PER Firmware
Loading...
Searching...
No Matches
Classes | Macros | Enumerations | Functions
bmi088.h File Reference

BMI088 IMU driver. More...

#include <stdbool.h>
#include <stdint.h>
#include "common/phal/gpio.h"
#include "common/phal/spi.h"

Go to the source code of this file.

Classes

struct  IMU_data_t
 
struct  BMI088_Handle_t
 

Macros

#define BMI088_GYRO_CHIP_ID   (0x0FU)
 
#define BMI088_ACC_CHIP_ID   (0x1EU)
 
#define BMI088_ACC_PWR_CTRL_NORMAL   (0x04U)
 
#define BMI088_GYRO_CHIP_ID_ADDR   (0x00U) /* Gyro Chip ID address */
 
#define BMI088_GYRO_RATE_X_LSB_ADDR   (0x02U) /* Gyro X rate LSB address */
 
#define BMI088_GYRO_RATE_Y_LSB_ADDR   (0x04U) /* Gyro Y rate LSB address */
 
#define BMI088_GYRO_RATE_Z_LSB_ADDR   (0x06U) /* Gyro Z rate LSB address */
 
#define BMI088_GYRO_RANGE_ADDR   (0x0FU) /* Gyro data range address */
 
#define BMI088_GYRO_BANDWIDTH_ADDR   (0x10U) /* Gyro data bandwidth address */
 
#define BMI088_GYRO_SELFTEST_ADDR   (0x3CU) /* Gyro self test address */
 
#define BMI088_ACC_CHIP_ID_ADDR   (0x00U) /* Accelerometer Chip ID address */
 
#define BMI088_ACC_STATUS_ADDR   (0x03U) /* Accelerometer status address */
 
#define BMI088_ACC_RATE_X_LSB_ADDR   (0x12U) /* Accelerometer X Rate LSB address */
 
#define BMI088_ACC_RATE_Y_LSB_ADDR   (0x14U) /* Accelerometer Y Rate LSB address */
 
#define BMI088_ACC_RATE_Z_LSB_ADDR   (0x16U) /* Accelerometer Z Rate LSB address */
 
#define BMI088_ACC_CONFIG_ADDR   (0x40U) /* Accelerometer configuration address */
 
#define BMI088_ACC_RANGE_ADDR   (0x41U) /* Accelerometer rate range address */
 
#define BMI088_ACC_PWR_CONF_ADDR   (0x7CU) /* Accelerometer power configuration address */
 
#define BMI088_ACC_PWR_CTRL_ADDR   (0x7DU) /* Accelerometer power control address */
 

Enumerations

enum  BMI088_AccelODR_t {
  ACCEL_ODR_12_5Hz = 0x05 , ACCEL_ODR_25Hz = 0x06 , ACCEL_ODR_50Hz = 0x07 , ACCEL_ODR_100Hz = 0x08 ,
  ACCEL_ODR_200Hz = 0x09 , ACCEL_ODR_400Hz = 0x0A , ACCEL_ODR_800Hz = 0x0B , ACCEL_ODR_1600Hz = 0x0C
}
 
enum  BMI088_AccelBWP_t { ACCEL_OS_NORMAL = 0x0A , ACCEL_OS_2 = 0x09 , ACCEL_OS_4 = 0x08 }
 
enum  BMI088_AccelRange_t { ACCEL_RANGE_3G = 0x00 , ACCEL_RANGE_6G = 0x01 , ACCEL_RANGE_12G = 0x02 , ACCEL_RANGE_24G = 0x03 }
 
enum  BMI088_GyroRange_t {
  GYRO_RANGE_2000 = 0x00 , GYRO_RANGE_1000 = 0x01 , GYRO_RANGE_500 = 0x02 , GYRO_RANGE_250 = 0x03 ,
  GYRO_RANGE_125 = 0x04
}
 
enum  BMI088_GyroDrBw_t {
  GYRO_DR_2000Hz_532Hz = 0x00 , GYRO_DR_2000Hz_230Hz = 0x01 , GYRO_DR_1000Hz_116Hz = 0x02 , GYRO_DR_400Hz_47Hz = 0x03 ,
  GYRO_DR_200Hz_23Hz = 0x04 , GYRO_DR_100Hz_12Hz = 0x05 , GYRO_DR_200Hz_64Hz = 0x06 , GYRO_DR_100Hz_32Hz = 0x07
}
 

Functions

bool BMI088_init (BMI088_Handle_t *bmi)
 
void BMI088_wakeAccel (BMI088_Handle_t *bmi)
 
bool BMI088_initAccel (BMI088_Handle_t *bmi)
 Setup the accelerometer, must be done 50ms or longer after POR.
 
bool BMI088_gyroOK (BMI088_Handle_t *bmi)
 Do self test of gyroscope.
 
bool BMI088_gyroSelfTestStart (BMI088_Handle_t *bmi)
 Start the gyro self test.
 
bool BMI088_gyroSelfTestComplete (BMI088_Handle_t *bmi)
 Check the status of the most recent Gyro self test.
 
bool BMI088_gyroSelfTestPass (BMI088_Handle_t *bmi)
 Check the status of the most recent Gyro self test.
 
bool BMI088_readGyro (BMI088_Handle_t *bmi)
 Blocking function to read the most recent Data Sample from the gyro.
 
bool BMI088_readAccel (BMI088_Handle_t *bmi)
 Blocking function to read the acceleration values form the device.
 
uint8_t BMI088_checkGyroHealth (BMI088_Handle_t *bmi)
 

Detailed Description

BMI088 IMU driver.

Author
Adam Busch (busch.nosp@m.8@pu.nosp@m.rdue..nosp@m.edu)
Irving Wang (irvin.nosp@m.gw@p.nosp@m.urdue.nosp@m..edu)

Function Documentation

◆ BMI088_gyroOK()

bool BMI088_gyroOK ( BMI088_Handle_t * bmi)

Do self test of gyroscope.

Parameters
bmi
Returns
true gyro is OK
false not good

◆ BMI088_gyroSelfTestComplete()

bool BMI088_gyroSelfTestComplete ( BMI088_Handle_t * bmi)

Check the status of the most recent Gyro self test.

Returns
true Self test passed, gyro data is good
false Self test failed, gyro data bad or no test was conduced

◆ BMI088_gyroSelfTestPass()

bool BMI088_gyroSelfTestPass ( BMI088_Handle_t * bmi)

Check the status of the most recent Gyro self test.

Returns
true Self test passed, gyro data is good
false Self test failed, gyro data bad or no test was conduced

◆ BMI088_gyroSelfTestStart()

bool BMI088_gyroSelfTestStart ( BMI088_Handle_t * bmi)

Start the gyro self test.

Returns
true
false

◆ BMI088_init()

bool BMI088_init ( BMI088_Handle_t * bmi)
Parameters
bmi
Returns
true
false

◆ BMI088_initAccel()

bool BMI088_initAccel ( BMI088_Handle_t * bmi)

Setup the accelerometer, must be done 50ms or longer after POR.

Parameters
bmi
Returns
true ACCEL responded sucessfully
false not good

◆ BMI088_readAccel()

bool BMI088_readAccel ( BMI088_Handle_t * bmi)

Blocking function to read the acceleration values form the device.

Parameters
bmi
Returns
true
false

◆ BMI088_readGyro()

bool BMI088_readGyro ( BMI088_Handle_t * bmi)

Blocking function to read the most recent Data Sample from the gyro.

Returns
true Successful data Tx/Rx
false Unsuccessful data Tx/Rx