File content as of revision 0:577a6606809f:

/*    
 * 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