UPM API for the BMI160 3-axis Accelerometer, Gyroscope and Magnetometer. More...

Detailed Description

ID: bmi160
Name: Low-power IMU (triaxial Accelerometer and Triaxial Gyroscope) and Magnetometer
Category: accelerometer compass
Manufacturer: bosch mouser
Connection: i2c
Link: https://www.bosch-sensortec.com/bst/products/all_products/bmi160

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.

    // Instantiate a BMI160 instance using default i2c bus and address
    upm::BMI160 sensor;
    while (shouldRun) {
        // update our values from the sensor
        sensor.update();
        float dataX, dataY, dataZ;
        sensor.getAccelerometer(&dataX, &dataY, &dataZ);
        cout << "Accelerometer: ";
        cout << "AX: " << dataX << " AY: " << dataY << " AZ: " << dataZ << endl;
        sensor.getGyroscope(&dataX, &dataY, &dataZ);
        cout << "Gryoscope:     ";
        cout << "GX: " << dataX << " GY: " << dataY << " GZ: " << dataZ << endl;
        sensor.getMagnetometer(&dataX, &dataY, &dataZ);
        cout << "Magnetometer:  ";
        cout << "MX: " << dataX << " MY: " << dataY << " MZ: " << dataZ << endl;
        cout << endl;
        upm_delay_us(500000);
    }

Public Member Functions
	BMI160 (int bus=BMI160_I2C_BUS, int address=BMI160_DEFAULT_I2C_ADDR, int csPin=-1, bool enableMag=true)

	~BMI160 ()

void	update ()

void	setAccelerometerScale (BMI160_ACC_RANGE_T scale)

void	setGyroscopeScale (BMI160_GYRO_RANGE_T scale)

float *	getAccelerometer ()

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

float *	getGyroscope ()

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

float *	getMagnetometer ()

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

void	enableMagnetometer (bool enable)

unsigned int	getSensorTime ()

Protected Member Functions
std::string	busRead (int addr, int reg, int len)

void	busWrite (int addr, int reg, std::string data)

Protected Attributes
bmi160_context	m_bmi160

Constructor & Destructor Documentation

BMI160	(	int	bus = `BMI160_I2C_BUS`,
		int	address = `BMI160_DEFAULT_I2C_ADDR`,
		int	csPin = `-1`,
		bool	enableMag = `true`
	)

BMI160 constructor. The default arguments inititialize I2C operation and the default I2C address.

Parameters

bus	i2c bus to use
address	The address for this device if using I2C. If using SPI, supply -1 for this parameter.
csPin	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.
enableMag	true to enable the magnetometer, false otherwise

~BMI160 ( )

BMI160 Destructor

Member Function Documentation

void update ( void )

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 setAccelerometerScale ( BMI160_ACC_RANGE_T scale )

set the scaling mode of the accelerometer

Parameters

scale one of the ACCEL_RANGE_T values

void setGyroscopeScale ( BMI160_GYRO_RANGE_T scale )

set the scaling mode of the gyroscope

Parameters

scale one of the GYRO_RANGE_T values

float * getAccelerometer ( )

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.

Returns: Pointer to 3 floating point values: X, Y, and Z in gravities.

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

Get the Accelerometer values. The values returned are in gravities. update() must have been called prior to calling this method.

Parameters

x	A pointer into which the X value will be returned
y	A pointer into which the Y value will be returned
z	A pointer into which the Z value will be returned

float * getGyroscope ( )

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.

Returns: Pointer to 3 floating point values: X, Y, and Z in degrees per second.

void getGyroscope	(	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.

Parameters

x	A pointer into which the X value will be returned
y	A pointer into which the Y value will be returned
z	A pointer into which the Z value will be returned

float * getMagnetometer ( )

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.

Returns: Pointer to 3 floating point values: X, Y, and Z in micro Teslas.

void getMagnetometer	(	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.

Parameters

x	A pointer into which the X value will be returned
y	A pointer into which the Y value will be returned
z	A pointer into which the Z value will be returned

void enableMagnetometer ( bool enable )

Enable or disable the Magnetometer. By default, the magnetometer is enabled.

Parameters

enable true to enable the magnetometer, false to disable.

unsigned int getSensorTime ( )

Return the sensor time. This is a 24bit value that increments every 39us. It will wrap around once the 24b resolution is exceeded.

Returns: The current sensor time.

string busRead	(	int	addr,
		int	reg,
		int	len
	)

protected

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.

Parameters

addr	For I2C operation, this is the I2C address. For SPI, this argument is ignored.
reg	The register address to access.
cnt	The number of bytes to read.

Returns: The data read

void busWrite	(	int	addr,
		int	reg,
		std::string	data
	)

protected

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.

Parameters

addr	For I2C operation, this is the I2C address. For SPI, this argument is ignored.
addr	The register address to access.
data	The string containing the data to write

Collaboration diagram for BMI160:

[legend]

The documentation for this class was generated from the following files:

src/bmi160/bmi160.hpp
src/bmi160/bmi160.cxx

Detailed Description

Public Member Functions

Protected Member Functions

Protected Attributes

Constructor & Destructor Documentation

Member Function Documentation