imu Firmware More...

Classes
struct	AccelGainOffsetValues

struct	GyroGainOffsetValues

struct	Axes

struct	Bmi323Settings

struct	Bmi323Storage

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)

#define	IMU_CAN_RX { .port = GPIO_PORT_B, .pin = 8 }
	IMU CAN RX Port.

#define	IMU_CAN_TX { .port = GPIO_PORT_B, .pin = 9 }
	IMU CAN TX Port.

#define	IMU_SPI_PORT SPI_PORT_2

#define	IMU_SPI_PORT SPI_PORT_2

#define	IMU_SPI_SDO { .port = GPIO_PORT_B, .pin = 15 }

#define	IMU_SPI_SDI { .port = GPIO_PORT_B, .pin = 14 }

#define	IMU_SPI_NSS { .port = GPIO_PORT_B, .pin = 12 }

#define	IMU_SPI_SCLK { .port = GPIO_PORT_B, .pin = 13 }

#define	IMU_SPI_INT1 { .port = GPIO_PORT_B, .pin = 0 }

#define	IMU_SPI_INT2 { .port = GPIO_PORT_B, .pin = 1 }

#define	IMU_SPI_BAUDRATE SPI_BAUDRATE_5MHZ

#define	IMU_SPI_MODE SPI_MODE_3

Enumerations
enum	IMUAccelRange { IMU_ACCEL_RANGE_2G , IMU_ACCEL_RANGE_4G , IMU_ACCEL_RANGE_8G , IMU_ACCEL_RANGE_16G , NUM_IMU_ACCEL_RANGE }
	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 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 Registers. More...

Functions
StatusCode	bmi323_init (Bmi323Storage *storage)

StatusCode	bmi323_update ()

StatusCode	imu_init (Bmi323Storage storage, Bmi323Settings settings)

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)

◆ 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_RANGE	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

Classes

Macros

Enumerations

Functions

Detailed Description

Enumeration Type Documentation

◆ Bmi323Registers

◆ IMUAccelRange

◆ IMUGyroRange