#include <bmg160_parameters.hpp>

Inheritance diagram for BMG160Parameters:

Public Types
enum	bandwidth { BW_32HZ = 0x07, BW_64HZ = 0x06, BW_12HZ = 0x05, BW_23HZ = 0x04, BW_47HZ = 0x03, BW_116HZ = 0x02, BW_230HZ = 0x01, BW_UNFILTERED = 0x00 }
	Configurable bandwidths that the user can set on the sensor. More...
enum	range { RANGE_2000 = 0x00, RANGE_1000 = 0x01, RANGE_500 = 0x02, RANGE_250 = 0x03, RANGE_125 = 0x04 }
	Configurable range values that the user can adjust on the sensor. See datasheet page 38. More...
Public Member Functions
	BMG160Parameters ()
	constructor
int *	getFlags ()
	Retreive the SPI-relevant settings encoded in the flags_ member.
int	getFrequency ()
int	getPin ()
	retreive the physical pin of the hardware interface that the sensor's chip-select is connected to.
interface_protocol	getProtocol ()
	retreive the interface protocol for which the device is configured.
double	getSensitivity ()
	Retreive the sensitivity value to the corresponding gyro range such that the raw data can be correctly calculated.
bool	getSlaveAddressBit ()
void	setBandwidth (bandwidth bw)
	Change bandwidth parameter to input bandwidth.
bool	setByteOrder (uint8_t value)
	Configure the hardware-interface's SPI byte-order by which it will communicate with the sensor.
void	setFilter (bool input)
	Change filter parameter to filtered or unfiltered, depending on input value.
bool	setFrequency (int frequency)
	Change interface protocol frequency to a different frequency.
bool	setPin (uint8_t pin)
	Alert software driver of the physical pin of the hardware interface that the sensor's chip-select is connected to.
bool	setProtocol (interface_protocol protocol)
	Change gyro protocol parameter to a different protocol.
void	setRange (range new_range)
	Change gyro range parameter to a different range.
void	setSlaveAddressBit (bool high_or_low)
	Alerts the software driver that the chip's SDO pin is connected to either VDD or GND, which allows it to deduce the I2C device address.
bool	setSpiMode (uint8_t mode)
	Configure the hardware-interface's SPI mode by which it communicates with the sensor.
	~BMG160Parameters ()
	destructor
Public Attributes
bandwidth	bw_reg_
	the user-specified bandwidth register of the gyroscope.
bool	gyro_is_filtered_
	A boolean indicating whether or not the gyro is outputting filtered data.
range	range_
	The user-specified range value of the gyroscope.
double	sensitivity_
	the sensitivity of the current gyro range.
bool	slave_address_bit_
	Indicates whether the SDO pin is connected to VDD or GND.

Detailed Description

Definition at line 61 of file bmg160_parameters.hpp.

Member Enumeration Documentation

enum BMG160Parameters::bandwidth

Configurable bandwidths that the user can set on the sensor.

Enumerator:

BW_32HZ
BW_64HZ
BW_12HZ
BW_23HZ
BW_47HZ
BW_116HZ
BW_230HZ
BW_UNFILTERED

Definition at line 96 of file bmg160_parameters.hpp.

enum BMG160Parameters::range

Configurable range values that the user can adjust on the sensor. See datasheet page 38.

Enumerator:

RANGE_2000	max: ±2000 [°/s], sensitivity: 61.0 [milli°/(s * LSB)]
RANGE_1000	max: ±1000 [°/s], sensitivity: 30.5 [milli°/(s * LSB)
RANGE_500	max: ±500 [°/s], sensitivity: 15.3 [milli°/(s * LSB)]
RANGE_250	max: ±250 [°/s], sensitivity: 7.6 [milli°/(s * LSB)]
RANGE_125	max: ±125 [°/s], sensitivity: 3.8 [milli°/(s * LSB)]

Definition at line 69 of file bmg160_parameters.hpp.

Constructor & Destructor Documentation

BMG160Parameters::BMG160Parameters ( )

constructor

I2C Settings: (the default configuration)

SPI Settings: (relevant only if the user selects SPI)

flags_ must be first cleared to zero, because the next two settings directly manipulate bits in flags_.

Note:: The user should not have to change these next two settings:

Default sensor settings:

These settings correspond to the sensor's settings after every power-on or softReset(). These settings have been deduced from the datasheet default register values.

units: [g/LSB] // corresponds to RANGE_2

These next settings will write values to the sensor's registers upon calling initialize() from the bmg160 driver:

Definition at line 55 of file bmg160_parameters.cpp.

BMG160Parameters::~BMG160Parameters ( )

destructor

Definition at line 99 of file bmg160_parameters.cpp.

Member Function Documentation

int * BMG160Parameters::getFlags ( ) [virtual]

Retreive the SPI-relevant settings encoded in the flags_ member.

This is an SPI-relevant parameter only. The flags_ value is ignored when the device is read from a protocol other than SPI.

Returns:: class flags_ member.

Implements bosch_drivers_common::Parameters.

Definition at line 189 of file bmg160_parameters.cpp.

int BMG160Parameters::getFrequency ( ) [virtual]

Returns:: frequency that the hardware interface is set to commmunicate.

Implements bosch_drivers_common::Parameters.

Definition at line 148 of file bmg160_parameters.cpp.

int BMG160Parameters::getPin ( ) [virtual]

retreive the physical pin of the hardware interface that the sensor's chip-select is connected to.

This is an SPI-relevant parameter only.

Returns:: hardware interface pin.

Implements bosch_drivers_common::Parameters.

Definition at line 174 of file bmg160_parameters.cpp.

interface_protocol BMG160Parameters::getProtocol ( ) [virtual]

retreive the interface protocol for which the device is configured.

Returns:: class protocol_ value.

Implements bosch_drivers_common::Parameters.

Definition at line 141 of file bmg160_parameters.cpp.

double BMG160Parameters::getSensitivity ( )

Retreive the sensitivity value to the corresponding gyro range such that the raw data can be correctly calculated.

Returns:: class sensitivity_ value, who's current value should be the sensitivity that corresponds with the correct range setting.

Definition at line 105 of file bmg160_parameters.cpp.

bool BMG160Parameters::getSlaveAddressBit ( )

Returns:: slave_address_bit_

Definition at line 181 of file bmg160_parameters.cpp.

void BMG160Parameters::setBandwidth ( bandwidth bw )

Change bandwidth parameter to input bandwidth.

To apply this parameter on the sensor, the user must subsequently call one of two methods in the bmg160 driver: initialize() or changeBandwidth().

Definition at line 274 of file bmg160_parameters.cpp.

bool BMG160Parameters::setByteOrder ( uint8_t value )

Configure the hardware-interface's SPI byte-order by which it will communicate with the sensor.

Byte-order arguments are either MSB_FIRST or LSB_FIRST, both of which are defined in the bosch_drivers_common.

Note:: The user should NOT have to change this value from a value different from the value set upon instantiation. In detail, this method directly manipulates the class flags_ value, which is passed to the hardware interface class.

Definition at line 218 of file bmg160_parameters.cpp.

void BMG160Parameters::setFilter ( bool input )

Change filter parameter to filtered or unfiltered, depending on input value.

To apply this filter parameter on the sensor, the user must subsequently call one of two methods in the bmg160 driver: initialize() or filterData(gyro_is_filtered_) , where gyro_is_filtered is a class member of this class.

Definition at line 267 of file bmg160_parameters.cpp.

bool BMG160Parameters::setFrequency ( int frequency ) [virtual]

Change interface protocol frequency to a different frequency.

User should not need to change this value. The frequency set upon instantiation is functional.

Implements bosch_drivers_common::Parameters.

Definition at line 132 of file bmg160_parameters.cpp.

bool BMG160Parameters::setPin ( uint8_t pin ) [virtual]

Alert software driver of the physical pin of the hardware interface that the sensor's chip-select is connected to.

This is an SPI-relevant parameter only.

Implements bosch_drivers_common::Parameters.

Definition at line 155 of file bmg160_parameters.cpp.

bool BMG160Parameters::setProtocol ( interface_protocol protocol )

Change gyro protocol parameter to a different protocol.

The protocol depends on the physical hardware configuration of the sensor.

Definition at line 113 of file bmg160_parameters.cpp.

void BMG160Parameters::setRange ( range new_range )

Change gyro range parameter to a different range.

To apply this range on the sensor, the user must subsequently call one of two methods in the bmg160 driver: initialize() or changeRange().

Note:: bmg160::changeRange() must be called after this method so that the sensor's range is adjusted as well!

Definition at line 232 of file bmg160_parameters.cpp.

void BMG160Parameters::setSlaveAddressBit ( bool high_or_low )

Alerts the software driver that the chip's SDO pin is connected to either VDD or GND, which allows it to deduce the I2C device address.

Parameters:

high_or_low true indicates SDO is connected to VDD. false indicates that SDO is connected to GND.

Definition at line 167 of file bmg160_parameters.cpp.

bool BMG160Parameters::setSpiMode ( uint8_t mode )

Configure the hardware-interface's SPI mode by which it communicates with the sensor.

Note:: see the wikipedia article on SPI for more information on the corresponding CPOL and CPHA settings. Valid modes are defined in the bosch_drivers_common. The user should NOT have to change this value from a value different from the value set upon instantiation. In detail, this method directly manipulates the class flags_ value, which is passed to the hardware interface class.

Parameters: