38#define BMI088_DEFAULT_GYRO_RANGE BMI088_GYRO_RANGE_1000
40#define BMI088_DEFAULT_GYRO_ODR BMI088_GYRO_ODR_1000_BW_116
42#define BMI088_DEFAULT_ACCEL_RANGE BMI088_ACCEL_RANGE_12G
44#define BMI088_DEFAULT_ACCEL_ODR BMI088_ACCEL_ODR_1600
46#define BMI088_DEFAULT_ACCEL_BW BMI088_ACCEL_BW_OSR4
53#define BMI088_GYRO_SENS_125 0.272442
54#define BMI088_GYRO_SENS_125_NUM 19327
55#define BMI088_GYRO_SENS_125_DEN 17735
56#define BMI088_GYRO_SENS_250 0.544883
57#define BMI088_GYRO_SENS_250_NUM 19327
58#define BMI088_GYRO_SENS_250_DEN 35470
59#define BMI088_GYRO_SENS_500 1.08977
60#define BMI088_GYRO_SENS_500_NUM 57663
61#define BMI088_GYRO_SENS_500_DEN 52913
62#define BMI088_GYRO_SENS_1000 2.17953
63#define BMI088_GYRO_SENS_1000_NUM 18271
64#define BMI088_GYRO_SENS_1000_DEN 8383
65#define BMI088_GYRO_SENS_2000 4.35906
66#define BMI088_GYRO_SENS_2000_NUM 36542
67#define BMI088_GYRO_SENS_2000_DEN 8383
80#define BMI088_ACCEL_SENS_3G 0.919912
81#define BMI088_ACCEL_SENS_3G_NUM 9199
82#define BMI088_ACCEL_SENS_3G_DEN 10000
83#define BMI088_ACCEL_SENS_6G 1.83982
84#define BMI088_ACCEL_SENS_6G_NUM 18398
85#define BMI088_ACCEL_SENS_6G_DEN 10000
86#define BMI088_ACCEL_SENS_12G 3.67965
87#define BMI088_ACCEL_SENS_12G_NUM 36797
88#define BMI088_ACCEL_SENS_12G_DEN 10000
89#define BMI088_ACCEL_SENS_24G 7.3593
90#define BMI088_ACCEL_SENS_24G_NUM 7359
91#define BMI088_ACCEL_SENS_24G_DEN 1000
110#define BMI088_CONFIG_ACCEL 0
111#define BMI088_CONFIG_GYRO 1
void bmi088_set_default_config(struct Bmi088Config *c)
const float BMI088_ACCEL_SENS[4]
enum Bmi088AccelODR accel_odr
output data rate
void(* Bmi088ConfigSet)(void *bmi, uint8_t _reg, uint8_t _val, uint8_t _type)
Configuration function prototype.
const struct FloatRates BMI088_GYRO_SENS_F[5]
enum Bmi088AccelRanges accel_range
g Range
enum Bmi088GyroODR gyro_odr
output data rate
enum Bmi088AccelBW accel_bw
bandwidth
void bmi088_send_config(Bmi088ConfigSet bmi_set, void *bmi, struct Bmi088Config *config)
Configuration sequence called once before normal use.
bool initialized
config done flag
const struct FloatVect3 BMI088_ACCEL_SENS_F[4]
enum Bmi088ConfStatus init_status
init status
@ BMI088_CONF_ACCEL_RANGE
@ BMI088_CONF_ACCEL_PWR_CTRL
@ BMI088_CONF_ACCEL_PWR_CONF
float accel_samplerate
samplerate in Hz from accel_odr
float gyro_samplerate
samplerate in Hz from gyro_odr
enum Bmi088GyroRanges gyro_range
deg/s Range
const float BMI088_GYRO_SENS[5]
Register and address definitions for BMI088.
Bmi088GyroODR
Gyro output data rate and bandwidth.
Bmi088GyroRanges
Gyro output range.
Bmi088AccelODR
Accel outpur data rate.
Bmi088AccelRanges
Accel output range.
Bmi088AccelBW
Accel bandwith.
Paparazzi floating point algebra.
Paparazzi fixed point algebra.
static const struct usb_config_descriptor config
unsigned char uint8_t
Typedef defining 8 bit unsigned char type.