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Formatted and added bmi task

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This commit is contained in:
Joppe Blondel
2026-03-19 19:27:06 +01:00
parent f5f47c26fd
commit 00e354c2b3
7 changed files with 284 additions and 151 deletions
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62
main/bmi160.h
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@@ -4,43 +4,59 @@
#include <stdint.h>
#include "driver/i2c.h"
#include "driver/gpio.h"
#include "esp_err.h"
#include "freertos/FreeRTOS.h"
#include "freertos/queue.h"
#include "freertos/task.h"
#ifdef __cplusplus
extern "C" {
#endif
#define BMI160_I2C_ADDRESS_LOW 0x68
#define BMI160_I2C_ADDRESS_LOW 0x68
#define BMI160_I2C_ADDRESS_HIGH 0x69
#define BMI160_REG_CHIP_ID 0x00
#define BMI160_REG_PMU_STATUS 0x03
#define BMI160_REG_DATA 0x04
#define BMI160_SIZE_REG_DATA 20
#define BMI160_REG_STATUS 0x1B
#define BMI160_REG_ACC_CONF 0x40
#define BMI160_REG_ACC_RANGE 0x41
#define BMI160_REG_GYR_CONF 0x42
#define BMI160_REG_GYR_RANGE 0x43
#define BMI160_REG_CMD 0x7e
#define BMI160_REG_CHIP_ID 0x00
#define BMI160_REG_PMU_STATUS 0x03
#define BMI160_REG_DATA 0x04
#define BMI160_SIZE_REG_DATA 20
#define BMI160_REG_SENSORTIME 0x18
#define BMI160_SIZE_SENSORTIME 3
#define BMI160_REG_STATUS 0x1B
#define BMI160_REG_ACC_CONF 0x40
#define BMI160_REG_ACC_RANGE 0x41
#define BMI160_REG_GYR_CONF 0x42
#define BMI160_REG_GYR_RANGE 0x43
#define BMI160_REG_INT_EN0 0x50
#define BMI160_REG_INT_EN1 0x51
#define BMI160_REG_INT_EN2 0x52
#define BMI160_REG_INT_OUT_CTRL 0x53
#define BMI160_REG_INT_LATCH 0x54
#define BMI160_REG_INT_MAP0 0x55
#define BMI160_REG_INT_MAP1 0x56
#define BMI160_REG_INT_MAP2 0x57
#define BMI160_REG_CMD 0x7e
#define BMI160_CHIP_ID 0xD1
#define BMI160_CHIP_ID 0xD1
#define BMI160_DEFAULT_TIMEOUT_MS 100
typedef struct {
typedef struct
{
i2c_port_t i2c_port;
uint8_t i2c_address;
TickType_t timeout_ticks;
gpio_num_t drdy_io;
QueueHandle_t sample_queue;
TaskHandle_t read_task;
} bmi160_t;
typedef struct {
struct {
typedef struct
{
struct
{
int16_t x;
int16_t y;
int16_t z;
} acc, gyr;
uint32_t time;
} bmi160_value_t;
esp_err_t bmi160_init(bmi160_t *dev, i2c_port_t i2c_port, uint8_t i2c_address);
@@ -49,9 +65,5 @@ esp_err_t bmi160_read_registers(const bmi160_t *dev, uint8_t start_reg, uint8_t
esp_err_t bmi160_write_register(const bmi160_t *dev, uint8_t reg, uint8_t value);
esp_err_t bmi160_write_registers(const bmi160_t *dev, uint8_t start_reg, const uint8_t *data, size_t len);
esp_err_t imu_init(bmi160_t *dev, i2c_port_t port);
esp_err_t imu_read(const bmi160_t* dev, bmi160_value_t * value);
#ifdef __cplusplus
}
#endif
esp_err_t imu_init(bmi160_t *dev, i2c_port_t port, gpio_num_t drdy_io, QueueHandle_t *queue_handle);
esp_err_t imu_read(const bmi160_t *dev, bmi160_value_t *value);