#include <BMI055_accel.hpp>

Inheritance diagram for BMI055_accel:

Collaboration diagram for BMI055_accel:

Public Member Functions
	BMI055_accel (int bus, const char *path_accel, uint32_t device, enum Rotation rotation)

virtual	~BMI055_accel ()

virtual int	init ()

void	start ()

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

void	print_registers ()

void	test_error ()

Public Member Functions inherited from BMI055
	BMI055 (const char name, const char devname, int bus, uint32_t device, enum spi_mode_e mode, uint32_t frequency, enum Rotation rotation)

virtual	~BMI055 ()=default

Protected Member Functions
virtual int	probe ()

Protected Member Functions inherited from BMI055
uint8_t	read_reg (unsigned reg)
	Read a register from the BMI055. More...

uint16_t	read_reg16 (unsigned reg)

void	write_reg (unsigned reg, uint8_t value)
	Write a register in the BMI055. More...

	BMI055 (const BMI055 &)

BMI055	operator= (const BMI055 &)

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 BMI055_accel. More...

void	write_checked_reg (unsigned reg, uint8_t value)
	Write a register in the BMI055_accel, updating _checked_values. More...

int	set_accel_range (unsigned max_g)
	Set the BMI055_accel measurement range. More...

void	check_registers (void)

	BMI055_accel (const BMI055_accel &)

BMI055_accel	operator= (const BMI055_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 [BMI055_ACCEL_NUM_CHECKED_REGISTERS]

uint8_t	_checked_bad [BMI055_ACCEL_NUM_CHECKED_REGISTERS]

bool	_got_duplicate

Static Private Attributes
static const uint8_t	_checked_registers [BMI055_ACCEL_NUM_CHECKED_REGISTERS]

Additional Inherited Members
Protected Attributes inherited from BMI055
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 142 of file BMI055_accel.hpp.

Constructor & Destructor Documentation

◆ BMI055_accel() [1/2]

BMI055_accel::BMI055_accel	(	int	bus,
		const char *	path_accel,
		uint32_t	device,
		enum Rotation	rotation
	)

Definition at line 47 of file BMI055_accel.cpp.

References _px4_accel, DRV_ACC_DEVTYPE_BMI055, and PX4Accelerometer::set_device_type().

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◆ ~BMI055_accel()

BMI055_accel::~BMI055_accel ( )

virtual

Definition at line 60 of file BMI055_accel.cpp.

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

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◆ BMI055_accel() [2/2]

BMI055_accel::BMI055_accel ( const BMI055_accel & )

private

Member Function Documentation

◆ check_registers()

void BMI055_accel::check_registers ( void )

private

Definition at line 242 of file BMI055_accel.cpp.

References _bad_registers, _checked_bad, BMI055::_checked_next, _checked_registers, _checked_values, BMI055::_register_wait, BMI055::_reset_wait, BMI055_ACC_SOFTRESET, BMI055_ACCEL_NUM_CHECKED_REGISTERS, BMI055_SOFT_RESET, hrt_absolute_time(), perf_count(), BMI055::read_reg(), and BMI055::write_reg().

Referenced by measure().

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◆ init()

int BMI055_accel::init ( )

virtual

Definition at line 73 of file BMI055_accel.cpp.

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

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◆ measure()

void BMI055_accel::measure ( )

private

Fetch measurements from the sensor and update the report buffers.

Definition at line 285 of file BMI055_accel.cpp.

References _bad_registers, _bad_transfers, _duplicates, _got_duplicate, _px4_accel, BMI055::_register_wait, BMI055::_reset_wait, _sample_perf, BMI055_ACC_X_L, BMI055_NEW_DATA_MASK, check_registers(), DIR_READ, hrt_absolute_time(), hrt_abstime, OK, perf_begin(), perf_count(), perf_end(), perf_event_count(), PX4Accelerometer::set_error_count(), PX4Accelerometer::set_temperature(), and PX4Accelerometer::update().

Referenced by Run().

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◆ modify_reg()

void BMI055_accel::modify_reg	(	unsigned	reg,
		uint8_t	clearbits,
		uint8_t	setbits
	)

private

Modify a register in the BMI055_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 155 of file BMI055_accel.cpp.

References BMI055::read_reg(), and write_checked_reg().

Referenced by set_accel_range().

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◆ operator=()

BMI055_accel BMI055_accel::operator= ( const BMI055_accel & )

private

◆ print_info()

void BMI055_accel::print_info ( )

Diagnostics - print some basic information about the driver.

Definition at line 405 of file BMI055_accel.cpp.

References _bad_registers, _bad_transfers, _checked_bad, BMI055::_checked_next, _checked_registers, _checked_values, _duplicates, _px4_accel, _sample_perf, BMI055_ACCEL_NUM_CHECKED_REGISTERS, perf_print_counter(), PX4Accelerometer::print_status(), and BMI055::read_reg().

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◆ print_registers()

void BMI055_accel::print_registers ( )

Definition at line 436 of file BMI055_accel.cpp.

References _checked_registers, and BMI055::read_reg().

Referenced by test_error().

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◆ probe()

int BMI055_accel::probe ( )

protectedvirtual

Definition at line 124 of file BMI055_accel.cpp.

References _checked_bad, _checked_values, BMI055::_whoami, BMI055_ACC_CHIP_ID, BMI055_ACC_WHO_AM_I, DEVICE_DEBUG, OK, and BMI055::read_reg().

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◆ reset()

int BMI055_accel::reset ( )

private

Reset chip.

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

Definition at line 87 of file BMI055_accel.cpp.

References _checked_registers, _checked_values, BMI055_ACC_BW, BMI055_ACC_DRDY_INT1, BMI055_ACC_DRDY_INT_EN, BMI055_ACC_INT_EN_1, BMI055_ACC_INT_MAP_1, BMI055_ACC_PMU_LPW, BMI055_ACC_RANGE, BMI055_ACC_SOFTRESET, BMI055_ACCEL_BW_500, BMI055_ACCEL_DEFAULT_RANGE_G, BMI055_ACCEL_NORMAL, BMI055_ACCEL_NUM_CHECKED_REGISTERS, BMI055_ACCEL_RANGE_2_G, BMI055_SOFT_RESET, OK, BMI055::read_reg(), set_accel_range(), write_checked_reg(), and BMI055::write_reg().

Referenced by init().

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◆ Run()

void BMI055_accel::Run ( )

overrideprivate

Definition at line 235 of file BMI055_accel.cpp.

References measure().

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◆ set_accel_range()

int BMI055_accel::set_accel_range ( unsigned max_g )

private

Set the BMI055_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 177 of file BMI055_accel.cpp.

References _px4_accel, BMI055_ACC_RANGE, BMI055_ACCEL_RANGE_16_G, BMI055_ACCEL_RANGE_2_G, BMI055_ACCEL_RANGE_4_G, BMI055_ACCEL_RANGE_8_G, CONSTANTS_ONE_G, modify_reg(), OK, and PX4Accelerometer::set_scale().

Referenced by reset().

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◆ start()

void BMI055_accel::start ( )

Definition at line 219 of file BMI055_accel.cpp.

References BMI055_ACCEL_DEFAULT_RATE, BMI055_TIMER_REDUCTION, and stop().

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◆ stop()

void BMI055_accel::stop ( )

private

Stop automatic measurement.

Definition at line 229 of file BMI055_accel.cpp.

Referenced by start(), and ~BMI055_accel().

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◆ test_error()

void BMI055_accel::test_error ( )

Definition at line 147 of file BMI055_accel.cpp.

References BMI055_ACC_SOFTRESET, BMI055_SOFT_RESET, print_registers(), and BMI055::write_reg().

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◆ write_checked_reg()

void BMI055_accel::write_checked_reg	(	unsigned	reg,
		uint8_t	value
	)

private

Write a register in the BMI055_accel, updating _checked_values.

Parameters

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

Definition at line 164 of file BMI055_accel.cpp.

References _checked_bad, _checked_registers, _checked_values, BMI055_ACCEL_NUM_CHECKED_REGISTERS, and BMI055::write_reg().

Referenced by modify_reg(), and reset().

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Member Data Documentation

◆ _bad_registers

perf_counter_t BMI055_accel::_bad_registers

private

Definition at line 173 of file BMI055_accel.hpp.

Referenced by check_registers(), measure(), print_info(), and ~BMI055_accel().

◆ _bad_transfers

perf_counter_t BMI055_accel::_bad_transfers

private

Definition at line 172 of file BMI055_accel.hpp.

Referenced by measure(), print_info(), and ~BMI055_accel().

◆ _checked_bad

uint8_t BMI055_accel::_checked_bad[BMI055_ACCEL_NUM_CHECKED_REGISTERS]

private

Definition at line 182 of file BMI055_accel.hpp.

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

◆ _checked_registers

const uint8_t BMI055_accel::_checked_registers

staticprivate

Initial value:

= {    BMI055_ACC_CHIP_ID,
                                              BMI055_ACC_BW,
                                              BMI055_ACC_RANGE,
                                              BMI055_ACC_INT_EN_1,
                                              BMI055_ACC_INT_MAP_1,
                                             }

Definition at line 180 of file BMI055_accel.hpp.

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

◆ _checked_values

uint8_t BMI055_accel::_checked_values[BMI055_ACCEL_NUM_CHECKED_REGISTERS]

private

Definition at line 181 of file BMI055_accel.hpp.

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

◆ _duplicates

perf_counter_t BMI055_accel::_duplicates

private

Definition at line 174 of file BMI055_accel.hpp.

Referenced by measure(), print_info(), and ~BMI055_accel().

◆ _got_duplicate

bool BMI055_accel::_got_duplicate

private

Definition at line 184 of file BMI055_accel.hpp.

Referenced by measure().

◆ _px4_accel

PX4Accelerometer BMI055_accel::_px4_accel

private

Definition at line 169 of file BMI055_accel.hpp.

Referenced by BMI055_accel(), measure(), print_info(), and set_accel_range().

◆ _sample_perf

perf_counter_t BMI055_accel::_sample_perf

private

Definition at line 171 of file BMI055_accel.hpp.

Referenced by measure(), print_info(), and ~BMI055_accel().

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

src/drivers/imu/bmi055/BMI055_accel.hpp
src/drivers/imu/bmi055/BMI055_accel.cpp

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Static Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ BMI055_accel() [1/2]

◆ ~BMI055_accel()

◆ BMI055_accel() [2/2]

Member Function Documentation

◆ check_registers()

◆ init()

◆ measure()

◆ modify_reg()

◆ operator=()

◆ print_info()

◆ print_registers()

◆ probe()

◆ 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