BMX160 Configuration. More...

#include <BMX160Config.h>

Public Types
enum class	FifoMode { DISABLED , HEADERLESS , HEADER }
	Fifo operationg mode. More...

enum class	FifoInterruptPin { DISABLED , PIN_INT1 , PIN_INT2 }
	Fifo interrupt mode. More...

enum class	AccelerometerRange { G_2 = 0x3 , G_4 = 0x5 , G_8 = 0x8 , G_16 = 0xC }
	Range of the accelerometer expressed in ±g. More...

enum class	GyroscopeRange { DEG_2000 = 0x0 , DEG_1000 = 0x1 , DEG_500 = 0x2 , DEG_250 = 0x3 , DEG_125 = 0x4 }
	Gyroscope range expressed in °/sec. More...

enum class	GyroscopeMeasureUnit { DEG , RAD }
	Gyroscope measure unit (degrees or radiants). More...

enum class	OutputDataRate { HZ_0_78125 = 0x01 , HZ_1_5625 = 0x02 , HZ_3_125 = 0x03 , HZ_6_25 = 0x04 , HZ_12_5 = 0x05 , HZ_25 = 0x06 , HZ_50 = 0x07 , HZ_100 = 0x08 , HZ_200 = 0x09 , HZ_400 = 0x0A , HZ_800 = 0x0B , HZ_1600 = 0x0C , HZ_3200 = 0x0D }
	Output Data Rate expressed in Hz. More...

enum class	BandwidthParameter { NORMAL = 0x20 , OSR2 = 0x10 , OSR4 = 0x00 }
	Bandwidth parameter. More...

enum class	IntMode { PUSH_PULL , OPEN_DRAIN }
	Interrupt pin mode. More...

Public Member Functions
	BMX160Config ()

Public Attributes
uint8_t	fifoWatermark = -1
	Fifo watermark to use, in multiples of 4.

uint8_t	magnetometerRepetitionsXY = 0x04
	Repetitions for the XY axis.

uint8_t	magnetometerRepetitionsZ = 0x0E
	Repetitions for the Z axis.

bool	enableCompensation = true
	Enable magnetometer data compensation.

int	temperatureDivider = 0
	Divide the temperature sampling rate.

bool	fifoAccelerometerFiltered = true
	Should the fifo use accelerometer filtered data?

uint8_t	fifoAccelerationDownsampling = 0
	Fifo accelerometer downsampling (between 0 and 15).

bool	fifoGyroscopeFiltered = true
	Should the fifo use gyroscope filtered data?

uint8_t	fifoGyroscopeDownsampling = 0
	Fifo gyroscope downsampling (between 0 and 15).

FifoMode	fifoMode = FifoMode::DISABLED

FifoInterruptPin	fifoInterrupt = FifoInterruptPin::DISABLED

OutputDataRate	accelerometerDataRate = OutputDataRate::HZ_100

BandwidthParameter	accelerometerBandwidth = BandwidthParameter::NORMAL

AccelerometerRange	accelerometerRange = AccelerometerRange::G_2

OutputDataRate	gyroscopeDataRate = OutputDataRate::HZ_100

BandwidthParameter	gyroscopeBandwidth = BandwidthParameter::NORMAL

GyroscopeRange	gyroscopeRange = GyroscopeRange::DEG_2000

GyroscopeMeasureUnit	gyroscopeUnit = GyroscopeMeasureUnit::RAD

OutputDataRate	magnetometerRate = OutputDataRate::HZ_100

IntMode	interrupt1Mode = IntMode::PUSH_PULL

IntMode	interrupt2Mode = IntMode::PUSH_PULL

Detailed Description

BMX160 Configuration.

Definition at line 31 of file BMX160Config.h.

Member Enumeration Documentation

◆ AccelerometerRange

enum class Boardcore::BMX160Config::AccelerometerRange

strong

Range of the accelerometer expressed in ±g.

Enumerator
G_2	Accelaration range ±2g.
G_4	Accelaration range ±4g.
G_8	Accelaration range ±8g.
G_16	Accelaration range ±16g.

Definition at line 60 of file BMX160Config.h.

◆ BandwidthParameter

enum class Boardcore::BMX160Config::BandwidthParameter

strong

Bandwidth parameter.

For more detailed explanation, check the 2.4.1 Data Processing Accelerometer and 2.4.2 Data Processing Gyroscope chapters of the BMX160 datasheet.

Enumerator
NORMAL	Normal filter operation.
OSR2	Oversampling rate of 2.
OSR4	Oversampling rate of 4.

Definition at line 122 of file BMX160Config.h.

◆ FifoInterruptPin

enum class Boardcore::BMX160Config::FifoInterruptPin

strong

Fifo interrupt mode.

Uses fifo full/watermark as triggers. We configure the pin as push-pull and active-low.

Enumerator
DISABLED	The interrupts are completely disabled.
PIN_INT1	Interrupts are enabled on pin 2.
PIN_INT2	Interrupts are enabled on pin 1.

Definition at line 49 of file BMX160Config.h.

◆ FifoMode

enum class Boardcore::BMX160Config::FifoMode

strong

Fifo operationg mode.

Enumerator
DISABLED	The fifo is completely disabled.
HEADERLESS	Sensors MUST have the same odr.
HEADER	Sensors can have different odr.

Definition at line 36 of file BMX160Config.h.

◆ GyroscopeMeasureUnit

enum class Boardcore::BMX160Config::GyroscopeMeasureUnit

strong

Gyroscope measure unit (degrees or radiants).

Enumerator
DEG	Degrees.
RAD	Radiants.

Definition at line 83 of file BMX160Config.h.

◆ GyroscopeRange

enum class Boardcore::BMX160Config::GyroscopeRange

strong

Gyroscope range expressed in °/sec.

Enumerator
DEG_2000	Gyroscope range 2000°/sec.
DEG_1000	Gyroscope range 1000°/sec.
DEG_500	Gyroscope range 500°/sec.
DEG_250	Gyroscope range 250°/sec.
DEG_125	Gyroscope range 125°/sec.

Definition at line 71 of file BMX160Config.h.

◆ IntMode

enum class Boardcore::BMX160Config::IntMode

strong

Interrupt pin mode.

Configuration for interrupt pin behaviour.

Enumerator
PUSH_PULL	Push-pull behaviour.
OPEN_DRAIN	Open drain behaviour.

Definition at line 134 of file BMX160Config.h.

◆ OutputDataRate

enum class Boardcore::BMX160Config::OutputDataRate

strong

Output Data Rate expressed in Hz.

Limits are as follows (wrong values will error the device):

Accelerometer: 25/2 - 1600 (25/32 - 1600 if undersampling is enabled, which is not)
Gyroscope: 25 - 3200
Magnetometer: 25/32 - 800

Enumerator
HZ_0_78125	Output Data Rate of 25/32Hz = 0.78125.
HZ_1_5625	Output Data Rate of 25/16Hz = 1.5625.
HZ_3_125	Output Data Rate of 25/8Hz = 3.125.
HZ_6_25	Output Data Rate of 25/4Hz = 6.25.
HZ_12_5	Output Data Rate of 25/2Hz = 12.5.
HZ_25	Output Data Rate of 25Hz.
HZ_50	Output Data Rate of 50Hz.
HZ_100	Output Data Rate of 100Hz.
HZ_200	Output Data Rate of 200Hz.
HZ_400	Output Data Rate of 400Hz.
HZ_800	Output Data Rate of 800Hz.
HZ_1600	Output Data Rate of 1600Hz.
HZ_3200	Output Data Rate of 3200Hz.

Definition at line 98 of file BMX160Config.h.

Constructor & Destructor Documentation

◆ BMX160Config()

Boardcore::BMX160Config::BMX160Config ( )

inline

Definition at line 244 of file BMX160Config.h.

Member Data Documentation

◆ accelerometerBandwidth

BandwidthParameter Boardcore::BMX160Config::accelerometerBandwidth = BandwidthParameter::NORMAL

Definition at line 231 of file BMX160Config.h.

◆ accelerometerDataRate

OutputDataRate Boardcore::BMX160Config::accelerometerDataRate = OutputDataRate::HZ_100

Definition at line 230 of file BMX160Config.h.

◆ accelerometerRange

AccelerometerRange Boardcore::BMX160Config::accelerometerRange = AccelerometerRange::G_2

Definition at line 232 of file BMX160Config.h.

◆ enableCompensation

bool Boardcore::BMX160Config::enableCompensation = true

Enable magnetometer data compensation.

The magnetomer support compensation, but it's not documented, and the current implementation is based on the source of the bosch driver.

The implementation is slow, probably buggy, and only god knows what it does, it's so bad that I added a switch to disable it, use it wisely!

Definition at line 194 of file BMX160Config.h.

◆ fifoAccelerationDownsampling

uint8_t Boardcore::BMX160Config::fifoAccelerationDownsampling = 0

Fifo accelerometer downsampling (between 0 and 15).

Definition at line 215 of file BMX160Config.h.

◆ fifoAccelerometerFiltered

bool Boardcore::BMX160Config::fifoAccelerometerFiltered = true

Should the fifo use accelerometer filtered data?

Definition at line 210 of file BMX160Config.h.

◆ fifoGyroscopeDownsampling

uint8_t Boardcore::BMX160Config::fifoGyroscopeDownsampling = 0

Fifo gyroscope downsampling (between 0 and 15).

Definition at line 225 of file BMX160Config.h.

◆ fifoGyroscopeFiltered

bool Boardcore::BMX160Config::fifoGyroscopeFiltered = true

Should the fifo use gyroscope filtered data?

Definition at line 220 of file BMX160Config.h.

◆ fifoInterrupt

FifoInterruptPin Boardcore::BMX160Config::fifoInterrupt = FifoInterruptPin::DISABLED

Definition at line 228 of file BMX160Config.h.

◆ fifoMode

FifoMode Boardcore::BMX160Config::fifoMode = FifoMode::DISABLED

Definition at line 227 of file BMX160Config.h.

◆ fifoWatermark

uint8_t Boardcore::BMX160Config::fifoWatermark = -1

Fifo watermark to use, in multiples of 4.

Only values between [0-250] make sense to use. A really high watermark value (the default) will disable it, falling back to FIFO full.

Definition at line 147 of file BMX160Config.h.

◆ gyroscopeBandwidth

BandwidthParameter Boardcore::BMX160Config::gyroscopeBandwidth = BandwidthParameter::NORMAL

Definition at line 235 of file BMX160Config.h.

◆ gyroscopeDataRate

OutputDataRate Boardcore::BMX160Config::gyroscopeDataRate = OutputDataRate::HZ_100

Definition at line 234 of file BMX160Config.h.

◆ gyroscopeRange

GyroscopeRange Boardcore::BMX160Config::gyroscopeRange = GyroscopeRange::DEG_2000

Definition at line 236 of file BMX160Config.h.

◆ gyroscopeUnit

GyroscopeMeasureUnit Boardcore::BMX160Config::gyroscopeUnit = GyroscopeMeasureUnit::RAD

Definition at line 237 of file BMX160Config.h.

◆ interrupt1Mode

IntMode Boardcore::BMX160Config::interrupt1Mode = IntMode::PUSH_PULL

Definition at line 241 of file BMX160Config.h.

◆ interrupt2Mode

IntMode Boardcore::BMX160Config::interrupt2Mode = IntMode::PUSH_PULL

Definition at line 242 of file BMX160Config.h.

◆ magnetometerRate

OutputDataRate Boardcore::BMX160Config::magnetometerRate = OutputDataRate::HZ_100

Definition at line 239 of file BMX160Config.h.

◆ magnetometerRepetitionsXY

uint8_t Boardcore::BMX160Config::magnetometerRepetitionsXY = 0x04

Repetitions for the XY axis.

Repetitions represent how many internal samples are averaged in order to get the final outputted sample, these presets are the ones recommended in the BMX160 datasheet, for more informations consult the BMM150 datasheet, chapter 4.2.4 Active mode.

This are the recommended presets:

0x01, RMS Noise (x/y/z) 1.0/1.0/1.4, Current: 0.17mA (Low power)
0x04, RMS Noise (x/y/z) 0.6/0.6/0.6, Current: 0.5mA (Regular) (Default)
0x07, RMS Noise (x/y/z) 0.5/0.5/0.5, Current: 0.8mA (Enhanced regular)
0x17, RMS Noise (x/y/z) 0.3/0.3/0.3, Current: 4.9mA (High accuracy)

Definition at line 165 of file BMX160Config.h.

◆ magnetometerRepetitionsZ

uint8_t Boardcore::BMX160Config::magnetometerRepetitionsZ = 0x0E

Repetitions for the Z axis.

Repetitions represent how many internal samples are averaged in order to get the final outputted sample, these presets are the ones recommended in the BMX160 datasheet, for more informations consult the BMM150 datasheet, chapter 4.2.4 Active mode.

This are the recommended presets:

0x02, RMS Noise (x/y/z) 1.0/1.0/1.4, Current: 0.17mA (Low power)
0x0E, RMS Noise (x/y/z) 0.6/0.6/0.6, Current: 0.5mA (Regular) (Default)
0x1A, RMS Noise (x/y/z) 0.5/0.5/0.5, Current: 0.8mA (Enhanced regular)
0x52, RMS Noise (x/y/z) 0.3/0.3/0.3, Current: 4.9mA (High accuracy)

Definition at line 183 of file BMX160Config.h.

◆ temperatureDivider

int Boardcore::BMX160Config::temperatureDivider = 0

Divide the temperature sampling rate.

This is used to limit the sampling of the temperature, use 0 to disable it completely.

Every time you call onSimpleUpdate a value is incremented and only if the value is a multiple of this parameter a read is performed.

Definition at line 205 of file BMX160Config.h.

The documentation for this struct was generated from the following file:

src/shared/sensors/BMX160/BMX160Config.h

Public Types

Public Member Functions

Public Attributes

Detailed Description

Member Enumeration Documentation

◆ AccelerometerRange

◆ BandwidthParameter

◆ FifoInterruptPin

◆ FifoMode

◆ GyroscopeMeasureUnit

◆ GyroscopeRange

◆ IntMode

◆ OutputDataRate

Constructor & Destructor Documentation

◆ BMX160Config()

Member Data Documentation

◆ accelerometerBandwidth

◆ accelerometerDataRate

◆ accelerometerRange

◆ enableCompensation

◆ fifoAccelerationDownsampling

◆ fifoAccelerometerFiltered

◆ fifoGyroscopeDownsampling

◆ fifoGyroscopeFiltered

◆ fifoInterrupt

◆ fifoMode

◆ fifoWatermark

◆ gyroscopeBandwidth

◆ gyroscopeDataRate

◆ gyroscopeRange

◆ gyroscopeUnit

◆ interrupt1Mode

◆ interrupt2Mode

◆ magnetometerRate

◆ magnetometerRepetitionsXY

◆ magnetometerRepetitionsZ

◆ temperatureDivider