Diff: BMI088.h

Revision:

0:577a6606809f

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/BMI088.h	Wed Aug 28 08:32:22 2019 +0000
@@ -0,0 +1,212 @@
+/*    
+ * A library for Grove - 6-Axis Accelerometer&Gyroscope（BMI088）
+ *   
+ * Copyright (c) 2018 seeed technology co., ltd.  
+ * Author      : Wayen Weng  
+ * Create Time : June 2018
+ * Change Log  : 
+ *
+ * The MIT License (MIT)
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ * 
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+#include "mbed.h"
+
+#ifndef __BOSCH_BMI088_H__
+#define __BOSCH_BMI088_H__
+
+#define BMI088_ACC_ADDRESS          0x19<<1    //0x19<<1
+
+#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             0x69<<1//0xD2    //0x69<<1
+
+#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:
+        
+        BMI088(void);
+        
+        bool isConnection(void);
+        
+        void initialize(void);
+
+        void setAccPoweMode(acc_power_type_t mode);
+        void setGyroPoweMode(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);
+        
+        uint16_t getTemperature(void);
+        
+        uint8_t getAccID(void);
+        uint8_t getGyroID(void);
+        
+        void resetAcc(void);
+        void resetGyro(void);
+        
+    private:
+        
+        void write8(device_type_t dev, char reg, uint8_t val);
+        char read8(device_type_t dev, char reg);
+        uint16_t read16(device_type_t dev, char reg);
+        uint16_t read16Be(device_type_t dev, char reg);
+        uint32_t read24(device_type_t dev, char reg);
+        void read(device_type_t dev, char reg, char *, uint16_t len);
+        
+        float accRange;
+        float gyroRange;
+        uint8_t devAddrAcc;
+        uint8_t devAddrGyro;
+    protected:
+        I2C i2c;
+};
+
+extern BMI088 bmi088;
+
+#endif
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