BMI088_Accelerometer.hpp
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/****************************************************************************
*
* Copyright (c) 2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#pragma once
#include "BMI088.hpp"
#include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
#include "Bosch_BMI088_Accelerometer_Registers.hpp"
namespace Bosch::BMI088::Accelerometer
{
class BMI088_Accelerometer : public BMI088
{
public:
BMI088_Accelerometer(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio);
~BMI088_Accelerometer() override;
void RunImpl() override;
void print_status() override;
private:
void exit_and_cleanup() override;
// Sensor Configuration
static constexpr uint32_t RATE{1600}; // 1600 Hz
static constexpr float FIFO_SAMPLE_DT{1e6f / RATE};
static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]))};
// Transfer data
struct FIFOTransferBuffer {
uint8_t cmd{static_cast<uint8_t>(Register::FIFO_LENGTH_0) | DIR_READ};
uint8_t dummy{0};
uint8_t FIFO_LENGTH_0{0};
uint8_t FIFO_LENGTH_1{0};
FIFO::DATA f[FIFO_MAX_SAMPLES] {};
};
// ensure no struct padding
static_assert(sizeof(FIFOTransferBuffer) == (4 + FIFO_MAX_SAMPLES *sizeof(FIFO::DATA)));
struct register_config_t {
Register reg;
uint8_t set_bits{0};
uint8_t clear_bits{0};
};
int probe() override;
bool Configure();
void ConfigureAccel();
void ConfigureSampleRate(int sample_rate = 0);
void ConfigureFIFOWatermark(uint8_t samples);
static int DataReadyInterruptCallback(int irq, void *context, void *arg);
void DataReady();
bool DataReadyInterruptConfigure();
bool DataReadyInterruptDisable();
bool RegisterCheck(const register_config_t ®_cfg);
uint8_t RegisterRead(Register reg);
void RegisterWrite(Register reg, uint8_t value);
void RegisterSetAndClearBits(Register reg, uint8_t setbits, uint8_t clearbits);
uint16_t FIFOReadCount();
bool FIFORead(const hrt_abstime ×tamp_sample, uint8_t samples);
void FIFOReset();
void UpdateTemperature();
PX4Accelerometer _px4_accel;
perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME"_accel: bad register")};
perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME"_accel: bad transfer")};
perf_counter_t _fifo_empty_perf{perf_alloc(PC_COUNT, MODULE_NAME"_accel: FIFO empty")};
perf_counter_t _fifo_overflow_perf{perf_alloc(PC_COUNT, MODULE_NAME"_accel: FIFO overflow")};
perf_counter_t _fifo_reset_perf{perf_alloc(PC_COUNT, MODULE_NAME"_accel: FIFO reset")};
perf_counter_t _drdy_missed_perf{nullptr};
uint8_t _fifo_samples{static_cast<uint8_t>(_fifo_empty_interval_us / (1000000 / RATE))};
uint8_t _checked_register{0};
static constexpr uint8_t size_register_cfg{10};
register_config_t _register_cfg[size_register_cfg] {
// Register | Set bits, Clear bits
{ Register::ACC_PWR_CONF, 0, ACC_PWR_CONF_BIT::acc_pwr_save },
{ Register::ACC_PWR_CTRL, ACC_PWR_CTRL_BIT::acc_enable, 0 },
{ Register::ACC_CONF, ACC_CONF_BIT::acc_bwp_Normal | ACC_CONF_BIT::acc_odr_1600, Bit1 | Bit0 },
{ Register::ACC_RANGE, ACC_RANGE_BIT::acc_range_24g, 0 },
{ Register::FIFO_WTM_0, 0, 0 },
{ Register::FIFO_WTM_1, 0, 0 },
{ Register::FIFO_CONFIG_0, FIFO_CONFIG_0_BIT::BIT1_ALWAYS | FIFO_CONFIG_0_BIT::FIFO_mode, 0 },
{ Register::FIFO_CONFIG_1, FIFO_CONFIG_1_BIT::BIT4_ALWAYS | FIFO_CONFIG_1_BIT::Acc_en, 0 },
{ Register::INT1_IO_CONF, INT1_IO_CONF_BIT::int1_out, 0 },
{ Register::INT1_INT2_MAP_DATA, INT1_INT2_MAP_DATA_BIT::int1_fwm, 0},
};
};
} // namespace Bosch::BMI088::Accelerometer