90 lines
2.0 KiB
C
90 lines
2.0 KiB
C
#pragma once
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// --- Core IDs ---
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#include <stdint.h>
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#define BMI270_CHIP_ID 0x00
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#define BMI270_ERR_REG 0x02
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#define BMI270_STATUS 0x03
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// --- Power / system ---
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#define BMI270_PWR_CONF 0x7C
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#define BMI270_PWR_CTRL 0x7D
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#define BMI270_CMD 0x7E
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#define BMI270_INIT_CTRL 0x59
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#define BMI270_INIT_ADDR_0 0x5B
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#define BMI270_INIT_ADDR_1 0x5C
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#define BMI270_INIT_DATA 0x5E
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#define BMI270_INTERNAL_STAT 0x21
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// --- Accel config ---
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#define BMI270_ACC_CONF 0x40
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#define BMI270_ACC_RANGE 0x41
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// --- Gyro config ---
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#define BMI270_GYR_CONF 0x42
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#define BMI270_GYR_RANGE 0x43
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// --- Data registers ---
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#define BMI270_ACC_DATA_X_LSB 0x0C
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#define BMI270_ACC_DATA_X_HSB 0x0D
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#define BMI270_ACC_DATA_Y_LSB 0x0E
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#define BMI270_ACC_DATA_Y_HSB 0x0F
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#define BMI270_ACC_DATA_Z_LSB 0x10
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#define BMI270_ACC_DATA_Z_HSB 0x11
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#define BMI270_GYR_DATA_X_LSB 0x12
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#define BMI270_GYR_DATA_X_HSB 0x13
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#define BMI270_GYR_DATA_Y_LSB 0x14
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#define BMI270_GYR_DATA_Y_HSB 0x15
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#define BMI270_GYR_DATA_Z_LSB 0x16
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#define BMI270_GYR_DATA_Z_HSB 0x17
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#define BMI270_FIFO_LENGTH_0 0x24
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#define BMI270_FIFO_DATA 0x26
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#define BMI270_FIFO_CONFIG_0 0x48
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#define BMI270_FIFO_CONFIG_1 0x49
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// --- Commands ---
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#define BMI270_CMD_SOFTRESET 0xB6
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#define BMI270_CMD_FIFO_FLUSH 0xB0
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// --- Power bits ---
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#define BMI270_PWR_TEMP_EN (1 << 3) // 0x08
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#define BMI270_PWR_ACCEL_EN (1 << 2) // 0x04
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#define BMI270_PWR_GYRO_EN (1 << 1) // 0x02
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#define BMI270_PWR_AUX_EN (1 << 0) // 0x01
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// --- Config presets (minimal usable defaults) ---
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#define BMI270_ACC_CONF_100HZ 0xA8
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#define BMI270_GYR_CONF_100HZ 0xA9
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#define ACC_SCALE (4.0f / 32768.0f)
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#define G_TO_MS2 9.80665f
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#define GYR_SCALE (2000.0f / 32768.0f)
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#define DEG_TO_RAD 0.01745329251f
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typedef struct {
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int16_t ax_raw;
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int16_t ay_raw;
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int16_t az_raw;
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int16_t gx_raw;
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int16_t gy_raw;
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int16_t gz_raw;
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float ax;
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float ay;
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float az;
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float gx;
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float gy;
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float gz;
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uint32_t timestamp_ms;
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} bmi270_data_t;
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bool bmi270_init(void);
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bool bmi270_read(bmi270_data_t *d);
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extern const uint8_t bmi270_config_file[8192]; |