134 lines
3.3 KiB
C
134 lines
3.3 KiB
C
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#ifndef BMI088DRIVER_H
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#define BMI088DRIVER_H
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#include "stdint.h"
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#include "main.h"
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#define BMI088_TEMP_FACTOR 0.125f
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#define BMI088_TEMP_OFFSET 23.0f
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#define BMI088_WRITE_ACCEL_REG_NUM 6
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#define BMI088_WRITE_GYRO_REG_NUM 6
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#define BMI088_GYRO_DATA_READY_BIT 0
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#define BMI088_ACCEL_DATA_READY_BIT 1
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#define BMI088_ACCEL_TEMP_DATA_READY_BIT 2
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#define BMI088_LONG_DELAY_TIME 80
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#define BMI088_COM_WAIT_SENSOR_TIME 150
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#define BMI088_ACCEL_IIC_ADDRESSE (0x18 << 1)
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#define BMI088_GYRO_IIC_ADDRESSE (0x68 << 1)
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#define BMI088_ACCEL_3G_SEN 0.0008974358974f
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#define BMI088_ACCEL_6G_SEN 0.00179443359375f
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#define BMI088_ACCEL_12G_SEN 0.0035888671875f
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#define BMI088_ACCEL_24G_SEN 0.007177734375f
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#define BMI088_GYRO_2000_SEN 0.00106526443603169529841533860381f
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#define BMI088_GYRO_1000_SEN 0.00053263221801584764920766930190693f
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#define BMI088_GYRO_500_SEN 0.00026631610900792382460383465095346f
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#define BMI088_GYRO_250_SEN 0.00013315805450396191230191732547673f
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#define BMI088_GYRO_125_SEN 0.000066579027251980956150958662738366f
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// <20><><EFBFBD>ֶ<EFBFBD><D6B6><EFBFBD>
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#if INFANTRY_ID == 0
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#define GxOFFSET 0.00247530174f
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#define GyOFFSET 0.000393082853f
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#define GzOFFSET 0.000393082853f
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#define gNORM 9.69293118f
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#elif INFANTRY_ID == 1
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#define GxOFFSET 0.0007222f
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#define GyOFFSET -0.001786f
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#define GzOFFSET 0.0004346f
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#define gNORM 9.876785f
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#elif INFANTRY_ID == 2
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#define GxOFFSET 0.0007222f
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#define GyOFFSET -0.001786f
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#define GzOFFSET 0.0004346f
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#define gNORM 9.876785f
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#elif INFANTRY_ID == 3
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#define GxOFFSET 0.00270364084f
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#define GyOFFSET -0.000532632112f
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#define GzOFFSET 0.00478090625f
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#define gNORM 9.73574924f
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#elif INFANTRY_ID == 4
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#define GxOFFSET 0.0007222f
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#define GyOFFSET -0.001786f
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#define GzOFFSET 0.0004346f
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#define gNORM 9.876785f
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#endif
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/* IMU数据结构体 */
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typedef struct
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{
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float Accel[3];
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float Gyro[3];
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float TempWhenCali;
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float Temperature;
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float AccelScale;
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float GyroOffset[3];
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float gNorm;
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} IMU_Data_t;
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/* BMI088错误码枚举 */
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enum
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{
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BMI088_NO_ERROR = 0x00,
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BMI088_ACC_PWR_CTRL_ERROR = 0x01,
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BMI088_ACC_PWR_CONF_ERROR = 0x02,
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BMI088_ACC_CONF_ERROR = 0x03,
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BMI088_ACC_SELF_TEST_ERROR = 0x04,
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BMI088_ACC_RANGE_ERROR = 0x05,
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BMI088_INT1_IO_CTRL_ERROR = 0x06,
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BMI088_INT_MAP_DATA_ERROR = 0x07,
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BMI088_GYRO_RANGE_ERROR = 0x08,
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BMI088_GYRO_BANDWIDTH_ERROR = 0x09,
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BMI088_GYRO_LPM1_ERROR = 0x0A,
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BMI088_GYRO_CTRL_ERROR = 0x0B,
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BMI088_GYRO_INT3_INT4_IO_CONF_ERROR = 0x0C,
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BMI088_GYRO_INT3_INT4_IO_MAP_ERROR = 0x0D,
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BMI088_SELF_TEST_ACCEL_ERROR = 0x80,
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BMI088_SELF_TEST_GYRO_ERROR = 0x40,
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BMI088_NO_SENSOR = 0xFF,
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};
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extern IMU_Data_t BMI088;
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/**
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* @brief 初始化BMI088,传入连接的SPI总线handle,以及是否进行在线标定
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*
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* @param bmi088_SPI handle
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* @param calibrate 1为进行在线标定,0使用离线数据
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* @return uint8_t 成功则返回BMI088_NO_ERROR
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*/
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extern uint8_t BMI088Init(SPI_HandleTypeDef *bmi088_SPI, uint8_t calibrate);
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/**
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* @brief 加速计初始化
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*
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* @return uint8_t
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*/
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extern uint8_t bmi088_accel_init(void);
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/**
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* @brief 陀螺仪初始化
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*
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* @return uint8_t
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*/
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extern uint8_t bmi088_gyro_init(void);
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/**
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* @brief 读取一次BMI088的数据,包括gyro和accel
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*
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* @param bmi088 传入BMI088实例(结构体)
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*/
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extern void BMI088_Read(IMU_Data_t *bmi088);
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#endif
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