#include "std.h"
#include "peripherals/bmi088_regs.h"

Include dependency graph for bmi088.h:

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Data Structures
struct	Bmi088Config

Macros
#define	BMI088_DEFAULT_GYRO_RANGE BMI088_GYRO_RANGE_1000
	Default gyro full scale range +- 1000°/s. More...

#define	BMI088_DEFAULT_GYRO_ODR BMI088_GYRO_ODR_1000_BW_116
	Default gyro output rate. More...

#define	BMI088_DEFAULT_ACCEL_RANGE BMI088_ACCEL_RANGE_12G
	Default accel full scale range +- 6g. More...

#define	BMI088_DEFAULT_ACCEL_ODR BMI088_ACCEL_ODR_1600
	Default accel output rate. More...

#define	BMI088_DEFAULT_ACCEL_BW BMI088_ACCEL_BW_OSR4
	Default accel bandwidth. More...

#define	BMI088_GYRO_SENS_125 0.272442
	default gyro sensitivy from the datasheet sens = 1/ [LSB/(deg/s)] * pi/180 * 2^INT32_RATE_FRAC ex: BMI with 1000 deg/s has 32.8 LSB/(deg/s) sens = 1/32.8 * pi/180 * 4096 = 2.17953 More...

#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

#define	BMI088_ACCEL_SENS_3G 0.919912
	default accel sensitivy from the datasheet sens = 9.81 [m/s^2] / [LSB/g] * 2^INT32_ACCEL_FRAC ex: BMI with 6g has 5460 LSB/g sens = 9.81 [m/s^2] / 5460 [LSB/g] * 2^INT32_ACCEL_FRAC = 1.83982 More...

#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

#define	BMI088_CONFIG_ACCEL 0

#define	BMI088_CONFIG_GYRO 1

Typedefs
typedef void(*	Bmi088ConfigSet) (void *bmi, uint8_t _reg, uint8_t _val, uint8_t _type)
	Configuration function prototype. More...

Enumerations
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 }

Functions
void	bmi088_set_default_config (struct Bmi088Config *c)

void	bmi088_send_config (Bmi088ConfigSet bmi_set, void bmi, struct Bmi088Config config)
	Configuration sequence called once before normal use. More...

Variables
const float	BMI088_GYRO_SENS [5]

const int32_t	BMI088_GYRO_SENS_FRAC [5][2]

const float	BMI088_ACCEL_SENS [4]

const int32_t	BMI088_ACCEL_SENS_FRAC [4][2]

Detailed Description

BMI088 driver common interface (I2C and SPI).

Definition in file bmi088.h.

Data Structure Documentation

◆ Bmi088Config

struct Bmi088Config

Definition at line 113 of file bmi088.h.

Data Fields
enum Bmi088AccelBW	accel_bw	bandwidth
enum Bmi088AccelODR	accel_odr	output data rate
enum Bmi088AccelRanges	accel_range	g Range
enum Bmi088GyroODR	gyro_odr	output data rate
enum Bmi088GyroRanges	gyro_range	deg/s Range
enum Bmi088ConfStatus	init_status	init status
bool	initialized	config done flag

Macro Definition Documentation

◆ BMI088_ACCEL_SENS_12G

#define BMI088_ACCEL_SENS_12G 3.67965

Definition at line 84 of file bmi088.h.

◆ BMI088_ACCEL_SENS_12G_DEN

#define BMI088_ACCEL_SENS_12G_DEN 10000

Definition at line 86 of file bmi088.h.

◆ BMI088_ACCEL_SENS_12G_NUM

#define BMI088_ACCEL_SENS_12G_NUM 36797

Definition at line 85 of file bmi088.h.

◆ BMI088_ACCEL_SENS_24G

#define BMI088_ACCEL_SENS_24G 7.3593

Definition at line 87 of file bmi088.h.

◆ BMI088_ACCEL_SENS_24G_DEN

#define BMI088_ACCEL_SENS_24G_DEN 1000

Definition at line 89 of file bmi088.h.

◆ BMI088_ACCEL_SENS_24G_NUM

#define BMI088_ACCEL_SENS_24G_NUM 7359

Definition at line 88 of file bmi088.h.

◆ BMI088_ACCEL_SENS_3G

#define BMI088_ACCEL_SENS_3G 0.919912

default accel sensitivy from the datasheet sens = 9.81 [m/s^2] / [LSB/g] * 2^INT32_ACCEL_FRAC ex: BMI with 6g has 5460 LSB/g sens = 9.81 [m/s^2] / 5460 [LSB/g] * 2^INT32_ACCEL_FRAC = 1.83982

Definition at line 78 of file bmi088.h.

◆ BMI088_ACCEL_SENS_3G_DEN

#define BMI088_ACCEL_SENS_3G_DEN 10000

Definition at line 80 of file bmi088.h.

◆ BMI088_ACCEL_SENS_3G_NUM

#define BMI088_ACCEL_SENS_3G_NUM 9199

Definition at line 79 of file bmi088.h.

◆ BMI088_ACCEL_SENS_6G

#define BMI088_ACCEL_SENS_6G 1.83982

Definition at line 81 of file bmi088.h.

◆ BMI088_ACCEL_SENS_6G_DEN

#define BMI088_ACCEL_SENS_6G_DEN 10000

Definition at line 83 of file bmi088.h.

◆ BMI088_ACCEL_SENS_6G_NUM

#define BMI088_ACCEL_SENS_6G_NUM 18398

Definition at line 82 of file bmi088.h.

◆ BMI088_CONFIG_ACCEL

#define BMI088_CONFIG_ACCEL 0

Definition at line 108 of file bmi088.h.

◆ BMI088_CONFIG_GYRO

#define BMI088_CONFIG_GYRO 1

Definition at line 109 of file bmi088.h.

◆ BMI088_DEFAULT_ACCEL_BW

#define BMI088_DEFAULT_ACCEL_BW BMI088_ACCEL_BW_OSR4

Default accel bandwidth.

Definition at line 44 of file bmi088.h.

◆ BMI088_DEFAULT_ACCEL_ODR

#define BMI088_DEFAULT_ACCEL_ODR BMI088_ACCEL_ODR_1600

Default accel output rate.

Definition at line 42 of file bmi088.h.

◆ BMI088_DEFAULT_ACCEL_RANGE

#define BMI088_DEFAULT_ACCEL_RANGE BMI088_ACCEL_RANGE_12G

Default accel full scale range +- 6g.

Definition at line 40 of file bmi088.h.

◆ BMI088_DEFAULT_GYRO_ODR

#define BMI088_DEFAULT_GYRO_ODR BMI088_GYRO_ODR_1000_BW_116

Default gyro output rate.

Definition at line 38 of file bmi088.h.

◆ BMI088_DEFAULT_GYRO_RANGE

#define BMI088_DEFAULT_GYRO_RANGE BMI088_GYRO_RANGE_1000

Default gyro full scale range +- 1000°/s.

Definition at line 36 of file bmi088.h.

◆ BMI088_GYRO_SENS_1000

#define BMI088_GYRO_SENS_1000 2.17953

Definition at line 60 of file bmi088.h.

◆ BMI088_GYRO_SENS_1000_DEN

#define BMI088_GYRO_SENS_1000_DEN 8383

Definition at line 62 of file bmi088.h.

◆ BMI088_GYRO_SENS_1000_NUM

#define BMI088_GYRO_SENS_1000_NUM 18271

Definition at line 61 of file bmi088.h.

◆ BMI088_GYRO_SENS_125

#define BMI088_GYRO_SENS_125 0.272442

default gyro sensitivy from the datasheet sens = 1/ [LSB/(deg/s)] * pi/180 * 2^INT32_RATE_FRAC ex: BMI with 1000 deg/s has 32.8 LSB/(deg/s) sens = 1/32.8 * pi/180 * 4096 = 2.17953

Definition at line 51 of file bmi088.h.

◆ BMI088_GYRO_SENS_125_DEN

#define BMI088_GYRO_SENS_125_DEN 17735

Definition at line 53 of file bmi088.h.

◆ BMI088_GYRO_SENS_125_NUM

#define BMI088_GYRO_SENS_125_NUM 19327

Definition at line 52 of file bmi088.h.

◆ BMI088_GYRO_SENS_2000

#define BMI088_GYRO_SENS_2000 4.35906

Definition at line 63 of file bmi088.h.

◆ BMI088_GYRO_SENS_2000_DEN

#define BMI088_GYRO_SENS_2000_DEN 8383

Definition at line 65 of file bmi088.h.

◆ BMI088_GYRO_SENS_2000_NUM

#define BMI088_GYRO_SENS_2000_NUM 36542

Definition at line 64 of file bmi088.h.

◆ BMI088_GYRO_SENS_250

#define BMI088_GYRO_SENS_250 0.544883

Definition at line 54 of file bmi088.h.

◆ BMI088_GYRO_SENS_250_DEN

#define BMI088_GYRO_SENS_250_DEN 35470

Definition at line 56 of file bmi088.h.

◆ BMI088_GYRO_SENS_250_NUM

#define BMI088_GYRO_SENS_250_NUM 19327

Definition at line 55 of file bmi088.h.

◆ BMI088_GYRO_SENS_500

#define BMI088_GYRO_SENS_500 1.08977

Definition at line 57 of file bmi088.h.

◆ BMI088_GYRO_SENS_500_DEN

#define BMI088_GYRO_SENS_500_DEN 52913

Definition at line 59 of file bmi088.h.

◆ BMI088_GYRO_SENS_500_NUM

#define BMI088_GYRO_SENS_500_NUM 57663

Definition at line 58 of file bmi088.h.

Typedef Documentation

◆ Bmi088ConfigSet

typedef void(* Bmi088ConfigSet) (void *bmi, uint8_t _reg, uint8_t _val, uint8_t _type)

Configuration function prototype.

Definition at line 111 of file bmi088.h.

Enumeration Type Documentation

◆ Bmi088ConfStatus

enum Bmi088ConfStatus

Enumerator
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

Definition at line 96 of file bmi088.h.

Function Documentation

◆ bmi088_send_config()

void bmi088_send_config	(	Bmi088ConfigSet	bmi_set,
		void *	bmi,
		struct Bmi088Config *	config
	)

Configuration sequence called once before normal use.

Definition at line 70 of file bmi088.c.

References BMI088_ACCEL_ACTIVE, BMI088_ACCEL_CONF, BMI088_ACCEL_POWER_ON, BMI088_ACCEL_PWR_CONF, BMI088_ACCEL_PWR_CTRl, BMI088_ACCEL_RANGE, BMI088_CONF_ACCEL_ODR, BMI088_CONF_ACCEL_PWR_CONF, BMI088_CONF_ACCEL_PWR_CTRL, BMI088_CONF_ACCEL_RANGE, BMI088_CONF_DONE, BMI088_CONF_GYRO_ODR, BMI088_CONF_GYRO_PWR, BMI088_CONF_GYRO_RANGE, BMI088_CONFIG_ACCEL, BMI088_CONFIG_GYRO, BMI088_GYRO_BAND_WIDTH, BMI088_GYRO_LPM_1, BMI088_GYRO_NORMAL, BMI088_GYRO_RANGE, and config.

Referenced by bmi088_i2c_event(), and bmi088_i2c_start_configure().

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◆ bmi088_set_default_config()

void bmi088_set_default_config ( struct Bmi088Config * c )

Definition at line 61 of file bmi088.c.

References BMI088_DEFAULT_ACCEL_BW, BMI088_DEFAULT_ACCEL_ODR, BMI088_DEFAULT_ACCEL_RANGE, BMI088_DEFAULT_GYRO_ODR, BMI088_DEFAULT_GYRO_RANGE, and c().

Referenced by bmi088_i2c_init().

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