modm API documentation
Public Types | Public Member Functions | Static Public Attributes | Protected Member Functions | Protected Attributes | List of all members
modm::Bmi088I2cTransport< I2cMaster > Class Template Reference
External Device Drivers » BMI088 Inertial Measurement Unit

#include <modm/driver/inertial/bmi088_transport.hpp>

Inheritance diagram for modm::Bmi088I2cTransport< I2cMaster >:
modm::Bmi088TransportBase modm::I2cDevice< I2cMaster > modm::NestedResumable< 10+1 >

Public Types

enum  AccRegister : uint8_t {
  ChipId = 0x00, Error = 0x02, Status = 0x03, DataXLow = 0x12,
  DataXHigh = 0x13, DataYLow = 0x14, DataYHigh = 0x15, DataZLow = 0x16,
  DataZHigh = 0x17, SensorTime0 = 0x18, SensorTime1 = 0x19, SensorTime2 = 0x1A,
  InterruptStatus = 0x1D, TempHigh = 0x22, TempLow = 0x23, FifoLength0 = 0x24,
  FifoLength1 = 0x25, FifoData = 0x26, Config = 0x40, Range = 0x41,
  FifoDownsampling = 0x45, FifoWatermark0 = 0x46, FifoWatermark1 = 0x47, FifoConfig0 = 0x48,
  FifoConfig1 = 0x49, Int1Control = 0x53, Int2Control = 0x54, IntMap = 0x58,
  SelfTest = 0x6D, PowerConfig = 0x7C, PowerControl = 0x7D, SoftReset = 0x7E
}
 
enum  GyroRegister : uint8_t {
  ChipId = 0x00, RateXLow = 0x02, RateXHigh = 0x03, RateYLow = 0x04,
  RateYHigh = 0x05, RateZLow = 0x06, RateZHigh = 0x07, InterruptStatus = 0x0A,
  FifoStatus = 0x0E, Range = 0x0F, Bandwidth = 0x10, LowPowerMode1 = 0x11,
  SoftReset = 0x14, InterruptControl = 0x15, Int3Int4Conf = 0x16, Int3Int4Map = 0x18,
  FifoWatermark = 0x1E, FifoExtInt = 0x34, SelfTest = 0x3C, FifoConfig0 = 0x3D,
  FifoConfig1 = 0x3E, FifoData = 0x3F
}
 

Public Member Functions

 Bmi088I2cTransport (uint8_t accAddress, uint8_t gyroAddress)
 
 Bmi088I2cTransport (const Bmi088I2cTransport &) = delete
 
Bmi088I2cTransport & operator= (const Bmi088I2cTransport &) = delete
 
void initialize ()
 
std::span< uint8_t > readRegisters (AccRegister startReg, uint8_t count)
 
std::span< uint8_t > readRegisters (GyroRegister startReg, uint8_t count)
 
bool writeRegister (AccRegister reg, uint8_t data)
 
bool writeRegister (GyroRegister reg, uint8_t data)
 
void attachConfigurationHandler (I2c::ConfigurationHandler handler)
 
modm::ResumableResult< bool > ping ()
 
void setAddress (uint8_t address)
 

Static Public Attributes

static constexpr uint8_t MaxRegisterSequence {6}
 

Protected Member Functions

modm::ResumableResult< ReturnType > resumable function (...)
 
int8_t getResumableDepth () const
 
bool isResumableRunning () const
 
bool isTransactionRunning ()
 
modm::ResumableResult< bool > runTransaction ()
 Starts our own transaction and waits until finished.
 
bool startRead (uint8_t *buffer, std::size_t size)
 Configures the transaction with a read operation and starts it.
 
bool startTransaction ()
 Starts the transaction with our own transaction object.
 
bool startTransaction (modm::I2cTransaction *transaction)
 Starts the transaction with a seperate transaction object.
 
bool startWrite (const uint8_t *buffer, std::size_t size)
 Configures the transaction with a write operation and starts it.
 
bool startWriteRead (const uint8_t *writeBuffer, std::size_t writeSize, uint8_t *readBuffer, std::size_t readSize)
 Configures the transaction with a write/read operation and starts it.
 
void stopResumable ()
 Force all resumable functions to stop running at the current nesting level.
 
bool wasTransactionSuccessful ()
 

Protected Attributes

I2cWriteReadTransaction transaction
 

Detailed Description

template<typename I2cMaster>
class modm::Bmi088I2cTransport< I2cMaster >

BMI088 I2C transport. Pass as template parameter to Bmi088 driver class to use the driver with I2C.

Template Parameters
I2cMasterI2c master the device is connected to

Member Function Documentation

void modm::I2cDevice< I2cMaster, 10 , I2cWriteReadTransaction >::attachConfigurationHandler ( I2c::ConfigurationHandler  handler)
inheritedinline

Attaches a configuration handler, which is called before a transaction, whenever the configuration has to be changed.

modm::ResumableResult< ReturnType > resumable modm::NestedResumable< 1 >::function (   ...)
inherited

Run the resumable function.

You need to implement this method in you subclass yourself.

Returns
>NestingError if still running, <=NestingError if it has finished.
int8_t modm::NestedResumable< 1 >::getResumableDepth ( ) const
inheritedinline
Returns
the nesting depth in the current resumable function, or -1 if called outside any resumable function
bool modm::NestedResumable< 1 >::isResumableRunning ( ) const
inheritedinline
Returns
true if a resumable function is running at the current nesting level, else false
bool modm::I2cDevice< I2cMaster, 10 , I2cWriteReadTransaction >::isTransactionRunning ( )
inheritedinlineprotected
Returns
true when transaction is busy.
modm::ResumableResult<bool> modm::I2cDevice< I2cMaster, 10 , I2cWriteReadTransaction >::ping ( )
inheritedinline
Return Values
truedevice responds to address
falseno device with address found
void modm::I2cDevice< I2cMaster, 10 , I2cWriteReadTransaction >::setAddress ( uint8_t  address)
inheritedinline

Sets a new address of the slave device.

Parameters
addressthe slave address not yet shifted left (address < 128).
bool modm::I2cDevice< I2cMaster, 10 , I2cWriteReadTransaction >::wasTransactionSuccessful ( )
inheritedinlineprotected
Returns
true when transaction did not return an error.
The documentation for this class was generated from the following file: