深圳网站建设营销服务平台,wordpress 手机端 广告,苏州手机网站建设方法,承德建设厅网站BMI088是一款高性能6轴惯性传感器#xff0c;由16位数字三轴24g加速度计和16位数字三轴2000/ s陀螺仪组成。
这里用SPI来驱动BMI088进行数据解读 第一步#xff0c;首先在 RT-Thread Settings中进行配置 第二步#xff0c;退出RT-Thread Settings#xff0c;进入board.h…BMI088是一款高性能6轴惯性传感器由16位数字三轴±24g加速度计和16位数字三轴±2000°/ s陀螺仪组成。
这里用SPI来驱动BMI088进行数据解读 第一步首先在 RT-Thread Settings中进行配置 第二步退出RT-Thread Settings进入board.h定义宏 第三步**进入stm32f4xx_hal_conf.h ** 第四步STM32 CubeMX配置 第五步添加驱动文件到application bmi088.c
#include bmi088.h
#include rtdbg.h
#include rtdevice.h
#include board.h
#include drv_spi.h#define BMI088_SPI_MAX_SPEED (10 * 1000 * 1000) // M
#define CSB1_Pin GET_PIN(B, 14)
#define CSB2_Pin GET_PIN(B, 15)static rt_err_t _bmi088_spi_read(struct rt_spi_device *dev, rt_uint8_t reg_addr, const rt_uint8_t len, rt_uint8_t *buf)
{reg_addr | 0x80;dev-bus-owner dev;rt_spi_send_then_recv(dev, reg_addr, 1, buf, len); return RT_EOK;
}static rt_err_t _bmi088_spi_write(struct rt_spi_device *dev, rt_uint8_t reg_addr, const rt_uint8_t len, rt_uint8_t *buf)
{ reg_addr 0x7f;dev-bus-owner dev;rt_spi_send_then_send(dev, reg_addr, 1, buf, len);return RT_EOK;
}static rt_err_t _bmi088_get_accel_raw(struct bmi08x_dev *dev, struct bmi088_3axes *accel)
{rt_uint8_t buffer[10];uint8_t lsb, msb;rt_err_t res;struct rt_spi_device *spi_dev (struct rt_spi_device *)(dev-accel_bus);res _bmi088_spi_read(spi_dev, ACC_X_LSB_REG, 10, buffer);if (res ! RT_EOK){return res;}lsb buffer[1];msb buffer[2];accel-x (rt_int16_t)((msb 8) | lsb); /* X */lsb buffer[3];msb buffer[4];accel-y (rt_int16_t)((msb 8) | lsb);/* Y */lsb buffer[5];msb buffer[6];accel-z (rt_int16_t)((msb 8) | lsb);/* Z */return RT_EOK;
}static rt_err_t _bmi088_get_gyro_raw(struct bmi08x_dev *dev, struct bmi088_3axes *gyro)
{rt_uint8_t buffer[6];uint8_t lsb, msb;rt_err_t res;struct rt_spi_device *spi_dev (struct rt_spi_device *)(dev-gyro_bus);res _bmi088_spi_read(spi_dev, RATE_X_LSB_REG, 6, buffer);if (res ! RT_EOK){return res;}lsb buffer[0];msb buffer[1];gyro-x (rt_int16_t)((msb * 256) lsb); /* X */lsb buffer[2];msb buffer[3];gyro-y (rt_int16_t)((msb * 256) lsb); /* Y */lsb buffer[4];msb buffer[5];gyro-z (rt_int16_t)((msb * 256) lsb); /* Z */return RT_EOK;
}/**
* This function gets the data of the accelerometer, unit: m/ss** param dev the pointer of device driver structure* param accel the pointer of 3axes structure for receive data** return the reading number.*/
rt_size_t bmi088_get_accel(struct bmi08x_dev *dev, struct bmi088_data *buf)
{ struct bmi088_3axes tmp;_bmi088_get_accel_raw(dev, tmp);buf-x ((float)tmp.x) /32768.0f * 6 * G;buf-y ((float)tmp.y) /32768.0f * 6 * G;buf-z ((float)tmp.z) /32768.0f * 6 * G; return 1;// just support rw mode
}/**
* This function gets the data of the gyroscope, unit: rad/s** param dev the pointer of device driver structure* param gyro the pointer of 3axes structure for receive data** return the reading number.*/
rt_size_t bmi088_get_gyro(struct bmi08x_dev *dev, struct bmi088_data *buf)
{struct bmi088_3axes tmp;_bmi088_get_gyro_raw(dev, tmp);buf-x (float)tmp.x / 32767.0f * 2000.0f;buf-y (float)tmp.y / 32767.0f * 2000.0f;buf-z (float)tmp.z / 32767.0f * 2000.0f; return 1;
}/*** This function software reset the accelerometer of bmi08x.** param dev the pointer of bmi08x driver structure** return the status of software reset, RT_EOK represents software reset successfully.*/
static rt_err_t _bmi088a_soft_reset(struct bmi08x_dev *dev)
{uint8_t send_cmd BMI08X_SOFT_RESET_CMD;struct rt_spi_device *spi_dev (struct rt_spi_device *)(dev-accel_bus);if (_bmi088_spi_write(spi_dev, ACC_SOFTRESET_REG, 1, send_cmd) RT_EOK){rt_thread_mdelay(BMI08X_ACCEL_SOFTRESET_DELAY_MS);return RT_EOK;}else{return RT_ERROR; }
}/*** This function software reset the gyroscope of bmi08x.** param dev the pointer of bmi08x driver structure** return the status of software reset, RT_EOK represents software reset successfully.*/
static rt_err_t _bmi088g_soft_reset(struct bmi08x_dev *dev)
{uint8_t send_cmd BMI08X_SOFT_RESET_CMD;struct rt_spi_device *spi_dev (struct rt_spi_device *)(dev-gyro_bus);if (_bmi088_spi_write(spi_dev, GYRO_SOFTRESET_REG, 1, send_cmd) RT_EOK){rt_thread_mdelay(BMI08X_GYRO_SOFTRESET_DELAY_MS);return RT_EOK;}else{return RT_ERROR; }
}/*** This function initialize the accelerometer of bmi08x.** param dev the pointer of bmi08x driver structure** return the status of initialization, RT_EOK represents initialize successfully.*/
static rt_err_t _bmi088a_init(struct bmi08x_dev *dev)
{rt_err_t res RT_EOK;uint8_t chip_acc_id[2] {0};// config acc to spi modert_pin_write(dev-accel_id, PIN_LOW);rt_thread_mdelay(1);rt_pin_write(dev-accel_id, PIN_HIGH);struct rt_spi_device *spi_dev (struct rt_spi_device *)(dev-accel_bus);_bmi088_spi_read(spi_dev, ACC_CHIP_ID_REG, 2, chip_acc_id); /* Dummy read */if (chip_acc_id[1] ! dev-accel_chip_id) {LOG_E(Fail initialize acc);goto __exit; }rt_thread_mdelay(10);res _bmi088a_soft_reset(dev);// config acc to spi modert_pin_write(dev-accel_id, PIN_LOW);rt_thread_mdelay(1);rt_pin_write(dev-accel_id, PIN_HIGH);return res;__exit:return RT_ERROR;
}/*** This function initialize the gyroscope of bmi08x.** param dev the pointer of bmi08x driver structure** return the status of initialization, RT_EOK represents initialize successfully.*/
static rt_err_t _bmi088g_init(struct bmi08x_dev *dev)
{rt_err_t res RT_EOK;rt_uint8_t id 0; struct rt_spi_device *spi_dev (struct rt_spi_device *)dev-gyro_bus;_bmi088_spi_read(spi_dev, GYRO_CHIP_ID_REG, 1, id);if (id ! dev-gyro_chip_id) {LOG_E(Fail initialize gyro);goto __exit;}rt_thread_mdelay(10);res _bmi088g_soft_reset(dev);return res;__exit:return RT_ERROR;
}/*** This function set the power mode of accelerometer of bmi08x ** param dev the pointer of bmi08x driver structure** return the setting status, RT_EOK represents reading the data successfully.*/
rt_err_t bmi088a_set_power_mode(struct bmi08x_dev *dev)
{uint8_t power_mode dev-accel_cfg.power;uint8_t data[2];struct rt_spi_device *spi_dev (struct rt_spi_device *)(dev-accel_bus);if (power_mode BMI08X_ACCEL_PM_ACTIVE) {data[0] BMI08X_ACCEL_PWR_ACTIVE_CMD;data[1] BMI08X_ACCEL_POWER_ENABLE_CMD;} else if (power_mode BMI08X_ACCEL_PM_SUSPEND) {data[0] BMI08X_ACCEL_PWR_SUSPEND_CMD;data[1] BMI08X_ACCEL_POWER_DISABLE_CMD;} else {LOG_E(Invalid acc power mode!);goto __exit; }if (_bmi088_spi_write(spi_dev, ACC_PWR_CONF_REG, 1, data[0]) RT_EOK){rt_thread_mdelay(BMI08X_POWER_CONFIG_DELAY);data[1] BMI08X_ACCEL_POWER_ENABLE_CMD;if (_bmi088_spi_write(spi_dev, ACC_PWR_CTRL_REG, 1, data[1]) RT_EOK){rt_thread_mdelay(BMI08X_POWER_CONFIG_DELAY);return RT_EOK;}else{LOG_E(Failed write CTRL_REG);goto __exit;}}else{LOG_E(Failed write PWR_REG);goto __exit;} __exit:return RT_ERROR;
}/*** This function set the power mode of gyroscope of bmi08x ** param dev the pointer of bmi08x driver structure** return the setting status, RT_EOK represents reading the data successfully.*/
rt_err_t bmi088g_set_power_mode(struct bmi08x_dev *dev)
{uint8_t power_mode dev-gyro_cfg.power;uint8_t read_data;uint8_t is_power_switching_mode_valid 1;struct rt_spi_device *spi_dev (struct rt_spi_device *)(dev-gyro_bus);_bmi088_spi_read(spi_dev, GYRO_LPM1_REG, 1, read_data);if (power_mode read_data) {return RT_EOK;}else {// only switching between normal mode and the suspend mode is allowedif ((power_mode BMI08X_GYRO_PM_SUSPEND) (read_data BMI08X_GYRO_PM_DEEP_SUSPEND)) {is_power_switching_mode_valid 0;} if ((power_mode BMI08X_GYRO_PM_DEEP_SUSPEND) (read_data BMI08X_GYRO_PM_SUSPEND)){is_power_switching_mode_valid 0;}if (is_power_switching_mode_valid) {if (_bmi088_spi_write(spi_dev, GYRO_LPM1_REG, 1, power_mode) RT_EOK){rt_thread_mdelay(BMI08X_GYRO_POWER_MODE_CONFIG_DELAY);}}else{LOG_E(Invalid gyro mode switch);goto __exit; }}__exit:return RT_ERROR;
}/*** This function set the bandwidth(bw), output data rate(odr) and range of accelerometer of bmi08x ** param dev the pointer of bmi08x driver structure** return the setting status, RT_EOK represents reading the data successfully.*/
rt_err_t bmi088a_set_meas_conf(struct bmi08x_dev *dev)
{uint8_t data[2] {0};uint8_t reg_val[3] {0};uint8_t bw dev-accel_cfg.bw;uint8_t range dev-accel_cfg.range;uint8_t odr dev-accel_cfg.odr;uint8_t is_odr_invalid 0, is_bw_invalid 0, is_range_invalid 0;if ((odr BMI08X_ACCEL_ODR_12_5_HZ) || (odr BMI08X_ACCEL_ODR_1600_HZ)){is_odr_invalid 1;}if (bw BMI08X_ACCEL_BW_NORMAL) {is_bw_invalid 1;}if (range BMI088_ACCEL_RANGE_24G) {is_range_invalid 1;}if ((!is_odr_invalid) (!is_bw_invalid) (!is_range_invalid)) {//dummy readstruct rt_spi_device *spi_dev (struct rt_spi_device *)(dev-accel_bus);if (_bmi088_spi_read(spi_dev, ACC_CONF_REG, 2, data) RT_EOK){data[0] (17) | (24) | (0xB0);// bwp normal, odr 800_bmi088_spi_write(spi_dev, ACC_CONF_REG, 1, data[0]);data[1] 0x01;// range 6G_bmi088_spi_write(spi_dev, ACC_RANGE_REG, 1, data[1]);rt_thread_mdelay(10);_bmi088_spi_read(spi_dev, ACC_CONF_REG, 3, reg_val);// dummy readif ((reg_val[1] 0xAB) (reg_val[2] 0x01)) {return RT_EOK;}}}return RT_ERROR;
}/*** This function set the bandwidth(bw), output data rate(odr) and range of gyroscope of bmi08x ** param dev the pointer of bmi08x driver structure** return the setting status, RT_EOK represents reading the data successfully.*/
rt_err_t bmi088g_set_meas_conf(struct bmi08x_dev *dev)
{uint8_t data;uint8_t bw_odr dev-gyro_cfg.bw, range dev-gyro_cfg.range;uint8_t reg_val[2] {0};uint8_t is_range_invalid 0, is_odr_invalid 0;if (bw_odr BMI08X_GYRO_BW_32_ODR_100_HZ) {is_odr_invalid 1;}if (range BMI08X_GYRO_RANGE_125_DPS) {is_range_invalid 1;} if ((!is_odr_invalid) (!is_range_invalid)) {
// data BMI08X_SET_BITS_POS_0(data, BMI08X_GYRO_BW, odr);data 0x01;// ODR 2000Hz, Filter bandwidth 230Hzstruct rt_spi_device *spi_dev (struct rt_spi_device *)(dev-gyro_bus);if (_bmi088_spi_write(spi_dev, GYRO_BANDWIDTH_REG, 1, data) RT_EOK){
// data BMI08X_SET_BITS_POS_0(data, GYRO_RANGE_REG, range);data 0x00;// range 2000deg/sif (_bmi088_spi_write(spi_dev, GYRO_RANGE_REG, 1, data) RT_EOK) {rt_thread_mdelay(10);_bmi088_spi_read(spi_dev, GYRO_RANGE_REG, 2, reg_val);if ((reg_val[0] 0x00) (reg_val[1] 0x81))// 7 bit always 1{return RT_EOK;} } }}return RT_ERROR;
}/*** This function initialize the bmi088 device.** param acc_spi_name the name of spi device(Accelerometer)* param gyro_spi_name the name of spi device(Gyroscope)** return the pointer of bmi08x driver structure, RT_NULL represents initialization failed.*/
struct bmi08x_dev *bmi088_init(const char *acc_spi_name, const char *gyro_spi_name)
{struct bmi08x_dev *dev RT_NULL;rt_uint8_t res RT_EOK;RT_ASSERT(acc_spi_name);RT_ASSERT(gyro_spi_name);dev rt_calloc(1, sizeof(struct bmi08x_dev));if (dev RT_NULL){LOG_E(Cant allocate memory for bmi08x device on %s and %s , acc_spi_name, gyro_spi_name);goto __exit;}dev-accel_bus rt_device_find(acc_spi_name);dev-gyro_bus rt_device_find(gyro_spi_name);if ((dev-accel_bus RT_NULL) || (dev-gyro_bus RT_NULL)){LOG_E(Cant find device:%s of %s, acc_spi_name, gyro_spi_name);goto __exit;}if (dev-accel_bus-type ! dev-gyro_bus-type){LOG_E(The bus type of %s and %s should same, acc_spi_name, gyro_spi_name);goto __exit; }if (dev-accel_bus-type RT_Device_Class_I2CBUS){LOG_E(Bmi08x not support I2C temporarily);goto __exit; }else if (dev-accel_bus-type RT_Device_Class_SPIDevice){
//#ifdef RT_USING_SPIstruct rt_spi_configuration cfg;cfg.data_width 8;cfg.mode RT_SPI_MASTER | RT_SPI_MODE_0 | RT_SPI_MSB;cfg.max_hz BMI088_SPI_MAX_SPEED; /* Set spi max speed */struct rt_spi_device *spi_dev (struct rt_spi_device *)dev-accel_bus;spi_dev-bus-owner spi_dev;rt_spi_configure(spi_dev, cfg);
//#endif}else{LOG_E(Unsupported bus type:%s!, acc_spi_name);goto __exit;}// acc init{dev-accel_id CSB1_Pin;dev-accel_chip_id 0x1E;dev-accel_cfg.bw BMI08X_ACCEL_BW_NORMAL;dev-accel_cfg.odr BMI08X_ACCEL_ODR_800_HZ;dev-accel_cfg.power BMI08X_ACCEL_PM_ACTIVE; dev-accel_cfg.range BMI088_ACCEL_RANGE_6G;res _bmi088a_init(dev);res bmi088a_set_power_mode(dev);res bmi088a_set_meas_conf(dev); }// gyro init{dev-gyro_id CSB2_Pin;dev-gyro_chip_id 0x0F;dev-gyro_cfg.bw BMI08X_GYRO_BW_230_ODR_2000_HZ;dev-gyro_cfg.odr BMI08X_GYRO_BW_230_ODR_2000_HZ;dev-gyro_cfg.power BMI08X_GYRO_PM_NORMAL;dev-gyro_cfg.range BMI08X_GYRO_RANGE_2000_DPS;res _bmi088g_init(dev);res bmi088g_set_power_mode(dev);res bmi088g_set_meas_conf(dev);}rt_thread_mdelay(20);if (res RT_EOK){LOG_I(Device init succeed!);}else{goto __exit;}return dev;__exit:if (dev ! RT_NULL){rt_free(dev);}return RT_NULL;}/*** This function releases memory** param dev the pointer of bmi08x driver structure*/
void bmi088_deinit(struct bmi08x_dev *dev)
{RT_ASSERT(dev);rt_free(dev);
}
bmi088.h
#ifndef __BMI088_H__
#define __BMI088_H__#include rtthread.h
#include sensor.h#define IMU_THREAD_STACK_SIZE 4086
/*************************** Common Macros for both Accel and Gyro *****************************/
// Bit #0 : Read/Write bit
// Bit #1-7: Address AD
#define BMI08X_SPI_RD_MASK UINT8_C(0x80)
#define BMI08X_SPI_WR_MASK UINT8_C(0x7F)/* CMD: soft reset */
#define BMI08X_SOFT_RESET_CMD UINT8_C(0xB6)/* CMD: accel power save */
#define BMI08X_ACCEL_PWR_ACTIVE_CMD UINT8_C(0x00)
#define BMI08X_ACCEL_PWR_SUSPEND_CMD UINT8_C(0x03)/* CMD: accel power control */
#define BMI08X_ACCEL_POWER_DISABLE_CMD UINT8_C(0x00)
#define BMI08X_ACCEL_POWER_ENABLE_CMD UINT8_C(0x04)/* Accel Power Mode */
#define BMI08X_ACCEL_PM_ACTIVE UINT8_C(0x00)
#define BMI08X_ACCEL_PM_SUSPEND UINT8_C(0x03)/* Gyro Power mode */
#define BMI08X_GYRO_PM_NORMAL UINT8_C(0x00)
#define BMI08X_GYRO_PM_DEEP_SUSPEND UINT8_C(0x20)
#define BMI08X_GYRO_PM_SUSPEND UINT8_C(0x80)/* Accel Bandwidth */
#define BMI08X_ACCEL_BW_OSR4 UINT8_C(0x00)
#define BMI08X_ACCEL_BW_OSR2 UINT8_C(0x01)
#define BMI08X_ACCEL_BW_NORMAL UINT8_C(0x02)/* Accel Output Data Rate */
#define BMI08X_ACCEL_ODR_12_5_HZ UINT8_C(0x05)
#define BMI08X_ACCEL_ODR_25_HZ UINT8_C(0x06)
#define BMI08X_ACCEL_ODR_50_HZ UINT8_C(0x07)
#define BMI08X_ACCEL_ODR_100_HZ UINT8_C(0x08)
#define BMI08X_ACCEL_ODR_200_HZ UINT8_C(0x09)
#define BMI08X_ACCEL_ODR_400_HZ UINT8_C(0x0A)
#define BMI08X_ACCEL_ODR_800_HZ UINT8_C(0x0B)
#define BMI08X_ACCEL_ODR_1600_HZ UINT8_C(0x0C)
/* Accel Range */
#define BMI088_ACCEL_RANGE_3G UINT8_C(0x00)
#define BMI088_ACCEL_RANGE_6G UINT8_C(0x01)
#define BMI088_ACCEL_RANGE_12G UINT8_C(0x02)
#define BMI088_ACCEL_RANGE_24G UINT8_C(0x03)/* Gyro Range */
#define BMI08X_GYRO_RANGE_2000_DPS UINT8_C(0x00)
#define BMI08X_GYRO_RANGE_1000_DPS UINT8_C(0x01)
#define BMI08X_GYRO_RANGE_500_DPS UINT8_C(0x02)
#define BMI08X_GYRO_RANGE_250_DPS UINT8_C(0x03)
#define BMI08X_GYRO_RANGE_125_DPS UINT8_C(0x04)/* Gyro Output data rate and bandwidth */
#define BMI08X_GYRO_BW_532_ODR_2000_HZ UINT8_C(0x00)
#define BMI08X_GYRO_BW_230_ODR_2000_HZ UINT8_C(0x01)
#define BMI08X_GYRO_BW_116_ODR_1000_HZ UINT8_C(0x02)
#define BMI08X_GYRO_BW_47_ODR_400_HZ UINT8_C(0x03)
#define BMI08X_GYRO_BW_23_ODR_200_HZ UINT8_C(0x04)
#define BMI08X_GYRO_BW_12_ODR_100_HZ UINT8_C(0x05)
#define BMI08X_GYRO_BW_64_ODR_200_HZ UINT8_C(0x06)
#define BMI08X_GYRO_BW_32_ODR_100_HZ UINT8_C(0x07)
#define BMI08X_GYRO_ODR_RESET_VAL UINT8_C(0x80)#define BMI08X_ACCEL_DATA_SYNC_MODE_OFF 0x00
#define BMI08X_ACCEL_DATA_SYNC_MODE_400HZ 0x01
#define BMI08X_ACCEL_DATA_SYNC_MODE_1000HZ 0x02
#define BMI08X_ACCEL_DATA_SYNC_MODE_2000HZ 0x03/* Wait Time */
#define BMI08X_ACCEL_SOFTRESET_DELAY_MS UINT8_C(1)
#define BMI08X_GYRO_SOFTRESET_DELAY_MS UINT8_C(30)
#define BMI08X_GYRO_POWER_MODE_CONFIG_DELAY UINT8_C(30)
#define BMI08X_POWER_CONFIG_DELAY UINT8_C(50)#define G (9.80f)
#define deg2rad (3.1415926 / 180.0f)
#define rad2deg (180.0f / 3.1415926)typedef enum
{ACC_CHIP_ID_REG 0x00,ACC_ERR_REG 0x02,ACC_STATUS_REG 0x03,ACC_X_LSB_REG 0x12,ACC_X_MSB_REG 0x13,ACC_Y_LSB_REG 0x14,ACC_Y_MSB_REG 0x15,ACC_Z_LSB_REG 0x16,ACC_Z_MSB_REG 0x17,TEMP_MSB_REG 0x22,TEMP_LSB_REG 0x23,ACC_CONF_REG 0x40,ACC_RANGE_REG 0x41,INT1_IO_CTRL_REG 0x53,INT2_IO_CTRL_REG 0x54,ACC_SELF_TEST_REG 0x6D,ACC_PWR_CONF_REG 0x7C,ACC_PWR_CTRL_REG 0x7D,ACC_SOFTRESET_REG 0x7E
} bmi088a_reg_list_t;typedef enum
{GYRO_CHIP_ID_REG 0x00,RATE_X_LSB_REG 0x02,RATE_X_MSB_REG 0x03,RATE_Y_LSB_REG 0x04,RATE_Y_MSB_REG 0x05,RATE_Z_LSB_REG 0x06,RATE_Z_MSB_REG 0x07,GYRO_INT_STAT_1_REG 0x0A,GYRO_RANGE_REG 0x0F,GYRO_BANDWIDTH_REG 0x10,GYRO_LPM1_REG 0x11,GYRO_SOFTRESET_REG 0x14,GYRO_INT_CTRL_REG 0x15
} bmi088g_reg_list_t;enum bmi08x_intf {
/*! I2C interface */
BMI08X_I2C_INTF,
/*! SPI interface */
BMI08X_SPI_INTF
};struct bmi08x_cfg
{
/*! power mode */
uint8_t power;
/*! range */
uint8_t range;
/*! bandwidth */
uint8_t bw;
/*! output data rate */
uint8_t odr;
};/* bmi088 device structure */
struct bmi08x_dev
{
/*! Accel chip Id */
uint8_t accel_chip_id;
/*! Gyro chip Id */
uint8_t gyro_chip_id;
/*! Accel device Id in I2C mode, can be used for chip select pin in SPI mode */
rt_base_t accel_id;
/*! Gyro device Id in I2C mode, can be used for chip select pin in SPI mode */
rt_base_t gyro_id;
/*! Device of accel bus*/
rt_device_t accel_bus;
/*! Device of gyro bus*/
rt_device_t gyro_bus;
/*! 0 - I2C , 1 - SPI Interface */
enum bmi08x_intf intf;
/*! Structure to configure accel sensor */
struct bmi08x_cfg accel_cfg;
/*! Structure to configure gyro sensor */
struct bmi08x_cfg gyro_cfg;
/*! Config stream data buffer address will be assigned*/
const uint8_t *config_file_ptr;
/*! Max read/write length (maximum supported length is 32).
To be set by the user */
uint8_t read_write_len;
};struct bmi088_3axes
{rt_int16_t x;rt_int16_t y;rt_int16_t z;
};struct bmi088_data
{float x;float y;float z;
};struct bmi08x_dev *bmi088_init(const char *acc_name, const char *gyro_name);
void bmi088_deinit(struct bmi08x_dev *dev);
rt_err_t bmi088a_set_power_mode(struct bmi08x_dev *dev);
rt_err_t bmi088g_set_power_mode(struct bmi08x_dev *dev);
rt_err_t bmi088a_set_meas_conf(struct bmi08x_dev *dev);
rt_err_t bmi088g_set_meas_conf(struct bmi08x_dev *dev);
rt_size_t bmi088_get_accel(struct bmi08x_dev *dev, struct bmi088_data *buf);
rt_size_t bmi088_get_gyro(struct bmi08x_dev *dev, struct bmi088_data *buf);#endif // BMI088_H
sensor_intf_bmi088.c
#include sensor_intf_bmi088.h
#include bmi088.h
#include rtdbg.hstatic struct bmi08x_dev *bmi_dev;static rt_err_t _bmi088_init(struct rt_sensor_intf *acc_intf, struct rt_sensor_intf *gyr_intf)
{bmi_dev bmi088_init(acc_intf-dev_name, gyr_intf-dev_name);if (bmi_dev RT_NULL){return -RT_ERROR;}return RT_EOK;
}static rt_err_t _bmi088_set_power_mode(rt_sensor_t sensor, rt_uint8_t power)
{ if (sensor-info.type RT_SENSOR_CLASS_ACCE){if (power RT_SENSOR_POWER_DOWN) {bmi_dev-accel_cfg.power BMI08X_ACCEL_PM_SUSPEND;}else if (power RT_SENSOR_POWER_NORMAL){bmi_dev-accel_cfg.power BMI08X_ACCEL_PM_ACTIVE;}else {LOG_E(Unsupported power mode %d, power);return -RT_ERROR; }bmi088a_set_power_mode(bmi_dev);}else if (sensor-info.type RT_SENSOR_CLASS_GYRO){if (power RT_SENSOR_POWER_DOWN) {bmi_dev-gyro_cfg.power BMI08X_GYRO_PM_SUSPEND;}else if (power RT_SENSOR_POWER_NORMAL){bmi_dev-gyro_cfg.power BMI08X_GYRO_PM_NORMAL;}else if (power RT_SENSOR_POWER_NONE){bmi_dev-gyro_cfg.power BMI08X_GYRO_PM_DEEP_SUSPEND;}else {LOG_E(Unsupported power mode %d, power);return -RT_ERROR; }bmi088g_set_power_mode(bmi_dev);}else {LOG_E(Unsupported type %d, sensor-info.type);return -RT_ERROR;}return RT_EOK;
}/**
* This function get the data of bmi088 sensor, unit: mg, mdps** param sensor the pointer of rt_sensor_device.* param data the pointer of rt_sensor_data* * return the reading number.*/
static rt_size_t _bmi088_get_data(rt_sensor_t sensor, struct rt_sensor_data *data)
{rt_size_t len;if (sensor-info.type RT_SENSOR_CLASS_ACCE){struct bmi088_data acce_m_ss;len bmi088_get_accel(bmi_dev, acce_m_ss);data-type RT_SENSOR_CLASS_ACCE;data-data.acce.x acce_m_ss.x * 1000;data-data.acce.y acce_m_ss.y * 1000;data-data.acce.z acce_m_ss.z * 1000;data-timestamp rt_sensor_get_ts();}else if (sensor-info.type RT_SENSOR_CLASS_GYRO){struct bmi088_data gyro_rad_s;len bmi088_get_gyro(bmi_dev, gyro_rad_s);data-type RT_SENSOR_CLASS_GYRO;data-data.gyro.x gyro_rad_s.x * rad2deg * 1000;data-data.gyro.y gyro_rad_s.y * rad2deg * 1000;data-data.gyro.z gyro_rad_s.x * rad2deg * 1000;data-timestamp rt_sensor_get_ts();}return len;
}/**
* This function get the data of bmi088 sensor** param sensor the pointer of rt_sensor_device.* param buf the pointer of data buffer.* param len the length of data.* * return the reading number.*/
static rt_size_t _bmi088_fetch_data(struct rt_sensor_device *sensor, void *buf, rt_size_t len)
{if (sensor-config.mode RT_DEVICE_OFLAG_RDONLY){return _bmi088_get_data(sensor, (struct rt_sensor_data *)buf);}else{return 0;}
}/**
* This function control the bmi088 sensor** param sensor the pointer of rt_sensor_device.* param cmd the type of command.* param args the null pointer of commmand parameter, notice the pointer is four bytes.* * return the reading number.*/
static rt_err_t _bmi088_control(struct rt_sensor_device *sensor, int cmd, void *args)//args32λ(ָ붼4ֽ)
{rt_err_t result RT_EOK;switch (cmd){case RT_SENSOR_CTRL_GET_ID:if (sensor-info.type RT_SENSOR_CLASS_ACCE) {*(rt_uint8_t *)args 0x1E;}else if (sensor-info.type RT_SENSOR_CLASS_GYRO){*(rt_uint8_t *)args 0x0F;}break;case RT_SENSOR_CTRL_SET_ODR:case RT_SENSOR_CTRL_SET_RANGE:if (sensor-info.type RT_SENSOR_CLASS_ACCE) {result bmi088a_set_meas_conf(bmi_dev);}else if (sensor-info.type RT_SENSOR_CLASS_GYRO){result bmi088g_set_meas_conf(bmi_dev);}break;case RT_SENSOR_CTRL_SET_POWER:_bmi088_set_power_mode(sensor, (rt_uint32_t)args 0xff);break;case RT_SENSOR_CTRL_SET_MODE:break;case RT_SENSOR_CTRL_SELF_TEST:/* TODO */result -RT_EINVAL;break;default:return -RT_EINVAL;}return result;
}static struct rt_sensor_ops sensor_ops
{_bmi088_fetch_data, _bmi088_control
};/**
* This function initialize the bmi088** param name the name of bmi088, just first three characters will be used.* param acc_cfg the pointer of configuration structure for accelarometer.* param gyr_cfg the pointer of configuration structure for gyroscope.* * return the reading number.*/
rt_err_t rt_hw_bmi088_init(const char *name, struct rt_sensor_config *acc_cfg, struct rt_sensor_config *gyr_cfg)
{ rt_int8_t result;rt_sensor_t sensor_acce RT_NULL, sensor_gyro RT_NULL;//#ifdef PKG_USING_BMI088_ACCE/* accelerometer sensor register */{sensor_acce rt_calloc(1, sizeof(struct rt_sensor_device));if (sensor_acce RT_NULL){return -1;}sensor_acce-info.type RT_SENSOR_CLASS_ACCE;sensor_acce-info.vendor RT_SENSOR_VENDOR_BOSCH;sensor_acce-info.model bmi088_acc;sensor_acce-info.unit RT_SENSOR_UNIT_MG;sensor_acce-info.intf_type RT_SENSOR_INTF_SPI;sensor_acce-info.range_max 16000;sensor_acce-info.range_min 2000;sensor_acce-info.period_min 5;rt_memcpy(sensor_acce-config, acc_cfg, sizeof(struct rt_sensor_config));sensor_acce-ops sensor_ops;result rt_hw_sensor_register(sensor_acce, name, RT_DEVICE_FLAG_RDWR, RT_NULL);if (result ! RT_EOK){LOG_E(device register err code: %d, result);goto __exit;}}
//#endif
//#ifdef PKG_USING_BMI088_GYRO/* gyroscope sensor register */{sensor_gyro rt_calloc(1, sizeof(struct rt_sensor_device));if (sensor_gyro RT_NULL){goto __exit;}sensor_gyro-info.type RT_SENSOR_CLASS_GYRO;sensor_gyro-info.vendor RT_SENSOR_VENDOR_BOSCH;sensor_gyro-info.model bmi088_gyro;sensor_gyro-info.unit RT_SENSOR_UNIT_MDPS;sensor_gyro-info.intf_type RT_SENSOR_INTF_SPI;sensor_gyro-info.range_max 2000000;sensor_gyro-info.range_min 250000;sensor_gyro-info.period_min 5;rt_memcpy(sensor_gyro-config, gyr_cfg, sizeof(struct rt_sensor_config));sensor_gyro-ops sensor_ops;result rt_hw_sensor_register(sensor_gyro, name, RT_DEVICE_FLAG_RDWR, RT_NULL);if (result ! RT_EOK){LOG_E(device register err code: %d, result);goto __exit;}}
//#endifresult _bmi088_init(acc_cfg-intf, gyr_cfg-intf);if (result ! RT_EOK){LOG_E(_bmi088_init err code: %d, result);goto __exit;}LOG_I(sensor init success);return RT_EOK;__exit:if (sensor_acce){rt_free(sensor_acce);} if (sensor_gyro){rt_free(sensor_gyro);} if (bmi_dev){bmi088_deinit(bmi_dev);}return -RT_ERROR;
}
sensor_intf_bmi088.h
#ifndef __SENSOR_INTF_BMI088_H__
#define __SENSOR_INTF_BMI088_H__#include sensor.h
#include BMI088.hrt_err_t rt_hw_bmi088_init(const char *name, struct rt_sensor_config *acc_cfg, struct rt_sensor_config *gyr_cfg);#endif
第六步到main.c 配置bmi088 ①配置spi,配置片选引脚 rt_hw_spi_device_attach(BMI088_BUS_NAME, BMI088A_SPI_NAME, GPIOF, GPIO_PIN_3);rt_hw_spi_device_attach(BMI088_BUS_NAME, BMI088G_SPI_NAME, GPIOF, GPIO_PIN_4);②初始化bmi struct rt_sensor_config acc_cfg {0};struct rt_sensor_config gyr_cfg {0};acc_cfg.intf.dev_name BMI088A_SPI_NAME;gyr_cfg.intf.dev_name BMI088G_SPI_NAME;rt_hw_bmi088_init(bmi, acc_cfg, gyr_cfg);③查找 spi 设备获取设备句柄
acce_device_t rt_device_find(acce_bmi);if (acce_device_t RT_NULL){LOG_E(Cant find acce device\r\n);}else{rt_device_open(acce_device_t, RT_DEVICE_OFLAG_RDWR);}gyro_device_t rt_device_find(gyro_bmi);if (gyro_device_t RT_NULL){LOG_E(Cant find gyro device\r\n);}else{rt_device_open(gyro_device_t, RT_DEVICE_OFLAG_RDWR);}④读取姿态数据 rt_device_read(acce_device_t, 0, acc_test, 1); //加速度rt_device_read(gyro_device_t, 0, gyr_test, 1); //陀螺仪main.c
include rtthread.h
#include rtdbg.h
#include rtdevice.h
#include board.h
#include bmi088.h
#include sensor_intf_bmi088.h#define DBG_TAG main
#define DBG_LVL DBG_LOG#define SPI_DEVICE_NAME spi10
#define SPI_BUS_NAME spi1
#define BMI088_BUS_NAME spi1
#define BMI088A_SPI_NAME spi10
#define BMI088G_SPI_NAME spi11static rt_device_t acce_device_t;
static rt_device_t gyro_device_t;
struct rt_sensor_data acc_test;
struct rt_sensor_data gyr_test;int main(void)
{// 配置spi,配置片选引脚(要在acc、gyr初始化之前配置,因为器件初始化中涉及到引脚操作)rt_hw_spi_device_attach(BMI088_BUS_NAME, BMI088A_SPI_NAME, GPIOF, GPIO_PIN_3);rt_hw_spi_device_attach(BMI088_BUS_NAME, BMI088G_SPI_NAME, GPIOF, GPIO_PIN_4);// 注册传感器struct rt_sensor_config acc_cfg {0};struct rt_sensor_config gyr_cfg {0};acc_cfg.intf.dev_name BMI088A_SPI_NAME;gyr_cfg.intf.dev_name BMI088G_SPI_NAME;rt_hw_bmi088_init(bmi, acc_cfg, gyr_cfg);/* 查找 spi 设备获取设备句柄 */acce_device_t rt_device_find(acce_bmi);if (acce_device_t RT_NULL){LOG_E(Cant find acce device\r\n);}else{rt_device_open(acce_device_t, RT_DEVICE_OFLAG_RDWR);}gyro_device_t rt_device_find(gyro_bmi);if (gyro_device_t RT_NULL){LOG_E(Cant find gyro device\r\n);}else{rt_device_open(gyro_device_t, RT_DEVICE_OFLAG_RDWR);}while (1){rt_device_read(acce_device_t, 0, acc_test, 1); //加速度rt_device_read(gyro_device_t, 0, gyr_test, 1); //陀螺仪rt_kprintf(x%d y%d z%d\n,acc_test.data.acce.x,acc_test.data.acce.y,acc_test.data.acce.z);//rt_kprintf(x%d y%d z%d\n,gyr_test.data.gyro.x,gyr_test.data.gyro.y,gyr_test.data.gyro.z);rt_thread_mdelay(500);}
}如下为加速度计数据
