ALPAKA/driver-bmi088
1
0
Fork 0
mirror of https://git.intern.spaceteamaachen.de/ALPAKA/driver-bmi088.git synced 2025-06-10 18:45:59 +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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

57
include/sta/drivers/bmi088.hpp
View File

@ -1,7 +1,10 @@
#ifndef STA_DRIVERS_BMI088_HPP #ifndef STA_DRIVERS_BMI088_HPP
#define STA_DRIVERS_BMI088_HPP #define STA_DRIVERS_BMI088_HPP
#include <sta/devices/stm32/bus/spi.hpp> //#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/drivers/bmi088_defs.hpp> #include <sta/drivers/bmi088_defs.hpp>
@ -18,22 +21,22 @@ namespace sta
}; };
enum GyroRange enum GyroRange
{ {
TWOTHOUSAND = 0x00, _2000 = 0x00,
ONETHOUSAND = 0x01, _1000 = 0x01,
FIVEHUNDRED = 0x02, _500 = 0x02,
TWOFIFTY = 0x03, _250 = 0x03,
ONETWENTYFIVE = 0x04 _125 = 0x04
}; };
enum GyroBandwidth enum GyroBandwidth
{ {
TWOTHOUSAND_FIVETHIRTYTWO = 0x00, _2000_532 = 0x00,
TWOTHOUSAND_TWOTHIRTY = 0x01, _2000_230 = 0x01,
ONETHOUSAND_ONESIXTEEN = 0x02, _1000_116 = 0x02,
FOURHUNDRED_FORTYSEVEN = 0x03, _400_47 = 0x03,
TWOHUNDRED_TWENTYTHREE = 0x04, _200_23 = 0x04,
ONEHUNDRED_TWELVE = 0x05, _100_12 = 0x05,
TWOHUNDRED_SIXTYFOUR = 0x06, _200_64 = 0x06,
ONEHUNDRED_THIRTYTWO = 0x07 _100_32 = 0x07
}; };
enum AccelMode enum AccelMode
@ -43,10 +46,10 @@ namespace sta
}; };
enum AccelRange enum AccelRange
{ {
THREEG = 0x00, _3G = 0x00,
SIXG = 0x01, _6G = 0x01,
TWELVEG = 0x02, _12G = 0x02,
TWENTYFOURG = 0x03 _24G = 0x03
}; };
enum AccelBandwidth enum AccelBandwidth
{ {
@ -56,14 +59,14 @@ namespace sta
}; };
enum AccelODR enum AccelODR
{ {
TWELVE_FIVE = 0x05, _12_5 = 0x05,
TWENTYFIVE = 0x06, _25 = 0x06,
FIFTY = 0x07, _50 = 0x07,
ONEHUNDRED = 0x08, _100 = 0x08,
TWOHUNDRED = 0x09, _200 = 0x09,
FOURHUNDRED = 0x0A, _400 = 0x0A,
EIGHTHUNDRED = 0x0B, _800 = 0x0B,
ONESIXHUNDRED = 0x0C _1600 = 0x0C
}; };
private: private:
@ -74,7 +77,7 @@ namespace sta
}; };
public: public:
BMI088(STM32SPIDevice* gyro_device, STM32SPIDevice* accel_device); BMI088(Device* gyro_device, Device* accel_device);
bool init(); bool init();

28
src/bmi088.cpp
View File

@ -4,7 +4,7 @@
namespace sta 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) : gyro_device{gyro_device}, accel_device(accel_device)
{ {
STA_ASSERT(gyro_device != nullptr); STA_ASSERT(gyro_device != nullptr);
@ -17,15 +17,15 @@ namespace sta
busRead(GYROSCOPE, BMI088_REG_GYRO_CHIP_ID, &id); busRead(GYROSCOPE, BMI088_REG_GYRO_CHIP_ID, &id);
if(id != BMI088_GYRO_CHIP_ID) return false; if(id != BMI088_GYRO_CHIP_ID) return false;
setGyroscopeRange(GyroRange::ONETHOUSAND); setGyroscopeRange(GyroRange::_1000);
setGyroscopeBandwidth(GyroBandwidth::TWOHUNDRED_SIXTYFOUR); setGyroscopeBandwidth(GyroBandwidth::_200_64);
setGyroscopeMode(GyroMode::NORMAL_AWAKE); setGyroscopeMode(GyroMode::NORMAL_AWAKE);
busRead(ACCELEROMETER, BMI088_REG_ACC_CHIP_ID, &id); busRead(ACCELEROMETER, BMI088_REG_ACC_CHIP_ID, &id);
if(id != BMI088_ACC_CHIP_ID) return false; if(id != BMI088_ACC_CHIP_ID) return false;
setAccelerometerRange(AccelRange::TWENTYFOURG); setAccelerometerRange(AccelRange::_24G);
setAccelerometerBandwidth(AccelBandwidth::NORMAL_BANDWIDTH, AccelODR::ONEHUNDRED); setAccelerometerBandwidth(AccelBandwidth::NORMAL_BANDWIDTH, AccelODR::_100);
setAccelerometerMode(AccelMode::ON); setAccelerometerMode(AccelMode::ON);
return true; return true;
@ -41,19 +41,19 @@ namespace sta
switch(range) switch(range)
{ {
case TWOTHOUSAND: case _2000:
f_gyro_range = 2000; f_gyro_range = 2000;
break; break;
case ONETHOUSAND: case _1000:
f_gyro_range = 1000; f_gyro_range = 1000;
break; break;
case FIVEHUNDRED: case _500:
f_gyro_range = 500; f_gyro_range = 500;
break; break;
case TWOFIFTY: case _250:
f_gyro_range = 250; f_gyro_range = 250;
break; break;
case ONETWENTYFIVE: case _125:
f_gyro_range = 125; f_gyro_range = 125;
break; break;
default: default:
@ -102,16 +102,16 @@ namespace sta
switch(range) switch(range)
{ {
case THREEG: case _3G:
f_accel_range = 3*9.80665; f_accel_range = 3*9.80665;
break; break;
case SIXG: case _6G:
f_accel_range = 6*9.80665; f_accel_range = 6*9.80665;
break; break;
case TWELVEG: case _12G:
f_accel_range = 12*9.80665; f_accel_range = 12*9.80665;
break; break;
case TWENTYFOURG: case _24G:
f_accel_range = 24*9.80665; f_accel_range = 24*9.80665;
break; break;
default: default: