bmi055 initial integration

2026-10-05 17:38:52 +08:00 · 2017-04-24 10:38:39 +02:00
parent 061bff14c8
commit cfed8ee2dd
10 changed files with 3144 additions and 1 deletions
@@ -51,6 +51,7 @@ set(config_module_list
 	drivers/bmp280
 	drivers/bma180
 	drivers/bmi160
+	drivers/bmi055
 	drivers/tap_esc
 	drivers/iridiumsbd

@@ -0,0 +1,46 @@
+############################################################################
+#
+#   Copyright (c) 2015 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
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+px4_add_module(
+	MODULE drivers__bmi055
+	MAIN bmi055
+	STACK_MAIN 1200
+	COMPILE_FLAGS
+		-Weffc++
+	SRCS		
+		bmi055_accel.cpp
+		bmi055_gyro.cpp
+		bmi055_main.cpp
+	DEPENDS
+		platforms__common
+	)
+# vim: set noet ft=cmake fenc=utf-8 ff=unix :
@@ -0,0 +1,660 @@
+#ifndef BMI055_HPP_
+#define BMI055_HPP_
+
+#include <px4_config.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <stddef.h>
+#include <stdlib.h>
+#include <semaphore.h>
+#include <string.h>
+#include <fcntl.h>
+#include <poll.h>
+#include <errno.h>
+#include <stdio.h>
+#include <math.h>
+#include <unistd.h>
+#include <getopt.h>
+
+#include <systemlib/perf_counter.h>
+#include <systemlib/err.h>
+#include <systemlib/conversions.h>
+
+#include <nuttx/arch.h>
+#include <nuttx/clock.h>
+
+#include <board_config.h>
+#include <drivers/drv_hrt.h>
+
+#include <drivers/device/spi.h>
+#include <drivers/device/ringbuffer.h>
+#include <drivers/device/integrator.h>
+#include <drivers/drv_accel.h>
+#include <drivers/drv_gyro.h>
+#include <drivers/drv_mag.h>
+#include <mathlib/math/filter/LowPassFilter2p.hpp>
+#include <lib/conversion/rotation.h>
+
+#define DIR_READ                0x80
+#define DIR_WRITE               0x00
+
+#define BMI055_DEVICE_PATH_ACCEL    "/dev/bmi055_accel"
+#define BMI055_DEVICE_PATH_GYRO		"/dev/bmi055_gyro"
+
+#define BMI055_DEVICE_PATH_ACCEL_EXT    "/dev/bmi055_accel_ext"
+#define BMI055_DEVICE_PATH_GYRO_EXT		"/dev/bmi055_gyro_ext"
+
+// BMI055 Accel registers
+
+#define BMI055_ACC_CHIP_ID          0x00
+#define BMI055_ACC_X_L              0x02
+#define BMI055_ACC_X_H              0x03
+#define BMI055_ACC_Y_L              0x04
+#define BMI055_ACC_Y_H              0x05
+#define BMI055_ACC_Z_L              0x06
+#define BMI055_ACC_Z_H              0x07
+#define BMI055_ACC_TEMP             0x08
+#define BMI055_ACC_INT_STATUS_0     0x09
+#define BMI055_ACC_INT_STATUS_1     0x0A
+#define BMI055_ACC_INT_STATUS_2     0x0B
+#define BMI055_ACC_INT_STATUS_3     0x0C
+#define BMI055_ACC_FIFO_STATUS      0x0E
+#define BMI055_ACC_RANGE            0x0F
+#define BMI055_ACC_BW               0x10
+#define BMI055_ACC_PMU_LPW          0x11
+#define BMI055_ACC_PMU_LOW_POWER    0x12
+#define BMI055_ACC_DATA_CTRL        0x13
+#define BMI055_ACC_SOFTRESET        0x14
+#define BMI055_ACC_INT_EN_0         0x16
+#define BMI055_ACC_INT_EN_1         0x17
+#define BMI055_ACC_INT_EN_2         0x18
+#define BMI055_ACC_INT_MAP_0        0x19
+#define BMI055_ACC_INT_MAP_1        0x1A
+#define BMI055_ACC_INT_MAP_2        0x1B
+#define BMI055_ACC_INT_SRC          0x1E
+#define BMI055_ACC_INT_OUT_CTRL     0x20
+#define BMI055_ACC_INT_LATCH        0x21
+#define BMI055_ACC_INT_LH_0         0x22
+#define BMI055_ACC_INT_LH_1         0x23
+#define BMI055_ACC_INT_LH_2         0x24
+#define BMI055_ACC_INT_LH_3         0x25
+#define BMI055_ACC_INT_LH_4         0x26
+#define BMI055_ACC_INT_MOT_0        0x27
+#define BMI055_ACC_INT_MOT_1        0x28
+#define BMI055_ACC_INT_MOT_2        0x29
+#define BMI055_ACC_INT_TAP_0        0x2A
+#define BMI055_ACC_INT_TAP_1        0x2B
+#define BMI055_ACC_INT_ORIE_0       0x2C
+#define BMI055_ACC_INT_ORIE_1       0x2D
+#define BMI055_ACC_INT_FLAT_0       0x2E
+#define BMI055_ACC_INT_FLAT_1       0x2F
+#define BMI055_ACC_FIFO_CONFIG_0    0x30
+#define BMI055_ACC_SELF_TEST        0x32
+#define BMI055_ACC_EEPROM_CTRL      0x33
+#define BMI055_ACC_SERIAL_CTRL      0x34
+#define BMI055_ACC_OFFSET_CTRL      0x36
+#define BMI055_ACC_OFC_SETTING      0x37
+#define BMI055_ACC_OFFSET_X         0x38
+#define BMI055_ACC_OFFSET_Y         0x39
+#define BMI055_ACC_OFFSET_Z         0x3A
+#define BMI055_ACC_TRIM_GPO         0x3B
+#define BMI055_ACC_TRIM_GP1         0x3C
+#define BMI055_ACC_FIFO_CONFIG_1    0x3E
+#define BMI055_ACC_FIFO_DATA        0x3F
+
+
+// BMI055 Gyro registers
+
+#define BMI055_GYR_CHIP_ID          0x00
+#define BMI055_GYR_X_L              0x02
+#define BMI055_GYR_X_H              0x03
+#define BMI055_GYR_Y_L              0x04
+#define BMI055_GYR_Y_H              0x05
+#define BMI055_GYR_Z_L              0x06
+#define BMI055_GYR_Z_H              0x07
+#define BMI055_GYR_INT_STATUS_0     0x09
+#define BMI055_GYR_INT_STATUS_1     0x0A
+#define BMI055_GYR_INT_STATUS_2     0x0B
+#define BMI055_GYR_INT_STATUS_3     0x0C
+#define BMI055_GYR_FIFO_STATUS      0x0E
+#define BMI055_GYR_RANGE            0x0F
+#define BMI055_GYR_BW               0x10
+#define BMI055_GYR_LPM1             0x11
+#define BMI055_GYR_LPM2             0x12
+#define BMI055_GYR_RATE_HBW         0x13
+#define BMI055_GYR_SOFTRESET        0x14
+#define BMI055_GYR_INT_EN_0         0x15
+#define BMI055_GYR_INT_EN_1         0x16
+#define BMI055_GYR_INT_MAP_0        0x17
+#define BMI055_GYR_INT_MAP_1        0x18
+#define BMI055_GYR_INT_MAP_2        0x19
+#define BMI055_GYRO_0_REG           0x1A
+#define BMI055_GYRO_1_REG           0x1B
+#define BMI055_GYRO_2_REG           0x1C
+#define BMI055_GYRO_3_REG           0x1E
+#define BMI055_GYR_INT_LATCH        0x21
+#define BMI055_GYR_INT_LH_0         0x22
+#define BMI055_GYR_INT_LH_1         0x23
+#define BMI055_GYR_INT_LH_2         0x24
+#define BMI055_GYR_INT_LH_3         0x25
+#define BMI055_GYR_INT_LH_4         0x26
+#define BMI055_GYR_INT_LH_5         0x27
+#define BMI055_GYR_SOC              0x31
+#define BMI055_GYR_A_FOC            0x32
+#define BMI055_GYR_TRIM_NVM_CTRL    0x33
+#define BMI055_BGW_SPI3_WDT         0x34
+#define BMI055_GYR_OFFSET_COMP      0x36
+#define BMI055_GYR_OFFSET_COMP_X    0x37
+#define BMI055_GYR_OFFSET_COMP_Y    0x38
+#define BMI055_GYR_OFFSET_COMP_Z    0x39
+#define BMI055_GYR_TRIM_GPO         0x3A
+#define BMI055_GYR_TRIM_GP1         0x3B
+#define BMI055_GYR_SELF_TEST        0x3C
+#define BMI055_GYR_FIFO_CONFIG_0    0x3D
+#define BMI055_GYR_FIFO_CONFIG_1    0x3E
+#define BMI055_GYR_FIFO_DATA        0x3F
+
+
+// BMI055 Accelerometer Chip-Id
+#define BMI055_ACC_WHO_AM_I         0xFA
+
+// BMI055 Gyroscope Chip-Id
+#define BMI055_GYR_WHO_AM_I         0x0F
+
+
+
+//BMI055_ACC_BW           0x10
+#define BMI055_ACCEL_BW_7_81      (1<<3) | (0<<2) | (0<<1) | (0<<0)
+#define BMI055_ACCEL_BW_15_63     (1<<3) | (0<<2) | (0<<1) | (1<<0)
+#define BMI055_ACCEL_BW_31_25     (1<<3) | (0<<2) | (1<<1) | (0<<0)
+#define BMI055_ACCEL_BW_62_5      (1<<3) | (0<<2) | (1<<1) | (1<<0)
+#define BMI055_ACCEL_BW_125       (1<<3) | (1<<2) | (0<<1) | (0<<0)
+#define BMI055_ACCEL_BW_250       (1<<3) | (1<<2) | (0<<1) | (1<<0)
+#define BMI055_ACCEL_BW_500       (1<<3) | (1<<2) | (1<<1) | (0<<0)
+#define BMI055_ACCEL_BW_1000      (1<<3) | (1<<2) | (1<<1) | (1<<0)
+
+//BMI055_ACC_PMU_LPW     0x11
+#define BMI055_ACCEL_NORMAL         (0<<7) | (0<<6) | (0<<5)
+#define BMI055_ACCEL_DEEP_SUSPEND   (0<<7) | (0<<6) | (1<<5)
+#define BMI055_ACCEL_LOW_POWER      (0<<7) | (1<<6) | (0<<5)
+#define BMI055_ACCEL_SUSPEND        (1<<7) | (0<<6) | (0<<5)
+
+
+//BMI055_ACC_RANGE        0x0F
+#define BMI055_ACCEL_RANGE_2_G      (0<<3) | (0<<2) | (1<<1) | (1<<0)
+#define BMI055_ACCEL_RANGE_4_G      (0<<3) | (1<<2) | (0<<1) | (1<<0)
+#define BMI055_ACCEL_RANGE_8_G      (1<<3) | (0<<2) | (0<<1) | (0<<0)
+#define BMI055_ACCEL_RANGE_16_G     (1<<3) | (1<<2) | (0<<1) | (0<<0)
+
+//BMI055_GYR_BW         0x10
+#define BMI055_GYRO_RATE_100        (0<<3) | (1<<2) | (1<<1) | (1<<0)
+#define BMI055_GYRO_RATE_200        (0<<3) | (1<<2) | (1<<1) | (0<<0)
+#define BMI055_GYRO_RATE_400        (0<<3) | (0<<2) | (1<<1) | (1<<0)
+#define BMI055_GYRO_RATE_1000       (0<<3) | (0<<2) | (1<<1) | (0<<0)
+#define BMI055_GYRO_RATE_2000       (0<<3) | (0<<2) | (0<<1) | (1<<0)
+
+//BMI055_GYR_LPM1      0x11
+#define BMI055_GYRO_NORMAL          (0<<7) | (0<<5)
+#define BMI055_GYRO_DEEP_SUSPEND    (0<<7) | (1<<5)
+#define BMI055_GYRO_SUSPEND         (1<<7) | (0<<5)
+
+//BMI055_GYR_RANGE        0x0F
+#define BMI055_GYRO_RANGE_2000_DPS  (0<<2) | (0<<1) | (0<<0)
+#define BMI055_GYRO_RANGE_1000_DPS  (0<<2) | (0<<1) | (1<<0)
+#define BMI055_GYRO_RANGE_500_DPS   (0<<2) | (1<<1) | (0<<0)
+#define BMI055_GYRO_RANGE_250_DPS   (0<<2) | (1<<1) | (1<<0)
+#define BMI055_GYRO_RANGE_125_DPS   (1<<2) | (0<<1) | (0<<0)
+
+
+//BMI055_ACC_INT_EN_1      0x17
+#define BMI055_ACC_DRDY_INT_EN      (1<<4)
+
+//BMI055_GYR_INT_EN_0         0x15
+#define BMI055_GYR_DRDY_INT_EN      (1<<7)
+
+//BMI055_ACC_INT_MAP_1         0x1A
+#define BMI055_ACC_DRDY_INT1        (1<<0)
+
+//BMI055_GYR_INT_MAP_1     0x18
+#define BMI055_GYR_DRDY_INT1        (1<<0)
+
+
+
+//Soft-reset command Value
+#define BMI055_SOFT_RESET       0xB6
+
+// Default and Max values
+#define BMI055_ACCEL_DEFAULT_RANGE_G		8
+#define BMI055_GYRO_DEFAULT_RANGE_DPS		2000
+#define BMI055_ACCEL_DEFAULT_RATE           1000
+#define BMI055_ACCEL_MAX_RATE               1000
+#define BMI055_ACCEL_MAX_PUBLISH_RATE       280
+#define BMI055_GYRO_DEFAULT_RATE            1000
+#define BMI055_GYRO_MAX_RATE                1000
+#define BMI055_GYRO_MAX_PUBLISH_RATE        BMI055_ACCEL_MAX_PUBLISH_RATE
+
+#define BMI055_ACCEL_DEFAULT_DRIVER_FILTER_FREQ 50
+
+#define BMI055_GYRO_DEFAULT_DRIVER_FILTER_FREQ  50
+
+#define BMI055_ONE_G                       9.80665f
+
+#define BMI055_BUS_SPEED				10*1000*1000
+
+#define BMI055_TIMER_REDUCTION				200
+
+/* Mask definitions for ACCD_X_LSB, ACCD_Y_LSB and ACCD_Z_LSB Register */
+#define BMI055_NEW_DATA_MASK                 0x01
+
+/* Mask definitions for Gyro bandwidth */
+#define BMI055_GYRO_BW_MASK                  0x0F
+
+#ifdef PX4_SPI_BUS_EXT
+#define EXTERNAL_BUS PX4_SPI_BUS_EXT
+#else
+#define EXTERNAL_BUS 0
+#endif
+
+class BMI055 : public device::SPI
+{
+
+protected:
+
+	uint8_t         _whoami;    /** whoami result */
+
+	struct hrt_call     _call;
+	unsigned        _call_interval;
+
+
+
+	unsigned        _dlpf_freq;
+
+	perf_counter_t      _sample_perf;
+	perf_counter_t      _bad_transfers;
+	perf_counter_t      _bad_registers;
+	perf_counter_t      _good_transfers;
+	perf_counter_t      _reset_retries;
+	perf_counter_t      _duplicates;
+	perf_counter_t      _controller_latency_perf;
+
+	uint8_t         _register_wait;
+	uint64_t        _reset_wait;
+
+	enum Rotation       _rotation;
+
+	uint8_t         _checked_next;
+
+	/**
+	* Read a register from the BMI055
+	*
+	* @param       The register to read.
+	* @return      The value that was read.
+	*/
+	uint8_t         read_reg(unsigned reg);
+	uint16_t        read_reg16(unsigned reg);
+
+	/**
+	* Write a register in the BMI055
+	*
+	* @param reg       The register to write.
+	* @param value     The new value to write.
+	*/
+	void            write_reg(unsigned reg, uint8_t value);
+
+	/* do not allow to copy this class due to pointer data members */
+	BMI055(const BMI055 &);
+	BMI055 operator=(const BMI055 &);
+
+public:
+
+	BMI055(const char *name, const char *devname, int bus, enum spi_dev_e device, enum spi_mode_e mode, uint32_t frequency,
+	       enum Rotation rotation);
+	virtual ~BMI055();
+
+
+};
+
+
+
+class BMI055_accel : public BMI055
+{
+public:
+	BMI055_accel(int bus, const char *path_accel, spi_dev_e device, enum Rotation rotation);
+	virtual ~BMI055_accel();
+
+	virtual int     init();
+
+	virtual ssize_t     read(struct file *filp, char *buffer, size_t buflen);
+	virtual int     ioctl(struct file *filp, int cmd, unsigned long arg);
+
+	/**
+	* Diagnostics - print some basic information about the driver.
+	*/
+	void            print_info();
+
+	void            print_registers();
+
+	// deliberately cause a sensor error
+	void            test_error();
+
+protected:
+	virtual int     probe();
+
+
+private:
+
+	ringbuffer::RingBuffer  *_accel_reports;
+
+	struct accel_calibration_s  _accel_scale;
+	float           _accel_range_scale;
+	float           _accel_range_m_s2;
+	orb_advert_t        _accel_topic;
+	int         _accel_orb_class_instance;
+	int         _accel_class_instance;
+
+
+
+	float       _accel_sample_rate;
+	perf_counter_t      _accel_reads;
+
+	math::LowPassFilter2p   _accel_filter_x;
+	math::LowPassFilter2p   _accel_filter_y;
+	math::LowPassFilter2p   _accel_filter_z;
+
+	Integrator      _accel_int;
+
+
+	// this is used to support runtime checking of key
+	// configuration registers to detect SPI bus errors and sensor
+	// reset
+#define BMI055_ACCEL_NUM_CHECKED_REGISTERS 5
+	static const uint8_t    _checked_registers[BMI055_ACCEL_NUM_CHECKED_REGISTERS];
+	uint8_t         _checked_values[BMI055_ACCEL_NUM_CHECKED_REGISTERS];
+	uint8_t         _checked_bad[BMI055_ACCEL_NUM_CHECKED_REGISTERS];
+
+
+	// last temperature reading for print_info()
+	float           _last_temperature;
+
+	bool            _got_duplicate;
+
+	/**
+	* Start automatic measurement.
+	*/
+	void            start();
+
+	/**
+	* Stop automatic measurement.
+	*/
+	void            stop();
+
+	/**
+	* Reset chip.
+	*
+	* Resets the chip and measurements ranges, but not scale and offset.
+	*/
+	int         reset();
+
+	/**
+	* Static trampoline from the hrt_call context; because we don't have a
+	* generic hrt wrapper yet.
+	*
+	* Called by the HRT in interrupt context at the specified rate if
+	* automatic polling is enabled.
+	*
+	* @param arg       Instance pointer for the driver that is polling.
+	*/
+	static void     measure_trampoline(void *arg);
+
+	/**
+	* Fetch measurements from the sensor and update the report buffers.
+	*/
+	void            measure();
+
+
+	/**
+	* Modify a register in the BMI055_accel
+	*
+	* Bits are cleared before bits are set.
+	*
+	* @param reg       The register to modify.
+	* @param clearbits Bits in the register to clear.
+	* @param setbits   Bits in the register to set.
+	*/
+	void            modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits);
+
+	/**
+	* Write a register in the BMI055_accel, updating _checked_values
+	*
+	* @param reg       The register to write.
+	* @param value     The new value to write.
+	*/
+	void            write_checked_reg(unsigned reg, uint8_t value);
+
+	/**
+	* Set the BMI055_accel measurement range.
+	*
+	* @param max_g     The maximum G value the range must support.
+	* @return      OK if the value can be supported, -EINVAL otherwise.
+	*/
+	int         set_accel_range(unsigned max_g);
+
+
+	/**
+	* Get the internal / external state
+	*
+	* @return true if the sensor is not on the main MCU board
+	*/
+	bool            is_external() { return (_bus == EXTERNAL_BUS); }
+
+	/**
+	* Measurement self test
+	*
+	* @return 0 on success, 1 on failure
+	*/
+	int             self_test();
+
+	/**
+	* Accel self test
+	*
+	* @return 0 on success, 1 on failure
+	*/
+	int             accel_self_test();
+
+	/*
+	set accel sample rate
+	*/
+	int accel_set_sample_rate(float desired_sample_rate_hz);
+
+	/*
+	check that key registers still have the right value
+	*/
+	void check_registers(void);
+
+	/* do not allow to copy this class due to pointer data members */
+	BMI055_accel(const BMI055_accel &);
+	BMI055_accel operator=(const BMI055_accel &);
+
+};
+
+
+
+class BMI055_gyro : public BMI055
+{
+public:
+	BMI055_gyro(int bus, const char *path_gyro, spi_dev_e device, enum Rotation rotation);
+	virtual ~BMI055_gyro();
+
+	virtual int     init();
+
+	virtual ssize_t     read(struct file *filp, char *buffer, size_t buflen);
+	virtual int     ioctl(struct file *filp, int cmd, unsigned long arg);
+
+	/**
+	* Diagnostics - print some basic information about the driver.
+	*/
+	void            print_info();
+
+	void            print_registers();
+
+	// deliberately cause a sensor error
+	void            test_error();
+
+protected:
+	virtual int     probe();
+private:
+
+	ringbuffer::RingBuffer  *_gyro_reports;
+
+	struct gyro_calibration_s   _gyro_scale;
+	float           _gyro_range_scale;
+	float           _gyro_range_rad_s;
+
+	orb_advert_t        _gyro_topic;
+	int         _gyro_orb_class_instance;
+	int         _gyro_class_instance;
+
+
+
+	float       _gyro_sample_rate;
+	perf_counter_t      _gyro_reads;
+
+	math::LowPassFilter2p   _gyro_filter_x;
+	math::LowPassFilter2p   _gyro_filter_y;
+	math::LowPassFilter2p   _gyro_filter_z;
+
+	Integrator      _gyro_int;
+
+
+	// this is used to support runtime checking of key
+	// configuration registers to detect SPI bus errors and sensor
+	// reset
+#define BMI055_GYRO_NUM_CHECKED_REGISTERS 7
+	static const uint8_t    _checked_registers[BMI055_GYRO_NUM_CHECKED_REGISTERS];
+	uint8_t         _checked_values[BMI055_GYRO_NUM_CHECKED_REGISTERS];
+	uint8_t         _checked_bad[BMI055_GYRO_NUM_CHECKED_REGISTERS];
+
+
+	// last temperature reading for print_info()
+	float           _last_temperature;
+
+
+	/**
+	 * Start automatic measurement.
+	 */
+	void            start();
+
+	/**
+	 * Stop automatic measurement.
+	 */
+	void            stop();
+
+	/**
+	 * Reset chip.
+	 *
+	 * Resets the chip and measurements ranges, but not scale and offset.
+	 */
+	int         reset();
+
+	/**
+	 * Static trampoline from the hrt_call context; because we don't have a
+	 * generic hrt wrapper yet.
+	 *
+	 * Called by the HRT in interrupt context at the specified rate if
+	 * automatic polling is enabled.
+	 *
+	 * @param arg       Instance pointer for the driver that is polling.
+	 */
+	static void     measure_trampoline(void *arg);
+
+	/**
+	 * Fetch measurements from the sensor and update the report buffers.
+	 */
+	void            measure();
+
+
+	/**
+	 * Modify a register in the BMI055_gyro
+	 *
+	 * Bits are cleared before bits are set.
+	 *
+	 * @param reg       The register to modify.
+	 * @param clearbits Bits in the register to clear.
+	 * @param setbits   Bits in the register to set.
+	 */
+	void            modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits);
+
+	/**
+	 * Write a register in the BMI055_gyro, updating _checked_values
+	 *
+	 * @param reg       The register to write.
+	 * @param value     The new value to write.
+	 */
+	void            write_checked_reg(unsigned reg, uint8_t value);
+
+	/**
+	 * Set the BMI055_gyro measurement range.
+	 *
+	 * @param max_dps   The maximum DPS value the range must support.
+	 * @return      OK if the value can be supported, -EINVAL otherwise.
+	 */
+	int         set_gyro_range(unsigned max_dps);
+
+
+	/**
+	 * Get the internal / external state
+	 *
+	 * @return true if the sensor is not on the main MCU board
+	 */
+	bool            is_external() { return (_bus == EXTERNAL_BUS); }
+
+	/**
+	 * Measurement self test
+	 *
+	 * @return 0 on success, 1 on failure
+	 */
+	int             self_test();
+
+
+	/**
+	 * Gyro self test
+	 *
+	 * @return 0 on success, 1 on failure
+	 */
+	int             gyro_self_test();
+
+
+	/*
+	 * set gyro sample rate
+	 */
+	int gyro_set_sample_rate(float desired_sample_rate_hz);
+
+	/*
+	 * check that key registers still have the right value
+	 */
+	void check_registers(void);
+
+	/* do not allow to copy this class due to pointer data members */
+	BMI055_gyro(const BMI055_gyro &);
+	BMI055_gyro operator=(const BMI055_gyro &);
+
+#pragma pack(push, 1)
+	/**
+	 * Report conversation within the BMI055_gyro, including command byte and
+	 * interrupt status.
+	 */
+	struct BMI_GyroReport {
+		uint8_t     cmd;
+		int16_t     gyro_x;
+		int16_t     gyro_y;
+		int16_t     gyro_z;
+	};
+
+#pragma pack(pop)
+};
+
+
+
+#endif /* BMI055_HPP_ */
@@ -0,0 +1,893 @@
+#include "bmi055.hpp"
+
+
+/*
+  list of registers that will be checked in check_registers(). Note
+  that ADDR_WHO_AM_I must be first in the list.
+ */
+const uint8_t BMI055_accel::_checked_registers[BMI055_ACCEL_NUM_CHECKED_REGISTERS] = {    BMI055_ACC_CHIP_ID,
+											  BMI055_ACC_BW,
+											  BMI055_ACC_RANGE,
+											  BMI055_ACC_INT_EN_1,
+											  BMI055_ACC_INT_MAP_1,
+										     };
+
+
+
+BMI055_accel::BMI055_accel(int bus, const char *path_accel, spi_dev_e device, enum Rotation rotation) :
+	BMI055("BMI055_ACCEL", path_accel, bus, device, SPIDEV_MODE3, BMI055_BUS_SPEED, rotation),
+	_accel_reports(nullptr),
+	_accel_scale{},
+	_accel_range_scale(0.0f),
+	_accel_range_m_s2(0.0f),
+	_accel_topic(nullptr),
+	_accel_orb_class_instance(-1),
+	_accel_class_instance(-1),
+	_accel_sample_rate(BMI055_ACCEL_DEFAULT_RATE),
+	_accel_reads(perf_alloc(PC_COUNT, "bmi055_accel_read")),
+	_accel_filter_x(BMI055_ACCEL_DEFAULT_RATE, BMI055_ACCEL_DEFAULT_DRIVER_FILTER_FREQ),
+	_accel_filter_y(BMI055_ACCEL_DEFAULT_RATE, BMI055_ACCEL_DEFAULT_DRIVER_FILTER_FREQ),
+	_accel_filter_z(BMI055_ACCEL_DEFAULT_RATE, BMI055_ACCEL_DEFAULT_DRIVER_FILTER_FREQ),
+	_accel_int(1000000 / BMI055_ACCEL_MAX_PUBLISH_RATE),
+	_last_temperature(0),
+	_got_duplicate(false)
+{
+	// disable debug() calls
+	_debug_enabled = false;
+
+	_device_id.devid_s.devtype = DRV_ACC_DEVTYPE_BMI055;
+
+	// default accel scale factors
+	_accel_scale.x_offset = 0;
+	_accel_scale.x_scale  = 1.0f;
+	_accel_scale.y_offset = 0;
+	_accel_scale.y_scale  = 1.0f;
+	_accel_scale.z_offset = 0;
+	_accel_scale.z_scale  = 1.0f;
+
+	memset(&_call, 0, sizeof(_call));
+}
+
+
+BMI055_accel::~BMI055_accel()
+{
+	/* make sure we are truly inactive */
+	stop();
+
+	/* free any existing reports */
+	if (_accel_reports != nullptr) {
+		delete _accel_reports;
+	}
+
+
+	if (_accel_class_instance != -1) {
+		unregister_class_devname(ACCEL_BASE_DEVICE_PATH, _accel_class_instance);
+	}
+
+	/* delete the perf counter */
+	perf_free(_accel_reads);
+}
+
+
+int
+BMI055_accel::init()
+{
+	int ret;
+
+	/* do SPI init (and probe) first */
+	ret = SPI::init();
+
+	/* if probe/setup failed, bail now */
+	if (ret != OK) {
+		warnx("SPI error");
+		DEVICE_DEBUG("SPI setup failed");
+		return ret;
+	}
+
+	/* allocate basic report buffers */
+	_accel_reports = new ringbuffer::RingBuffer(2, sizeof(accel_report));
+
+	if (_accel_reports == nullptr) {
+		goto out;
+	}
+
+	if (reset() != OK) {
+		goto out;
+	}
+
+	/* Initialize offsets and scales */
+	_accel_scale.x_offset = 0;
+	_accel_scale.x_scale  = 1.0f;
+	_accel_scale.y_offset = 0;
+	_accel_scale.y_scale  = 1.0f;
+	_accel_scale.z_offset = 0;
+	_accel_scale.z_scale  = 1.0f;
+
+
+	_accel_class_instance = register_class_devname(ACCEL_BASE_DEVICE_PATH);
+
+	measure();
+
+	/* advertise sensor topic, measure manually to initialize valid report */
+	struct accel_report arp;
+	_accel_reports->get(&arp);
+
+	/* measurement will have generated a report, publish */
+	_accel_topic = orb_advertise_multi(ORB_ID(sensor_accel), &arp,
+					   &_accel_orb_class_instance, (is_external()) ? ORB_PRIO_MAX - 1 : ORB_PRIO_HIGH - 1);
+
+	if (_accel_topic == nullptr) {
+		warnx("ADVERT FAIL");
+	}
+
+out:
+	return ret;
+}
+
+int BMI055_accel::reset()
+{
+	write_reg(BMI055_ACC_SOFTRESET, BMI055_SOFT_RESET);//Soft-reset
+	up_udelay(5000);
+
+	write_checked_reg(BMI055_ACC_BW,    BMI055_ACCEL_BW_1000); //Write accel bandwidth
+	write_checked_reg(BMI055_ACC_RANGE,     BMI055_ACCEL_RANGE_2_G);//Write range
+	write_checked_reg(BMI055_ACC_INT_EN_1,      BMI055_ACC_DRDY_INT_EN); //Enable DRDY interrupt
+	write_checked_reg(BMI055_ACC_INT_MAP_1,     BMI055_ACC_DRDY_INT1); //Map DRDY interrupt on pin INT1
+
+	set_accel_range(BMI055_ACCEL_DEFAULT_RANGE_G);//set accel range
+	accel_set_sample_rate(BMI055_ACCEL_DEFAULT_RATE);//set accel ODR
+
+	//Enable Accelerometer in normal mode
+	write_reg(BMI055_ACC_PMU_LPW, BMI055_ACCEL_NORMAL);
+	up_udelay(1000);
+
+	uint8_t retries = 10;
+
+	while (retries--) {
+		bool all_ok = true;
+
+		for (uint8_t i = 0; i < BMI055_ACCEL_NUM_CHECKED_REGISTERS; i++) {
+			if (read_reg(_checked_registers[i]) != _checked_values[i]) {
+				write_reg(_checked_registers[i], _checked_values[i]);
+				all_ok = false;
+			}
+		}
+
+		if (all_ok) {
+			break;
+		}
+	}
+
+	_accel_reads = 0;
+
+	return OK;
+}
+
+
+int
+BMI055_accel::probe()
+{
+	/* look for device ID */
+	_whoami = read_reg(BMI055_ACC_CHIP_ID);
+
+	// verify product revision
+	switch (_whoami) {
+	case BMI055_ACC_WHO_AM_I:
+		memset(_checked_values, 0, sizeof(_checked_values));
+		memset(_checked_bad, 0, sizeof(_checked_bad));
+		_checked_values[0] = _whoami;
+		_checked_bad[0] = _whoami;
+		return OK;
+	}
+
+	DEVICE_DEBUG("unexpected whoami 0x%02x", _whoami);
+	return -EIO;
+}
+
+
+
+int
+BMI055_accel::accel_set_sample_rate(float frequency)
+{
+	uint8_t setbits = 0;
+	uint8_t clearbits = BMI055_ACCEL_BW_1000;
+
+
+	if (frequency < (3125 / 100)) {
+		setbits |= BMI055_ACCEL_BW_7_81;
+		_accel_sample_rate = 1563 / 100;
+
+	} else if (frequency < (625 / 10)) {
+		setbits |= BMI055_ACCEL_BW_15_63;
+		_accel_sample_rate = 625 / 10;
+
+	} else if (frequency < (125)) {
+		setbits |= BMI055_ACCEL_BW_31_25;
+		_accel_sample_rate = 625 / 10;
+
+	} else if (frequency < 250) {
+		setbits |= BMI055_ACCEL_BW_62_5;
+		_accel_sample_rate = 125;
+
+	} else if (frequency < 500) {
+		setbits |= BMI055_ACCEL_BW_125;
+		_accel_sample_rate = 250;
+
+	} else if (frequency < 1000) {
+		setbits |= BMI055_ACCEL_BW_250;
+		_accel_sample_rate = 500;
+
+	} else if (frequency < 2000) {
+		setbits |= BMI055_ACCEL_BW_500;
+		_accel_sample_rate = 1000;
+
+	} else if (frequency >= 2000) {
+		setbits |= BMI055_ACCEL_BW_1000;
+		_accel_sample_rate = 2000;
+
+	} else {
+		return -EINVAL;
+	}
+
+	/* Write accel ODR */
+	modify_reg(BMI055_ACC_BW, clearbits, setbits);
+
+	return OK;
+}
+
+
+
+ssize_t
+BMI055_accel::read(struct file *filp, char *buffer, size_t buflen)
+{
+	unsigned count = buflen / sizeof(accel_report);
+
+	/* buffer must be large enough */
+	if (count < 1) {
+		return -ENOSPC;
+	}
+
+	/* if automatic measurement is not enabled, get a fresh measurement into the buffer */
+	if (_call_interval == 0) {
+		_accel_reports->flush();
+		measure();
+	}
+
+	/* if no data, error (we could block here) */
+	if (_accel_reports->empty()) {
+		return -EAGAIN;
+	}
+
+	perf_count(_accel_reads);
+
+	/* copy reports out of our buffer to the caller */
+	accel_report *arp = reinterpret_cast<accel_report *>(buffer);
+	int transferred = 0;
+
+	while (count--) {
+		if (!_accel_reports->get(arp)) {
+			break;
+		}
+
+		transferred++;
+		arp++;
+	}
+
+	/* return the number of bytes transferred */
+	return (transferred * sizeof(accel_report));
+}
+
+int
+BMI055_accel::self_test()
+{
+	if (perf_event_count(_sample_perf) == 0) {
+		measure();
+	}
+
+	/* return 0 on success, 1 else */
+	return (perf_event_count(_sample_perf) > 0) ? 0 : 1;
+}
+
+int
+BMI055_accel::accel_self_test()
+{
+	if (self_test()) {
+		return 1;
+	}
+
+	/* inspect accel offsets */
+	if (fabsf(_accel_scale.x_offset) < 0.000001f) {
+		return 1;
+	}
+
+	if (fabsf(_accel_scale.x_scale - 1.0f) > 0.4f || fabsf(_accel_scale.x_scale - 1.0f) < 0.000001f) {
+		return 1;
+	}
+
+	if (fabsf(_accel_scale.y_offset) < 0.000001f) {
+		return 1;
+	}
+
+	if (fabsf(_accel_scale.y_scale - 1.0f) > 0.4f || fabsf(_accel_scale.y_scale - 1.0f) < 0.000001f) {
+		return 1;
+	}
+
+	if (fabsf(_accel_scale.z_offset) < 0.000001f) {
+		return 1;
+	}
+
+	if (fabsf(_accel_scale.z_scale - 1.0f) > 0.4f || fabsf(_accel_scale.z_scale - 1.0f) < 0.000001f) {
+		return 1;
+	}
+
+	return 0;
+}
+
+
+/*
+  deliberately trigger an error in the sensor to trigger recovery
+ */
+void
+BMI055_accel::test_error()
+{
+	write_reg(BMI055_ACC_SOFTRESET, BMI055_SOFT_RESET);
+	::printf("error triggered\n");
+	print_registers();
+}
+
+
+int
+BMI055_accel::ioctl(struct file *filp, int cmd, unsigned long arg)
+{
+	switch (cmd) {
+
+	case SENSORIOCRESET:
+		return reset();
+
+	case SENSORIOCSPOLLRATE: {
+			switch (arg) {
+
+			/* switching to manual polling */
+			case SENSOR_POLLRATE_MANUAL:
+				stop();
+				_call_interval = 0;
+				return OK;
+
+			/* external signalling not supported */
+			case SENSOR_POLLRATE_EXTERNAL:
+
+			/* zero would be bad */
+			case 0:
+				return -EINVAL;
+
+			/* set default/max polling rate */
+			case SENSOR_POLLRATE_MAX:
+				return ioctl(filp, SENSORIOCSPOLLRATE, BMI055_ACCEL_MAX_RATE);
+
+			case SENSOR_POLLRATE_DEFAULT:
+				return ioctl(filp, SENSORIOCSPOLLRATE,
+					     BMI055_ACCEL_DEFAULT_RATE); //Polling at the highest frequency. We may get duplicate values on the sensors
+
+			/* adjust to a legal polling interval in Hz */
+			default: {
+					/* do we need to start internal polling? */
+					bool want_start = (_call_interval == 0);
+
+					/* convert hz to hrt interval via microseconds */
+					unsigned ticks = 1000000 / arg;
+
+					/* check against maximum rate */
+					if (ticks < 1000) {
+						return -EINVAL;
+					}
+
+					// adjust filters
+					float cutoff_freq_hz = _accel_filter_x.get_cutoff_freq();
+					float sample_rate = 1.0e6f / ticks;
+
+					_accel_filter_x.set_cutoff_frequency(sample_rate, cutoff_freq_hz);
+					_accel_filter_y.set_cutoff_frequency(sample_rate, cutoff_freq_hz);
+					_accel_filter_z.set_cutoff_frequency(sample_rate, cutoff_freq_hz);
+
+					/* update interval for next measurement */
+					_call_interval = ticks;
+
+					/*
+					  set call interval faster than the sample time. We
+					  then detect when we have duplicate samples and reject
+					  them. This prevents aliasing due to a beat between the
+					  stm32 clock and the bmi055 clock
+					 */
+					_call.period = _call_interval - BMI055_TIMER_REDUCTION;
+
+					/* if we need to start the poll state machine, do it */
+					if (want_start) {
+						start();
+					}
+
+					return OK;
+				}
+			}
+		}
+
+	case SENSORIOCGPOLLRATE:
+		if (_call_interval == 0) {
+			return SENSOR_POLLRATE_MANUAL;
+		}
+
+		return 1000000 / _call_interval;
+
+	case SENSORIOCSQUEUEDEPTH: {
+			/* lower bound is mandatory, upper bound is a sanity check */
+			if ((arg < 1) || (arg > 100)) {
+				return -EINVAL;
+			}
+
+			irqstate_t flags = px4_enter_critical_section();
+
+			if (!_accel_reports->resize(arg)) {
+				px4_leave_critical_section(flags);
+				return -ENOMEM;
+			}
+
+			px4_leave_critical_section(flags);
+
+			return OK;
+		}
+
+	case SENSORIOCGQUEUEDEPTH:
+		return _accel_reports->size();
+
+	case ACCELIOCGSAMPLERATE:
+		return _accel_sample_rate;
+
+	case ACCELIOCSSAMPLERATE:
+		return accel_set_sample_rate(arg);
+
+	case ACCELIOCGLOWPASS:
+		return _accel_filter_x.get_cutoff_freq();
+
+	case ACCELIOCSLOWPASS:
+		// set software filtering
+		_accel_filter_x.set_cutoff_frequency(1.0e6f / _call_interval, arg);
+		_accel_filter_y.set_cutoff_frequency(1.0e6f / _call_interval, arg);
+		_accel_filter_z.set_cutoff_frequency(1.0e6f / _call_interval, arg);
+		return OK;
+
+	case ACCELIOCSSCALE: {
+			/* copy scale, but only if off by a few percent */
+			struct accel_calibration_s *s = (struct accel_calibration_s *) arg;
+			float sum = s->x_scale + s->y_scale + s->z_scale;
+
+			if (sum > 2.0f && sum < 4.0f) {
+				memcpy(&_accel_scale, s, sizeof(_accel_scale));
+				return OK;
+
+			} else {
+				return -EINVAL;
+			}
+		}
+
+	case ACCELIOCGSCALE:
+		/* copy scale out */
+		memcpy((struct accel_calibration_s *) arg, &_accel_scale, sizeof(_accel_scale));
+		return OK;
+
+	case ACCELIOCSRANGE:
+		return set_accel_range(arg);
+
+	case ACCELIOCGRANGE:
+		return (unsigned long)((_accel_range_m_s2) / BMI055_ONE_G + 0.5f);
+
+	case ACCELIOCSELFTEST:
+		return accel_self_test();
+
+#ifdef ACCELIOCSHWLOWPASS
+
+	case ACCELIOCSHWLOWPASS:
+		return OK;
+#endif
+
+#ifdef ACCELIOCGHWLOWPASS
+
+	case ACCELIOCGHWLOWPASS:
+		return _dlpf_freq;
+#endif
+
+
+	default:
+		/* give it to the superclass */
+		return SPI::ioctl(filp, cmd, arg);
+	}
+}
+
+
+void
+BMI055_accel::modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits)
+{
+	uint8_t	val;
+
+	val = read_reg(reg);
+	val &= ~clearbits;
+	val |= setbits;
+	write_checked_reg(reg, val);
+}
+
+void
+BMI055_accel::write_checked_reg(unsigned reg, uint8_t value)
+{
+	write_reg(reg, value);
+
+	for (uint8_t i = 0; i < BMI055_ACCEL_NUM_CHECKED_REGISTERS; i++) {
+		if (reg == _checked_registers[i]) {
+			_checked_values[i] = value;
+			_checked_bad[i] = value;
+		}
+	}
+}
+
+int
+BMI055_accel::set_accel_range(unsigned max_g)
+{
+	uint8_t setbits = 0;
+	uint8_t clearbits = BMI055_ACCEL_RANGE_2_G | BMI055_ACCEL_RANGE_16_G;
+	float lsb_per_g;
+	float max_accel_g;
+
+	if (max_g == 0) {
+		max_g = 16;
+	}
+
+	if (max_g <= 2) {
+		max_accel_g = 2;
+		setbits |= BMI055_ACCEL_RANGE_2_G;
+		lsb_per_g = 1024;
+
+	} else if (max_g <= 4) {
+		max_accel_g = 4;
+		setbits |= BMI055_ACCEL_RANGE_4_G;
+		lsb_per_g = 512;
+
+	} else if (max_g <= 8) {
+		max_accel_g = 8;
+		setbits |= BMI055_ACCEL_RANGE_8_G;
+		lsb_per_g = 256;
+
+	} else if (max_g <= 16) {
+		max_accel_g = 16;
+		setbits |= BMI055_ACCEL_RANGE_16_G;
+		lsb_per_g = 128;
+
+	} else {
+		return -EINVAL;
+	}
+
+	_accel_range_scale = (BMI055_ONE_G / lsb_per_g);
+	_accel_range_m_s2 = max_accel_g * BMI055_ONE_G;
+
+	modify_reg(BMI055_ACC_RANGE, clearbits, setbits);
+
+	return OK;
+}
+
+
+void
+BMI055_accel::start()
+{
+	/* make sure we are stopped first */
+	stop();
+
+	/* discard any stale data in the buffers */
+	_accel_reports->flush();
+
+	/* start polling at the specified rate */
+	hrt_call_every(&_call,
+		       1000,
+		       _call_interval - BMI055_TIMER_REDUCTION,
+		       (hrt_callout)&BMI055_accel::measure_trampoline, this);
+	reset();
+}
+
+void
+BMI055_accel::stop()
+{
+	hrt_cancel(&_call);
+}
+
+void
+BMI055_accel::measure_trampoline(void *arg)
+{
+	BMI055_accel *dev = reinterpret_cast<BMI055_accel *>(arg);
+
+	/* make another measurement */
+	dev->measure();
+}
+
+void
+BMI055_accel::check_registers(void)
+{
+	uint8_t v;
+
+	if ((v = read_reg(_checked_registers[_checked_next])) !=
+	    _checked_values[_checked_next]) {
+		_checked_bad[_checked_next] = v;
+
+		/*
+		  if we get the wrong value then we know the SPI bus
+		  or sensor is very sick. We set _register_wait to 20
+		  and wait until we have seen 20 good values in a row
+		  before we consider the sensor to be OK again.
+		 */
+		perf_count(_bad_registers);
+
+		/*
+		  try to fix the bad register value. We only try to
+		  fix one per loop to prevent a bad sensor hogging the
+		  bus.
+		 */
+		if (_register_wait == 0 || _checked_next == 0) {
+			// if the product_id is wrong then reset the
+			// sensor completely
+			write_reg(BMI055_ACC_SOFTRESET, BMI055_SOFT_RESET);
+			_reset_wait = hrt_absolute_time() + 10000;
+			_checked_next = 0;
+
+		} else {
+			write_reg(_checked_registers[_checked_next], _checked_values[_checked_next]);
+			// waiting 3ms between register writes seems
+			// to raise the chance of the sensor
+			// recovering considerably
+			_reset_wait = hrt_absolute_time() + 3000;
+		}
+
+		_register_wait = 20;
+	}
+
+	_checked_next = (_checked_next + 1) % BMI055_ACCEL_NUM_CHECKED_REGISTERS;
+}
+
+
+void
+BMI055_accel::measure()
+{
+	uint8_t index = 0, accel_data[7];
+	uint16_t lsb, msb, msblsb;
+	uint8_t status_x, status_y, status_z;
+
+	if (hrt_absolute_time() < _reset_wait) {
+		// we're waiting for a reset to complete
+		return;
+	}
+
+	struct Report {
+		int16_t     accel_x;
+		int16_t     accel_y;
+		int16_t     accel_z;
+		int16_t     temp;
+	} report;
+
+	/* start measuring */
+	perf_begin(_sample_perf);
+
+	/*
+	 * Fetch the full set of measurements from the BMI055 in one pass.
+	 */
+	accel_data[index] = BMI055_ACC_X_L | DIR_READ;
+
+	if (OK != transfer(accel_data, accel_data, sizeof(accel_data))) {
+		return;
+	}
+
+	check_registers();
+
+	/* Extracting accel data from the read data */
+	index = 1;
+	lsb = (uint16_t)accel_data[index++];
+	status_x = (lsb & BMI055_NEW_DATA_MASK);
+	msb = (uint16_t)accel_data[index++];
+	msblsb = (msb << 8) | lsb;
+	report.accel_x = ((int16_t)msblsb >> 4); /* Data in X axis */
+
+	lsb = (uint16_t)accel_data[index++];
+	status_y = (lsb & BMI055_NEW_DATA_MASK);
+	msb = (uint16_t)accel_data[index++];
+	msblsb = (msb << 8) | lsb;
+	report.accel_y = ((int16_t)msblsb >> 4); /* Data in Y axis */
+
+	lsb = (uint16_t)accel_data[index++];
+	status_z = (lsb & BMI055_NEW_DATA_MASK);
+	msb = (uint16_t)accel_data[index++];
+	msblsb = (msb << 8) | lsb;
+	report.accel_z = ((int16_t)msblsb >> 4); /* Data in Z axis */
+
+	// Checking the status of new data
+	if ((!status_x) || (!status_y) || (!status_z)) {
+		perf_end(_sample_perf);
+		perf_count(_duplicates);
+		_got_duplicate = true;
+		return;
+	}
+
+
+	_got_duplicate = false;
+
+	uint8_t temp = read_reg(BMI055_ACC_TEMP);
+	report.temp = temp;
+
+	if (report.accel_x == 0 &&
+	    report.accel_y == 0 &&
+	    report.accel_z == 0 &&
+	    report.temp == 0) {
+		// all zero data - probably a SPI bus error
+		perf_count(_bad_transfers);
+		perf_end(_sample_perf);
+		// note that we don't call reset() here as a reset()
+		// costs 20ms with interrupts disabled. That means if
+		// the bmi055 accel does go bad it would cause a FMU failure,
+		// regardless of whether another sensor is available,
+		return;
+	}
+
+
+	perf_count(_good_transfers);
+
+	if (_register_wait != 0) {
+		// we are waiting for some good transfers before using
+		// the sensor again. We still increment
+		// _good_transfers, but don't return any data yet
+		_register_wait--;
+		return;
+	}
+
+	/*
+	 * Report buffers.
+	 */
+	accel_report        arb;
+
+
+	arb.timestamp = hrt_absolute_time();
+
+
+	// report the error count as the sum of the number of bad
+	// transfers and bad register reads. This allows the higher
+	// level code to decide if it should use this sensor based on
+	// whether it has had failures
+	arb.error_count = perf_event_count(_bad_transfers) + perf_event_count(_bad_registers);
+
+	/*
+	 * 1) Scale raw value to SI units using scaling from datasheet.
+	 * 2) Subtract static offset (in SI units)
+	 * 3) Scale the statically calibrated values with a linear
+	 *    dynamically obtained factor
+	 *
+	 * Note: the static sensor offset is the number the sensor outputs
+	 *   at a nominally 'zero' input. Therefore the offset has to
+	 *   be subtracted.
+	 *
+	 */
+
+	arb.x_raw = report.accel_x;
+	arb.y_raw = report.accel_y;
+	arb.z_raw = report.accel_z;
+
+	float xraw_f = report.accel_x;
+	float yraw_f = report.accel_y;
+	float zraw_f = report.accel_z;
+
+	// apply user specified rotation
+	rotate_3f(_rotation, xraw_f, yraw_f, zraw_f);
+
+	float x_in_new = ((xraw_f * _accel_range_scale) - _accel_scale.x_offset) * _accel_scale.x_scale;
+	float y_in_new = ((yraw_f * _accel_range_scale) - _accel_scale.y_offset) * _accel_scale.y_scale;
+	float z_in_new = ((zraw_f * _accel_range_scale) - _accel_scale.z_offset) * _accel_scale.z_scale;
+
+	arb.x = _accel_filter_x.apply(x_in_new);
+	arb.y = _accel_filter_y.apply(y_in_new);
+	arb.z = _accel_filter_z.apply(z_in_new);
+
+	math::Vector<3> aval(x_in_new, y_in_new, z_in_new);
+	math::Vector<3> aval_integrated;
+
+	bool accel_notify = _accel_int.put(arb.timestamp, aval, aval_integrated, arb.integral_dt);
+	arb.x_integral = aval_integrated(0);
+	arb.y_integral = aval_integrated(1);
+	arb.z_integral = aval_integrated(2);
+
+	arb.scaling = _accel_range_scale;
+	arb.range_m_s2 = _accel_range_m_s2;
+
+	_last_temperature = 23 + report.temp * 1.0f / 512.0f;
+
+	arb.temperature_raw = report.temp;
+	arb.temperature = _last_temperature;
+
+	_accel_reports->force(&arb);
+
+	/* notify anyone waiting for data */
+	if (accel_notify) {
+		poll_notify(POLLIN);
+	}
+
+	if (accel_notify && !(_pub_blocked)) {
+		/* log the time of this report */
+		perf_begin(_controller_latency_perf);
+		/* publish it */
+		orb_publish(ORB_ID(sensor_accel), _accel_topic, &arb);
+	}
+
+	/* stop measuring */
+	perf_end(_sample_perf);
+}
+
+
+void
+BMI055_accel::print_info()
+{
+	warnx("BMI055 Accel");
+	perf_print_counter(_sample_perf);
+	perf_print_counter(_accel_reads);
+	perf_print_counter(_bad_transfers);
+	perf_print_counter(_bad_registers);
+	perf_print_counter(_good_transfers);
+	perf_print_counter(_reset_retries);
+	perf_print_counter(_duplicates);
+	_accel_reports->print_info("accel queue");
+	::printf("checked_next: %u\n", _checked_next);
+
+	for (uint8_t i = 0; i < BMI055_ACCEL_NUM_CHECKED_REGISTERS; i++) {
+		uint8_t v = read_reg(_checked_registers[i]);
+
+		if (v != _checked_values[i]) {
+			::printf("reg %02x:%02x should be %02x\n",
+				 (unsigned)_checked_registers[i],
+				 (unsigned)v,
+				 (unsigned)_checked_values[i]);
+		}
+
+		if (v != _checked_bad[i]) {
+			::printf("reg %02x:%02x was bad %02x\n",
+				 (unsigned)_checked_registers[i],
+				 (unsigned)v,
+				 (unsigned)_checked_bad[i]);
+		}
+	}
+
+	::printf("temperature: %.1f\n", (double)_last_temperature);
+	printf("\n");
+}
+
+
+void
+BMI055_accel::print_registers()
+{
+	uint8_t index = 0;
+	printf("BMI055 accel registers\n");
+
+	uint8_t reg = _checked_registers[index++];
+	uint8_t v = read_reg(reg);
+	printf("Accel Chip Id: %02x:%02x ", (unsigned)reg, (unsigned)v);
+	printf("\n");
+
+	reg = _checked_registers[index++];
+	v = read_reg(reg);
+	printf("Accel Bw: %02x:%02x ", (unsigned)reg, (unsigned)v);
+	printf("\n");
+
+	reg = _checked_registers[index++];
+	v = read_reg(reg);
+	printf("Accel Range: %02x:%02x ", (unsigned)reg, (unsigned)v);
+	printf("\n");
+
+	reg = _checked_registers[index++];
+	v = read_reg(reg);
+	printf("Accel Int-en-1: %02x:%02x ", (unsigned)reg, (unsigned)v);
+	printf("\n");
+
+	reg = _checked_registers[index++];
+	v = read_reg(reg);
+	printf("Accel Int-Map-1: %02x:%02x ", (unsigned)reg, (unsigned)v);
+
+	printf("\n");
+}
+
+
@@ -0,0 +1,872 @@
+
+#include "bmi055.hpp"
+
+
+/*
+  list of registers that will be checked in check_registers(). Note
+  that ADDR_WHO_AM_I must be first in the list.
+ */
+
+const uint8_t BMI055_gyro::_checked_registers[BMI055_GYRO_NUM_CHECKED_REGISTERS] = {    BMI055_GYR_CHIP_ID,
+											BMI055_GYR_LPM1,
+											BMI055_GYR_BW,
+											BMI055_GYR_RANGE,
+											BMI055_GYR_INT_EN_0,
+											BMI055_GYR_INT_EN_1,
+											BMI055_GYR_INT_MAP_1
+										   };
+
+
+BMI055_gyro::BMI055_gyro(int bus, const char *path_gyro, spi_dev_e device, enum Rotation rotation) :
+	BMI055("BMI055_GYRO", path_gyro, bus, device, SPIDEV_MODE3, BMI055_BUS_SPEED, rotation),
+	_gyro_reports(nullptr),
+	_gyro_scale{},
+	_gyro_range_scale(0.0f),
+	_gyro_range_rad_s(0.0f),
+	_gyro_topic(nullptr),
+	_gyro_orb_class_instance(-1),
+	_gyro_class_instance(-1),
+	_gyro_sample_rate(BMI055_GYRO_DEFAULT_RATE),
+	_gyro_reads(perf_alloc(PC_COUNT, "bmi055_gyro_read")),
+	_gyro_filter_x(BMI055_GYRO_DEFAULT_RATE, BMI055_GYRO_DEFAULT_DRIVER_FILTER_FREQ),
+	_gyro_filter_y(BMI055_GYRO_DEFAULT_RATE, BMI055_GYRO_DEFAULT_DRIVER_FILTER_FREQ),
+	_gyro_filter_z(BMI055_GYRO_DEFAULT_RATE, BMI055_GYRO_DEFAULT_DRIVER_FILTER_FREQ),
+	_gyro_int(1000000 / BMI055_GYRO_MAX_PUBLISH_RATE, true),
+	_last_temperature(0)
+{
+	// disable debug() calls
+	_debug_enabled = false;
+
+	_device_id.devid_s.devtype = DRV_GYR_DEVTYPE_BMI055;
+
+	// default gyro scale factors
+	_gyro_scale.x_offset = 0;
+	_gyro_scale.x_scale  = 1.0f;
+	_gyro_scale.y_offset = 0;
+	_gyro_scale.y_scale  = 1.0f;
+	_gyro_scale.z_offset = 0;
+	_gyro_scale.z_scale  = 1.0f;
+
+	memset(&_call, 0, sizeof(_call));
+}
+
+
+BMI055_gyro::~BMI055_gyro()
+{
+	/* make sure we are truly inactive */
+	stop();
+
+	/* free any existing reports */
+	if (_gyro_reports != nullptr) {
+		delete _gyro_reports;
+	}
+
+	if (_gyro_class_instance != -1) {
+		unregister_class_devname(GYRO_BASE_DEVICE_PATH, _gyro_class_instance);
+	}
+
+	/* delete the perf counter */
+	perf_free(_gyro_reads);
+}
+
+int
+BMI055_gyro::init()
+{
+	int ret;
+
+	/* do SPI init (and probe) first */
+	ret = SPI::init();
+
+	/* if probe/setup failed, bail now */
+	if (ret != OK) {
+		DEVICE_DEBUG("SPI setup failed");
+		return ret;
+	}
+
+	/* allocate basic report buffers */
+	_gyro_reports = new ringbuffer::RingBuffer(2, sizeof(accel_report));
+
+	if (_gyro_reports == nullptr) {
+		goto out;
+	}
+
+	if (reset() != OK) {
+		goto out;
+	}
+
+	/* Initialize offsets and scales */
+	_gyro_scale.x_offset = 0;
+	_gyro_scale.x_scale  = 1.0f;
+	_gyro_scale.y_offset = 0;
+	_gyro_scale.y_scale  = 1.0f;
+	_gyro_scale.z_offset = 0;
+	_gyro_scale.z_scale  = 1.0f;
+
+
+	/* if probe/setup failed, bail now */
+	if (ret != OK) {
+		DEVICE_DEBUG("gyro init failed");
+		return ret;
+	}
+
+	_gyro_class_instance = register_class_devname(GYRO_BASE_DEVICE_PATH);
+
+	measure();
+
+	/* advertise sensor topic, measure manually to initialize valid report */
+	struct gyro_report grp;
+	_gyro_reports->get(&grp);
+
+	_gyro_topic = orb_advertise_multi(ORB_ID(sensor_gyro), &grp,
+					  &_gyro_orb_class_instance, (is_external()) ? ORB_PRIO_MAX - 1 : ORB_PRIO_HIGH - 1);
+
+	if (_gyro_topic == nullptr) {
+		warnx("ADVERT FAIL");
+	}
+
+out:
+	return ret;
+}
+
+
+int BMI055_gyro::reset()
+{
+	write_reg(BMI055_GYR_SOFTRESET, BMI055_SOFT_RESET);//Soft-reset
+	usleep(5000);
+	write_checked_reg(BMI055_GYR_BW,     0); // Write Gyro Bandwidth
+	write_checked_reg(BMI055_GYR_RANGE,     0);// Write Gyro range
+	write_checked_reg(BMI055_GYR_INT_EN_0,      BMI055_GYR_DRDY_INT_EN); //Enable DRDY interrupt
+	write_checked_reg(BMI055_GYR_INT_MAP_1,     BMI055_GYR_DRDY_INT1); //Map DRDY interrupt on pin INT1
+
+	set_gyro_range(BMI055_GYRO_DEFAULT_RANGE_DPS);// set Gyro range
+	gyro_set_sample_rate(BMI055_GYRO_DEFAULT_RATE);// set Gyro ODR
+
+
+	//Enable Gyroscope in normal mode
+	write_reg(BMI055_GYR_LPM1, BMI055_GYRO_NORMAL);
+	up_udelay(1000);
+
+	uint8_t retries = 10;
+
+	while (retries--) {
+		bool all_ok = true;
+
+		for (uint8_t i = 0; i < BMI055_GYRO_NUM_CHECKED_REGISTERS; i++) {
+			if (read_reg(_checked_registers[i]) != _checked_values[i]) {
+				write_reg(_checked_registers[i], _checked_values[i]);
+				all_ok = false;
+			}
+		}
+
+		if (all_ok) {
+			break;
+		}
+	}
+
+	_gyro_reads = 0;
+
+	return OK;
+}
+
+int
+BMI055_gyro::probe()
+{
+	/* look for device ID */
+	_whoami = read_reg(BMI055_GYR_CHIP_ID);
+
+	// verify product revision
+	switch (_whoami) {
+	case BMI055_GYR_WHO_AM_I:
+		memset(_checked_values, 0, sizeof(_checked_values));
+		memset(_checked_bad, 0, sizeof(_checked_bad));
+		_checked_values[0] = _whoami;
+		_checked_bad[0] = _whoami;
+		return OK;
+	}
+
+	DEVICE_DEBUG("unexpected whoami 0x%02x", _whoami);
+	return -EIO;
+}
+
+
+int
+BMI055_gyro::gyro_set_sample_rate(float frequency)
+{
+	uint8_t setbits = 0;
+	uint8_t clearbits = BMI055_GYRO_BW_MASK;
+
+	if (frequency <= 100) {
+		setbits |= BMI055_GYRO_RATE_100;
+		_gyro_sample_rate = 100;
+
+	} else if (frequency <= 250) {
+		setbits |= BMI055_GYRO_RATE_400;
+		_gyro_sample_rate = 400;
+
+	} else if (frequency <= 1000) {
+		setbits |= BMI055_GYRO_RATE_1000;
+		_gyro_sample_rate = 1000;
+
+	} else if (frequency > 1000) {
+		setbits |= BMI055_GYRO_RATE_2000;
+		_gyro_sample_rate = 2000;
+
+	} else {
+		return -EINVAL;
+	}
+
+	modify_reg(BMI055_GYR_BW, clearbits, setbits);
+
+	return OK;
+}
+
+
+int
+BMI055_gyro::self_test()
+{
+	if (perf_event_count(_sample_perf) == 0) {
+		measure();
+	}
+
+	/* return 0 on success, 1 else */
+	return (perf_event_count(_sample_perf) > 0) ? 0 : 1;
+}
+
+int
+BMI055_gyro::gyro_self_test()
+{
+	if (self_test()) {
+		return 1;
+	}
+
+	/*
+	 * Maximum deviation of 10 degrees
+	 */
+	const float max_offset = (float)(10 * M_PI_F / 180.0f);
+	/* 30% scale error is chosen to catch completely faulty units but
+	 * to let some slight scale error pass. Requires a rate table or correlation
+	 * with mag rotations + data fit to
+	 * calibrate properly and is not done by default.
+	 */
+	const float max_scale = 0.3f;
+
+	/* evaluate gyro offsets, complain if offset -> zero or larger than 30 dps. */
+	if (fabsf(_gyro_scale.x_offset) > max_offset) {
+		return 1;
+	}
+
+	/* evaluate gyro scale, complain if off by more than 30% */
+	if (fabsf(_gyro_scale.x_scale - 1.0f) > max_scale) {
+		return 1;
+	}
+
+	if (fabsf(_gyro_scale.y_offset) > max_offset) {
+		return 1;
+	}
+
+	if (fabsf(_gyro_scale.y_scale - 1.0f) > max_scale) {
+		return 1;
+	}
+
+	if (fabsf(_gyro_scale.z_offset) > max_offset) {
+		return 1;
+	}
+
+	if (fabsf(_gyro_scale.z_scale - 1.0f) > max_scale) {
+		return 1;
+	}
+
+	/* check if all scales are zero */
+	if ((fabsf(_gyro_scale.x_offset) < 0.000001f) &&
+	    (fabsf(_gyro_scale.y_offset) < 0.000001f) &&
+	    (fabsf(_gyro_scale.z_offset) < 0.000001f)) {
+		/* if all are zero, this device is not calibrated */
+		return 1;
+	}
+
+	return 0;
+}
+
+/*
+  deliberately trigger an error in the sensor to trigger recovery
+ */
+void
+BMI055_gyro::test_error()
+{
+	write_reg(BMI055_GYR_SOFTRESET, BMI055_SOFT_RESET);
+	::printf("error triggered\n");
+	print_registers();
+}
+
+ssize_t
+BMI055_gyro::read(struct file *filp, char *buffer, size_t buflen)
+{
+	unsigned count = buflen / sizeof(gyro_report);
+
+	/* buffer must be large enough */
+	if (count < 1) {
+		return -ENOSPC;
+	}
+
+	/* if automatic measurement is not enabled, get a fresh measurement into the buffer */
+	if (_call_interval == 0) {
+		_gyro_reports->flush();
+		measure();
+	}
+
+	/* if no data, error (we could block here) */
+	if (_gyro_reports->empty()) {
+		return -EAGAIN;
+	}
+
+	perf_count(_gyro_reads);
+
+	/* copy reports out of our buffer to the caller */
+	gyro_report *grp = reinterpret_cast<gyro_report *>(buffer);
+	int transferred = 0;
+
+	while (count--) {
+		if (!_gyro_reports->get(grp)) {
+			break;
+		}
+
+		transferred++;
+		grp++;
+	}
+
+	/* return the number of bytes transferred */
+	return (transferred * sizeof(gyro_report));
+}
+
+
+int
+BMI055_gyro::ioctl(struct file *filp, int cmd, unsigned long arg)
+{
+	switch (cmd) {
+
+	case SENSORIOCSPOLLRATE: {
+			switch (arg) {
+
+			/* switching to manual polling */
+			case SENSOR_POLLRATE_MANUAL:
+				stop();
+				_call_interval = 0;
+				return OK;
+
+			/* external signalling not supported */
+			case SENSOR_POLLRATE_EXTERNAL:
+
+			/* zero would be bad */
+			case 0:
+				return -EINVAL;
+
+			/* set default/max polling rate */
+			case SENSOR_POLLRATE_MAX:
+				return ioctl(filp, SENSORIOCSPOLLRATE, BMI055_GYRO_MAX_RATE);
+
+			case SENSOR_POLLRATE_DEFAULT:
+				return ioctl(filp, SENSORIOCSPOLLRATE, BMI055_GYRO_DEFAULT_RATE);
+
+			/* adjust to a legal polling interval in Hz */
+			default: {
+					/* do we need to start internal polling? */
+					bool want_start = (_call_interval == 0);
+
+					/* convert hz to hrt interval via microseconds */
+					unsigned ticks = 1000000 / arg;
+
+					/* check against maximum rate */
+					if (ticks < 1000) {
+						return -EINVAL;
+					}
+
+					float cutoff_freq_hz_gyro = _gyro_filter_x.get_cutoff_freq();
+					float sample_rate = 1.0e6f / ticks;
+					_gyro_filter_x.set_cutoff_frequency(sample_rate, cutoff_freq_hz_gyro);
+					_gyro_filter_y.set_cutoff_frequency(sample_rate, cutoff_freq_hz_gyro);
+					_gyro_filter_z.set_cutoff_frequency(sample_rate, cutoff_freq_hz_gyro);
+
+					/* update interval for next measurement */
+					_call_interval = ticks;
+
+					/*
+					  set call interval faster than the sample time. We
+					  then detect when we have duplicate samples and reject
+					  them. This prevents aliasing due to a beat between the
+					  stm32 clock and the bmi055 clock
+					 */
+					_call.period = _call_interval - BMI055_TIMER_REDUCTION;
+
+					/* if we need to start the poll state machine, do it */
+					if (want_start) {
+						start();
+					}
+
+					return OK;
+				}
+			}
+		}
+
+	case SENSORIOCGPOLLRATE:
+		if (_call_interval == 0) {
+			return SENSOR_POLLRATE_MANUAL;
+		}
+
+		return 1000000 / _call_interval;
+
+	case SENSORIOCRESET:
+		return reset();
+
+	case SENSORIOCSQUEUEDEPTH: {
+			/* lower bound is mandatory, upper bound is a sanity check */
+			if ((arg < 1) || (arg > 100)) {
+				return -EINVAL;
+			}
+
+			irqstate_t flags = px4_enter_critical_section();
+
+			if (!_gyro_reports->resize(arg)) {
+				px4_leave_critical_section(flags);
+				return -ENOMEM;
+			}
+
+			px4_leave_critical_section(flags);
+
+			return OK;
+		}
+
+	case SENSORIOCGQUEUEDEPTH:
+		return _gyro_reports->size();
+
+	case GYROIOCGSAMPLERATE:
+		return _gyro_sample_rate;
+
+	case GYROIOCSSAMPLERATE:
+		return gyro_set_sample_rate(arg);
+
+	case GYROIOCGLOWPASS:
+		return _gyro_filter_x.get_cutoff_freq();
+
+	case GYROIOCSLOWPASS:
+		// set software filtering
+		_gyro_filter_x.set_cutoff_frequency(1.0e6f / _call_interval, arg);
+		_gyro_filter_y.set_cutoff_frequency(1.0e6f / _call_interval, arg);
+		_gyro_filter_z.set_cutoff_frequency(1.0e6f / _call_interval, arg);
+		return OK;
+
+	case GYROIOCSSCALE:
+		/* copy scale in */
+		memcpy(&_gyro_scale, (struct gyro_calibration_s *) arg, sizeof(_gyro_scale));
+		return OK;
+
+	case GYROIOCGSCALE:
+		/* copy scale out */
+		memcpy((struct gyro_calibration_s *) arg, &_gyro_scale, sizeof(_gyro_scale));
+		return OK;
+
+	case GYROIOCSRANGE:
+		return set_gyro_range(arg);
+
+	case GYROIOCGRANGE:
+		return (unsigned long)(_gyro_range_rad_s * 180.0f / M_PI_F + 0.5f);
+
+	case GYROIOCSELFTEST:
+		return gyro_self_test();
+
+#ifdef GYROIOCSHWLOWPASS
+
+	case GYROIOCSHWLOWPASS:
+		return OK;
+#endif
+
+#ifdef GYROIOCGHWLOWPASS
+
+	case GYROIOCGHWLOWPASS:
+		return _dlpf_freq;
+#endif
+
+	default:
+		/* give it to the superclass */
+		return SPI::ioctl(filp, cmd, arg);
+	}
+}
+
+
+
+void
+BMI055_gyro::modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits)
+{
+	uint8_t val;
+
+	val = read_reg(reg);
+	val &= ~clearbits;
+	val |= setbits;
+	write_checked_reg(reg, val);
+}
+
+void
+BMI055_gyro::write_checked_reg(unsigned reg, uint8_t value)
+{
+	write_reg(reg, value);
+
+	for (uint8_t i = 0; i < BMI055_GYRO_NUM_CHECKED_REGISTERS; i++) {
+		if (reg == _checked_registers[i]) {
+			_checked_values[i] = value;
+			_checked_bad[i] = value;
+		}
+	}
+}
+
+
+int
+BMI055_gyro::set_gyro_range(unsigned max_dps)
+{
+	uint8_t setbits = 0;
+	uint8_t clearbits = BMI055_GYRO_RANGE_125_DPS | BMI055_GYRO_RANGE_250_DPS;
+	float lsb_per_dps;
+	float max_gyro_dps;
+
+	if (max_dps == 0) {
+		max_dps = 2000;
+	}
+
+	if (max_dps <= 125) {
+		max_gyro_dps = 125;
+		lsb_per_dps = 262.4;
+		setbits |= BMI055_GYRO_RANGE_125_DPS;
+
+	} else if (max_dps <= 250) {
+		max_gyro_dps = 250;
+		lsb_per_dps = 131.2;
+		setbits |= BMI055_GYRO_RANGE_250_DPS;
+
+	} else if (max_dps <= 500) {
+		max_gyro_dps = 500;
+		lsb_per_dps = 65.6;
+		setbits |= BMI055_GYRO_RANGE_500_DPS;
+
+	} else if (max_dps <= 1000) {
+		max_gyro_dps = 1000;
+		lsb_per_dps = 32.8;
+		setbits |= BMI055_GYRO_RANGE_1000_DPS;
+
+	} else if (max_dps <= 2000) {
+		max_gyro_dps = 2000;
+		lsb_per_dps = 16.4;
+		setbits |= BMI055_GYRO_RANGE_2000_DPS;
+
+	} else {
+		return -EINVAL;
+	}
+
+	_gyro_range_rad_s = (max_gyro_dps / 180.0f * M_PI_F);
+	_gyro_range_scale = (M_PI_F / (180.0f * lsb_per_dps));
+
+	modify_reg(BMI055_GYR_RANGE, clearbits, setbits);
+
+	return OK;
+}
+
+void
+BMI055_gyro::start()
+{
+	/* make sure we are stopped first */
+	stop();
+
+	/* discard any stale data in the buffers */
+	_gyro_reports->flush();
+
+	/* start polling at the specified rate */
+	hrt_call_every(&_call,
+		       1000,
+		       _call_interval - BMI055_TIMER_REDUCTION,
+		       (hrt_callout)&BMI055_gyro::measure_trampoline, this);
+	reset();
+}
+
+void
+BMI055_gyro::stop()
+{
+	hrt_cancel(&_call);
+}
+
+void
+BMI055_gyro::measure_trampoline(void *arg)
+{
+	BMI055_gyro *dev = reinterpret_cast<BMI055_gyro *>(arg);
+
+	/* make another measurement */
+	dev->measure();
+}
+
+void
+BMI055_gyro::check_registers(void)
+{
+	uint8_t v;
+
+	if ((v = read_reg(_checked_registers[_checked_next])) !=
+	    _checked_values[_checked_next]) {
+		_checked_bad[_checked_next] = v;
+
+		/*
+		  if we get the wrong value then we know the SPI bus
+		  or sensor is very sick. We set _register_wait to 20
+		  and wait until we have seen 20 good values in a row
+		  before we consider the sensor to be OK again.
+		 */
+		perf_count(_bad_registers);
+
+		/*
+		  try to fix the bad register value. We only try to
+		  fix one per loop to prevent a bad sensor hogging the
+		  bus.
+		 */
+		if (_register_wait == 0 || _checked_next == 0) {
+			// if the product_id is wrong then reset the
+			// sensor completely
+			write_reg(BMI055_GYR_SOFTRESET, BMI055_SOFT_RESET);
+			_reset_wait = hrt_absolute_time() + 10000;
+			_checked_next = 0;
+
+		} else {
+			write_reg(_checked_registers[_checked_next], _checked_values[_checked_next]);
+			// waiting 3ms between register writes seems
+			// to raise the chance of the sensor
+			// recovering considerably
+			_reset_wait = hrt_absolute_time() + 3000;
+		}
+
+		_register_wait = 20;
+	}
+
+	_checked_next = (_checked_next + 1) % BMI055_GYRO_NUM_CHECKED_REGISTERS;
+}
+
+
+void
+BMI055_gyro::measure()
+{
+	if (hrt_absolute_time() < _reset_wait) {
+		// we're waiting for a reset to complete
+		return;
+	}
+
+	struct BMI_GyroReport bmi_gyroreport;
+
+	struct Report {
+		int16_t     temp;
+		int16_t     gyro_x;
+		int16_t     gyro_y;
+		int16_t     gyro_z;
+	} report;
+
+	/* start measuring */
+	perf_begin(_sample_perf);
+
+	/*
+	 * Fetch the full set of measurements from the BMI055 gyro in one pass.
+	 */
+	bmi_gyroreport.cmd = BMI055_GYR_X_L | DIR_READ;
+
+
+	if (OK != transfer((uint8_t *)&bmi_gyroreport, ((uint8_t *)&bmi_gyroreport), sizeof(bmi_gyroreport))) {
+		return;
+	}
+
+	check_registers();
+
+	uint8_t temp = read_reg(BMI055_ACC_TEMP);
+
+	report.temp = temp;
+
+	report.gyro_x = bmi_gyroreport.gyro_x;
+	report.gyro_y = bmi_gyroreport.gyro_y;
+	report.gyro_z = bmi_gyroreport.gyro_z;
+
+	if (report.temp == 0 &&
+	    report.gyro_x == 0 &&
+	    report.gyro_y == 0 &&
+	    report.gyro_z == 0) {
+		// all zero data - probably a SPI bus error
+		perf_count(_bad_transfers);
+		perf_end(_sample_perf);
+		// note that we don't call reset() here as a reset()
+		// costs 20ms with interrupts disabled. That means if
+		// the bmi055 does go bad it would cause a FMU failure,
+		// regardless of whether another sensor is available,
+		return;
+	}
+
+	perf_count(_good_transfers);
+
+	if (_register_wait != 0) {
+		// we are waiting for some good transfers before using
+		// the sensor again. We still increment
+		// _good_transfers, but don't return any data yet
+		_register_wait--;
+		return;
+	}
+
+	/*
+	 * Report buffers.
+	 */
+	gyro_report     grb;
+
+
+	grb.timestamp =  hrt_absolute_time();
+
+	// report the error count as the sum of the number of bad
+	// transfers and bad register reads. This allows the higher
+	// level code to decide if it should use this sensor based on
+	// whether it has had failures
+	grb.error_count = perf_event_count(_bad_transfers) + perf_event_count(_bad_registers);
+
+	/*
+	 * 1) Scale raw value to SI units using scaling from datasheet.
+	 * 2) Subtract static offset (in SI units)
+	 * 3) Scale the statically calibrated values with a linear
+	 *    dynamically obtained factor
+	 *
+	 * Note: the static sensor offset is the number the sensor outputs
+	 *   at a nominally 'zero' input. Therefore the offset has to
+	 *   be subtracted.
+	 *
+	 *   Example: A gyro outputs a value of 74 at zero angular rate
+	 *        the offset is 74 from the origin and subtracting
+	 *        74 from all measurements centers them around zero.
+	 */
+
+	grb.x_raw = report.gyro_x;
+	grb.y_raw = report.gyro_y;
+	grb.z_raw = report.gyro_z;
+
+	float xraw_f = report.gyro_x;
+	float yraw_f = report.gyro_y;
+	float zraw_f = report.gyro_z;
+
+	// apply user specified rotation
+	rotate_3f(_rotation, xraw_f, yraw_f, zraw_f);
+
+	float x_gyro_in_new = ((xraw_f * _gyro_range_scale) - _gyro_scale.x_offset) * _gyro_scale.x_scale;
+	float y_gyro_in_new = ((yraw_f * _gyro_range_scale) - _gyro_scale.y_offset) * _gyro_scale.y_scale;
+	float z_gyro_in_new = ((zraw_f * _gyro_range_scale) - _gyro_scale.z_offset) * _gyro_scale.z_scale;
+
+	grb.x = _gyro_filter_x.apply(x_gyro_in_new);
+	grb.y = _gyro_filter_y.apply(y_gyro_in_new);
+	grb.z = _gyro_filter_z.apply(z_gyro_in_new);
+
+	math::Vector<3> gval(x_gyro_in_new, y_gyro_in_new, z_gyro_in_new);
+	math::Vector<3> gval_integrated;
+
+	bool gyro_notify = _gyro_int.put(grb.timestamp, gval, gval_integrated, grb.integral_dt);
+	grb.x_integral = gval_integrated(0);
+	grb.y_integral = gval_integrated(1);
+	grb.z_integral = gval_integrated(2);
+
+	grb.scaling = _gyro_range_scale;
+	grb.range_rad_s = _gyro_range_rad_s;
+
+	grb.temperature_raw = report.temp;
+	grb.temperature = _last_temperature;
+
+	_gyro_reports->force(&grb);
+
+	/* notify anyone waiting for data */
+	if (gyro_notify) {
+		poll_notify(POLLIN);
+	}
+
+	if (gyro_notify && !(_pub_blocked)) {
+		/* log the time of this report */
+		perf_begin(_controller_latency_perf);
+		/* publish it */
+		orb_publish(ORB_ID(sensor_gyro), _gyro_topic, &grb);
+	}
+
+	/* stop measuring */
+	perf_end(_sample_perf);
+}
+
+void
+BMI055_gyro::print_info()
+{
+	warnx("BMI055 Gyro");
+	perf_print_counter(_sample_perf);
+	perf_print_counter(_gyro_reads);
+	perf_print_counter(_bad_transfers);
+	perf_print_counter(_bad_registers);
+	perf_print_counter(_good_transfers);
+	perf_print_counter(_reset_retries);
+	perf_print_counter(_duplicates);
+	_gyro_reports->print_info("gyro queue");
+	::printf("checked_next: %u\n", _checked_next);
+
+	for (uint8_t i = 0; i < BMI055_GYRO_NUM_CHECKED_REGISTERS; i++) {
+		uint8_t v = read_reg(_checked_registers[i]);
+
+		if (v != _checked_values[i]) {
+			::printf("reg %02x:%02x should be %02x\n",
+				 (unsigned)_checked_registers[i],
+				 (unsigned)v,
+				 (unsigned)_checked_values[i]);
+		}
+
+		if (v != _checked_bad[i]) {
+			::printf("reg %02x:%02x was bad %02x\n",
+				 (unsigned)_checked_registers[i],
+				 (unsigned)v,
+				 (unsigned)_checked_bad[i]);
+		}
+	}
+
+	::printf("temperature: %.1f\n", (double)_last_temperature);
+	printf("\n");
+}
+
+
+void
+BMI055_gyro::print_registers()
+{
+	uint8_t index = 0;
+	printf("BMI055 gyro registers\n");
+
+	uint8_t reg = _checked_registers[index++];
+	uint8_t v = read_reg(reg);
+	printf("Gyro Chip Id: %02x:%02x ", (unsigned)reg, (unsigned)v);
+	printf("\n");
+
+	reg = _checked_registers[index++];
+	v = read_reg(reg);
+	printf("Gyro Power: %02x:%02x ", (unsigned)reg, (unsigned)v);
+	printf("\n");
+
+	reg = _checked_registers[index++];
+	v = read_reg(reg);
+	printf("Gyro Bw: %02x:%02x ", (unsigned)reg, (unsigned)v);
+	printf("\n");
+
+	reg = _checked_registers[index++];
+	v = read_reg(reg);
+	printf("Gyro Range: %02x:%02x ", (unsigned)reg, (unsigned)v);
+	printf("\n");
+
+	reg = _checked_registers[index++];
+	v = read_reg(reg);
+	printf("Gyro Int-en-0: %02x:%02x ", (unsigned)reg, (unsigned)v);
+	printf("\n");
+
+	reg = _checked_registers[index++];
+	v = read_reg(reg);
+	printf("Gyro Int-en-1: %02x:%02x ", (unsigned)reg, (unsigned)v);
+	printf("\n");
+
+	reg = _checked_registers[index++];
+	v = read_reg(reg);
+	printf("Gyro Int-Map-1: %02x:%02x ", (unsigned)reg, (unsigned)v);
+
+	printf("\n");
+}
+
+
+
+
@@ -0,0 +1,611 @@
+#include "bmi055.hpp"
+
+/** driver 'main' command */
+extern "C" { __EXPORT int bmi055_main(int argc, char *argv[]); }
+
+/**
+ * Local functions in support of the shell command.
+ */
+
+enum sensor_type {
+	BMI055_NONE = 0,
+	BMI055_ACCEL = 1,
+	BMI055_GYRO
+};
+
+
+namespace bmi055
+{
+
+BMI055_accel    *g_acc_dev_int; // on internal bus (accel)
+BMI055_accel    *g_acc_dev_ext; // on external bus (accel)
+BMI055_gyro     *g_gyr_dev_int; // on internal bus (gyro)
+BMI055_gyro     *g_gyr_dev_ext; // on external bus (gyro)
+
+
+void    start(bool, enum Rotation, enum sensor_type);
+void    stop(bool, enum sensor_type);
+void    test(bool, enum sensor_type);
+void    reset(bool, enum sensor_type);
+void    info(bool, enum sensor_type);
+void    regdump(bool, enum sensor_type);
+void    testerror(bool, enum sensor_type);
+void    usage();
+
+
+/**
+ * Start the driver.
+ *
+ * This function only returns if the driver is up and running
+ * or failed to detect the sensor.
+ */
+void
+start(bool external_bus, enum Rotation rotation, enum sensor_type sensor)
+{
+
+	int fd_acc, fd_gyr;
+	BMI055_accel **g_dev_acc_ptr = external_bus ? &g_acc_dev_ext : &g_acc_dev_int;
+	const char *path_accel = external_bus ? BMI055_DEVICE_PATH_ACCEL_EXT : BMI055_DEVICE_PATH_ACCEL;
+	BMI055_gyro **g_dev_gyr_ptr = external_bus ? &g_gyr_dev_ext : &g_gyr_dev_int;
+	const char *path_gyro  = external_bus ? BMI055_DEVICE_PATH_GYRO_EXT : BMI055_DEVICE_PATH_GYRO;
+
+
+	if (sensor == BMI055_ACCEL) {
+		if (*g_dev_acc_ptr != nullptr)
+			/* if already started, the still command succeeded */
+		{
+			errx(0, "bmi055 accel sensor already started");
+		}
+
+		/* create the driver */
+		if (external_bus) {
+#if defined(PX4_SPI_BUS_EXT) && defined(PX4_SPIDEV_EXT_BMI)
+			*g_dev_acc_ptr = new BMI055_accel(PX4_SPI_BUS_EXT, path_accel, (spi_dev_e)PX4_SPIDEV_EXT_BMI, rotation);
+#else
+			errx(0, "External SPI not available");
+#endif
+
+		} else {
+			*g_dev_acc_ptr = new BMI055_accel(PX4_SPI_BUS_SENSORS, path_accel, (spi_dev_e)PX4_SPIDEV_BMI055_ACC, rotation);
+		}
+
+		if (*g_dev_acc_ptr == nullptr) {
+			goto fail_accel;
+		}
+
+		if (OK != (*g_dev_acc_ptr)->init()) {
+			goto fail_accel;
+		}
+
+		/* set the poll rate to default, starts automatic data collection */
+		fd_acc = open(path_accel, O_RDONLY);
+
+		if (fd_acc < 0) {
+			goto fail_accel;
+		}
+
+		if (ioctl(fd_acc, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
+			goto fail_accel;
+		}
+
+		close(fd_acc);
+	}
+
+	if (sensor == BMI055_GYRO) {
+
+		if (*g_dev_gyr_ptr != nullptr) {
+			errx(0, "bmi055 gyro sensor already started");
+		}
+
+		/* create the driver */
+		if (external_bus) {
+#if defined(PX4_SPI_BUS_EXT) && defined(PX4_SPIDEV_EXT_BMI)
+			*g_dev_ptr = new BMI055_gyro(PX4_SPI_BUS_EXT, path_gyro, (spi_dev_e)PX4_SPIDEV_EXT_BMI, rotation);
+#else
+			errx(0, "External SPI not available");
+#endif
+
+		} else {
+			*g_dev_gyr_ptr = new BMI055_gyro(PX4_SPI_BUS_SENSORS, path_gyro, (spi_dev_e)PX4_SPIDEV_BMI055_GYR, rotation);
+		}
+
+		if (*g_dev_gyr_ptr == nullptr) {
+			goto fail_gyro;
+		}
+
+		if (OK != (*g_dev_gyr_ptr)->init()) {
+			goto fail_gyro;
+		}
+
+		/* set the poll rate to default, starts automatic data collection */
+		fd_gyr = open(path_gyro, O_RDONLY);
+
+		if (fd_gyr < 0) {
+			goto fail_gyro;
+		}
+
+		if (ioctl(fd_gyr, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
+			goto fail_gyro;
+		}
+
+		close(fd_gyr);
+	}
+
+	exit(0);
+
+fail_accel:
+
+	if (*g_dev_acc_ptr != nullptr) {
+		delete(*g_dev_acc_ptr);
+		*g_dev_acc_ptr = nullptr;
+	}
+
+	errx(1, "bmi055 accel driver start failed");
+
+fail_gyro:
+
+	if (*g_dev_gyr_ptr != nullptr) {
+		delete(*g_dev_gyr_ptr);
+		*g_dev_gyr_ptr = nullptr;
+	}
+
+	errx(1, "bmi055 gyro driver start failed");
+
+}
+
+void
+stop(bool external_bus, enum sensor_type sensor)
+{
+	BMI055_accel **g_dev_acc_ptr = external_bus ? &g_acc_dev_ext : &g_acc_dev_int;
+	BMI055_gyro **g_dev_gyr_ptr = external_bus ? &g_gyr_dev_ext : &g_gyr_dev_int;
+
+	if (sensor == BMI055_ACCEL) {
+		if (*g_dev_acc_ptr != nullptr) {
+			delete *g_dev_acc_ptr;
+			*g_dev_acc_ptr = nullptr;
+
+		} else {
+			/* warn, but not an error */
+			warnx("bmi055 accel sensor already stopped.");
+		}
+	}
+
+	if (sensor == BMI055_GYRO) {
+		if (*g_dev_gyr_ptr != nullptr) {
+			delete *g_dev_gyr_ptr;
+			*g_dev_gyr_ptr = nullptr;
+
+		} else {
+			/* warn, but not an error */
+			warnx("bmi055 gyro sensor already stopped.");
+		}
+	}
+
+	exit(0);
+
+}
+
+/**
+ * Perform some basic functional tests on the driver;
+ * make sure we can collect data from the sensor in polled
+ * and automatic modes.
+ */
+void
+test(bool external_bus, enum sensor_type sensor)
+{
+	const char *path_accel = external_bus ? BMI055_DEVICE_PATH_ACCEL_EXT : BMI055_DEVICE_PATH_ACCEL;
+	const char *path_gyro  = external_bus ? BMI055_DEVICE_PATH_GYRO_EXT : BMI055_DEVICE_PATH_GYRO;
+	accel_report a_report;
+	gyro_report g_report;
+	ssize_t sz;
+
+	if (sensor == BMI055_ACCEL) {
+		/* get the accel driver */
+		int fd_acc = open(path_accel, O_RDONLY);
+
+		if (fd_acc < 0)
+			err(1, "%s Accel file open failed (try 'bmi055 -A start')",
+			    path_accel);
+
+
+		/* reset to manual polling */
+		if (ioctl(fd_acc, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MANUAL) < 0) {
+			err(1, "accel reset to manual polling");
+		}
+
+		/* do a simple demand read */
+		sz = read(fd_acc, &a_report, sizeof(a_report));
+
+		if (sz != sizeof(a_report)) {
+			warnx("ret: %d, expected: %d", sz, sizeof(a_report));
+			err(1, "immediate accel read failed");
+		}
+
+		warnx("single read");
+		warnx("time:     %lld", a_report.timestamp);
+		warnx("acc  x:  \t%8.4f\tm/s^2", (double)a_report.x);
+		warnx("acc  y:  \t%8.4f\tm/s^2", (double)a_report.y);
+		warnx("acc  z:  \t%8.4f\tm/s^2", (double)a_report.z);
+		warnx("acc  x:  \t%d\traw 0x%0x", (short)a_report.x_raw, (unsigned short)a_report.x_raw);
+		warnx("acc  y:  \t%d\traw 0x%0x", (short)a_report.y_raw, (unsigned short)a_report.y_raw);
+		warnx("acc  z:  \t%d\traw 0x%0x", (short)a_report.z_raw, (unsigned short)a_report.z_raw);
+		warnx("acc range: %8.4f m/s^2 (%8.4f g)", (double)a_report.range_m_s2,
+		      (double)(a_report.range_m_s2 / BMI055_ONE_G));
+		warnx("temp:  \t%8.4f\tdeg celsius", (double)a_report.temperature);
+		warnx("temp:  \t%d\traw 0x%0x", (short)g_report.temperature_raw, (unsigned short)a_report.temperature_raw);
+
+
+		/* reset to default polling */
+		if (ioctl(fd_acc, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
+			err(1, "accel reset to default polling");
+		}
+
+		close(fd_acc);
+	}
+
+	if (sensor == BMI055_GYRO) {
+
+		/* get the gyro driver */
+		int fd_gyr = open(path_gyro, O_RDONLY);
+
+		if (fd_gyr < 0) {
+			err(1, "%s Gyro file open failed (try 'bmi055 -G start')", path_gyro);
+		}
+
+		/* reset to manual polling */
+		if (ioctl(fd_gyr, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MANUAL) < 0) {
+			err(1, "gyro reset to manual polling");
+		}
+
+
+		/* do a simple demand read */
+		sz = read(fd_gyr, &g_report, sizeof(g_report));
+
+		if (sz != sizeof(g_report)) {
+			warnx("ret: %d, expected: %d", sz, sizeof(g_report));
+			err(1, "immediate gyro read failed");
+		}
+
+		warnx("gyr x: \t% 9.5f\trad/s", (double)g_report.x);
+		warnx("gyr y: \t% 9.5f\trad/s", (double)g_report.y);
+		warnx("gyr z: \t% 9.5f\trad/s", (double)g_report.z);
+		warnx("gyr x: \t%d\traw", (int)g_report.x_raw);
+		warnx("gyr y: \t%d\traw", (int)g_report.y_raw);
+		warnx("gyr z: \t%d\traw", (int)g_report.z_raw);
+		warnx("gyr range: %8.4f rad/s (%d deg/s)", (double)g_report.range_rad_s,
+		      (int)((g_report.range_rad_s / M_PI_F) * 180.0f + 0.5f));
+
+
+		/* reset to default polling */
+		if (ioctl(fd_gyr, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
+			err(1, "gyro reset to default polling");
+		}
+
+		close(fd_gyr);
+
+	}
+
+	if ((sensor == BMI055_ACCEL) || (sensor == BMI055_GYRO)) {
+		/* XXX add poll-rate tests here too */
+		reset(external_bus, sensor);
+	}
+
+	errx(0, "PASS");
+
+}
+
+/**
+ * Reset the driver.
+ */
+void
+reset(bool external_bus, enum sensor_type sensor)
+{
+	const char *path_accel = external_bus ? BMI055_DEVICE_PATH_ACCEL_EXT : BMI055_DEVICE_PATH_ACCEL;
+	const char *path_gyro = external_bus ? BMI055_DEVICE_PATH_GYRO_EXT : BMI055_DEVICE_PATH_GYRO;
+
+	if (sensor == BMI055_ACCEL) {
+		int fd_acc = open(path_accel, O_RDONLY);
+
+		if (fd_acc < 0) {
+			err(1, "Opening accel file failed ");
+		}
+
+		if (ioctl(fd_acc, SENSORIOCRESET, 0) < 0) {
+			err(1, "accel driver reset failed");
+		}
+
+
+		if (ioctl(fd_acc, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
+			err(1, "accel driver poll restart failed");
+		}
+
+		close(fd_acc);
+	}
+
+	if (sensor == BMI055_GYRO) {
+		int fd_gyr = open(path_gyro, O_RDONLY);
+
+		if (fd_gyr < 0) {
+			err(1, "Opening gyro file failed ");
+		}
+
+		if (ioctl(fd_gyr, SENSORIOCRESET, 0) < 0) {
+			err(1, "gyro driver reset failed");
+		}
+
+		if (ioctl(fd_gyr, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
+			err(1, "gyro driver poll restart failed");
+		}
+
+		close(fd_gyr);
+	}
+
+	exit(0);
+}
+
+
+/**
+ * Print a little info about the driver.
+ */
+void
+info(bool external_bus, enum sensor_type sensor)
+{
+	BMI055_accel **g_dev_acc_ptr = external_bus ? &g_acc_dev_ext : &g_acc_dev_int;
+	BMI055_gyro **g_dev_gyr_ptr = external_bus ? &g_gyr_dev_ext : &g_gyr_dev_int;
+
+	if (sensor == BMI055_ACCEL) {
+		if (*g_dev_acc_ptr == nullptr) {
+			errx(1, "bmi055 accel driver not running");
+		}
+
+		printf("state @ %p\n", *g_dev_acc_ptr);
+		(*g_dev_acc_ptr)->print_info();
+	}
+
+	if (sensor == BMI055_GYRO) {
+		if (*g_dev_gyr_ptr == nullptr) {
+			errx(1, "bmi055 gyro driver not running");
+		}
+
+		printf("state @ %p\n", *g_dev_gyr_ptr);
+		(*g_dev_gyr_ptr)->print_info();
+	}
+
+	exit(0);
+}
+
+/**
+ * Dump the register information
+ */
+void
+regdump(bool external_bus, enum sensor_type sensor)
+{
+	BMI055_accel **g_dev_acc_ptr = external_bus ? &g_acc_dev_ext : &g_acc_dev_int;
+	BMI055_gyro **g_dev_gyr_ptr = external_bus ? &g_gyr_dev_ext : &g_gyr_dev_int;
+
+	if (sensor == BMI055_ACCEL) {
+		if (*g_dev_acc_ptr == nullptr) {
+			errx(1, "bmi055 accel driver not running");
+		}
+
+		printf("regdump @ %p\n", *g_dev_acc_ptr);
+		(*g_dev_acc_ptr)->print_registers();
+	}
+
+	if (sensor == BMI055_GYRO) {
+		if (*g_dev_gyr_ptr == nullptr) {
+			errx(1, "bmi055 gyro driver not running");
+		}
+
+		printf("regdump @ %p\n", *g_dev_gyr_ptr);
+		(*g_dev_gyr_ptr)->print_registers();
+	}
+
+	exit(0);
+}
+
+
+/**
+ * deliberately produce an error to test recovery
+ */
+void
+testerror(bool external_bus, enum sensor_type sensor)
+{
+	BMI055_accel **g_dev_acc_ptr = external_bus ? &g_acc_dev_ext : &g_acc_dev_int;
+	BMI055_gyro **g_dev_gyr_ptr = external_bus ? &g_gyr_dev_ext : &g_gyr_dev_int;
+
+	if (sensor == BMI055_ACCEL) {
+		if (*g_dev_acc_ptr == nullptr) {
+			errx(1, "bmi055 accel driver not running");
+		}
+
+		(*g_dev_acc_ptr)->test_error();
+	}
+
+	if (sensor == BMI055_GYRO) {
+		if (*g_dev_gyr_ptr == nullptr) {
+			errx(1, "bmi055 gyro driver not running");
+		}
+
+		(*g_dev_gyr_ptr)->test_error();
+	}
+
+	exit(0);
+}
+
+void
+usage()
+{
+	warnx("missing command: try 'start', 'info', 'test', 'stop',\n'reset', 'regdump', 'testerror'");
+	warnx("options:");
+	warnx("    -X    (external bus)");
+	warnx("    -R    rotation");
+	warnx("    -A    (Enable Accelerometer)");
+	warnx("    -G    (Enable Gyroscope)");
+
+}
+
+}//namespace ends
+
+
+BMI055::BMI055(const char *name, const char *devname, int bus, enum spi_dev_e device, enum spi_mode_e mode,
+	       uint32_t frequency, enum Rotation rotation):
+	SPI(name, devname, bus, device, mode, frequency),
+	_whoami(0),
+	_call{},
+	_call_interval(0),
+	_dlpf_freq(0),
+	_sample_perf(perf_alloc(PC_ELAPSED, "bmi055_read")),
+	_bad_transfers(perf_alloc(PC_COUNT, "bmi055_bad_transfers")),
+	_bad_registers(perf_alloc(PC_COUNT, "bmi055_bad_registers")),
+	_good_transfers(perf_alloc(PC_COUNT, "bmi055_good_transfers")),
+	_reset_retries(perf_alloc(PC_COUNT, "bmi055_reset_retries")),
+	_duplicates(perf_alloc(PC_COUNT, "bmi055_duplicates")),
+	_controller_latency_perf(perf_alloc_once(PC_ELAPSED, "ctrl_latency")),
+	_register_wait(0),
+	_reset_wait(0),
+	_rotation(rotation),
+	_checked_next(0)
+{
+
+}
+
+
+
+BMI055::~BMI055()
+{
+	/* delete the perf counter */
+	perf_free(_sample_perf);
+	perf_free(_bad_transfers);
+	perf_free(_bad_registers);
+	perf_free(_good_transfers);
+	perf_free(_reset_retries);
+	perf_free(_duplicates);
+
+}
+
+uint8_t
+BMI055::read_reg(unsigned reg)
+{
+	uint8_t cmd[2] = { (uint8_t)(reg | DIR_READ), 0};
+
+	transfer(cmd, cmd, sizeof(cmd));
+
+	return cmd[1];
+
+}
+
+uint16_t
+BMI055::read_reg16(unsigned reg)
+{
+	uint8_t cmd[3] = { (uint8_t)(reg | DIR_READ), 0, 0 };
+
+	transfer(cmd, cmd, sizeof(cmd));
+
+	return (uint16_t)(cmd[1] << 8) | cmd[2];
+}
+
+
+void
+BMI055::write_reg(unsigned reg, uint8_t value)
+{
+	uint8_t cmd[2];
+
+	cmd[0] = reg | DIR_WRITE;
+	cmd[1] = value;
+
+	transfer(cmd, nullptr, sizeof(cmd));
+}
+
+
+
+int
+bmi055_main(int argc, char *argv[])
+{
+	bool external_bus = false;
+	int ch;
+	enum Rotation rotation = ROTATION_NONE;
+	enum sensor_type sensor = BMI055_NONE;
+
+	/* jump over start/off/etc and look at options first */
+	while ((ch = getopt(argc, argv, "XR:AG")) != EOF) {
+		switch (ch) {
+		case 'X':
+			external_bus = true;
+			break;
+
+		case 'R':
+			rotation = (enum Rotation)atoi(optarg);
+			break;
+
+		case 'A':
+			sensor = BMI055_ACCEL;
+			break;
+
+		case 'G':
+			sensor = BMI055_GYRO;
+			break;
+
+		default:
+			bmi055::usage();
+			exit(0);
+		}
+	}
+
+	const char *verb = argv[optind];
+
+	if (sensor == BMI055_NONE) {
+		bmi055::usage();
+		exit(0);
+	}
+
+	/*
+	 * Start/load the driver.
+	 */
+	if (!strcmp(verb, "start")) {
+		bmi055::start(external_bus, rotation, sensor);
+	}
+
+	/*
+	 * Stop the driver.
+	 */
+	if (!strcmp(verb, "stop")) {
+		bmi055::stop(external_bus, sensor);
+	}
+
+	/*
+	 * Test the driver/device.
+	 */
+	if (!strcmp(verb, "test")) {
+		bmi055::test(external_bus, sensor);
+	}
+
+	/*
+	 * Reset the driver.
+	 */
+	if (!strcmp(verb, "reset")) {
+		bmi055::reset(external_bus, sensor);
+	}
+
+	/*
+	 * Print driver information.
+	 */
+	if (!strcmp(verb, "info")) {
+		bmi055::info(external_bus, sensor);
+	}
+
+	/*
+	 * Print register information.
+	 */
+	if (!strcmp(verb, "regdump")) {
+		bmi055::regdump(external_bus, sensor);
+	}
+
+	if (!strcmp(verb, "testerror")) {
+		bmi055::testerror(external_bus, sensor);
+	}
+
+	bmi055::usage();
+	exit(1);
+}
+
@@ -86,6 +86,10 @@

 #define GPIO_SPI_CS_FRAM		(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10)

+#define GPIO_SPI_CS_BMI055_ACC  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15)
+#define GPIO_SPI_CS_BMI055_GYR  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN15)
+
+
 /*  Define the Ready interrupts */

 #define GPIO_DRDY_MPU9250		(GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15)
@@ -105,9 +109,10 @@
 #define GPIO_SPI_CS_OFF_MS5611		_PIN_OFF(GPIO_SPI_CS_MS5611)
 #define GPIO_SPI_CS_OFF_ICM_2060X 	_PIN_OFF(GPIO_SPI_CS_ICM_2060X)
 #define GPIO_SPI_CS_OFF_BMI160		_PIN_OFF(GPIO_SPI_CS_BMI160)
+#define GPIO_SPI_CS_OFF_BMI055_ACC _PIN_OFF(GPIO_SPI_CS_BMI055_ACC)
+#define GPIO_SPI_CS_OFF_BMI055_GYR _PIN_OFF(GPIO_SPI_CS_BMI055_GYR)

 #define GPIO_DRDY_OFF_MPU9250		_PIN_OFF(GPIO_DRDY_MPU9250)
-#define GPIO_DRDY_OFF_HMC5983		_PIN_OFF(GPIO_DRDY_HMC5983)
 #define GPIO_DRDY_OFF_ICM_2060X	_PIN_OFF(GPIO_DRDY_ICM_2060X)

 /* SPI1 off */
@@ -130,6 +135,8 @@
 #define PX4_SPIDEV_BMA			9
 #define PX4_SPIDEV_ICM_20608		10
 #define PX4_SPIDEV_ICM_20602		11
+#define PX4_SPIDEV_BMI055_ACC   	12
+#define PX4_SPIDEV_BMI055_GYR   	13

 /* onboard MS5611 and FRAM are both on bus SPI2
 * spi_dev_e:SPIDEV_FLASH has the value 2 and is used in the NuttX ramtron driver
@@ -77,6 +77,20 @@ __EXPORT void stm32_spiinitialize(void)
 	px4_arch_configgpio(GPIO_SPI_CS_MS5611);
 	px4_arch_configgpio(GPIO_SPI_CS_ICM_2060X);
 	px4_arch_configgpio(GPIO_SPI_CS_BMI160);
+	px4_arch_configgpio(GPIO_SPI_CS_BMI055_ACC);
+	px4_arch_configgpio(GPIO_SPI_CS_BMI055_GYR);
+
+	/* De-activate all peripherals,
+	 * required for some peripheral
+	 * state machines
+	 */
+	px4_arch_gpiowrite(GPIO_SPI_CS_MPU9250, 1);
+	px4_arch_gpiowrite(GPIO_SPI_CS_HMC5983, 1);
+	px4_arch_gpiowrite(GPIO_SPI_CS_MS5611, 1);
+	px4_arch_gpiowrite(GPIO_SPI_CS_ICM_2060X, 1);
+	px4_arch_gpiowrite(GPIO_SPI_CS_BMI160, 1);
+	px4_arch_gpiowrite(GPIO_SPI_CS_BMI055_ACC, 1);
+	px4_arch_gpiowrite(GPIO_SPI_CS_BMI055_GYR, 1);

 	px4_arch_configgpio(GPIO_DRDY_MPU9250);
 	px4_arch_configgpio(GPIO_DRDY_HMC5983);
@@ -103,6 +117,8 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid,
 	case PX4_SPIDEV_ICM_20608:
 		/* Making sure the other peripherals are not selected */
 		px4_arch_gpiowrite(GPIO_SPI_CS_BMI160, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_BMI055_ACC, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_BMI055_GYR, 1);
 		px4_arch_gpiowrite(GPIO_SPI_CS_MPU9250, 1);
 		px4_arch_gpiowrite(GPIO_SPI_CS_HMC5983, 1);
 		px4_arch_gpiowrite(GPIO_SPI_CS_MS5611, 1);
@@ -116,6 +132,8 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid,
 	case PX4_SPIDEV_BARO:
 		/* Making sure the other peripherals are not selected */
 		px4_arch_gpiowrite(GPIO_SPI_CS_BMI160, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_BMI055_ACC, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_BMI055_GYR, 1);
 		px4_arch_gpiowrite(GPIO_SPI_CS_MPU9250, 1);
 		px4_arch_gpiowrite(GPIO_SPI_CS_HMC5983, 1);
 		px4_arch_gpiowrite(GPIO_SPI_CS_MS5611, !selected);
@@ -125,6 +143,8 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid,
 	case PX4_SPIDEV_HMC:
 		/* Making sure the other peripherals are not selected */
 		px4_arch_gpiowrite(GPIO_SPI_CS_BMI160, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_BMI055_ACC, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_BMI055_GYR, 1);
 		px4_arch_gpiowrite(GPIO_SPI_CS_MPU9250, 1);
 		px4_arch_gpiowrite(GPIO_SPI_CS_HMC5983, !selected);
 		px4_arch_gpiowrite(GPIO_SPI_CS_MS5611, 1);
@@ -134,6 +154,8 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid,
 	case PX4_SPIDEV_MPU:
 		/* Making sure the other peripherals are not selected */
 		px4_arch_gpiowrite(GPIO_SPI_CS_BMI160, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_BMI055_ACC, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_BMI055_GYR, 1);
 		px4_arch_gpiowrite(GPIO_SPI_CS_MPU9250, !selected);
 		px4_arch_gpiowrite(GPIO_SPI_CS_HMC5983, 1);
 		px4_arch_gpiowrite(GPIO_SPI_CS_MS5611, 1);
@@ -146,9 +168,31 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid,
 		px4_arch_gpiowrite(GPIO_SPI_CS_HMC5983, 1);
 		px4_arch_gpiowrite(GPIO_SPI_CS_MS5611, 1);
 		px4_arch_gpiowrite(GPIO_SPI_CS_ICM_2060X, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_BMI055_ACC, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_BMI055_GYR, 1);
 		px4_arch_gpiowrite(GPIO_SPI_CS_BMI160, !selected);
 		break;

+	case PX4_SPIDEV_BMI055_ACC:
+	    /* Making sure the other peripherals are not selected */
+        px4_arch_gpiowrite(GPIO_SPI_CS_MPU9250, 1);
+        px4_arch_gpiowrite(GPIO_SPI_CS_HMC5983, 1);
+        px4_arch_gpiowrite(GPIO_SPI_CS_MS5611, 1);
+        px4_arch_gpiowrite(GPIO_SPI_CS_ICM_2060X, 1);
+        px4_arch_gpiowrite(GPIO_SPI_CS_BMI160, 1);
+        px4_arch_gpiowrite(GPIO_SPI_CS_BMI055_GYR, 1);
+        px4_arch_gpiowrite(GPIO_SPI_CS_BMI055_ACC, !selected);
+        break;
+	case PX4_SPIDEV_BMI055_GYR:
+        /* Making sure the other peripherals are not selected */
+        px4_arch_gpiowrite(GPIO_SPI_CS_MPU9250, 1);
+        px4_arch_gpiowrite(GPIO_SPI_CS_HMC5983, 1);
+        px4_arch_gpiowrite(GPIO_SPI_CS_MS5611, 1);
+        px4_arch_gpiowrite(GPIO_SPI_CS_ICM_2060X, 1);
+        px4_arch_gpiowrite(GPIO_SPI_CS_BMI160, 1);
+        px4_arch_gpiowrite(GPIO_SPI_CS_BMI055_ACC, 1);
+        px4_arch_gpiowrite(GPIO_SPI_CS_BMI055_GYR, !selected);
+	    break;
 	default:
 		break;
 	}
@@ -198,12 +242,16 @@ __EXPORT void board_spi_reset(int ms)
 	px4_arch_configgpio(GPIO_SPI_CS_OFF_MS5611);
 	px4_arch_configgpio(GPIO_SPI_CS_OFF_ICM_2060X);
 	px4_arch_configgpio(GPIO_SPI_CS_OFF_BMI160);
+	px4_arch_configgpio(GPIO_SPI_CS_OFF_BMI055_ACC);
+	px4_arch_configgpio(GPIO_SPI_CS_OFF_BMI055_GYR);

 	px4_arch_gpiowrite(GPIO_SPI_CS_OFF_MPU9250, 0);
 	px4_arch_gpiowrite(GPIO_SPI_CS_OFF_HMC5983, 0);
 	px4_arch_gpiowrite(GPIO_SPI_CS_OFF_MS5611, 0);
 	px4_arch_gpiowrite(GPIO_SPI_CS_OFF_ICM_2060X, 0);
 	px4_arch_gpiowrite(GPIO_SPI_CS_OFF_BMI160, 0);
+	px4_arch_gpiowrite(GPIO_SPI_CS_OFF_BMI055_ACC, 0);
+	px4_arch_gpiowrite(GPIO_SPI_CS_OFF_BMI055_GYR, 0);

 	stm32_configgpio(GPIO_SPI1_SCK_OFF);
 	stm32_configgpio(GPIO_SPI1_MISO_OFF);
@@ -244,6 +292,8 @@ __EXPORT void board_spi_reset(int ms)
 	px4_arch_configgpio(GPIO_SPI_CS_MS5611);
 	px4_arch_configgpio(GPIO_SPI_CS_ICM_2060X);
 	px4_arch_configgpio(GPIO_SPI_CS_BMI160);
+	px4_arch_configgpio(GPIO_SPI_CS_BMI055_ACC);
+	px4_arch_configgpio(GPIO_SPI_CS_BMI055_GYR);

 	stm32_configgpio(GPIO_SPI1_SCK);
 	stm32_configgpio(GPIO_SPI1_MISO);
@@ -86,6 +86,8 @@
 #define DRV_BARO_DEVTYPE_MS5607		0x3E
 #define DRV_BARO_DEVTYPE_BMP280		0x3F
 #define DRV_BARO_DEVTYPE_LPS25H		0x40
+#define DRV_ACC_DEVTYPE_BMI055		0x41
+#define DRV_GYR_DEVTYPE_BMI055		0x42

 /*
 * ioctl() definitions
@@ -16,6 +16,7 @@ enum spi_dev_e {
 	SPIDEV_MUX,         /* Select SPI multiplexer device */
 	SPIDEV_AUDIO_DATA,  /* Select SPI audio codec device data port */
 	SPIDEV_AUDIO_CTRL,  /* Select SPI audio codec device control port */
+	SPIDEV_BMI055_GYR /* Select SPI BMI055 Gyroscope */
 };

 /* Certain SPI devices may required different clocking modes */