BMI088.h

00001 /*    
00002  * A library for Grove - 6-Axis Accelerometer&Gyroscope（BMI088）
00003  *   
00004  * Copyright (c) 2018 seeed technology co., ltd.  
00005  * Author      : Wayen Weng  
00006  * Create Time : June 2018
00007  * Change Log  : 
00008  *
00009  * The MIT License (MIT)
00010  *
00011  * Permission is hereby granted, free of charge, to any person obtaining a copy
00012  * of this software and associated documentation files (the "Software"), to deal
00013  * in the Software without restriction, including without limitation the rights
00014  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
00015  * copies of the Software, and to permit persons to whom the Software is
00016  * furnished to do so, subject to the following conditions:
00017  * 
00018  * The above copyright notice and this permission notice shall be included in
00019  * all copies or substantial portions of the Software.
00020  * 
00021  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
00022  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
00023  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
00024  * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
00025  * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
00026  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
00027  * THE SOFTWARE.
00028  */
00029 #include "mbed.h"
00030 
00031 #ifndef __BOSCH_BMI088_H__
00032 #define __BOSCH_BMI088_H__
00033 
00034 #define BMI088_ACC_ADDRESS          0x19<<1    //0x19<<1
00035 
00036 #define BMI088_ACC_CHIP_ID          0x00 // Default value 0x1E
00037 #define BMI088_ACC_ERR_REG          0x02
00038 #define BMI088_ACC_STATUS           0x03
00039 
00040 #define BMI088_ACC_X_LSB            0x12
00041 #define BMI088_ACC_X_MSB            0x13
00042 #define BMI088_ACC_Y_LSB            0x14
00043 #define BMI088_ACC_Y_MSB            0x15
00044 #define BMI088_ACC_Z_LSB            0x16
00045 #define BMI088_ACC_Z_MSB            0x17
00046 
00047 #define BMI088_ACC_SENSOR_TIME_0    0x18
00048 #define BMI088_ACC_SENSOR_TIME_1    0x19
00049 #define BMI088_ACC_SENSOR_TIME_2    0x1A
00050 
00051 #define BMI088_ACC_INT_STAT_1       0x1D
00052 
00053 #define BMI088_ACC_TEMP_MSB         0x22
00054 #define BMI088_ACC_TEMP_LSB         0x23
00055 
00056 #define BMI088_ACC_CONF             0x40
00057 #define BMI088_ACC_RANGE            0x41
00058 
00059 #define BMI088_ACC_INT1_IO_CTRL     0x53
00060 #define BMI088_ACC_INT2_IO_CTRL     0x54
00061 #define BMI088_ACC_INT_MAP_DATA     0x58
00062 
00063 #define BMI088_ACC_SELF_TEST        0x6D
00064 
00065 #define BMI088_ACC_PWR_CONF         0x7C
00066 #define BMI088_ACC_PWR_CTRl         0x7D
00067 
00068 #define BMI088_ACC_SOFT_RESET       0x7E
00069 
00070 #define BMI088_GYRO_ADDRESS             0x69<<1//0xD2    //0x69<<1
00071 
00072 #define BMI088_GYRO_CHIP_ID             0x00 // Default value 0x0F
00073 
00074 #define BMI088_GYRO_RATE_X_LSB          0x02
00075 #define BMI088_GYRO_RATE_X_MSB          0x03
00076 #define BMI088_GYRO_RATE_Y_LSB          0x04
00077 #define BMI088_GYRO_RATE_Y_MSB          0x05
00078 #define BMI088_GYRO_RATE_Z_LSB          0x06
00079 #define BMI088_GYRO_RATE_Z_MSB          0x07
00080 
00081 #define BMI088_GYRO_INT_STAT_1          0x0A
00082 
00083 #define BMI088_GYRO_RANGE               0x0F
00084 #define BMI088_GYRO_BAND_WIDTH          0x10
00085 
00086 #define BMI088_GYRO_LPM_1               0x11
00087 
00088 #define BMI088_GYRO_SOFT_RESET          0x14
00089 
00090 #define BMI088_GYRO_INT_CTRL            0x15
00091 #define BMI088_GYRO_INT3_INT4_IO_CONF   0x16
00092 #define BMI088_GYRO_INT3_INT4_IO_MAP    0x18
00093 
00094 #define BMI088_GYRO_SELF_TEST           0x3C
00095 
00096 enum device_type_t // device type
00097 {
00098     ACC = 0x00, // 
00099     GYRO = 0x01, // 
00100 };
00101 
00102 enum acc_scale_type_t // measurement rage
00103 {
00104     RANGE_3G = 0x00, // 
00105     RANGE_6G = 0x01, // 
00106     RANGE_12G = 0x02, // 
00107     RANGE_24G = 0x03, // 
00108 };
00109 
00110 enum acc_odr_type_t // output data rate
00111 {
00112     ODR_12 = 0x05, // 
00113     ODR_25 = 0x06, // 
00114     ODR_50 = 0x07, // 
00115     ODR_100 = 0x08, // 
00116     ODR_200 = 0x09, // 
00117     ODR_400 = 0x0A, // 
00118     ODR_800 = 0x0B, // 
00119     ODR_1600 = 0x0C, // 
00120 };
00121 
00122 enum acc_power_type_t // power mode
00123 {
00124     ACC_ACTIVE = 0x00, // 
00125     ACC_SUSPEND = 0x03, // 
00126 };
00127 
00128 enum gyro_scale_type_t // measurement rage
00129 {
00130     RANGE_2000 = 0x00, // 
00131     RANGE_1000 = 0x01, // 
00132     RANGE_500 = 0x02, // 
00133     RANGE_250 = 0x03, // 
00134     RANGE_125 = 0x04, // 
00135 };
00136 
00137 enum gyro_odr_type_t // output data rate
00138 {
00139     ODR_2000_BW_532 = 0x00, // 
00140     ODR_2000_BW_230 = 0x01, // 
00141     ODR_1000_BW_116 = 0x02, // 
00142     ODR_400_BW_47 = 0x03, // 
00143     ODR_200_BW_23 = 0x04, // 
00144     ODR_100_BW_12 = 0x05, // 
00145     ODR_200_BW_64 = 0x06, // 
00146     ODR_100_BW_32 = 0x07, // 
00147 };
00148 
00149 enum gyro_power_type_t // power mode
00150 {
00151     GYRO_NORMAL = 0x00, // 
00152     GYRO_SUSPEND = 0x80, // 
00153     GYRO_DEEP_SUSPEND = 0x20, // 
00154 };
00155 
00156 class BMI088
00157 {
00158     public:
00159         
00160         BMI088(void);
00161         
00162         bool isConnection(void);
00163         
00164         void initialize(void);
00165 
00166         void setAccPoweMode(acc_power_type_t mode);
00167         void setGyroPoweMode(gyro_power_type_t mode);
00168         
00169         void setAccScaleRange(acc_scale_type_t range);
00170         void setAccOutputDataRate(acc_odr_type_t odr);
00171         
00172         void setGyroScaleRange(gyro_scale_type_t range);
00173         void setGyroOutputDataRate(gyro_odr_type_t odr);
00174         
00175         void getAcceleration(float* x, float* y, float* z);
00176         float getAccelerationX(void);
00177         float getAccelerationY(void);
00178         float getAccelerationZ(void);
00179         
00180         void getGyroscope(float* x, float* y, float* z);
00181         float getGyroscopeX(void);
00182         float getGyroscopeY(void);
00183         float getGyroscopeZ(void);
00184         
00185         uint16_t getTemperature(void);
00186         
00187         uint8_t getAccID(void);
00188         uint8_t getGyroID(void);
00189         
00190         void resetAcc(void);
00191         void resetGyro(void);
00192         
00193     private:
00194         
00195         void write8(device_type_t dev, char reg, uint8_t val);
00196         char read8(device_type_t dev, char reg);
00197         uint16_t read16(device_type_t dev, char reg);
00198         uint16_t read16Be(device_type_t dev, char reg);
00199         uint32_t read24(device_type_t dev, char reg);
00200         void read(device_type_t dev, char reg, char *, uint16_t len);
00201         
00202         float accRange;
00203         float gyroRange;
00204         uint8_t devAddrAcc;
00205         uint8_t devAddrGyro;
00206     protected:
00207         I2C i2c;
00208 };
00209 
00210 extern BMI088 bmi088;
00211 
00212 #endif