SEASKY-BMI088技术手册

[!important|style:callout] 注意这是最早的V1.0 协议的产品，对现在的上位机并不适用。

1. 渲染

2. 实物

3. Seasky BMI088开源地址

BMI088_Master

4. 协议

5. BMI088模块16位寄存器

• 上电复位状态bit2=1，bit3=1,其余位位0，即使能所有输出

• 同时向模块发送CAN或USART数据，CAN数据具有更高优先级

• 使用CAN发送数据 0X8004 ->关闭串口输出，CAN持续输出姿态数据

• 使用USART发送数据 0X4008 ->在保证CAN未发送(bit15=0)的情况下，关闭CAN输出，USART持续输出，注意发送数据需要协议打包

6. UART方式通信协议

6.1. 通信要求

配置为波特率 115200，8 位数据位，1 位停止位，无 硬件流控，无 校验位,发送频率 100Hz .

6.2. 接口协议说明

SEASKY通信协议-详情见 串口协议文件

• BMI088端发送接口(float数据长度- 10)

• 发送函数(该模块发送调用函数)

void imu_usart_send(void)
{
    static uint8_t send_data[60];//保证大于发送的数据
    uint16_t tx_flag=0,send_data_len=0;

    /*发送寄存器赋值*/
    tx_flag |= imu_ctr_t.ctr.res&0x01;
    tx_flag |= (imu_ctr_t.ctr.cmd<<1)&0x01;

    /*发送的数据赋值*/
    imu_ctr_t.ctr.float_data[0] = imu_ctr_t.imu_t->accel.x;
    imu_ctr_t.ctr.float_data[1] = imu_ctr_t.imu_t->accel.y;
    imu_ctr_t.ctr.float_data[2] = imu_ctr_t.imu_t->accel.z;

    imu_ctr_t.ctr.float_data[3] = imu_ctr_t.imu_t->angle_rate.x;
    imu_ctr_t.ctr.float_data[4] = imu_ctr_t.imu_t->angle_rate.y;
    imu_ctr_t.ctr.float_data[5] = imu_ctr_t.imu_t->angle_rate.z;

    imu_ctr_t.ctr.float_data[6] = imu_ctr_t.imu_t->gyro.yaw;
    imu_ctr_t.ctr.float_data[7] = imu_ctr_t.imu_t->continuous_gyro.yaw;

    imu_ctr_t.ctr.float_data[8] = imu_ctr_t.imu_t->gyro.pitch;
    imu_ctr_t.ctr.float_data[9] = imu_ctr_t.imu_t->gyro.roll;

    get_protocol_send_data(IMU_USART_TX_ID,tx_flag,&imu_ctr_t.ctr.float_data[0],
                          10,send_data,&send_data_len);

    usart_send(send_data,send_data_len);
}

• BMI088控制数据(float数据长度为0)

使用端向BMI088发送数据，详情见 串口协议文件

• 寄存器数据打包函数

get_protocol_send_data
(0X0201,//信号id
  flag,//16位寄存器
  NULL,//待发送的float数据
  0,//float的数据长度
  usart6_tx_buf,//待发送的数据帧
  &usart6_tx_length);//待发送的数据帧长度

7. CAN方式通信

• CAN波特率1MHZ、发送频率100Hz
• 协议部分
• 定义共用体变量

typedef union
{
  float data_f;
  uint8_t data_u8[4];
}data_f_u8;

• 协议说明（单次发送-单个ID）

• 信号数据

• 控制数据(can有8byte，此处只使用2byte)

使用can向bmi088发送控制数据

/*设定BMI088*/
void set_can_tx_bmi088(uint16_t flag)
{
    CanTxMsg TxMessage;
    TxMessage.StdId= CAN_TX_BMI088_CMD;
    TxMessage.IDE = 0;
    TxMessage.RTR = 0;
    TxMessage.DLC = 8;
    TxMessage.Data[0] = flag >> 8;
    TxMessage.Data[1] = flag;
    TxMessage.Data[2] = 0 >> 8;
    TxMessage.Data[3] = 0;
    TxMessage.Data[4] = 0 >> 8;
    TxMessage.Data[5] = 0;
    TxMessage.Data[6] = 0 >> 8;
    TxMessage.Data[7] = 0;
    CAN_Transmit(CAN2,&TxMessage);
  }

• BMI088模块端发送

bmi088模块端的can发送函数

void CAN_Send_Msg(uint32_t Send_StdId,float data1,float data2)
{

    static CAN_TxHeaderTypeDef  Tx_Message;
    static uint8_t              Tx_Buf[8];
    uint32_t send_mail_box;
    data_f_u8 Tx_data[2];

    Tx_Message.StdId = Send_StdId;//设置id
    Tx_Message.IDE = CAN_ID_STD;
    Tx_Message.RTR = CAN_RTR_DATA;
    Tx_Message.DLC = 0x08;

    Tx_data[0].data_f=data1;
    Tx_data[1].data_f=data2;

    for(int i=0; i<8; i++)
        {
            Tx_Buf[i]=Tx_data[i/4].data_u8[i%4];
        }
    while(HAL_CAN_AddTxMessage(&hcan1, &Tx_Message,Tx_Buf, &send_mail_box));
}

• BMI088模块端发送函数调用

  .. code-block:: c :caption: bmi088模块端的can发送数据. :linenos:

CAN_Send_Msg(0x301,imu_ctr_t.imu_t->accel.x,imu_ctr_t.imu_t->angle_rate.x);
CAN_Send_Msg(0x302,imu_ctr_t.imu_t->accel.y,imu_ctr_t.imu_t->angle_rate.y);
CAN_Send_Msg(0x303,imu_ctr_t.imu_t->accel.z,imu_ctr_t.imu_t->angle_rate.z);
CAN_Send_Msg(0x304,imu_ctr_t.imu_t->gyro.yaw,imu_ctr_t.imu_t->continuous_gyro.yaw);
CAN_Send_Msg(0x305,imu_ctr_t.imu_t->gyro.pitch,imu_ctr_t.imu_t->gyro.roll);

• 使用端接收示例

• 可以使用枚举定义如下变量

bmi088模块端的can发送数据

CAN_RX_BMI088_X = 0X301,
CAN_RX_BMI088_Y = 0X302,
CAN_RX_BMI088_Z = 0X303,
CAN_RX_BMI088_YAW = 0X304,
CAN_RX_BMI088_GYRO = 0X305,
CAN_TX_BMI088_CMD = 0X306

• 结构体

bmi088模块端的can发送数据

typedef union
{
    float data_f;
    uint8_t data_u8[4];
} data_f_u8;
typedef  struct
{
    struct
    { 
        uint8_t res:1;//<<0
        uint8_t cmd:1;//<<1
        uint8_t can_out_cmd:1;//<<2
        uint8_t usart_out_cmd:1;//<<3
        uint16_t flag;
    } imu_ctr;
    struct
    {
        float x;
        float y;
        float z;
    } acc;
    struct
    {
        float x;
        float y;
        float z;
    } rate;
    struct
    {
        float yaw;
        float pitch;
        float roll;
        float yaw_c;
    } angle;
} seasky_bmi088;

• 数据解读

bmi088模块端的can发送数据

void get_bmi088(float *imu_1,float *imu_2,uint8_t *data)
{
  data_f_u8 rx_buf[2];
  for(int i=0; i<8; i++)
      {
          rx_buf[i/4].data_u8[i%4]=data[i];
      }
  *imu_1 = rx_buf[0].data_f;
  *imu_2 = rx_buf[1].data_f;
}

• 对应到具体数据

can接收中断调用

void get_moto_info2(void)
{
    CanRxMsg RxMessage;
    int i;
    CAN_Receive(CAN2,CAN_FIFO0,&RxMessage);
    switch(RxMessage.StdId)
        {
        case CAN_RX_BMI088_X :
            get_bmi088x(RxMessage.Data);
            break;
        case CAN_RX_BMI088_Y :
            get_bmi088y(RxMessage.Data);
            break;
        case CAN_RX_BMI088_Z :
            get_bmi088z(RxMessage.Data);
            break;
        case CAN_RX_BMI088_YAW :
            get_bmi088_yaw(RxMessage.Data);
            break;
        case CAN_RX_BMI088_GYRO:
            get_bmi088_angle(RxMessage.Data);
            break;
        default:
            ;
            break;
        }
}

can接收中断调用.

void get_bmi088x(uint8_t *data)
{
    get_bmi088(&imu_rm.acc.x,&imu_rm.rate.x,data);
}
void get_bmi088y(uint8_t *data)
{
    get_bmi088(&imu_rm.acc.y,&imu_rm.rate.y,data);
}
void get_bmi088z(uint8_t *data)
{
    get_bmi088(&imu_rm.acc.z,&imu_rm.rate.z,data);
}
void get_bmi088_yaw(uint8_t *data)
{
    get_bmi088(&imu_rm.angle.yaw,&imu_rm.angle.yaw_c,data);
}
void get_bmi088_angle(uint8_t *data)
{
    get_bmi088(&imu_rm.angle.pitch,&imu_rm.angle.roll,data);
}

• 接收端发送控制数据(寄存器赋值处理不完整)

can发送数据.

void imu_set(void)
{
    imu_rm.imu_ctr.flag |= imu_rm.imu_ctr.res&0x01;
    imu_rm.imu_ctr.flag |= (imu_rm.imu_ctr.cmd<<1)&0x01;
    set_can_tx_bmi088(imu_rm.imu_ctr.flag);
}