bmi160.h

/*
 * Author: Jon Trulson <jtrulson@ics.com>
 * Copyright (c) 2016 Intel Corporation.
 *
 * 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.
 */
#pragma once

#include <stdint.h>
#include <stdlib.h>
#include <stdio.h>
#include <upm.h>

#ifdef __cplusplus
extern "C" {
#endif

#include "bosch_bmi160.h"

#define BMI160_CHIP_ID 0xd1

    typedef struct _bmi160_context {
        // uncompensated accelerometer and gyroscope values
        float accelX;
        float accelY;
        float accelZ;

        float gyroX;
        float gyroY;
        float gyroZ;

        float magX;
        float magY;
        float magZ;

        unsigned int sensorTime;

        // accelerometer and gyro scaling factors, depending on their Full
        // Scale (Range) settings.
        float accelScale;
        float gyroScale;

        // is the magnetometer enabled?
        bool magEnabled;

    } *bmi160_context;

    typedef enum {
      BMI160_ACC_RANGE_2G                        = 0, // 2 Gravities
      BMI160_ACC_RANGE_4G,
      BMI160_ACC_RANGE_8G,
      BMI160_ACC_RANGE_16G
    } BMI160_ACC_RANGE_T;

    typedef enum {
      BMI160_GYRO_RANGE_125                      = 0, // 125 degrees/sec
      BMI160_GYRO_RANGE_250,
      BMI160_GYRO_RANGE_500,
      BMI160_GYRO_RANGE_1000,
      BMI160_GYRO_RANGE_2000
    } BMI160_GYRO_RANGE_T;

    bmi160_context bmi160_init(unsigned int bus, int address, int cs_pin,
                               bool enable_mag);

    void bmi160_close(bmi160_context dev);

    void bmi160_update(const bmi160_context dev);

    void bmi160_set_accelerometer_scale(const bmi160_context dev,
                                        BMI160_ACC_RANGE_T scale);

    void bmi160_set_gyroscope_scale(const bmi160_context dev,
                                    BMI160_GYRO_RANGE_T scale);

    void bmi160_get_accelerometer(const bmi160_context dev,
                                  float *x, float *y, float *z);

    void bmi160_get_gyroscope(const bmi160_context dev,
                              float *x, float *y, float *z);

    void bmi160_get_magnetometer(const bmi160_context dev,
                                 float *x, float *y, float *z);

    void bmi160_enable_magnetometer(const bmi160_context dev, bool enable);

    unsigned int bmi160_get_time(const bmi160_context dev);

    s8 bmi160_bus_read(u8 dev_addr, u8 reg_addr, u8 *reg_data, u8 cnt);

    s8 bmi160_bus_write(u8 dev_addr, u8 reg_addr, u8 *reg_data, u8 cnt);

#ifdef __cplusplus
}
#endif