RoboMaster开发板C型 - BMI088官方驱动

移植方法

1. 将drv_bmi088.c,drv_bmi088.h,bmi08a.c,bmi08g.c,bmi08x.h,bmi08x_defs.h这7个文件复制到项目中的某个目录下
2. 在IMU代码模块中指定包含bmi08x.h和drv_bmi088.h即可

初始化过程以及数据获取参考example文件夹下的read_sensor_data部分

参数调整

目前引脚配置已经设置为RoboMaster C板可用，但是针对每个板可能需要校准角速度计零偏和加速度计尺度因子和偏置

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BMI08X Sensor API

Table of Contents

• Introduction
• Integration details
• Driver files information
• Sensor interfaces
• Integration Examples

Introduction

This package contains Bosch Sensortec's BMI08X Sensor API.

Integration details

• Integrate bmi08a.c, bmi08g.c,bmi08x_defs.h and bmi08x.h in your project.

Update variant of bmi08x_dev to BMI085_VARIANT to use the BMI085 sensor feature

 dev.variant = BMI085_VARIANT;

Update variant of bmi08x_dev to BMI088_VARIANT to use the BMI085 sensor feature

 dev.variant = BMI088_VARIANT;

• User has to include bmi08x.h in the code to call sensor APIs as shown below :

 #include "bmi08x.h"

Driver files information

• bmi08a.c
  • This file has function definitions of bmi08x accel generic API interfaces.
• bmi08g.c
  • This file has function definitions of bmi08x gyro generic API interfaces.
• bmi08x.h
  • This header file has necessary include files,bmi08x function declarations, required to make API calls.
• bmi08x_defs.h
  • This header file has necessary include files, macro definitions, typedefs and data structure definitions.

Sensor interfaces

• I2C interface
• SPI interface
  Note: By default, the interface is I2C.

Integration examples

Initializing BMI085 sensors

/* below code shows bmi085 integration steps */ To initialize BMI085 sensors, an instance of the bmi08x structure should be created. The following parameters are required to be updated in the structure, by the user, to initialize bmi085 sensors.

Parameters	Details
intf_ptr_accel	Interface pointer that can hold Accel device address
intf_ptr_gyro	Interface pointer that can hold Gyro device address
intf	I2C or SPI
read	read through I2C/SPI interface
write	write through I2C/SPI interface
delay_us	delay in microseconds
variant	BMI085_VARIANT

Initialize through SPI interface

int8_t rslt;

uint8_t acc_dev_addr = 0;
uint8_t gyro_dev_addr = 0;

struct bmi08x_dev dev = {

        .intf_ptr_accel = &acc_dev_addr,
        .intf_ptr_gyro = &gyro_dev_addr,
        .intf = BMI08X_SPI_INTF,  
        .read = user_spi_read,  
        .write = user_spi_write,  
        .delay_us = user_delay,
        .variant = BMI085_VARIANT 
};

/* Initialize the SPI */

/* Initializing the bmi085 sensors the below functions */

/* To Initialize accel sensor */

rslt = bmi08a_init(&dev);

/* To Initialize gyro sensor */

rslt = bmi08g_init(&dev);

Initialize through I2C interface

/* I2C slave address depends on the hardware configuration for details please refer Data sheet */

int8_t rslt;

uint8_t acc_dev_addr = BMI08X_ACCEL_I2C_ADDR_PRIMARY; /* User has define this macro depends on the I2C slave address */

uint8_t gyro_dev_addr = BMI08X_GYRO_I2C_ADDR_PRIMARY; /* User has define this macro depends on the I2C slave address */

struct bmi08x_dev dev = {

        .intf_ptr_accel = &acc_dev_addr,
        .intf_ptr_gyro = &gyro_dev_addr,
        .intf = BMI08X_I2C_INTF,  
        .read = user_i2c_read,  
        .write = user_i2c_write,  
        .delay_ms = user_delay,
        .variant = BMI085_VARIANT
};

/* Initialize the I2C */

/* Initializing the bmi085 sensors the below functions */

/* To Initialize accel sensor */

rslt = bmi08a_init(&dev);

/* To Initialize gyro sensor */

rslt = bmi08g_init(&dev);

Read Chip ID from the accel

int8_t rslt;
uint8_t data = 0;

/* Initialize the device instance as per the initialization example */

if(rslt == BMI08X_OK) 
{

    /* Read accel chip id */
    rslt = bmi08a_get_regs(BMI08X_ACCEL_CHIP_ID_REG, &data, 1, &dev);
}

Get the accel power mode

int8_t rslt;

/* Initialize the device instance as per the initialization example */

/* Read the accel power mode */

rslt = bmi08a_get_power_mode(&dev);

/* Power mode will be updated in the dev.accel_cfg.power */
	

Get the accelerometer configurations

int8_t rslt;

/* Initialize the device instance as per the initialization example */

/* Read the accel sensor config parameters (odr,bw,range) */

rslt = bmi08a_get_meas_conf(&dev);

/* Config parameters will be updated in the  dev.accel_cfg.odr,dev.accel_cfg.bw and dev.accel_cfg.range */
	

Configuring the accelerometer

int8_t rslt;

/* Initialize the device instance as per the initialization example */

/* Assign the desired configurations */

dev.accel_cfg.bw = BMI08X_ACCEL_BW_NORMAL;

dev.accel_cfg.odr = BMI08X_ACCEL_ODR_100_HZ;

dev.accel_cfg.range = BMI085_ACCEL_RANGE_4G;

dev.accel_cfg.power = BMI08X_ACCEL_PM_ACTIVE;


rslt = bmi08a_set_power_mode(&dev);

/* Wait for 10ms to switch between the power modes - delay taken care inside the function */

rslt = bmi08a_set_meas_conf(&dev);
	

Get accelerometer data

int8_t rslt;
struct bmi08x_sensor_data user_accel_bmi085;

/* Initialize the device instance as per the initialization example */

/* Read the sensor data into the sensor data instance */

rslt = bmi08a_get_data(&user_accel_bmi085, &dev);

Interrupt Configuring for accel data ready interrupt

/* Mapping data ready interrupt to interrupt channel */

int8_t rslt;
struct bmi08x_accel_int_channel_cfg int_config;

/* Initialize the device instance as per the initialization example */

/* Interrupt configurations */

int_config.int_channel = BMI08X_INT_CHANNEL_1;

int_config.int_type = BMI08X_ACCEL_DATA_RDY_INT;

int_config.int_pin_cfg.lvl = BMI08X_INT_ACTIVE_HIGH;

int_config.int_pin_cfg.output_mode = BMI08X_INT_MODE_PUSH_PULL;

int_config.int_pin_cfg.enable_int_pin = BMI08X_ENABLE;

/* Configure the controller port pin for the interrupt and assign the ISR */
	
/* Setting the interrupt configuration */

rslt = bmi08a_set_int_config(&int_config, &dev);


void interrupt_handler(void)
{
	/* ISR functionality */
}

/* Unmapping data ready interrupt to interrupt channel */

int8_t rslt;

struct bmi08x_accel_int_channel_cfg int_config;

/* Initialize the device instance as per the initialization example */

/* Interrupt configurations */

int_config.int_channel = BMI08X_INT_CHANNEL_1;

int_config.int_type = BMI08X_ACCEL_DATA_RDY_INT;

int_config.int_pin_cfg.lvl = BMI08X_INT_ACTIVE_HIGH;

int_config.int_pin_cfg.output_mode = BMI08X_INT_MODE_PUSH_PULL;

int_config.int_pin_cfg.enable_int_pin = BMI08X_DISABLE;


/* Setting the interrupt configuration */

rslt = bmi08a_set_int_config(&int_config, &dev);

/* Configure the controller port pin for disabling the interrupt */

void interrupt_handler(void)
{
	/* ISR functionality */
}

Get the sensor time

int8_t rslt;

uint32_t user_sampling_time;

/* Initialize the device instance as per the initialization example */
	
/* Read the sensor time */
rslt = bmi08a_get_sensor_time(&dev, &user_sampling_time);
	

Read Chip ID from the gyro

int8_t rslt;
uint8_t data = 0;

/* Initialize the device instance as per the initialization example */

if(rslt == BMI08X_OK) 
{

    /* Read gyro chip id */
    rslt = bmi08g_get_regs(BMI08X_GYRO_CHIP_ID_REG, &data, 1, &dev);
}
			

Get the gyro power mode

int8_t rslt;

/* Initialize the device instance as per the initialization example */

/* Read the gyro power mode */

rslt = bmi08g_get_power_mode(&dev)

/* Power mode will be updated in the dev.gyro_cfg.power */
	

Get the gyro sensor config

int8_t rslt;

/* Initialize the device instance as per the initialization example */

/* Read the gyro sensor config parameters (odr,bw,range) */

rslt = bmi08g_get_meas_conf(&dev);

/* Config parameters will be updated in the dev.gyro_cfg.odr,dev.gyro_cfg.bw and dev.gyro_cfg.range */

Configuring the gyro

int8_t rslt;

/* Initialize the device instance as per the initialization example */
	
dev.gyro_cfg.power = BMI08X_GYRO_PM_NORMAL;

rslt = bmi08g_set_power_mode(&dev);

/* Wait for 30ms to switch between the power modes - delay taken care inside the function */
	
/* Assign the desired configurations */

dev.gyro_cfg.odr = BMI08X_GYRO_BW_23_ODR_200_HZ;

dev.gyro_cfg.range = BMI08X_GYRO_RANGE_1000_DPS;

dev.gyro_cfg.bw = BMI08X_GYRO_BW_23_ODR_200_HZ;

rslt = bmi08g_set_meas_conf(&dev);
	

Get gyro data

int8_t rslt;

struct bmi08x_sensor_data user_gyro_bmi085;

/* Initialize the device instance as per the initialization example */

/* Read the sensor data into the sensor data instance */

rslt = bmi08g_get_data(&user_gyro_bmi085, &dev);

Interrupt Configuring for gyro data ready interrupt

int8_t rslt;
struct bmi08x_gyro_int_channel_cfg int_config;

/* Initialize the device instance as per the initialization example */

/* Mapping data ready interrupt to interrupt channel */

int_config.int_channel = BMI08X_INT_CHANNEL_3;

int_config.int_type = BMI08X_GYRO_DATA_RDY_INT;

int_config.int_pin_cfg.lvl = BMI08X_INT_ACTIVE_HIGH;

int_config.int_pin_cfg.output_mode = BMI08X_INT_MODE_PUSH_PULL;

int_config.int_pin_cfg.enable_int_pin = BMI08X_ENABLE;

/* Setting the interrupt configuration */

rslt = bmi08g_set_int_config(&int_config, &dev);

/* Configure the controller port pin for the interrupt and assign the ISR */
	
void interrupt_handler(void)
{
	/* ISR functionality */
}

/* Disabling gyro data ready interrupt */

struct bmi08x_gyro_int_channel_cfg int_config;

/* Initialize the device instance as per the initialization example */

int_config.int_channel = BMI08X_INT_CHANNEL_3;

int_config.int_type = BMI08X_GYRO_DATA_RDY_INT;

int_config.int_pin_cfg.lvl = BMI08X_INT_ACTIVE_HIGH;

int_config.int_pin_cfg.output_mode = BMI08X_INT_MODE_PUSH_PULL;

int_config.int_pin_cfg.enable_int_pin = BMI08X_DISABLE;


/* Setting the interrupt configuration */

rslt = bmi08g_set_int_config(&int_config, &dev);