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Add functionality to BMI160 #46

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3a4aea5
Added further configs F_BMI160.hpp
EnderDocs Jan 15, 2026
1212b07
Added further configs to F_BMI160.cpp
EnderDocs Jan 15, 2026
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65 changes: 64 additions & 1 deletion src/F_BMI160.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -277,4 +277,67 @@ void BMI160::calibrateAccelGyro(calData* cal)
cal->gyroBias[1] = (float)gyro_bias[1];
cal->gyroBias[2] = (float)gyro_bias[2];
cal->valid = true;
}
}

int BMI160::setAccelODR(uint8_t odr)
{
// BMI160 accel ODR encoding in ACC_CONF[3:0]:
// 0x06 = 25 Hz, 0x07 = 50 Hz, 0x08 = 100 Hz, 0x09 = 200 Hz
// 0x0A = 400 Hz, 0x0B = 800 Hz, 0x0C = 1600 Hz
if (odr < 0x06 || odr > 0x0C)
{
return -1; // Invalid ODR code
}

uint8_t c = readByteI2C(wire, IMUAddress, BMI160_ACC_CONF);
c = (c & 0xF0) | (odr & 0x0F); // Clear [3:0], set new ODR
writeByteI2C(wire, IMUAddress, BMI160_ACC_CONF, c);
return 0;
}

int BMI160::setGyroODR(uint8_t odr)
{
// BMI160 gyro ODR encoding in GYR_CONF[3:0]:
// 0x06 = 25 Hz, 0x07 = 50 Hz, 0x08 = 100 Hz, 0x09 = 200 Hz
// 0x0A = 400 Hz, 0x0B = 800 Hz, 0x0C = 1600 Hz, 0x0D = 3200 Hz (gyro only)
if (odr < 0x06 || odr > 0x0D)
{
return -1; // Invalid ODR code
}

uint8_t c = readByteI2C(wire, IMUAddress, BMI160_GYR_CONF);
c = (uint8_t)((c & 0xF0) | (odr & 0x0F)); // Clear [3:0], set new ODR
writeByteI2C(wire, IMUAddress, BMI160_GYR_CONF, c);
return 0;
}

int BMI160::setAccelBandwidth(uint8_t bwp)
{
// BMI160 accel bandwidth/OSR in ACC_CONF[6:4]:
// 0x00 = OSR4 (low noise), 0x01 = OSR2, 0x02 = Normal, 0x03 = CIC, ...
// Consult the datasheet/driver for the exact enumeration you want to expose.
if (bwp > 0x07)
{
return -1; // Only 3 bits
}

uint8_t c = readByteI2C(wire, IMUAddress, BMI160_ACC_CONF);
c = (uint8_t)((c & 0x8F) | ((bwp & 0x07) << 4)); // clear [6:4], set new BWP
writeByteI2C(wire, IMUAddress, BMI160_ACC_CONF, c);
return 0;
}

int BMI160::setGyroBandwidth(uint8_t bwp)
{
// BMI160 gyro bandwidth/OSR in GYR_CONF[5:4]:
// 0x00 = OSR4 (low noise), 0x01 = OSR2, 0x02 = Normal mode, 0x03 = CIC mode
if (bwp > 0x03)
{
return -1; // Invalid bandwidth parameter
}

uint8_t c = readByteI2C(wire, IMUAddress, BMI160_GYR_CONF);
c = (c & 0x0F) | ((bwp & 0x03) << 4); // Preserve ODR bits [3:0], set bits [5:4]
writeByteI2C(wire, IMUAddress, BMI160_GYR_CONF, c);
return 0;
}
4 changes: 4 additions & 0 deletions src/F_BMI160.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -117,6 +117,10 @@ class BMI160 : public IMUBase {
void getQuat(Quaternion* out) override {};
float getTemp() override { return temperature; };

int setAccelODR(uint8_t odr); // Set accel ODR: 0x06=25Hz, 0x0A=400Hz, 0x0C=1600Hz
int setGyroODR(uint8_t odr); // Set gyro ODR: 0x06=25Hz, 0x0A=400Hz, 0x0C=1600Hz, 0x0D=3200Hz
int setAccelBandwidth(uint8_t bwp); // Set accel bandwidth: 0=normal, 1=RES_OSR4
int setGyroBandwidth(uint8_t bwp); // Set gyro bandwidth/OSR: 0=OSR4, 1=OSR2, 2=normal, 3=CIC
int setGyroRange(int range) override;
int setAccelRange(int range) override;
int setIMUGeometry(int index) override { geometryIndex = index; return 0; };
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