mirror of https://github.com/ArduPilot/ardupilot
90 lines
2.6 KiB
C++
90 lines
2.6 KiB
C++
/*
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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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/*
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the BMI088 is unusual as it has separate chip-select for accel and
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gyro, which means it needs two Device pointers
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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_InertialSensor.h"
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#include "AP_InertialSensor_Backend.h"
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class AP_InertialSensor_BMI088 : 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::Device> dev_accel,
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AP_HAL::OwnPtr<AP_HAL::Device> dev_gyro,
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enum Rotation 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_BMI088(AP_InertialSensor &imu,
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AP_HAL::OwnPtr<AP_HAL::Device> dev_accel,
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AP_HAL::OwnPtr<AP_HAL::Device> dev_gyro,
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enum Rotation rotation);
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/*
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initialise hardware layer
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*/
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bool accel_init();
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bool gyro_init();
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/*
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initialise driver
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*/
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bool init();
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/*
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read data from the FIFOs
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*/
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void read_fifo_accel();
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void read_fifo_gyro();
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/*
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read from accelerometer registers, special SPI handling needed
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*/
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bool read_accel_registers(uint8_t reg, uint8_t *data, uint8_t len);
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/*
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write to an accelerometer register with retries
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*/
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bool write_accel_register(uint8_t reg, uint8_t v);
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/*
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configure accel registers
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*/
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bool setup_accel_config(void);
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AP_HAL::OwnPtr<AP_HAL::Device> dev_accel;
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AP_HAL::Device::PeriodicHandle accel_periodic_handle;
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AP_HAL::OwnPtr<AP_HAL::Device> dev_gyro;
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AP_HAL::Device::PeriodicHandle gyro_periodic_handle;
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enum Rotation rotation;
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uint8_t temperature_counter;
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enum DevTypes _accel_devtype;
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float accel_range;
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bool done_accel_config;
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uint32_t accel_config_count;
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};
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