IMU Firmware. More...

Collaboration diagram for IMU:

Classes
struct	AccelGainOffsetValues
	Struct to store offset and gain values for accelerometer. More...

struct	GyroGainOffsetValues
	Struct to store offset and gain values for gyroscope. More...

struct	Axes

struct	Bmi323Settings

struct	Bmi323Storage
	Storage struct for bmi323. More...

Macros
#define	FEATURE_IO0 0x10

#define	FEATURE_IO1 0x11

#define	FEATURE_IO2 0x12

#define	FEATURE_IO3 0x13

#define	FEATURE_IO_STATUS 0x14

#define	FEATURE_CTRL 0x40

#define	INT_STATUS_INT1 0x0D

#define	INT_STATUS_INT2 0x0E

#define	BMI_SET_LOW_BYTE 0x00FF

#define	BMI_SET_HIGH_BYTE 0xFF00

#define	BMI3_E_NULL_PTR INT8_C(-1)

#define	BMI323_CHIP_ID 0x43U

#define	BMI323_MAX_NUM_DATA 16U

#define	BMI3_ACC_DP_DOFFSET_X_MASK UINT16_C(0x3FFF)

#define	BMI3_ACC_DP_DOFFSET_Y_MASK UINT16_C(0x3FFF)

#define	BMI3_ACC_DP_DOFFSET_Z_MASK UINT16_C(0x3FFF)

#define	BMI3_ACC_DP_DGAIN_X_MASK UINT16_C(0x00FF)

#define	BMI3_ACC_DP_DGAIN_Y_MASK UINT16_C(0x00FF)

#define	BMI3_ACC_DP_DGAIN_Z_MASK UINT16_C(0x00FF)

#define	BMI3_GYR_DP_OFF_X_MASK UINT16_C(0x03FF)

#define	BMI3_GYR_DP_DGAIN_X_MASK UINT16_C(0x007F)

#define	BMI3_GYR_DP_OFF_Y_MASK UINT16_C(0x03FF)

#define	BMI3_GYR_DP_DGAIN_Y_MASK UINT16_C(0x007F)

#define	BMI3_GYR_DP_OFF_Z_MASK UINT16_C(0x03FF)

#define	BMI3_GYR_DP_DGAIN_Z_MASK UINT16_C(0x007F)

Enumerations
enum	IMUAccelRange { IMU_ACCEL_RANGE_2G , IMU_ACCEL_RANGE_4G , IMU_ACCEL_RANGE_8G , IMU_ACCEL_RANGE_16G , NUM_IMU_ACCEL_RANGES , IMU_ACCEL_RANGE_2G , IMU_ACCEL_RANGE_4G , IMU_ACCEL_RANGE_8G , IMU_ACCEL_RANGE_16G , NUM_IMU_ACCEL_RANGES }
	IMU Accel range, in units of gravity acceleration (9.81m/s^2) More...

enum	IMUGyroRange { IMU_GYRO_RANGE_125_DEG , IMU_GYRO_RANGE_250_DEG , IMU_GYRO_RANGE_500_DEG , IMU_GYRO_RANGE_1000_DEG , IMU_GYRO_RANGE_2000_DEG , NUM_IMU_GYRO_RANGES , IMU_GYRO_RANGE_125_DEG , IMU_GYRO_RANGE_250_DEG , IMU_GYRO_RANGE_500_DEG , IMU_GYRO_RANGE_1000_DEG , IMU_GYRO_RANGE_2000_DEG , NUM_IMU_GYRO_RANGES }
	IMU Gyro range in units of degrees. More...

enum	Bmi323Registers { BMI323_REG_BANK_SEL = 0x7F , BMI323_REG_CHIP_ID = 0x00 , BMI323_REG_ERROR_STATUS = 0x02 , BMI323_REG_RESET = 0x63 , BMI323_REG_ACCEL_REG_ADDR = 0x03 , BMI323_REG_ACCEL_X_L = 0x12 , BMI323_REG_ACCEL_X_H = 0x13 , BMI323_REG_ACCEL_Y_L = 0x14 , BMI323_REG_ACCEL_Y_H = 0x15 , BMI323_REG_ACCEL_Z_L = 0x16 , BMI323_REG_ACCEL_Z_H = 0x17 , BMI323_REG_ACC_CONF = 0x20 , BMI323_REG_GYRO_REG_ADDR = 0x06 , BMI323_REG_GYRO_X_L = 0x0C , BMI323_REG_GYRO_X_H = 0x0D , BMI323_REG_GYRO_Y_L = 0x0E , BMI323_REG_GYRO_Y_H = 0x0F , BMI323_REG_GYRO_Z_L = 0x10 , BMI323_REG_GYRO_Z_H = 0x11 , BMI323_REG_GYRO_CONF = 0x21 , BMI323_REG_CTRL_REG1 = 0x19 , BMI323_REG_CTRL_REG2 = 0x1A , BMI323_REG_CTRL_REG3 = 0x1B , BMI323_REG_CTRL_REG4 = 0x1C , BMI323_REG_CTRL_REG5 = 0x1D , BMI323_REG_CTRL_REG6 = 0x1E , BMI323_REG_PWR_CTRL = 0x6C , BMI323_REG_PWR_CTRL2 = 0x6D , BMI323_REG_PWR_CTRL3 = 0x6E , BMI323_REG_PWR_CTRL4 = 0x6F , BMI323_REG_INT_CONFIG = 0x50 , BMI323_REG_INT_STATUS = 0x51 , BMI323_REG_INT_EN_1 = 0x52 , BMI323_REG_INT_EN_2 = 0x53 , BMI323_REG_STATUS_REG = 0x1E , BMI323_REG_FIFO_STATUS = 0x24 , BMI323_REG_TEMP_SENSOR = 0x22 , BMI323_REG_CALIBRATION_REG = 0x24 , BMI323_REG_ERROR_REG = 0x2B , BMI323_REG_CMD = 0x7E , ACC_DP_OFF_X = 0x60 , ACC_DP_DGAIN_X = 0x61 , ACC_DP_OFF_Y = 0x62 , ACC_DP_DGAIN_Y = 0x63 , ACC_DP_OFF_Z = 0x64 , ACC_DP_DGAIN_Z = 0x65 , GYR_DP_OFF_X = 0x66 , GYR_DP_DGAIN_X = 0x67 , GYR_DP_OFF_Y = 0x68 , GYR_DP_DGAIN_Y = 0x69 , GYR_DP_OFF_Z = 0x6A , GYR_DP_DGAIN_Z = 0x6B , BMI323_REG_BANK_SEL = 0x7F , BMI323_REG_CHIP_ID = 0x00 , BMI323_REG_ERROR_STATUS = 0x02 , BMI323_REG_RESET = 0x63 , BMI323_REG_ACCEL_REG_ADDR = 0x03 , BMI323_REG_ACCEL_X_L = 0x12 , BMI323_REG_ACCEL_X_H = 0x13 , BMI323_REG_ACCEL_Y_L = 0x14 , BMI323_REG_ACCEL_Y_H = 0x15 , BMI323_REG_ACCEL_Z_L = 0x16 , BMI323_REG_ACCEL_Z_H = 0x17 , BMI323_REG_ACC_CONF = 0x20 , BMI323_REG_GYRO_REG_ADDR = 0x06 , BMI323_REG_GYRO_X_L = 0x0C , BMI323_REG_GYRO_X_H = 0x0D , BMI323_REG_GYRO_Y_L = 0x0E , BMI323_REG_GYRO_Y_H = 0x0F , BMI323_REG_GYRO_Z_L = 0x10 , BMI323_REG_GYRO_Z_H = 0x11 , BMI323_REG_GYRO_CONF = 0x21 , BMI323_REG_CTRL_REG1 = 0x19 , BMI323_REG_CTRL_REG2 = 0x1A , BMI323_REG_CTRL_REG3 = 0x1B , BMI323_REG_CTRL_REG4 = 0x1C , BMI323_REG_CTRL_REG5 = 0x1D , BMI323_REG_CTRL_REG6 = 0x1E , BMI323_REG_PWR_CTRL = 0x6C , BMI323_REG_PWR_CTRL2 = 0x6D , BMI323_REG_PWR_CTRL3 = 0x6E , BMI323_REG_PWR_CTRL4 = 0x6F , BMI323_REG_INT_CONFIG = 0x50 , BMI323_REG_INT_STATUS = 0x51 , BMI323_REG_INT_EN_1 = 0x52 , BMI323_REG_INT_EN_2 = 0x53 , BMI323_REG_STATUS_REG = 0x1E , BMI323_REG_FIFO_STATUS = 0x24 , BMI323_REG_TEMP_SENSOR = 0x22 , BMI323_REG_CALIBRATION_REG = 0x24 , BMI323_REG_ERROR_REG = 0x2B , ACC_DP_OFF_X = 0x60 , ACC_DP_DGAIN_X = 0x61 , ACC_DP_OFF_Y = 0x62 , ACC_DP_DGAIN_Y = 0x63 , ACC_DP_OFF_Z = 0x64 , ACC_DP_DGAIN_Z = 0x65 , GYR_DP_OFF_X = 0x66 , GYR_DP_DGAIN_X = 0x67 , GYR_DP_OFF_Y = 0x68 , GYR_DP_DGAIN_Y = 0x69 , GYR_DP_OFF_Z = 0x6A , GYR_DP_DGAIN_Z = 0x6B , BMI323_REG_CMD = 0x7E }
	BMI323 Registers. More...

Functions
StatusCode	bmi323_init (Bmi323Storage *storage)
	Initialization function for bmi323. More...

StatusCode	bmi323_update (Bmi323Storage *storage)
	Update the gyro/accel data, to be called in medium cycle. More...

Detailed Description

IMU Firmware.

Enumeration Type Documentation

◆ Bmi323Registers

enum Bmi323Registers

BMI323 Registers.

Enumerator
BMI323_REG_BANK_SEL	Register Bank Select
BMI323_REG_CHIP_ID	Chip ID Register
BMI323_REG_ERROR_STATUS	Error Status Register
BMI323_REG_RESET	Soft Reset Command Register
BMI323_REG_ACCEL_REG_ADDR	Accelerometer Data Start Address
BMI323_REG_ACCEL_X_L	Accelerometer X-axis Low Byte
BMI323_REG_ACCEL_X_H	Accelerometer X-axis High Byte
BMI323_REG_ACCEL_Y_L	Accelerometer Y-axis Low Byte
BMI323_REG_ACCEL_Y_H	Accelerometer Y-axis High Byte
BMI323_REG_ACCEL_Z_L	Accelerometer Z-axis Low Byte
BMI323_REG_ACCEL_Z_H	Accelerometer Z-axis High Byte
BMI323_REG_ACC_CONF	Accelerometer configuration values
BMI323_REG_GYRO_REG_ADDR	Gyroscope Data Start Address
BMI323_REG_GYRO_X_L	Gyroscope X-axis Low Byte
BMI323_REG_GYRO_X_H	Gyroscope X-axis High Byte
BMI323_REG_GYRO_Y_L	Gyroscope Y-axis Low Byte
BMI323_REG_GYRO_Y_H	Gyroscope Y-axis High Byte
BMI323_REG_GYRO_Z_L	Gyroscope Z-axis Low Byte
BMI323_REG_GYRO_Z_H	Gyroscope Z-axis High Byte
BMI323_REG_GYRO_CONF	Gyroscope configuration values
BMI323_REG_CTRL_REG1	Control Register 1
BMI323_REG_CTRL_REG2	Control Register 2
BMI323_REG_CTRL_REG3	Control Register 3
BMI323_REG_CTRL_REG4	Control Register 4
BMI323_REG_CTRL_REG5	Control Register 5
BMI323_REG_CTRL_REG6	Control Register 6
BMI323_REG_PWR_CTRL	Power Control Register
BMI323_REG_PWR_CTRL2	Power Control 2 Register
BMI323_REG_PWR_CTRL3	Power Control 3 Register
BMI323_REG_PWR_CTRL4	Power Control 4 Register
BMI323_REG_INT_CONFIG	Interrupt Configuration Register
BMI323_REG_INT_STATUS	Interrupt Status Register
BMI323_REG_INT_EN_1	Interrupt Enable 1 Register
BMI323_REG_INT_EN_2	Interrupt Enable 2 Register
BMI323_REG_STATUS_REG	Status Register
BMI323_REG_FIFO_STATUS	FIFO Status Register
BMI323_REG_TEMP_SENSOR	Temperature Data Register
BMI323_REG_CALIBRATION_REG	Calibration Register
BMI323_REG_ERROR_REG	Error Register
BMI323_REG_CMD	Command Register (often used for resets and other operations)
BMI323_REG_BANK_SEL	Register Bank Select
BMI323_REG_CHIP_ID	Chip ID Register
BMI323_REG_ERROR_STATUS	Error Status Register
BMI323_REG_RESET	Soft Reset Command Register
BMI323_REG_ACCEL_REG_ADDR	Accelerometer Data Start Address
BMI323_REG_ACCEL_X_L	Accelerometer X-axis Low Byte
BMI323_REG_ACCEL_X_H	Accelerometer X-axis High Byte
BMI323_REG_ACCEL_Y_L	Accelerometer Y-axis Low Byte
BMI323_REG_ACCEL_Y_H	Accelerometer Y-axis High Byte
BMI323_REG_ACCEL_Z_L	Accelerometer Z-axis Low Byte
BMI323_REG_ACCEL_Z_H	Accelerometer Z-axis High Byte
BMI323_REG_ACC_CONF	Accelerometer configuration values
BMI323_REG_GYRO_REG_ADDR	Gyroscope Data Start Address
BMI323_REG_GYRO_X_L	Gyroscope X-axis Low Byte
BMI323_REG_GYRO_X_H	Gyroscope X-axis High Byte
BMI323_REG_GYRO_Y_L	Gyroscope Y-axis Low Byte
BMI323_REG_GYRO_Y_H	Gyroscope Y-axis High Byte
BMI323_REG_GYRO_Z_L	Gyroscope Z-axis Low Byte
BMI323_REG_GYRO_Z_H	Gyroscope Z-axis High Byte
BMI323_REG_GYRO_CONF	Gyroscope configuration values
BMI323_REG_CTRL_REG1	Control Register 1
BMI323_REG_CTRL_REG2	Control Register 2
BMI323_REG_CTRL_REG3	Control Register 3
BMI323_REG_CTRL_REG4	Control Register 4
BMI323_REG_CTRL_REG5	Control Register 5
BMI323_REG_CTRL_REG6	Control Register 6
BMI323_REG_PWR_CTRL	Power Control Register
BMI323_REG_PWR_CTRL2	Power Control 2 Register
BMI323_REG_PWR_CTRL3	Power Control 3 Register
BMI323_REG_PWR_CTRL4	Power Control 4 Register
BMI323_REG_INT_CONFIG	Interrupt Configuration Register
BMI323_REG_INT_STATUS	Interrupt Status Register
BMI323_REG_INT_EN_1	Interrupt Enable 1 Register
BMI323_REG_INT_EN_2	Interrupt Enable 2 Register
BMI323_REG_STATUS_REG	Status Register
BMI323_REG_FIFO_STATUS	FIFO Status Register
BMI323_REG_TEMP_SENSOR	Temperature Data Register
BMI323_REG_CALIBRATION_REG	Calibration Register
BMI323_REG_ERROR_REG	Error Register
BMI323_REG_CMD	Command Register (often used for resets and other operations)

◆ IMUAccelRange

enum IMUAccelRange

IMU Accel range, in units of gravity acceleration (9.81m/s^2)

Enumerator
IMU_ACCEL_RANGE_2G	+- 2Gs
IMU_ACCEL_RANGE_4G	+- 4Gs
IMU_ACCEL_RANGE_8G	+- 8Gs
IMU_ACCEL_RANGE_16G	+- 16Gs
NUM_IMU_ACCEL_RANGES	Number of IMU Accelerometer ranges
IMU_ACCEL_RANGE_2G	+/- 2Gs
IMU_ACCEL_RANGE_4G	+/- 4Gs
IMU_ACCEL_RANGE_8G	+/- 8Gs
IMU_ACCEL_RANGE_16G	+/- 16Gs
NUM_IMU_ACCEL_RANGES	Number of IMU Accelerometer ranges

◆ IMUGyroRange

enum IMUGyroRange

IMU Gyro range in units of degrees.

Enumerator
IMU_GYRO_RANGE_125_DEG	+- 125deg
IMU_GYRO_RANGE_250_DEG	+- 250deg
IMU_GYRO_RANGE_500_DEG	+- 500deg
IMU_GYRO_RANGE_1000_DEG	+- 1000deg
IMU_GYRO_RANGE_2000_DEG	+- 2000deg
IMU_GYRO_RANGE_125_DEG	+/- 125deg
IMU_GYRO_RANGE_250_DEG	+/- 250deg
IMU_GYRO_RANGE_500_DEG	+/- 500deg
IMU_GYRO_RANGE_1000_DEG	+/- 1000deg
IMU_GYRO_RANGE_2000_DEG	+/- 2000deg
NUM_IMU_GYRO_RANGES	Number of IMU Gyro ranges

Function Documentation

◆ bmi323_init()

StatusCode bmi323_init ( Bmi323Storage * storage )

Initialization function for bmi323.

Returns: STATUS_CODE_OK if initialization is successful STATUS_CODE_INVALID_ARGS if storage is null STATUS_CODE_INTERNAL_ERROR if chip ID is incorrect

◆ bmi323_update()

StatusCode bmi323_update ( Bmi323Storage * storage )

Update the gyro/accel data, to be called in medium cycle.

Returns: STATUS_CODE_OK

Classes

Macros

Enumerations

Functions