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135 lines
5.4 KiB
C++
135 lines
5.4 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2020 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 "BMI088.hpp"
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#include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
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#include "Bosch_BMI088_Accelerometer_Registers.hpp"
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namespace Bosch::BMI088::Accelerometer
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{
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class BMI088_Accelerometer : public BMI088
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{
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public:
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BMI088_Accelerometer(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
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spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio);
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~BMI088_Accelerometer() override;
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void RunImpl() override;
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void print_status() override;
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private:
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void exit_and_cleanup() override;
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// Sensor Configuration
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static constexpr uint32_t ACCEL_RATE{1600}; // 1600 Hz accel
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static constexpr float FIFO_SAMPLE_DT{1e6f / ACCEL_RATE};
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static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(PX4Accelerometer::FIFOSample::x) / sizeof(PX4Accelerometer::FIFOSample::x[0]))};
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// Transfer data
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struct FIFOTransferBuffer {
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uint8_t cmd{static_cast<uint8_t>(Register::FIFO_LENGTH_0) | DIR_READ};
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uint8_t dummy{0};
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uint8_t FIFO_LENGTH_0{0};
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uint8_t FIFO_LENGTH_1{0};
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FIFO::DATA f[FIFO_MAX_SAMPLES] {};
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};
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// ensure no struct padding
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static_assert(sizeof(FIFOTransferBuffer) == (4 + FIFO_MAX_SAMPLES *sizeof(FIFO::DATA)));
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struct register_config_t {
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Register reg;
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uint8_t set_bits{0};
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uint8_t clear_bits{0};
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};
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int probe() override;
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bool Configure();
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void ConfigureAccel();
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void ConfigureSampleRate(int sample_rate = 0);
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void ConfigureFIFOWatermark(uint8_t samples);
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static int DataReadyInterruptCallback(int irq, void *context, void *arg);
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void DataReady();
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bool DataReadyInterruptConfigure();
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bool DataReadyInterruptDisable();
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bool RegisterCheck(const register_config_t ®_cfg);
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uint8_t RegisterRead(Register reg);
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void RegisterWrite(Register reg, uint8_t value);
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void RegisterSetAndClearBits(Register reg, uint8_t setbits, uint8_t clearbits);
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uint16_t FIFOReadCount();
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bool FIFORead(const hrt_abstime ×tamp_sample, uint8_t samples);
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void FIFOReset();
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void UpdateTemperature();
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PX4Accelerometer _px4_accel;
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perf_counter_t _transfer_perf{perf_alloc(PC_ELAPSED, MODULE_NAME"_accel: transfer")};
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perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME"_accel: bad register")};
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perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME"_accel: bad transfer")};
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perf_counter_t _fifo_empty_perf{perf_alloc(PC_COUNT, MODULE_NAME"_accel: FIFO empty")};
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perf_counter_t _fifo_overflow_perf{perf_alloc(PC_COUNT, MODULE_NAME"_accel: FIFO overflow")};
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perf_counter_t _fifo_reset_perf{perf_alloc(PC_COUNT, MODULE_NAME"_accel: FIFO reset")};
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perf_counter_t _drdy_interval_perf{nullptr};
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uint8_t _fifo_accel_samples{static_cast<uint8_t>(_fifo_empty_interval_us / (1000000 / ACCEL_RATE))};
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uint8_t _checked_register{0};
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static constexpr uint8_t size_register_cfg{10};
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register_config_t _register_cfg[size_register_cfg] {
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// Register | Set bits, Clear bits
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{ Register::ACC_PWR_CONF, 0, ACC_PWR_CONF_BIT::acc_pwr_save },
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{ Register::ACC_PWR_CTRL, ACC_PWR_CTRL_BIT::acc_enable, 0 },
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{ Register::ACC_CONF, ACC_CONF_BIT::acc_bwp_Normal | ACC_CONF_BIT::acc_odr_1600, Bit1 | Bit0 },
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{ Register::ACC_RANGE, ACC_RANGE_BIT::acc_range_24g, 0 },
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{ Register::FIFO_WTM_0, 0, 0 },
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{ Register::FIFO_WTM_1, 0, 0 },
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{ Register::FIFO_CONFIG_0, FIFO_CONFIG_0_BIT::BIT1_ALWAYS | FIFO_CONFIG_0_BIT::FIFO_mode, 0 },
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{ Register::FIFO_CONFIG_1, FIFO_CONFIG_1_BIT::BIT4_ALWAYS | FIFO_CONFIG_1_BIT::Acc_en, 0 },
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{ Register::INT1_IO_CONF, INT1_IO_CONF_BIT::int1_out, 0 },
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{ Register::INT1_INT2_MAP_DATA, INT1_INT2_MAP_DATA_BIT::int1_fwm, 0},
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};
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};
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} // namespace Bosch::BMI088::Accelerometer
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