esp-idf-lib/bmi160

The BMI160 is an ultra-small, low power, low noise 16 bit inertial measurement unit designed for mobile applications like Augmented Reality applications or indoor navigation which require highly accurate, real-time sensor data.

Defines

BMI160_I2C_ADDRESS_GND: I2C address of BMI160 if SDO is pulled to GND.

BMI160_I2C_ADDRESS_VDD: I2C address of BMI160 if SDO is pulled to VDDIO.

Enums

enum bmi160_acc_range_t

enum for the accelerometer range

Values:

enumerator BMI160_ACC_RANGE_2G: +-2g

enumerator BMI160_ACC_RANGE_4G: +-4g

enumerator BMI160_ACC_RANGE_8G: +-8g

enumerator BMI160_ACC_RANGE_16G: +-16g

enum bmi160_gyr_range_t

enum for the gyroscope range

Values:

enumerator BMI160_GYR_RANGE_125DPS: +-125dps

enumerator BMI160_GYR_RANGE_250DPS: +-250dps

enumerator BMI160_GYR_RANGE_500DPS: +-500dps

enumerator BMI160_GYR_RANGE_1000DPS: +-1000dps

enumerator BMI160_GYR_RANGE_2000DPS: +-2000dps

enum bmi160_acc_odr_t

enum for the accelerometer ODR

Values:

enumerator BMI160_ACC_ODR_0_78HZ: 0.78Hz

enumerator BMI160_ACC_ODR_1_56HZ: 1.56Hz

enumerator BMI160_ACC_ODR_3_12HZ: 3.12Hz

enumerator BMI160_ACC_ODR_6_25HZ: 6.25Hz

enumerator BMI160_ACC_ODR_12_5HZ: 12.5Hz

enumerator BMI160_ACC_ODR_25HZ: 25Hz

enumerator BMI160_ACC_ODR_50HZ: 50Hz

enumerator BMI160_ACC_ODR_100HZ: 100Hz

enumerator BMI160_ACC_ODR_200HZ: 200Hz

enumerator BMI160_ACC_ODR_400HZ: 400Hz

enumerator BMI160_ACC_ODR_800HZ: 800Hz

enumerator BMI160_ACC_ODR_1600HZ: 1600Hz

enum bmi160_gyr_odr_t

enum for the gyroscope ODR

Values:

enumerator BMI160_GYR_ODR_25HZ: 25Hz

enumerator BMI160_GYR_ODR_50HZ: 50Hz

enumerator BMI160_GYR_ODR_100HZ: 100Hz

enumerator BMI160_GYR_ODR_200HZ: 200Hz

enumerator BMI160_GYR_ODR_400HZ: 400Hz

enumerator BMI160_GYR_ODR_800HZ: 800Hz

enumerator BMI160_GYR_ODR_1600HZ: 1600Hz

enum bmi160_int_pin_t

enum for int pin

Values:

enumerator BMI160_PIN_INT1: INT1.

enumerator BMI160_PIN_INT2: INT2.

enum bmi160_int_enable_t

enum for int enable

Values:

enumerator BMI160_INT_DISABLE: Disable interrupt.

enumerator BMI160_INT_ENABLE: Enable interrupt.

enum bmi160_int_od_t

enum for int od

Values:

enumerator BMI160_INT_PUSH_PULL: Push-pull.

enumerator BMI160_INT_OPEN_DRAIN: Open-drain.

enum bmi160_int_level_t

enum for int level

Values:

enumerator BMI160_INT_ACTIVE_LOW: Active low.

enumerator BMI160_INT_ACTIVE_HIGH: Active high.

enum bmi160_step_counter_mode_t

step counter mode

Values:

enumerator BMI160_STEP_COUNTER_NORMAL: Normal mode.

enumerator BMI160_STEP_COUNTER_SENSITIVE: Sensitive mode.

enumerator BMI160_STEP_COUNTER_ROBUST: Robust mode.

enum bmi160_pmu_acc_mode_t

Accelerometer PMU mode.

Values:

enumerator BMI160_PMU_ACC_SUSPEND: Suspend mode.

enumerator BMI160_PMU_ACC_NORMAL: Normal mode.

enumerator BMI160_PMU_ACC_LOW_POWER: Low power mode.

enum bmi160_pmu_gyr_mode_t

Gyroscope PMU mode.

Values:

enumerator BMI160_PMU_GYR_SUSPEND: Suspend mode.

enumerator BMI160_PMU_GYR_NORMAL: Normal mode.

enumerator BMI160_PMU_GYR_FAST_STARTUP: Fast startup mode.

enum bmi160_acc_lp_avg_t

averaging configuration in low power mode for accelerometer

Note

For low power mode defines averaging, for normal mode defines filter bandwidth

Values:

enumerator BMI160_ACC_LP_AVG_1: 1 sample

enumerator BMI160_ACC_LP_AVG_2: 2 samples

enumerator BMI160_ACC_LP_AVG_4: 4 samples

enumerator BMI160_ACC_LP_AVG_8: 8 samples

enumerator BMI160_ACC_LP_AVG_16: 16 samples

enumerator BMI160_ACC_LP_AVG_32: 32 samples

enumerator BMI160_ACC_LP_AVG_64: 64 samples

enumerator BMI160_ACC_LP_AVG_128: 128 samples

enum bmi160_acc_us_t

bmi160 accelerometer undersampling configuration

Note

This is only applicable for low power mode

Values:

enumerator BMI160_ACC_US_ON: Enable undersampling.

enumerator BMI160_ACC_US_OFF: Disable undersampling.

enum bmi160_tap_quiet_t

tap configuration quiet

Values:

enumerator BMI160_TAP_QUIET_30MS: 30ms

enumerator BMI160_TAP_QUIET_20MS: 20ms

enum bmi160_tap_mode_t

tap mode

Values:

enumerator BMI160_TAP_MODE_SINGLE: Single tap.

enumerator BMI160_TAP_MODE_DOUBLE: Double tap.

enum bmi160_tap_shock_t

tap configuration shock

Values:

enumerator BMI160_TAP_SHOCK_50MS: 50ms

enumerator BMI160_TAP_SHOCK_75MS: 75ms

enum bmi160_tap_dur_t

tap configuration duration

Values:

enumerator BMI160_TAP_DUR_50MS: 50ms

enumerator BMI160_TAP_DUR_100MS: 100ms

enumerator BMI160_TAP_DUR_150MS

enumerator BMI160_TAP_DUR_200MS

enumerator BMI160_TAP_DUR_250MS

enumerator BMI160_TAP_DUR_375MS

enumerator BMI160_TAP_DUR_500MS

enumerator BMI160_TAP_DUR_700MS

enum bmi160_tap_th_t

tap threshold

Values:

enumerator BMI160_TAP_TH_0_032G: 0.032g

enumerator BMI160_TAP_TH_0_0625G: 0.0625g

enumerator BMI160_TAP_TH_0_125G: 0.125g

enumerator BMI160_TAP_TH_0_25G: 0.25g

enumerator BMI160_TAP_TH_0_5G: 0.5g

enumerator BMI160_TAP_TH_1G: 1g

enumerator BMI160_TAP_TH_2G: 2g

enumerator BMI160_TAP_TH_4G: 4g

Functions

esp_err_t bmi160_init(bmi160_t *dev, uint8_t addr, i2c_port_t port, gpio_num_t sda_gpio, gpio_num_t scl_gpio)

Initialize the BMI160.

Parameters:

dev – Pointer to the device descriptor
addr – I2C address of the device
port – I2C port number
sda_gpio – SDA GPIO number
scl_gpio – SCL GPIO number

Returns:

esp_err_t ESP_OK if success

esp_err_t bmi160_read_reg(bmi160_t *dev, uint8_t reg, uint8_t *val)

Read a register from the BMI160.

Parameters:

dev – Pointer to the device descriptor
reg – Register address
val – Pointer to store the value

Returns:

esp_err_t ESP_OK if success

esp_err_t bmi160_read_reg_array(bmi160_t *dev, uint8_t reg, uint8_t *val, uint8_t num)

Read an array of registers from the BMI160.

Parameters:

dev – Pointer to the device descriptor
reg – Register address
val – Pointer to store the values
num – Number of registers to read

Returns:

esp_err_t ESP_OK if success

esp_err_t bmi160_free(bmi160_t *dev)

free descriptor

Parameters:: dev – Pointer to the device descriptor
Returns:: esp_err_t ESP_OK if success

esp_err_t bmi160_write_reg(bmi160_t *dev, uint8_t reg, uint8_t val)

Write a register to the BMI160.

Parameters:

dev – Pointer to the device descriptor
reg – Register address
val – Value to write

Returns:

esp_err_t ESP_OK if success

esp_err_t bmi160_calibrate(bmi160_t *dev)

Calibrate the BMI160 to calculate bias.

Note

bmi160_start must be called before calling this function. After calling this function output data will be offset by the bias values.

Parameters:: dev – Pointer to the device descriptor
Returns:: esp_err_t ESP_OK if success

esp_err_t bmi160_start(bmi160_t *dev, bmi160_conf_t *conf)

start the BMI160

Parameters:

dev – Pointer to the device descriptor
conf – Pointer to the configuration structure

Returns:

esp_err_t ESP_OK if success

esp_err_t bmi160_read_data(bmi160_t *dev, bmi160_result_t *result)

Read data from the BMI160.

Parameters:

dev – Pointer to the device descriptor
result – Pointer to store the result

Returns:

esp_err_t ESP_OK if success

esp_err_t bmi160_set_acc_range(bmi160_t *dev, bmi160_acc_range_t range)

set acc range

Parameters:

dev – Pointer to the device descriptor
range – Accelerometer range

Returns:

esp_err_t ESP_OK if success

esp_err_t bmi160_set_gyr_range(bmi160_t *dev, bmi160_gyr_range_t range)

set gyro range

Parameters:

dev – Pointer to the device descriptor
range – Gyroscope range

Returns:

esp_err_t ESP_OK if success

esp_err_t bmi160_set_acc_conf(bmi160_t *dev, bmi160_acc_odr_t odr, bmi160_acc_lp_avg_t avg, bmi160_acc_us_t acc_us)

set acc configuration

Parameters:

dev – Pointer to the device descriptor
odr – Accelerometer ODR
avg – Averaging configuration
acc_us – Accelerometer undersampling configuration

Returns:

esp_err_t ESP_OK if success

esp_err_t bmi160_set_gyr_odr(bmi160_t *dev, bmi160_gyr_odr_t odr)

set gyro odr

Parameters:

dev – Pointer to the device descriptor
odr – Gyroscope ODR

Returns:

esp_err_t ESP_OK if success

esp_err_t bmi160_self_test(bmi160_t *dev)

self test for the BMI160

Parameters:: dev – Pointer to the device descriptor
Returns:: esp_err_t ESP_OK if success

esp_err_t bmi160_enable_int_new_data(bmi160_t *dev, bmi160_int_out_conf_t *intOutConf)

Enable interrupt for the BMI160.

Parameters:

dev – Pointer to the device descriptor
intOutConf – Interrupt out configuration

Returns:

esp_err_t ESP_OK if success

esp_err_t bmi160_enable_step_counter(bmi160_t *dev, bmi160_step_counter_mode_t mode)

configure step counter

Parameters:

dev – Pointer to the device descriptor
mode – Step counter mode

Returns:

esp_err_t ESP_OK if success

esp_err_t bmi160_read_step_counter(bmi160_t *dev, uint16_t *stepCounter)

read step counter

Parameters:

dev – Pointer to the device descriptor
stepCounter – Pointer to store the step counter value

Returns:

esp_err_t ESP_OK if success

esp_err_t bmi160_reset_step_counter(bmi160_t *dev)

reset step counter

Parameters:: dev – Pointer to the device descriptor
Returns:: esp_err_t ESP_OK if success

esp_err_t bmi160_enable_int_step(bmi160_t *dev, bmi160_int_out_conf_t *intOutConf)

Enable interrupt for the BMI160 for new step.

Parameters:

dev – Pointer to the device descriptor
intOutConf – Interrupt out configuration

Returns:

esp_err_t ESP_OK if success

esp_err_t bmi160_switch_mode(bmi160_t *dev, bmi160_pmu_acc_mode_t accMode, bmi160_pmu_gyr_mode_t gyrMode): switch mode for the BMI160

esp_err_t bmi160_enable_tap_detection(bmi160_t *dev, bmi160_tap_conf_t *tapConf)

configure tap detection

Parameters:

dev – Pointer to the device descriptor
tapConf – Pointer to the configuration structure

Returns:

esp_err_t ESP_OK if success

esp_err_t bmi160_enable_int_tap(bmi160_t *dev, bmi160_int_out_conf_t *intOutConf)

Enable interrupt for the BMI160 for tap detection.

Parameters:

dev – Pointer to the device descriptor
intOutConf – Interrupt out configuration

Returns:

esp_err_t ESP_OK if success

esp_err_t bmi160_read_tap_orient(bmi160_t *dev, uint8_t *orient)

read tap orientation

Parameters:

dev – Pointer to the device descriptor
orient – Pointer to store the orientation

Returns:

esp_err_t ESP_OK if success

struct bmi160_conf_t

#include <bmi160.h>

bmi160 configuration structure

Public Members

bmi160_acc_range_t accRange: Accelerometer range.

bmi160_acc_odr_t accOdr: Accelerometer ODR.

bmi160_pmu_acc_mode_t accMode: Accelerometer PMU mode.

bmi160_acc_lp_avg_t accAvg: Accelerometer averaging configuration for low power mode.

bmi160_acc_us_t accUs: Accelerometer undersampling configuration.

bmi160_gyr_range_t gyrRange: Gyroscope range.

bmi160_gyr_odr_t gyrOdr: Gyroscope ODR.

bmi160_pmu_gyr_mode_t gyrMode: Gyroscope PMU mode.

struct bmi160_result_t

#include <bmi160.h>

result structure for the BMI160

Public Members

float accX: Accelerometer X axis.

float accY: Accelerometer Y axis.

float accZ: Accelerometer Z axis.

float gyroX: Gyroscope X axis.

float gyroY: Gyroscope Y axis.

float gyroZ: Gyroscope Z axis.

struct bmi160_int_out_conf_t

#include <bmi160.h>

int out configuration

Public Members

bmi160_int_pin_t intPin: Interrupt pin.

bmi160_int_enable_t intEnable: Enable interrupt.

bmi160_int_od_t intOd: Open-drain.

bmi160_int_level_t intLevel: Active high.

struct bmi160_tap_conf_t

#include <bmi160.h>

tap configuration

Public Members

bmi160_tap_quiet_t tapQuiet: Tap quiet.

bmi160_tap_shock_t tapShock: Tap shock.

bmi160_tap_dur_t tapDur: Tap duration.

bmi160_tap_th_t tapTh: Tap threshold.

bmi160_tap_mode_t tapMode: Tap mode.

struct bmi160_t

#include <bmi160.h>

Device descriptor.

Public Members

i2c_dev_t i2c_dev: I2C device descriptor.

float aBias[3]: Accelerometer bias.

float gBias[3]: Gyroscope bias.

float aRes: Accelerometer resolution.

float gRes: Gyroscope resolution.

bmi160_acc_range_t accRange: Accelerometer range.

bmi160_gyr_range_t gyrRange: Gyroscope range.

bmi160_acc_odr_t accOdr: Accelerometer ODR.

uint8_t accConf: Accelerometer configuration.

bmi160_gyr_odr_t gyrOdr: Gyroscope ODR.

gpio_num_t intPin: Interrupt pin.

bmi160_tap_mode_t tapMode: Tap mode.

void (*callback)(): Interrupt callback.