ALPAKA/driver-bmi088
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Added mock driver; renamed enums and fixed a bug

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This commit is contained in:
dario
2024-06-27 16:22:19 +02:00
parent 67748f9e1a
commit 2e8b07509d
3 changed files with 160 additions and 52 deletions
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74
include/sta/drivers/bmi088.hpp
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@@ -1,7 +1,7 @@
#ifndef STA_DRIVERS_BMI088_HPP
#define STA_DRIVERS_BMI088_HPP
#include <sta/devices/stm32/bus/spi.hpp>
#include <sta/bus/spi/device.hpp>
#include <sta/drivers/bmi088_defs.hpp>
@@ -12,58 +12,58 @@ namespace sta
public:
enum GyroMode
{
NORMAL_AWAKE = 0x00,
SUSPEND = 0x80,
DEEP_SUSPEND = 0x20
NORMAL_AWAKE = 0x00,
SUSPEND = 0x80,
DEEP_SUSPEND = 0x20
};
enum GyroRange
{
TWOTHOUSAND = 0x00,
ONETHOUSAND = 0x01,
FIVEHUNDRED = 0x02,
TWOFIFTY = 0x03,
ONETWENTYFIVE = 0x04
_2000 = 0x00,
_1000 = 0x01,
_500 = 0x02,
_250 = 0x03,
_125 = 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
_2535 = 0x00,
_2230 = 0x01,
_1116 = 0x02,
_447 = 0x03,
_223 = 0x04,
_112 = 0x05,
_264 = 0x06,
_132 = 0x07
};
enum AccelMode
{
OFF = 0x00,
ON = 0x04
OFF = 0x00,
ON = 0x04
};
enum AccelRange
{
THREEG = 0x00,
SIXG = 0x01,
TWELVEG = 0x02,
TWENTYFOURG = 0x03
_3G = 0x00,
_6G = 0x01,
_12G = 0x02,
_24G = 0x03
};
enum AccelBandwidth
{
OSR4 = 0x08,
OSR2 = 0x09,
NORMAL_BANDWIDTH = 0x0A
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
_12_5 = 0x05,
_25 = 0x06,
_50 = 0x07,
_100 = 0x08,
_200 = 0x09,
_400 = 0x0A,
_800 = 0x0B,
_1600 = 0x0C
};
private:
@@ -74,7 +74,7 @@ namespace sta
};
public:
BMI088(STM32SPIDevice* gyro_device, STM32SPIDevice* accel_device);
BMI088(SPIDevice* gyro_device, SPIDevice* accel_device);
bool init();
@@ -97,8 +97,8 @@ namespace sta
void convertRawToActual(uint16_t* i, float* f, float f_range);
Device* gyro_device;
Device* accel_device;
SPIDevice* gyro_device;
SPIDevice* accel_device;
float f_gyro_range = 0;
float f_accel_range = 0;

35
src/bmi088.cpp
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@@ -2,9 +2,12 @@
#include <sta/debug/assert.hpp>
#include <sta/config.hpp>
#ifndef STA_SPATZ_ENABLED
namespace sta
{
BMI088::BMI088(STM32SPIDevice* gyro_device, STM32SPIDevice* accel_device)
BMI088::BMI088(SPIDevice* gyro_device, SPIDevice* accel_device)
: gyro_device{gyro_device}, accel_device(accel_device)
{
STA_ASSERT(gyro_device != nullptr);
@@ -17,15 +20,15 @@ namespace sta
busRead(GYROSCOPE, BMI088_REG_GYRO_CHIP_ID, &id);
if(id != BMI088_GYRO_CHIP_ID) return false;
setGyroscopeRange(GyroRange::ONETHOUSAND);
setGyroscopeBandwidth(GyroBandwidth::TWOHUNDRED_SIXTYFOUR);
setGyroscopeRange(GyroRange::_1000);
setGyroscopeBandwidth(GyroBandwidth::_264);
setGyroscopeMode(GyroMode::NORMAL_AWAKE);
busRead(ACCELEROMETER, BMI088_REG_ACC_CHIP_ID, &id);
if(id != BMI088_ACC_CHIP_ID) return false;
setAccelerometerRange(AccelRange::TWENTYFOURG);
setAccelerometerBandwidth(AccelBandwidth::NORMAL_BANDWIDTH, AccelODR::ONEHUNDRED);
setAccelerometerRange(AccelRange::_24G);
setAccelerometerBandwidth(AccelBandwidth::NORMAL_BANDWIDTH, AccelODR::_100);
setAccelerometerMode(AccelMode::ON);
return true;
@@ -41,19 +44,19 @@ namespace sta
switch(range)
{
case TWOTHOUSAND:
case _2000:
f_gyro_range = 2000;
break;
case ONETHOUSAND:
case _1000:
f_gyro_range = 1000;
break;
case FIVEHUNDRED:
case _500:
f_gyro_range = 500;
break;
case TWOFIFTY:
case _250:
f_gyro_range = 250;
break;
case ONETWENTYFIVE:
case _125:
f_gyro_range = 125;
break;
default:
@@ -102,16 +105,16 @@ namespace sta
switch(range)
{
case THREEG:
case _3G:
f_accel_range = 3*9.80665;
break;
case SIXG:
case _6G:
f_accel_range = 6*9.80665;
break;
case TWELVEG:
case _12G:
f_accel_range = 12*9.80665;
break;
case TWENTYFOURG:
case _24G:
f_accel_range = 24*9.80665;
break;
default:
@@ -143,7 +146,7 @@ namespace sta
void BMI088::getAcceleration(float* x, float* y, float* z)
{
uint16_t i_x,i_y,i_z;
getRawRotation(&i_x, &i_y, &i_z);
getRawAcceleration(&i_x, &i_y, &i_z);
convertRawToActual(&i_x, x, f_accel_range);
convertRawToActual(&i_y, y, f_accel_range);
convertRawToActual(&i_z, z, f_accel_range);
@@ -204,3 +207,5 @@ namespace sta
}
}
} // namespace sta
#endif // STA_SPATZ_ENABLED

103
src/mock.cpp Normal file
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@@ -0,0 +1,103 @@
#include <sta/config.hpp>
#ifdef STA_SPATZ_ENABLED
#include <sta/drivers/bmi088.hpp>
#include <sta/debug/spatz.hpp>
#include <sta/debug/assert.hpp>
#define STA_BMI088_ACC_SPATZ_ID 3
#define STA_BMI088_GYRO_SPATZ_ID 4
namespace sta
{
BMI088::BMI088(SPIDevice* gyro_device, SPIDevice* accel_device)
: gyro_device{gyro_device}, accel_device(accel_device)
{
STA_ASSERT(gyro_device != nullptr);
STA_ASSERT(accel_device != nullptr);
}
bool BMI088::init()
{
return true;
}
void BMI088::setGyroscopeMode(GyroMode mode)
{
}
void BMI088::setGyroscopeRange(GyroRange range)
{
}
void BMI088::setGyroscopeBandwidth(GyroBandwidth bandwidth)
{
}
void BMI088::getRawRotation(uint16_t* x, uint16_t* y, uint16_t* z)
{
}
void BMI088::getRotation(float* x, float* y, float* z)
{
float omegas[3];
spatz::request(STA_BMI088_GYRO_SPATZ_ID, omegas, 3);
*x = omegas[0];
*y = omegas[1];
*z = omegas[2];
}
void BMI088::setAccelerometerMode(AccelMode mode)
{
}
void BMI088::setAccelerometerRange(AccelRange range)
{
}
void BMI088::setAccelerometerBandwidth(AccelBandwidth bandwidth, AccelODR odr)
{
}
void BMI088::getRawAcceleration(uint16_t* x, uint16_t* y, uint16_t* z)
{
}
void BMI088::getAcceleration(float* x, float* y, float* z)
{
float acc[3];
spatz::request(STA_BMI088_ACC_SPATZ_ID, acc, 3);
*x = acc[0];
*y = acc[1];
*z = acc[2];
}
bool BMI088::busRead(Part part, uint8_t reg, uint8_t * buffer)
{
return true;
}
bool BMI088::busWrite(Part part, uint8_t reg, uint8_t value)
{
return true;
}
void BMI088::convertRawToActual(uint16_t* i, float* f, float f_range)
{
}
} // namespace sta
#endif // STA_SPATZ_ENABLED