mirror of https://github.com/ArduPilot/ardupilot
130 lines
3.7 KiB
C++
130 lines
3.7 KiB
C++
/*
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* Copyright (C) 2016 Intel Corporation. All rights reserved.
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*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include <AP_HAL/AP_HAL.h>
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#include <AP_HAL/SPIDevice.h>
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#include <AP_HAL/I2CDevice.h>
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#include "AP_InertialSensor.h"
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#include "AP_InertialSensor_Backend.h"
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_AERO
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#define BMI160_DEFAULT_ROTATION ROTATION_ROLL_180
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#else
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#define BMI160_DEFAULT_ROTATION ROTATION_NONE
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#endif
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class AP_InertialSensor_BMI160 : public AP_InertialSensor_Backend {
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public:
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static AP_InertialSensor_Backend *probe(AP_InertialSensor &imu,
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AP_HAL::OwnPtr<AP_HAL::SPIDevice> dev,
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enum Rotation rotation=BMI160_DEFAULT_ROTATION);
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static AP_InertialSensor_Backend *probe(AP_InertialSensor &imu,
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AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
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enum Rotation rotation=BMI160_DEFAULT_ROTATION);
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/**
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* Configure the sensors and start reading routine.
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*/
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void start() override;
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bool update() override;
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private:
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AP_InertialSensor_BMI160(AP_InertialSensor &imu,
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AP_HAL::OwnPtr<AP_HAL::Device> dev,
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enum Rotation rotation);
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/**
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* If the macro BMI160_DEBUG is defined, check if there are errors reported
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* on the device's error register and panic if so. The implementation is
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* empty if the BMI160_DEBUG isn't defined.
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*/
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void _check_err_reg();
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/**
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* Try to perform initialization of the BMI160 device.
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*
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* The device semaphore must be taken and released by the caller.
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*
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* @return true on success, false otherwise.
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*/
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bool _hardware_init();
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/**
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* Try to initialize this driver.
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*
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* Do sensor and other required initializations.
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*
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* @return true on success, false otherwise.
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*/
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bool _init();
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/**
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* Configure accelerometer sensor. The device semaphore must already be
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* taken before calling this function.
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*
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* @return true on success, false otherwise.
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*/
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bool _configure_accel();
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/**
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* Configure gyroscope sensor. The device semaphore must already be
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* taken before calling this function.
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*
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* @return true on success, false otherwise.
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*/
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bool _configure_gyro();
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/**
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* Configure INT1 pin as watermark interrupt pin at the level of one sample
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* if using fifo or data-ready pin otherwise.
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*
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* @return true on success, false otherwise.
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*/
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bool _configure_int1_pin();
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/**
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* Configure FIFO.
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*
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* @return true on success, false otherwise.
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*/
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bool _configure_fifo();
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/**
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* Device periodic callback to read data from the sensors.
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*/
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void _poll_data();
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/**
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* Read samples from fifo.
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*/
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void _read_fifo();
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AP_HAL::OwnPtr<AP_HAL::Device> _dev;
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enum Rotation _rotation;
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uint8_t _accel_instance;
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float _accel_scale;
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uint8_t _gyro_instance;
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float _gyro_scale;
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AP_HAL::DigitalSource *_int1_pin;
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}; |