#include <BMI088_accel.hpp>

Inheritance diagram for BMI088_accel:

Collaboration diagram for BMI088_accel:

Public Member Functions
	BMI088_accel (int bus, const char *path_accel, uint32_t device, enum Rotation rotation)

virtual	~BMI088_accel ()

virtual int	init ()

void	start ()

virtual uint8_t	read_reg (unsigned reg)
	Read a register from the BMI088. More...

virtual uint16_t	read_reg16 (unsigned reg)

void	print_info ()
	Diagnostics - print some basic information about the driver. More...

void	print_registers ()

void	test_error ()

Public Member Functions inherited from BMI088
	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

Protected Member Functions
virtual int	probe ()

Protected Member Functions inherited from BMI088
void	write_reg (unsigned reg, uint8_t value)
	Write a register in the BMI088. More...

	BMI088 (const BMI088 &)

BMI088	operator= (const BMI088 &)

Private Member Functions
void	stop ()
	Stop automatic measurement. More...

int	reset ()
	Reset chip. More...

void	Run () override

void	measure ()
	Fetch measurements from the sensor and update the report buffers. More...

void	modify_reg (unsigned reg, uint8_t clearbits, uint8_t setbits)
	Modify a register in the BMI088_accel. More...

void	write_checked_reg (unsigned reg, uint8_t value)
	Write a register in the BMI088_accel, updating _checked_values. More...

int	set_accel_range (unsigned max_g)
	Set the BMI088_accel measurement range. More...

int	accel_set_sample_rate (float desired_sample_rate_hz)
	Set accel sample rate. More...

void	check_registers (void)

	BMI088_accel (const BMI088_accel &)

BMI088_accel	operator= (const BMI088_accel &)

Private Attributes
PX4Accelerometer	_px4_accel

perf_counter_t	_sample_perf

perf_counter_t	_bad_transfers

perf_counter_t	_bad_registers

perf_counter_t	_duplicates

uint8_t	_checked_values [BMI088_ACCEL_NUM_CHECKED_REGISTERS]

uint8_t	_checked_bad [BMI088_ACCEL_NUM_CHECKED_REGISTERS]

bool	_got_duplicate

Static Private Attributes
static const uint8_t	_checked_registers [BMI088_ACCEL_NUM_CHECKED_REGISTERS]

Additional Inherited Members
Protected Attributes inherited from BMI088
uint8_t	_whoami

uint8_t	_register_wait
	whoami result More...

uint64_t	_reset_wait

enum Rotation	_rotation

uint8_t	_checked_next

Detailed Description

Definition at line 157 of file BMI088_accel.hpp.

Constructor & Destructor Documentation

◆ BMI088_accel() [1/2]

BMI088_accel::BMI088_accel	(	int	bus,
		const char *	path_accel,
		uint32_t	device,
		enum Rotation	rotation
	)

Definition at line 55 of file BMI088_accel.cpp.

References _px4_accel, DRV_DEVTYPE_BMI088, and PX4Accelerometer::set_device_type().

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◆ ~BMI088_accel()

BMI088_accel::~BMI088_accel ( )

virtual

Definition at line 68 of file BMI088_accel.cpp.

References _bad_registers, _bad_transfers, _duplicates, _sample_perf, perf_free(), and stop().

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◆ BMI088_accel() [2/2]

BMI088_accel::BMI088_accel ( const BMI088_accel & )

private

Member Function Documentation

◆ accel_set_sample_rate()

int BMI088_accel::accel_set_sample_rate ( float desired_sample_rate_hz )

private

Set accel sample rate.

Definition at line 203 of file BMI088_accel.cpp.

References BMI088_ACC_CONF, BMI088_ACC_CONF_ODR_100, BMI088_ACC_CONF_ODR_12_5, BMI088_ACC_CONF_ODR_1600, BMI088_ACC_CONF_ODR_200, BMI088_ACC_CONF_ODR_25, BMI088_ACC_CONF_ODR_400, BMI088_ACC_CONF_ODR_50, BMI088_ACC_CONF_ODR_800, modify_reg(), and OK.

Referenced by reset().

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◆ check_registers()

void BMI088_accel::check_registers ( void )

private

Definition at line 354 of file BMI088_accel.cpp.

References _bad_registers, _checked_bad, BMI088::_checked_next, _checked_registers, _checked_values, BMI088::_register_wait, BMI088::_reset_wait, BMI088_ACC_SOFTRESET, BMI088_ACCEL_NUM_CHECKED_REGISTERS, BMI088_SOFT_RESET, hrt_absolute_time(), perf_count(), read_reg(), and BMI088::write_reg().

Referenced by measure().

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◆ init()

int BMI088_accel::init ( )

virtual

Definition at line 81 of file BMI088_accel.cpp.

References DEVICE_DEBUG, ToneAlarmInterface::init(), OK, and reset().

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◆ measure()

void BMI088_accel::measure ( )

private

Fetch measurements from the sensor and update the report buffers.

Definition at line 397 of file BMI088_accel.cpp.

References _accel_last_temperature_copy, _bad_registers, _bad_transfers, _duplicates, _got_duplicate, _px4_accel, BMI088::_register_wait, BMI088::_reset_wait, _sample_perf, BMI088_ACC_STATUS, BMI088_ACC_STATUS_DRDY, BMI088_ACC_TEMP_H, BMI088_ACC_X_L, check_registers(), DIR_READ, f(), hrt_absolute_time(), hrt_abstime, OK, perf_begin(), perf_count(), perf_end(), perf_event_count(), read_reg(), PX4Accelerometer::set_error_count(), PX4Accelerometer::set_temperature(), status, and PX4Accelerometer::update().

Referenced by Run().

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◆ modify_reg()

void BMI088_accel::modify_reg	(	unsigned	reg,
		uint8_t	clearbits,
		uint8_t	setbits
	)

private

Modify a register in the BMI088_accel.

Bits are cleared before bits are set.

Parameters

reg	The register to modify.
clearbits	Bits in the register to clear.
setbits	Bits in the register to set.

Definition at line 263 of file BMI088_accel.cpp.

References read_reg(), and write_checked_reg().

Referenced by accel_set_sample_rate(), and set_accel_range().

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◆ operator=()

BMI088_accel BMI088_accel::operator= ( const BMI088_accel & )

private

◆ print_info()

void BMI088_accel::print_info ( )

Diagnostics - print some basic information about the driver.

Definition at line 533 of file BMI088_accel.cpp.

References _bad_registers, _bad_transfers, _checked_bad, BMI088::_checked_next, _checked_registers, _checked_values, _duplicates, _px4_accel, _sample_perf, BMI088_ACCEL_NUM_CHECKED_REGISTERS, perf_print_counter(), PX4Accelerometer::print_status(), and read_reg().

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◆ print_registers()

void BMI088_accel::print_registers ( )

Definition at line 566 of file BMI088_accel.cpp.

References _checked_registers, and read_reg().

Referenced by test_error().

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◆ probe()

int BMI088_accel::probe ( )

protectedvirtual

Definition at line 178 of file BMI088_accel.cpp.

References _checked_bad, _checked_values, BMI088::_whoami, BMI088_ACC_CHIP_ID, BMI088_ACC_WHO_AM_I, DEVICE_DEBUG, OK, and read_reg().

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◆ read_reg()

uint8_t BMI088_accel::read_reg ( unsigned reg )

virtual

Read a register from the BMI088.

Parameters

The	register to read.

Returns: The value that was read.

Reimplemented from BMI088.

Definition at line 96 of file BMI088_accel.cpp.

References DIR_READ.

Referenced by check_registers(), measure(), modify_reg(), print_info(), print_registers(), probe(), and reset().

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◆ read_reg16()

uint16_t BMI088_accel::read_reg16 ( unsigned reg )

virtual

Reimplemented from BMI088.

Definition at line 107 of file BMI088_accel.cpp.

References DIR_READ.

◆ reset()

int BMI088_accel::reset ( )

private

Reset chip.

Resets the chip and measurements ranges, but not scale and offset.

Definition at line 117 of file BMI088_accel.cpp.

References _checked_registers, _checked_values, accel_set_sample_rate(), BMI088_ACC_CHIP_ID, BMI088_ACC_INT1_INT2_MAP_DATA, BMI088_ACC_INT1_INT2_MAP_DATA_INT1_DRDY, BMI088_ACC_INT1_IO_CONF, BMI088_ACC_INT1_IO_CONF_ACTIVE_HIGH, BMI088_ACC_INT1_IO_CONF_INT1_OUT, BMI088_ACC_INT1_IO_CONF_PP, BMI088_ACC_PWR_CONF, BMI088_ACC_PWR_CONF_ACTIVE, BMI088_ACC_PWR_CTRL, BMI088_ACC_PWR_CTRL_EN, BMI088_ACC_SOFTRESET, BMI088_ACCEL_DEFAULT_RANGE_G, BMI088_ACCEL_DEFAULT_RATE, BMI088_ACCEL_NUM_CHECKED_REGISTERS, BMI088_SOFT_RESET, OK, read_reg(), set_accel_range(), write_checked_reg(), and BMI088::write_reg().

Referenced by init(), and start().

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◆ Run()

void BMI088_accel::Run ( )

overrideprivate

Definition at line 347 of file BMI088_accel.cpp.

References measure().

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◆ set_accel_range()

int BMI088_accel::set_accel_range ( unsigned max_g )

private

Set the BMI088_accel measurement range.

Parameters

max_g The maximum G value the range must support.

Returns: OK if the value can be supported, -EINVAL otherwise.

Definition at line 285 of file BMI088_accel.cpp.

References _px4_accel, BMI088_ACC_RANGE, BMI088_ACCEL_RANGE_12_G, BMI088_ACCEL_RANGE_24_G, BMI088_ACCEL_RANGE_3_G, BMI088_ACCEL_RANGE_6_G, CONSTANTS_ONE_G, modify_reg(), OK, and PX4Accelerometer::set_scale().

Referenced by reset().

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◆ start()

void BMI088_accel::start ( )

Definition at line 327 of file BMI088_accel.cpp.

References BMI088_ACCEL_DEFAULT_RATE, BMI088_TIMER_REDUCTION, reset(), and stop().

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◆ stop()

void BMI088_accel::stop ( )

private

Stop automatic measurement.

Definition at line 341 of file BMI088_accel.cpp.

Referenced by start(), and ~BMI088_accel().

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◆ test_error()

void BMI088_accel::test_error ( )

Definition at line 255 of file BMI088_accel.cpp.

References BMI088_ACC_SOFTRESET, BMI088_SOFT_RESET, print_registers(), and BMI088::write_reg().

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◆ write_checked_reg()

void BMI088_accel::write_checked_reg	(	unsigned	reg,
		uint8_t	value
	)

private

Write a register in the BMI088_accel, updating _checked_values.

Parameters

reg	The register to write.
value	The new value to write.

Definition at line 272 of file BMI088_accel.cpp.

References _checked_bad, _checked_registers, _checked_values, BMI088_ACCEL_NUM_CHECKED_REGISTERS, and BMI088::write_reg().

Referenced by modify_reg(), and reset().

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Member Data Documentation

◆ _bad_registers

perf_counter_t BMI088_accel::_bad_registers

private

Definition at line 194 of file BMI088_accel.hpp.

Referenced by check_registers(), measure(), print_info(), and ~BMI088_accel().

◆ _bad_transfers

perf_counter_t BMI088_accel::_bad_transfers

private

Definition at line 193 of file BMI088_accel.hpp.

Referenced by measure(), print_info(), and ~BMI088_accel().

◆ _checked_bad

uint8_t BMI088_accel::_checked_bad[BMI088_ACCEL_NUM_CHECKED_REGISTERS]

private

Definition at line 203 of file BMI088_accel.hpp.

Referenced by check_registers(), print_info(), probe(), and write_checked_reg().

◆ _checked_registers

const uint8_t BMI088_accel::_checked_registers

staticprivate

Initial value:

= {BMI088_ACC_CHIP_ID,
                                              BMI088_ACC_CONF,
                                              BMI088_ACC_RANGE,
                                              BMI088_ACC_INT1_IO_CONF,
                                              BMI088_ACC_INT1_INT2_MAP_DATA,
                                              BMI088_ACC_PWR_CONF,
                                              BMI088_ACC_PWR_CTRL,
                                             }

Definition at line 201 of file BMI088_accel.hpp.

Referenced by check_registers(), print_info(), print_registers(), reset(), and write_checked_reg().

◆ _checked_values

uint8_t BMI088_accel::_checked_values[BMI088_ACCEL_NUM_CHECKED_REGISTERS]

private

Definition at line 202 of file BMI088_accel.hpp.

Referenced by check_registers(), print_info(), probe(), reset(), and write_checked_reg().

◆ _duplicates

perf_counter_t BMI088_accel::_duplicates

private

Definition at line 195 of file BMI088_accel.hpp.

Referenced by measure(), print_info(), and ~BMI088_accel().

◆ _got_duplicate

bool BMI088_accel::_got_duplicate

private

Definition at line 205 of file BMI088_accel.hpp.

Referenced by measure().

◆ _px4_accel

PX4Accelerometer BMI088_accel::_px4_accel

private

Definition at line 190 of file BMI088_accel.hpp.

Referenced by BMI088_accel(), measure(), print_info(), and set_accel_range().

◆ _sample_perf

perf_counter_t BMI088_accel::_sample_perf

private

Definition at line 192 of file BMI088_accel.hpp.

Referenced by measure(), print_info(), and ~BMI088_accel().

The documentation for this class was generated from the following files:

src/drivers/imu/bmi088/BMI088_accel.hpp
src/drivers/imu/bmi088/BMI088_accel.cpp

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Static Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ BMI088_accel() [1/2]

◆ ~BMI088_accel()

◆ BMI088_accel() [2/2]

Member Function Documentation

◆ accel_set_sample_rate()

◆ check_registers()

◆ init()

◆ measure()

◆ modify_reg()

◆ operator=()

◆ print_info()

◆ print_registers()

◆ probe()

◆ read_reg()

◆ read_reg16()

◆ reset()

◆ Run()

◆ set_accel_range()

◆ start()

◆ stop()

◆ test_error()

◆ write_checked_reg()

Member Data Documentation

◆ _bad_registers

◆ _bad_transfers

◆ _checked_bad

◆ _checked_registers

◆ _checked_values

◆ _duplicates

◆ _got_duplicate

◆ _px4_accel

◆ _sample_perf