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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9
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(Device* gyro_device, Device* accel_device)
BMI088::BMI088(SPIDevice* gyro_device, SPIDevice* accel_device)
: gyro_device{gyro_device}, accel_device(accel_device)
{
STA_ASSERT(gyro_device != nullptr);
@@ -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