ALPAKA/driver-bmi088
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This commit is contained in:
dario
2024-07-05 10:35:25 +02:00
parent 44f7099c4f
commit 5c00355a25
3 changed files with 125 additions and 13 deletions
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26
include/sta/drivers/bmi088.hpp
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@@ -1,10 +1,14 @@
#ifndef STA_DRIVERS_BMI088_HPP
#define STA_DRIVERS_BMI088_HPP
<<<<<<< HEAD
//#include <sta/devices/stm32/bus/spi.hpp>
//#include <sta/devices/stm32/bus/i2c.hpp>
#include <sta/bus/spi/device.hpp>
#include <sta/bus/i2c/device.hpp>
=======
#include <sta/bus/spi/device.hpp>
>>>>>>> 2e8b075 (Added mock driver; renamed enums and fixed a bug)
#include <sta/drivers/bmi088_defs.hpp>
@@ -15,9 +19,9 @@ namespace sta
public:
enum GyroMode
{
NORMAL_AWAKE = 0x00,
SUSPEND = 0x80,
DEEP_SUSPEND = 0x20
NORMAL_AWAKE = 0x00,
SUSPEND = 0x80,
DEEP_SUSPEND = 0x20
};
enum GyroRange
{
@@ -41,8 +45,8 @@ namespace sta
enum AccelMode
{
OFF = 0x00,
ON = 0x04
OFF = 0x00,
ON = 0x04
};
enum AccelRange
{
@@ -53,9 +57,9 @@ namespace sta
};
enum AccelBandwidth
{
OSR4 = 0x08,
OSR2 = 0x09,
NORMAL_BANDWIDTH = 0x0A
OSR4 = 0x08,
OSR2 = 0x09,
NORMAL_BANDWIDTH = 0x0A
};
enum AccelODR
{
@@ -77,7 +81,7 @@ namespace sta
};
public:
BMI088(Device* gyro_device, Device* accel_device);
BMI088(SPIDevice* gyro_device, SPIDevice* accel_device);
bool init();
@@ -100,8 +104,8 @@ 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;