Functions for interacting with the BMI160 and BMI270 gyro. More...

#include "sensor_common.h"

Enumerations
enum	MblMwGyroBoschOdr { MBL_MW_GYRO_BOSCH_ODR_25Hz = 6 , MBL_MW_GYRO_BOSCH_ODR_50Hz , MBL_MW_GYRO_BOSCH_ODR_100Hz , MBL_MW_GYRO_BOSCH_ODR_200Hz , MBL_MW_GYRO_BOSCH_ODR_400Hz , MBL_MW_GYRO_BOSCH_ODR_800Hz , MBL_MW_GYRO_BOSCH_ODR_1600Hz , MBL_MW_GYRO_BOSCH_ODR_3200Hz }
	Available output data rates on the BMI160 gyro.

enum	MblMwGyroBoschRange { MBL_MW_GYRO_BOSCH_RANGE_2000dps = 0 , MBL_MW_GYRO_BOSCH_RANGE_1000dps , MBL_MW_GYRO_BOSCH_RANGE_500dps , MBL_MW_GYRO_BOSCH_RANGE_250dps , MBL_MW_GYRO_BOSCH_RANGE_125dps }
	Available degrees per second ranges on the BMI160 gyro. More...

Functions
METAWEAR_API MblMwDataSignal *	mbl_mw_gyro_bmi160_get_rotation_data_signal (const MblMwMetaWearBoard *board)
	Retrieves the data signal representing BMI160 rotation data This signal is timestamp,x,y,z gyro data. More...

METAWEAR_API MblMwDataSignal *	mbl_mw_gyro_bmi270_get_rotation_data_signal (const MblMwMetaWearBoard *board)
	Retrieves the data signal representing BMI270 rotation data This signal is timestamp,x,y,z gyro data. More...

METAWEAR_API MblMwDataSignal *	mbl_mw_gyro_bmi160_get_high_freq_rotation_data_signal (const MblMwMetaWearBoard *board)

METAWEAR_API MblMwDataSignal *	mbl_mw_gyro_bmi160_get_packed_rotation_data_signal (const MblMwMetaWearBoard *board)
	Variant of rotation data that packs multiple data samples into 1 BLE packet to increase the data throughput. More...

METAWEAR_API MblMwDataSignal *	mbl_mw_gyro_bmi270_get_packed_rotation_data_signal (const MblMwMetaWearBoard *board)
	Variant of rotation data that packs multiple data samples into 1 BLE packet to increase the data throughput. More...

METAWEAR_API void	mbl_mw_gyro_bmi160_set_odr (MblMwMetaWearBoard *board, MblMwGyroBoschOdr odr)
	Sets the output data rate for the BMI160 gyroscope The ODR sets the output data frequency in Hz. More...

METAWEAR_API void	mbl_mw_gyro_bmi160_set_range (MblMwMetaWearBoard *board, MblMwGyroBoschRange range)
	Sets the rotation range The range is in units of degrees per second (dps) for Bosch sensors See MblMwGyroBoschRange for allowed values. More...

METAWEAR_API void	mbl_mw_gyro_bmi160_write_config (const MblMwMetaWearBoard *board)
	Writes the configuration to the sendor Applies the ODR and RANGE values set in set_range() and set_odr(). More...

METAWEAR_API void	mbl_mw_gyro_bmi160_read_config (const MblMwMetaWearBoard board, void context, MblMwFnBoardPtrInt completed)
	Pulls the current gyro output data rate and data range from the sensor. More...

METAWEAR_API void	mbl_mw_gyro_bmi270_set_odr (MblMwMetaWearBoard *board, MblMwGyroBoschOdr odr)
	Sets the output data rate for the BMI270 gyroscope The ODR sets the output data frequency in Hz. More...

METAWEAR_API void	mbl_mw_gyro_bmi270_set_range (MblMwMetaWearBoard *board, MblMwGyroBoschRange range)
	Sets the rotation range for the BMI270 gyroscope The range is in units of degrees per second (dps) for Bosch sensors See MblMwGyroBoschRange for allowed values. More...

METAWEAR_API void	mbl_mw_gyro_bmi270_write_config (const MblMwMetaWearBoard *board)
	Writes the configuration to the sendor Applies the ODR and RANGE values set in set_range() and set_odr(). More...

METAWEAR_API void	mbl_mw_gyro_bmi270_read_config (const MblMwMetaWearBoard board, void context, MblMwFnBoardPtrInt completed)
	Pulls the current gyro output data rate and data range from the sensor. More...

METAWEAR_API void	mbl_mw_gyro_bmi160_start (const MblMwMetaWearBoard *board)
	Switches the gyro to active mode. More...

METAWEAR_API void	mbl_mw_gyro_bmi160_stop (const MblMwMetaWearBoard *board)
	Switches the gyro to standby mode. More...

METAWEAR_API void	mbl_mw_gyro_bmi270_start (const MblMwMetaWearBoard *board)
	Switches the gyro to active mode. More...

METAWEAR_API void	mbl_mw_gyro_bmi270_stop (const MblMwMetaWearBoard *board)
	Switches the gyro to standby mode. More...

METAWEAR_API void	mbl_mw_gyro_bmi160_enable_rotation_sampling (const MblMwMetaWearBoard *board)
	Enables rotation sampling The board will start gathering data from the gyroscope. More...

METAWEAR_API void	mbl_mw_gyro_bmi160_disable_rotation_sampling (const MblMwMetaWearBoard *board)
	Disables rotation sampling The board will stop gathering data from the gyroscope. More...

METAWEAR_API void	mbl_mw_gyro_bmi270_enable_rotation_sampling (const MblMwMetaWearBoard *board)
	Enables rotation sampling The board will start gathering data from the gyroscope. More...

METAWEAR_API void	mbl_mw_gyro_bmi270_disable_rotation_sampling (const MblMwMetaWearBoard *board)
	Disables rotation sampling The board will stop gathering data from the gyroscope. More...

METAWEAR_API void	mbl_mw_gyro_bmi270_acc_offsets (const MblMwMetaWearBoard *board, uint8_t x_offset, uint8_t y_offset, uint8_t z_offset)
	Manual compensation for the BMI270 gyro The offset compensation field for each axis has a width of 10 bit using two’s complement notation. More...

Variables
const uint8_t	MBL_MW_MODULE_GYRO_TYPE_BMI160 = 0
	Constant identifying the BMI160 accelerometer module type.

const uint8_t	MBL_MW_MODULE_GYRO_TYPE_BMI270 = 1
	Constant identifying the BMI270 accelerometer module type.

const uint8_t	MBL_MW_GYRO_ROTATION_X_AXIS_INDEX = 0
	Indices for component values of the rotation data signal, used with mbl_mw_datasignal_get_component.

const uint8_t	MBL_MW_GYRO_ROTATION_Y_AXIS_INDEX = 1

const uint8_t	MBL_MW_GYRO_ROTATION_Z_AXIS_INDEX = 2

Detailed Description

Functions for interacting with the BMI160 and BMI270 gyro.

Copyright: MbientLab License

This sensor is only available on MMR, MMS, MetaWear RG and RPro boards.

Enumeration Type Documentation

◆ MblMwGyroBoschRange

enum MblMwGyroBoschRange

Available degrees per second ranges on the BMI160 gyro.

Enumerator
MBL_MW_GYRO_BOSCH_RANGE_2000dps	+/-2000 degrees per second
MBL_MW_GYRO_BOSCH_RANGE_1000dps	+/-1000 degrees per second
MBL_MW_GYRO_BOSCH_RANGE_500dps	+/-500 degrees per second
MBL_MW_GYRO_BOSCH_RANGE_250dps	+/-250 degrees per second
MBL_MW_GYRO_BOSCH_RANGE_125dps	+/-125 degrees per second

Function Documentation

◆ mbl_mw_gyro_bmi160_disable_rotation_sampling()

METAWEAR_API void mbl_mw_gyro_bmi160_disable_rotation_sampling ( const MblMwMetaWearBoard * board )

Disables rotation sampling The board will stop gathering data from the gyroscope.

Parameters

board Pointer to the board to send the command to

◆ mbl_mw_gyro_bmi160_enable_rotation_sampling()

METAWEAR_API void mbl_mw_gyro_bmi160_enable_rotation_sampling ( const MblMwMetaWearBoard * board )

Enables rotation sampling The board will start gathering data from the gyroscope.

Parameters

board Pointer to the board to send the command to

◆ mbl_mw_gyro_bmi160_get_high_freq_rotation_data_signal()

METAWEAR_API MblMwDataSignal* mbl_mw_gyro_bmi160_get_high_freq_rotation_data_signal ( const MblMwMetaWearBoard * board )

Deprecated:: As of v0.8.0 and will be removed in v1.0.0.

Use mbl_mw_gyro_bmi160_get_packed_rotation_data_signal instead.

◆ mbl_mw_gyro_bmi160_get_packed_rotation_data_signal()

METAWEAR_API MblMwDataSignal* mbl_mw_gyro_bmi160_get_packed_rotation_data_signal ( const MblMwMetaWearBoard * board )

Variant of rotation data that packs multiple data samples into 1 BLE packet to increase the data throughput.

This data signal cannot be used with data processing or logging, only with streaming. This signal is timestamp,x,y,z,x,y,z,x,y,z gyro data (it packs three acc data points in one timestamp)

Returns: Pointer to the data singal [MblMwCartesianFloat, MblMwCartesianFloat, MblMwCartesianFloat] is return signal data type

◆ mbl_mw_gyro_bmi160_get_rotation_data_signal()

METAWEAR_API MblMwDataSignal* mbl_mw_gyro_bmi160_get_rotation_data_signal ( const MblMwMetaWearBoard * board )

Retrieves the data signal representing BMI160 rotation data This signal is timestamp,x,y,z gyro data.

Parameters

board Pointer to the board to retrieve the signal from

Returns: Pointer to the board's BMI160 rotation data signal MblMwCartesianFloat is return signal data type

◆ mbl_mw_gyro_bmi160_read_config()

METAWEAR_API void mbl_mw_gyro_bmi160_read_config	(	const MblMwMetaWearBoard *	board,
		void *	context,
		MblMwFnBoardPtrInt	completed
	)

Pulls the current gyro output data rate and data range from the sensor.

Parameters

board	Calling object
context	Pointer to additional data for the callback function
completed	Callback function that is executed when the task is finished

◆ mbl_mw_gyro_bmi160_set_odr()

METAWEAR_API void mbl_mw_gyro_bmi160_set_odr	(	MblMwMetaWearBoard *	board,
		MblMwGyroBoschOdr	odr
	)

Sets the output data rate for the BMI160 gyroscope The ODR sets the output data frequency in Hz.

See MblMwGyroBoschOdr for allowed values.

Parameters

board	Pointer to the board to modify
odr	Output data rate value to assign

◆ mbl_mw_gyro_bmi160_set_range()

METAWEAR_API void mbl_mw_gyro_bmi160_set_range	(	MblMwMetaWearBoard *	board,
		MblMwGyroBoschRange	range
	)

Sets the rotation range The range is in units of degrees per second (dps) for Bosch sensors See MblMwGyroBoschRange for allowed values.

Parameters

board	Pointer to the board to modify
range	New rotation range

◆ mbl_mw_gyro_bmi160_start()

METAWEAR_API void mbl_mw_gyro_bmi160_start ( const MblMwMetaWearBoard * board )

Switches the gyro to active mode.

While in active mode, the gyro cannot be configured

Parameters

board Pointer to the board to send the command to

◆ mbl_mw_gyro_bmi160_stop()

METAWEAR_API void mbl_mw_gyro_bmi160_stop ( const MblMwMetaWearBoard * board )

Switches the gyro to standby mode.

Parameters

board Pointer to the board to send the command to

◆ mbl_mw_gyro_bmi160_write_config()

METAWEAR_API void mbl_mw_gyro_bmi160_write_config ( const MblMwMetaWearBoard * board )

Writes the configuration to the sendor Applies the ODR and RANGE values set in set_range() and set_odr().

Parameters

board Pointer to the board to send the command to

◆ mbl_mw_gyro_bmi270_acc_offsets()

METAWEAR_API void mbl_mw_gyro_bmi270_acc_offsets	(	const MblMwMetaWearBoard *	board,
		uint8_t	x_offset,
		uint8_t	y_offset,
		uint8_t	z_offset
	)

Manual compensation for the BMI270 gyro The offset compensation field for each axis has a width of 10 bit using two’s complement notation.

The offset resolution (LSB) is 61 mdps and the offset range is +- 31 dps.

Parameters

board	Pointer to the board to send the command to
x_offset	Offset compensation for Gyroscope X-axis
y_offset	Offset compensation for Gyroscope Y-axis
z_offset	Offset compensation for Gyroscope Z-axis

◆ mbl_mw_gyro_bmi270_disable_rotation_sampling()

METAWEAR_API void mbl_mw_gyro_bmi270_disable_rotation_sampling ( const MblMwMetaWearBoard * board )

Disables rotation sampling The board will stop gathering data from the gyroscope.

Parameters

board Pointer to the board to send the command to

◆ mbl_mw_gyro_bmi270_enable_rotation_sampling()

METAWEAR_API void mbl_mw_gyro_bmi270_enable_rotation_sampling ( const MblMwMetaWearBoard * board )

Enables rotation sampling The board will start gathering data from the gyroscope.

Parameters

board Pointer to the board to send the command to

◆ mbl_mw_gyro_bmi270_get_packed_rotation_data_signal()

METAWEAR_API MblMwDataSignal* mbl_mw_gyro_bmi270_get_packed_rotation_data_signal ( const MblMwMetaWearBoard * board )

Variant of rotation data that packs multiple data samples into 1 BLE packet to increase the data throughput.

This data signal cannot be used with data processing or logging, only with streaming. This signal is timestamp,x,y,z,x,y,z,x,y,z acc gyro (it packs three acc data points in one timestamp)

Returns: Pointer to the data singal [MblMwCartesianFloat, MblMwCartesianFloat, MblMwCartesianFloat] is return signal data type

◆ mbl_mw_gyro_bmi270_get_rotation_data_signal()

METAWEAR_API MblMwDataSignal* mbl_mw_gyro_bmi270_get_rotation_data_signal ( const MblMwMetaWearBoard * board )

Retrieves the data signal representing BMI270 rotation data This signal is timestamp,x,y,z gyro data.

Parameters

board Pointer to the board to retrieve the signal from

Returns: Pointer to the board's BMI160 rotation data signal MblMwCartesianFloat is return signal data type

◆ mbl_mw_gyro_bmi270_read_config()

METAWEAR_API void mbl_mw_gyro_bmi270_read_config	(	const MblMwMetaWearBoard *	board,
		void *	context,
		MblMwFnBoardPtrInt	completed
	)

Pulls the current gyro output data rate and data range from the sensor.

Parameters

board	Calling object
context	Pointer to additional data for the callback function
completed	Callback function that is executed when the task is finished

◆ mbl_mw_gyro_bmi270_set_odr()

METAWEAR_API void mbl_mw_gyro_bmi270_set_odr	(	MblMwMetaWearBoard *	board,
		MblMwGyroBoschOdr	odr
	)

Sets the output data rate for the BMI270 gyroscope The ODR sets the output data frequency in Hz.

See MblMwGyroBoschOdr for allowed values.

Parameters

board	Pointer to the board to modify
odr	Output data rate value to assign

◆ mbl_mw_gyro_bmi270_set_range()

METAWEAR_API void mbl_mw_gyro_bmi270_set_range	(	MblMwMetaWearBoard *	board,
		MblMwGyroBoschRange	range
	)

Sets the rotation range for the BMI270 gyroscope The range is in units of degrees per second (dps) for Bosch sensors See MblMwGyroBoschRange for allowed values.

Parameters

board	Pointer to the board to modify
range	New rotation range

◆ mbl_mw_gyro_bmi270_start()

METAWEAR_API void mbl_mw_gyro_bmi270_start ( const MblMwMetaWearBoard * board )

Switches the gyro to active mode.

While in active mode, the gyro cannot be configured

Parameters

board Pointer to the board to send the command to

◆ mbl_mw_gyro_bmi270_stop()

METAWEAR_API void mbl_mw_gyro_bmi270_stop ( const MblMwMetaWearBoard * board )

Switches the gyro to standby mode.

Parameters

board Pointer to the board to send the command to

◆ mbl_mw_gyro_bmi270_write_config()

METAWEAR_API void mbl_mw_gyro_bmi270_write_config ( const MblMwMetaWearBoard * board )

Writes the configuration to the sendor Applies the ODR and RANGE values set in set_range() and set_odr().

Parameters

board Pointer to the board to send the command to

Enumerations

Functions

Variables

Detailed Description

Enumeration Type Documentation

◆ MblMwGyroBoschRange

Function Documentation

◆ mbl_mw_gyro_bmi160_disable_rotation_sampling()

◆ mbl_mw_gyro_bmi160_enable_rotation_sampling()

◆ mbl_mw_gyro_bmi160_get_high_freq_rotation_data_signal()

◆ mbl_mw_gyro_bmi160_get_packed_rotation_data_signal()

◆ mbl_mw_gyro_bmi160_get_rotation_data_signal()

◆ mbl_mw_gyro_bmi160_read_config()

◆ mbl_mw_gyro_bmi160_set_odr()

◆ mbl_mw_gyro_bmi160_set_range()

◆ mbl_mw_gyro_bmi160_start()

◆ mbl_mw_gyro_bmi160_stop()

◆ mbl_mw_gyro_bmi160_write_config()

◆ mbl_mw_gyro_bmi270_acc_offsets()

◆ mbl_mw_gyro_bmi270_disable_rotation_sampling()

◆ mbl_mw_gyro_bmi270_enable_rotation_sampling()

◆ mbl_mw_gyro_bmi270_get_packed_rotation_data_signal()

◆ mbl_mw_gyro_bmi270_get_rotation_data_signal()

◆ mbl_mw_gyro_bmi270_read_config()

◆ mbl_mw_gyro_bmi270_set_odr()

◆ mbl_mw_gyro_bmi270_set_range()

◆ mbl_mw_gyro_bmi270_start()

◆ mbl_mw_gyro_bmi270_stop()

◆ mbl_mw_gyro_bmi270_write_config()