ardupilot/libraries/AP_InertialSensor/AP_InertialSensor_BMI088.h

88 lines
2.5 KiB
C++

/*
* This file is free software: you can redistribute it and/or modify it
* under the terms of the GNU General Public License as published by the
* Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This file is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
the BMI088 is unusual as it has separate chip-select for accel and
gyro, which means it needs two Device pointers
*/
#pragma once
#include <AP_HAL/AP_HAL.h>
#include "AP_InertialSensor.h"
#include "AP_InertialSensor_Backend.h"
class AP_InertialSensor_BMI088 : public AP_InertialSensor_Backend {
public:
static AP_InertialSensor_Backend *probe(AP_InertialSensor &imu,
AP_HAL::OwnPtr<AP_HAL::Device> dev_accel,
AP_HAL::OwnPtr<AP_HAL::Device> dev_gyro,
enum Rotation rotation = ROTATION_NONE);
/**
* Configure the sensors and start reading routine.
*/
void start() override;
bool update() override;
private:
AP_InertialSensor_BMI088(AP_InertialSensor &imu,
AP_HAL::OwnPtr<AP_HAL::Device> dev_accel,
AP_HAL::OwnPtr<AP_HAL::Device> dev_gyro,
enum Rotation rotation = ROTATION_NONE);
/*
initialise hardware layer
*/
bool accel_init();
bool gyro_init();
/*
initialise driver
*/
bool init();
/*
read data from the FIFOs
*/
void read_fifo_accel();
void read_fifo_gyro();
/*
read from accelerometer registers, special SPI handling needed
*/
bool read_accel_registers(uint8_t reg, uint8_t *data, uint8_t len);
/*
write to an accelerometer register with retries
*/
bool write_accel_register(uint8_t reg, uint8_t v);
/*
configure accel registers
*/
bool setup_accel_config(void);
AP_HAL::OwnPtr<AP_HAL::Device> dev_accel;
AP_HAL::OwnPtr<AP_HAL::Device> dev_gyro;
uint8_t accel_instance;
uint8_t gyro_instance;
enum Rotation rotation;
uint8_t temperature_counter;
bool done_accel_config;
uint32_t accel_config_count;
};