bmg160.h File Reference

Include dependency graph for bmg160.h:

API Description

/*
 * Author: Jon Trulson <jtrulson@ics.com>
 * Copyright (c) 2017 Intel Corporation.
 *
 * The MIT License
 *
 * Permission is hereby granted, free of charge, to any person obtaining
 * a copy of this software and associated documentation files (the
 * "Software"), to deal in the Software without restriction, including
 * without limitation the rights to use, copy, modify, merge, publish,
 * distribute, sublicense, and/or sell copies of the Software, and to
 * permit persons to whom the Software is furnished to do so, subject to
 * the following conditions:
 *
 * The above copyright notice and this permission notice shall be
 * included in all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
 * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
 * LIABLE FOR ANY CLAIM, DAMAGES 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.
 */

#include <unistd.h>
#include <stdio.h>
#include <signal.h>

#include "upm_utilities.h"
#include "bmg160.h"

bool shouldRun = true;

void sig_handler(int signo)
{
    if (signo == SIGINT)
        shouldRun = false;
}


int main(int argc, char **argv)
{
    signal(SIGINT, sig_handler);

#if defined(CONFIG_BOARD_ARDUINO_101_SSS)
    // ARDUINO_101_SSS (ARC core) must use I2C
    // Instantiate a BMG160 instance using default i2c bus and address
    bmg160_context sensor = bmg160_init(BMG160_DEFAULT_I2C_BUS,
                                        BMG160_DEFAULT_ADDR, -1);
#elif defined(CONFIG_BOARD_ARDUINO_101)
    // ARDUINO_101 (Quark core) where you must use SPI
    // Instantiate a BMG160 instance using default SPI bus and pin 10 as CS
    bmg160_context sensor = bmg160_init(BMG160_DEFAULT_SPI_BUS,
                                        -1, 10);
#else
    // everything else use I2C by default
    // Instantiate a BMG160 instance using default i2c bus and address
    bmg160_context sensor = bmg160_init(BMG160_DEFAULT_I2C_BUS,
                                        BMG160_DEFAULT_ADDR, -1);
#endif

    if (!sensor)
    {
        printf("bmg160_init() failed.\n");
        return 1;
    }

    // now output data every 250 milliseconds
    while (shouldRun)
    {
        float x, y, z;

        if (bmg160_update(sensor))
        {
            printf("bmg160_update() failed\n");
            return 1;
        }

        bmg160_get_gyroscope(sensor, &x, &y, &z);
        printf("Gyroscope x: %f y: %f z: %f degrees/s\n",
               x, y, z);

        printf("Compensation Temperature: %f C\n\n",
               bmg160_get_temperature(sensor));

        upm_delay_ms(250);
    }

    printf("Exiting...\n");

    bmg160_close(sensor);


    return 0;
}

Go to the source code of this file.

Data Structures
struct	_bmg160_context

Functions
bmg160_context	bmg160_init (int bus, int addr, int cs)
void	bmg160_close (bmg160_context dev)
upm_result_t	bmg160_update (const bmg160_context dev)
uint8_t	bmg160_get_chip_id (const bmg160_context dev)
void	bmg160_get_gyroscope (const bmg160_context dev, float *x, float *y, float *z)
float	bmg160_get_temperature (const bmg160_context dev)
upm_result_t	bmg160_devinit (const bmg160_context dev, BMG160_POWER_MODE_T pwr, BMG160_RANGE_T range, BMG160_BW_T bw)
upm_result_t	bmg160_reset (const bmg160_context dev)
upm_result_t	bmg160_set_range (const bmg160_context dev, BMG160_RANGE_T range)
upm_result_t	bmg160_set_bandwidth (const bmg160_context dev, BMG160_BW_T bw)
upm_result_t	bmg160_set_power_mode (const bmg160_context dev, BMG160_POWER_MODE_T power)
void	bmg160_enable_fifo (const bmg160_context dev, bool useFIFO)
upm_result_t	bmg160_fifo_set_watermark (const bmg160_context dev, int wm)
upm_result_t	bmg160_fifo_config (const bmg160_context dev, BMG160_FIFO_MODE_T mode, BMG160_FIFO_DATA_SEL_T axes)
uint8_t	bmg160_get_interrupt_enable0 (const bmg160_context dev)
upm_result_t	bmg160_set_interrupt_enable0 (const bmg160_context dev, uint8_t bits)
uint8_t	bmg160_get_interrupt_map0 (const bmg160_context dev)
upm_result_t	bmg160_set_interrupt_map0 (const bmg160_context dev, uint8_t bits)
uint8_t	bmg160_get_interrupt_map1 (const bmg160_context dev)
upm_result_t	bmg160_set_interrupt_map1 (const bmg160_context dev, uint8_t bits)
uint8_t	bmg160_get_interrupt_src (const bmg160_context dev)
upm_result_t	bmg160_set_interrupt_src (const bmg160_context dev, uint8_t bits)
uint8_t	bmg160_get_interrupt_output_control (const bmg160_context dev)
upm_result_t	bmg160_set_interrupt_output_control (const bmg160_context dev, uint8_t bits)
upm_result_t	bmg160_clear_interrupt_latches (const bmg160_context dev)
BMG160_RST_LATCH_T	bmg160_get_interrupt_latch_behavior (const bmg160_context dev)
upm_result_t	bmg160_set_interrupt_latch_behavior (const bmg160_context dev, BMG160_RST_LATCH_T latch)
uint8_t	bmg160_get_interrupt_status0 (const bmg160_context dev)
uint8_t	bmg160_get_interrupt_status1 (const bmg160_context dev)
uint8_t	bmg160_get_interrupt_status2 (const bmg160_context dev)
uint8_t	bmg160_get_interrupt_status3 (const bmg160_context dev)
upm_result_t	bmg160_enable_register_shadowing (const bmg160_context dev, bool shadow)
upm_result_t	bmg160_enable_output_filtering (const bmg160_context dev, bool filter)
upm_result_t	bmg160_install_isr (const bmg160_context dev, BMG160_INTERRUPT_PINS_T intr, int gpio, mraa_gpio_edge_t level, void(*isr)(void *), void *arg)
void	bmg160_uninstall_isr (const bmg160_context dev, BMG160_INTERRUPT_PINS_T intr)
uint8_t	bmg160_read_reg (const bmg160_context dev, uint8_t reg)
int	bmg160_read_regs (const bmg160_context dev, uint8_t reg, uint8_t *buffer, int len)
upm_result_t	bmg160_write_reg (const bmg160_context dev, uint8_t reg, uint8_t val)

Typedefs
typedef struct _bmg160_context *	bmg160_context

Function Documentation

bmg160_context bmg160_init	(	int	bus,
		int	addr,
		int	cs
	)

BMG160 initialization.

This device can support both I2C and SPI. For SPI, set the addr to -1, and specify a positive integer representing the Chip Select (CS) pin for the cs argument. If you are using a hardware CS pin (like Intel Edison with Arduino breakout), then you can connect the proper pin to the hardware CS pin on your MCU and supply -1 for cs.

Parameters

bus	I2C or SPI bus to use.
addr	The address for this device, or -1 for SPI.
cs	The gpio pin to use for the SPI Chip Select. Use -1 for I2C or for SPI with a hardware controlled pin.

Returns

The device context, or NULL on error.

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void bmg160_close

(

bmg160_context

dev

)

BMG160 Destructor.

Parameters

dev	The device context.

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upm_result_t bmg160_update

(

const bmg160_context

dev

)

Update the internal stored values from sensor data.

Parameters

dev	The device context.

Returns

UPM result.

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uint8_t bmg160_get_chip_id

(

const bmg160_context

dev

)

Return the chip ID.

Parameters

dev	The device context.

Returns

The chip ID (BMG160_CHIPID).

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void bmg160_get_gyroscope	(	const bmg160_context	dev,
		float *	x,
		float *	y,
		float *	z
	)

Return gyroscope data in degrees per second. bmg160_update() must have been called prior to calling this method.

Parameters

dev	The device context.
x	Pointer to a floating point value that will have the current x component placed into it.
y	Pointer to a floating point value that will have the current y component placed into it.
z	Pointer to a floating point value that will have the current z component placed into it.

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float bmg160_get_temperature

(

const bmg160_context

dev

)

Return the current measured temperature. Note, this is not ambient temperature. bmg160_update() must have been called prior to calling this method.

Parameters

dev	The device context.

Returns

The temperature in degrees Celsius.

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upm_result_t bmg160_devinit	(	const bmg160_context	dev,
		BMG160_POWER_MODE_T	pwr,
		BMG160_RANGE_T	range,
		BMG160_BW_T	bw
	)

Initialize the device and start operation. This function is called from bmg160_init(), so it will not need to be called by a user unless the device is reset.

In addition, it will enable register shadowing and enable the FIFO in bypass mode.

Parameters

dev	The device context.
pwr	One of the BMG160_POWER_MODE_T values.
range	One of the BMG160_RANGE_T values.
bw	One of the filtering BMG160_BW_T values.

Returns

UPM result.

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upm_result_t bmg160_reset

(

const bmg160_context

dev

)

Reset the device as if during a power on reset. All configured values are lost when this happens. You should call bmg160_devinit() afterwards, or at least perform the same initialization bmg160_devinit() does before continuing.

Parameters

dev	The device context.

Returns

UPM result.

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upm_result_t bmg160_set_range	(	const bmg160_context	dev,
		BMG160_RANGE_T	range
	)

Set the gyroscope detection scaling range. This device supports 125, 250, 500, 1000, and 2000 degree/s ranges.

Parameters

dev	The device context.
range	One of the BMG160_RANGE_T values.

Returns

UPM result.

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upm_result_t bmg160_set_bandwidth	(	const bmg160_context	dev,
		BMG160_BW_T	bw
	)

Set the output filtering bandwidth of the device.

Parameters

dev	The device context.
bw	One of the BMG160_BW_T values.

Returns

UPM result.

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upm_result_t bmg160_set_power_mode	(	const bmg160_context	dev,
		BMG160_POWER_MODE_T	power
	)

Set the power mode of the device. Care must be taken when setting a low power or suspend mode. See the datasheet for details. In certain power modes, register write must be drastically slowed down, which we cannot support.

Parameters

dev	The device context.
power	One of the BMG160_POWER_MODE_T values.

Returns

UPM result.

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void bmg160_enable_fifo	(	const bmg160_context	dev,
		bool	useFIFO
	)

Enable bmg160_update() to read from the FIFO rather than the gyroscope axis registers directly. bmg160_devinit() enables this mode by default. An advantage to this mode that all axis data is sampled from the same timeslice. When reading directly from the gyroscope output registers, it's possible for one axis to be updated while another is being read, causing a temporal inconsistency.

Using the FIFO removes this problem.

Parameters

dev	The device context.
useFIFO	true to enable bmg160_update() to read from the FIFO. When false, update will read from the gyroscope output registers directly.

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upm_result_t bmg160_fifo_set_watermark	(	const bmg160_context	dev,
		int	wm
	)

Set the FIFO watermark. When the watermark is reached an interrupt (if enabled) will be generated.

Parameters

dev	The device context.
wm	The FIFO watermark to use. The maximum value is 63.

Returns

UPM result.

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upm_result_t bmg160_fifo_config	(	const bmg160_context	dev,
		BMG160_FIFO_MODE_T	mode,
		BMG160_FIFO_DATA_SEL_T	axes
	)

Set the FIFO configuration. bmg160_devinit() uses the BMG160_FIFO_MODE_BYPASS mode with axes set to BMG160_FIFO_DATA_SEL_XYZ by default.

Parameters

dev	The device context.
mode	One of the BMG160_FIFO_MODE_T values.
axes	One of the BMG160_FIFO_DATA_SEL_T values.

Returns

UPM result.

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uint8_t bmg160_get_interrupt_enable0

(

const bmg160_context

dev

)

Return the Interrupt Enables 0 register. These registers allow you to enable various interrupt conditions. See the datasheet for details.

Parameters

dev	The device context.

Returns

A bitmask of BMG160_INT_EN_0_BITS_T bits.

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upm_result_t bmg160_set_interrupt_enable0	(	const bmg160_context	dev,
		uint8_t	bits
	)

Set the Interrupt Enables 0 register. See the datasheet for details.

Parameters

dev	The device context.
bits	A bitmask of BMG160_INT_EN_0_BITS_T bits.

Returns

UPM result.

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uint8_t bmg160_get_interrupt_map0

(

const bmg160_context

dev

)

Return the Interrupt Map 0 register. These registers allow you to map specific interrupts to the interrupt 1 or interrupt 2 pin. See the datasheet for details.

Parameters

dev	The device context.

Returns

A bitmask of BMG160_INT_MAP_0_BITS_T bits.

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upm_result_t bmg160_set_interrupt_map0	(	const bmg160_context	dev,
		uint8_t	bits
	)

Set the Interrupt Map 0 register. These registers allow you to map specific interrupts to the interrupt 1 or interrupt 2 pin. See the datasheet for details.

Parameters

dev	The device context.
bits	A bitmask of BMG160_INT_MAP_0_BITS_T bits.

Returns

UPM result.

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uint8_t bmg160_get_interrupt_map1

(

const bmg160_context

dev

)

Return the Interrupt Map 1 register. See the datasheet for details.

Parameters

dev	The device context.

Returns

A bitmask of BMG160_INT_MAP_1_BITS_T bits.

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upm_result_t bmg160_set_interrupt_map1	(	const bmg160_context	dev,
		uint8_t	bits
	)

Set the Interrupt Map 1 register. See the datasheet for details.

Parameters

dev	The device context.
bits	A bitmask of BMG160_INT_MAP_1_BITS_T bits.

Returns

UPM result.

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uint8_t bmg160_get_interrupt_src

(

const bmg160_context

dev

)

Return the Interrupt source register. This register allows determining where data comes from (filtered/unfiltered) for those interrupt sources where this is selectable. See the datasheet for details.

Parameters

dev	The device context.

Returns

A bitmask of BMG160_INT_1A_BITS_T bits.

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upm_result_t bmg160_set_interrupt_src	(	const bmg160_context	dev,
		uint8_t	bits
	)

Set the Interrupt source register. This register allows determining where data comes from (filtered/unfiltered) for those interrupt sources where this is selectable. See the datasheet for details.

Parameters

dev	The device context.
bits	A bitmask of BMG160_INT_1A_BITS_T bits.

Returns

UPM result.

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uint8_t bmg160_get_interrupt_output_control

(

const bmg160_context

dev

)

Return the Interrupt output control register. This register allows determining the electrical characteristics of the 2 interrupt pins (open-drain/push-pull and level/edge triggering). See the datasheet for details.

Parameters

dev	The device context.

Returns

A bitmask of BMG160_INT_EN_1_BITS_T bits.

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upm_result_t bmg160_set_interrupt_output_control	(	const bmg160_context	dev,
		uint8_t	bits
	)

Set the Interrupt output control register. This register allows determining the electrical characteristics of the 2 interrupt pins (open-drain/push-pull and level/edge triggering). See the datasheet for details.

Parameters

dev	The device context.
bits	A bitmask of BMG160_INT_EN_1_BITS_T bits.

Returns

UPM result.

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upm_result_t bmg160_clear_interrupt_latches

(

const bmg160_context

dev

)

Clear all latched interrupts. See the datasheet for details.

Parameters

dev	The device context.

Returns

UPM result.

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BMG160_RST_LATCH_T bmg160_get_interrupt_latch_behavior

(

const bmg160_context

dev

)

Return the current interrupt latching behavior. See the datasheet for details.

Parameters

dev	The device context.

Returns

One of the BMG160_RST_LATCH_T values.

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upm_result_t bmg160_set_interrupt_latch_behavior	(	const bmg160_context	dev,
		BMG160_RST_LATCH_T	latch
	)

Set the current interrupt latching behavior. See the datasheet for details.

Parameters

dev	The device context.
latch	One of the BMG160_RST_LATCH_T values.

Returns

UPM result.

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uint8_t bmg160_get_interrupt_status0

(

const bmg160_context

dev

)

Return the interrupt status 0 register. These registers indicate which interrupts have been triggered. See the datasheet for details.

Parameters

dev	The device context.

Returns

a bitmask of BMG160_INT_STATUS_0_BITS_T bits.

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uint8_t bmg160_get_interrupt_status1

(

const bmg160_context

dev

)

Return the interrupt status 1 register. See the datasheet for details.

Parameters

dev	The device context.

Returns

a bitmask of BMG160_INT_STATUS_1_BITS_T bits.

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uint8_t bmg160_get_interrupt_status2

(

const bmg160_context

dev

)

Return the interrupt status 2 register. See the datasheet for details.

Parameters

dev	The device context.

Returns

a bitmask of BMG160_INT_STATUS_2_BITS_T bits.

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uint8_t bmg160_get_interrupt_status3

(

const bmg160_context

dev

)

Return the interrupt status 3 register. See the datasheet for details.

Parameters

dev	The device context.

Returns

a bitmask of BMG160_INT_STATUS_3_BITS_T bits.

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upm_result_t bmg160_enable_register_shadowing	(	const bmg160_context	dev,
		bool	shadow
	)

Enable shadowing of the gyroscope output registers. When enabled, a read of an axis LSB register automatically locks the MSB register of that axis until it has been read. This is usually a good thing to have enabled. bmg160_devinit() enables this by default. If disabled, then it becomes possible for part of an axis value to change while another part is being read, causing inconsistent data.

Parameters

dev	The device context.
shadow	true to enable axis register shadowing, false otherwise.

Returns

UPM result.

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upm_result_t bmg160_enable_output_filtering	(	const bmg160_context	dev,
		bool	filter
	)

Enable filtering of the gyroscope axis data. bmg160_devinit() enables this by default. If disabled, then gyroscope data that is read will be raw and unfiltered (rated R). See the datasheet for details.

Parameters

dev	The device context.
filter	true to enable filtering, false to disable.

Returns

UPM result.

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upm_result_t bmg160_install_isr	(	const bmg160_context	dev,
		BMG160_INTERRUPT_PINS_T	intr,
		int	gpio,
		mraa_gpio_edge_t	level,
		void(*)(void *)	isr,
		void *	arg
	)

install an interrupt handler.

Parameters

dev	The device context.
intr	One of the BMG160_INTERRUPT_PINS_T values specifying which interrupt pin you are installing.
gpio	GPIO pin to use as interrupt pin
level	The interrupt trigger level (one of mraa_gpio_edge_t values). Make sure that you have configured the interrupt pin properly for whatever level you choose.
isr	The interrupt handler, accepting a void * argument
arg	The argument to pass the the interrupt handler

Returns

UPM result.

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void bmg160_uninstall_isr	(	const bmg160_context	dev,
		BMG160_INTERRUPT_PINS_T	intr
	)

uninstall a previously installed interrupt handler

Parameters

dev	The device context.
intr	One of the BMG160_INTERRUPT_PINS_T values specifying which interrupt pin you are removing.

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uint8_t bmg160_read_reg	(	const bmg160_context	dev,
		uint8_t	reg
	)

Read a register.

Parameters

dev	The device context.
reg	The register to read.

Returns

The value of the register.

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int bmg160_read_regs	(	const bmg160_context	dev,
		uint8_t	reg,
		uint8_t *	buffer,
		int	len
	)

Read contiguous registers into a buffer.

Parameters

dev	The device context.
buffer	The buffer to store the results.
len	The number of registers to read.

Returns

The number of bytes read, or -1 on error.

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upm_result_t bmg160_write_reg	(	const bmg160_context	dev,
		uint8_t	reg,
		uint8_t	val
	)

Write to a register.

Parameters

dev	The device context.
reg	The register to write to.
val	The value to write.

Returns

UPM result.

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Typedef Documentation

typedef struct _bmg160_context * bmg160_context

Device context