mirror of https://github.com/ArduPilot/ardupilot
123 lines
3.6 KiB
C++
123 lines
3.6 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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#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 BMI270_DEFAULT_ROTATION ROTATION_ROLL_180
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#else
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#define BMI270_DEFAULT_ROTATION ROTATION_NONE
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#endif
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class AP_InertialSensor_BMI270 : 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=BMI270_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=BMI270_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_BMI270(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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bool read_registers(uint8_t reg, uint8_t *data, uint8_t len);
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bool write_register(uint8_t reg, uint8_t v);
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/**
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* If the macro BMI270_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 BMI270_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 BMI270 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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void 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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void configure_gyro();
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/**
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* Reset FIFO.
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*/
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void fifo_reset();
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/**
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* Configure FIFO.
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*/
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void configure_fifo();
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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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void parse_accel_frame(const uint8_t* d);
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void parse_gyro_frame(const uint8_t* d);
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AP_HAL::OwnPtr<AP_HAL::Device> _dev;
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AP_HAL::Device::PeriodicHandle periodic_handle;
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enum Rotation _rotation;
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uint8_t _accel_instance;
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uint8_t _gyro_instance;
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uint8_t temperature_counter;
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static const uint8_t maximum_fifo_config_file[];
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}; |