BMI055 Class Reference

API for the BMI055 6-axis Sensor Module. More...

Detailed Description

• ID: bmi055
• Name: 6DoF Sensor Module
• Category: accelerometer compass
• Manufacturer: bosch
• Connection: i2c gpio spi
• Link: https://www.bosch-sensortec.com/bst/products/all_products/bmi055

The BMI055 is an inertial measurement unit (IMU) for the detection of movements and rotations in 6 degrees of freedom (6DoF). It reflects the full functionality of a triaxial, low-g acceleration sensor and at the same time it is capable to measure angular rates. Both - acceleration and angular rate - in three perpendicular room dimensions, the x-, y- and z-axis.

The BMI055 is essentially 2 separate devices in one: the BMA250E Accelerometer and the BMG160 Gyroscope. They are completely independent of each other.

This driver provides a very simple interface to these two devices. If finer control is desired, you should just use the separate BMA25E and BMG160 device classes directly. This driver simply initializes both devices, and provides a mechanism to read accelerometer and gyroscope data from them.

    // Instantiate an BMI055 using default I2C parameters
    upm::BMI055 sensor;

    // now output data every 250 milliseconds
    while (shouldRun) {
        float x, y, z;

        sensor.update();

        sensor.getAccelerometer(&x, &y, &z);
        cout << "Accelerometer x: " << x << " y: " << y << " z: " << z << " g" << endl;

        sensor.getGyroscope(&x, &y, &z);
        cout << "Gyroscope x: " << x << " y: " << y << " z: " << z << " degrees/s" << endl;

        cout << endl;

        upm_delay_us(250000);
    }

Public Member Functions
	BMI055 (int accelBus=BMA250E_DEFAULT_I2C_BUS, int accelAddr=BMA250E_DEFAULT_ADDR, int accelCS=-1, int gyroBus=BMG160_DEFAULT_I2C_BUS, int gyroAddr=BMG160_DEFAULT_ADDR, int gyroCS=-1)
	~BMI055 ()
void	update ()
void	initAccelerometer (BMA250E_POWER_MODE_T pwr=BMA250E_POWER_MODE_NORMAL, BMA250E_RANGE_T range=BMA250E_RANGE_2G, BMA250E_BW_T bw=BMA250E_BW_250)
void	initGyroscope (BMG160_POWER_MODE_T pwr=BMG160_POWER_MODE_NORMAL, BMG160_RANGE_T range=BMG160_RANGE_250, BMG160_BW_T bw=BMG160_BW_400_47)
void	getAccelerometer (float *x, float *y, float *z)
std::vector< float >	getAccelerometer ()
void	getGyroscope (float *x, float *y, float *z)
std::vector< float >	getGyroscope ()

Protected Attributes
BMA250E *	m_accel
BMG160 *	m_gyro

Constructor & Destructor Documentation

BMI055	(	int	accelBus = BMA250E_DEFAULT_I2C_BUS,
		int	accelAddr = BMA250E_DEFAULT_ADDR,
		int	accelCS = -1,
		int	gyroBus = BMG160_DEFAULT_I2C_BUS,
		int	gyroAddr = BMG160_DEFAULT_ADDR,
		int	gyroCS = -1
	)

BMI055 constructor.

This device can support both I2C and SPI. For SPI, set the addr to -1, and specify a positive integer representing the Chip Select (CS) pin for the cs argument. If you are using a hardware CS pin (like edison with arduino breakout), then you can connect the proper pin to the hardware CS pin on your MCU and supply -1 for cs. The default operating mode is I2C.

Parameters

accelBus	I2C or SPI bus to use. -1 to skip initializing this device.
accelAddr	The address for this device. -1 for SPI.
accelCS	The gpio pin to use for the SPI Chip Select. -1 for I2C or for SPI with a hardware controlled pin.
gyroBus	I2C or SPI bus to use. -1 to skip initializing this device.
gyroAddr	The address for this device. -1 for SPI.
gyroCS	The gpio pin to use for the SPI Chip Select. -1 for I2C or for SPI with a hardware controlled pin.

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~BMI055

(

)

BMI055 Destructor.

Member Function Documentation

void update

(

void

)

Update the internal stored values from sensor data.

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void initAccelerometer	(	BMA250E_POWER_MODE_T	pwr = BMA250E_POWER_MODE_NORMAL,
		BMA250E_RANGE_T	range = BMA250E_RANGE_2G,
		BMA250E_BW_T	bw = BMA250E_BW_250
	)

Initialize the accelerometer and start operation. This function is called from the constructor so will not typically need to be called by a user unless the device is reset or you want to change these values.

Parameters

pwr	One of the BMA250E_POWER_MODE_T values. The default is BMA250E_POWER_MODE_NORMAL.
range	One of the BMA250E_RANGE_T values. The default is BMA250E_RANGE_2G.
bw	One of the filtering BMA250E_BW_T values. The default is BMA250E_BW_250.

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void initGyroscope	(	BMG160_POWER_MODE_T	pwr = BMG160_POWER_MODE_NORMAL,
		BMG160_RANGE_T	range = BMG160_RANGE_250,
		BMG160_BW_T	bw = BMG160_BW_400_47
	)

Initialize the gyroscope and start operation. This function is called from the constructor so will not typically need to be called by a user unless the device is reset or you want to change these values.

Parameters

pwr	One of the BMG160_POWER_MODE_T values. The default is BMG160_POWER_MODE_NORMAL.
range	One of the BMG160_RANGE_T values. The default is BMG160_RANGE_250.
bw	One of the filtering BMG160_BW_T values. The default is BMG160_BW_400_47.

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void getAccelerometer	(	float *	x,
		float *	y,
		float *	z
	)

Return accelerometer data in gravities. update() must have been called prior to calling this method.

Parameters

x	Pointer to a floating point value that will have the current x component placed into it.
y	Pointer to a floating point value that will have the current y component placed into it.
z	Pointer to a floating point value that will have the current z component placed into it.

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std::vector< float > getAccelerometer

(

)

Return accelerometer data in gravities in the form of a floating point vector. update() must have been called prior to calling this method.

Returns

A floating point vector containing x, y, and z in that order.

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void getGyroscope	(	float *	x,
		float *	y,
		float *	z
	)

Return gyroscope data in degrees per second. update() must have been called prior to calling this method.

Parameters

x	Pointer to a floating point value that will have the current x component placed into it.
y	Pointer to a floating point value that will have the current y component placed into it.
z	Pointer to a floating point value that will have the current z component placed into it.

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std::vector< float > getGyroscope

(

)

Return gyroscope data in degrees per second in the form of a floating point vector. update() must have been called prior to calling this method.

Returns

A floating point vector containing x, y, and z in that order.

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Collaboration diagram for BMI055:

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The documentation for this class was generated from the following files:

• src/bmx055/bmi055.hpp
• src/bmx055/bmi055.cxx