mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-27 18:23:33 +08:00
Beat Küng
3198610f85
and remove the px4_ prefix, except for px4_config.h.
command to update includes:
for k in app.h atomic.h cli.h console_buffer.h defines.h getopt.h i2c.h init.h log.h micro_hal.h module.h module_params.h param.h param_macros.h posix.h sem.h sem.hpp shmem.h shutdown.h tasks.h time.h workqueue.h; do for i in $(grep -rl 'include <px4_'$k src platforms boards); do sed -i 's/#include <px4_'$k'/#include <px4_platform_common\/'$k/ $i; done; done
for in $(grep -rl 'include <px4_config.h' src platforms boards); do sed -i 's/#include <px4_config.h/#include <px4_platform_common\/px4_config.h'/ $i; done
Transitional headers for submodules are added (px4_{defines,log,time}.h)
97 lines
3.2 KiB
C++
97 lines
3.2 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2018 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#pragma once
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#include <drivers/device/spi.h>
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#include <ecl/geo/geo.h>
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#include <lib/conversion/rotation.h>
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#include <lib/perf/perf_counter.h>
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#include <px4_platform_common/getopt.h>
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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#define DIR_READ 0x80
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#define DIR_WRITE 0x00
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//Soft-reset command Value
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#define BMI088_SOFT_RESET 0xB6
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#define BMI088_BUS_SPEED 10*1000*1000
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#define BMI088_TIMER_REDUCTION 200
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class BMI088 : public device::SPI
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{
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protected:
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uint8_t _whoami; /** whoami result */
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uint8_t _register_wait;
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uint64_t _reset_wait;
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enum Rotation _rotation;
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uint8_t _checked_next;
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/**
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* Read a register from the BMI088
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*
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* @param The register to read.
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* @return The value that was read.
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*/
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virtual uint8_t read_reg(unsigned reg); // This needs to be declared as virtual, because the
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virtual uint16_t read_reg16(unsigned reg);
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/**
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* Write a register in the BMI088
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*
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* @param reg The register to write.
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* @param value The new value to write.
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*/
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void write_reg(unsigned reg, uint8_t value);
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/* do not allow to copy this class due to pointer data members */
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BMI088(const BMI088 &);
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BMI088 operator=(const BMI088 &);
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public:
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BMI088(const char *name, const char *devname, int bus, uint32_t device, enum spi_mode_e mode, uint32_t frequency,
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enum Rotation rotation);
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virtual ~BMI088() = default;
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};
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