mirror of
https://git.intern.spaceteamaachen.de/ALPAKA/driver-bmi088.git
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114 lines
2.3 KiB
C++
114 lines
2.3 KiB
C++
#ifndef STA_DRIVERS_BMI088_HPP
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#define STA_DRIVERS_BMI088_HPP
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//#include <sta/devices/stm32/bus/spi.hpp>
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//#include <sta/devices/stm32/bus/i2c.hpp>
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#include <sta/bus/spi/device.hpp>
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#include <sta/bus/i2c/device.hpp>
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#include <sta/drivers/bmi088_defs.hpp>
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namespace sta
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{
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class BMI088
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{
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public:
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enum GyroMode
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{
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NORMAL_AWAKE = 0x00,
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SUSPEND = 0x80,
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DEEP_SUSPEND = 0x20
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};
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enum GyroRange
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{
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_2000 = 0x00,
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_1000 = 0x01,
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_500 = 0x02,
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_250 = 0x03,
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_125 = 0x04
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};
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enum GyroBandwidth
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{
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_2000_532 = 0x00,
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_2000_230 = 0x01,
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_1000_116 = 0x02,
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_400_47 = 0x03,
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_200_23 = 0x04,
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_100_12 = 0x05,
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_200_64 = 0x06,
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_100_32 = 0x07
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};
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enum AccelMode
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{
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OFF = 0x00,
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ON = 0x04
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};
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enum AccelRange
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{
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_3G = 0x00,
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_6G = 0x01,
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_12G = 0x02,
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_24G = 0x03
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};
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enum AccelBandwidth
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{
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OSR4 = 0x08,
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OSR2 = 0x09,
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NORMAL_BANDWIDTH = 0x0A
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};
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enum AccelODR
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{
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_12_5 = 0x05,
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_25 = 0x06,
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_50 = 0x07,
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_100 = 0x08,
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_200 = 0x09,
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_400 = 0x0A,
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_800 = 0x0B,
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_1600 = 0x0C
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};
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private:
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enum Part
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{
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GYROSCOPE,
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ACCELEROMETER
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};
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public:
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BMI088(Device* gyro_device, Device* accel_device);
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bool init();
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void setGyroscopeMode(GyroMode mode);
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void setGyroscopeRange(GyroRange range);
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void setGyroscopeBandwidth(GyroBandwidth bandwidth);
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void getRotation(float* x, float* y, float* z);
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void setAccelerometerMode(AccelMode mode);
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void setAccelerometerRange(AccelRange range);
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void setAccelerometerBandwidth(AccelBandwidth bandwidth, AccelODR odr);
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void getAcceleration(float* x, float* y, float* z);
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private:
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bool busRead(Part part, uint8_t reg, uint8_t * buffer);
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bool busWrite(Part part, uint8_t reg, uint8_t value);
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void getRawRotation(int16_t* x, int16_t* y, int16_t* z);
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void getRawAcceleration(int16_t* x, int16_t* y, int16_t* z);
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float lsbToMps2(int16_t val);
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float lsbToDPS(int16_t val);
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void convertRawToActual(uint16_t* i, float* f, float f_range);
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Device* gyro_device;
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Device* accel_device;
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float f_gyro_range = 0;
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float f_accel_range = 0;
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};
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} // namespace sta
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#endif // STA_DRIVERS_BMI088_HPP
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