bmi323.h

#pragma once
 
/************************************************************************************************
 * @file   bmi323.h
 *
 * @brief  Header file for BMI323 Driver
 *
 * @date   2026-02-08
 * @author Midnight Sun Team #24 - MSXVI
 ************************************************************************************************/
 
/* Standard library Headers */
 
/* Inter-component Headers */
#include "can.h"
#include "spi.h"
 
/* Intra-component Headers */
 
#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)
 
typedef enum {
  IMU_ACCEL_RANGE_2G,  
  IMU_ACCEL_RANGE_4G,  
  IMU_ACCEL_RANGE_8G,  
  IMU_ACCEL_RANGE_16G, 
  NUM_IMU_ACCEL_RANGES 
} IMUAccelRange;
 
typedef enum {
  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 
} IMUGyroRange;
 
typedef enum {
  /* General Registers */
  BMI323_REG_BANK_SEL = 0x7F,     
  BMI323_REG_CHIP_ID = 0x00,      
  BMI323_REG_ERROR_STATUS = 0x02, 
  BMI323_REG_RESET = 0x63,        
  /* Accelerometer Registers */
  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,       
  /* Gyroscope Registers */
  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,     
  /* Control and Configuration Registers */
  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, 
  /* Power Management */
  BMI323_REG_PWR_CTRL = 0x6C,  
  BMI323_REG_PWR_CTRL2 = 0x6D, 
  BMI323_REG_PWR_CTRL3 = 0x6E, 
  BMI323_REG_PWR_CTRL4 = 0x6F, 
  /* Interrupt Registers */
  BMI323_REG_INT_CONFIG = 0x50, 
  BMI323_REG_INT_STATUS = 0x51, 
  BMI323_REG_INT_EN_1 = 0x52,   
  BMI323_REG_INT_EN_2 = 0x53,   
  /* Status Registers */
  BMI323_REG_STATUS_REG = 0x1E,  
  BMI323_REG_FIFO_STATUS = 0x24, 
  /* Temperature Sensor Registers */
  BMI323_REG_TEMP_SENSOR = 0x22, 
  /* Calibration and Error Handling */
  BMI323_REG_CALIBRATION_REG = 0x24, 
  BMI323_REG_ERROR_REG = 0x2B,       
  /* Offset & Gain Registers*/
  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,
 
  /* Other Registers */
  BMI323_REG_CMD = 0x7E, 
} Bmi323Registers;
 
typedef struct {
  uint16_t accel_offset_x;
  uint16_t accel_offset_y;
  uint16_t accel_offset_z;
  uint8_t accel_gain_x;
  uint8_t accel_gain_y;
  uint8_t accel_gain_z;
} AccelGainOffsetValues;
 
typedef struct {
  uint16_t gyro_offset_x;
  uint16_t gyro_offset_y;
  uint16_t gyro_offset_z;
  uint8_t gyro_gain_x;
  uint8_t gyro_gain_y;
  uint8_t gyro_gain_z;
} GyroGainOffsetValues;
 
typedef struct {
  float x;
  float y;
  float z;
} Axes;
 
typedef struct {
  SpiPort spi_port;
  SpiSettings spi_settings;
  GpioAddress int1;
  GpioAddress int2;
  IMUAccelRange accel_range;
  IMUGyroRange gyro_range;
} Bmi323Settings;
 
typedef struct {
  Bmi323Settings *settings;
  Axes accel;
  Axes gyro;
  AccelGainOffsetValues accel_go_values;
  GyroGainOffsetValues gyro_go_values;
} Bmi323Storage;
 
StatusCode bmi323_init(Bmi323Storage *storage);
 
StatusCode bmi323_update(Bmi323Storage *storage);