mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-23 04:43:34 +08:00
Daniel Agar
b1eb762753
- minor scheduling improvements - if expected number of samples larger than expected adjust timestamp sample and save sample for next iteration - when scheduling via data ready interrupt (with no FIFO watermark) count continuously without clearing
89 lines
2.7 KiB
C++
89 lines
2.7 KiB
C++
/****************************************************************************
|
|
*
|
|
* Copyright (c) 2020-2021 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.
|
|
*
|
|
****************************************************************************/
|
|
|
|
#include "BMI088.hpp"
|
|
|
|
#include "BMI088_Accelerometer.hpp"
|
|
#include "BMI088_Gyroscope.hpp"
|
|
|
|
I2CSPIDriverBase *BMI088::instantiate(const I2CSPIDriverConfig &config, int runtime_instance)
|
|
{
|
|
BMI088 *instance = nullptr;
|
|
|
|
if (config.devid_driver_index == DRV_ACC_DEVTYPE_BMI088) {
|
|
instance = new Bosch::BMI088::Accelerometer::BMI088_Accelerometer(config);
|
|
|
|
} else if (config.devid_driver_index == DRV_GYR_DEVTYPE_BMI088) {
|
|
instance = new Bosch::BMI088::Gyroscope::BMI088_Gyroscope(config);
|
|
}
|
|
|
|
if (!instance) {
|
|
PX4_ERR("alloc failed");
|
|
return nullptr;
|
|
}
|
|
|
|
if (OK != instance->init()) {
|
|
delete instance;
|
|
return nullptr;
|
|
}
|
|
|
|
return instance;
|
|
}
|
|
|
|
BMI088::BMI088(const I2CSPIDriverConfig &config) :
|
|
SPI(config),
|
|
I2CSPIDriver(config),
|
|
_drdy_gpio(config.drdy_gpio)
|
|
{
|
|
}
|
|
|
|
int BMI088::init()
|
|
{
|
|
int ret = SPI::init();
|
|
|
|
if (ret != PX4_OK) {
|
|
DEVICE_DEBUG("SPI::init failed (%i)", ret);
|
|
return ret;
|
|
}
|
|
|
|
return Reset() ? 0 : -1;
|
|
}
|
|
|
|
bool BMI088::Reset()
|
|
{
|
|
_state = STATE::RESET;
|
|
ScheduleClear();
|
|
ScheduleNow();
|
|
return true;
|
|
}
|