#include <modm/driver/inertial/bmi088.hpp>

Inheritance diagram for modm::bmi088< Transport >:

Classes
struct	AccData

struct	GyroData

Public Types
enum	AccRange : uint8_t { Range3g = 0x00, Range6g = 0x01, Range12g = 0x02, Range24g = 0x03 }

enum	GyroRange : uint8_t { Range2000dps = 0x00, Range1000dps = 0x01, Range500dps = 0x02, Range250dps = 0x03, Range125dps = 0x04 }

enum	AccRate : uint8_t { Rate12Hz_Bw5Hz = 0x5 \| 0xA0, Rate12Hz_Bw2Hz = 0x5 \| 0x90, Rate12Hz_Bw1Hz = 0x5 \| 0x80, Rate25Hz_Bw10Hz = 0x6 \| 0xA0, Rate25Hz_Bw5Hz = 0x6 \| 0x90, Rate25Hz_Bw3Hz = 0x6 \| 0x80, Rate50Hz_Bw20Hz = 0x7 \| 0xA0, Rate50Hz_Bw9Hz = 0x7 \| 0x90, Rate50Hz_Bw5Hz = 0x7 \| 0x80, Rate100Hz_Bw40Hz = 0x8 \| 0xA0, Rate100Hz_Bw19Hz = 0x8 \| 0x90, Rate100Hz_Bw10Hz = 0x8 \| 0x80, Rate200Hz_Bw80Hz = 0x9 \| 0xA0, Rate200Hz_Bw38Hz = 0x9 \| 0x90, Rate200Hz_Bw20Hz = 0x9 \| 0x80, Rate400Hz_Bw145Hz = 0xA \| 0xA0, Rate400Hz_Bw75Hz = 0xA \| 0x90, Rate400Hz_Bw40Hz = 0xA \| 0x80, Rate800Hz_Bw230Hz = 0xB \| 0xA0, Rate800Hz_Bw140Hz = 0xB \| 0x90, Rate800Hz_Bw80Hz = 0xB \| 0x80, Rate1600Hz_Bw280Hz = 0xC \| 0xA0, Rate1600Hz_Bw234Hz = 0xC \| 0x90, Rate1600Hz_Bw145Hz = 0xC \| 0x80 }
	Accelerometer data rate and filter bandwidth config.

enum	AccGpioConfig : uint8_t { ActiveHigh = Bit1, OpenDrain = Bit2, EnableOutput = Bit3, EnableInput = Bit4 }

enum	AccGpioMap : uint8_t { Int1FifoFull = Bit0, Int1FifoWatermark = Bit1, Int1DataReady = Bit2, Int2FifoFull = Bit4, Int2FifoWatermark = Bit5, Int2DataReady = Bit6 }
	Configuration flags to map accelerometer interrupt signal to GPIO.

enum	AccStatus : uint8_t { DataReady = Bit7 }

enum	AccPowerConf : uint8_t { Active = 0x00, Suspend = 0x03 }

enum	AccPowerControl : uint8_t { Off = 0x00, On = 0x04 }

enum	AccSelfTest : uint8_t { Off = 0x00, Positive = 0x0D, Negative = 0x09 }

enum	GyroRate : uint8_t { Rate2000Hz_Bw532Hz = 0x00, Rate2000Hz_Bw230Hz = 0x01, Rate1000Hz_Bw116Hz = 0x02, Rate400Hz_Bw47Hz = 0x03, Rate200Hz_Bw23Hz = 0x04, Rate100Hz_Bw12Hz = 0x05, Rate200Hz_Bw64Hz = 0x06, Rate100Hz_Bw32Hz = 0x07 }
	Gyroscope data rate and filter bandwidth config.

enum	GyroGpioConfig : uint8_t { Int3ActiveHigh = Bit0, Int3OpenDrain = Bit1, Int4ActiveHigh = Bit2, Int4OpenDrain = Bit3 }

enum	GyroGpioMap : uint8_t { Int3DataReady = Bit0, Int3FifoInterrupt = Bit2, Int4FifoInterrupt = Bit5, Int4DataReady = Bit7 }

enum	GyroSelfTest : uint8_t { RateOk = Bit4, Fail = Bit2, Ready = Bit1, Trigger = Bit0 }

enum	GyroStatus : uint8_t { DataReady = Bit7, FifoInterrupt = Bit4 }

enum	GyroInterruptControl : uint8_t { Fifo = Bit6, DataReady = Bit7 }

Public Member Functions
	MODM_FLAGS8 (AccGpioConfig)

	MODM_FLAGS8 (AccGpioMap)

	MODM_FLAGS8 (AccStatus)

	MODM_FLAGS8 (GyroGpioConfig)

	MODM_FLAGS8 (GyroGpioMap)

	MODM_FLAGS8 (GyroSelfTest)

	MODM_FLAGS8 (GyroStatus)

	MODM_FLAGS8 (GyroInterruptControl)

template<typename... Args>
	Bmi088 (Args...transportArgs)

bool	initialize (bool runSelfTest)

std::optional< AccData >	readAccData ()

bool	readAccDataReady ()
	Read data ready flag from ACC_STATUS register. Cleared on data read.

bool	clearAccDataReadyInterrupt ()
	Read and clear data ready flag in ACC_INT_STAT_1 register. Not cleared on data read.

bool	setAccRate (AccRate config)

bool	setAccRange (AccRange range)

bool	setAccInt1GpioConfig (AccGpioConfig_t config)

bool	setAccInt2GpioConfig (AccGpioConfig_t config)

bool	setAccGpioMap (AccGpioMap_t map)

std::optional< GyroData >	readGyroData ()

bool	readGyroDataReady ()

bool	setGyroRate (GyroRate config)

bool	setGyroRange (GyroRange range)

bool	setGyroGpioConfig (GyroGpioConfig_t config)

bool	setGyroGpioMap (GyroGpioMap_t map)

Detailed Description

template<Bmi088Transport Transport>
class modm::bmi088< Transport >

Bosch BMI088 IMU

The device contains an accelerometer and a gyroscope which operate independently.

The device supports both I2C and SPI. For applications with high data rates or strict timing requirements SPI is recommended.

The "MM Feature Set" accelerometer functions are not supported yet.

Template Parameters

Transport Transport layer (use Bmi088SpiTransport or Bmi088I2cTransport)