BMI088.hpp

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#pragma once

#include <drivers/device/spi.h>
#include <ecl/geo/geo.h>
#include <lib/conversion/rotation.h>
#include <lib/perf/perf_counter.h>
#include <px4_platform_common/getopt.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>

#define DIR_READ                0x80
#define DIR_WRITE               0x00

//Soft-reset command Value
#define BMI088_SOFT_RESET       0xB6

#define BMI088_BUS_SPEED                10*1000*1000

#define BMI088_TIMER_REDUCTION              200

class BMI088 : public device::SPI
{

protected:

    uint8_t         _whoami;    /** whoami result */

    uint8_t         _register_wait;
    uint64_t        _reset_wait;

    enum Rotation       _rotation;

    uint8_t         _checked_next;

    /**
    * Read a register from the BMI088
    *
    * @param       The register to read.
    * @return      The value that was read.
    */
    virtual uint8_t         read_reg(unsigned reg); // This needs to be declared as virtual, because the
    virtual uint16_t        read_reg16(unsigned reg);

    /**
    * Write a register in the BMI088
    *
    * @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 */
    BMI088(const BMI088 &);
    BMI088 operator=(const BMI088 &);

public:

    BMI088(const char *name, const char *devname, int bus, uint32_t device, enum spi_mode_e mode, uint32_t frequency,
           enum Rotation rotation);

    virtual ~BMI088() = default;


};