bmi088.h

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/*
 * Copyright (C) 2019 Gautier Hattenberger <gautier.hattenberger@enac.fr>
 *
 * This file is part of paparazzi.
 *
 * paparazzi is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2, or (at your option)
 * any later version.
 *
 * paparazzi is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with paparazzi; see the file COPYING.  If not, see
 * <http://www.gnu.org/licenses/>.
 */
 
#ifndef BMI088_H
#define BMI088_H
 
#include "std.h"
#include "math/pprz_algebra_int.h"
 
/* Include address and register definition */
#include "peripherals/bmi088_regs.h"
 
#define BMI088_DEFAULT_GYRO_RANGE BMI088_GYRO_RANGE_1000
#define BMI088_DEFAULT_GYRO_ODR BMI088_GYRO_ODR_1000_BW_116
#define BMI088_DEFAULT_ACCEL_RANGE BMI088_ACCEL_RANGE_12G
#define BMI088_DEFAULT_ACCEL_ODR BMI088_ACCEL_ODR_1600
#define BMI088_DEFAULT_ACCEL_BW BMI088_ACCEL_BW_OSR4
 
#define BMI088_GYRO_SENS_125 0.272442 // FIXME
#define BMI088_GYRO_SENS_125_NUM 19327
#define BMI088_GYRO_SENS_125_DEN 17735
#define BMI088_GYRO_SENS_250 0.544883
#define BMI088_GYRO_SENS_250_NUM 19327
#define BMI088_GYRO_SENS_250_DEN 35470
#define BMI088_GYRO_SENS_500 1.08977
#define BMI088_GYRO_SENS_500_NUM 57663
#define BMI088_GYRO_SENS_500_DEN 52913
#define BMI088_GYRO_SENS_1000 2.17953
#define BMI088_GYRO_SENS_1000_NUM 18271
#define BMI088_GYRO_SENS_1000_DEN 8383
#define BMI088_GYRO_SENS_2000 4.35906
#define BMI088_GYRO_SENS_2000_NUM 36542
#define BMI088_GYRO_SENS_2000_DEN 8383
 
// Get default sensitivity from a table
extern const float BMI088_GYRO_SENS[5];
// Get default sensitivity numerator and denominator from a table
extern const struct Int32Rates BMI088_GYRO_SENS_FRAC[5][2];
 
// FIXME
#define BMI088_ACCEL_SENS_3G 0.919912
#define BMI088_ACCEL_SENS_3G_NUM 9199
#define BMI088_ACCEL_SENS_3G_DEN 10000
#define BMI088_ACCEL_SENS_6G 1.83982
#define BMI088_ACCEL_SENS_6G_NUM 18398
#define BMI088_ACCEL_SENS_6G_DEN 10000
#define BMI088_ACCEL_SENS_12G 3.67965
#define BMI088_ACCEL_SENS_12G_NUM 36797
#define BMI088_ACCEL_SENS_12G_DEN 10000
#define BMI088_ACCEL_SENS_24G 7.3593
#define BMI088_ACCEL_SENS_24G_NUM 7359
#define BMI088_ACCEL_SENS_24G_DEN 1000
 
// Get default sensitivity from a table
extern const float BMI088_ACCEL_SENS[4];
// Get default sensitivity numerator and denominator from a table
extern const struct Int32Vect3 BMI088_ACCEL_SENS_FRAC[4][2];
 
enum Bmi088ConfStatus {
  BMI088_CONF_UNINIT,
  BMI088_CONF_ACCEL_RANGE,
  BMI088_CONF_ACCEL_ODR,
  BMI088_CONF_ACCEL_PWR_CONF,
  BMI088_CONF_ACCEL_PWR_CTRL,
  BMI088_CONF_GYRO_RANGE,
  BMI088_CONF_GYRO_ODR,
  BMI088_CONF_GYRO_PWR,
  BMI088_CONF_DONE
};
 
#define BMI088_CONFIG_ACCEL 0
#define BMI088_CONFIG_GYRO  1
typedef void (*Bmi088ConfigSet)(void *bmi, uint8_t _reg, uint8_t _val, uint8_t _type);
 
struct Bmi088Config {
  enum Bmi088GyroRanges gyro_range;     
  enum Bmi088GyroODR gyro_odr;          
  enum Bmi088AccelRanges accel_range;   
  enum Bmi088AccelODR accel_odr;        
  enum Bmi088AccelBW accel_bw;          
  enum Bmi088ConfStatus init_status;    
  bool initialized;                     
 
  float gyro_samplerate;                
  float accel_samplerate;               
};
 
extern void bmi088_set_default_config(struct Bmi088Config *c);
 
extern void bmi088_send_config(Bmi088ConfigSet bmi_set, void *bmi, struct Bmi088Config *config);
 
#endif // BMI088_H