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BST-Github-Adminkegov
BST-Github-Admin
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kegov
committedMay 6, 2020
Updated to v2.53.0. Added the support for the context variant. Added generic examples.
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‎OIS_README.md

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# Sensor API for the BMI2's OIS interface
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## Table of Contents
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- [Introduction](#Intro)
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- [Integration details](#Integration)
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- [Driver files information](#file)
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- [Sensor interfaces](#interface)
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- [Integration Examples](#examples)
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### Introduction<a name=Intro></a>
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This package contains Bosch Sensortec's BMI2 Sensor API.
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### Integration details<a name=Integration></a>
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- Integrate _bmi2.c_, _bmi2.h_, _bmi2_ois.c_, _bmi2_ois.h_, _bmi2_defs.h_ and the required variant files in your project.
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- User has to include _bmi2_ois.h_ in the code to call OIS related APIs and a _variant header_ for initialization as
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well as BMI2 related API calls, as shown below:
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``` c
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#include "bmi261.h"
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#include "bmi2_ois.h"
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````
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### Driver files information<a name=file></a>
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- *_bmi2_ois.c_*
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* This file has function definitions of OIS related API interfaces.
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- *_bmi2_ois.h_*
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* This header file has necessary include files, function declarations, required to make OIS related API calls.
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### Sensor interfaces<a name=interface></a>
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#### _Host Interface_
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- I2C interface
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- SPI interface
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_Note: By default, the interface is I2C._
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#### _OIS Interface_
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- SPI interface
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### Integration examples<a name=examples></a>
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#### Configuring SPI/I2C for host interface.
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To configure host interface, an instance of the bmi2_dev structure should be
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created for initializing BMI2 sensor. "_Refer **README** for initializing BMI2
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sensor._"
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#### Configuring SPI for OIS interface.
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To configure OIS interface, an instance of the bmi2_ois_dev structure should be
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created. The following parameters are required to be updated in the structure,
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by the user.
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Parameters | Details
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--------------|-----------------------------------
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_intf_ptr_ | device address reference of SPI interface
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_ois_read_ | read through SPI interface
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_ois_write_ | read through SPI interface
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_ois_delay_us_| delay in micro seconds
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_acc_en_ | for enabling accelerometer
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_gyr_en_ | for enabling gyroscope
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``` c
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int8_t rslt = 0;
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struct bmi2_ois_dev ois_dev = {
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.intf_ptr = intf_ptr will contain the chip selection info of SPI CS pin,
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.ois_read = user_spi_reg_read,
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.ois_write = user_spi_reg_write,
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.ois_delay_us = user_delay_us
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};
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```
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>**_Important Note_**: For initializing and configuring BMI2 sensors, which is
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done through host interface, the API's are to be used from bmi2.c file. Rest
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of the API's, for OIS configurations and the reading of OIS data, which is done
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through OIS interface, are to be used from bmi2_ois.c file.
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##### Get accelerometer and gyroscope data through OIS interface
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``` c
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int8_t rslt;
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/* Array to enable sensor through host interface */
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uint8_t sens_list[2] = {BMI2_ACCEL, BMI2_GYRO};
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/* Array to enable sensor through OIS interface */
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uint8_t sens_sel[2] = {BMI2_OIS_ACCEL, BMI2_OIS_GYRO};
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/* Initialize the configuration structure */
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struct bmi2_sens_config sens_cfg = {0};
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/* Initialize BMI2 */
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rslt = bmi2_init(&dev);
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if (rslt != BMI2_OK) {
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printf("Error: %d\n", rslt);
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return;
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}
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/* Enable accelerometer and gyroscope through host interface */
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rslt = bmi2_sensor_enable(sens_list, 2, &dev);
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if (rslt != BMI2_OK) {
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printf("Error: %d\n", rslt);
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return;
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}
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/* Setting of OIS Range is done through host interface */
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/* Select the gyroscope sensor for OIS Range configuration */
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sens_cfg.type = BMI2_GYRO;
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/* Get gyroscope configuration */
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rslt = bmi2_get_sensor_config(&sens_cfg, 1, &dev);
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if (rslt != BMI2_OK) {
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printf("Error: %d\n", rslt);
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return;
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}
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/* Set the desired OIS Range */
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sens_cfg.cfg.gyr.ois_range = BMI2_GYR_OIS_2000;
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/* Set gyroscope configuration for default values */
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rslt = bmi2_set_sensor_config(&sens_cfg, 1, &dev);
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if (rslt != BMI2_OK) {
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printf("Error: %d\n", rslt);
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return;
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}
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/* Enable OIS through host interface */
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rslt = bmi2_set_ois_interface(BMI2_ENABLE, &dev);
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if (rslt != BMI2_OK) {
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printf("Error: %d\n", rslt);
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return;
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}
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/* Disable Advance Power Save Mode through host interface */
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rslt = bmi2_set_adv_power_save(BMI2_DISABLE, &dev);
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if (rslt != BMI2_OK) {
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printf("Error: %d\n", rslt);
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return;
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}
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/* Get configurations for OIS through OIS interface for default values */
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rslt = bmi2_ois_get_config(&ois_dev);
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if (rslt != BMI2_OK) {
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printf("Error: %d\n", rslt);
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return;
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}
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/* Enable accelerometer and gyroscope for reading OIS data */
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ois_dev.acc_en = BMI2_ENABLE;
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ois_dev.gyr_en = BMI2_ENABLE;
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/* Set configurations for OIS through OIS interface */
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rslt = bmi2_ois_set_config(&ois_dev);
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if (rslt == BMI2_OK) {
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/* Get OIS accelerometer and gyroscope data through OIS interface */
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rslt = bmi2_ois_read_data(sens_sel, 2, &ois_dev);
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if (rslt == BMI2_OK) {
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/* Print accelerometer data */
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printf("OIS Accel x-axis = %d\t", ois_dev.acc_data.x);
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printf("OIS Accel y-axis= %d\t", ois_dev.acc_data.y);
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printf("OIS Accel z-axis = %d\r\n", ois_dev.acc_data.z);
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/* Print gyroscope data */
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printf("OIS Gyro x-axis = %d\t", ois_dev.gyr_data.x);
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printf("OIS Gyro y-axis= %d\t", ois_dev.gyr_data.y);
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printf("OIS Gyro z-axis = %d\r\n", ois_dev.gyr_data.z);
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}
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}
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if (rslt != BMI2_OK) {
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printf("Error code: %d\n", rslt);
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return;
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}
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/* Enable Advance Power Save Mode through host interface */
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rslt = bmi2_set_adv_power_save(BMI2_ENABLE, &dev);
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if (rslt != BMI2_OK) {
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printf("Error: %d\n", rslt);
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return;
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}
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```
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‎README.md

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> This package contains BMI2xy sensor API
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**Note : When updating from 2.19.0 to 2.34.0, the gyroscope offset calibration data cannot be reused. In case of a permanently stored gyroscope offset (inside the sensor NVM or on the host), please perform calibration again with API version 2.34.0.
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## Sensor Overview
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The BMI2xy is a small, low power, low noise inertial measurement unit designed for use in mobile applications like augmented reality or indoor navigation which require highly accurate, real-time sensor data.
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### Features
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- Indoor navigation, pedestrian dead-reckoning, step-counting
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For more information refer [product page](https://www.bosch-sensortec.com/bst/products/all_products/bmi270)
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---
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For more information refer product page [Link](https://www.bosch-sensortec.com/products/motion-sensors/imus/bmi270.html)
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#### Copyright (C) 2019 Bosch Sensortec GmbH
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---

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Updated to v2.53.0. Added the support for the context variant. Added &hellip; &middot; boschsensortec/BMI270_SensorAPI@0f89760 · GitHub