bmi088.h

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#ifndef BMI088_H
#define BMI088_H
 
#include <stdbool.h>
#include <stdint.h>
 
#include "common/phal/gpio.h"
#include "common/phal/spi.h"
 
#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 */
 
typedef enum {
    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,
} BMI088_AccelODR_t;
 
typedef enum {
    ACCEL_OS_NORMAL = 0x0A,
    ACCEL_OS_2      = 0x09,
    ACCEL_OS_4      = 0x08,
} BMI088_AccelBWP_t;
 
typedef enum {
    ACCEL_RANGE_3G  = 0x00,
    ACCEL_RANGE_6G  = 0x01,
    ACCEL_RANGE_12G = 0x02,
    ACCEL_RANGE_24G = 0x03,
} BMI088_AccelRange_t;
 
typedef enum {
    GYRO_RANGE_2000 = 0x00,
    GYRO_RANGE_1000 = 0x01,
    GYRO_RANGE_500  = 0x02,
    GYRO_RANGE_250  = 0x03,
    GYRO_RANGE_125  = 0x04,
} BMI088_GyroRange_t;
 
typedef enum {
    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,
} BMI088_GyroDrBw_t;
 
typedef struct {
    float gyro_x; // Angular velocity around the X axis (pitch) in rad/s
    float gyro_y; // Angular velocity around the Y axis (roll) in rad/s
    float gyro_z; // Angular velocity around the Z axis (yaw) in rad/s
 
    float accel_x; // Acceleration over x axis (m/s^2)
    float accel_y; // Acceleration over y axis (m/s^2)
    float accel_z; // Acceleration over z axis (m/s^2)
} IMU_data_t;
 
typedef struct
{
    SPI_InitConfig_t *spi;
 
    uint8_t bmi_rx_buffer[16];
    uint8_t bmi_tx_buffer[16];
    IMU_data_t data;
 
    BMI088_AccelRange_t accel_range;
    BMI088_AccelBWP_t accel_bwp;
    BMI088_AccelODR_t accel_odr;
    BMI088_GyroRange_t gyro_range;
    BMI088_GyroDrBw_t gyro_datarate;
 
    bool enableDynamicRange;
    bool isAccelReady;
    bool isGyroOK;
} BMI088_Handle_t;
 
bool BMI088_init(BMI088_Handle_t *bmi);
 
void BMI088_wakeAccel(BMI088_Handle_t *bmi);
 
bool BMI088_initAccel(BMI088_Handle_t *bmi);
 
bool BMI088_gyroOK(BMI088_Handle_t *bmi);
 
bool BMI088_gyroSelfTestStart(BMI088_Handle_t *bmi);
 
bool BMI088_gyroSelfTestComplete(BMI088_Handle_t *bmi);
 
bool BMI088_gyroSelfTestPass(BMI088_Handle_t *bmi);
 
bool BMI088_readGyro(BMI088_Handle_t *bmi);
 
bool BMI088_readAccel(BMI088_Handle_t *bmi);
 
uint8_t BMI088_checkGyroHealth(BMI088_Handle_t *bmi);
 
#endif // BMI088_H