bmg160.hpp

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/*********************************************************************
 *
 * Disclaimer
 *
 * This source code is not officially released or supported by Bosch Sensortec.
 * Please contact the listed authors with bugs or other modifications.
 * If you would like the official Bosch Sensortec drivers, please contact:
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//\Author Joshua Vasquez, Philip Roan, Bosch LLC

#ifndef BMG160_H_
#define BMG160_H_

#include <iostream> // for the calibration routine
#include <cmath>
#include <unistd.h> // for the sleep function

// ROS header for output
#include <ros/console.h>

#include <bosch_drivers_sensor_driver.hpp>
#include <bosch_drivers_hardware_interface.hpp>
#include "bmg160_parameters.hpp"

#include <bmg160_driver/bmg160meas.h>

using namespace bosch_drivers_common;

class BMG160: public sensor_driver, public BMG160Parameters
{
 
public:
  
  static const uint8_t SOFTRESET_CMD = 0xB6;

  static const uint8_t DATA_HIGH_BW = 7;  // <7>
  
  static const uint8_t fast_offset_en   = 3;
  static const uint8_t fast_offset_en_z = 2;
  static const uint8_t fast_offset_en_y = 1;
  static const uint8_t fast_offset_en_x = 0;
  
  static const uint8_t fast_offset_unfilt  = 7;

  static const uint8_t slow_offset_th   = 6; // <7:6>
  static const uint8_t slow_offset_dur  = 3; // <5:3>
  static const uint8_t slow_offset_en_x = 0;
  static const uint8_t slow_offset_en_y = 1;
  static const uint8_t slow_offset_en_z = 2;

  static const uint8_t slow_offset_unfilt = 5;
  
  static const uint8_t nvm_load = 3;

  BMG160( bosch_hardware_interface* hw );
  ~BMG160();

  uint8_t getDeviceAddress(); 
  
  bool initialize();

  bool takeMeasurement();

  bool softReset();

  bool changeRange();                  

  bool filterData( bool request );         
  
  bool changeBandwidth();  

  double    getGyroX();

  double getGyroY();

  double getGyroZ();

  double getTemperature();

  void SimpleCalibration();

  bool readSensorData( uint8_t reg, uint8_t* data, uint8_t num_bytes );

  void computeOffsets( uint8_t* raw_offset_data, int16_t* clean_offset_data );

  bool printOffsets();


  
  static const uint8_t SLAVE_ADDRESS0           = 0x68;
  static const uint8_t SLAVE_ADDRESS1            = 0x69;
  
  static const uint8_t ADDRESS_GYRO_X_LSB        = 0x02;
  static const uint8_t ADDRESS_GYRO_Y_LSB        = 0x04;
  static const uint8_t ADDRESS_GYRO_Z_LSB        = 0x06;
  static const uint8_t ADDRESS_TEMPERATURE       = 0x08;
  
  static const uint8_t ADDRESS_RANGE             = 0x0F;
  static const uint8_t ADDRESS_BANDWIDTH         = 0x10;
  static const uint8_t ADDRESS_FILTER            = 0x13;
  static const uint8_t ADDRESS_SOFTRESET         = 0x14;
  static const uint8_t ADDRESS_FILTERED_CAL      = 0x1A;
  static const uint8_t ADDRESS_FILTERED_CAL_FAST = 0x1B;
  static const uint8_t ADDRESS_ENABLE_CAL        = 0x31;
  static const uint8_t ADDRESS_ENABLE_FAST_CAL  = 0x32;
  static const uint8_t ADDRESS_NVM            = 0x33;

  static const uint8_t ADDRESS_OFFSETS          = 0x36; 

  double GyroX_;
  double GyroY_;
  double GyroZ_; 
  double Temperature_;  
  double TempSlope_;
  
private:
  bool readReg( uint8_t reg, uint8_t* value );
  bool writeToReg( uint8_t reg, uint8_t value );
  bool writeToRegAndVerify( uint8_t reg, uint8_t value, uint8_t expected );
};

#endif // BMC050_H_