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25-sentry-chassis/A-Driver/BMI088driver.c
HelixCopex bc5bd0c72e 首次提交
2026-05-17 21:07:34 +08:00

244 lines
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C
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#include "BMI088driver.h"
#include "BMI088reg.h"
#include "BMI088Middleware.h"
float BMI088_ACCEL_SEN = BMI088_ACCEL_3G_SEN;
float BMI088_GYRO_SEN = BMI088_GYRO_2000_SEN;
//加速度计读写
#define BMI088_accel_write_single_reg(reg, data) \
{ \
BMI088_ACCEL_NS_L(); \
BMI088_write_single_reg((reg), (data)); \
BMI088_ACCEL_NS_H(); \
}
#define BMI088_accel_read_single_reg(reg, data) \
{ \
BMI088_ACCEL_NS_L(); \
BMI088_read_write_byte((reg) | 0x80); \
BMI088_read_write_byte(0x55); \
(data) = BMI088_read_write_byte(0x55); \
BMI088_ACCEL_NS_H(); \
}
//#define BMI088_accel_write_muli_reg( reg, data, len) { BMI088_ACCEL_NS_L(); BMI088_write_muli_reg(reg, data, len); BMI088_ACCEL_NS_H(); }
#define BMI088_accel_read_muli_reg(reg, data, len) \
{ \
BMI088_ACCEL_NS_L(); \
BMI088_read_write_byte((reg) | 0x80); \
BMI088_read_muli_reg(reg, data, len); \
BMI088_ACCEL_NS_H(); \
}
//角速度寄存器读写函数
#define BMI088_gyro_write_single_reg(reg, data) \
{ \
BMI088_GYRO_NS_L(); \
BMI088_write_single_reg((reg), (data)); \
BMI088_GYRO_NS_H(); \
}
#define BMI088_gyro_read_single_reg(reg, data) \
{ \
BMI088_GYRO_NS_L(); \
BMI088_read_single_reg((reg), &(data)); \
BMI088_GYRO_NS_H(); \
}
//#define BMI088_gyro_write_muli_reg( reg, data, len) { BMI088_GYRO_NS_L(); BMI088_write_muli_reg( ( reg ), ( data ), ( len ) ); BMI088_GYRO_NS_H(); }
#define BMI088_gyro_read_muli_reg(reg, data, len) \
{ \
BMI088_GYRO_NS_L(); \
BMI088_read_muli_reg((reg), (data), (len)); \
BMI088_GYRO_NS_H(); \
}
static void BMI088_write_single_reg(uint8_t reg, uint8_t data);
static void BMI088_read_single_reg(uint8_t reg, uint8_t *return_data);
//static void BMI088_write_muli_reg(uint8_t reg, uint8_t* buf, uint8_t len );
static void BMI088_read_muli_reg(uint8_t reg, uint8_t *buf, uint8_t len);
//寄存器表
static uint8_t write_BMI088_accel_reg_data_error[BMI088_WRITE_ACCEL_REG_NUM][3] =
{
{BMI088_ACC_PWR_CTRL, BMI088_ACC_ENABLE_ACC_ON, BMI088_ACC_PWR_CTRL_ERROR},
{BMI088_ACC_PWR_CONF, BMI088_ACC_PWR_ACTIVE_MODE, BMI088_ACC_PWR_CONF_ERROR},
{BMI088_ACC_CONF, BMI088_ACC_NORMAL| BMI088_ACC_800_HZ | BMI088_ACC_CONF_MUST_Set, BMI088_ACC_CONF_ERROR},
{BMI088_ACC_RANGE, BMI088_ACC_RANGE_3G, BMI088_ACC_RANGE_ERROR},
{BMI088_INT1_IO_CTRL, BMI088_ACC_INT1_IO_ENABLE | BMI088_ACC_INT1_GPIO_PP | BMI088_ACC_INT1_GPIO_LOW, BMI088_INT1_IO_CTRL_ERROR},
{BMI088_INT_MAP_DATA, BMI088_ACC_INT1_DRDY_INTERRUPT, BMI088_INT_MAP_DATA_ERROR}
};
static uint8_t write_BMI088_gyro_reg_data_error[BMI088_WRITE_GYRO_REG_NUM][3] =
{
{BMI088_GYRO_RANGE, BMI088_GYRO_2000, BMI088_GYRO_RANGE_ERROR},
{BMI088_GYRO_BANDWIDTH, BMI088_GYRO_1000_116_HZ | BMI088_GYRO_BANDWIDTH_MUST_Set, BMI088_GYRO_BANDWIDTH_ERROR},
{BMI088_GYRO_LPM1, BMI088_GYRO_NORMAL_MODE, BMI088_GYRO_LPM1_ERROR},
{BMI088_GYRO_CTRL, BMI088_DRDY_ON, BMI088_GYRO_CTRL_ERROR},
{BMI088_GYRO_INT3_INT4_IO_CONF, BMI088_GYRO_INT3_GPIO_PP | BMI088_GYRO_INT3_GPIO_LOW, BMI088_GYRO_INT3_INT4_IO_CONF_ERROR},
{BMI088_GYRO_INT3_INT4_IO_MAP, BMI088_GYRO_DRDY_IO_INT3, BMI088_GYRO_INT3_INT4_IO_MAP_ERROR}
};
//初始化函数
uint8_t BMI088_init(void)
{
uint8_t error = BMI088_NO_ERROR;
// GPIO and SPI Init .
BMI088_GPIO_init();
BMI088_com_init();
error |= bmi088_accel_init();
error |= bmi088_gyro_init();
return error;
}
unsigned char bmi088_accel_init(void)
{
uint8_t res = 0;
uint8_t write_reg_num = 0;
//check commiunication
BMI088_accel_read_single_reg(BMI088_ACC_CHIP_ID, res);
BMI088_delay_us(BMI088_COM_WAIT_SENSOR_TIME);
BMI088_accel_read_single_reg(BMI088_ACC_CHIP_ID, res);
BMI088_delay_us(BMI088_COM_WAIT_SENSOR_TIME);
//accel software reset
BMI088_accel_write_single_reg(BMI088_ACC_SOFTRESET, BMI088_ACC_SOFTRESET_VALUE);
BMI088_delay_ms(BMI088_LONG_DELAY_TIME);
//check commiunication is normal after reset
BMI088_accel_read_single_reg(BMI088_ACC_CHIP_ID, res);
BMI088_delay_us(BMI088_COM_WAIT_SENSOR_TIME);
BMI088_accel_read_single_reg(BMI088_ACC_CHIP_ID, res);
BMI088_delay_us(BMI088_COM_WAIT_SENSOR_TIME);
// check the "who am I"
if (res != BMI088_ACC_CHIP_ID_VALUE)
{
return BMI088_NO_SENSOR;
}
//set accel sonsor config and check
for (write_reg_num = 0; write_reg_num < BMI088_WRITE_ACCEL_REG_NUM; write_reg_num++)
{
BMI088_accel_write_single_reg(write_BMI088_accel_reg_data_error[write_reg_num][0], write_BMI088_accel_reg_data_error[write_reg_num][1]);
BMI088_delay_us(BMI088_COM_WAIT_SENSOR_TIME);
BMI088_accel_read_single_reg(write_BMI088_accel_reg_data_error[write_reg_num][0], res);
BMI088_delay_us(BMI088_COM_WAIT_SENSOR_TIME);
if (res != write_BMI088_accel_reg_data_error[write_reg_num][1])
{
return write_BMI088_accel_reg_data_error[write_reg_num][2];
}
}
return BMI088_NO_ERROR;
}
unsigned char bmi088_gyro_init(void)
{
uint8_t write_reg_num = 0;
uint8_t res = 0;
//check commiunication
BMI088_gyro_read_single_reg(BMI088_GYRO_CHIP_ID, res);
BMI088_delay_us(BMI088_COM_WAIT_SENSOR_TIME);
BMI088_gyro_read_single_reg(BMI088_GYRO_CHIP_ID, res);
BMI088_delay_us(BMI088_COM_WAIT_SENSOR_TIME);
//reset the gyro sensor
BMI088_gyro_write_single_reg(BMI088_GYRO_SOFTRESET, BMI088_GYRO_SOFTRESET_VALUE);
BMI088_delay_ms(BMI088_LONG_DELAY_TIME);
//check commiunication is normal after reset
BMI088_gyro_read_single_reg(BMI088_GYRO_CHIP_ID, res);
BMI088_delay_us(BMI088_COM_WAIT_SENSOR_TIME);
BMI088_gyro_read_single_reg(BMI088_GYRO_CHIP_ID, res);
BMI088_delay_us(BMI088_COM_WAIT_SENSOR_TIME);
// check the "who am I"
if (res != BMI088_GYRO_CHIP_ID_VALUE)
{
return BMI088_NO_SENSOR;
}
//set gyro sonsor config and check
for (write_reg_num = 0; write_reg_num < BMI088_WRITE_GYRO_REG_NUM; write_reg_num++)
{
BMI088_gyro_write_single_reg(write_BMI088_gyro_reg_data_error[write_reg_num][0], write_BMI088_gyro_reg_data_error[write_reg_num][1]);
BMI088_delay_us(BMI088_COM_WAIT_SENSOR_TIME);
BMI088_gyro_read_single_reg(write_BMI088_gyro_reg_data_error[write_reg_num][0], res);
BMI088_delay_us(BMI088_COM_WAIT_SENSOR_TIME);
if (res != write_BMI088_gyro_reg_data_error[write_reg_num][1])
{
return write_BMI088_gyro_reg_data_error[write_reg_num][2];
}
}
return BMI088_NO_ERROR;
}
//BMI088寄存器读写函数
void BMI088_read(float gyro[3], float accel[3], float *temperate)
{
uint8_t buf[8] = {0, 0, 0, 0, 0, 0};
int16_t bmi088_raw_temp;
BMI088_accel_read_muli_reg(BMI088_ACCEL_XOUT_L, buf, 6);
bmi088_raw_temp = (int16_t)((buf[1]) << 8) | buf[0];
accel[0] = bmi088_raw_temp * BMI088_ACCEL_SEN;
bmi088_raw_temp = (int16_t)((buf[3]) << 8) | buf[2];
accel[1] = bmi088_raw_temp * BMI088_ACCEL_SEN;
bmi088_raw_temp = (int16_t)((buf[5]) << 8) | buf[4];
accel[2] = bmi088_raw_temp * BMI088_ACCEL_SEN;
BMI088_gyro_read_muli_reg(BMI088_GYRO_CHIP_ID, buf, 8);
if(buf[0] == BMI088_GYRO_CHIP_ID_VALUE)
{
bmi088_raw_temp = (int16_t)((buf[3]) << 8) | buf[2];
gyro[0] = bmi088_raw_temp * BMI088_GYRO_SEN;
bmi088_raw_temp = (int16_t)((buf[5]) << 8) | buf[4];
gyro[1] = bmi088_raw_temp * BMI088_GYRO_SEN;
bmi088_raw_temp = (int16_t)((buf[7]) << 8) | buf[6];
gyro[2] = bmi088_raw_temp * BMI088_GYRO_SEN;
}
BMI088_accel_read_muli_reg(BMI088_TEMP_M, buf, 2);
bmi088_raw_temp = (int16_t)((buf[0] << 3) | (buf[1] >> 5));
if (bmi088_raw_temp > 1023)
{
bmi088_raw_temp -= 2048;
}
*temperate = bmi088_raw_temp * BMI088_TEMP_FACTOR + BMI088_TEMP_OFFSET;
}
static void BMI088_write_single_reg(uint8_t reg, uint8_t data)
{
BMI088_read_write_byte(reg);
BMI088_read_write_byte(data);
}
static void BMI088_read_single_reg(uint8_t reg, uint8_t *return_data)
{
BMI088_read_write_byte(reg | 0x80);
*return_data = BMI088_read_write_byte(0x55);
}
static void BMI088_read_muli_reg(uint8_t reg, uint8_t *buf, uint8_t len)
{
BMI088_read_write_byte(reg | 0x80);
while (len != 0)
{
*buf = BMI088_read_write_byte(0x55);
buf++;
len--;
}
}
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