imu_bmi088_i2c.h File Reference

#include "std.h"
#include "generated/airframe.h"
#include "subsystems/imu.h"
#include "peripherals/bmi088_i2c.h"

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Data Structures
struct	ImuBmi088

Macros
#define	IMU_BMI088_GYRO_RANGE   BMI088_GYRO_RANGE_1000
#define	IMU_BMI088_ACCEL_RANGE   BMI088_ACCEL_RANGE_6G
#define	IMU_GYRO_P_SENS   BMI088_GYRO_SENS[IMU_BMI088_GYRO_RANGE]
#define	IMU_GYRO_P_SENS_NUM   BMI088_GYRO_SENS_FRAC[IMU_BMI088_GYRO_RANGE][0]
#define	IMU_GYRO_P_SENS_DEN   BMI088_GYRO_SENS_FRAC[IMU_BMI088_GYRO_RANGE][1]
#define	IMU_GYRO_Q_SENS   BMI088_GYRO_SENS[IMU_BMI088_GYRO_RANGE]
#define	IMU_GYRO_Q_SENS_NUM   BMI088_GYRO_SENS_FRAC[IMU_BMI088_GYRO_RANGE][0]
#define	IMU_GYRO_Q_SENS_DEN   BMI088_GYRO_SENS_FRAC[IMU_BMI088_GYRO_RANGE][1]
#define	IMU_GYRO_R_SENS   BMI088_GYRO_SENS[IMU_BMI088_GYRO_RANGE]
#define	IMU_GYRO_R_SENS_NUM   BMI088_GYRO_SENS_FRAC[IMU_BMI088_GYRO_RANGE][0]
#define	IMU_GYRO_R_SENS_DEN   BMI088_GYRO_SENS_FRAC[IMU_BMI088_GYRO_RANGE][1]
#define	IMU_ACCEL_X_SENS   BMI088_ACCEL_SENS[IMU_BMI088_ACCEL_RANGE]
#define	IMU_ACCEL_X_SENS_NUM   BMI088_ACCEL_SENS_FRAC[IMU_BMI088_ACCEL_RANGE][0]
#define	IMU_ACCEL_X_SENS_DEN   BMI088_ACCEL_SENS_FRAC[IMU_BMI088_ACCEL_RANGE][1]
#define	IMU_ACCEL_Y_SENS   BMI088_ACCEL_SENS[IMU_BMI088_ACCEL_RANGE]
#define	IMU_ACCEL_Y_SENS_NUM   BMI088_ACCEL_SENS_FRAC[IMU_BMI088_ACCEL_RANGE][0]
#define	IMU_ACCEL_Y_SENS_DEN   BMI088_ACCEL_SENS_FRAC[IMU_BMI088_ACCEL_RANGE][1]
#define	IMU_ACCEL_Z_SENS   BMI088_ACCEL_SENS[IMU_BMI088_ACCEL_RANGE]
#define	IMU_ACCEL_Z_SENS_NUM   BMI088_ACCEL_SENS_FRAC[IMU_BMI088_ACCEL_RANGE][0]
#define	IMU_ACCEL_Z_SENS_DEN   BMI088_ACCEL_SENS_FRAC[IMU_BMI088_ACCEL_RANGE][1]

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

Variables
struct ImuBmi088	imu_bmi088

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Data Structure Documentation

struct ImuBmi088

Definition at line 73 of file imu_bmi088_i2c.h.

Collaboration diagram for ImuBmi088:

Data Fields
struct Bmi088_I2c	bmi

Macro Definition Documentation

#define IMU_ACCEL_X_SENS   BMI088_ACCEL_SENS[IMU_BMI088_ACCEL_RANGE]

Definition at line 61 of file imu_bmi088_i2c.h.

#define IMU_ACCEL_X_SENS_DEN   BMI088_ACCEL_SENS_FRAC[IMU_BMI088_ACCEL_RANGE][1]

Definition at line 63 of file imu_bmi088_i2c.h.

#define IMU_ACCEL_X_SENS_NUM   BMI088_ACCEL_SENS_FRAC[IMU_BMI088_ACCEL_RANGE][0]

Definition at line 62 of file imu_bmi088_i2c.h.

#define IMU_ACCEL_Y_SENS   BMI088_ACCEL_SENS[IMU_BMI088_ACCEL_RANGE]

Definition at line 64 of file imu_bmi088_i2c.h.

#define IMU_ACCEL_Y_SENS_DEN   BMI088_ACCEL_SENS_FRAC[IMU_BMI088_ACCEL_RANGE][1]

Definition at line 66 of file imu_bmi088_i2c.h.

#define IMU_ACCEL_Y_SENS_NUM   BMI088_ACCEL_SENS_FRAC[IMU_BMI088_ACCEL_RANGE][0]

Definition at line 65 of file imu_bmi088_i2c.h.

#define IMU_ACCEL_Z_SENS   BMI088_ACCEL_SENS[IMU_BMI088_ACCEL_RANGE]

Definition at line 67 of file imu_bmi088_i2c.h.

#define IMU_ACCEL_Z_SENS_DEN   BMI088_ACCEL_SENS_FRAC[IMU_BMI088_ACCEL_RANGE][1]

Definition at line 69 of file imu_bmi088_i2c.h.

#define IMU_ACCEL_Z_SENS_NUM   BMI088_ACCEL_SENS_FRAC[IMU_BMI088_ACCEL_RANGE][0]

Definition at line 68 of file imu_bmi088_i2c.h.

#define IMU_BMI088_ACCEL_RANGE   BMI088_ACCEL_RANGE_6G

Definition at line 43 of file imu_bmi088_i2c.h.

Referenced by imu_bmi088_init().

#define IMU_BMI088_GYRO_RANGE   BMI088_GYRO_RANGE_1000

Definition at line 39 of file imu_bmi088_i2c.h.

Referenced by imu_bmi088_init().

#define IMU_GYRO_P_SENS   BMI088_GYRO_SENS[IMU_BMI088_GYRO_RANGE]

Definition at line 48 of file imu_bmi088_i2c.h.

#define IMU_GYRO_P_SENS_DEN   BMI088_GYRO_SENS_FRAC[IMU_BMI088_GYRO_RANGE][1]

Definition at line 50 of file imu_bmi088_i2c.h.

#define IMU_GYRO_P_SENS_NUM   BMI088_GYRO_SENS_FRAC[IMU_BMI088_GYRO_RANGE][0]

Definition at line 49 of file imu_bmi088_i2c.h.

#define IMU_GYRO_Q_SENS   BMI088_GYRO_SENS[IMU_BMI088_GYRO_RANGE]

Definition at line 51 of file imu_bmi088_i2c.h.

#define IMU_GYRO_Q_SENS_DEN   BMI088_GYRO_SENS_FRAC[IMU_BMI088_GYRO_RANGE][1]

Definition at line 53 of file imu_bmi088_i2c.h.

#define IMU_GYRO_Q_SENS_NUM   BMI088_GYRO_SENS_FRAC[IMU_BMI088_GYRO_RANGE][0]

Definition at line 52 of file imu_bmi088_i2c.h.

#define IMU_GYRO_R_SENS   BMI088_GYRO_SENS[IMU_BMI088_GYRO_RANGE]

Definition at line 54 of file imu_bmi088_i2c.h.

#define IMU_GYRO_R_SENS_DEN   BMI088_GYRO_SENS_FRAC[IMU_BMI088_GYRO_RANGE][1]

Definition at line 56 of file imu_bmi088_i2c.h.

#define IMU_GYRO_R_SENS_NUM   BMI088_GYRO_SENS_FRAC[IMU_BMI088_GYRO_RANGE][0]

Definition at line 55 of file imu_bmi088_i2c.h.

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().