src/main/drivers/accgyro/accgyro_spi_bmi160.h

   1 /**
   2  ******************************************************************************
   3  * @addtogroup PIOS PIOS Core hardware abstraction layer
   4  * @{
   5  * @addtogroup PIOS_BMI160 BMI160 Functions
   6  * @brief Hardware functions to deal with the 6DOF gyro / accel sensor
   7  * @{
   8  *
   9  * @file       pios_bmi160.c
  10  * @author     dRonin, http://dRonin.org/, Copyright (C) 2016
  11  * @brief      BMI160 Gyro / Accel Sensor Routines
  12  * @see        The GNU Public License (GPL) Version 3
  13  ******************************************************************************/
  14
  15 /*
  16  * This program is free software; you can redistribute it and/or modify
  17  * it under the terms of the GNU General Public License as published by
  18  * the Free Software Foundation; either version 3 of the License, or
  19  * (at your option) any later version.
  20  *
  21  * This program is distributed in the hope that it will be useful, but
  22  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  23  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  24  * for more details.
  25  *
  26  * You should have received a copy of the GNU General Public License along
  27  * with this program; if not, write to the Free Software Foundation, Inc.,
  28  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  29  *
  30  * Additional note on redistribution: The copyright and license notices above
  31  * must be maintained in each individual source file that is a derivative work
  32  * of this source file; otherwise redistribution is prohibited.
  33  */
  34
  35 #pragma once
  36
  37 #include "drivers/bus.h"
  38
  39 enum pios_bmi160_orientation { // clockwise rotation from board forward
  40     PIOS_BMI160_TOP_0DEG,
  41     PIOS_BMI160_TOP_90DEG,
  42     PIOS_BMI160_TOP_180DEG,
  43     PIOS_BMI160_TOP_270DEG,
  44     PIOS_BMI160_BOTTOM_0DEG,
  45     PIOS_BMI160_BOTTOM_90DEG,
  46     PIOS_BMI160_BOTTOM_180DEG,
  47     PIOS_BMI160_BOTTOM_270DEG,
  48 };
  49
  50 enum bmi160_odr {
  51     BMI160_ODR_800_Hz = 0x0B,
  52     BMI160_ODR_1600_Hz = 0x0C,
  53     BMI160_ODR_3200_Hz = 0x0D,
  54 };
  55
  56 enum bmi160_acc_range {
  57     BMI160_RANGE_2G = 0x03,
  58     BMI160_RANGE_4G = 0x05,
  59     BMI160_RANGE_8G = 0x08,
  60     BMI160_RANGE_16G = 0x0C,
  61 };
  62
  63 enum bmi160_gyro_range {
  64     BMI160_RANGE_125DPS = 0x04,
  65     BMI160_RANGE_250DPS = 0x03,
  66     BMI160_RANGE_500DPS = 0x02,
  67     BMI160_RANGE_1000DPS = 0x01,
  68     BMI160_RANGE_2000DPS = 0x00,
  69 };
  70
  71 uint8_t bmi160Detect(const extDevice_t *dev);
  72 bool bmi160SpiAccDetect(accDev_t *acc);
  73 bool bmi160SpiGyroDetect(gyroDev_t *gyro);