博世BMI160自写驱动

#include "BMI160.h" #include "MCU_Driver.h" #include "stm32f0xx_i2c.h" #include "stm32f0xx_conf.h" signed short acc[3] = {0}; signed short gry[3] = {0}; signed short mag[3] = {0}; uint8_t g_BMI160_Error = 0; void BMI160_Init(void) { IIC_Init(); while(BMI160_ID != BMI160_CheckId()); BMI160_SetACC_Range(BMI160_ACC_Range16G); BMI160_SetGRY_Range(BMI160_GRY_Range2000); BMI160_SetMAG_Range(BMI160_MAG_Range50); } void BMI160_WriteOneByte(uint8_t WriteAddr, uint8_t WriteData) { while(I2C_GetFlagStatus(I2C1, I2C_FLAG_BUSY) != RESET);//IF BUSY I2C_TransferHandling(I2C1, BMI_WRITE_ADDR, 2, I2C_AutoEnd_Mode,I2C_Generate_Start_Write); while(I2C_GetFlagStatus(I2C1, I2C_FLAG_TXIS) == RESET);//If Write OK I2C_SendData(I2C1, WriteAddr); while(I2C_GetFlagStatus(I2C1, I2C_FLAG_TXIS) == RESET);//If Write OK I2C_SendData(I2C1, WriteData); while(I2C_GetFlagStatus(I2C1, I2C_FLAG_STOPF) == RESET); } uint8_t BMI160_ReadOneByte(uint8_t ReadAddr) { uint8_t tmp; while(I2C_GetFlagStatus(I2C1, I2C_FLAG_BUSY) != RESET);//IF BUSY I2C_TransferHandling(I2C1, BMI_WRITE_ADDR, 1, I2C_SoftEnd_Mode,I2C_Generate_Start_Write); //softend 自动发送停止位 while(I2C_GetFlagStatus(I2C1, I2C_FLAG_TXIS) == RESET);//If Write OK I2C_SendData(I2C1, ReadAddr); while(I2C_GetFlagStatus(I2C1, I2C_FLAG_TC) == RESET); I2C_TransferHandling(I2C1, BMI_READ_ADDR, 1, I2C_AutoEnd_Mode, I2C_Generate_Start_Read); while(I2C_GetFlagStatus(I2C1, I2C_FLAG_RXNE) == RESET); tmp = I2C_ReceiveData(I2C1); return tmp; } uint8_t BMI160_CheckId(void) { return BMI160_ReadOneByte(BMI_CHIPID); } /************************************ * BMI160_GetPMU_Status * use BMI160_PMU_STATUS_TRANSBMI160_PMU_STATUS_TRANS(status, offset) to get trans * **************************************/ uint8_t BMI160_GetPMU_Status(void) { return BMI160_ReadOneByte(BMI_PMU_STATUS); } /************************************** * BMI160_SetACC_Range *range : * BMI160_ACC_Range2G * BMI160_ACC_Range4G * BMI160_ACC_Range8G * BMI160_ACC_Range16G ******************************************/ void BMI160_SetACC_Range(uint8_t range) { BMI160_WriteOneByte(BMI_ACC_RANGE, range); } /************************************** * BMI160_SetACC_Range *range : * BMI160_GRY_Range2000 * BMI160_GRY_Range1000 * BMI160_GRY_Range500 * BMI160_GRY_Range250 * BMI160_GRY_Range125 ******************************************/ void BMI160_SetGRY_Range(uint8_t range) { BMI160_WriteOneByte(BMI_GYR_RANGE, range); } /************************************** * BMI160_SetACC_Range *range : * BMI160_MAG_Range25_32 * BMI160_MAG_Range25_16 * BMI160_MAG_Range25_8 * BMI160_MAG_Range25_4 * BMI160_MAG_Range25_2 * BMI160_MAG_Range25 * BMI160_MAG_Range50 ******************************************/ void BMI160_SetMAG_Range(uint8_t range) { BMI160_WriteOneByte(BMI_MAG_CONF, range); } signed short BMI160_GetAccX(void) { signed short acc_x = 0; unsigned short x = 0; uint8_t xl = 0,xm = 0; xl = BMI160_ReadOneByte(BMI_DATA_AX_L); xm = BMI160_ReadOneByte(BMI_DATA_AX_M); x = ((unsigned short)(xm<<8)) | ((unsigned short)(xl)); acc_x = (signed short)(x*10)/(0x8000/16); return acc_x; //return x; } signed short BMI160_GetAccY(void) { signed short acc_y = 0; unsigned short y = 0; uint8_t yl = 0,ym = 0; yl = BMI160_ReadOneByte(BMI_DATA_AY_L); ym = BMI160_ReadOneByte(BMI_DATA_AY_M); y = ((unsigned short)(ym<<8)) | ((unsigned short)(yl)); acc_y = (signed short)(y*10)/(0x8000/16); return acc_y; //return y; } signed short BMI160_GetAccZ(void) { signed short acc_z = 0; unsigned short z = 0; uint8_t zl = 0,zm = 0; zl = BMI160_ReadOneByte(BMI_DATA_AZ_L); zm = BMI160_ReadOneByte(BMI_DATA_AZ_M); z = ((unsigned short)(zm<<8)) | ((unsigned short)(zl)); acc_z = (signed short)(z*10)/(0x8000/16); return acc_z; //return z; } signed short BMI160_GetGryX(void) { signed short gry_x = 0; unsigned short x = 0; uint8_t xl = 0,xm = 0; xl = BMI160_ReadOneByte(BMI_DATA_GX_L); xm = BMI160_ReadOneByte(BMI_DATA_GX_M); x = ((unsigned short)(xm<<8)) | ((unsigned short)(xl)); gry_x = x;//(signed long)(x*2000)/0x8000; return gry_x; } signed short BMI160_GetGryY(void) { signed short gry_y = 0; unsigned short y = 0; uint8_t yl = 0,ym = 0; yl = BMI160_ReadOneByte(BMI_DATA_GY_L); ym = BMI160_ReadOneByte(BMI_DATA_GY_M); y = ((unsigned short)(ym<<8)) | ((unsigned short)(yl)); gry_y = y;//(signed long)(y*2000)/0x8000; return gry_y; } signed short BMI160_GetGryZ(void) { signed short gry_z = 0; unsigned short z = 0; uint8_t zl = 0,zm = 0; zl = BMI160_ReadOneByte(BMI_DATA_GZ_L); zm = BMI160_ReadOneByte(BMI_DATA_GZ_M); z = ((unsigned short)(zm<<8)) | ((unsigned short)(zl)); gry_z = z;//(signed long)(z*2000)/0x8000; return gry_z; } signed short BMI160_GetMagX(void) { signed short mag_x = 0; unsigned short x = 0; uint8_t xl = 0,xm = 0; xl = BMI160_ReadOneByte(BMI_DATA_MX_L); xm = BMI160_ReadOneByte(BMI_DATA_MX_M); x = ((unsigned short)(xm<<8)) | ((unsigned short)(xl)); mag_x = (signed short)x/25;//(signed short)(x*2000)/0x8000; return mag_x; } signed short BMI160_GetMagY(void) { signed short mag_y = 0; unsigned short y = 0; uint8_t yl = 0,ym = 0; yl = BMI160_ReadOneByte(BMI_DATA_MY_L); ym = BMI160_ReadOneByte(BMI_DATA_MY_M); y = ((unsigned short)(ym<<8)) | ((unsigned short)(yl)); mag_y = (signed short)y/25;//(signed short)(x*2000)/0x8000; return mag_y; } signed short BMI160_GetMagZ(void) { signed short mag_z = 0; unsigned short z = 0; uint8_t zl = 0,zm = 0; zl = BMI160_ReadOneByte(BMI_DATA_MZ_L); zm = BMI160_ReadOneByte(BMI_DATA_MZ_M); z = ((unsigned short)(zm<<8)) | ((unsigned short)(zl)); mag_z = (signed short)z/25;//(signed short)(x*2000)/0x8000; return mag_z; } void getAccelerometerValue(void) { /************* write cmd set to acc normal mode ********************/ BMI160_WriteOneByte(BMI_CMD, BMI160_CMD_ACC_Normal); /************* wait acc normal mode ********************/ while(BMI160_PMU_STATUS_TRANS(BMI160_GetPMU_Status(), ACC_PMU_STATUS_OFFSET) != BMI160_PMU_NORMAL); /********** Get Data **********/ acc[0] = BMI160_GetAccX(); acc[1] = BMI160_GetAccY(); acc[2] = BMI160_GetAccZ(); } void getGyroscopeValue(void) { /************* write cmd set to gry normal mode ********************/ BMI160_WriteOneByte(BMI_CMD, BMI160_CMD_GRY_Normal); /************* wait gry normal mode ********************/ while(BMI160_PMU_STATUS_TRANS(BMI160_GetPMU_Status(), GRY_PMU_STATUS_OFFSET) != BMI160_PMU_NORMAL); /********** Get Data **********/ gry[0] = BMI160_GetGryX(); gry[1] = BMI160_GetGryY(); gry[2] = BMI160_GetGryZ(); } void getMagnetometerValue(void) { /************* write cmd set to gry normal mode ********************/ BMI160_WriteOneByte(BMI_CMD, BMI160_CMD_MAG_Normal); /************* wait gry normal mode ********************/ while(BMI160_PMU_STATUS_TRANS(BMI160_GetPMU_Status(), MAG_PMU_STATUS_OFFSET) != BMI160_PMU_NORMAL); /********** Get Data **********/ mag[0] = BMI160_GetMagX(); mag[1] = BMI160_GetMagY(); mag[2] = BMI160_GetMagZ(); } /********************************************* * BMI160_SetInt_EN * INT_EN_ADDR: BMI_INT_EN_0 BMI_INT_EN_1 BMI_INT_EN_2 * INT_EN: BMI160_INT_0_FLAT BMI160_INT_0_ORIENT BMI160_INT_0_S_TAP BMI160_INT_0_D_TAP BMI160_INT_0_ANYMO_Z BMI160_INT_0_ANYMO_Y BMI160_INT_0_ANYMO_X