI160_GYRO_NORMAL_MODE)){
Wire.beginTransmission(dev->id);
Wire.write(reg_addr);
for(int i = 0; i < len; i++){
Wire.write(data[i]);
delay(1);
}
Wire.endTransmission(true);
}else{
for(int i = 0; i < len; i++){
Wire.beginTransmission(dev->id);
Wire.write(reg_addr);
Wire.write(data[i]);
Wire.endTransmission(true);
delay(1);
}
}
return BMI160_OK;
}
int8_t DFRobot_BMI160::SPIGetRegs(struct bmi160Dev *dev, uint8_t reg_addr, uint8_t *data, uint16_t len)
{
digitalWrite(10,LOW);
//SPI.transfer(0x6B);
//SPI.transfer(0x10);
uint8_t buff[10]={0};
for(int i = 0; i < 10; i++){
buff[i] = SPI.transfer(0x00);
}
digitalWrite(10,HIGH);
return BMI160_OK;
}
int8_t DFRobot_BMI160::SPISetRegs(struct bmi160Dev *dev, uint8_t reg_addr, uint8_t *data, uint16_t len)
{
return BMI160_OK;
}
int8_t DFRobot_BMI160::setInt(int intNum)
{
return setInt(Obmi160,intNum);
}
int8_t DFRobot_BMI160::setInt(struct bmi160Dev *dev, int intNum)
{
int8_t rslt=BMI160_OK;
if (dev == NULL){
rslt = BMI160_E_NULL_PTR;
}
struct bmi160IntSettg intConfig;
if (intNum == 1){
intConfig.intChannel = BMI160_INT_CHANNEL_1;
}else if(intNum == 2){
intConfig.intChannel = BMI160_INT_CHANNEL_2;
}else{
return BMI160_E_NULL_PTR;
}
/* Select the Interrupt type */
intConfig.intType = BMI160_STEP_DETECT_INT;// Choosing Step Detector interrupt
/* Select the interrupt channel/pin settings */
intConfig.intPinSettg.outputEn = BMI160_ENABLE;// Enabling interrupt pins to act as output pin
intConfig.intPinSettg.outputMode = BMI160_DISABLE;// Choosing push-pull mode for interrupt pin
intConfig.intPinSettg.outputType = BMI160_ENABLE;// Choosing active High output
intConfig.intPinSettg.edgeCtrl = BMI160_ENABLE;// Choosing edge triggered output
intConfig.intPinSettg.inputEn = BMI160_DISABLE;// Disabling interrupt pin to act as input
intConfig.intPinSettg.latchDur =BMI160_LATCH_DUR_NONE;// non-latched output
/* Select the Step Detector interrupt parameters, Kindly use the recommended settings for step detector */
intConfig.intTypeCfg.accStepDetectInt.stepDetectorMode = BMI160_STEP_DETECT_NORMAL;
intConfig.intTypeCfg.accStepDetectInt.stepDetectorEn = BMI160_ENABLE;// 1-enable, 0-disable the step detector
rslt = DFRobot_BMI160::setIntConfig(&intConfig, dev);
return rslt;
}
int8_t DFRobot_BMI160::setIntConfig(struct bmi160IntSettg *intConfig, struct bmi160Dev *dev)
{
int8_t rslt = BMI160_OK;
switch (intConfig->intType) {
case BMI160_ACC_ANY_MOTION_INT:
/*Any-motion interrupt*/
//rslt = set_accel_any_motion_int(intConfig, dev);
break;
case BMI160_ACC_SIG_MOTION_INT:
/* Significant motion interrupt */
//rslt = set_accel_sig_motion_int(intConfig, dev);
break;
case BMI160_ACC_SLOW_NO_MOTION_INT:
/* Slow or no motion interrupt */
//rslt = set_accel_no_motion_int(intConfig, dev);
break;
case BMI160_ACC_DOUBLE_TAP_INT:
case BMI160_ACC_SINGLE_TAP_INT:
/* Double tap and single tap Interrupt */
//rslt = set_accel_tap_int(intConfig, dev);
break;
case BMI160_STEP_DETECT_INT:
/* Step detector interrupt */
rslt = setAccelStepDetectInt(intConfig, dev);
break;
case BMI160_ACC_ORIENT_INT:
/* Orientation interrupt */
//rslt = set_accel_orientation_int(intConfig, dev);
break;
case BMI160_ACC_FLAT_INT:
/* Flat detection interrupt */
//rslt = set_accel_flat_detect_int(intConfig, dev);
break;
case BMI160_ACC_LOW_G_INT: