bmi088_i2c.h File Reference

Driver for the BMI088 using I2C. More...

#include "std.h"
#include "math/pprz_algebra_int.h"
#include "mcu_periph/i2c.h"
#include "peripherals/bmi088.h"

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Data Structures
struct	Bmi088_I2c
union	Bmi088_I2c.data_accel
union	Bmi088_I2c.data_rates

Functions
void	bmi088_i2c_init (struct Bmi088_I2c *bmi, struct i2c_periph *i2c_p, uint8_t gyro_addr, uint8_t accel_addr)
void	bmi088_i2c_start_configure (struct Bmi088_I2c *bmi)
void	bmi088_i2c_read (struct Bmi088_I2c *bmi)
void	bmi088_i2c_event (struct Bmi088_I2c *bmi)
static void	bmi088_i2c_periodic (struct Bmi088_I2c *bmi)
	convenience function: read or start configuration if not already initialized More...

Detailed Description

Driver for the BMI088 using I2C.

Definition in file bmi088_i2c.h.

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Data Structure Documentation

Bmi088_I2c

struct Bmi088_I2c

Definition at line 37 of file bmi088_i2c.h.

Collaboration diagram for Bmi088_I2c:

Data Fields
volatile bool	accel_available	accel data ready flag
struct i2c_transaction	accel_trans	i2c transaction for accel
struct Bmi088Config	config
union Bmi088_I2c	data_accel
union Bmi088_I2c	data_rates
volatile bool	gyro_available	gyro data ready flag
struct i2c_transaction	gyro_trans	i2c transaction for gyro
struct i2c_periph *	i2c_p

Bmi088_I2c.data_accel

union Bmi088_I2c.data_accel

Definition at line 43 of file bmi088_i2c.h.

Data Fields
int16_t	value[3]	accel data values accessible by channel index
struct Int16Vect3	vect	accel data vector in accel coordinate system

Bmi088_I2c.data_rates

union Bmi088_I2c.data_rates

Definition at line 47 of file bmi088_i2c.h.

Data Fields
struct Int16Rates	rates	rates data as angular rates in gyro coordinate system
int16_t	value[3]	rates data values accessible by channel index

Function Documentation

bmi088_i2c_event()

void bmi088_i2c_event

(

struct Bmi088_I2c *

bmi

)

Definition at line 93 of file bmi088_i2c.c.

References Bmi088_I2c::accel_available, Bmi088_I2c::accel_trans, BMI088_CONF_ACCEL_PWR_CTRL, BMI088_CONF_UNINIT, bmi088_i2c_write_to_reg(), bmi088_send_config(), i2c_transaction::buf, Bmi088_I2c::config, Bmi088_I2c::data_accel, Bmi088_I2c::data_rates, Bmi088_I2c::gyro_available, Bmi088_I2c::gyro_trans, I2CTransDone, I2CTransFailed, I2CTransSuccess, Bmi088Config::init_status, Bmi088Config::initialized, Int16FromBuf, and i2c_transaction::status.

Referenced by imu_bmi088_event().

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bmi088_i2c_init()

void bmi088_i2c_init	(	struct Bmi088_I2c *	bmi,
		struct i2c_periph *	i2c_p,
		uint8_t	gyro_addr,
		uint8_t	accel_addr
	)

Definition at line 30 of file bmi088_i2c.c.

References Bmi088_I2c::accel_available, Bmi088_I2c::accel_trans, BMI088_CONF_UNINIT, bmi088_set_default_config(), Bmi088_I2c::config, Bmi088_I2c::gyro_available, Bmi088_I2c::gyro_trans, Bmi088_I2c::i2c_p, I2CTransDone, Bmi088Config::init_status, Bmi088Config::initialized, i2c_transaction::slave_addr, and i2c_transaction::status.

Referenced by imu_bmi088_init().

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bmi088_i2c_periodic()

static void bmi088_i2c_periodic ( struct Bmi088_I2c *  bmi )

inlinestatic

convenience function: read or start configuration if not already initialized

Definition at line 61 of file bmi088_i2c.h.

References bmi088_i2c_read(), bmi088_i2c_start_configure(), Bmi088_I2c::config, and Bmi088Config::initialized.

Referenced by imu_bmi088_periodic().

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bmi088_i2c_read()

void bmi088_i2c_read

(

struct Bmi088_I2c *

bmi

)

Definition at line 77 of file bmi088_i2c.c.

References Bmi088_I2c::accel_trans, BMI088_ACCEL_X_LSB, BMI088_GYRO_RATE_X_LSB, i2c_transaction::buf, Bmi088_I2c::config, Bmi088_I2c::gyro_trans, Bmi088_I2c::i2c_p, i2c_transceive(), I2CTransDone, Bmi088Config::initialized, i2c_transaction::slave_addr, and i2c_transaction::status.

Referenced by bmi088_i2c_periodic().

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bmi088_i2c_start_configure()

void bmi088_i2c_start_configure

(

struct Bmi088_I2c *

bmi

)

Definition at line 67 of file bmi088_i2c.c.

References Bmi088_I2c::accel_trans, BMI088_CONF_UNINIT, bmi088_i2c_write_to_reg(), bmi088_send_config(), Bmi088_I2c::config, I2CTransDone, I2CTransSuccess, Bmi088Config::init_status, and i2c_transaction::status.

Referenced by bmi088_i2c_periodic().

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