--- /dev/null
+/*
+ * Copyright © 2022 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#ifndef _AO_BMI088_H_
+#define _AO_BMI088_H_
+
+#include <math.h>
+
+struct ao_bmi088_acc_sample {
+ int16_t x;
+ int16_t y;
+ int16_t z;
+};
+
+struct ao_bmi088_gyr_sample {
+ int16_t x;
+ int16_t y;
+ int16_t z;
+};
+
+struct ao_bmi088_sample {
+ struct ao_bmi088_acc_sample acc;
+ struct ao_bmi088_gyr_sample gyr;
+};
+
+extern struct ao_bmi088_sample ao_bmi088_current;
+
+void
+ao_bmi088_init(void);
+
+#define BMI088_ACC_CHIP_ID 0x00
+#define BMI088_ACC_CHIP_ID_BMI088 0x1e
+
+#define BMI088_ACC_ERR_REG 0x02
+# define BMI088_ACC_ERR_REG_ERROR_CODE 2
+# define BMI088_ACC_ERR_REG_FATAL_ERR 0
+
+#define BMI088_ACC_STATUS 0x03
+# define BMI088_ACC_STATUS_ACC_DRDY 7
+
+#define BMI088_ACC_DATA 0x12
+#define BMI088_ACC_TIME 0x18
+
+#define BMI088_ACC_INT_STAT_1 0x1d
+# define BMI088_ACC_INT_STAT_1_ACC_DRDY 7
+
+#define BMI088_ACC_TEMP 0x22
+
+#define BMI088_ACC_CONF 0x40
+# define BMI088_ACC_CONF_BWP 4
+# define BMI088_ACC_CONF_BWP_OSR4 0x08
+# define BMI088_ACC_CONF_BWP_OSR2 0x08
+# define BMI088_ACC_CONF_BWP_NORMAL 0x0a
+# define BMI088_ACC_CONF_ODR 0
+# define BMI088_ACC_CONF_ODR_12_5 0x05
+# define BMI088_ACC_CONF_ODR_25 0x06
+# define BMI088_ACC_CONF_ODR_50 0x07
+# define BMI088_ACC_CONF_ODR_100 0x08
+# define BMI088_ACC_CONF_ODR_200 0x09
+# define BMI088_ACC_CONF_ODR_400 0x0a
+# define BMI088_ACC_CONF_ODR_800 0x0b
+# define BMI088_ACC_CONF_ODR_1600 0x0c
+
+#define BMI088_ACC_RANGE 0x41
+# define BMI088_ACC_RANGE_3 0x00
+# define BMI088_ACC_RANGE_6 0x01
+# define BMI088_ACC_RANGE_12 0x02
+# define BMI088_ACC_RANGE_24 0x03
+
+#define BMI088_INT1_IO_CONF 0x53
+# define BMI088_INT1_IO_CONF_INT1_IN 4
+# define BMI088_INT1_IO_CONF_INT1_OUT 3
+# define BMI088_INT1_IO_CONF_INT1_OD 2
+# define BMI088_INT1_IO_CONF_INT1_LVL 1
+
+#define BMI088_INT2_IO_CONF 0x54
+# define BMI088_INT2_IO_CONF_INT2_IN 4
+# define BMI088_INT2_IO_CONF_INT2_OUT 3
+# define BMI088_INT2_IO_CONF_INT2_OD 2
+# define BMI088_INT2_IO_CONF_INT2_LVL 1
+
+#define BMI088_INT2_INT2_MAP_DATA 0x58
+# define BMI088_INT2_INT2_MAP_DATA_INT2_DRDY 6
+# define BMI088_INT2_INT2_MAP_DATA_INT1_DRDY 2
+
+#define BMI088_ACC_SELF_TEST 0x6d
+# define BMI088_ACC_SELF_TEST_OFF 0x00
+# define BMI088_ACC_SELF_TEST_POSITIVE 0x0d
+# define BMI088_ACC_SELF_TEST_NEGATIVE 0x09
+
+#define BMI088_ACC_PWR_CONF 0x7c
+# define BMI088_ACC_PWR_CONF_SUSPEND 0x03
+# define BMI088_ACC_PWR_CONF_ACTIVE 0x00
+
+#define BMI088_ACC_PWR_CTRL 0x7d
+# define BMI088_ACC_PWR_CTRL_OFF 0x00
+# define BMI088_ACC_PWR_CTRL_ON 0x04
+
+#define BMI088_ACC_SOFTRESET 0x7e
+# define BMI088_ACC_SOFTRESET_RESET 0xb6
+
+#define BMI088_GYRO_CHIP_ID 0x00
+# define BMI088_GYRO_CHIP_ID_BMI088 0x0f
+
+#define BMI088_GYRO_DATA 0x02
+#define BMI088_GYRO_DATA_X 0x02
+#define BMI088_GYRO_DATA_Y 0x04
+#define BMI088_GYRO_DATA_Z 0x06
+
+#define BMI088_GYRO_INT_STAT_1 0x0a
+# define BMI088_GYRO_INT_STAT_1_GYRO_DRDY 7
+
+#define BMI088_GYRO_RANGE 0x0f
+# define BMI088_GYRO_RANGE_2000 0x00
+# define BMI088_GYRO_RANGE_1000 0x01
+# define BMI088_GYRO_RANGE_500 0x02
+# define BMI088_GYRO_RANGE_250 0x03
+# define BMI088_GYRO_RANGE_125 0x04
+
+#define BMI088_GYRO_BANDWIDTH 0x10
+# define BMI088_GYRO_BANDWIDTH_2000_532 0x00
+# define BMI088_GYRO_BANDWIDTH_2000_230 0x01
+# define BMI088_GYRO_BANDWIDTH_1000_116 0x02
+# define BMI088_GYRO_BANDWIDTH_400_47 0x03
+# define BMI088_GYRO_BANDWIDTH_200_23 0x04
+# define BMI088_GYRO_BANDWIDTH_100_12 0x05
+# define BMI088_GYRO_BANDWIDTH_200_64 0x06
+# define BMI088_GYRO_BANDWIDTH_100_32 0x07
+
+#define BMI088_GYRO_LPM1 0x11
+# define BMI088_GYRO_LPM1_NORMAL 0x00
+# define BMI088_GYRO_LPM1_SUSPEND 0x80
+# define BMI088_GYRO_LPM1_DEEP_SUSPEND 0x20
+
+#define BMI088_GYRO_SOFTRESET 0x14
+# define BMI088_GYRO_SOFTRESET_RESET 0xb6
+
+#define BMI088_GYRO_INT_CTRL 0x15
+# define BMI088_GYRO_INT_CTRL_DISABLE 0x00
+# define BMI088_GYRO_INT_CTRL_ENABLE 0x80
+
+#define BMI088_INT3_INT4_IO_CONF 0x16
+# define BMI088_INT3_INT4_IO_CONF_INT4_OD 3
+# define BMI088_INT3_INT4_IO_CONF_INT4_LVL 2
+# define BMI088_INT3_INT4_IO_CONF_INT3_OD 1
+# define BMI088_INT3_INT4_IO_CONF_INT3_LVL 0
+
+#define BMI088_INT3_INT4_IO_MAP 0x18
+# define BMI088_INT3_INT4_IO_MAP_NONE 0x00
+# define BMI088_INT3_INT4_IO_MAP_INT3 0x01
+# define BMI088_INT3_INT4_IO_MAP_INT4 0x80
+# define BMI088_INT3_INT4_IO_MAP_INT3_INT4 0x81
+
+#define BMI088_GYRO_SELF_TEST 0x3c
+# define BMI088_GYRO_SELF_TEST_RATE_OK 4
+# define BMI088_GYRO_SELF_TEST_BIST_FAIL 2
+# define BMI088_GYRO_SELF_TEST_BIST_RDY 1
+# define BMI088_GYRO_SELF_TEST_TRIG_BIST 0
+
+#define BMI088_GYRO_FULLSCALE ((float) 2000.0f * (float) M_PI / 180.0f)
+
+static inline float
+ao_bmi088_gyro(float sensor) {
+ return sensor * ((float) (BMI088_GYRO_FULLSCALE / 32767.0));
+}
+
+#define ao_bmi_gyro_to_sample(gyro) ((gyro) * (32767.0f / (BMI088_GYRO_FULLSCALE
+
+#define BMI088_ACCEL_FULLSCALE 24
+
+static inline float
+ao_bmi088_accel(int16_t sensor) {
+ return (float) sensor * ((float) (BMI088_ACCEL_FULLSCALE * GRAVITY / 32767.0));
+}
+
+#define ao_bmi_accel_to_sample(accel) ((accel) * (32767.0f / (BMI088_ACCEL_FULLSCALE * GRAVITY)))
+
+#endif /* _AO_BMI088_H_ */
projects / fw / altos / blobdiff