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Use single dataReady() method, instead of accelDataReady/gyroDataReady #417

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Merged
merged 1 commit into from
Feb 22, 2017
Merged

Use single dataReady() method, instead of accelDataReady/gyroDataReady #417

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4 changes: 4 additions & 0 deletions libraries/CurieIMU/keywords.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -14,6 +14,7 @@ CurieIMUClass KEYWORD1

begin KEYWORD1

dataReady KEYWORD1
getGyroRate KEYWORD1
setGyroRate KEYWORD1
getAccelerometerRate KEYWORD1
Expand Down Expand Up @@ -84,6 +85,9 @@ CurieIMU KEYWORD2
# Constants (LITERAL1)
#######################################

ACCEL LITERAL1
GYRO LITERAL1

X_AXIS LITERAL1
Y_AXIS LITERAL1
Z_AXIS LITERAL1
Expand Down
78 changes: 46 additions & 32 deletions libraries/CurieIMU/src/BMI160.cpp
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Expand Up @@ -78,15 +78,22 @@ uint8_t BMI160Class::reg_read_bits(uint8_t reg, unsigned pos, unsigned len)
return b;
}

int BMI160Class::isBitSet(uint8_t value, unsigned bit)
{
return value & (1 << bit);
}

/******************************************************************************/

/** Power on and prepare for general usage.
* This will activate the device and take it out of sleep mode (which must be done
* after start-up). This function also sets both the accelerometer and the gyroscope
* to default range settings, namely +/- 2g and +/- 250 degrees/sec.
*/
void BMI160Class::initialize()
void BMI160Class::initialize(unsigned int flags)
{
sensors_enabled = 0;

/* Issue a soft-reset to bring the device into a clean state */
reg_write(BMI160_RA_CMD, BMI160_CMD_SOFT_RESET);
delay(1);
Expand All @@ -95,26 +102,36 @@ void BMI160Class::initialize()
reg_read(0x7F);
delay(1);

/* Power up the accelerometer */
reg_write(BMI160_RA_CMD, BMI160_CMD_ACC_MODE_NORMAL);
delay(1);
/* Wait for power-up to complete */
while (0x1 != reg_read_bits(BMI160_RA_PMU_STATUS,
if (flags & ACCEL) {
/* Power up the accelerometer */
reg_write(BMI160_RA_CMD, BMI160_CMD_ACC_MODE_NORMAL);
delay(1);

/* Wait for power-up to complete */
while (0x1 != reg_read_bits(BMI160_RA_PMU_STATUS,
BMI160_ACC_PMU_STATUS_BIT,
BMI160_ACC_PMU_STATUS_LEN))
delay(1);

sensors_enabled |= ACCEL;
}

if (flags & GYRO) {
/* Power up the gyroscope */
reg_write(BMI160_RA_CMD, BMI160_CMD_GYR_MODE_NORMAL);
delay(1);

/* Power up the gyroscope */
reg_write(BMI160_RA_CMD, BMI160_CMD_GYR_MODE_NORMAL);
delay(1);
/* Wait for power-up to complete */
while (0x1 != reg_read_bits(BMI160_RA_PMU_STATUS,
/* Wait for power-up to complete */
while (0x1 != reg_read_bits(BMI160_RA_PMU_STATUS,
BMI160_GYR_PMU_STATUS_BIT,
BMI160_GYR_PMU_STATUS_LEN))
delay(1);
delay(1);

sensors_enabled |= GYRO;
}

setFullScaleGyroRange(BMI160_GYRO_RANGE_250);
setFullScaleAccelRange(BMI160_ACCEL_RANGE_2G);
setFullScaleGyroRange(BMI160_GYRO_RANGE_250, 250.0f);
setFullScaleAccelRange(BMI160_ACCEL_RANGE_2G, 2.0f);

/* Only PIN1 interrupts currently supported - map all interrupts to PIN1 */
reg_write(BMI160_RA_INT_MAP_0, 0xFF);
Expand All @@ -131,6 +148,17 @@ uint8_t BMI160Class::getDeviceID() {
return reg_read(BMI160_RA_CHIP_ID);
}

/* Checks if the specified sensors are enabled (sensors are specified using
* bit flags defined by CurieIMUSensor enum). If 0 is passed, checks if *any*
* sensors are enabled */
bool BMI160Class::isEnabled(unsigned int sensors)
{
if (sensors == 0)
return sensors_enabled > 0;

return (sensors_enabled & sensors) > 0;
}

/** Verify the SPI connection.
* Make sure the device is connected and responds as expected.
* @return True if connection is valid, false otherwise
Expand Down Expand Up @@ -330,10 +358,11 @@ uint8_t BMI160Class::getFullScaleGyroRange() {
* @param range New full-scale gyroscope range value
* @see getFullScaleGyroRange()
*/
void BMI160Class::setFullScaleGyroRange(uint8_t range) {
void BMI160Class::setFullScaleGyroRange(uint8_t range, float real) {
reg_write_bits(BMI160_RA_GYRO_RANGE, range,
BMI160_GYRO_RANGE_SEL_BIT,
BMI160_GYRO_RANGE_SEL_LEN);
gyro_range = real;
}

/** Get full-scale accelerometer range.
Expand Down Expand Up @@ -362,10 +391,11 @@ uint8_t BMI160Class::getFullScaleAccelRange() {
* @see getFullScaleAccelRange()
* @see BMI160AccelRange
*/
void BMI160Class::setFullScaleAccelRange(uint8_t range) {
void BMI160Class::setFullScaleAccelRange(uint8_t range, float real) {
reg_write_bits(BMI160_RA_ACCEL_RANGE, range,
BMI160_ACCEL_RANGE_SEL_BIT,
BMI160_ACCEL_RANGE_SEL_LEN);
accel_range = real;
}

/** Get accelerometer offset compensation enabled value.
Expand Down Expand Up @@ -2386,19 +2416,3 @@ uint8_t BMI160Class::getRegister(uint8_t reg) {
void BMI160Class::setRegister(uint8_t reg, uint8_t data) {
reg_write(reg, data);
}

/** Check if new gyroscope data is available
* @return True if new data is available, else false.
*/
bool BMI160Class::gyroDataReady()
{
return reg_read_bits(BMI160_RA_STATUS, BMI160_STATUS_DRDY_GYR, 1);
}

/** Check if new accelerometer data is available
* @return True if new data is available, else false.
*/
bool BMI160Class::accelDataReady()
{
return reg_read_bits(BMI160_RA_STATUS, BMI160_STATUS_DRDY_ACC, 1);
}
20 changes: 15 additions & 5 deletions libraries/CurieIMU/src/BMI160.h
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Expand Up @@ -267,6 +267,12 @@ THE SOFTWARE.

#define BMI160_RA_CMD 0x7E

/* Bit flags for selecting individual sensors */
typedef enum {
GYRO = 0x1,
ACCEL = 0x2
} CurieIMUSensor;

/**
* Interrupt Latch Mode options
* @see setInterruptLatch()
Expand Down Expand Up @@ -471,9 +477,10 @@ typedef enum {

class BMI160Class {
public:
void initialize();
void initialize(unsigned int flags);
bool testConnection();

bool isEnabled(unsigned int sensors);
uint8_t getGyroRate();
void setGyroRate(uint8_t rate);

Expand All @@ -487,9 +494,9 @@ class BMI160Class {
void setAccelDLPFMode(uint8_t bandwidth);

uint8_t getFullScaleGyroRange();
void setFullScaleGyroRange(uint8_t range);
void setFullScaleGyroRange(uint8_t range, float real);
uint8_t getFullScaleAccelRange();
void setFullScaleAccelRange(uint8_t range);
void setFullScaleAccelRange(uint8_t range, float real);

void autoCalibrateGyroOffset();
bool getGyroOffsetEnabled();
Expand Down Expand Up @@ -640,6 +647,7 @@ class BMI160Class {

uint8_t getDeviceID();

int isBitSet(uint8_t value, unsigned bit);
uint8_t getRegister(uint8_t reg);
void setRegister(uint8_t reg, uint8_t data);

Expand All @@ -653,8 +661,10 @@ class BMI160Class {
void setInterruptLatch(uint8_t latch);
void resetInterrupt();

bool gyroDataReady();
bool accelDataReady();
/* Use a bitmask to track which sensors are enabled */
unsigned sensors_enabled;
float accel_range;
float gyro_range;

protected:
virtual int serial_buffer_transfer(uint8_t *buf, unsigned tx_cnt, unsigned rx_cnt) = 0;
Expand Down
83 changes: 68 additions & 15 deletions libraries/CurieIMU/src/CurieIMU.cpp
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Expand Up @@ -32,7 +32,8 @@
* on the Curie module, before calling BMI160::initialize() to activate the
* BMI160 accelerometer and gyroscpoe with default settings.
*/
bool CurieIMUClass::begin()

bool CurieIMUClass::configure_imu(unsigned int sensors)
{
ss_spi_init(SPI_SENSING_1, 2000, SPI_BUSMODE_0, SPI_8_BIT, SPI_SE_1);

Expand All @@ -41,7 +42,7 @@ bool CurieIMUClass::begin()
serial_buffer_transfer(&dummy_reg, 1, 1);

/* The SPI interface is ready - now invoke the base class initialization */
BMI160Class::initialize();
initialize(sensors);

/** Verify the SPI connection.
* MakgetGyroRatee sure the device is connected and responds as expected.
Expand All @@ -50,16 +51,66 @@ bool CurieIMUClass::begin()
if (CURIE_IMU_CHIP_ID != getDeviceID())
return false;

accel_range = (float) getAccelerometerRange();
gyro_range = (float) getGyroRange();
return true;
}

bool CurieIMUClass::begin()
{
return configure_imu(GYRO | ACCEL);
}

bool CurieIMUClass::begin(unsigned int sensors)
{
return configure_imu(sensors);
}

void CurieIMUClass::end()
{
ss_spi_disable(SPI_SENSING_1);
}

bool CurieIMUClass::dataReady()
{
uint8_t stat;

/* If no sensors are enabled */
if (!isEnabled(0))
return false;

/* Read status register */
stat = getRegister(BMI160_RA_STATUS);

if (isEnabled(GYRO) && !isBitSet(stat, BMI160_STATUS_DRDY_GYR))
return false;

if (isEnabled(ACCEL) && !isBitSet(stat, BMI160_STATUS_DRDY_ACC))
return false;

return true;
}

bool CurieIMUClass::dataReady(unsigned int sensors)
{
uint8_t stat;

/* If no sensors enabled, or no data requested */
if (sensors == 0 || !isEnabled(0))
return false;

/* Read status register */
stat = getRegister(BMI160_RA_STATUS);

if ((sensors & GYRO) && isEnabled(GYRO) &&
!isBitSet(stat, BMI160_STATUS_DRDY_GYR))
return false;

if ((sensors & ACCEL) && isEnabled(ACCEL) &&
!isBitSet(stat, BMI160_STATUS_DRDY_ACC))
return false;

return true;
}

int CurieIMUClass::getGyroRate()
{
int rate;
Expand Down Expand Up @@ -227,25 +278,26 @@ int CurieIMUClass::getGyroRange()
void CurieIMUClass::setGyroRange(int range)
{
BMI160GyroRange bmiRange;
float real;

if (range >= 2000) {
bmiRange = BMI160_GYRO_RANGE_2000;
gyro_range = 2000.0f;
real = 2000.0f;
} else if (range >= 1000) {
bmiRange = BMI160_GYRO_RANGE_1000;
gyro_range = 1000.0f;
real = 1000.0f;
} else if (range >= 500) {
bmiRange = BMI160_GYRO_RANGE_500;
gyro_range = 500.0f;
real = 500.0f;
} else if (range >= 250) {
bmiRange = BMI160_GYRO_RANGE_250;
gyro_range = 250.0f;
real = 250.0f;
} else {
bmiRange = BMI160_GYRO_RANGE_125;
gyro_range = 125.0f;
real = 125.0f;
}

setFullScaleGyroRange(bmiRange);
setFullScaleGyroRange(bmiRange, real);
}

int CurieIMUClass::getAccelerometerRange()
Expand Down Expand Up @@ -277,22 +329,23 @@ int CurieIMUClass::getAccelerometerRange()
void CurieIMUClass::setAccelerometerRange(int range)
{
BMI160AccelRange bmiRange;
float real;

if (range <= 2) {
bmiRange = BMI160_ACCEL_RANGE_2G;
accel_range = 2.0f;
real = 2.0f;
} else if (range <= 4) {
bmiRange = BMI160_ACCEL_RANGE_4G;
accel_range = 4.0f;
real = 4.0f;
} else if (range <= 8) {
bmiRange = BMI160_ACCEL_RANGE_8G;
accel_range = 8.0f;
real = 8.0f;
} else {
bmiRange = BMI160_ACCEL_RANGE_16G;
accel_range = 16.0f;
real = 16.0f;
}

setFullScaleAccelRange(bmiRange);
setFullScaleAccelRange(bmiRange, real);
}

void CurieIMUClass::autoCalibrateGyroOffset()
Expand Down
8 changes: 5 additions & 3 deletions libraries/CurieIMU/src/CurieIMU.h
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Expand Up @@ -94,9 +94,13 @@ class CurieIMUClass : public BMI160Class {
friend void bmi160_pin1_isr(void);

public:
bool begin(unsigned int sensors);
bool begin(void);
void end(void);

bool dataReady();
bool dataReady(unsigned int sensors);

// supported values: 25, 50, 100, 200, 400, 800, 1600, 3200 (Hz)
int getGyroRate();
void setGyroRate(int rate);
Expand Down Expand Up @@ -207,11 +211,9 @@ class CurieIMUClass : public BMI160Class {
void detachInterrupt(void);

private:
bool configure_imu(unsigned int sensors);
int serial_buffer_transfer(uint8_t *buf, unsigned tx_cnt, unsigned rx_cnt);

float accel_range;
float gyro_range;

float getFreefallDetectionThreshold();
void setFreefallDetectionThreshold(float threshold);
float getShockDetectionThreshold();
Expand Down