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bmi160: add C driver and example. Add SPI support, other improvments.

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This adds SPI support to the BMI160, as well as a C driver and a C
example.  In addition, some changes were made to more properly detect
and handle errors.

Functions supplied by the bosch_bmi160 driver source code is also
exported and made available to callers who want more than what the
basic driver support.  Bus access methods (I2C and SPI) are also now
exposed to both C and C++.

Signed-off-by: Jon Trulson <jtrulson@ics.com>
This commit is contained in:
Jon Trulson
2016-09-27 16:39:09 -06:00
parent e7c80217c2
commit 0086626173
12 changed files with 1203 additions and 547 deletions
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391
src/bmi160/bmi160.hpp
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@@ -22,230 +22,225 @@
* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
#pragma once
#include <stdint.h>
#include <string>
#include "bmi160.h"
#define BMI160_I2C_BUS 0
#define BMI160_DEFAULT_I2C_ADDR 0x69
namespace upm {
/**
* @brief BMI160 3-axis Accelerometer, Gyroscope and Magnetometer
* @defgroup bmi160 libupm-bmi160
* @ingroup i2c accelerometer compass
*/
/**
* @brief BMI160 3-axis Accelerometer, Gyroscope and Magnetometer
* @defgroup bmi160 libupm-bmi160
* @ingroup i2c accelerometer compass
*/
/**
* @library bmi160
* @sensor bmi160
* @comname BMI160 3-axis Accelerometer, Gyroscope
* and Magnetometer
* @type accelerometer compass
* @man mouser
* @con i2c
* @web http://www.mouser.com/ProductDetail/Bosch-Sensortec/0330SB2187/?qs=sGAEpiMZZMvi6wO7nhr1L9JELKA6cYRX60mAGNTn0fQ%3d
*
* @brief UPM API for the BMI160 3-axis Accelerometer, Gyroscope and
* Magnetometer
*
* The Bosch BMI160 is a 3-axis Accelerometer and Gyroscope.
* Additionally it supports an external Magnetometer, accessed
* through the BMI160's register interface. This driver was
* developed with a BMI160 "Shuttle" board, which included a BMM150
* Magnetometer.
*
* The device is driven by either 1.8v or 3.3vdc. This driver
* incorporates the Bosch BMI160 driver code at
* https://github.com/BoschSensortec/BMI160_driver .
*
* While not all of the functionality of this device is supported
* initially, the inclusion of the Bosch driver in the source code
* makes it possible to support whatever features are required that
* the driver can support.
*
* @snippet bmi160.cxx Interesting
*/
class BMI160 {
public:
typedef enum {
ACCEL_RANGE_2G = 0, // 2 Gravities
ACCEL_RANGE_4G,
ACCEL_RANGE_8G,
ACCEL_RANGE_16G
} ACCEL_RANGE_T;
typedef enum {
GYRO_RANGE_125 = 0, // 125 degrees/sec
GYRO_RANGE_250,
GYRO_RANGE_500,
GYRO_RANGE_1000,
GYRO_RANGE_2000
} GYRO_RANGE_T;
/**
* bmi160 constructor
* @library bmi160
* @sensor bmi160
* @comname BMI160 3-axis Accelerometer, Gyroscope
* and Magnetometer
* @type accelerometer compass
* @man mouser
* @con i2c
* @web http://www.mouser.com/ProductDetail/Bosch-Sensortec/0330SB2187/?qs=sGAEpiMZZMvi6wO7nhr1L9JELKA6cYRX60mAGNTn0fQ%3d
*
* @param bus i2c bus to use
* @param address the address for this device
* @brief UPM API for the BMI160 3-axis Accelerometer, Gyroscope and
* Magnetometer
*
* The Bosch BMI160 is a 3-axis Accelerometer and Gyroscope.
* Additionally it supports an external Magnetometer, accessed
* through the BMI160's register interface. This driver was
* developed with a BMI160 "Shuttle" board, which included a BMM150
* Magnetometer.
*
* The device is driven by either 1.8v or 3.3vdc. This driver
* incorporates the Bosch BMI160 driver code at
* https://github.com/BoschSensortec/BMI160_driver
*
* The Bosch driver code does not provide a mechanism for passing
* user data around (like the device context). For this reason,
* only one instance of this driver can be used in a given process,
* due to the use of static data in the driver.
*
* While not all of the functionality of this device is supported
* initially, the inclusion of the Bosch driver in the source code
* makes it possible to support whatever features are required that
* the driver can support.
*
* @snippet bmi160.cxx Interesting
*/
BMI160(int bus=BMI160_I2C_BUS, uint8_t address=BMI160_DEFAULT_I2C_ADDR);
class BMI160 {
public:
/**
* BMI160 Destructor
*/
~BMI160();
/**
* BMI160 constructor. The default arguments inititialize I2C
* operation and the default I2C address.
*
* @param bus i2c bus to use
* @param address The address for this device if using I2C. If
* using SPI, supply -1 for this parameter.
* @param cs_pin The GPIO to use for Chip Select (CS). This is
* only needed for SPI, and only if your SPI implementation
* requires it. Otherwise, just pass -1 if not using SPI, or your
* CS is handled automatically by your SPI implementation.
* @param enableMag true to enable the magnetometer, false otherwise
*/
BMI160(int bus=BMI160_I2C_BUS, int address=BMI160_DEFAULT_I2C_ADDR,
int csPin=-1, bool enableMag=true);
/**
* Take a measurement and store the current sensor values
* internally. This function must be called prior to retrieving
* any sensor values, for example getAccelerometer().
*
*/
void update();
/**
* BMI160 Destructor
*/
~BMI160();
/**
* set the scaling mode of the accelerometer
*
* @param scale one of the ACCEL_RANGE_T values
*/
void setAccelerometerScale(ACCEL_RANGE_T scale);
/**
* Take a measurement and store the current sensor values
* internally. This function must be called prior to retrieving
* any sensor values, for example getAccelerometer().
*
*/
void update();
/**
* set the scaling mode of the gyroscope
*
* @param scale one of the GYRO_RANGE_T values
*/
void setGyroscopeScale(GYRO_RANGE_T scale);
/**
* set the scaling mode of the accelerometer
*
* @param scale one of the ACCEL_RANGE_T values
*/
void setAccelerometerScale(BMI160_ACC_RANGE_T scale);
/**
* Get the Accelerometer values. This function returns a pointer
* to 3 floating point values: X, Y, and Z, in that order. The
* values returned are in gravities. update() must have been
* called prior to calling this method.
*
* The caller is reponsible for freeing the returned pointer.
*
* @return Pointer to 3 floating point values: X, Y, and Z in
* gravities.
*/
float *getAccelerometer();
/**
* set the scaling mode of the gyroscope
*
* @param scale one of the GYRO_RANGE_T values
*/
void setGyroscopeScale(BMI160_GYRO_RANGE_T scale);
/**
* Get the Accelerometer values. The values returned are in
* gravities. update() must have been called prior to calling
* this method.
*
* @param x A pointer into which the X value will be returned
* @param y A pointer into which the Y value will be returned
* @param z A pointer into which the Z value will be returned
*/
void getAccelerometer(float *x, float *y, float *z);
/**
* Get the Accelerometer values. This function returns a pointer
* to 3 floating point values: X, Y, and Z, in that order. The
* values returned are in gravities. update() must have been
* called prior to calling this method.
*
* The caller is reponsible for freeing the returned pointer.
*
* @return Pointer to 3 floating point values: X, Y, and Z in
* gravities.
*/
float *getAccelerometer();
/**
* Get the Gyroscope values. This function returns a pointer to 3
* floating point values: X, Y, and Z, in that order. The values
* values returned are in degrees per second. update() must have
* been called prior to calling this method.
*
* The caller is reponsible for freeing the returned pointer.
*
* @return Pointer to 3 floating point values: X, Y, and Z in
* degrees per second.
*/
float *getGyroscope();
/**
* Get the Accelerometer values. The values returned are in
* gravities. update() must have been called prior to calling
* this method.
*
* @param x A pointer into which the X value will be returned
* @param y A pointer into which the Y value will be returned
* @param z A pointer into which the Z value will be returned
*/
void getAccelerometer(float *x, float *y, float *z);
/**
* Get the Gyroscope values. The values returned are in degrees
* per second. update() must have been called prior to calling
* this method.
*
* @param x A pointer into which the X value will be returned
* @param y A pointer into which the Y value will be returned
* @param z A pointer into which the Z value will be returned
*/
void getGyroscope(float *x, float *y, float *z);
/**
* Get the Gyroscope values. This function returns a pointer to 3
* floating point values: X, Y, and Z, in that order. The values
* values returned are in degrees per second. update() must have
* been called prior to calling this method.
*
* The caller is reponsible for freeing the returned pointer.
*
* @return Pointer to 3 floating point values: X, Y, and Z in
* degrees per second.
*/
float *getGyroscope();
/**
* Get the Magnetometer values. This function returns a pointer
* to 3 floating point values: X, Y, and Z, in that order. The
* values values returned are in micro Teslas. update() must have
* been called prior to calling this method. If the Magnetometer
* has been disabled, the return values will always be 0, 0, and
* 0.
*
* The caller is reponsible for freeing the returned pointer.
*
* @return Pointer to 3 floating point values: X, Y, and Z in
* micro Teslas.
*/
float *getMagnetometer();
/**
* Get the Gyroscope values. The values returned are in degrees
* per second. update() must have been called prior to calling
* this method.
*
* @param x A pointer into which the X value will be returned
* @param y A pointer into which the Y value will be returned
* @param z A pointer into which the Z value will be returned
*/
void getGyroscope(float *x, float *y, float *z);
/**
* Get the Magnetometer values. The values returned are in micro
* Teslas. update() must have been called prior to calling this
* method.
*
* @param x A pointer into which the X value will be returned
* @param y A pointer into which the Y value will be returned
* @param z A pointer into which the Z value will be returned
*/
void getMagnetometer(float *x, float *y, float *z);
/**
* Get the Magnetometer values. This function returns a pointer
* to 3 floating point values: X, Y, and Z, in that order. The
* values values returned are in micro Teslas. update() must have
* been called prior to calling this method. If the Magnetometer
* has been disabled, the return values will always be 0, 0, and
* 0.
*
* The caller is reponsible for freeing the returned pointer.
*
* @return Pointer to 3 floating point values: X, Y, and Z in
* micro Teslas.
*/
float *getMagnetometer();
/**
* Enable or disable the Magnetometer. By default, the
* magnetometer is enabled.
*
* @param enable true to enable the magnetometer, false to disable.
*/
void enableMagnetometer(bool enable);
/**
* Get the Magnetometer values. The values returned are in micro
* Teslas. update() must have been called prior to calling this
* method.
*
* @param x A pointer into which the X value will be returned
* @param y A pointer into which the Y value will be returned
* @param z A pointer into which the Z value will be returned
*/
void getMagnetometer(float *x, float *y, float *z);
/**
* Return the sensor time. This is a 24bit value that increments
* every 39us. It will wrap around once the 24b resolution is
* exceeded.
*
* @return The current sensor time.
*/
unsigned int getSensorTime();
/**
* Enable or disable the Magnetometer. By default, the
* magnetometer is enabled.
*
* @param enable true to enable the magnetometer, false to disable.
*/
void enableMagnetometer(bool enable);
protected:
// uncompensated accelerometer and gyroscope values
float m_accelX;
float m_accelY;
float m_accelZ;
/**
* Return the sensor time. This is a 24bit value that increments
* every 39us. It will wrap around once the 24b resolution is
* exceeded.
*
* @return The current sensor time.
*/
unsigned int getSensorTime();
float m_gyroX;
float m_gyroY;
float m_gyroZ;
protected:
bmi160_context m_bmi160;
float m_magX;
float m_magY;
float m_magZ;
/**
* Perform a bus read. This function is bus agnostic, and is used
* by the bosch code to perform bus reads. It is exposed here for
* those users wishing to perform their own low level accesses.
* This is a low level function, and should not be used unless you
* know what you are doing.
*
* @param addr For I2C operation, this is the I2C address.
* For SPI, this argument is ignored.
* @param reg The register address to access.
* @param cnt The number of bytes to read.
* @return The data read
*/
std::string busRead(int addr, int reg, int len);
unsigned int m_sensorTime;
/**
* Perform a bus write. This function is bus agnostic, and is used
* by the bosch code to perform bus writes. It is exposed here for
* those users wishing to perform their own low level accesses.
* This is a low level function, and should not be used unless you
* know what you are doing.
*
* @param addr For I2C operation, this is the I2C address.
* For SPI, this argument is ignored.
* @param addr The register address to access.
* @param data The string containing the data to write
*/
void busWrite(int addr, int reg, std::string data);
// accelerometer and gyro scaling factors, depending on their Full
// Scale (Range) settings.
float m_accelScale;
float m_gyroScale;
// is the magnetometer enabled?
bool m_magEnabled;
/**
* set up initial values and start operation
*
* @return true if successful
*/
virtual bool init();
private:
// due to the way we need to 'hook' into the bmi driver, the i2c
// context is a static variable defined in the .cxx implmentation.
uint8_t m_addr;
};
private:
};
}