ALPAKA/driver-bmi088
1
0
Fork 0
mirror of https://git.intern.spaceteamaachen.de/ALPAKA/driver-bmi088.git synced 2025-09-29 00:37:33 +00:00
Code Issues Actions Packages Projects Releases Wiki Activity

driver cleanup

Browse Source
This commit is contained in:
Lars Wilko Sentse
2024-07-03 16:40:03 +02:00
parent 67748f9e1a
commit ac1479739d
2 changed files with 44 additions and 41 deletions
Download Patch File Download Diff File Expand all files Collapse all files

28
src/bmi088.cpp
View File

@@ -4,7 +4,7 @@
namespace sta
{
BMI088::BMI088(STM32SPIDevice* gyro_device, STM32SPIDevice* accel_device)
BMI088::BMI088(Device* gyro_device, Device* accel_device)
: gyro_device{gyro_device}, accel_device(accel_device)
{
STA_ASSERT(gyro_device != nullptr);
@@ -17,15 +17,15 @@ 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::_200_64);
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 +41,19 @@ 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 +102,16 @@ 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: