bmi160.hpp

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#pragma once

#include <drivers/device/spi.h>
#include <ecl/geo/geo.h>
#include <lib/conversion/rotation.h>
#include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
#include <perf/perf_counter.h>
#include <px4_platform_common/getopt.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <systemlib/conversions.h>

#define DIR_READ                0x80
#define DIR_WRITE               0x00

// BMI 160 registers

#define BMIREG_CHIP_ID          0x00
#define BMIREG_ERR_REG          0x02
#define BMIREG_PMU_STATUS       0x03
#define BMIREG_DATA_0           0x04
#define BMIREG_DATA_1           0x05
#define BMIREG_DATA_2           0x06
#define BMIREG_DATA_3           0x07
#define BMIREG_DATA_4           0x08
#define BMIREG_DATA_5           0x09
#define BMIREG_DATA_6           0x0A
#define BMIREG_DATA_7           0x0B
#define BMIREG_GYR_X_L          0x0C
#define BMIREG_GYR_X_H          0x0D
#define BMIREG_GYR_Y_L          0x0E
#define BMIREG_GYR_Y_H          0x0F
#define BMIREG_GYR_Z_L          0x10
#define BMIREG_GYR_Z_H          0x11
#define BMIREG_ACC_X_L          0x12
#define BMIREG_ACC_X_H          0x13
#define BMIREG_ACC_Y_L          0x14
#define BMIREG_ACC_Y_H          0x15
#define BMIREG_ACC_Z_L          0x16
#define BMIREG_ACC_Z_H          0x17
#define BMIREG_SENSORTIME0      0x18
#define BMIREG_SENSORTIME1      0x19
#define BMIREG_SENSORTIME2      0x1A
#define BMIREG_STATUS           0x1B
#define BMIREG_INT_STATUS_0     0x1C
#define BMIREG_INT_STATUS_1     0x1D
#define BMIREG_INT_STATUS_2     0x1E
#define BMIREG_INT_STATUS_3     0x1F
#define BMIREG_TEMP_0           0x20
#define BMIREG_TEMP_1           0x21
#define BMIREG_FIFO_LEN_0       0x22
#define BMIREG_FIFO_LEN_1       0x23
#define BMIREG_FIFO_DATA        0x24
#define BMIREG_ACC_CONF         0x40
#define BMIREG_ACC_RANGE        0x41
#define BMIREG_GYR_CONF         0x42
#define BMIREG_GYR_RANGE        0x43
#define BMIREG_MAG_CONF         0x44
#define BMIREG_FIFO_DOWNS       0x45
#define BMIREG_FIFO_CONFIG_0    0x46
#define BMIREG_FIFO_CONFIG_1    0x47
#define BMIREG_MAG_IF_0         0x4B
#define BMIREG_MAG_IF_1         0x4C
#define BMIREG_MAG_IF_2         0x4D
#define BMIREG_MAG_IF_3         0x4E
#define BMIREG_MAG_IF_4         0x4F
#define BMIREG_INT_EN_0         0x50
#define BMIREG_INT_EN_1         0x51
#define BMIREG_INT_EN_2         0x52
#define BMIREG_INT_OUT_CTRL     0x53
#define BMIREG_INT_LANTCH       0x54
#define BMIREG_INT_MAP_0        0x55
#define BMIREG_INT_MAP_1        0x56
#define BMIREG_INT_MAP_2        0x57
#define BMIREG_INT_DATA_0       0x58
#define BMIREG_INT_DATA_1       0x59
#define BMIREG_INT_LH_0         0x5A
#define BMIREG_INT_LH_1         0x5B
#define BMIREG_INT_LH_2         0x5C
#define BMIREG_INT_LH_3         0x5D
#define BMIREG_INT_LH_4         0x5E
#define BMIREG_INT_MOT_0        0x5F
#define BMIREG_INT_MOT_1        0x60
#define BMIREG_INT_MOT_2        0x61
#define BMIREG_INT_MOT_3        0x62
#define BMIREG_INT_TAP_0        0x63
#define BMIREG_INT_TAP_1        0x64
#define BMIREG_INT_ORIE_0       0x65
#define BMIREG_INT_ORIE_1       0x66
#define BMIREG_INT_FLAT_0       0x67
#define BMIREG_INT_FLAT_1       0x68
#define BMIREG_FOC_CONF         0x69
#define BMIREG_CONF             0x6A
#define BMIREG_IF_CONF          0x6B
#define BMIREG_PMU_TRIGGER      0x6C
#define BMIREG_SELF_TEST        0x6D
#define BMIREG_NV_CONF          0x70
#define BMIREG_OFFSET_ACC_X     0x71
#define BMIREG_OFFSET_ACC_Y     0x72
#define BMIREG_OFFSET_ACC_Z     0x73
#define BMIREG_OFFSET_GYR_X     0x74
#define BMIREG_OFFSET_GYR_Y     0x75
#define BMIREG_OFFSET_GYR_Z     0x76
#define BMIREG_OFFSET_EN        0x77
#define BMIREG_STEP_CONT_0      0x78
#define BMIREG_STEP_CONT_1      0x79
#define BMIREG_STEP_CONF_0      0x7A
#define BMIREG_STEP_CONF_1      0x7B
#define BMIREG_CMD              0x7E


// Configuration bits BMI 160
#define BMI160_WHO_AM_I         0xD1

//BMIREG_STATUS           0x1B
#define BMI_DRDY_ACCEL          (1<<7)
#define BMI_DRDY_GYRO           (1<<6)
#define BMI_DRDY_MAG            (1<<5)
#define BMI_GYRO_SELF_TEST_OK   (1<<1)

//BMIREG_INT_STATUS_1     0x1D
#define BMI_DRDY_INT            (1<<4)

//BMIREG_ACC_CONF         0x40
#define BMI_ACCEL_RATE_25_32    (0<<3) | (0<<2) | (0<<1) | (1<<0)
#define BMI_ACCEL_RATE_25_16    (0<<3) | (0<<2) | (1<<1) | (0<<0)
#define BMI_ACCEL_RATE_25_8     (0<<3) | (0<<2) | (1<<1) | (1<<0)
#define BMI_ACCEL_RATE_25_4     (0<<3) | (1<<2) | (0<<1) | (0<<0)
#define BMI_ACCEL_RATE_25_2     (0<<3) | (1<<2) | (0<<1) | (1<<0)
#define BMI_ACCEL_RATE_25       (0<<3) | (1<<2) | (1<<1) | (0<<0)
#define BMI_ACCEL_RATE_50       (0<<3) | (1<<2) | (1<<1) | (1<<0)
#define BMI_ACCEL_RATE_100      (1<<3) | (0<<2) | (0<<1) | (0<<0)
#define BMI_ACCEL_RATE_200      (1<<3) | (0<<2) | (0<<1) | (1<<0)
#define BMI_ACCEL_RATE_400      (1<<3) | (0<<2) | (1<<1) | (0<<0)
#define BMI_ACCEL_RATE_800      (1<<3) | (0<<2) | (1<<1) | (1<<0)
#define BMI_ACCEL_RATE_1600     (1<<3) | (1<<2) | (0<<1) | (0<<0)
#define BMI_ACCEL_US            (0<<7)
#define BMI_ACCEL_BWP_NORMAL    (0<<6) | (1<<5) | (0<<4)
#define BMI_ACCEL_BWP_OSR2      (0<<6) | (0<<5) | (1<<4)
#define BMI_ACCEL_BWP_OSR4      (0<<6) | (0<<5) | (0<<4)

//BMIREG_ACC_RANGE        0x41
#define BMI_ACCEL_RANGE_2_G     (0<<3) | (0<<2) | (1<<1) | (1<<0)
#define BMI_ACCEL_RANGE_4_G     (0<<3) | (1<<2) | (0<<1) | (1<<0)
#define BMI_ACCEL_RANGE_8_G     (1<<3) | (0<<2) | (0<<1) | (0<<0)
#define BMI_ACCEL_RANGE_16_G    (1<<3) | (1<<2) | (0<<1) | (0<<0)

//BMIREG_GYR_CONF         0x42
#define BMI_GYRO_RATE_25        (0<<3) | (1<<2) | (1<<1) | (0<<0)
#define BMI_GYRO_RATE_50        (0<<3) | (1<<2) | (1<<1) | (1<<0)
#define BMI_GYRO_RATE_100       (1<<3) | (0<<2) | (0<<1) | (0<<0)
#define BMI_GYRO_RATE_200       (1<<3) | (0<<2) | (0<<1) | (1<<0)
#define BMI_GYRO_RATE_400       (1<<3) | (0<<2) | (1<<1) | (0<<0)
#define BMI_GYRO_RATE_800       (1<<3) | (0<<2) | (1<<1) | (1<<0)
#define BMI_GYRO_RATE_1600      (1<<3) | (1<<2) | (0<<1) | (0<<0)
#define BMI_GYRO_RATE_3200      (1<<3) | (1<<2) | (0<<1) | (1<<0)
#define BMI_GYRO_BWP_NORMAL     (1<<5) | (0<<4)
#define BMI_GYRO_BWP_OSR2       (0<<5) | (1<<4)
#define BMI_GYRO_BWP_OSR4       (0<<5) | (0<<4)

//BMIREG_GYR_RANGE        0x43
#define BMI_GYRO_RANGE_2000_DPS (0<<2) | (0<<1) | (0<<0)
#define BMI_GYRO_RANGE_1000_DPS (0<<2) | (0<<1) | (1<<0)
#define BMI_GYRO_RANGE_500_DPS  (0<<2) | (1<<1) | (0<<0)
#define BMI_GYRO_RANGE_250_DPS  (0<<2) | (1<<1) | (1<<0)
#define BMI_GYRO_RANGE_125_DPS  (1<<2) | (0<<1) | (0<<0)

//BMIREG_INT_EN_1         0x51
#define BMI_DRDY_INT_EN         (1<<4)

//BMIREG_INT_OUT_CTRL     0x53
#define BMI_INT1_EN             (1<<3) | (0<<2) | (1<<1)    //Data Ready on INT1 High

//BMIREG_INT_MAP_1        0x56
#define BMI_DRDY_INT1           (1<<7)

//BMIREG_IF_CONF          0x6B
#define BMI_SPI_3_WIRE          (1<<0)
#define BMI_SPI_4_WIRE          (0<<0)
#define BMI_AUTO_DIS_SEC        (0<<5) | (0<<4)
#define BMI_I2C_OIS_SEC         (0<<5) | (1<<4)
#define BMI_AUTO_MAG_SEC        (1<<5) | (0<<4)

//BMIREG_NV_CONF          0x70
#define BMI_SPI                 (1<<0)

//BMIREG_CMD              0x7E
#define BMI_ACCEL_NORMAL_MODE   0x11 //Wait at least 3.8 ms before another CMD
#define BMI_GYRO_NORMAL_MODE    0x15 //Wait at least 80 ms before another CMD
#define BMI160_SOFT_RESET       0xB6

#define BMI160_ACCEL_DEFAULT_RANGE_G        16
#define BMI160_GYRO_DEFAULT_RANGE_DPS       2000
#define BMI160_ACCEL_DEFAULT_RATE           800
#define BMI160_ACCEL_MAX_RATE               1600
#define BMI160_ACCEL_MAX_PUBLISH_RATE       280
#define BMI160_GYRO_DEFAULT_RATE            800
#define BMI160_GYRO_MAX_RATE                3200
#define BMI160_GYRO_MAX_PUBLISH_RATE        BMI160_ACCEL_MAX_PUBLISH_RATE

#define BMI160_ACCEL_DEFAULT_ONCHIP_FILTER_FREQ 324
#define BMI160_ACCEL_DEFAULT_DRIVER_FILTER_FREQ 50

#define BMI160_GYRO_DEFAULT_ONCHIP_FILTER_FREQ  254.6f
#define BMI160_GYRO_DEFAULT_DRIVER_FILTER_FREQ  50

#define BMI160_BUS_SPEED                10*1000*1000

#define BMI160_TIMER_REDUCTION              200

using namespace time_literals;

class BMI160 : public device::SPI, public px4::ScheduledWorkItem
{
public:
    BMI160(int bus, uint32_t device, enum Rotation rotation);
    virtual ~BMI160();

    virtual int     init();

    /**
     * Diagnostics - print some basic information about the driver.
     */
    void            print_info();

    void            print_registers();

    // deliberately cause a sensor error
    void            test_error();

protected:
    virtual int     probe();

private:

    PX4Accelerometer    _px4_accel;
    PX4Gyroscope        _px4_gyro;

    uint8_t         _whoami;    /** whoami result */

    unsigned        _dlpf_freq;

    float           _accel_sample_rate{BMI160_ACCEL_DEFAULT_RATE};
    float           _gyro_sample_rate{BMI160_GYRO_DEFAULT_RATE};

    perf_counter_t      _accel_reads;
    perf_counter_t      _gyro_reads;
    perf_counter_t      _sample_perf;
    perf_counter_t      _bad_transfers;
    perf_counter_t      _bad_registers;
    perf_counter_t      _good_transfers;
    perf_counter_t      _reset_retries;
    perf_counter_t      _duplicates;

    uint8_t         _register_wait{0};
    uint64_t        _reset_wait{0};

    // this is used to support runtime checking of key
    // configuration registers to detect SPI bus errors and sensor
    // reset
    static constexpr int BMI160_NUM_CHECKED_REGISTERS{10};
    static const uint8_t    _checked_registers[BMI160_NUM_CHECKED_REGISTERS];
    uint8_t         _checked_values[BMI160_NUM_CHECKED_REGISTERS];
    uint8_t         _checked_bad[BMI160_NUM_CHECKED_REGISTERS];
    uint8_t         _checked_next{0};

    // keep last accel reading for duplicate detection
    uint16_t        _last_accel[3] {};
    bool            _got_duplicate{false};

    /**
     * Start automatic measurement.
     */
    void            start();

    /**
     * Stop automatic measurement.
     */
    void            stop();

    /**
     * Reset chip.
     *
     * Resets the chip and measurements ranges, but not scale and offset.
     */
    int         reset();

    void            Run() override;

    /**
     * Fetch measurements from the sensor and update the report buffers.
     */
    void            measure();

    /**
     * Read a register from the BMI160
     *
     * @param       The register to read.
     * @return      The value that was read.
     */
    uint8_t         read_reg(unsigned reg);
    uint16_t        read_reg16(unsigned reg);

    /**
     * Write a register in the BMI160
     *
     * @param reg       The register to write.
     * @param value     The new value to write.
     */
    void            write_reg(unsigned reg, uint8_t value);

    /**
     * Modify a register in the BMI160
     *
     * Bits are cleared before bits are set.
     *
     * @param reg       The register to modify.
     * @param clearbits Bits in the register to clear.
     * @param setbits   Bits in the register to set.
     */
    void            modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits);

    /**
     * Write a register in the BMI160, updating _checked_values
     *
     * @param reg       The register to write.
     * @param value     The new value to write.
     */
    void            write_checked_reg(unsigned reg, uint8_t value);

    /**
     * Set the BMI160 measurement range.
     *
     * @param max_g     The maximum G value the range must support.
     * @param max_dps   The maximum DPS value the range must support.
     * @return      OK if the value can be supported, -ERANGE otherwise.
     */
    int         set_accel_range(unsigned max_g);
    int         set_gyro_range(unsigned max_dps);

    /**
     * Swap a 16-bit value read from the BMI160 to native byte order.
     */
    uint16_t        swap16(uint16_t val) { return (val >> 8) | (val << 8);  }

    /*
      set low pass filter frequency
     */
    void _set_dlpf_filter(uint16_t frequency_hz);

    /*
      set sample rate (approximate) - 10 - 952 Hz
    */
    int accel_set_sample_rate(float desired_sample_rate_hz);
    int gyro_set_sample_rate(float desired_sample_rate_hz);
    /*
      check that key registers still have the right value
     */
    void check_registers(void);

    /* do not allow to copy this class due to pointer data members */
    BMI160(const BMI160 &);
    BMI160 operator=(const BMI160 &);

#pragma pack(push, 1)
    /**
     * Report conversation within the BMI160, including command byte and
     * interrupt status.
     */
    struct BMIReport {
        uint8_t     cmd;
        int16_t     gyro_x;
        int16_t     gyro_y;
        int16_t     gyro_z;
        int16_t     accel_x;
        int16_t     accel_y;
        int16_t     accel_z;
    };
#pragma pack(pop)
};