Various BMX160 register/enums definitions. More...

Classes
struct	AccRaw
	Raw struct, read directly from device. More...

struct	GyrRaw
	Raw struct, read directly from device. More...

struct	MagRaw
	Raw struct, read directly from device. More...

struct	TrimData
	Struct holding trim data used for magnetomer compensation. More...

Enumerations
enum	SELF_TEST { SELF_TEST_GYR = 0x10 , SELF_TEST_ACC_AMP = 0x08 , SELF_TEST_ACC_SIGN = 0x04 , SELF_TEST_ACC_ENABLE = 0x01 }
	Values for SELF_TEST register. More...

enum	FIFO_CONFIG_1 { FIFO_CONFIG_1_ACC_EN = 0x80 , FIFO_CONFIG_1_GYR_EN = 0x40 , FIFO_CONFIG_1_MAG_EN = 0x20 , FIFO_CONFIG_1_HEADER_EN = 0x10 }
	Values for FIFO_CONFIG_1 register. More...

enum	FIFO_DOWNS { FIFO_DOWNS_ACC_FILT_DATA = 0x80 , FIFO_DOWNS_GYR_FILT_DATA = 0x08 }
	Values for FIFO_DOWNS register. More...

enum	INT_OUT_CTRL { INT_OUT_CTRL_INT2_OUT_EN = 0x80 , INT_OUT_CTRL_INT2_OD = 0x40 , INT_OUT_CTRL_INT1_OUT_EN = 0x08 , INT_OUT_CTRL_INT1_OD = 0x04 }
	Values for INT_OUT_CTRL register. More...

enum	INT_MAP_1 { INT_MAP_1_INT_1_FIFO_WATERMARK = 0x40 , INT_MAP_1_INT_1_FIFO_FULL = 0x20 , INT_MAP_1_INT_2_FIFO_WATERMARK = 0x04 , INT_MAP_1_INT_2_FIFO_FULL = 0x02 }
	Values for INT_MAP_1 register. More...

enum	INT_EN_1 { INT_EN_1_FIFO_WATERMARK = 0x40 , INT_EN_1_FIFO_FULL = 0x20 }
	Values for INT_EN_1 register. More...

enum	MAG_IF_0 { MAG_IF_0_MANUAL = 0x80 , MAG_IF_0_BURST_1 = 0x00 , MAG_IF_0_BURST_2 = 0x01 , MAG_IF_0_BURST_6 = 0x02 , MAG_IF_0_BURST_8 = 0x03 }
	Values for MAG_IF_0 register. More...

enum	FIFO_HEADER { FIFO_HEADER_MODE_REGULAR = 0x80 , FIFO_HEADER_MODE_CONTROL = 0x40 , FIFO_HEADER_PARM_ACC_DATA = 0x04 , FIFO_HEADER_PARM_GYR_DATA = 0x08 , FIFO_HEADER_PARM_MAG_DATA = 0x10 , FIFO_HEADER_PARM_SKIP = 0x00 , FIFO_HEADER_PARM_SENSORTIME = 0x04 , FIFO_HEADER_PARM_CONFIG = 0x08 }
	Values for fifo header byte. More...

enum	MAG_RESET { MAG_RESET_POWER_CONTROL = 0x01 }
	Values for mag RESET. More...

enum	MAG_CONTROL { MAG_CONTROL_SELF_TEST = 0x01 , MAG_CONTROL_NORMAL = 0x00 , MAG_CONTROL_FORCED = 0x02 , MAG_CONTROL_SLEEP = 0x06 }
	Values for mag CONTROL. More...

enum class	Cmd { START_FOC = 0x03 , ACC_SET_PMU_MODE = 0x10 , GYR_SET_PMU_MODE = 0x14 , MAG_IF_SET_PMU_MODE = 0x18 , PROG_NVM = 0xA0 , FIFO_FLUSH = 0xB0 , INT_RESET = 0xB1 , SOFTRESET = 0xB6 , STEP_CNT_CLR = 0xB2 }

enum class	PowerMode { SUSPEND = 0x00 , NORMAL = 0x01 , LOW_POWER = 0x02 , FAST_START_UP = 0x03 }

enum	Registers { REG_CHIPID = 0x00 , REG_ERR = 0x02 , REG_PMU_STATUS = 0x03 , REG_DATA = 0x04 , REG_DATA_MAG = 0x04 , REG_DATA_GYR = 0x0C , REG_DATA_ACC = 0x12 , REG_SENSORTIME_0 = 0x18 , REG_SENSORTIME_1 = 0x19 , REG_SENSORTIME_2 = 0x1A , REG_STATUS = 0x1B , REG_TEMPERATURE_0 = 0x20 , REG_TEMPERATURE_1 = 0x21 , REG_FIFO_LENGTH_0 = 0x22 , REG_FIFO_LENGTH_1 = 0x23 , REG_FIFO_DATA = 0x24 , REG_ACC_CONF = 0x40 , REG_ACC_RANGE = 0x41 , REG_GYR_CONF = 0x42 , REG_GYR_RANGE = 0x43 , REG_MAG_CONF = 0x44 , REG_FIFO_DOWNS = 0x45 , REG_FIFO_CONFIG_0 = 0x46 , REG_FIFO_CONFIG_1 = 0x47 , REG_MAG_IF_0 = 0x4C , REG_MAG_IF_1 = 0x4D , REG_MAG_IF_2 = 0x4E , REG_MAG_IF_3 = 0x4F , REG_INT_EN_0 = 0x50 , REG_INT_EN_1 = 0x51 , REG_INT_EN_2 = 0x52 , REG_INT_OUT_CTRL = 0x53 , REG_INT_LATCH = 0x54 , REG_INT_MAP_0 = 0x55 , REG_INT_MAP_1 = 0x56 , REG_INT_MAP_2 = 0x57 , REG_FOC_CONF = 0x69 , REG_CONF = 0x6A , REG_IF_CONF = 0x6B , REG_SELF_TEST = 0x6D , REG_CMD = 0x7E , REG_COMM_TEST = 0x7F }
	Internal register definitions. More...

enum	MagnetometerRegisters { MAG_REG_DATA = 0x42 , MAG_REG_RESET = 0x4B , MAG_REG_CONTROL = 0x4C , MAG_REG_REPXY = 0x51 , MAG_REG_REPZ = 0x52 , MAG_REG_DIG_X1 = 0x5D , MAG_REG_DIG_Y1 = 0x5E , MAG_REG_DIG_Z4_0 = 0x62 , MAG_REG_DIG_Z4_1 = 0x63 , MAG_REG_DIG_X2 = 0x64 , MAG_REG_DIG_Y2 = 0x65 , MAG_REG_DIG_Z2_0 = 0x68 , MAG_REG_DIG_Z2_1 = 0x69 , MAG_REG_DIG_Z1_0 = 0x6A , MAG_REG_DIG_Z1_1 = 0x6B , MAG_REG_DIG_XYZ1_0 = 0x6C , MAG_REG_DIG_XYZ1_1 = 0x6D , MAG_REG_DIG_Z3_0 = 0x6E , MAG_REG_DIG_Z3_1 = 0x6F , MAG_REG_DIG_XY2 = 0x70 , MAG_REG_DIG_XY1 = 0x71 }
	Internal magnetometer definitions. More...

Variables
const uint16_t	FIFO_SIZE = 200
	Driver's fifo size expressed as number of samples.

const float	TEMP_SENSIBILITY = 64.0f / 32768.0f
	Temperature sensor sensibility.

const float	MAG_SENSIBILITY = 0.003
	Magnetometer fixed sensibility.

const uint8_t	CHIPID = 0xD8
	BMX160 Chip Id.

const uint8_t	FIFO_CONFIG_1_DEFAULT = 0x10
	Default value for FIFO_CONFIG_1.

const uint8_t	PMU_STATUS_ALL_MASK = 0x03 \| 0x0C \| 0x30
	Mask for PMU_STATUS register (Power Mode Unit).

const uint8_t	PMU_STATUS_ALL_NORMAL = 0x01 \| 0x04 \| 0x10
	Mask for PMU_STATUS register, normal status for all sensors.

const uint8_t	FIFO_STOP_BYTE = 128
	This value indicates that the data in the FIFO stops prematurely.

const uint8_t	FIFO_HEADER_MODE_MASK = 0xC0
	Mask for fifo header mode.

const uint8_t	FIFO_HEADER_PARM_MASK = 0x3C
	Mask for fifo header parm.

const uint8_t	FIFO_HEADER_EXT_MASK = 0x03
	Mask for fifo header ext.

Detailed Description

Various BMX160 register/enums definitions.

Enumeration Type Documentation

◆ Cmd

enum class Boardcore::BMX160Defs::Cmd

strong

BMX160 Commands.

Enumerator
START_FOC	Starts Fast Offset Calibration for acc and gyro.
ACC_SET_PMU_MODE	Sets the PMU mode for the accelerometer.
GYR_SET_PMU_MODE	Sets the PMU mode for the gyroscope.
MAG_IF_SET_PMU_MODE	Sets the PMU mode for the magnetometer.
PROG_NVM	Writes the NVM backed registers into NVM.
FIFO_FLUSH	Clears all data in the fifo.
INT_RESET	Resets interrupt engine, INT_STATUS reg and int pin.
SOFTRESET	Triggers a reset including a reboot.
STEP_CNT_CLR	Triggers a reset of the step counter.

Definition at line 247 of file BMX160Defs.h.

◆ FIFO_CONFIG_1

enum Boardcore::BMX160Defs::FIFO_CONFIG_1

Values for FIFO_CONFIG_1 register.

Enumerator
FIFO_CONFIG_1_ACC_EN	Store accelerometer data in fifo.
FIFO_CONFIG_1_GYR_EN	Store gyroscope data in fifo.
FIFO_CONFIG_1_MAG_EN	Store magnetometer data in fifo.
FIFO_CONFIG_1_HEADER_EN	Stores an header for each frame.

Definition at line 75 of file BMX160Defs.h.

◆ FIFO_DOWNS

enum Boardcore::BMX160Defs::FIFO_DOWNS

Values for FIFO_DOWNS register.

Enumerator
FIFO_DOWNS_ACC_FILT_DATA
FIFO_DOWNS_GYR_FILT_DATA

Definition at line 86 of file BMX160Defs.h.

◆ FIFO_HEADER

enum Boardcore::BMX160Defs::FIFO_HEADER

Values for fifo header byte.

Enumerator
FIFO_HEADER_MODE_REGULAR
FIFO_HEADER_MODE_CONTROL
FIFO_HEADER_PARM_ACC_DATA
FIFO_HEADER_PARM_GYR_DATA
FIFO_HEADER_PARM_MAG_DATA
FIFO_HEADER_PARM_SKIP
FIFO_HEADER_PARM_SENSORTIME
FIFO_HEADER_PARM_CONFIG

Definition at line 168 of file BMX160Defs.h.

◆ INT_EN_1

enum Boardcore::BMX160Defs::INT_EN_1

Values for INT_EN_1 register.

Enumerator
INT_EN_1_FIFO_WATERMARK	Enables interrupt for FIFO watermark.
INT_EN_1_FIFO_FULL	Enables interrupt for FIFO full.

Definition at line 117 of file BMX160Defs.h.

◆ INT_MAP_1

enum Boardcore::BMX160Defs::INT_MAP_1

Values for INT_MAP_1 register.

Enumerator
INT_MAP_1_INT_1_FIFO_WATERMARK
INT_MAP_1_INT_1_FIFO_FULL
INT_MAP_1_INT_2_FIFO_WATERMARK
INT_MAP_1_INT_2_FIFO_FULL

Definition at line 106 of file BMX160Defs.h.

◆ INT_OUT_CTRL

enum Boardcore::BMX160Defs::INT_OUT_CTRL

Values for INT_OUT_CTRL register.

Enumerator
INT_OUT_CTRL_INT2_OUT_EN	Output enable for INT2 pin.
INT_OUT_CTRL_INT2_OD	Open drain enable for INT2 pin.
INT_OUT_CTRL_INT1_OUT_EN	Output enable for INT1 pin.
INT_OUT_CTRL_INT1_OD	Open drain enable for INT1 pin.

Definition at line 95 of file BMX160Defs.h.

◆ MAG_CONTROL

enum Boardcore::BMX160Defs::MAG_CONTROL

Values for mag CONTROL.

Enumerator
MAG_CONTROL_SELF_TEST
MAG_CONTROL_NORMAL
MAG_CONTROL_FORCED
MAG_CONTROL_SLEEP

Definition at line 193 of file BMX160Defs.h.

◆ MAG_IF_0

enum Boardcore::BMX160Defs::MAG_IF_0

Values for MAG_IF_0 register.

Enumerator
MAG_IF_0_MANUAL
MAG_IF_0_BURST_1	1 byte of burst operation.
MAG_IF_0_BURST_2	2 byte of burst operation.
MAG_IF_0_BURST_6	6 byte of burst operation.
MAG_IF_0_BURST_8	8 byte of burst operation.

Definition at line 126 of file BMX160Defs.h.

◆ MAG_RESET

enum Boardcore::BMX160Defs::MAG_RESET

Values for mag RESET.

Enumerator
MAG_RESET_POWER_CONTROL

Definition at line 185 of file BMX160Defs.h.

◆ MagnetometerRegisters

enum Boardcore::BMX160Defs::MagnetometerRegisters

Internal magnetometer definitions.

Enumerator
MAG_REG_DATA
MAG_REG_RESET
MAG_REG_CONTROL
MAG_REG_REPXY
MAG_REG_REPZ
MAG_REG_DIG_X1
MAG_REG_DIG_Y1
MAG_REG_DIG_Z4_0
MAG_REG_DIG_Z4_1
MAG_REG_DIG_X2
MAG_REG_DIG_Y2
MAG_REG_DIG_Z2_0
MAG_REG_DIG_Z2_1
MAG_REG_DIG_Z1_0
MAG_REG_DIG_Z1_1
MAG_REG_DIG_XYZ1_0
MAG_REG_DIG_XYZ1_1
MAG_REG_DIG_Z3_0
MAG_REG_DIG_Z3_1
MAG_REG_DIG_XY2
MAG_REG_DIG_XY1

Definition at line 353 of file BMX160Defs.h.

◆ PowerMode

enum class Boardcore::BMX160Defs::PowerMode

strong

BMX160 power modes.

Enumerator
SUSPEND
NORMAL
LOW_POWER
FAST_START_UP

Definition at line 263 of file BMX160Defs.h.

◆ Registers

enum Boardcore::BMX160Defs::Registers

Internal register definitions.

Enumerator
REG_CHIPID
REG_ERR
REG_PMU_STATUS
REG_DATA
REG_DATA_MAG
REG_DATA_GYR
REG_DATA_ACC
REG_SENSORTIME_0
REG_SENSORTIME_1
REG_SENSORTIME_2
REG_STATUS
REG_TEMPERATURE_0
REG_TEMPERATURE_1
REG_FIFO_LENGTH_0
REG_FIFO_LENGTH_1
REG_FIFO_DATA
REG_ACC_CONF
REG_ACC_RANGE
REG_GYR_CONF
REG_GYR_RANGE
REG_MAG_CONF
REG_FIFO_DOWNS
REG_FIFO_CONFIG_0
REG_FIFO_CONFIG_1
REG_MAG_IF_0
REG_MAG_IF_1
REG_MAG_IF_2
REG_MAG_IF_3
REG_INT_EN_0
REG_INT_EN_1
REG_INT_EN_2
REG_INT_OUT_CTRL
REG_INT_LATCH
REG_INT_MAP_0
REG_INT_MAP_1
REG_INT_MAP_2
REG_FOC_CONF
REG_CONF
REG_IF_CONF
REG_SELF_TEST
REG_CMD
REG_COMM_TEST

Definition at line 274 of file BMX160Defs.h.

◆ SELF_TEST

enum Boardcore::BMX160Defs::SELF_TEST

Values for SELF_TEST register.

Enumerator
SELF_TEST_GYR	Starts selftest of the gyroscope.
SELF_TEST_ACC_AMP	Select amplitude of the selftest deflection.
SELF_TEST_ACC_SIGN	Select sign of selftest exitation.
SELF_TEST_ACC_ENABLE	Starts selftest of the accelerometer.

Definition at line 64 of file BMX160Defs.h.

Variable Documentation

◆ CHIPID

const uint8_t Boardcore::BMX160Defs::CHIPID = 0xD8

BMX160 Chip Id.

Definition at line 54 of file BMX160Defs.h.

◆ FIFO_CONFIG_1_DEFAULT

const uint8_t Boardcore::BMX160Defs::FIFO_CONFIG_1_DEFAULT = 0x10

Default value for FIFO_CONFIG_1.

Definition at line 59 of file BMX160Defs.h.

◆ FIFO_HEADER_EXT_MASK

const uint8_t Boardcore::BMX160Defs::FIFO_HEADER_EXT_MASK = 0x03

Mask for fifo header ext.

Definition at line 163 of file BMX160Defs.h.

◆ FIFO_HEADER_MODE_MASK

const uint8_t Boardcore::BMX160Defs::FIFO_HEADER_MODE_MASK = 0xC0

Mask for fifo header mode.

Definition at line 153 of file BMX160Defs.h.

◆ FIFO_HEADER_PARM_MASK

const uint8_t Boardcore::BMX160Defs::FIFO_HEADER_PARM_MASK = 0x3C

Mask for fifo header parm.

Definition at line 158 of file BMX160Defs.h.

◆ FIFO_SIZE

const uint16_t Boardcore::BMX160Defs::FIFO_SIZE = 200

Driver's fifo size expressed as number of samples.

Definition at line 39 of file BMX160Defs.h.

◆ FIFO_STOP_BYTE

const uint8_t Boardcore::BMX160Defs::FIFO_STOP_BYTE = 128

This value indicates that the data in the FIFO stops prematurely.

Definition at line 148 of file BMX160Defs.h.

◆ MAG_SENSIBILITY

const float Boardcore::BMX160Defs::MAG_SENSIBILITY = 0.003

Magnetometer fixed sensibility.

Definition at line 49 of file BMX160Defs.h.

◆ PMU_STATUS_ALL_MASK

const uint8_t Boardcore::BMX160Defs::PMU_STATUS_ALL_MASK = 0x03 | 0x0C | 0x30

Mask for PMU_STATUS register (Power Mode Unit).

Definition at line 138 of file BMX160Defs.h.

◆ PMU_STATUS_ALL_NORMAL

const uint8_t Boardcore::BMX160Defs::PMU_STATUS_ALL_NORMAL = 0x01 | 0x04 | 0x10

Mask for PMU_STATUS register, normal status for all sensors.

Definition at line 143 of file BMX160Defs.h.

◆ TEMP_SENSIBILITY

const float Boardcore::BMX160Defs::TEMP_SENSIBILITY = 64.0f / 32768.0f

Temperature sensor sensibility.

Definition at line 44 of file BMX160Defs.h.

Classes

Enumerations

Variables