BMI270 setting enums and measurement data (framework independent) More...

#include <array>
#include <cstdint>
#include "unit_bmm150_data.hpp"

Classes
struct	m5::unit::bmi270::Data
	One measurement. Accel/gyro are always 12 bytes, little-endian (register 0x0C when the AUX/BMM150 bridge is not in use, or bytes [8..19] of the 20 byte burst from register 0x04 when it is; see UnitBMI270::read_measurement()) More...

Namespaces
namespace	m5
	Top level namespace of M5Stack.

Enumerations
enum class	m5::unit::bmi270::AccelRange : uint8_t { G2 , G4 , G8 , G16 }
	Accelerometer full scale range (REG_ACC_RANGE register 0x41) More...

enum class	m5::unit::bmi270::GyroRange : uint8_t { DPS2000 , DPS1000 , DPS500 , DPS250 , DPS125 }
	Gyroscope full scale range (REG_GYR_RANGE register 0x43) More...

enum class	m5::unit::bmi270::AccelODR : uint8_t { Rate12_5Hz = 0x05 , Rate25Hz , Rate50Hz , Rate100Hz , Rate200Hz , Rate400Hz , Rate800Hz , Rate1600Hz }
	Accelerometer output data rate (REG_ACC_CONF register 0x40, bits[3:0]) More...

enum class	m5::unit::bmi270::GyroODR : uint8_t { Rate25Hz = 0x06 , Rate50Hz , Rate100Hz , Rate200Hz , Rate400Hz , Rate800Hz , Rate1600Hz , Rate3200Hz }
	Gyroscope output data rate (REG_GYR_CONF register 0x42, bits[3:0]) More...

enum class	m5::unit::bmi270::FilterPerf : uint8_t { PowerOptimized , Performance }
	Filter performance mode (REG_ACC_CONF bit7 / REG_GYR_CONF bit7) More...

enum class	m5::unit::bmi270::AccelBwp : uint8_t { Osr4Avg1 , Osr2Avg2 , NormAvg4 , CicAvg8 , Avg16 , Avg32 , Avg64 , Avg128 }
	Accelerometer bandwidth parameter (REG_ACC_CONF register 0x40, bits[6:4]) More...

enum class	m5::unit::bmi270::GyroBwp : uint8_t { Osr4 , Osr2 , Norm }
	Gyroscope bandwidth parameter (REG_GYR_CONF register 0x42, bits[5:4]) More...

Functions
constexpr bool	m5::unit::bmi270::bwp_fits (const FilterPerf perf, const AccelBwp bwp)
	Is this bandwidth parameter usable in the given filter performance mode?

constexpr uint8_t	m5::unit::bmi270::acc_conf_value (const FilterPerf perf, const AccelBwp bwp, const AccelODR odr)
	REG_ACC_CONF value for the given settings.

constexpr uint8_t	m5::unit::bmi270::gyr_conf_value (const FilterPerf perf, const GyroBwp bwp, const GyroODR odr)
	REG_GYR_CONF value for the given settings.

constexpr float	m5::unit::bmi270::accel_res (const AccelRange r)
	G per LSB for each AccelRange.

constexpr float	m5::unit::bmi270::gyro_res (const GyroRange r)
	dps per LSB for each GyroRange (note: value 0 is the largest range, see GyroRange)

constexpr uint32_t	m5::unit::bmi270::odr_interval_ms (const GyroODR odr)
	Sampling interval in milliseconds for the given GyroODR.

Variables
constexpr uint32_t	m5::unit::bmi270::GYRO_ODR_INTERVAL_MS [14]

Detailed Description

BMI270 setting enums and measurement data (framework independent)

Enumeration Type Documentation

◆ AccelBwp

enum class m5::unit::bmi270::AccelBwp : uint8_t

strong

Accelerometer bandwidth parameter (REG_ACC_CONF register 0x40, bits[6:4])

One field with two meanings, chosen by FilterPerf: a filter setting in Performance mode, an averaging factor in PowerOptimized mode. The averaging-only values are reserved in Performance mode, so the combination is validated (see bwp_fits())

Enumerator
Osr4Avg1	OSR4 filter / no averaging.
Osr2Avg2	OSR2 filter / average 2 samples.
NormAvg4	Normal filter (power-on default) / average 4 samples.
CicAvg8	CIC filter / average 8 samples.
Avg16	Average 16 samples (PowerOptimized only; reserved in Performance mode)
Avg32	Average 32 samples (PowerOptimized only)
Avg64	Average 64 samples (PowerOptimized only)
Avg128	Average 128 samples (PowerOptimized only)

◆ AccelODR

enum class m5::unit::bmi270::AccelODR : uint8_t

strong

Accelerometer output data rate (REG_ACC_CONF register 0x40, bits[3:0])

Enumerator
Rate12_5Hz	12.5Hz
Rate25Hz	25Hz
Rate50Hz	50Hz
Rate100Hz	100Hz (power-on default)
Rate200Hz	200Hz
Rate400Hz	400Hz
Rate800Hz	800Hz
Rate1600Hz	1600Hz

◆ AccelRange

enum class m5::unit::bmi270::AccelRange : uint8_t

strong

Accelerometer full scale range (REG_ACC_RANGE register 0x41)

Enumerator
G2	+-2G (16384 LSB/G)
G4	+-4G (8192 LSB/G)
G8	+-8G (4096 LSB/G, power-on default)
G16	+-16G (2048 LSB/G)

◆ FilterPerf

enum class m5::unit::bmi270::FilterPerf : uint8_t

strong

Filter performance mode (REG_ACC_CONF bit7 / REG_GYR_CONF bit7)

Note: Also selects how the bandwidth parameter is interpreted; see AccelBwp

Enumerator
PowerOptimized	Power optimized (ulp): the accelerometer's Bwp averages instead of filtering.
Performance	Performance optimized (hp, power-on default)

◆ GyroBwp

enum class m5::unit::bmi270::GyroBwp : uint8_t

strong

Gyroscope bandwidth parameter (REG_GYR_CONF register 0x42, bits[5:4])

Note: Only a filter setting – the gyroscope has no averaging modes, so unlike AccelBwp it means the same thing in either FilterPerf. Register value 0x03 is reserved and therefore not offered

Enumerator
Osr4	OSR4 filter.
Osr2	OSR2 filter.
Norm	Normal filter (power-on default)

◆ GyroODR

enum class m5::unit::bmi270::GyroODR : uint8_t

strong

Gyroscope output data rate (REG_GYR_CONF register 0x42, bits[3:0])

Enumerator
Rate25Hz	25Hz
Rate50Hz	50Hz
Rate100Hz	100Hz
Rate200Hz	200Hz (power-on default)
Rate400Hz	400Hz
Rate800Hz	800Hz
Rate1600Hz	1600Hz
Rate3200Hz	3200Hz

◆ GyroRange

enum class m5::unit::bmi270::GyroRange : uint8_t

strong

Gyroscope full scale range (REG_GYR_RANGE register 0x43)

Note: Unlike UnitMPU6886's GyroRange, value 0 is the largest range here (register encoding is chip-native, not renumbered to match MPU6886)

Enumerator
DPS2000	+-2000 dps (power-on default)
DPS1000	+-1000 dps
DPS500	+-500 dps
DPS250	+-250 dps
DPS125	+-125 dps

Function Documentation

◆ acc_conf_value()

uint8_t m5::unit::bmi270::acc_conf_value	(	const FilterPerf	perf,
		const AccelBwp	bwp,
		const AccelODR	odr )

constexpr

REG_ACC_CONF value for the given settings.

Note: Reproduces the register's 0xA8 reset value at Performance / NormAvg4 / Rate100Hz

◆ bwp_fits()

bool m5::unit::bmi270::bwp_fits	(	const FilterPerf	perf,
		const AccelBwp	bwp )

constexpr

Is this bandwidth parameter usable in the given filter performance mode?

Note: The accelerometer's averaging-only values (Avg16 and up) are reserved in Performance mode

◆ gyr_conf_value()

uint8_t m5::unit::bmi270::gyr_conf_value	(	const FilterPerf	perf,
		const GyroBwp	bwp,
		const GyroODR	odr )

constexpr

REG_GYR_CONF value for the given settings.

Note: Bit6 (gyr_noise_perf) is left at its 0 reset value; reproduces the register's 0xA9 reset value at Performance / Norm / Rate200Hz

Variable Documentation

◆ GYRO_ODR_INTERVAL_MS

uint32_t m5::unit::bmi270::GYRO_ODR_INTERVAL_MS[14]

constexpr

Initial value:

= {
    0,  0, 0, 0, 0, 0,  
    40,                 
    20,                 
    10,                 
    5,                  
    3,                  
    2,                  
    1,                  
    1,                  
}

Classes

Namespaces

Enumerations

Functions

Variables

Detailed Description

Enumeration Type Documentation

◆ AccelBwp

◆ AccelODR

◆ AccelRange

◆ FilterPerf

◆ GyroBwp

◆ GyroODR

◆ GyroRange

Function Documentation

◆ acc_conf_value()

◆ bwp_fits()

◆ gyr_conf_value()

Variable Documentation

◆ GYRO_ODR_INTERVAL_MS