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- Aux FIFO support added
- Self-test issue fixed
- Support for mapping and unmapping interrupt pin for channel 1, 2 and both
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BST-Github-Admin committed Oct 18, 2017
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170 changes: 158 additions & 12 deletions README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -7,9 +7,9 @@ The sensor driver package includes bmi160.h, bmi160.c and bmi160_defs.h files
## Version
File | Version | Date
--------------|---------|---------------
bmi160.c | 3.6.1 | 23 Aug 2017
bmi160.h | 3.6.1 | 23 Aug 2017
bmi160_defs.h | 3.6.1 | 23 Aug 2017
bmi160.c | 3.7.2 | 16 Oct 2017
bmi160.h | 3.7.2 | 16 Oct 2017
bmi160_defs.h | 3.7.2 | 16 Oct 2017

## Integration details
* Integrate bmi160.h, bmi160_defs.h and bmi160.c file in to your project.
Expand Down Expand Up @@ -192,7 +192,6 @@ int_config.int_channel = BMI160_INT_CHANNEL_1;// Interrupt channel/pin 1

/* Select the Interrupt type */
int_config.int_type = BMI160_ACC_ANY_MOTION_INT;// Choosing Any motion interrupt

/* Select the interrupt channel/pin settings */
int_config.int_pin_sett.output_en = BMI160_ENABLE;// Enabling interrupt pins to act as output pin
int_config.int_pin_sett.output_mode = BMI160_DISABLE;// Choosing push-pull mode for interrupt pin
Expand Down Expand Up @@ -224,7 +223,6 @@ int_config.int_channel = BMI160_INT_CHANNEL_1;// Interrupt channel/pin 1
/* Select the Interrupt type */
int_config.int_type = BMI160_ACC_FLAT_INT;// Choosing flat interrupt
/* Select the interrupt channel/pin settings */
int_config.int_pin_sett.output_en = BMI160_ENABLE;// Enabling interrupt pins to act as output pin
int_config.int_pin_sett.output_mode = BMI160_DISABLE;// Choosing push-pull mode for interrupt pin
Expand Down Expand Up @@ -256,7 +254,6 @@ int_config.int_channel = BMI160_INT_CHANNEL_1;// Interrupt channel/pin 1

/* Select the Interrupt type */
int_config.int_type = BMI160_STEP_DETECT_INT;// Choosing Step Detector interrupt

/* Select the interrupt channel/pin settings */
int_config.int_pin_sett.output_en = BMI160_ENABLE;// Enabling interrupt pins to act as output pin
int_config.int_pin_sett.output_mode = BMI160_DISABLE;// Choosing push-pull mode for interrupt pin
Expand Down Expand Up @@ -293,6 +290,33 @@ uint16_t step_count = 0;//stores the step counter value

rslt = bmi160_read_step_counter(&step_count, &sensor);
```

### Unmapping Interrupt
#### Example for unmapping Step Detector Interrupt
``` c
struct bmi160_intr_sett int_config;

/* Deselect the Interrupt channel/pin */
int_config.int_channel = BMI160_INT_CHANNEL_NONE;
/* Select the Interrupt type */
int_config.int_type = BMI160_STEP_DETECT_INT;// Choosing Step Detector interrupt
/* Set the Step Detector interrupt */
bmi160_set_intr_config(&int_config, &sensor); /* sensor is an instance of the structure bmi160_dev */
```
### Reading interrupt status
#### Example for reading interrupt status for step detector
``` c
union bmi160_int_status interrupt;
enum bmi160_int_status_sel int_status_sel;
/* Interrupt status selection to read all interrupts */
int_status_sel = BMI160_INT_STATUS_ALL;
rslt = bmi160_get_int_status(int_status_sel, &interrupt, &sensor);
if (interrupt.bit.step)
printf("Step detector interrupt occured\n");
```

### Configuring the auxiliary sensor BMM150
It is assumed that secondary interface of bmi160 has external pull-up resistor in order to access the auxiliary sensor bmm150.

Expand Down Expand Up @@ -391,7 +415,8 @@ which helps in creating less latency fusion data

```
/* Initialize the Auxiliary BMM150 following the above code
until setting the power mode and preset mode */
* until setting the power mode (Set the power mode as forced mode)
* and preset mode */
/* In BMM150 Mag data starts from register address 0x42 */
uint8_t aux_addr = 0x42;
Expand All @@ -400,31 +425,150 @@ which helps in creating less latency fusion data
uint8_t index;
/* Set the auxiliary sensor to auto mode */
rslt = bmi160_set_aux_auto_mode(&aux_addr, &sensor);
/* Configure the Auxiliary sensor either in auto/manual modes and set the
polling frequency for the Auxiliary interface */
sensor.aux_cfg.aux_odr = 8; /* Represents polling rate in 100 Hz*/
rslt = bmi160_config_aux_mode(&sensor)
/* Set the auxiliary sensor to auto mode */
rslt = bmi160_set_aux_auto_mode(&aux_addr, &sensor);
/* Reading data from BMI160 data registers */
rslt = bmi160_read_aux_data_auto_mode(mag_data, &sensor);
printf("\n RAW DATA ");
for(index = 0 ; index < 8 ; index++)
{
printf("\n MAG DATA[index] : %d ", index,mag_data[index]);
printf("\n MAG DATA[%d] : %d ", index, mag_data[index]);
}
/* Compensating the raw mag data available from the BMM150 API */
rslt = bmm150_aux_mag_data(mag_data,&bmm150);
rslt = bmm150_aux_mag_data(mag_data, &bmm150);
printf("\n COMPENSATED DATA ");
printf("\n MAG DATA X : %d Y : %d Z : %d", bmm150.data.x, bmm150.data.y, bmm150.data.z);
```

### Auxiliary FIFO data parsing
The Auxiliary sensor data can be stored in FIFO , Here we demonstrate an example for
using the Bosch Magnetometer sensor BMM150 and storing its data in FIFO

```
/* Initialize the Aux BMM150 following the above
* code and by creating the Wrapper functions */
int8_t rslt = 0;
uint8_t aux_instance = 0;
uint16_t fifo_cnt = 0;
uint8_t auto_mode_addr;
uint8_t i;
/* Setup and configure the FIFO buffer */
/* Declare memory to store the raw FIFO buffer information */
uint8_t fifo_buff[1000] = {0};
/* Modify the FIFO buffer instance and link to the device instance */
struct bmi160_fifo_frame fifo_frame;
fifo_frame.data = fifo_buff;
fifo_frame.length = 1000;
dev->fifo = &fifo_frame;
/* Declare instances of the sensor data structure to store the parsed FIFO data */
struct bmi160_aux_data aux_data[112]; //1000 / 9 bytes per frame ~ 111 data frames
rslt = bmi160_init(dev);
printf("\n BMI160 chip ID is : %d ",dev->chip_id);
rslt = bmi160_aux_init(dev);
rslt = bmm150_init(&bmm150);
printf("\n BMM150 CHIP ID : %d",bmm150.chip_id);
bmm150.settings.preset_mode = BMM150_PRESETMODE_LOWPOWER;
rslt = bmm150_set_presetmode(&bmm150);
bmm150.settings.pwr_mode = BMM150_FORCED_MODE;
rslt = bmm150_set_op_mode(&bmm150);
/* Enter the data register of BMM150 to "auto_mode_addr" here it is 0x42 */
auto_mode_addr = 0x42;
printf("\n ENTERING AUX. AUTO MODE ");
dev->aux_cfg.aux_odr = BMI160_AUX_ODR_25HZ;
rslt = bmi160_set_aux_auto_mode(&auto_mode_addr, dev);
/* Disable other FIFO settings */
rslt = bmi160_set_fifo_config(BMI160_FIFO_CONFIG_1_MASK , BMI160_DISABLE, dev);
/* Enable the required FIFO settings */
rslt = bmi160_set_fifo_config(BMI160_FIFO_AUX | BMI160_FIFO_HEADER, BMI160_ENABLE, dev);
/* Delay for the FIFO to get filled */
dev->delay_ms(400);
printf("\n FIFO DATA REQUESTED (in bytes): %d",dev->fifo->length);
rslt = bmi160_get_fifo_data(dev);
printf("\n FIFO DATA AVAILABLE (in bytes): %d",dev->fifo->length);
/* Print the raw FIFO data obtained */
for(fifo_cnt = 0; fifo_cnt < dev->fifo->length ; fifo_cnt++) {
printf("\n FIFO DATA [%d] IS : %x ",fifo_cnt ,dev->fifo->data[fifo_cnt]);
}
printf("\n\n----------------------------------------------------\n");
/* Set the number of required sensor data instances */
aux_instance = 150;
/* Extract the aux data , 1frame = 8 data bytes */
printf("\n AUX DATA REQUESTED TO BE EXTRACTED (in frames): %d",aux_instance);
rslt = bmi160_extract_aux(aux_data, &aux_instance, dev);
printf("\n AUX DATA ACTUALLY EXTRACTED (in frames): %d",aux_instance);
/* Printing the raw aux data */
for (i = 0; i < aux_instance; i++) {
printf("\n Aux data[%d] : %x",i,aux_data[i].data[0]);
printf("\n Aux data[%d] : %x",i,aux_data[i].data[1]);
printf("\n Aux data[%d] : %x",i,aux_data[i].data[2]);
printf("\n Aux data[%d] : %x",i,aux_data[i].data[3]);
printf("\n Aux data[%d] : %x",i,aux_data[i].data[4]);
printf("\n Aux data[%d] : %x",i,aux_data[i].data[5]);
printf("\n Aux data[%d] : %x",i,aux_data[i].data[6]);
printf("\n Aux data[%d] : %x",i,aux_data[i].data[7]);
}
printf("\n\n----------------------------------------------------\n");
/* Compensate the raw mag data using BMM150 API */
for (i = 0; i < aux_instance; i++) {
printf("\n----------------------------------------------------");
printf("\n Aux data[%d] : %x , %x , %x , %x , %x , %x , %x , %x",i
,aux_data[i].data[0],aux_data[i].data[1]
,aux_data[i].data[2],aux_data[i].data[3]
,aux_data[i].data[4],aux_data[i].data[5]
,aux_data[i].data[6],aux_data[i].data[7]);
/* Compensated mag data using BMM150 API */
rslt = bmm150_aux_mag_data(&aux_data[i].data[0], &bmm150);
/* Printing the Compensated mag data */
if (rslt == BMM150_OK) {
printf("\n MAG DATA COMPENSATION USING BMM150 APIs");
printf("\n COMPENSATED DATA ");
printf("\n MAG DATA X : %d Y : %d Z : %d"
, bmm150.data.x, bmm150.data.y, bmm150.data.z);
} else {
printf("\n MAG DATA COMPENSATION IN BMM150 API is FAILED ");
}
printf("\n----------------------------------------------------\n");
}
```

## Self-test
#### Example for performing accel self test
```
Expand Down Expand Up @@ -644,4 +788,6 @@ int8_t write_offsets_nvm(struct bmi160_dev *dev)
}
```



## Copyright (C) 2016 - 2017 Bosch Sensortec GmbH
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