BMI088.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 <drivers/drv_hrt.h>
#include <lib/drivers/device/spi.h>
#include <lib/perf/perf_counter.h>
#include <px4_platform_common/i2c_spi_buses.h>
static constexpr int16_t combine(uint8_t msb, uint8_t lsb) { return (msb << 8u) | lsb; }
class BMI088 : public device::SPI, public I2CSPIDriver<BMI088>
{
public:
BMI088(uint8_t devtype, const char *name, I2CSPIBusOption bus_option, int bus, uint32_t device, enum spi_mode_e mode,
uint32_t frequency, spi_drdy_gpio_t drdy_gpio);
virtual ~BMI088() = default;
static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance);
static void print_usage();
virtual void RunImpl() = 0;
int init() override;
virtual void print_status() = 0;
protected:
bool Reset();
const spi_drdy_gpio_t _drdy_gpio;
hrt_abstime _reset_timestamp{0};
hrt_abstime _last_config_check_timestamp{0};
hrt_abstime _temperature_update_timestamp{0};
int _failure_count{0};
px4::atomic<uint32_t> _drdy_fifo_read_samples{0};
bool _data_ready_interrupt_enabled{false};
enum class STATE : uint8_t {
RESET,
WAIT_FOR_RESET,
CONFIGURE,
FIFO_READ,
};
STATE _state{STATE::RESET};
uint16_t _fifo_empty_interval_us{2500}; // 2500 us / 400 Hz transfer interval
};