6-axis (accel + gyro) IMU unit. CoreS3/AtomS3R built-in More...

#include <unit_bmi270.hpp>

Inheritance diagram for m5::unit::UnitBMI270:

Classes
struct	config_t
	Settings for begin() More...

Public Member Functions
	UnitBMI270 (const uint8_t addr=DEFAULT_ADDRESS)
	Construct with the I2C address the chip will answer on.

virtual	~UnitBMI270 ()
	Destructor.

virtual bool	begin () override
	Begin the unit.

virtual void	update (const bool force=false) override
	Update the unit.

Settings
config_t	config () const
	Gets the configuration.

void	config (const config_t &cfg)
	Set the configuration.

Range setting (stop periodic measurement first)
bool	writeAccelRange (const bmi270::AccelRange range)
	Write the accelerometer range.

bool	writeGyroRange (const bmi270::GyroRange range)
	Write the gyroscope range.

bool	readAccelRange (bmi270::AccelRange &range)
	Read the accelerometer range from the device (REG_ACC_RANGE bits[1:0])

bool	readGyroRange (bmi270::GyroRange &range)
	Read the gyroscope range from the device (REG_GYR_RANGE bits[2:0])

Output data rate (stop periodic measurement first)
bool	writeAccelODR (const bmi270::AccelODR odr)
	Write the accelerometer output data rate.

bool	writeGyroODR (const bmi270::GyroODR odr)
	Write the gyroscope output data rate.

bool	readAccelODR (bmi270::AccelODR &odr)
	Read the accelerometer output data rate from the device (REG_ACC_CONF bits[3:0])

bool	readGyroODR (bmi270::GyroODR &odr)
	Read the gyroscope output data rate from the device (REG_GYR_CONF bits[3:0])

Reset
bool	softReset ()
	Soft reset (REG_CMD CMD_SOFTRESET), then re-run the mandatory post-reset initialization (config blob re-upload), leaving the chip initialized but unconfigured and stopped.

Periodic measurement
bool	startPeriodicMeasurement (const bmi270::AccelRange accel_range, const bmi270::GyroRange gyro_range, const bmi270::AccelODR accel_odr, const bmi270::GyroODR gyro_odr, const bmi270::FilterPerf accel_filter_perf, const bmi270::AccelBwp accel_bwp, const bmi270::FilterPerf gyro_filter_perf, const bmi270::GyroBwp gyro_bwp)
	Start periodic measurement.

bool	startPeriodicMeasurement ()
	Start periodic measurement in the current settings.

bool	stopPeriodicMeasurement ()
	Stop periodic measurement.

Power
bool	sleep () override
	Suspend the chip (REG_PWR_CTRL off, REG_PWR_CONF adv_power_save)

bool	wakeup () override
	Resume the chip from sleep()

IMUDataSource
virtual m5::imu::Capability	imuSpec () const override
	Capability of this unit.

virtual m5::imu::Capability	readImuRaw (m5::imu::imu_raw_data_t &out) override
	Read the latest raw IMU data.

virtual void	imuConvertParam (m5::imu::imu_convert_param_t &out) const override
	Gets the conversion parameters for raw IMU data.

Protected Member Functions
virtual bool	start_periodic_measurement (const bmi270::AccelRange accel_range, const bmi270::GyroRange gyro_range, const bmi270::AccelODR accel_odr, const bmi270::GyroODR gyro_odr, const bmi270::FilterPerf accel_filter_perf, const bmi270::AccelBwp accel_bwp, const bmi270::FilterPerf gyro_filter_perf, const bmi270::GyroBwp gyro_bwp)

bool	start_periodic_measurement ()

bool	stop_periodic_measurement ()

bool	read_measurement (bmi270::Data &d)

virtual bool	read_sensor_burst (bmi270::Data &d)

bool	write_register8_verified (const uint8_t reg, const uint8_t val)

bool	read_register8_quiet (const uint8_t reg, uint8_t &out)

bool	recover_wedged_interface (const uint8_t id)

bool	upload_config ()

	M5_UNIT_COMPONENT_PERIODIC_MEASUREMENT_ADAPTER_HPP_BUILDER (UnitBMI270, bmi270::Data)

Detailed Description

6-axis (accel + gyro) IMU unit. CoreS3/AtomS3R built-in

Note: Accel/gyro/temp only. The chip's auxiliary (AUX) interface, which can drive an on-chip BMM150 magnetometer, is deliberately left untouched here – use UnitBMI270AuxBMM150 on the boards that wire one to it (CoreS3, AtomS3R, Mini IMU-Pro). Enabling it is not always safe: on UnitDoF9/UnitDoF10 the AUX pins share the main I2C bus, and switching the interface on makes the BMI270 a second bus master, locking the bus until the unit is power-cycled

Constructor & Destructor Documentation

◆ UnitBMI270()

m5::unit::UnitBMI270::UnitBMI270 ( const uint8_t addr = DEFAULT_ADDRESS )

explicit

Construct with the I2C address the chip will answer on.

Parameters

[in] addr I2C address (defaults to the chip's factory address)

Member Function Documentation

◆ begin()

bool m5::unit::UnitBMI270::begin ( )

overridevirtual

Begin the unit.

Reimplemented in m5::unit::UnitBMI270AuxBMM150.

◆ config() [1/2]

config_t m5::unit::UnitBMI270::config ( ) const

inline

Gets the configuration.

Returns: Current configuration

◆ config() [2/2]

void m5::unit::UnitBMI270::config ( const config_t & cfg )

inline

Set the configuration.

Parameters

[in] cfg Configuration

◆ imuConvertParam()

void m5::unit::UnitBMI270::imuConvertParam ( m5::imu::imu_convert_param_t & out ) const

overridevirtual

Gets the conversion parameters for raw IMU data.

Parameters

[out] out Conversion parameters

Implements m5::imu::IMUDataSource.

Reimplemented in m5::unit::UnitBMI270AuxBMM150.

◆ imuSpec()

virtual m5::imu::Capability m5::unit::UnitBMI270::imuSpec ( ) const

inlineoverridevirtual

Capability of this unit.

Returns: Accel | Gyro | Temp. This class leaves the AUX interface alone, so never Mag – see UnitBMI270AuxBMM150 for the boards that wire a magnetometer to it

Implements m5::imu::IMUDataSource.

Reimplemented in m5::unit::UnitBMI270AuxBMM150.

◆ read_sensor_burst()

bool m5::unit::UnitBMI270::read_sensor_burst ( bmi270::Data & d )

protectedvirtual

Reimplemented in m5::unit::UnitBMI270AuxBMM150.

◆ readAccelODR()

bool m5::unit::UnitBMI270::readAccelODR ( bmi270::AccelODR & odr )

Read the accelerometer output data rate from the device (REG_ACC_CONF bits[3:0])

Parameters

[out] odr Accelerometer output data rate

Returns: True if successful, false if the register holds a reserved (unmapped) value

◆ readAccelRange()

bool m5::unit::UnitBMI270::readAccelRange ( bmi270::AccelRange & range )

Read the accelerometer range from the device (REG_ACC_RANGE bits[1:0])

Parameters

[out] range Accelerometer range

Returns: True if successful

◆ readGyroODR()

bool m5::unit::UnitBMI270::readGyroODR ( bmi270::GyroODR & odr )

Read the gyroscope output data rate from the device (REG_GYR_CONF bits[3:0])

Parameters

[out] odr Gyroscope output data rate

Returns: True if successful, false if the register holds a reserved (unmapped) value

◆ readGyroRange()

bool m5::unit::UnitBMI270::readGyroRange ( bmi270::GyroRange & range )

Read the gyroscope range from the device (REG_GYR_RANGE bits[2:0])

Parameters

[out] range Gyroscope range

Returns: True if successful, false if the register holds a reserved (unmapped) value

◆ readImuRaw()

Capability m5::unit::UnitBMI270::readImuRaw ( m5::imu::imu_raw_data_t & out )

overridevirtual

Read the latest raw IMU data.

Parameters

[out] out Raw IMU data

Returns: Capability of the data actually stored in out (None if no data available)

Implements m5::imu::IMUDataSource.

◆ sleep()

bool m5::unit::UnitBMI270::sleep ( )

overridevirtual

Suspend the chip (REG_PWR_CTRL off, REG_PWR_CONF adv_power_save)

Returns: True if successful

Works while periodic measurement is running: it is stopped first, since a suspended chip must not be polled. Then accel/gyro/temp are powered down and advanced power save is enabled. The uploaded configuration file survives suspend – unlike softReset(), which requires the full post-reset initialization again.

Reimplemented from m5::imu::IMUDataSource.

Reimplemented in m5::unit::UnitBMI270AuxBMM150.

◆ softReset()

bool m5::unit::UnitBMI270::softReset ( )

Soft reset (REG_CMD CMD_SOFTRESET), then re-run the mandatory post-reset initialization (config blob re-upload), leaving the chip initialized but unconfigured and stopped.

Returns: True if successful

Warning: During periodic measurements, an error is returned; call stopPeriodicMeasurement() first; All settings revert to the chip defaults; call startPeriodicMeasurement(...) to reconfigure and resume measurement

◆ startPeriodicMeasurement() [1/2]

bool m5::unit::UnitBMI270::startPeriodicMeasurement ( )

Start periodic measurement in the current settings.

Returns: True if successful

◆ startPeriodicMeasurement() [2/2]

bool m5::unit::UnitBMI270::startPeriodicMeasurement	(	const bmi270::AccelRange	accel_range,
		const bmi270::GyroRange	gyro_range,
		const bmi270::AccelODR	accel_odr,
		const bmi270::GyroODR	gyro_odr,
		const bmi270::FilterPerf	accel_filter_perf,
		const bmi270::AccelBwp	accel_bwp,
		const bmi270::FilterPerf	gyro_filter_perf,
		const bmi270::GyroBwp	gyro_bwp )

Start periodic measurement.

Parameters

accel_range	Accelerometer range
gyro_range	Gyroscope range
accel_odr	Accelerometer output data rate
gyro_odr	Gyroscope output data rate (periodic measurement interval is derived from this)
accel_filter_perf	Accelerometer filter performance mode
accel_bwp	Accelerometer bandwidth parameter
gyro_filter_perf	Gyroscope filter performance mode
gyro_bwp	Gyroscope bandwidth parameter

Returns: True if successful, false if accel_bwp is reserved in accel_filter_perf (bmi270::bwp_fits())

Note: Every field of REG_ACC_CONF/REG_GYR_CONF is an argument so that starting never depends on config_t, which only begin() reads; UnitBMI270AuxBMM150 overrides this to also (re)probe and configure its AUX BMM150

◆ stopPeriodicMeasurement()

bool m5::unit::UnitBMI270::stopPeriodicMeasurement ( )

Stop periodic measurement.

Returns: True if successful

◆ update()

void m5::unit::UnitBMI270::update ( const bool force = false )

overridevirtual

Update the unit.

Parameters

[in] force Forces an update if true, even if not time for periodic measurement

◆ wakeup()

bool m5::unit::UnitBMI270::wakeup ( )

overridevirtual

Resume the chip from sleep()

Returns: True if successful

Leaves advanced power save (configuration writes are ignored while it is active) and powers accel/gyro/temp back on – measurement stays stopped. Call startPeriodicMeasurement() to resume sampling. Harmless without a preceding sleep().

Reimplemented from m5::imu::IMUDataSource.

◆ writeAccelODR()

bool m5::unit::UnitBMI270::writeAccelODR ( const bmi270::AccelODR odr )

Write the accelerometer output data rate.

Parameters

[in] odr Accelerometer output data rate

Returns: True if successful

Note: config_t::accel_filter_perf and config_t::accel_bwp share REG_ACC_CONF with the rate and are rewritten from the configuration along with it

Warning: During periodic measurement runs, an error is returned

◆ writeAccelRange()

bool m5::unit::UnitBMI270::writeAccelRange ( const bmi270::AccelRange range )

Write the accelerometer range.

Parameters

[in] range Accelerometer range

Returns: True if successful

Warning: During periodic measurement runs, an error is returned

◆ writeGyroODR()

bool m5::unit::UnitBMI270::writeGyroODR ( const bmi270::GyroODR odr )

Write the gyroscope output data rate.

Parameters

[in] odr Gyroscope output data rate

Returns: True if successful

Note: The periodic measurement interval is derived from this rate, so it is updated too

Warning: During periodic measurement runs, an error is returned

◆ writeGyroRange()

bool m5::unit::UnitBMI270::writeGyroRange ( const bmi270::GyroRange range )

Write the gyroscope range.

Parameters

[in] range Gyroscope range

Returns: True if successful

Warning: During periodic measurement runs, an error is returned

Classes

Public Member Functions

Protected Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ UnitBMI270()

Member Function Documentation

◆ begin()

◆ config() [1/2]

◆ config() [2/2]

◆ imuConvertParam()

◆ imuSpec()

◆ read_sensor_burst()

◆ readAccelODR()

◆ readAccelRange()

◆ readGyroODR()

◆ readGyroRange()

◆ readImuRaw()

◆ sleep()

◆ softReset()

◆ startPeriodicMeasurement() [1/2]

◆ startPeriodicMeasurement() [2/2]

◆ stopPeriodicMeasurement()

◆ update()

◆ wakeup()

◆ writeAccelODR()

◆ writeAccelRange()

◆ writeGyroODR()

◆ writeGyroRange()