API for the BMG160 16 bit Triaxial Gyroscope. More...

Detailed Description

ID: bmg160
Name: 3-axis Gyroscope Sensor
Category: gyro
Manufacturer: bosch
Connection: i2c spi gpio
Link: https://www.bosch-sensortec.com/bst/products/all_products/bmg160

The BMG160 is a 3-axis angular rate sensor that is made of a surface micro machined sensing element and an evaluation ASIC. Both parts are packed into one single LGA 3.0mm x 3.0mm x 0.95mm housing. The BMG160 is designed to meet requirements for consumer applications such as image stabilization (DSC and camera-phone), gaming and pointing devices. It is capable to measure angular rates in three perpendicular room dimensions, the x-, y- and z-axis, and to provide the corresponding output signals. The BMG160 is fitted with digital bi-directional SPI and I2C interfaces for optimum system integration.

Not all functionality of this chip has been implemented in this driver, however all the pieces are present to add any desired functionality. This driver supports both I2C (default) and SPI operation.

This device requires 3.3v operation.

    // Instantiate an BMG160 using default I2C parameters
    upm::BMG160 sensor;
    // For SPI, bus 0, you would pass -1 as the address, and a valid pin
    // for CS: BMG160(0, -1, 10);
    // now output data every 250 milliseconds
    while (shouldRun) {
        float x, y, z;
        sensor.update();
        sensor.getGyroscope(&x, &y, &z);
        cout << "Gyroscope x: " << x << " y: " << y << " z: " << z << " degrees/s" << endl;
        // we show both C and F for temperature
        cout << "Compensation Temperature: " << sensor.getTemperature() << " C / "
             << sensor.getTemperature(true) << " F" << endl;
        cout << endl;
        upm_delay_us(250000);
    }

Public Member Functions
	BMG160 (int bus=BMG160_DEFAULT_I2C_BUS, int addr=BMG160_DEFAULT_ADDR, int cs=-1)

	~BMG160 ()

void	update ()

uint8_t	getChipID ()

void	getGyroscope (float x, float y, float *z)

std::vector< float >	getGyroscope ()

float	getTemperature (bool fahrenheit=false)

void	init (BMG160_POWER_MODE_T pwr=BMG160_POWER_MODE_NORMAL, BMG160_RANGE_T range=BMG160_RANGE_250, BMG160_BW_T bw=BMG160_BW_400_47)

void	reset ()

void	setRange (BMG160_RANGE_T range)

void	setBandwidth (BMG160_BW_T bw)

void	setPowerMode (BMG160_POWER_MODE_T power)

void	enableFIFO (bool useFIFO)

void	fifoSetWatermark (int wm)

void	fifoConfig (BMG160_FIFO_MODE_T mode, BMG160_FIFO_DATA_SEL_T axes)

uint8_t	getInterruptEnable0 ()

void	setInterruptEnable0 (uint8_t bits)

uint8_t	getInterruptMap0 ()

void	setInterruptMap0 (uint8_t bits)

uint8_t	getInterruptMap1 ()

void	setInterruptMap1 (uint8_t bits)

uint8_t	getInterruptSrc ()

void	setInterruptSrc (uint8_t bits)

uint8_t	getInterruptOutputControl ()

void	setInterruptOutputControl (uint8_t bits)

void	clearInterruptLatches ()

BMG160_RST_LATCH_T	getInterruptLatchBehavior ()

void	setInterruptLatchBehavior (BMG160_RST_LATCH_T latch)

uint8_t	getInterruptStatus0 ()

uint8_t	getInterruptStatus1 ()

uint8_t	getInterruptStatus2 ()

uint8_t	getInterruptStatus3 ()

void	enableRegisterShadowing (bool shadow)

void	enableOutputFiltering (bool filter)

void	installISR (BMG160_INTERRUPT_PINS_T intr, int gpio, mraa::Edge level, void(isr)(void ), void *arg)

void	uninstallISR (BMG160_INTERRUPT_PINS_T intr)

uint8_t	readReg (uint8_t reg)

int	readRegs (uint8_t reg, uint8_t *buffer, int len)

void	writeReg (uint8_t reg, uint8_t val)

Protected Attributes
bmg160_context	m_bmg160

Constructor & Destructor Documentation

BMG160	(	int	bus = `BMG160_DEFAULT_I2C_BUS`,
		int	addr = `BMG160_DEFAULT_ADDR`,
		int	cs = `-1`
	)

BMG160 constructor.

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 edison with arduino breakout), then you can connect the proper pin to the hardware CS pin on your MCU and supply -1 for cs. The default operating mode is I2C.

Parameters

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

Exceptions

std::runtime_error on initialization failure.

~BMG160 ( )

BMG160 Destructor.

Here is the call graph for this function:

Member Function Documentation

void update ( void )

Update the internal stored values from sensor data.

Exceptions

std::runtime_error on failure.

Here is the call graph for this function:

Here is the caller graph for this function:

uint8_t getChipID ( )

Return the chip ID.

Returns: The chip ID (BMG160_CHIPID).

Here is the call graph for this function:

void getGyroscope	(	float *	x,
		float *	y,
		float *	z
	)

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

Parameters

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.

Here is the call graph for this function:

Here is the caller graph for this function:

std::vector< float > getGyroscope ( )

Return gyroscope data in degrees per second in the form of a floating point vector. update() must have been called prior to calling this method.

Returns: A floating point vector containing x, y, and z in that order.

float getTemperature ( bool fahrenheit = false )

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

Parameters

fahrenheit true to return data in Fahrenheit, false for Celicus. Celsius is the default.

Returns: The temperature in degrees Celsius or Fahrenheit.

Here is the call graph for this function:

void init	(	BMG160_POWER_MODE_T	pwr = `BMG160_POWER_MODE_NORMAL`,
		BMG160_RANGE_T	range = `BMG160_RANGE_250`,
		BMG160_BW_T	bw = `BMG160_BW_400_47`
	)

Initialize the device and start operation. This function is called from the constructor so will not typically need to be called by a user unless the device is reset.

Parameters

pwr	One of the BMG160_POWER_MODE_T values. The default is BMG160_POWER_MODE_NORMAL.
range	One of the BMG160_RANGE_T values. The default is BMG160_RANGE_250.
bw	One of the filtering BMG160_BW_T values. The default is BMG160_BW_400_47.

Exceptions

std::runtime_error on failure.

Here is the call graph for this function:

Here is the caller graph for this function:

void reset ( )

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

Exceptions

std::runtime_error on failure.

Here is the call graph for this function:

void setRange ( BMG160_RANGE_T range )

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

Parameters

range One of the BMG160_RANGE_T values.

Exceptions

std::runtime_error on failure.

Here is the call graph for this function:

void setBandwidth ( BMG160_BW_T bw )

Set the output filtering bandwidth of the device.

Parameters

bw	One of the BMG160_BW_T values.

Exceptions

std::runtime_error on failure.

Here is the call graph for this function:

void setPowerMode ( 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. I ncertain power modes, register write must be drastically slowed down. which we cannot support.

Parameters

power One of the POWER_MODE_T values.

Exceptions

std::runtime_error on failure.

Here is the call graph for this function:

void enableFIFO ( bool useFIFO )

Enable update() to read from the FIFO rather than the gyroscope axis registers directly. init() 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 inconsistancy..

Using the FIFO removes this problem.

Parameters

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

Here is the call graph for this function:

void fifoSetWatermark ( int wm )

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

Parameters

wm	The FIFO watermark to use. The maximum value is 63.

Exceptions

std::runtime_error on failure.

Here is the call graph for this function:

void fifoConfig	(	BMG160_FIFO_MODE_T	mode,
		BMG160_FIFO_DATA_SEL_T	axes
	)

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

Parameters

mode	One of the BMG160_FIFO_MODE_T values.
axes	One of the BMG160_FIFO_DATA_SEL_T values.

Exceptions

std::runtime_error on failure.

Here is the call graph for this function:

uint8_t getInterruptEnable0 ( )

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

Returns: A bitmask of INT_EN_0_BITS_T bits.

Here is the call graph for this function:

void setInterruptEnable0 ( uint8_t bits )

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

Parameters

bits	A bitmask of BMG160_INT_EN_0_BITS_T bits.

Exceptions

std::runtime_error on failure.

Here is the call graph for this function:

uint8_t getInterruptMap0 ( )

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.

Returns: A bitmask of INT_MAP_0_BITS_T bits.

Here is the call graph for this function:

void setInterruptMap0 ( 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

bits	A bitmask of BMG160_INT_MAP_0_BITS_T bits.

Exceptions

std::runtime_error on failure.

Here is the call graph for this function:

uint8_t getInterruptMap1 ( )

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

Returns: A bitmask of BMG160_INT_MAP_1_BITS_T bits.

Here is the call graph for this function:

void setInterruptMap1 ( uint8_t bits )

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

Parameters

bits	A bitmask of BMG160_INT_MAP_1_BITS_T bits.

Exceptions

std::runtime_error on failure.

Here is the call graph for this function:

uint8_t getInterruptSrc ( )

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.

Returns: A bitmask of INT_1A_BITS_T bits.

Here is the call graph for this function:

void setInterruptSrc ( 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

bits	A bitmask of INT_1A_BITS_T bits.

Exceptions

std::runtime_error on failure.

Here is the call graph for this function:

uint8_t getInterruptOutputControl ( )

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.

Returns: A bitmask of INT_EN_1_BITS_T bits.

Here is the call graph for this function:

void setInterruptOutputControl ( 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

bits	A bitmask of INT_EN_1_BITS_T bits.

Exceptions

std::runtime_error on failure.

Here is the call graph for this function:

void clearInterruptLatches ( )

Clear all latched interrupts. See the datasheet for details.

Exceptions

std::runtime_error on failure.

Here is the call graph for this function:

BMG160_RST_LATCH_T getInterruptLatchBehavior ( )

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

Returns: One of the RST_LATCH_T values.

Here is the call graph for this function:

void setInterruptLatchBehavior ( BMG160_RST_LATCH_T latch )

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

Parameters

latch One of the RST_LATCH_T values.

Exceptions

std::runtime_error on failure.

Here is the call graph for this function:

uint8_t getInterruptStatus0 ( )

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

Returns: a bitmask of INT_STATUS_0_BITS_T bits.

Here is the call graph for this function:

uint8_t getInterruptStatus1 ( )

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

Returns: a bitmask of INT_STATUS_1_BITS_T bits.

Here is the call graph for this function:

uint8_t getInterruptStatus2 ( )

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

Returns: a bitmask of INT_STATUS_2_BITS_T bits.

Here is the call graph for this function:

uint8_t getInterruptStatus3 ( )

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

Returns: a bitmask of INT_STATUS_3_BITS_T bits.

Here is the call graph for this function:

void enableRegisterShadowing ( 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. init() 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

shadow true to enable axis register shadowing, false otherwise.

Exceptions

std::runtime_error on failure.

Here is the call graph for this function:

void enableOutputFiltering ( bool filter )

Enable filtering of the gyroscope axis data. init() 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

filter true to enable filtering, false to disable.

Here is the call graph for this function:

void installISR	(	BMG160_INTERRUPT_PINS_T	intr,
		int	gpio,
		mraa::Edge	level,
		void()(void )	isr,
		void *	arg
	)

install an interrupt handler.

Parameters

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 the mraa::Edge 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.