OSStatus bmg160_sensor_init(void)
{
OSStatus err = kUnknownErr;
/* variable used for read the gyro bandwidth data*/
u8 v_gyro_value_u8 = BMG160_INIT_VALUE;
/* variable used for set the gyro bandwidth data*/
u8 v_bw_u8 = BMG160_INIT_VALUE;
s32 com_rslt = BMG160_ERROR; // result of communication results
// u8 v_stand_by_time_u8 = BME280_INIT_VALUE; // The variable used to assign the standby time
// I2C init
MicoI2cFinalize(&bmg160_i2c_device); // in case error
err = MicoI2cInitialize(&bmg160_i2c_device);
require_noerr_action( err, exit, bmg160_user_log("BMG160_ERROR: MicoI2cInitialize err = %d.", err) );
if( false == MicoI2cProbeDevice(&bmg160_i2c_device, 5) ){
bmg160_user_log("BMG160_ERROR: no i2c device found!");
err = kNotFoundErr;
goto exit;
}
// sensor init
/*********************** START INITIALIZATION ************************/
/* Based on the user need configure I2C or SPI interface.
* It is example code to explain how to use the bme280 API*/
#ifdef BMG160_API
BMG160_I2C_routine();
com_rslt = bmg160_init(&bmg160);
com_rslt += bmg160_set_power_mode(BMG160_MODE_NORMAL);
/*------------------------------------------------------------------------*
************************* START GET and SET FUNCTIONS DATA ***************
*--------------------------------------------------------------------------*/
/* This API used to Write the bandwidth of the gyro sensor
input value have to be give 0x10 bit BMG160_INIT_VALUE to 3
The bandwidth set from the register */
v_bw_u8 = C_BMG160_BW_230HZ_U8X;/* set gyro bandwidth of 230Hz*/
com_rslt += bmg160_set_bw(v_bw_u8);
/* This API used to read back the written value of bandwidth for gyro*/
com_rslt += bmg160_get_bw(&v_gyro_value_u8);
/*---------------------------------------------------------------------*
************************* END GET and SET FUNCTIONS ********************
*----------------------------------------------------------------------*/
if(com_rslt < 0){
bmg160_user_log("BMG160_ERROR: bme280 sensor init failed!");
err = kNotInitializedErr;
goto exit;
}
/************************* END INITIALIZATION *************************/
#endif
return kNoErr;
exit:
return err;
}
/* This function is an example for reading sensor data
* \param: None
* \return: communication result
*/
s32 bmg160_data_readout_template(void)
{
/* Gyro */
/* variable used for read the sensor data*/
s16 v_gyro_datax_s16, v_gyro_datay_s16, v_gyro_dataz_s16 = BMG160_INIT_VALUE;
/* structure used for read the sensor data - xyz*/
struct bmg160_data_t data_gyro;
/* structure used for read the sensor data - xyz and interrupt status*/
struct bmg160_data_t gyro_xyzi_data;
/* variable used for read the gyro bandwidth data*/
u8 v_gyro_value_u8 = BMG160_INIT_VALUE;
/* variable used for set the gyro bandwidth data*/
u8 v_bw_u8 = BMG160_INIT_VALUE;
/* result of communication results*/
s32 com_rslt = ERROR;
/*-------------------------------------------------------------------------*
*********************** START INITIALIZATION ***********************
*-------------------------------------------------------------------------*/
/* Based on the user need configure I2C or SPI interface.
* It is example code to explain how to use the bmg160 API*/
#ifdef BMG160_API
I2C_routine();
/*SPI_routine(); */
#endif
/*--------------------------------------------------------------------------*
* This function used to assign the value/reference of
* the following parameters
* Gyro I2C address
* Bus Write
* Bus read
* Gyro Chip id
*----------------------------------------------------------------------------*/
com_rslt = bmg160_init(&bmg160);
/*----------------------------------------------------------------------------*/
/* For initialization it is required to set the mode of the sensor as "NORMAL"
* data acquisition/read/write is possible in this mode
* by using the below API able to set the power mode as NORMAL
* NORMAL mode set from the register 0x11 and 0x12
* While sensor in the NORMAL mode idle time of at least 2us(micro seconds)
* is required to write/read operations
* 0x11 -> bit 5,7 -> set value as BMG160_INIT_VALUE
* 0x12 -> bit 6,7 -> set value as BMG160_INIT_VALUE
* Note:
* If the sensor is in the fast power up mode idle time of least
* 450us(micro seconds) required for write/read operations
*/
/*-------------------------------------------------------------------------*/
/* Set the gyro power mode as NORMAL*/
com_rslt += bmg160_set_power_mode(BMG160_MODE_NORMAL);
/*--------------------------------------------------------------------------*
************************* END INITIALIZATION ******************************
*--------------------------------------------------------------------------*/
/*------------------------------------------------------------------------*
************************* START GET and SET FUNCTIONS DATA ***************
*--------------------------------------------------------------------------*/
/* This API used to Write the bandwidth of the gyro sensor
input value have to be give 0x10 bit BMG160_INIT_VALUE to 3
The bandwidth set from the register */
v_bw_u8 = C_BMG160_BW_230HZ_U8X;/* set gyro bandwidth of 230Hz*/
com_rslt += bmg160_set_bw(v_bw_u8);
/* This API used to read back the written value of bandwidth for gyro*/
com_rslt += bmg160_get_bw(&v_gyro_value_u8);
/*---------------------------------------------------------------------*
************************* END GET and SET FUNCTIONS ********************
*----------------------------------------------------------------------*/
/*---------------------------------------------------------------------*
************************* START READ SENSOR DATA(X,Y and Z axis) *********
*-------------------------------------------------------------------------*/
/******************* Read Gyro data xyz**********************/
com_rslt += bmg160_get_data_X(&v_gyro_datax_s16);/* Read the gyro X data*/
com_rslt += bmg160_get_data_Y(&v_gyro_datay_s16);/* Read the gyro Y data*/
com_rslt += bmg160_get_data_Z(&v_gyro_dataz_s16);/* Read the gyro Z data*/
/* accessing the bmg160_data_t parameter by using data_gyro*/
com_rslt += bmg160_get_data_XYZ(&data_gyro);/* Read the gyro XYZ data*/
/* accessing the bmg160_data_t parameter by using gyro_xyzi_data*/
/* Read the gyro XYZ data and interrupt status*/
com_rslt += bmg160_get_data_XYZI(&gyro_xyzi_data);
/*--------------------------------------------------------------------------
************************* END READ SENSOR DATA(X,Y and Z axis) *************
*----------------------------------------------------------------------------*/
/*---------------------------------------------------------------------------*
*********************** START DE-INITIALIZATION *****************************
*--------------------------------------------------------------------------*/
/* For de-initialization it is required to set the mode of
* the sensor as "DEEPSUSPEND"
* the device reaches the lowest power consumption only
* interface selection is kept alive
* No data acquisition is performed
* The DEEPSUSPEND mode set from the register 0x11 bit 5
* by using the below API able to set the power mode as DEEPSUSPEND
* For the read/ write operation it is required to provide least 450us
* micro second delay*/
com_rslt += bmg160_set_power_mode(BMG160_MODE_DEEPSUSPEND);
/*--------------------------------------------------------------------------*
*********************** END DE-INITIALIZATION **************************
*---------------------------------------------------------------------------*/
return com_rslt;
}
static int sensor_board_bmg160_read(i2c_device dev)
{
/* variable used for read the sensor data*/
s16 v_gyro_datax_s16, v_gyro_datay_s16, v_gyro_dataz_s16 = BMG160_INIT_VALUE;
/* result of communication results*/
s32 com_rslt = ERROR;
bool sign;
uint32_t conv_val;
bmg160_dev = dev;
/*
* Initialize driver data, feed Bosch driver with functions needed to access I2C bus.
*/
com_rslt = bmg160_init(&bmg160);
/* Wait for data ready */
OS_DELAY_MS(9);
/*
* For initialization it is required to set the mode of
* the sensor as "NORMAL"
* data acquisition/read/write is possible in this mode
* by using the below API able to set the power mode as NORMAL
*/
com_rslt += bmg160_set_power_mode(BMG160_MODE_NORMAL);
/* Wait for data ready */
OS_DELAY_MS(9);
/* Set range */
com_rslt += bmg160_set_range_reg(BMG160_RANGE_500);
/*
* Set bandwidth of 230Hz
*/
com_rslt += bmg160_set_bw(C_BMG160_BW_230HZ_U8X);
/* Wait for data ready */
OS_DELAY_MS(9);
/* Read Gyro data xyz */
com_rslt += bmg160_get_data_X(&v_gyro_datax_s16);
com_rslt += bmg160_get_data_Y(&v_gyro_datay_s16);
com_rslt += bmg160_get_data_Z(&v_gyro_dataz_s16);
/* print raw values */
printf(NEWLINE "Gyroscope data (raw 16 bit) - x: %04X, y: %04X, z: %04X",
(uint16_t) v_gyro_datax_s16, (uint16_t) v_gyro_datay_s16,
(uint16_t) v_gyro_dataz_s16);
/* convert and print values in deg/s (degree per second)*/
printf(NEWLINE "Gyroscope data - ");
convert_gyro_value(v_gyro_datax_s16, &sign, &conv_val);
printf("x: %s%lu.%02lu deg/s, ", (sign ? "-" : ""), conv_val / 100, conv_val % 100);
convert_gyro_value(v_gyro_datay_s16, &sign, &conv_val);
printf("y: %s%lu.%02lu deg/s, ", (sign ? "-" : ""), conv_val / 100, conv_val % 100);
convert_gyro_value(v_gyro_dataz_s16, &sign, &conv_val);
printf("z: %s%lu.%02lu deg/s", (sign ? "-" : ""), conv_val / 100, conv_val % 100);
/*
* For de-initialization it is required to set the mode of
* the sensor as "DEEPSUSPEND"
* the device reaches the lowest power consumption only
* interface selection is kept alive
* No data acquisition is performed
* The DEEPSUSPEND mode set from the register 0x11 bit 5
* by using the below API able to set the power mode as DEEPSUSPEND
* For the read/ write operation it is required to provide least 450us
* micro second delay
*/
com_rslt += bmg160_set_power_mode(BMG160_MODE_DEEPSUSPEND);
return com_rslt;
}
