Diff: BMI088.h

Revision:

25:fe14dbcef82d

Child:

27:973e495f4711

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/BMI088.h	Mon Jan 06 12:49:38 2020 +0000
@@ -0,0 +1,196 @@
+#ifndef BMI088_H
+#define BMI088_H
+
+#include <stdint.h>
+#include "mbed.h"
+
+#define BMI088_ACC_ADDRESS              0x18
+
+#define BMI088_ACC_CHIP_ID              0x00 // Default value 0x1E
+#define BMI088_ACC_ERR_REG              0x02
+#define BMI088_ACC_STATUS               0x03
+
+#define BMI088_ACC_X_LSB                0x12
+#define BMI088_ACC_X_MSB                0x13
+#define BMI088_ACC_Y_LSB                0x14
+#define BMI088_ACC_Y_MSB                0x15
+#define BMI088_ACC_Z_LSB                0x16
+#define BMI088_ACC_Z_MSB                0x17
+
+#define BMI088_ACC_SENSOR_TIME_0        0x18
+#define BMI088_ACC_SENSOR_TIME_1        0x19
+#define BMI088_ACC_SENSOR_TIME_2        0x1A
+
+
+#define BMI088_ACC_INT_STAT_1           0x1D
+
+#define BMI088_ACC_TEMP_MSB             0x22
+#define BMI088_ACC_TEMP_LSB             0x23
+
+#define BMI088_ACC_CONF                 0x40
+#define BMI088_ACC_RANGE                0x41
+
+#define BMI088_ACC_INT1_IO_CTRL         0x53
+#define BMI088_ACC_INT2_IO_CTRL         0x54
+#define BMI088_ACC_INT_MAP_DATA         0x58
+
+#define BMI088_ACC_SELF_TEST            0x6D
+
+#define BMI088_ACC_PWR_CONF             0x7C
+#define BMI088_ACC_PWR_CTRl             0x7D
+
+#define BMI088_ACC_SOFT_RESET           0x7E
+
+#define BMI088_GYRO_ADDRESS             0x68
+
+#define BMI088_GYRO_CHIP_ID             0x00 // Default value 0x0F
+
+#define BMI088_GYRO_RATE_X_LSB          0x02
+#define BMI088_GYRO_RATE_X_MSB          0x03
+#define BMI088_GYRO_RATE_Y_LSB          0x04
+#define BMI088_GYRO_RATE_Y_MSB          0x05
+#define BMI088_GYRO_RATE_Z_LSB          0x06
+#define BMI088_GYRO_RATE_Z_MSB          0x07
+
+#define BMI088_GYRO_INT_STAT_1          0x0A
+
+#define BMI088_GYRO_RANGE               0x0F
+#define BMI088_GYRO_BAND_WIDTH          0x10
+
+#define BMI088_GYRO_LPM_1               0x11
+
+#define BMI088_GYRO_SOFT_RESET          0x14
+
+#define BMI088_GYRO_INT_CTRL            0x15
+#define BMI088_GYRO_INT3_INT4_IO_CONF   0x16
+#define BMI088_GYRO_INT3_INT4_IO_MAP    0x18
+
+#define BMI088_GYRO_SELF_TEST           0x3C
+
+
+enum device_type_t { // device type
+    ACC = 0x00, //
+    GYRO = 0x01, //
+};
+
+enum acc_scale_type_t { // measurement rage
+    RANGE_3G = 0x00, //
+    RANGE_6G = 0x01, //
+    RANGE_12G = 0x02, //
+    RANGE_24G = 0x03, //
+};
+
+enum acc_odr_type_t { // output data rate
+    ODR_12 = 0x05, //
+    ODR_25 = 0x06, //
+    ODR_50 = 0x07, //
+    ODR_100 = 0x08, //
+    ODR_200 = 0x09, //
+    ODR_400 = 0x0A, //
+    ODR_800 = 0x0B, //
+    ODR_1600 = 0x0C, //
+};
+
+enum acc_power_type_t { // power mode
+    ACC_ACTIVE = 0x00, //
+    ACC_SUSPEND = 0x03, //
+};
+
+enum gyro_scale_type_t { // measurement rage
+    RANGE_2000 = 0x00, //
+    RANGE_1000 = 0x01, //
+    RANGE_500 = 0x02, //
+    RANGE_250 = 0x03, //
+    RANGE_125 = 0x04, //
+};
+
+enum gyro_odr_type_t { // output data rate
+    ODR_2000_BW_532 = 0x00, //
+    ODR_2000_BW_230 = 0x01, //
+    ODR_1000_BW_116 = 0x02, //
+    ODR_400_BW_47 = 0x03, //
+    ODR_200_BW_23 = 0x04, //
+    ODR_100_BW_12 = 0x05, //
+    ODR_200_BW_64 = 0x06, //
+    ODR_100_BW_32 = 0x07, //
+};
+
+enum gyro_power_type_t { // power mode
+    GYRO_NORMAL = 0x00, //
+    GYRO_SUSPEND = 0x80, //
+    GYRO_DEEP_SUSPEND = 0x20, //
+};
+
+class BMI088
+{
+public:
+
+    // Constructor
+    BMI088(I2C& i2c);
+
+    // Deconstructor
+    //virtual ~BMI088();
+
+    // Methods
+    bool isConnection(void);
+
+    void initialize(void);
+
+
+    void setAccPowerMode(acc_power_type_t mode);
+    void setGyroPowerMode(gyro_power_type_t mode);
+
+    void setAccScaleRange(acc_scale_type_t range);
+    void setAccOutputDataRate(acc_odr_type_t odr);
+
+    void setGyroScaleRange(gyro_scale_type_t range);
+    void setGyroOutputDataRate(gyro_odr_type_t odr);
+
+    void getAcceleration(float* x, float* y, float* z);
+    float getAccelerationX(void);
+    float getAccelerationY(void);
+    float getAccelerationZ(void);
+
+    void getGyroscope(float* x, float* y, float* z);
+    float getGyroscopeX(void);
+    float getGyroscopeY(void);
+    float getGyroscopeZ(void);
+
+    int16_t getTemperature(void);
+
+    uint8_t getAccID(void);
+    uint8_t getGyroID(void);
+
+    void resetAcc(void);
+    void resetGyro(void);
+    
+    void readAccel(void);
+    void readGyro(void);
+    float gyroX, gyroY, gyroZ; // x, y, and z axis readings of the gyroscope (float value)
+    float accX;
+    float accY;
+    float accZ; // x, y, and z axis readings of the accelerometer (float value)
+
+private:
+
+    // Methods
+    void write8(device_type_t dev, uint8_t reg, uint8_t val);
+    uint8_t read8(device_type_t dev, uint8_t reg);
+    uint16_t read16(device_type_t dev, uint8_t reg);
+    uint16_t read16Be(device_type_t dev, uint8_t reg);
+    uint32_t read24(device_type_t dev, uint8_t reg);
+    void read(device_type_t dev, uint8_t reg, uint8_t *buf, uint16_t len);
+
+    // Class Variables
+    I2C *i2c;
+    uint16_t begin();
+
+    float accRange;
+    float gyroRange;
+    uint8_t devAddrAcc;
+    uint8_t devAddrGyro;
+};
+
+//extern BMI088 bmi088;
+
+#endif