imu_bmi088_i2c.c File Reference

#include "subsystems/imu.h"
#include "mcu_periph/i2c.h"
#include "mcu_periph/sys_time.h"
#include "subsystems/abi.h"

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Macros
#define	IMU_BMI088_GYRO_ODR   BMI088_GYRO_ODR_1000_BW_116
#define	IMU_BMI088_ACCEL_ODR   BMI088_ACCEL_ODR_1600
#define	IMU_BMI088_ACCEL_BW   BMI088_ACCEL_BW_OSR4
#define	IMU_BMI088_GYRO_I2C_ADDR   BMI088_GYRO_ADDR
#define	IMU_BMI088_ACCEL_I2C_ADDR   BMI088_ACCEL_ADDR
#define	IMU_BMI088_CHAN_X   0
#define	IMU_BMI088_CHAN_Y   1
#define	IMU_BMI088_CHAN_Z   2
#define	IMU_BMI088_X_SIGN   1
#define	IMU_BMI088_Y_SIGN   1
#define	IMU_BMI088_Z_SIGN   1

Functions
void	imu_bmi088_init (void)
void	imu_bmi088_periodic (void)
void	imu_bmi088_event (void)

Variables
struct ImuBmi088	imu_bmi088

Macro Definition Documentation

#define IMU_BMI088_ACCEL_BW   BMI088_ACCEL_BW_OSR4

Definition at line 47 of file imu_bmi088_i2c.c.

Referenced by imu_bmi088_init().

#define IMU_BMI088_ACCEL_I2C_ADDR   BMI088_ACCEL_ADDR

Definition at line 57 of file imu_bmi088_i2c.c.

Referenced by imu_bmi088_init().

#define IMU_BMI088_ACCEL_ODR   BMI088_ACCEL_ODR_1600

Definition at line 42 of file imu_bmi088_i2c.c.

Referenced by imu_bmi088_init().

#define IMU_BMI088_CHAN_X   0

Definition at line 63 of file imu_bmi088_i2c.c.

Referenced by imu_bmi088_event().

#define IMU_BMI088_CHAN_Y   1

Definition at line 67 of file imu_bmi088_i2c.c.

Referenced by imu_bmi088_event().

#define IMU_BMI088_CHAN_Z   2

Definition at line 71 of file imu_bmi088_i2c.c.

Referenced by imu_bmi088_event().

#define IMU_BMI088_GYRO_I2C_ADDR   BMI088_GYRO_ADDR

Definition at line 52 of file imu_bmi088_i2c.c.

Referenced by imu_bmi088_init().

#define IMU_BMI088_GYRO_ODR   BMI088_GYRO_ODR_1000_BW_116

Definition at line 37 of file imu_bmi088_i2c.c.

Referenced by imu_bmi088_init().

#define IMU_BMI088_X_SIGN   1

Definition at line 76 of file imu_bmi088_i2c.c.

Referenced by imu_bmi088_event().

#define IMU_BMI088_Y_SIGN   1

Definition at line 80 of file imu_bmi088_i2c.c.

Referenced by imu_bmi088_event().

#define IMU_BMI088_Z_SIGN   1

Definition at line 84 of file imu_bmi088_i2c.c.

Referenced by imu_bmi088_event().

Function Documentation

void imu_bmi088_event

(

void

)

Definition at line 108 of file imu_bmi088_i2c.c.

References Imu::accel, Bmi088_I2c::accel_available, Imu::accel_unscaled, ImuBmi088::bmi, bmi088_i2c_event(), Bmi088_I2c::data_accel, Bmi088_I2c::data_rates, get_sys_time_usec(), Imu::gyro, Bmi088_I2c::gyro_available, Imu::gyro_unscaled, imu, imu_bmi088, IMU_BMI088_CHAN_X, IMU_BMI088_CHAN_Y, IMU_BMI088_CHAN_Z, IMU_BMI088_ID, IMU_BMI088_X_SIGN, IMU_BMI088_Y_SIGN, IMU_BMI088_Z_SIGN, imu_scale_accel(), imu_scale_gyro(), RATES_COPY, and VECT3_COPY.

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void imu_bmi088_init

(

void

)

Definition at line 91 of file imu_bmi088_i2c.c.

References Bmi088Config::accel_bw, Bmi088Config::accel_odr, Bmi088Config::accel_range, ImuBmi088::bmi, bmi088_i2c_init(), Bmi088_I2c::config, Bmi088Config::gyro_odr, Bmi088Config::gyro_range, IMU_BMI088_ACCEL_BW, IMU_BMI088_ACCEL_I2C_ADDR, IMU_BMI088_ACCEL_ODR, IMU_BMI088_ACCEL_RANGE, IMU_BMI088_GYRO_I2C_ADDR, IMU_BMI088_GYRO_ODR, and IMU_BMI088_GYRO_RANGE.

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void imu_bmi088_periodic

(

void

)

Definition at line 103 of file imu_bmi088_i2c.c.

References ImuBmi088::bmi, bmi088_i2c_periodic(), and imu_bmi088.

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Variable Documentation

struct ImuBmi088 imu_bmi088

Definition at line 89 of file imu_bmi088_i2c.c.

Referenced by imu_bmi088_event(), and imu_bmi088_periodic().