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

Detailed Description

ID: bmi160
Name: BMI160 3-axis Accelerometer, Gyroscope and Magnetometer
Category: accelerometer compass
Manufacturer: mouser
Connection: i2c
Link: http://www.mouser.com/ProductDetail/Bosch-Sensortec/0330SB2187/?qs=sGAEpiMZZMvi6wO7nhr1L9JELKA6cYRX60mAGNTn0fQ%3d

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.

  // Instantiate a BMI160 instance using default i2c bus and address
  upm::BMI160 *sensor = new upm::BMI160();
  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;
      usleep(500000);
    }

Public Types
enum	ACCEL_RANGE_T { ACCEL_RANGE_2G = 0, ACCEL_RANGE_4G, ACCEL_RANGE_8G, ACCEL_RANGE_16G }

enum	GYRO_RANGE_T { GYRO_RANGE_125 = 0, GYRO_RANGE_250, GYRO_RANGE_500, GYRO_RANGE_1000, GYRO_RANGE_2000 }

Public Member Functions
	BMI160 (int bus=BMI160_I2C_BUS, uint8_t address=BMI160_DEFAULT_I2C_ADDR)

	~BMI160 ()

void	update ()

void	setAccelerometerScale (ACCEL_RANGE_T scale)

void	setGyroscopeScale (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
virtual bool	init ()

Protected Attributes
float	m_accelX

float	m_accelY

float	m_accelZ

float	m_gyroX

float	m_gyroY

float	m_gyroZ

float	m_magX

float	m_magY

float	m_magZ

unsigned int	m_sensorTime

float	m_accelScale

float	m_gyroScale

bool	m_magEnabled

Constructor & Destructor Documentation

BMI160	(	int	bus = `BMI160_I2C_BUS`,
		uint8_t	address = `BMI160_DEFAULT_I2C_ADDR`
	)

bmi160 constructor

Parameters

bus	i2c bus to use
address	the address for this device

~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 ( ACCEL_RANGE_T scale )

set the scaling mode of the accelerometer

Parameters

scale one of the ACCEL_RANGE_T values

void setGyroscopeScale ( 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.

bool init ( )

protectedvirtual

set up initial values and start operation

Returns: true if successful

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

/iotdk/jenkins/workspace/upm-doc-stable/src/bmi160/bmi160.hpp
/iotdk/jenkins/workspace/upm-doc-stable/src/bmi160/bmi160.cxx

Detailed Description

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Constructor & Destructor Documentation

Member Function Documentation