Add set/get gyro/accelerometer rate API's, and map more BMI160 enums

sandeepmistry · sandeepmistry · commit 0faeb636cda2 · 2015-12-18T17:09:13.000-05:00
diff --git a/libraries/CurieImu/src/CurieImu.cpp b/libraries/CurieImu/src/CurieImu.cpp
@@ -57,6 +57,26 @@ bool CurieImuClass::begin()
     return (CURIE_IMU_CHIP_ID == getDeviceID());
 }
 
+int CurieImuClass::getGyroRate()
+{
+    return BMI160Class::getGyroRate();
+}
+
+void CurieImuClass::setGyroRate(int rate)
+{
+    BMI160Class::setGyroRate(rate);
+}
+
+int CurieImuClass::getAccelerometerRate()
+{
+    return getAccelRate();
+}
+
+void CurieImuClass::setAccelerometerRate(int rate)
+{
+    setAccelRate(rate);
+}
+
 int CurieImuClass::getGyroRange()
 {
     return getFullScaleGyroRange();
diff --git a/libraries/CurieImu/src/CurieImu.h b/libraries/CurieImu/src/CurieImu.h
@@ -74,11 +74,11 @@ typedef enum {
  * @see setAccelerometerRange()
  */
 typedef enum {
-    CURIE_IMU_ACCEL_RANGE_2G = BMI160_ACCEL_RANGE_2G,
-    CURIE_IMU_ACCEL_RANGE_4G = BMI160_ACCEL_RANGE_4G,
-    CURIE_IMU_ACCEL_RANGE_8G = BMI160_ACCEL_RANGE_8G,
+    CURIE_IMU_ACCELEROMETER_RANGE_2G = BMI160_ACCEL_RANGE_2G,
+    CURIE_IMU_ACCELEROMETER_RANGE_4G = BMI160_ACCEL_RANGE_4G,
+    CURIE_IMU_ACCELEROMETER_RANGE_8G = BMI160_ACCEL_RANGE_8G,
     CURIE_IMU_ACCEL_RANGE_16G = BMI160_ACCEL_RANGE_16G
-} CurieIMUAccelRange;
+} CurieIMUAccelerometerRange;
 
 /**
  * Gyroscope Sensitivity Range options
@@ -92,6 +92,36 @@ typedef enum {
     CURIE_IMU_GYRO_RANGE_125 = BMI160_GYRO_RANGE_125
 } CurieIMUGyroRange;
 
+/**
+ * Accelerometer Output Data Rate options
+ * @see setAccelerometerRate()
+ */
+typedef enum {
+    CURIE_IMU_ACCELEROMETER_RATE_25_2HZ = BMI160_ACCEL_RATE_25_2HZ,
+    CURIE_IMU_ACCELEROMETER_RATE_25HZ = BMI160_ACCEL_RATE_25HZ,
+    CURIE_IMU_ACCELEROMETER_RATE_50HZ = BMI160_ACCEL_RATE_50HZ,
+    CURIE_IMU_ACCELEROMETER_RATE_100HZ = BMI160_ACCEL_RATE_100HZ,
+    CURIE_IMU_ACCELEROMETER_RATE_200HZ = BMI160_ACCEL_RATE_200HZ,
+    CURIE_IMU_ACCELEROMETER_RATE_400HZ = BMI160_ACCEL_RATE_400HZ,
+    CURIE_IMU_ACCELEROMETER_RATE_800HZ = BMI160_ACCEL_RATE_800HZ,
+    CURIE_IMU_ACCELEROMETER_RATE_1600HZ = BMI160_ACCEL_RATE_1600HZ
+} CurieIMUAccelRate;
+
+/**
+ * Gyroscope Output Data Rate options
+ * @see setGyroRate()
+ */
+typedef enum {
+    CURIE_IMU_GYRO_RATE_25HZ = BMI160_GYRO_RATE_25HZ,
+    CURIE_IMU_GYRO_RATE_50HZ = BMI160_GYRO_RATE_50HZ,
+    CURIE_IMU_GYRO_RATE_100HZ = BMI160_GYRO_RATE_100HZ,
+    CURIE_IMU_GYRO_RATE_200HZ = BMI160_GYRO_RATE_200HZ,
+    CURIE_IMU_GYRO_RATE_400HZ = BMI160_GYRO_RATE_400HZ,
+    CURIE_IMU_GYRO_RATE_800HZ = BMI160_GYRO_RATE_800HZ,
+    CURIE_IMU_GYRO_RATE_1600HZ = BMI160_GYRO_RATE_1600HZ,
+    CURIE_IMU_GYRO_RATE_3200HZ = BMI160_GYRO_RATE_3200HZ
+} CurieIMUGyroRate;
+
 /**
  * Step Detection Mode options
  * @see setStepDetectionMode()
@@ -100,9 +130,113 @@ typedef enum {
     CURIE_IMU_STEP_MODE_NORMAL = BMI160_STEP_MODE_NORMAL,
     CURIE_IMU_STEP_MODE_SENSITIVE = BMI160_STEP_MODE_SENSITIVE,
     CURIE_IMU_STEP_MODE_ROBUST = BMI160_STEP_MODE_ROBUST,
-    CURIE_IMU_STEP_MODE_UNKNOWN = BMI160_STEP_MODE_UNKNOWN,
+    CURIE_IMU_STEP_MODE_UNKNOWN = BMI160_STEP_MODE_UNKNOWN
 } CurieIMUStepMode;
 
+/**
+ * Tap Detection Shock Duration options
+ * @see setDetectionThreshold(CURIE_IMU_TAP, ...)
+ */
+typedef enum {
+    CURIE_IMU_TAP_SHOCK_DURATION_50MS = BMI160_TAP_SHOCK_DURATION_50MS,
+    CURIE_IMU_TAP_SHOCK_DURATION_75MS = BMI160_TAP_SHOCK_DURATION_75MS
+} CurieIMUTapShockDuration;
+
+/**
+ * Tap Detection Quiet Duration options
+ * @see setDetectionThreshold(CURIE_IMU_TAP_QUIET, ...)
+ */
+typedef enum {
+    CURIE_IMU_TAP_QUIET_DURATION_30MS = BMI160_TAP_QUIET_DURATION_30MS,
+    CURIE_IMU_TAP_QUIET_DURATION_20MS = BMI160_TAP_QUIET_DURATION_20MS
+} CurieIMUTapQuietDuration;
+
+/**
+ * Double-Tap Detection Duration options
+ * @see setDetectionThreshold(CURIE_IMU_DOUBLE_TAP, ...)
+ */
+typedef enum {
+    CURIE_IMU_DOUBLE_TAP_DURATION_50MS = BMI160_DOUBLE_TAP_DURATION_50MS,
+    CURIE_IMU_DOUBLE_TAP_DURATION_100MS = BMI160_DOUBLE_TAP_DURATION_100MS,
+    CURIE_IMU_DOUBLE_TAP_DURATION_150MS = BMI160_DOUBLE_TAP_DURATION_150MS,
+    CURIE_IMU_DOUBLE_TAP_DURATION_200MS = BMI160_DOUBLE_TAP_DURATION_200MS,
+    CURIE_IMU_DOUBLE_TAP_DURATION_250MS = BMI160_DOUBLE_TAP_DURATION_250MS,
+    CURIE_IMU_DOUBLE_TAP_DURATION_375MS = BMI160_DOUBLE_TAP_DURATION_375MS,
+    CURIE_IMU_DOUBLE_TAP_DURATION_500MS = BMI160_DOUBLE_TAP_DURATION_500MS,
+    CURIE_IMU_DOUBLE_TAP_DURATION_700MS = BMI160_DOUBLE_TAP_DURATION_700MS
+} CurieIMUDoubleTapDuration;
+
+/**
+ * Zero-Motion Detection Duration options
+ * @see setDetectionThreshold(CURIE_IMU_ZERO_MOTION, ...)
+ */
+typedef enum {
+    CURIE_IMU_ZERO_MOTION_DURATION_1_28S = BMI160_ZERO_MOTION_DURATION_1_28S,
+    CURIE_IMU_ZERO_MOTION_DURATION_2_56S = BMI160_ZERO_MOTION_DURATION_2_56S,
+    CURIE_IMU_ZERO_MOTION_DURATION_3_84S = BMI160_ZERO_MOTION_DURATION_3_84S,
+    CURIE_IMU_ZERO_MOTION_DURATION_5_12S = BMI160_ZERO_MOTION_DURATION_5_12S,
+    CURIE_IMU_ZERO_MOTION_DURATION_6_40S = BMI160_ZERO_MOTION_DURATION_6_40S,
+    CURIE_IMU_ZERO_MOTION_DURATION_7_68S = BMI160_ZERO_MOTION_DURATION_7_68S,
+    CURIE_IMU_ZERO_MOTION_DURATION_8_96S = BMI160_ZERO_MOTION_DURATION_8_96S,
+    CURIE_IMU_ZERO_MOTION_DURATION_10_24S = BMI160_ZERO_MOTION_DURATION_10_24S,
+    CURIE_IMU_ZERO_MOTION_DURATION_11_52S = BMI160_ZERO_MOTION_DURATION_11_52S,
+    CURIE_IMU_ZERO_MOTION_DURATION_12_80S = BMI160_ZERO_MOTION_DURATION_12_80S,
+    CURIE_IMU_ZERO_MOTION_DURATION_14_08S = BMI160_ZERO_MOTION_DURATION_14_08S,
+    CURIE_IMU_ZERO_MOTION_DURATION_15_36S = BMI160_ZERO_MOTION_DURATION_15_36S,
+    CURIE_IMU_ZERO_MOTION_DURATION_16_64S = BMI160_ZERO_MOTION_DURATION_16_64S,
+    CURIE_IMU_ZERO_MOTION_DURATION_17_92S = BMI160_ZERO_MOTION_DURATION_17_92S,
+    CURIE_IMU_ZERO_MOTION_DURATION_19_20S = BMI160_ZERO_MOTION_DURATION_19_20S,
+    CURIE_IMU_ZERO_MOTION_DURATION_20_48S = BMI160_ZERO_MOTION_DURATION_20_48S,
+    CURIE_IMU_ZERO_MOTION_DURATION_25_60S = BMI160_ZERO_MOTION_DURATION_25_60S,
+    CURIE_IMU_ZERO_MOTION_DURATION_30_72S = BMI160_ZERO_MOTION_DURATION_30_72S,
+    CURIE_IMU_ZERO_MOTION_DURATION_35_84S = BMI160_ZERO_MOTION_DURATION_35_84S,
+    CURIE_IMU_ZERO_MOTION_DURATION_40_96S = BMI160_ZERO_MOTION_DURATION_40_96S,
+    CURIE_IMU_ZERO_MOTION_DURATION_46_08S = BMI160_ZERO_MOTION_DURATION_46_08S,
+    CURIE_IMU_ZERO_MOTION_DURATION_51_20S = BMI160_ZERO_MOTION_DURATION_51_20S,
+    CURIE_IMU_ZERO_MOTION_DURATION_56_32S = BMI160_ZERO_MOTION_DURATION_56_32S,
+    CURIE_IMU_ZERO_MOTION_DURATION_61_44S = BMI160_ZERO_MOTION_DURATION_61_44S,
+    CURIE_IMU_ZERO_MOTION_DURATION_66_56S = BMI160_ZERO_MOTION_DURATION_66_56S,
+    CURIE_IMU_ZERO_MOTION_DURATION_71_68S = BMI160_ZERO_MOTION_DURATION_71_68S,
+    CURIE_IMU_ZERO_MOTION_DURATION_76_80S = BMI160_ZERO_MOTION_DURATION_76_80S,
+    CURIE_IMU_ZERO_MOTION_DURATION_81_92S = BMI160_ZERO_MOTION_DURATION_81_92S,
+    CURIE_IMU_ZERO_MOTION_DURATION_87_04S = BMI160_ZERO_MOTION_DURATION_87_04S,
+    CURIE_IMU_ZERO_MOTION_DURATION_92_16S = BMI160_ZERO_MOTION_DURATION_92_16S,
+    CURIE_IMU_ZERO_MOTION_DURATION_97_28S = BMI160_ZERO_MOTION_DURATION_97_28S,
+    CURIE_IMU_ZERO_MOTION_DURATION_102_40S = BMI160_ZERO_MOTION_DURATION_102_40S,
+    CURIE_IMU_ZERO_MOTION_DURATION_112_64S = BMI160_ZERO_MOTION_DURATION_112_64S,
+    CURIE_IMU_ZERO_MOTION_DURATION_122_88S = BMI160_ZERO_MOTION_DURATION_122_88S,
+    CURIE_IMU_ZERO_MOTION_DURATION_133_12S = BMI160_ZERO_MOTION_DURATION_133_12S,
+    CURIE_IMU_ZERO_MOTION_DURATION_143_36S = BMI160_ZERO_MOTION_DURATION_143_36S,
+    CURIE_IMU_ZERO_MOTION_DURATION_153_60S = BMI160_ZERO_MOTION_DURATION_153_60S,
+    CURIE_IMU_ZERO_MOTION_DURATION_163_84S = BMI160_ZERO_MOTION_DURATION_163_84S,
+    CURIE_IMU_ZERO_MOTION_DURATION_174_08S = BMI160_ZERO_MOTION_DURATION_174_08S,
+    CURIE_IMU_ZERO_MOTION_DURATION_184_32S = BMI160_ZERO_MOTION_DURATION_184_32S,
+    CURIE_IMU_ZERO_MOTION_DURATION_194_56S = BMI160_ZERO_MOTION_DURATION_194_56S,
+    CURIE_IMU_ZERO_MOTION_DURATION_204_80S = BMI160_ZERO_MOTION_DURATION_204_80S,
+    CURIE_IMU_ZERO_MOTION_DURATION_215_04S = BMI160_ZERO_MOTION_DURATION_215_04S,
+    CURIE_IMU_ZERO_MOTION_DURATION_225_28S = BMI160_ZERO_MOTION_DURATION_225_28S,
+    CURIE_IMU_ZERO_MOTION_DURATION_235_52S = BMI160_ZERO_MOTION_DURATION_235_52S,
+    CURIE_IMU_ZERO_MOTION_DURATION_245_76S = BMI160_ZERO_MOTION_DURATION_245_76S,
+    CURIE_IMU_ZERO_MOTION_DURATION_256_00S = BMI160_ZERO_MOTION_DURATION_256_00S,
+    CURIE_IMU_ZERO_MOTION_DURATION_266_24S = BMI160_ZERO_MOTION_DURATION_266_24S,
+    CURIE_IMU_ZERO_MOTION_DURATION_276_48S = BMI160_ZERO_MOTION_DURATION_276_48S,
+    CURIE_IMU_ZERO_MOTION_DURATION_286_72S = BMI160_ZERO_MOTION_DURATION_286_72S,
+    CURIE_IMU_ZERO_MOTION_DURATION_296_96S = BMI160_ZERO_MOTION_DURATION_296_96S,
+    CURIE_IMU_ZERO_MOTION_DURATION_307_20S = BMI160_ZERO_MOTION_DURATION_307_20S,
+    CURIE_IMU_ZERO_MOTION_DURATION_317_44S = BMI160_ZERO_MOTION_DURATION_317_44S,
+    CURIE_IMU_ZERO_MOTION_DURATION_327_68S = BMI160_ZERO_MOTION_DURATION_327_68S,
+    CURIE_IMU_ZERO_MOTION_DURATION_337_92S = BMI160_ZERO_MOTION_DURATION_337_92S,
+    CURIE_IMU_ZERO_MOTION_DURATION_348_16S = BMI160_ZERO_MOTION_DURATION_348_16S,
+    CURIE_IMU_ZERO_MOTION_DURATION_358_40S = BMI160_ZERO_MOTION_DURATION_358_40S,
+    CURIE_IMU_ZERO_MOTION_DURATION_368_64S = BMI160_ZERO_MOTION_DURATION_368_64S,
+    CURIE_IMU_ZERO_MOTION_DURATION_378_88S = BMI160_ZERO_MOTION_DURATION_378_88S,
+    CURIE_IMU_ZERO_MOTION_DURATION_389_12S = BMI160_ZERO_MOTION_DURATION_389_12S,
+    CURIE_IMU_ZERO_MOTION_DURATION_399_36S = BMI160_ZERO_MOTION_DURATION_399_36S,
+    CURIE_IMU_ZERO_MOTION_DURATION_409_60S = BMI160_ZERO_MOTION_DURATION_409_60S,
+    CURIE_IMU_ZERO_MOTION_DURATION_419_84S = BMI160_ZERO_MOTION_DURATION_419_84S,
+    CURIE_IMU_ZERO_MOTION_DURATION_430_08S = BMI160_ZERO_MOTION_DURATION_430_08S
+} CurieImuZeroMotionDuration;
+
 /* Note that this CurieImuClass class inherits methods from the BMI160Class which
  * is defined in BMI160.h.  BMI160Class provides methods for configuring and
  * accessing features of the BMI160 IMU device.  This CurieImuClass extends that
@@ -119,6 +253,12 @@ class CurieImuClass : public BMI160Class {
     public:
         bool begin(void);
 
+        int getGyroRate();
+        void setGyroRate(int rate);
+
+        int getAccelerometerRate();
+        void setAccelerometerRate(int rate);
+
         int getGyroRange();
         void setGyroRange(int range);
         int getAccelerometerRange();
