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drivers/imu/bosch/bmi088: add more time between configure and FIFO_READ 

- new FIFO_RESET state used to give the sensor more time after successful configuration before sampling begins

Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
This commit is contained in:
Daniel Agar 2023-02-13 21:01:50 -05:00 committed by GitHub
parent 1134d5338f
commit a18e07e525
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
3 changed files with 50 additions and 33 deletions
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1
src/drivers/imu/bosch/bmi088/BMI088.hpp
View File

@ -73,6 +73,7 @@ protected:
RESET,
WAIT_FOR_RESET,
CONFIGURE,
FIFO_RESET,
FIFO_READ,
} _state{STATE::RESET};

40
src/drivers/imu/bosch/bmi088/BMI088_Accelerometer.cpp
View File

@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
* Copyright (c) 2020-2023 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -120,6 +120,7 @@ void BMI088_Accelerometer::RunImpl()
case STATE::RESET:
// ACC_SOFTRESET: Writing a value of 0xB6 to this register resets the sensor
RegisterWrite(Register::ACC_SOFTRESET, 0xB6);
DataReadyInterruptDisable();
_reset_timestamp = now;
_failure_count = 0;
_state = STATE::WAIT_FOR_RESET;
@ -152,21 +153,9 @@ void BMI088_Accelerometer::RunImpl()
case STATE::CONFIGURE:
if (Configure()) {
// if configure succeeded then start reading from FIFO
_state = STATE::FIFO_READ;
if (DataReadyInterruptConfigure()) {
_data_ready_interrupt_enabled = true;
// backup schedule as a watchdog timeout
ScheduleDelayed(100_ms);
} else {
_data_ready_interrupt_enabled = false;
ScheduleOnInterval(_fifo_empty_interval_us, _fifo_empty_interval_us);
}
FIFOReset();
// if configure succeeded then reset the FIFO
_state = STATE::FIFO_RESET;
ScheduleDelayed(10_ms);
} else {
// CONFIGURE not complete
@ -183,6 +172,25 @@ void BMI088_Accelerometer::RunImpl()
break;
case STATE::FIFO_RESET:
// if configure succeeded then start reading from FIFO
_state = STATE::FIFO_READ;
FIFOReset();
if (DataReadyInterruptConfigure()) {
_data_ready_interrupt_enabled = true;
// backup schedule as a watchdog timeout
ScheduleDelayed(100_ms);
} else {
_data_ready_interrupt_enabled = false;
ScheduleOnInterval(_fifo_empty_interval_us, _fifo_empty_interval_us);
}
break;
case STATE::FIFO_READ: {
hrt_abstime timestamp_sample = now;
uint8_t samples = 0;

42
src/drivers/imu/bosch/bmi088/BMI088_Gyroscope.cpp
View File

@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
* Copyright (c) 2020-2023 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -102,6 +102,7 @@ void BMI088_Gyroscope::RunImpl()
// GYRO_SOFTRESET: Writing a value of 0xB6 to this register resets the sensor.
// Following a delay of 30 ms, all configuration settings are overwritten with their reset value.
RegisterWrite(Register::GYRO_SOFTRESET, 0xB6);
DataReadyInterruptDisable();
_reset_timestamp = now;
_failure_count = 0;
_state = STATE::WAIT_FOR_RESET;
@ -112,7 +113,7 @@ void BMI088_Gyroscope::RunImpl()
if ((RegisterRead(Register::GYRO_CHIP_ID) == ID)) {
// if reset succeeded then configure
_state = STATE::CONFIGURE;
ScheduleDelayed(1_ms);
ScheduleDelayed(10_ms);
} else {
// RESET not complete
@ -131,21 +132,9 @@ void BMI088_Gyroscope::RunImpl()
case STATE::CONFIGURE:
if (Configure()) {
// if configure succeeded then start reading from FIFO
_state = STATE::FIFO_READ;
if (DataReadyInterruptConfigure()) {
_data_ready_interrupt_enabled = true;
// backup schedule as a watchdog timeout
ScheduleDelayed(100_ms);
} else {
_data_ready_interrupt_enabled = false;
ScheduleOnInterval(_fifo_empty_interval_us, _fifo_empty_interval_us);
}
FIFOReset();
// if configure succeeded then reset the FIFO
_state = STATE::FIFO_RESET;
ScheduleDelayed(10_ms);
} else {
// CONFIGURE not complete
@ -162,6 +151,25 @@ void BMI088_Gyroscope::RunImpl()
break;
case STATE::FIFO_RESET:
// if configure succeeded then start reading from FIFO
_state = STATE::FIFO_READ;
FIFOReset();
if (DataReadyInterruptConfigure()) {
_data_ready_interrupt_enabled = true;
// backup schedule as a watchdog timeout
ScheduleDelayed(100_ms);
} else {
_data_ready_interrupt_enabled = false;
ScheduleOnInterval(_fifo_empty_interval_us, _fifo_empty_interval_us);
}
break;
case STATE::FIFO_READ: {
hrt_abstime timestamp_sample = 0;