mirror of
https://git.intern.spaceteamaachen.de/ALPAKA/driver-bmi088.git
synced 2025-06-10 02:26:00 +00:00
should be working state (untested)
This commit is contained in:
Lars Wilko Sentse
parent
19415d1ada
commit
126cf9ff4a
@ -1,5 +1,5 @@
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# driver-MC3419
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# driver-BMI088
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Driver for the BMI088 inertial measurement unit and gyroscope
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Driver for the BMI088 inertial measurement unit and gyroscope.
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This driver is currently incomplete and untested
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This driver is untested and is currently missing a readme explanation.
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@ -3,27 +3,105 @@
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#include <sta/devices/stm32/bus/spi.hpp>
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#include <sta/drivers/BMI088_defs.hpp>
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#include <sta/drivers/bmi088_defs.hpp>
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namespace sta
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{
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class BMI088
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{
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public:
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BMI088(STM32SPIDevice* gyro_device, STM32SPIDevice* accel_device);
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enum GyroMode
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{
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NORMAL_AWAKE = 0x00,
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SUSPEND = 0x80,
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DEEP_SUSPEND = 0x20
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};
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enum GyroRange
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{
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TWOTHOUSAND = 0x00,
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ONETHOUSAND = 0x01,
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FIVEHUNDRED = 0x02,
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TWOFIFTY = 0x03,
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ONETWENTYFIVE = 0x04
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};
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enum GyroBandwidth
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{
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TWOTHOUSAND_FIVETHIRTYTWO = 0x00,
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TWOTHOUSAND_TWOTHIRTY = 0x01,
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ONETHOUSAND_ONESIXTEEN = 0x02,
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FOURHUNDRED_FORTYSEVEN = 0x03,
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TWOHUNDRED_TWENTYTHREE = 0x04,
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ONEHUNDRED_TWELVE = 0x05,
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TWOHUNDRED_SIXTYFOUR = 0x06,
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ONEHUNDRED_THIRTYTWO = 0x07
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};
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enum AccelMode
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{
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OFF = 0x00,
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ON = 0x04
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};
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enum AccelRange
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{
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THREEG = 0x00,
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SIXG = 0x01,
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TWELVEG = 0x02,
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TWENTYFOURG = 0x03
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};
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enum AccelBandwidth
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{
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OSR4 = 0x08,
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OSR2 = 0x09,
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NORMAL_BANDWIDTH = 0x0A
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};
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enum AccelODR
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{
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TWELVE_FIVE = 0x05,
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TWENTYFIVE = 0x06,
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FIFTY = 0x07,
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ONEHUNDRED = 0x08,
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TWOHUNDRED = 0x09,
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FOURHUNDRED = 0x0A,
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EIGHTHUNDRED = 0x0B,
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ONESIXHUNDRED = 0x0C
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};
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bool init();
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private:
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enum Part{
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enum Part
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{
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GYROSCOPE,
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ACCELEROMETER
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};
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bool busRead(Part part, uint8_t reg, uint8_t * buffer, size_t length);
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public:
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BMI088(STM32SPIDevice* gyro_device, STM32SPIDevice* accel_device);
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bool init();
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void setGyroscopeMode(GyroMode mode);
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void setGyroscopeRange(GyroRange range);
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void setGyroscopeBandwidth(GyroBandwidth bandwidth);
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void getRotation(float* x, float* y, float* z);
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void setAccelerometerMode(AccelMode mode);
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void setAccelerometerRange(AccelRange range);
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void setAccelerometerBandwidth(AccelBandwidth bandwidth, AccelODR odr);
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void getAcceleration(float* x, float* y, float* z);
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bool busWrite(Part part, uint8_t reg, uint8_t * buffer, size_t length);
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private:
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Device * gyro_device, accel_device;
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bool busRead(Part part, uint8_t reg, uint8_t * buffer);
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bool busWrite(Part part, uint8_t reg, uint8_t value);
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void getRawRotation(uint16_t* x, uint16_t* y, uint16_t* z);
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void getRawAcceleration(uint16_t* x, uint16_t* y, uint16_t* z);
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void convertRawToActual(uint16_t* i, float* f, float f_range);
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Device* gyro_device;
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Device* accel_device;
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float f_gyro_range = 0;
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float f_accel_range = 0;
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};
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} // namespace sta
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@ -1,6 +1,37 @@
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#ifndef STA_DRIVERS_BMI088_DEFS_HPP
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#define STA_DRIVERS_BMI088_DEFS_HPP
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//TODO
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//GENERAL
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#define BMI088_READ_MASK 0x80
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//GYROSCOPE
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#define BMI088_GYRO_CHIP_ID 0x0F
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#define BMI088_REG_GYRO_CHIP_ID 0x00
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#define BMI088_REG_GYRO_LPM1 0x11
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#define BMI088_REG_GYRO_RANGE 0x0F
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#define BMI088_REG_GYRO_BANDWIDTH 0x10
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#define BMI088_REG_GYRO_RATE_Z_MSB 0x07
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#define BMI088_REG_GYRO_RATE_Z_LSB 0x06
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#define BMI088_REG_GYRO_RATE_Y_MSB 0x05
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#define BMI088_REG_GYRO_RATE_Y_LSB 0x04
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#define BMI088_REG_GYRO_RATE_X_MSB 0x03
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#define BMI088_REG_GYRO_RATE_X_LSB 0x02
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//ACCELEROMETER
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#define BMI088_ACC_CHIP_ID 0x1E
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#define BMI088_REG_ACC_CHIP_ID 0x00
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#define BMI088_REG_ACC_PWR_CTRL 0x7D
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#define BMI088_REG_ACC_RANGE 0x41
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#define BMI088_REG_ACC_CONF 0x40
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#define BMI088_REG_ACC_Z_MSB 0x17
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#define BMI088_REG_ACC_Z_LSB 0x16
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#define BMI088_REG_ACC_Y_MSB 0x15
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#define BMI088_REG_ACC_Y_LSB 0x14
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#define BMI088_REG_ACC_X_MSB 0x13
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#define BMI088_REG_ACC_X_LSB 0x12
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#endif // STA_DRIVERS_BMI088_DEFS_HPP
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185
src/bmi088.cpp
185
src/bmi088.cpp
@ -1,4 +1,4 @@
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#include <sta/drivers/BMI088.hpp>
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#include <sta/drivers/bmi088.hpp>
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#include <sta/debug/assert.hpp>
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@ -7,21 +7,192 @@ namespace sta
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BMI088::BMI088(STM32SPIDevice* gyro_device, STM32SPIDevice* accel_device)
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: gyro_device{gyro_device}, accel_device(accel_device)
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{
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STA_ASSERT(device != nullptr);
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STA_ASSERT(gyro_device != nullptr);
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STA_ASSERT(accel_device != nullptr);
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}
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bool BMI088::init()
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{
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return false;
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uint8_t id;
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busRead(GYROSCOPE, BMI088_REG_GYRO_CHIP_ID, &id);
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if(id != BMI088_GYRO_CHIP_ID) return false;
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busRead(ACCELEROMETER, BMI088_REG_ACC_CHIP_ID, &id);
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if(id != BMI088_ACC_CHIP_ID) return false;
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return true;
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}
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bool BMI088::busRead(Part part, uint8_t reg, uint8_t * buffer, size_t length)
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void BMI088::setGyroscopeMode(GyroMode mode)
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{
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return false;
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busWrite(GYROSCOPE, BMI088_REG_GYRO_LPM1, mode);
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}
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void BMI088::setGyroscopeRange(GyroRange range)
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{
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busWrite(GYROSCOPE, BMI088_REG_GYRO_RANGE, range);
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switch(range)
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{
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case TWOTHOUSAND:
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f_gyro_range = 2000;
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break;
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case ONETHOUSAND:
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f_gyro_range = 1000;
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break;
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case FIVEHUNDRED:
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f_gyro_range = 500;
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break;
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case TWOFIFTY:
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f_gyro_range = 250;
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break;
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case ONETWENTYFIVE:
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f_gyro_range = 125;
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break;
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default:
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f_gyro_range = 0;
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break;
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}
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}
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void BMI088::setGyroscopeBandwidth(GyroBandwidth bandwidth)
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{
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busWrite(GYROSCOPE, BMI088_REG_GYRO_BANDWIDTH, bandwidth);
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}
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void BMI088::getRawRotation(uint16_t* x, uint16_t* y, uint16_t* z)
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{
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uint8_t x_lsb, x_msb, y_lsb, y_msb, z_lsb, z_msb;
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busRead(GYROSCOPE, BMI088_REG_GYRO_RATE_X_LSB, &x_lsb);
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busRead(GYROSCOPE, BMI088_REG_GYRO_RATE_X_MSB, &x_msb);
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*x = ((uint16_t)x_msb)<<8 | (uint16_t)x_lsb;
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busRead(GYROSCOPE, BMI088_REG_GYRO_RATE_Y_LSB, &y_lsb);
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busRead(GYROSCOPE, BMI088_REG_GYRO_RATE_Y_MSB, &y_msb);
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*y = ((uint16_t)y_msb)<<8 | (uint16_t)y_lsb;
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busRead(GYROSCOPE, BMI088_REG_GYRO_RATE_Z_LSB, &z_lsb);
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busRead(GYROSCOPE, BMI088_REG_GYRO_RATE_Z_MSB, &z_msb);
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*z = ((uint16_t)z_msb)<<8 | (uint16_t)z_lsb;
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}
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void BMI088::getRotation(float* x, float* y, float* z)
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{
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uint16_t i_x,i_y,i_z;
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getRawRotation(&i_x, &i_y, &i_z);
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convertRawToActual(&i_x, x, f_gyro_range);
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convertRawToActual(&i_y, y, f_gyro_range);
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convertRawToActual(&i_z, z, f_gyro_range);
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}
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bool BMI088::busWrite(Part part, uint8_t reg, uint8_t * buffer, size_t length)
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void BMI088::setAccelerometerMode(AccelMode mode)
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{
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return false;
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busWrite(ACCELEROMETER, BMI088_REG_ACC_PWR_CTRL, mode);
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}
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void BMI088::setAccelerometerRange(AccelRange range)
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{
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busWrite(ACCELEROMETER, BMI088_REG_ACC_RANGE, range);
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switch(range)
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{
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case THREEG:
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f_accel_range = 3*9.80665;
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break;
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case SIXG:
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f_accel_range = 6*9.80665;
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break;
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case TWELVEG:
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f_accel_range = 12*9.80665;
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break;
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case TWENTYFOURG:
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f_accel_range = 24*9.80665;
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break;
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default:
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break;
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}
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}
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void BMI088::setAccelerometerBandwidth(AccelBandwidth bandwidth, AccelODR odr)
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{
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uint8_t data = bandwidth<<4 | odr;//TODO are your sure? shift three or four times?
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busWrite(ACCELEROMETER, BMI088_REG_ACC_CONF, data);
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}
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void BMI088::getRawAcceleration(uint16_t* x, uint16_t* y, uint16_t* z)
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{
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uint8_t x_lsb, x_msb, y_lsb, y_msb, z_lsb, z_msb;
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busRead(ACCELEROMETER, BMI088_REG_ACC_X_LSB, &x_lsb);
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busRead(ACCELEROMETER, BMI088_REG_ACC_X_MSB, &x_msb);
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*x = ((uint16_t)x_msb)<<8 | (uint16_t)x_lsb;
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busRead(ACCELEROMETER, BMI088_REG_ACC_Y_LSB, &y_lsb);
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busRead(ACCELEROMETER, BMI088_REG_ACC_Y_MSB, &y_msb);
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*y = ((uint16_t)y_msb)<<8 | (uint16_t)y_lsb;
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busRead(ACCELEROMETER, BMI088_REG_ACC_Z_LSB, &z_lsb);
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busRead(ACCELEROMETER, BMI088_REG_ACC_Z_MSB, &z_msb);
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*z = ((uint16_t)z_msb)<<8 | (uint16_t)z_lsb;
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}
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void BMI088::getAcceleration(float* x, float* y, float* z)
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{
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uint16_t i_x,i_y,i_z;
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getRawRotation(&i_x, &i_y, &i_z);
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convertRawToActual(&i_x, x, f_accel_range);
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convertRawToActual(&i_y, y, f_accel_range);
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convertRawToActual(&i_z, z, f_accel_range);
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}
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bool BMI088::busRead(Part part, uint8_t reg, uint8_t * buffer)
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{
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if(part == GYROSCOPE)
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{
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uint8_t data[1] = { (uint8_t)( reg | BMI088_READ_MASK ) };
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gyro_device->beginTransmission();
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gyro_device->transfer(data, 1);
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gyro_device->receive(buffer, 1);
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gyro_device->endTransmission();
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}
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if(part == ACCELEROMETER)
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{
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uint8_t data[2] = { (uint8_t)( reg | BMI088_READ_MASK ), 0x00 };
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accel_device->beginTransmission();
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accel_device->transfer(data, 2);
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accel_device->receive(buffer, 1);
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accel_device->endTransmission();
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}
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return true;
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}
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bool BMI088::busWrite(Part part, uint8_t reg, uint8_t value)
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{
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uint8_t data[2] = { reg, value };//apperently only supports writing 8bit at a time
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if(part == GYROSCOPE)
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{
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gyro_device->beginTransmission();
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gyro_device->transfer(data, 2);
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gyro_device->endTransmission();
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}
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if(part == ACCELEROMETER)
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{
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accel_device->beginTransmission();
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accel_device->transfer(data, 2);
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accel_device->endTransmission();
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}
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return true;
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}
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void BMI088::convertRawToActual(uint16_t* i, float* f, float f_range){
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int16_t sign = (int16_t)((*i & 0b1000000000000000) >> 15);
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if(sign)
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{//negative
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uint16_t value = ~(*i) & 0b0111111111111111;
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*f = ((float)value / (float)0b0111111111111111) *-f_range;
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}
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else
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{//positive
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uint16_t value = *i & 0b0111111111111111;
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*f = ((float)value / (float)0b0111111111111111) *f_range;
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}
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}
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} // namespace sta
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