AHRS
Dependencies: Eigen
BMI088.h
- Committer:
- pmic
- Date:
- 2020-01-14
- Revision:
- 27:973e495f4711
- Parent:
- 25:fe14dbcef82d
- Child:
- 29:cd963a6d31c5
File content as of revision 27:973e495f4711:
#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, accY, 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