BMI160_driver.zip_BMI_BMI 160_BMI160API详解_gw6_python 对接BMI160

# BMI160 sensor API ## Introduction This package contains the Bosch Sensortec's BMI160 sensor driver (sensor API) The sensor driver package includes bmi160.h, bmi160.c and bmi160_defs.h files ## Version File | Version | Date --------------|---------|--------------- bmi160.c | 3.7.5 | 11 Jan 2018 bmi160.h | 3.7.5 | 11 Jan 2018 bmi160_defs.h | 3.7.5 | 11 Jan 2018 ## Integration details * Integrate bmi160.h, bmi160_defs.h and bmi160.c file in to your project. * Include the bmi160.h file in your code like below. ``` c #include "bmi160.h" ``` ## File information * bmi160_defs.h : This header file has the constants, macros and datatype declarations. * bmi160.h : This header file contains the declarations of the sensor driver APIs. * bmi160.c : This source file contains the definitions of the sensor driver APIs. ## Supported sensor interface * SPI 4-wire * I2C ## Usage guide ### Initializing the sensor To initialize the sensor, you will first need to create a device structure. You can do this by creating an instance of the structure bmi160_dev. Then go on to fill in the various parameters as shown below. #### Example for SPI 4-Wire ``` c struct bmi160_dev sensor; /* You may assign a chip select identifier to be handled later */ sensor.id = 0; sensor.interface = BMI160_SPI_INTF; sensor.read = user_spi_read; sensor.write = user_spi_write; sensor.delay_ms = user_delay_ms; int8_t rslt = BMI160_OK; rslt = bmi160_init(&sensor); /* After the above function call, accel_cfg and gyro_cfg parameters in the device structure are set with default values, found in the datasheet of the sensor */ ``` #### Example for I2C ``` c struct bmi160_dev sensor; sensor.id = BMI160_I2C_ADDR; sensor.interface = BMI160_I2C_INTF; sensor.read = user_i2c_read; sensor.write = user_i2c_write; sensor.delay_ms = user_delay_ms; int8_t rslt = BMI160_OK; rslt = bmi160_init(&sensor); /* After the above function call, accel and gyro parameters in the device structure are set with default values, found in the datasheet of the sensor */ ``` ### Configuring accel and gyro sensor #### Example for configuring accel and gyro sensors in normal mode ``` c int8_t rslt = BMI160_OK; /* Select the Output data rate, range of accelerometer sensor */ sensor.accel_cfg.odr = BMI160_ACCEL_ODR_1600HZ; sensor.accel_cfg.range = BMI160_ACCEL_RANGE_2G; sensor.accel_cfg.bw = BMI160_ACCEL_BW_NORMAL_AVG4; /* Select the power mode of accelerometer sensor */ sensor.accel_cfg.power = BMI160_ACCEL_NORMAL_MODE; /* Select the Output data rate, range of Gyroscope sensor */ sensor.gyro_cfg.odr = BMI160_GYRO_ODR_3200HZ; sensor.gyro_cfg.range = BMI160_GYRO_RANGE_2000_DPS; sensor.gyro_cfg.bw = BMI160_GYRO_BW_NORMAL_MODE; /* Select the power mode of Gyroscope sensor */ sensor.gyro_cfg.power = BMI160_GYRO_NORMAL_MODE; /* Set the sensor configuration */ rslt = bmi160_set_sens_conf(&sensor); ``` ### Reading sensor data #### Example for reading sensor data ``` c int8_t rslt = BMI160_OK; struct bmi160_sensor_data accel; struct bmi160_sensor_data gyro; /* To read only Accel data */ rslt = bmi160_get_sensor_data(BMI160_ACCEL_SEL, &accel, NULL, &sensor); /* To read only Gyro data */ rslt = bmi160_get_sensor_data(BMI160_GYRO_SEL, NULL, &gyro, &sensor); /* To read both Accel and Gyro data */ bmi160_get_sensor_data((BMI160_ACCEL_SEL | BMI160_GYRO_SEL), &accel, &gyro, &sensor); /* To read Accel data along with time */ rslt = bmi160_get_sensor_data((BMI160_ACCEL_SEL | BMI160_TIME_SEL) , &accel, NULL, &sensor); /* To read Gyro data along with time */ rslt = bmi160_get_sensor_data((BMI160_GYRO_SEL | BMI160_TIME_SEL), NULL, &gyro, &sensor); /* To read both Accel and Gyro data along with time*/ bmi160_get_sensor_data((BMI160_ACCEL_SEL | BMI160_GYRO_SEL | BMI160_TIME_SEL), &accel, &gyro, &sensor); ``` ### Setting the power mode of sensors #### Example for setting power mode of accel and gyro ``` c int8_t rslt = BMI160_OK; /* Select the power mode */ sensor.accel_cfg.power = BMI160_ACCEL_SUSPEND_MODE; sensor.gyro_cfg.power = BMI160_GYRO_FASTSTARTUP_MODE; /* Set the Power mode */ rslt = bmi160_set_power_mode(&sensor); /* Select the power mode */ sensor.accel_cfg.power = BMI160_ACCEL_NORMAL_MODE; sensor.gyro_cfg.power = BMI160_GYRO_NORMAL_MODE; /* Set the Power mode */ rslt = bmi160_set_power_mode(&sensor); ``` ### Reading sensor data register #### Example for reading Chip Address ``` c int8_t rslt = BMI160_OK; uint8_t reg_addr = BMI160_CHIP_ID_ADDR; uint8_t data; uint16_t len = 1; rslt = bmi160_get_regs(reg_addr, &data, len, &sensor); ``` ### Writing to sensor data register #### Example for writing data to any motion threshold register ``` c int8_t rslt = BMI160_OK; uint8_t reg_addr = BMI160_INT_MOTION_1_ADDR; uint8_t data = 20; uint16_t len = 1; rslt = bmi160_set_regs(reg_addr, &data, len, &sensor); ``` ### Resetting the device using soft-reset #### Example for writing soft-reset command to command register ``` c int8_t rslt = BMI160_OK; rslt = bmi160_soft_reset(&sensor); ``` ### Configuring interrupts for sensors To configure the sensor interrupts, you will first need to create an interrupt structure. You can do this by creating an instance of the structure bmi160_int_settg. Then go on to fill in the various parameters as shown below ### Configuring Any-motion Interrupt #### Example for configuring Any-motion Interrupt Note:- User can check the currently active interrupt(any-motion or sig-motion) by checking the **any_sig_sel** of bmi160_dev structure. ``` c struct bmi160_int_settg int_config; /* Select the Interrupt channel/pin */ 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 int_config.int_pin_sett.output_type = BMI160_DISABLE;// Choosing active low output int_config.int_pin_sett.edge_ctrl = BMI160_ENABLE;// Choosing edge triggered output int_config.int_pin_sett.input_en = BMI160_DISABLE;// Disabling interrupt pin to act as input int_config.int_pin_sett.latch_dur = BMI160_LATCH_DUR_NONE;// non-latched output /* Select the Any-motion interrupt parameters */ int_config.int_type_cfg.acc_any_motion_int.anymotion_en = BMI160_ENABLE;// 1- Enable the any-motion, 0- disable any-motion int_config.int_type_cfg.acc_any_motion_int.anymotion_x = BMI160_ENABLE;// Enabling x-axis for any motion interrupt int_config.int_type_cfg.acc_any_motion_int.anymotion_y = BMI160_ENABLE;// Enabling y-axis for any motion interrupt int_config.int_type_cfg.acc_any_motion_int.anymotion_z = BMI160_ENABLE;// Enabling z-axis for any motion interrupt int_config.int_type_cfg.acc_any_motion_int.anymotion_dur = 0;// any-motion duration int_config.int_type_cfg.acc_any_motion_int.anymotion_thr = 20;// (2-g range) -> (slope_thr) * 3.91 mg, (4-g range) -> (slope_thr) * 7.81 mg, (8-g range) ->(slope_thr) * 15.63 mg, (16-g range) -> (slope_thr) * 31.25 mg /* Set the Any-motion interrupt */ bmi160_set_int_config(&int_config, &sensor); /* sensor is an instance of the structure bmi160_dev */ ``` ### Configuring Flat Interrupt #### Example for configuring Flat Interrupt ``` c struct bmi160_int_settg int_config; /* Select the Interrupt channel/pin */ 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 int_config.int_pin_sett.output_type = BMI160_DISABLE;// Choo