ardupilot/libraries/AP_InertialSensor/AP_InertialSensor_BMI160.h

120 lines
3.1 KiB
C++

/*
* Copyright (C) 2016 Intel Corporation. All rights reserved.
*
* 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/>.
*/
#pragma once
#include <AP_HAL/AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
#include "AP_InertialSensor.h"
#include "AP_InertialSensor_Backend.h"
class AP_InertialSensor_BMI160 : public AP_InertialSensor_Backend {
public:
static AP_InertialSensor_Backend *probe(AP_InertialSensor &imu,
AP_HAL::OwnPtr<AP_HAL::SPIDevice> dev);
/**
* Configure the sensors and start reading routine.
*/
void start() override;
bool update() override;
private:
AP_InertialSensor_BMI160(AP_InertialSensor &imu,
AP_HAL::OwnPtr<AP_HAL::Device> dev);
/**
* If the macro BMI160_DEBUG is defined, check if there are errors reported
* on the device's error register and panic if so. The implementation is
* empty if the BMI160_DEBUG isn't defined.
*/
void _check_err_reg();
/**
* Try to perform initialization of the BMI160 device.
*
* The device semaphore must be taken and released by the caller.
*
* @return true on success, false otherwise.
*/
bool _hardware_init();
/**
* Try to initialize this driver.
*
* Do sensor and other required initializations.
*
* @return true on success, false otherwise.
*/
bool _init();
/**
* Configure accelerometer sensor. The device semaphore must already be
* taken before calling this function.
*
* @return true on success, false otherwise.
*/
bool _configure_accel();
/**
* Configure gyroscope sensor. The device semaphore must already be
* taken before calling this function.
*
* @return true on success, false otherwise.
*/
bool _configure_gyro();
/**
* Configure INT1 pin as watermark interrupt pin at the level of one sample
* if using fifo or data-ready pin otherwise.
*
* @return true on success, false otherwise.
*/
bool _configure_int1_pin();
/**
* Configure FIFO.
*
* @return true on success, false otherwise.
*/
bool _configure_fifo();
/**
* Device periodic callback to read data from the sensors.
*/
bool _poll_data();
/**
* Read samples from fifo.
*/
void _read_fifo();
AP_HAL::OwnPtr<AP_HAL::Device> _dev;
uint8_t _accel_instance;
float _accel_scale;
uint8_t _gyro_instance;
float _gyro_scale;
AP_HAL::DigitalSource *_int1_pin;
};
#endif