init repo

examples/BASIC_I2C/Basic_I2C.ino

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+/*
+* Nanhe Chen
+* [email protected]
+* 
+* Copyright (c) 2022 High Performance IMU BMI085
+* 
+* Permission is hereby granted, free of charge, to any person obtaining a copy of this software 
+* and associated documentation files (the "Software"), to deal in the Software without restriction, 
+* including without limitation the rights to use, copy, modify, merge, publish, distribute, 
+* sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is 
+* furnished to do so, subject to the following conditions:
+* 
+* The above copyright notice and this permission notice shall be included in all copies or 
+* substantial portions of the Software.
+* 
+* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING 
+* BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND 
+* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, 
+* DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 
+* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+*/
+
+#include "BMI085.h"
+
+/* accel object */
+BMI088Accel accel(Wire,0x18);
+/* gyro object */
+BMI088Gyro gyro(Wire,0x68);
+
+void setup() 
+{
+  int status;
+  /* USB Serial to print data */
+  Serial.begin(115200);
+  while(!Serial) {}
+  /* start the sensors */
+  status = accel.begin();
+  if (status < 0) {
+    Serial.println("Accel Initialization Error");
+    Serial.println(status);
+    while (1) {}
+  }
+  status = gyro.begin();
+  if (status < 0) {
+    Serial.println("Gyro Initialization Error");
+    Serial.println(status);
+    while (1) {}
+  }
+}
+
+void loop() 
+{
+  /* read the accel */
+  accel.readSensor();
+  /* read the gyro */
+  gyro.readSensor();
+  /* print the data */
+  Serial.print(accel.getAccelX_mss());
+  Serial.print("\t");
+  Serial.print(accel.getAccelY_mss());
+  Serial.print("\t");
+  Serial.print(accel.getAccelZ_mss());
+  Serial.print("\t");
+  Serial.print(gyro.getGyroX_rads());
+  Serial.print("\t");
+  Serial.print(gyro.getGyroY_rads());
+  Serial.print("\t");
+  Serial.print(gyro.getGyroZ_rads());
+  Serial.print("\t");
+  Serial.print(accel.getTemperature_C());
+  Serial.print("\n");
+  /* delay to help with printing */
+  delay(20);
+}

examples/BASIC_SPI/Basic_SPI.ino

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+/*
+* Nanhe Chen
+* [email protected]
+* 
+* Copyright (c) 2022 High Performance IMU BMI085
+* 
+* Permission is hereby granted, free of charge, to any person obtaining a copy of this software 
+* and associated documentation files (the "Software"), to deal in the Software without restriction, 
+* including without limitation the rights to use, copy, modify, merge, publish, distribute, 
+* sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is 
+* furnished to do so, subject to the following conditions:
+* 
+* The above copyright notice and this permission notice shall be included in all copies or 
+* substantial portions of the Software.
+* 
+* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING 
+* BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND 
+* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, 
+* DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 
+* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+*/
+
+#include "BMI085.h"
+
+/* accel object */
+BMI085Accel accel(SPI,10);
+/* gyro object */
+BMI085Gyro gyro(SPI,9);
+
+void setup() 
+{
+  int status;
+  /* USB Serial to print data */
+  Serial.begin(115200);
+  while(!Serial) {}
+  /* start the sensors */
+  status = accel.begin();
+  if (status < 0) {
+    Serial.println("Accel Initialization Error");
+    Serial.println(status);
+    while (1) {}
+  }
+  status = gyro.begin();
+  if (status < 0) {
+    Serial.println("Gyro Initialization Error");
+    Serial.println(status);
+    while (1) {}
+  }
+}
+
+void loop() 
+{
+  /* read the accel */
+  accel.readSensor();
+  /* read the gyro */
+  gyro.readSensor();
+  /* print the data */
+  Serial.print(accel.getAccelX_mss());
+  Serial.print("\t");
+  Serial.print(accel.getAccelY_mss());
+  Serial.print("\t");
+  Serial.print(accel.getAccelZ_mss());
+  Serial.print("\t");
+  Serial.print(gyro.getGyroX_rads());
+  Serial.print("\t");
+  Serial.print(gyro.getGyroY_rads());
+  Serial.print("\t");
+  Serial.print(gyro.getGyroZ_rads());
+  Serial.print("\t");
+  Serial.print(accel.getTemperature_C());
+  Serial.print("\n");
+  /* delay to help with printing */
+  delay(20);
+}

examples/Int_I2C/Int_I2C.ino

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+/*
+* Nanhe Chen
+* [email protected]
+* 
+* Copyright (c) 2022 High Performance IMU BMI085
+* 
+* Permission is hereby granted, free of charge, to any person obtaining a copy of this software 
+* and associated documentation files (the "Software"), to deal in the Software without restriction, 
+* including without limitation the rights to use, copy, modify, merge, publish, distribute, 
+* sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is 
+* furnished to do so, subject to the following conditions:
+* 
+* The above copyright notice and this permission notice shall be included in all copies or 
+* substantial portions of the Software.
+* 
+* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING 
+* BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND 
+* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, 
+* DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 
+* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+*/
+
+#include "BMI085.h"
+
+/* accel object */
+BMI085Accel accel(Wire,0x18);
+/* gyro object */
+BMI085Gyro gyro(Wire,0x68);
+
+volatile bool accel_flag, gyro_flag;
+
+void accel_drdy()
+{
+  accel_flag = true;
+}
+
+void gyro_drdy()
+{
+  gyro_flag = true;
+}
+
+void setup() 
+{
+  int status;
+  /* USB Serial to print data */
+  Serial.begin(115200);
+  while(!Serial) {}
+  /* start the sensors */
+  status = accel.begin();
+  if (status < 0) {
+    Serial.println("Accel Initialization Error");
+    Serial.println(status);
+    while (1) {}
+  }
+  status = accel.setOdr(BMI085Accel::ODR_100HZ_BW_19HZ);
+  status = accel.pinModeInt1(BMI085Accel::PUSH_PULL,BMI085Accel::ACTIVE_HIGH);
+  status = accel.mapDrdyInt1(true);
+
+
+  status = gyro.begin();
+  if (status < 0) {
+    Serial.println("Gyro Initialization Error");
+    Serial.println(status);
+    while (1) {}
+  }
+  status = gyro.setOdr(BMI085Gyro::ODR_100HZ_BW_12HZ);
+  status = gyro.pinModeInt3(BMI085Gyro::PUSH_PULL,BMI085Gyro::ACTIVE_HIGH);
+  status = gyro.mapDrdyInt3(true);
+
+  pinMode(3,INPUT);
+  attachInterrupt(3,accel_drdy,RISING);
+  pinMode(4,INPUT);
+  attachInterrupt(4,gyro_drdy,RISING);  
+}
+
+void loop() 
+{
+  if (accel_flag && gyro_flag) {
+    accel_flag = false;
+    gyro_flag = false;
+    /* read the accel */
+    accel.readSensor();
+    /* read the gyro */
+    gyro.readSensor();
+    /* print the data */
+    Serial.print(accel.getAccelX_mss());
+    Serial.print("\t");
+    Serial.print(accel.getAccelY_mss());
+    Serial.print("\t");
+    Serial.print(accel.getAccelZ_mss());
+    Serial.print("\t");
+    Serial.print(gyro.getGyroX_rads());
+    Serial.print("\t");
+    Serial.print(gyro.getGyroY_rads());
+    Serial.print("\t");
+    Serial.print(gyro.getGyroZ_rads());
+    Serial.print("\t");
+    Serial.print(accel.getTemperature_C());
+    Serial.print("\n");
+  }
+}

examples/Sync_SPI/Sync_SPI.ino

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+/*
+* Nanhe Chen
+* [email protected]
+* 
+* Copyright (c) 2022 High Performance IMU BMI085
+* 
+* Permission is hereby granted, free of charge, to any person obtaining a copy of this software 
+* and associated documentation files (the "Software"), to deal in the Software without restriction, 
+* including without limitation the rights to use, copy, modify, merge, publish, distribute, 
+* sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is 
+* furnished to do so, subject to the following conditions:
+* 
+* The above copyright notice and this permission notice shall be included in all copies or 
+* substantial portions of the Software.
+* 
+* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING 
+* BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND 
+* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, 
+* DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 
+* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+*/
+
+#include "BMI085.h"
+
+/* BMI085 object */
+BMI085 bmi(SPI,10,9);
+
+void drdy()
+{
+  /* read the imu */
+  bmi.readSensor();
+  /* print the data */
+  Serial.print(bmi.getAccelX_mss());
+  Serial.print("\t");
+  Serial.print(bmi.getAccelY_mss());
+  Serial.print("\t");
+  Serial.print(bmi.getAccelZ_mss());
+  Serial.print("\t");
+  Serial.print(bmi.getGyroX_rads());
+  Serial.print("\t");
+  Serial.print(bmi.getGyroY_rads());
+  Serial.print("\t");
+  Serial.print(bmi.getGyroZ_rads());
+  Serial.print("\t");
+  Serial.print(bmi.getTemperature_C());
+  Serial.print("\n");
+}
+
+void setup() 
+{
+  int status;
+  /* USB Serial to print data */
+  Serial.begin(115200);
+  while(!Serial) {}
+  /* start the sensors */
+  status = bmi.begin();
+  if (status < 0) {
+    Serial.println("IMU Initialization Error");
+    Serial.println(status);
+    while (1) {}
+  }
+  /* set the ranges */
+  status = bmi.setRange(BMI085::ACCEL_RANGE_6G,BMI085::GYRO_RANGE_500DPS);
+  if (status < 0) {
+    Serial.println("Failed to set ranges");
+    Serial.println(status);
+    while (1) {}
+  }
+  /* set the output data rate */
+  status = bmi.setOdr(BMI085::ODR_400HZ);
+  if (status < 0) {
+    Serial.println("Failed to set ODR");
+    Serial.println(status);
+    while (1) {}
+  }
+  /* specify whether to use pin 3 or pin 4 to loop back the gyro interrupt */
+  status = bmi.mapSync(BMI085::PIN_3);
+  if (status < 0) {
+    Serial.println("Failed to map sync pin");
+    Serial.println(status);
+    while (1) {}
+  }
+  /* 
+  * specify whether to use pin 1 or pin 2 to indicate data ready, the other pin will be used
+  * for gyro interrupt input 
+  */
+  status = bmi.mapDrdy(BMI085::PIN_2);
+  if (status < 0) {
+    Serial.println("Failed to map data ready pin");
+    Serial.println(status);
+    while (1) {}
+  }
+  /* set the data ready pin to push-pull and active high */
+  status = bmi.pinModeDrdy(BMI085::PUSH_PULL,BMI085::ACTIVE_HIGH);
+  if (status < 0) {
+    Serial.println("Failed to setup data ready pin");
+    Serial.println(status);
+    while (1) {}
+  }
+  /* attach the corresponding uC pin to an interrupt */
+  pinMode(1,INPUT);
+  attachInterrupt(1,drdy,RISING);
+}
+
+void loop() 
+{
+}

keywords.txt

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+
+Bmi085Accel	KEYWORD1
+Bmi085Gyro  KEYWORD1
+Bmi085  KEYWORD1
+begin	KEYWORD2
+setOdr  KEYWORD2
+setRange  KEYWORD2
+pinModeInt1 KEYWORD2
+pinModeInt2 KEYWORD2
+pinModeInt3 KEYWORD2
+pinModeInt4 KEYWORD2
+mapDrdyInt1 KEYWORD2
+mapDrdyInt2 KEYWORD2
+mapDrdyInt3 KEYWORD2
+mapDrdyInt4 KEYWORD2
+mapDrdy KEYWORD2
+mapSync KEYWORD2    
+pinModeDrdy KEYWORD2
+getDrdyStatus KEYWORD2
+readSensor  KEYWORD2
+getAccelX_mss KEYWORD2
+getAccelY_mss KEYWORD2
+getAccelZ_mss KEYWORD2
+getGyroX_rads KEYWORD2
+getGyroY_rads KEYWORD2
+getGyroZ_rads KEYWORD2
+getTemperature_C  KEYWORD2
+getTime_ps  KEYWORD2