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refactor bmi088: use driver base class

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This commit is contained in:
Beat Küng
2020-03-24 09:46:20 -04:00
committed by Daniel Agar
parent aad6fe6f03
commit 54da4997ad
10 changed files with 130 additions and 416 deletions
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src/drivers/imu/bmi088/BMI088_accel.cpp
+7 -24
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@@ -52,9 +52,10 @@ const uint8_t BMI088_accel::_checked_registers[BMI088_ACCEL_NUM_CHECKED_REGISTER
BMI088_ACC_PWR_CTRL,
};
BMI088_accel::BMI088_accel(int bus, const char *path_accel, uint32_t device, enum Rotation rotation) :
BMI088("BMI088_ACCEL", path_accel, bus, device, SPIDEV_MODE3, BMI088_BUS_SPEED, rotation),
ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(get_device_id())),
BMI088_accel::BMI088_accel(I2CSPIBusOption bus_option, int bus, const char *path_accel, uint32_t device,
enum Rotation rotation,
int bus_frequency, spi_mode_e spi_mode) :
BMI088("bmi088_accel", path_accel, bus_option, bus, DRV_ACC_DEVTYPE_BMI088, device, spi_mode, bus_frequency, rotation),
_px4_accel(get_device_id(), (external() ? ORB_PRIO_MAX - 1 : ORB_PRIO_HIGH - 1), rotation),
_sample_perf(perf_alloc(PC_ELAPSED, "bmi088_accel_read")),
_bad_transfers(perf_alloc(PC_COUNT, "bmi088_accel_bad_transfers")),
@@ -67,9 +68,6 @@ BMI088_accel::BMI088_accel(int bus, const char *path_accel, uint32_t device, enu
BMI088_accel::~BMI088_accel()
{
/* make sure we are truly inactive */
stop();
/* delete the perf counter */
perf_free(_sample_perf);
perf_free(_bad_transfers);
@@ -326,9 +324,6 @@ BMI088_accel::set_accel_range(unsigned max_g)
void
BMI088_accel::start()
{
/* make sure we are stopped first */
stop();
// Reset the accelerometer
reset();
@@ -337,19 +332,6 @@ BMI088_accel::start()
}
void
BMI088_accel::stop()
{
ScheduleClear();
}
void
BMI088_accel::Run()
{
/* make another measurement */
measure();
}
void
BMI088_accel::check_registers(void)
{
@@ -394,7 +376,7 @@ BMI088_accel::check_registers(void)
}
void
BMI088_accel::measure()
BMI088_accel::RunImpl()
{
if (hrt_absolute_time() < _reset_wait) {
// we're waiting for a reset to complete
@@ -530,8 +512,9 @@ BMI088_accel::measure()
}
void
BMI088_accel::print_info()
BMI088_accel::print_status()
{
I2CSPIDriverBase::print_status();
PX4_INFO("Accel");
perf_print_counter(_sample_perf);