BMI055.cpp
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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.
*
****************************************************************************/
#include "BMI055.hpp"
#include "BMI055_Accelerometer.hpp"
#include "BMI055_Gyroscope.hpp"
I2CSPIDriverBase *BMI055::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance)
{
BMI055 *instance = nullptr;
if (cli.type == DRV_ACC_DEVTYPE_BMI055) {
instance = new Bosch::BMI055::Accelerometer::BMI055_Accelerometer(iterator.configuredBusOption(), iterator.bus(),
iterator.devid(), cli.rotation, cli.bus_frequency, cli.spi_mode, iterator.DRDYGPIO());
} else if (cli.type == DRV_GYR_DEVTYPE_BMI055) {
instance = new Bosch::BMI055::Gyroscope::BMI055_Gyroscope(iterator.configuredBusOption(), iterator.bus(),
iterator.devid(), cli.rotation, cli.bus_frequency, cli.spi_mode, iterator.DRDYGPIO());
}
if (!instance) {
PX4_ERR("alloc failed");
return nullptr;
}
if (OK != instance->init()) {
delete instance;
return nullptr;
}
return instance;
}
BMI055::BMI055(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) :
SPI(devtype, name, bus, device, mode, frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus, devtype),
_drdy_gpio(drdy_gpio)
{
}
int BMI055::init()
{
int ret = SPI::init();
if (ret != PX4_OK) {
DEVICE_DEBUG("SPI::init failed (%i)", ret);
return ret;
}
return Reset() ? 0 : -1;
}
bool BMI055::Reset()
{
_state = STATE::RESET;
ScheduleClear();
ScheduleNow();
return true;
}