altb_pmic
AHRS
Dependencies: Eigen
Diff: BMX055.h
- Revision:
- 25:fe14dbcef82d
- Child:
- 27:973e495f4711
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/BMX055.h Mon Jan 06 12:49:38 2020 +0000
@@ -0,0 +1,288 @@
+/*
+ * mbed library program
+ * BMX055 Small, versatile 9-axis sensor module
+ * by Bosch Sensortec
+ *
+ * Copyright (c) 2018,'19 Kenji Arai / JH1PJL
+ * http://www.page.sannet.ne.jp/kenjia/index.html
+ * http://mbed.org/users/kenjiArai/
+ * Started: October 24th, 2018
+ * Revised: March 3rd, 2019
+ */
+/*
+ *---------------- REFERENCE ---------------------------------------------------
+ * Original Information
+ * https://www.bosch-sensortec.com/bst/products/all_products/bmx055
+ * Data Sheet BST-BMX055-DS000-02 Rev.1.1 November 7th, 2014
+ * Sample software
+ * BMX055 - Combination of bma2x2 + bmg160 + bmm050 APIs
+ * https://github.com/BoschSensortec/BMA2x2_driver
+ * https://github.com/BoschSensortec/BMG160_driver
+ * https://github.com/BoschSensortec/BMM050_driver
+ * Aplied Board
+ * AE-BMX055 Module
+ * http://akizukidenshi.com/catalog/g/gK-13010/
+ */
+
+// NO Interrupt functions are supported due to no pin on AE-BMX055 Module
+// Only supprt normal mode (No sleep and/or standby mode)
+
+#ifndef BMX055_H
+#define BMX055_H
+
+#include "mbed.h"
+
+#define AKIZUKI_BOARD
+
+// BMX055
+// Automatic detection for the address!!
+// AE-BMX055 board default setting (All jumpers are open)
+#define BMX055_GYR_CHIP_ADDR (0x69 << 1)
+#define BMX055_ACC_CHIP_ADDR (0x19 << 1)
+#define BMX055_MAG_CHIP_ADDR (0x13 << 1)
+
+// ID's
+#define I_AM_BMX055_ACC 0xfa // ACC ID
+#define I_AM_BMX055_GYR 0x0f // GYR ID
+#define I_AM_BMX055_MAG 0x32 // MAG ID
+
+////////////// PARAMETER DEFINITION ///////////////////////
+// ACC full scale
+#define ACC_2G 3
+#define ACC_4G 5
+#define ACC_8G 8
+#define ACC_16G 12
+
+// Support only "filtered mode"
+// ACC Bandwidth (BW = ODR/2 (ODR = Output Data Rate))
+#define ACC_BW7R81Hz 8 // 64 ms
+#define ACC_BW15R63Hz 9 // 32 ms
+#define ACC_BW31R25Hz 10 // 16 ms
+#define ACC_BW62R5Hz 11 // 8 ms
+#define ACC_BW125Hz 12 // 4 ms
+#define ACC_BW250Hz 13 // 2 ms
+#define ACC_BW500Hz 14 // 1 ms
+#define ACC_BW1kHz 15 // 0.5 ms
+
+// Gyro Sampling (Data per Second)
+#define GYR_2000DPS 0 // full scal +/- 2000 Deg/s(61.0 mDeg/sec/LSB)
+#define GYR_1000DPS 1 // +/- 1000 Deg/s(30.5 mDeg/sec/LSB)
+#define GYR_500DPS 2 // +/- 500 Deg/s(15.3 mDeg/sec/LSB)
+#define GYR_250DPS 3 // +/- 250 Deg/s(7.6 mDeg/sec/LSB)
+#define GYR_125DPS 4 // +/- 125 Deg/s(3.8 mDeg/sec/LSB)
+
+// Gyro Bandwidth
+#define GYR_2000Hz523Hz 0 // 2000 Hz ODR and unfiltered (BW(bandwidth) 523Hz)
+#define GYR_2000Hz230Hz 1 // 2000 Hz ODR 230 Hz BW
+#define GYR_1000Hz116Hz 2 // 1000 Hz ODR 116 Hz BW
+#define GYR_400Hz47Hz 3 // 400 Hz ODR 47 Hz BW
+#define GYR_200Hz23Hz 4 // 200 Hz ODR 23 Hz BW
+#define GYR_100Hz12Hz 5 // 100 Hz ODR 12 Hz BW
+#define GYR_200Hz64Hz 6 // 200 Hz ODR 64 Hz BW
+#define GYR_100Hz32Hz 7 // 100 Hz ODR 32 Hz BW
+
+// MAG
+#define MAG_ODR10Hz 0 // 10 Hz ODR(default)
+#define MAG_ODR2Hz 1 // 2 Hz ODR
+#define MAG_ODR6Hz 2 // 6 Hz ODR
+#define MAG_ODR8Hz 3 // 8 Hz ODR
+#define MAG_ODR15Hz 4 // 15 Hz ODR
+#define MAG_ODR20Hz 5 // 20 Hz ODR
+#define MAG_ODR25Hz 6 // 25 Hz ODR
+#define MAG_ODR30Hz 7 // 30 Hz ODR
+
+////////////// DATA TYPE DEFINITION ///////////////////////
+typedef struct {
+ // ACC
+ uint8_t acc_fs; // Accelerometer full scale range
+ uint8_t acc_bw; // Accelerometer filtered bandwidth
+ // GYR
+ uint8_t gyr_fs; // Gyroscope full scale range
+ uint8_t gyr_bw; // Gyroscope filtered bandwidth
+ // MAG
+ uint8_t mag_odr; // Magnetometer Output Data Rate
+} BMX055_TypeDef;
+
+////////////// DEFAULT SETTING ////////////////////////////
+// Standard parameter for easy set-up
+const BMX055_TypeDef bmx055_std_paramtr = {
+ // ACC
+ ACC_2G,
+ ACC_BW62R5Hz,
+ // GYR
+ GYR_500DPS,
+ GYR_100Hz32Hz,
+ // MAG
+ MAG_ODR10Hz
+};
+
+////////////// DATA TYPE DEFINITION ///////////////////////
+typedef struct {
+ uint8_t acc_addr;
+ uint8_t mag_addr;
+ uint8_t gyr_addr;
+} BMX055_ADDR_INF_TypeDef;
+
+typedef struct {
+ uint8_t acc_id;
+ uint8_t mag_id;
+ uint8_t gyr_id;
+} BMX055_ID_INF_TypeDef;
+
+typedef struct {
+ float x;
+ float y;
+ float z;
+} BMX055_ACCEL_TypeDef;
+
+typedef struct {
+ float x;
+ float y;
+ float z;
+} BMX055_GRAVITY_TypeDef;
+
+typedef struct {
+ float x;
+ float y;
+ float z;
+} BMX055_GYRO_TypeDef;
+
+typedef struct {
+ float x;
+ float y;
+ float z;
+} BMX055_MAGNET_TypeDef;
+
+/** BMX055 Small, versatile 9-axis sensor module by Bosch Sensortec
+ * @code
+ * #include "mbed.h"
+ * #include "BMX055.h"
+ *
+ * Serial pc(USBTX,USBRX);
+ * I2C (I2C_SDA, I2C_SCL);
+ * BMX055 imu(i2c);
+ *
+ * const BMX055_TypeDef bmx055_my_parameters = {
+ * // ACC
+ * ACC_2G,
+ * ACC_BW250Hz,
+ * // GYR
+ * GYR_125DPS,
+ * GYR_200Hz23Hz,
+ * // MAG
+ * MAG_ODR10Hz
+ * };
+ *
+ * int main() {
+ * BMX055_ACCEL_TypeDef acc;
+ * BMX055_GYRO_TypeDef gyr;
+ * BMX055_MAGNET_TypeDef mag;
+ *
+ * if (imu.imu.chip_ready() == 0){
+ * pc.printf("Bosch BMX055 is NOT avirable!!\r\n");
+ * }
+ * imu.set_parameter(&bmx055_my_parameters);
+ * while(1) {
+ * imu.get_accel(&acc);
+ * pc.printf("//ACC: x=%+3.2f y=%+3.2f z=%+3.2f //",
+ * acc.x, acc.y, acc.z);
+ * imu.get_gyro(&gyr);
+ * pc.printf("GYR: x=%+3.2f y=%+3.2f z=%+3.2f //",
+ * gyr.x, gyr.y, gyr.z);
+ * imu.get_magnet(&mag);
+ * pc.printf("MAG: x=%+3.2f y=%+3.2f z=%+3.2f , passed %u sec\r\n",
+ * mag.x, mag.y, mag.z, n++);
+ * wait(0.5f);
+ * }
+ * }
+ * @endcode
+ */
+
+class BMX055
+{
+public:
+ /** Configure data pin
+ * @param data SDA and SCL pins
+ * @param Other parameters are set automatically
+ */
+ BMX055(I2C& i2c);
+
+ /** Configure data pin (with other devices on I2C line)
+ * @param I2C previous definition
+ * @param Other parameters are set automatically
+ */
+
+ /** Get accel data
+ * @param float type of 3D data address
+ */
+ float get_chip_temperature(void);
+
+ /** Read BMX055 ID information
+ * @param ID information address
+ * @return none
+ */
+ void read_id_inf(BMX055_ID_INF_TypeDef *id);
+
+ /** Check chip is avairable or not
+ * @param none
+ * @return OK = true, NG = false;
+ */
+ bool chip_ready(void);
+
+ /** Check chip is avairable or not
+ * @param configration parameter
+ * @return none
+ */
+ void set_parameter(const BMX055_TypeDef *bmx055_parameter);
+
+ /** Set I2C clock frequency
+ * @param freq.
+ * @return none
+ */
+ void frequency(int hz);
+
+ /** Read register
+ * @param register's address
+ * @return register data
+ */
+ uint8_t read_reg(uint8_t addr);
+
+ /** Write register
+ * @param register's address
+ * @param data
+ * @return register data
+ */
+ uint8_t write_reg(uint8_t addr, uint8_t data);
+ void readAccel(void);
+ void readGyro(void);
+ void readMag(void);
+ float gyroX, gyroY, gyroZ; // x, y, and z axis readings of the gyroscope (float value)
+ float accX, accY, accZ; // x, y, and z axis readings of the accelerometer (float value)
+ float magX, magY, magZ; // x, y, and z axis readings of the magnetometer (float value)
+ uint16_t begin();
+protected:
+ void initialize(void);
+ void check_id(void);
+ void set_parameters_to_regs(void);
+
+ I2C &i2c;
+
+
+private:
+ char dt[16]; // working buffer
+ uint8_t chip_addr;
+ BMX055_ADDR_INF_TypeDef inf_addr;
+ BMX055_ID_INF_TypeDef inf_id;
+ float gyr_factor, acc_factor;
+ uint8_t ready_flag;
+
+
+
+ BMX055_TypeDef bmx055_parameters;
+ uint8_t acc_id;
+ uint8_t mag_id;
+ uint8_t gyr_id;
+};
+
+
+#endif // BMX055_H
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