should be working state (untested)

include/sta/drivers/bmi088.hpp

@@ -3,27 +3,105 @@
 
 #include <sta/devices/stm32/bus/spi.hpp>
 
-#include <sta/drivers/BMI088_defs.hpp>
+#include <sta/drivers/bmi088_defs.hpp>
 
 namespace sta
 {
     class BMI088
     {
     public:
-        BMI088(STM32SPIDevice* gyro_device, STM32SPIDevice* accel_device);
+    	enum GyroMode
+		{
+    		NORMAL_AWAKE	= 0x00,
+			SUSPEND			= 0x80,
+			DEEP_SUSPEND	= 0x20
+    	};
+    	enum GyroRange
+		{
+    		TWOTHOUSAND		= 0x00,
+			ONETHOUSAND		= 0x01,
+			FIVEHUNDRED 	= 0x02,
+			TWOFIFTY		= 0x03,
+			ONETWENTYFIVE	= 0x04
+		};
+    	enum GyroBandwidth
+		{
+    		TWOTHOUSAND_FIVETHIRTYTWO	= 0x00,
+			TWOTHOUSAND_TWOTHIRTY		= 0x01,
+			ONETHOUSAND_ONESIXTEEN		= 0x02,
+			FOURHUNDRED_FORTYSEVEN		= 0x03,
+			TWOHUNDRED_TWENTYTHREE		= 0x04,
+			ONEHUNDRED_TWELVE			= 0x05,
+			TWOHUNDRED_SIXTYFOUR		= 0x06,
+			ONEHUNDRED_THIRTYTWO		= 0x07
+		};
+
+    	enum AccelMode
+		{
+    		OFF	= 0x00,
+			ON	= 0x04
+		};
+    	enum AccelRange
+		{
+			THREEG		= 0x00,
+			SIXG		= 0x01,
+			TWELVEG		= 0x02,
+			TWENTYFOURG	= 0x03
+		};
+    	enum AccelBandwidth
+		{
+    		OSR4				= 0x08,
+			OSR2				= 0x09,
+			NORMAL_BANDWIDTH	= 0x0A
+		};
+    	enum AccelODR
+		{
+    		TWELVE_FIVE		= 0x05,
+			TWENTYFIVE		= 0x06,
+			FIFTY			= 0x07,
+			ONEHUNDRED		= 0x08,
+			TWOHUNDRED		= 0x09,
+			FOURHUNDRED		= 0x0A,
+			EIGHTHUNDRED	= 0x0B,
+			ONESIXHUNDRED	= 0x0C
+		};
 
-        bool init();
     private:
-		enum Part{
+		enum Part
+		{
 			GYROSCOPE,
 			ACCELEROMETER
 		};
 
-        bool busRead(Part part, uint8_t reg, uint8_t * buffer, size_t length);
+    public:
+        BMI088(STM32SPIDevice* gyro_device, STM32SPIDevice* accel_device);
+
+        bool init();
+
+        void setGyroscopeMode(GyroMode mode);
+        void setGyroscopeRange(GyroRange range);
+        void setGyroscopeBandwidth(GyroBandwidth bandwidth);
+        void getRotation(float* x, float* y, float* z);
+
+        void setAccelerometerMode(AccelMode mode);
+        void setAccelerometerRange(AccelRange range);
+        void setAccelerometerBandwidth(AccelBandwidth bandwidth, AccelODR odr);
+        void getAcceleration(float* x, float* y, float* z);
 
-        bool busWrite(Part part, uint8_t reg, uint8_t * buffer, size_t length);
     private:
-        Device * gyro_device, accel_device;
+        bool busRead(Part part, uint8_t reg, uint8_t * buffer);
+        bool busWrite(Part part, uint8_t reg, uint8_t value);
+
+        void getRawRotation(uint16_t* x, uint16_t* y, uint16_t* z);
+        void getRawAcceleration(uint16_t* x, uint16_t* y, uint16_t* z);
+
+        void convertRawToActual(uint16_t* i, float* f, float f_range);
+
+        Device* gyro_device;
+		Device* accel_device;
+
+        float f_gyro_range = 0;
+        float f_accel_range = 0;
     };
 } // namespace sta
 

include/sta/drivers/bmi088_defs.hpp

@@ -1,6 +1,37 @@
 #ifndef STA_DRIVERS_BMI088_DEFS_HPP
 #define STA_DRIVERS_BMI088_DEFS_HPP
 
-//TODO
+//GENERAL
+#define BMI088_READ_MASK				0x80
+
+
+//GYROSCOPE
+#define BMI088_GYRO_CHIP_ID			0x0F
+
+#define BMI088_REG_GYRO_CHIP_ID		0x00
+#define BMI088_REG_GYRO_LPM1			0x11
+#define BMI088_REG_GYRO_RANGE		0x0F
+#define BMI088_REG_GYRO_BANDWIDTH	0x10
+#define BMI088_REG_GYRO_RATE_Z_MSB	0x07
+#define BMI088_REG_GYRO_RATE_Z_LSB	0x06
+#define BMI088_REG_GYRO_RATE_Y_MSB	0x05
+#define BMI088_REG_GYRO_RATE_Y_LSB	0x04
+#define BMI088_REG_GYRO_RATE_X_MSB	0x03
+#define BMI088_REG_GYRO_RATE_X_LSB	0x02
+
+
+//ACCELEROMETER
+#define BMI088_ACC_CHIP_ID			0x1E
+
+#define BMI088_REG_ACC_CHIP_ID		0x00
+#define BMI088_REG_ACC_PWR_CTRL		0x7D
+#define BMI088_REG_ACC_RANGE			0x41
+#define BMI088_REG_ACC_CONF			0x40
+#define BMI088_REG_ACC_Z_MSB			0x17
+#define BMI088_REG_ACC_Z_LSB			0x16
+#define BMI088_REG_ACC_Y_MSB			0x15
+#define BMI088_REG_ACC_Y_LSB			0x14
+#define BMI088_REG_ACC_X_MSB			0x13
+#define BMI088_REG_ACC_X_LSB			0x12
 
 #endif // STA_DRIVERS_BMI088_DEFS_HPP