PX4 Firmware
PX4 Autopilot Software http://px4.io
Classes | Macros
BMI088_gyro.hpp File Reference
#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
#include "BMI088.hpp"
Include dependency graph for BMI088_gyro.hpp:
This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Classes

class  BMI088_gyro
 
struct  BMI088_gyro::BMI_GyroReport
 Report conversation within the BMI088_gyro, including command byte and interrupt status. More...
 

Macros

#define BMI088_DEVICE_PATH_GYRO   "/dev/bmi088_gyro"
 
#define BMI088_DEVICE_PATH_GYRO_EXT   "/dev/bmi088_gyro_ext"
 
#define BMI088_GYR_CHIP_ID   0x00
 
#define BMI088_GYR_X_L   0x02
 
#define BMI088_GYR_X_H   0x03
 
#define BMI088_GYR_Y_L   0x04
 
#define BMI088_GYR_Y_H   0x05
 
#define BMI088_GYR_Z_L   0x06
 
#define BMI088_GYR_Z_H   0x07
 
#define BMI088_GYR_INT_STATUS_0   0x09
 
#define BMI088_GYR_INT_STATUS_1   0x0A
 
#define BMI088_GYR_INT_STATUS_2   0x0B
 
#define BMI088_GYR_INT_STATUS_3   0x0C
 
#define BMI088_GYR_FIFO_STATUS   0x0E
 
#define BMI088_GYR_RANGE   0x0F
 
#define BMI088_GYR_BW   0x10
 
#define BMI088_GYR_LPM1   0x11
 
#define BMI088_GYR_LPM2   0x12
 
#define BMI088_GYR_RATE_HBW   0x13
 
#define BMI088_GYR_SOFTRESET   0x14
 
#define BMI088_GYR_INT_EN_0   0x15
 
#define BMI088_GYR_INT_EN_1   0x16
 
#define BMI088_GYR_INT_MAP_0   0x17
 
#define BMI088_GYR_INT_MAP_1   0x18
 
#define BMI088_GYR_INT_MAP_2   0x19
 
#define BMI088_GYRO_0_REG   0x1A
 
#define BMI088_GYRO_1_REG   0x1B
 
#define BMI088_GYRO_2_REG   0x1C
 
#define BMI088_GYRO_3_REG   0x1E
 
#define BMI088_GYR_INT_LATCH   0x21
 
#define BMI088_GYR_INT_LH_0   0x22
 
#define BMI088_GYR_INT_LH_1   0x23
 
#define BMI088_GYR_INT_LH_2   0x24
 
#define BMI088_GYR_INT_LH_3   0x25
 
#define BMI088_GYR_INT_LH_4   0x26
 
#define BMI088_GYR_INT_LH_5   0x27
 
#define BMI088_GYR_SOC   0x31
 
#define BMI088_GYR_A_FOC   0x32
 
#define BMI088_GYR_TRIM_NVM_CTRL   0x33
 
#define BMI088_BGW_SPI3_WDT   0x34
 
#define BMI088_GYR_OFFSET_COMP   0x36
 
#define BMI088_GYR_OFFSET_COMP_X   0x37
 
#define BMI088_GYR_OFFSET_COMP_Y   0x38
 
#define BMI088_GYR_OFFSET_COMP_Z   0x39
 
#define BMI088_GYR_TRIM_GPO   0x3A
 
#define BMI088_GYR_TRIM_GP1   0x3B
 
#define BMI088_GYR_SELF_TEST   0x3C
 
#define BMI088_GYR_FIFO_CONFIG_0   0x3D
 
#define BMI088_GYR_FIFO_CONFIG_1   0x3E
 
#define BMI088_GYR_FIFO_DATA   0x3F
 
#define BMI088_GYR_WHO_AM_I   0x0F
 
#define BMI088_GYRO_RATE_100   (0<<3) | (1<<2) | (1<<1) | (1<<0)
 
#define BMI088_GYRO_RATE_200   (0<<3) | (1<<2) | (1<<1) | (0<<0)
 
#define BMI088_GYRO_RATE_400   (0<<3) | (0<<2) | (1<<1) | (1<<0)
 
#define BMI088_GYRO_RATE_1000   (0<<3) | (0<<2) | (1<<1) | (0<<0)
 
#define BMI088_GYRO_RATE_2000   (0<<3) | (0<<2) | (0<<1) | (1<<0)
 
#define BMI088_GYRO_NORMAL   (0<<7) | (0<<5)
 
#define BMI088_GYRO_DEEP_SUSPEND   (0<<7) | (1<<5)
 
#define BMI088_GYRO_SUSPEND   (1<<7) | (0<<5)
 
#define BMI088_GYRO_RANGE_2000_DPS   (0<<2) | (0<<1) | (0<<0)
 
#define BMI088_GYRO_RANGE_1000_DPS   (0<<2) | (0<<1) | (1<<0)
 
#define BMI088_GYRO_RANGE_500_DPS   (0<<2) | (1<<1) | (0<<0)
 
#define BMI088_GYRO_RANGE_250_DPS   (0<<2) | (1<<1) | (1<<0)
 
#define BMI088_GYRO_RANGE_125_DPS   (1<<2) | (0<<1) | (0<<0)
 
#define BMI088_GYR_DRDY_INT_EN   (1<<7)
 
#define BMI088_GYR_DRDY_INT1   (1<<0)
 
#define BMI088_GYRO_DEFAULT_RANGE_DPS   2000
 
#define BMI088_GYRO_DEFAULT_RATE   1000
 
#define BMI088_GYRO_MAX_RATE   1000
 
#define BMI088_GYRO_MAX_PUBLISH_RATE   280
 
#define BMI088_GYRO_DEFAULT_DRIVER_FILTER_FREQ   50
 
#define BMI088_GYRO_BW_MASK   0x0F
 
#define BMI088_GYRO_NUM_CHECKED_REGISTERS   7
 

Macro Definition Documentation

◆ BMI088_BGW_SPI3_WDT

#define BMI088_BGW_SPI3_WDT   0x34

Definition at line 81 of file BMI088_gyro.hpp.

◆ BMI088_DEVICE_PATH_GYRO

#define BMI088_DEVICE_PATH_GYRO   "/dev/bmi088_gyro"

Definition at line 40 of file BMI088_gyro.hpp.

Referenced by bmi088::start().

◆ BMI088_DEVICE_PATH_GYRO_EXT

#define BMI088_DEVICE_PATH_GYRO_EXT   "/dev/bmi088_gyro_ext"

Definition at line 41 of file BMI088_gyro.hpp.

Referenced by bmi088::start().

◆ BMI088_GYR_A_FOC

#define BMI088_GYR_A_FOC   0x32

Definition at line 79 of file BMI088_gyro.hpp.

◆ BMI088_GYR_BW

#define BMI088_GYR_BW   0x10

Definition at line 57 of file BMI088_gyro.hpp.

Referenced by BMI088_gyro::gyro_set_sample_rate(), and BMI088_gyro::reset().

◆ BMI088_GYR_CHIP_ID

#define BMI088_GYR_CHIP_ID   0x00

Definition at line 44 of file BMI088_gyro.hpp.

Referenced by BMI088_gyro::probe().

◆ BMI088_GYR_DRDY_INT1

#define BMI088_GYR_DRDY_INT1   (1<<0)

Definition at line 119 of file BMI088_gyro.hpp.

Referenced by BMI088_gyro::reset().

◆ BMI088_GYR_DRDY_INT_EN

#define BMI088_GYR_DRDY_INT_EN   (1<<7)

Definition at line 116 of file BMI088_gyro.hpp.

Referenced by BMI088_gyro::reset().

◆ BMI088_GYR_FIFO_CONFIG_0

#define BMI088_GYR_FIFO_CONFIG_0   0x3D

Definition at line 89 of file BMI088_gyro.hpp.

◆ BMI088_GYR_FIFO_CONFIG_1

#define BMI088_GYR_FIFO_CONFIG_1   0x3E

Definition at line 90 of file BMI088_gyro.hpp.

◆ BMI088_GYR_FIFO_DATA

#define BMI088_GYR_FIFO_DATA   0x3F

Definition at line 91 of file BMI088_gyro.hpp.

◆ BMI088_GYR_FIFO_STATUS

#define BMI088_GYR_FIFO_STATUS   0x0E

Definition at line 55 of file BMI088_gyro.hpp.

◆ BMI088_GYR_INT_EN_0

#define BMI088_GYR_INT_EN_0   0x15

Definition at line 62 of file BMI088_gyro.hpp.

Referenced by BMI088_gyro::reset().

◆ BMI088_GYR_INT_EN_1

#define BMI088_GYR_INT_EN_1   0x16

Definition at line 63 of file BMI088_gyro.hpp.

◆ BMI088_GYR_INT_LATCH

#define BMI088_GYR_INT_LATCH   0x21

Definition at line 71 of file BMI088_gyro.hpp.

◆ BMI088_GYR_INT_LH_0

#define BMI088_GYR_INT_LH_0   0x22

Definition at line 72 of file BMI088_gyro.hpp.

◆ BMI088_GYR_INT_LH_1

#define BMI088_GYR_INT_LH_1   0x23

Definition at line 73 of file BMI088_gyro.hpp.

◆ BMI088_GYR_INT_LH_2

#define BMI088_GYR_INT_LH_2   0x24

Definition at line 74 of file BMI088_gyro.hpp.

◆ BMI088_GYR_INT_LH_3

#define BMI088_GYR_INT_LH_3   0x25

Definition at line 75 of file BMI088_gyro.hpp.

◆ BMI088_GYR_INT_LH_4

#define BMI088_GYR_INT_LH_4   0x26

Definition at line 76 of file BMI088_gyro.hpp.

◆ BMI088_GYR_INT_LH_5

#define BMI088_GYR_INT_LH_5   0x27

Definition at line 77 of file BMI088_gyro.hpp.

◆ BMI088_GYR_INT_MAP_0

#define BMI088_GYR_INT_MAP_0   0x17

Definition at line 64 of file BMI088_gyro.hpp.

◆ BMI088_GYR_INT_MAP_1

#define BMI088_GYR_INT_MAP_1   0x18

Definition at line 65 of file BMI088_gyro.hpp.

Referenced by BMI088_gyro::reset().

◆ BMI088_GYR_INT_MAP_2

#define BMI088_GYR_INT_MAP_2   0x19

Definition at line 66 of file BMI088_gyro.hpp.

◆ BMI088_GYR_INT_STATUS_0

#define BMI088_GYR_INT_STATUS_0   0x09

Definition at line 51 of file BMI088_gyro.hpp.

◆ BMI088_GYR_INT_STATUS_1

#define BMI088_GYR_INT_STATUS_1   0x0A

Definition at line 52 of file BMI088_gyro.hpp.

◆ BMI088_GYR_INT_STATUS_2

#define BMI088_GYR_INT_STATUS_2   0x0B

Definition at line 53 of file BMI088_gyro.hpp.

◆ BMI088_GYR_INT_STATUS_3

#define BMI088_GYR_INT_STATUS_3   0x0C

Definition at line 54 of file BMI088_gyro.hpp.

◆ BMI088_GYR_LPM1

#define BMI088_GYR_LPM1   0x11

Definition at line 58 of file BMI088_gyro.hpp.

Referenced by BMI088_gyro::reset().

◆ BMI088_GYR_LPM2

#define BMI088_GYR_LPM2   0x12

Definition at line 59 of file BMI088_gyro.hpp.

◆ BMI088_GYR_OFFSET_COMP

#define BMI088_GYR_OFFSET_COMP   0x36

Definition at line 82 of file BMI088_gyro.hpp.

◆ BMI088_GYR_OFFSET_COMP_X

#define BMI088_GYR_OFFSET_COMP_X   0x37

Definition at line 83 of file BMI088_gyro.hpp.

◆ BMI088_GYR_OFFSET_COMP_Y

#define BMI088_GYR_OFFSET_COMP_Y   0x38

Definition at line 84 of file BMI088_gyro.hpp.

◆ BMI088_GYR_OFFSET_COMP_Z

#define BMI088_GYR_OFFSET_COMP_Z   0x39

Definition at line 85 of file BMI088_gyro.hpp.

◆ BMI088_GYR_RANGE

#define BMI088_GYR_RANGE   0x0F

Definition at line 56 of file BMI088_gyro.hpp.

Referenced by BMI088_gyro::reset(), and BMI088_gyro::set_gyro_range().

◆ BMI088_GYR_RATE_HBW

#define BMI088_GYR_RATE_HBW   0x13

Definition at line 60 of file BMI088_gyro.hpp.

◆ BMI088_GYR_SELF_TEST

#define BMI088_GYR_SELF_TEST   0x3C

Definition at line 88 of file BMI088_gyro.hpp.

◆ BMI088_GYR_SOC

#define BMI088_GYR_SOC   0x31

Definition at line 78 of file BMI088_gyro.hpp.

◆ BMI088_GYR_SOFTRESET

#define BMI088_GYR_SOFTRESET   0x14

Definition at line 61 of file BMI088_gyro.hpp.

Referenced by BMI088_gyro::check_registers(), BMI088_gyro::reset(), and BMI088_gyro::test_error().

◆ BMI088_GYR_TRIM_GP1

#define BMI088_GYR_TRIM_GP1   0x3B

Definition at line 87 of file BMI088_gyro.hpp.

◆ BMI088_GYR_TRIM_GPO

#define BMI088_GYR_TRIM_GPO   0x3A

Definition at line 86 of file BMI088_gyro.hpp.

◆ BMI088_GYR_TRIM_NVM_CTRL

#define BMI088_GYR_TRIM_NVM_CTRL   0x33

Definition at line 80 of file BMI088_gyro.hpp.

◆ BMI088_GYR_WHO_AM_I

#define BMI088_GYR_WHO_AM_I   0x0F

Definition at line 94 of file BMI088_gyro.hpp.

Referenced by BMI088_gyro::probe().

◆ BMI088_GYR_X_H

#define BMI088_GYR_X_H   0x03

Definition at line 46 of file BMI088_gyro.hpp.

◆ BMI088_GYR_X_L

#define BMI088_GYR_X_L   0x02

Definition at line 45 of file BMI088_gyro.hpp.

Referenced by BMI088_gyro::measure().

◆ BMI088_GYR_Y_H

#define BMI088_GYR_Y_H   0x05

Definition at line 48 of file BMI088_gyro.hpp.

◆ BMI088_GYR_Y_L

#define BMI088_GYR_Y_L   0x04

Definition at line 47 of file BMI088_gyro.hpp.

◆ BMI088_GYR_Z_H

#define BMI088_GYR_Z_H   0x07

Definition at line 50 of file BMI088_gyro.hpp.

◆ BMI088_GYR_Z_L

#define BMI088_GYR_Z_L   0x06

Definition at line 49 of file BMI088_gyro.hpp.

◆ BMI088_GYRO_0_REG

#define BMI088_GYRO_0_REG   0x1A

Definition at line 67 of file BMI088_gyro.hpp.

◆ BMI088_GYRO_1_REG

#define BMI088_GYRO_1_REG   0x1B

Definition at line 68 of file BMI088_gyro.hpp.

◆ BMI088_GYRO_2_REG

#define BMI088_GYRO_2_REG   0x1C

Definition at line 69 of file BMI088_gyro.hpp.

◆ BMI088_GYRO_3_REG

#define BMI088_GYRO_3_REG   0x1E

Definition at line 70 of file BMI088_gyro.hpp.

◆ BMI088_GYRO_BW_MASK

#define BMI088_GYRO_BW_MASK   0x0F

Definition at line 130 of file BMI088_gyro.hpp.

Referenced by BMI088_gyro::gyro_set_sample_rate().

◆ BMI088_GYRO_DEEP_SUSPEND

#define BMI088_GYRO_DEEP_SUSPEND   (0<<7) | (1<<5)

Definition at line 105 of file BMI088_gyro.hpp.

◆ BMI088_GYRO_DEFAULT_DRIVER_FILTER_FREQ

#define BMI088_GYRO_DEFAULT_DRIVER_FILTER_FREQ   50

Definition at line 127 of file BMI088_gyro.hpp.

◆ BMI088_GYRO_DEFAULT_RANGE_DPS

#define BMI088_GYRO_DEFAULT_RANGE_DPS   2000

Definition at line 122 of file BMI088_gyro.hpp.

Referenced by BMI088_gyro::reset().

◆ BMI088_GYRO_DEFAULT_RATE

#define BMI088_GYRO_DEFAULT_RATE   1000

Definition at line 123 of file BMI088_gyro.hpp.

Referenced by BMI088_gyro::reset(), and BMI088_gyro::start().

◆ BMI088_GYRO_MAX_PUBLISH_RATE

#define BMI088_GYRO_MAX_PUBLISH_RATE   280

Definition at line 125 of file BMI088_gyro.hpp.

◆ BMI088_GYRO_MAX_RATE

#define BMI088_GYRO_MAX_RATE   1000

Definition at line 124 of file BMI088_gyro.hpp.

◆ BMI088_GYRO_NORMAL

#define BMI088_GYRO_NORMAL   (0<<7) | (0<<5)

Definition at line 104 of file BMI088_gyro.hpp.

Referenced by BMI088_gyro::reset().

◆ BMI088_GYRO_NUM_CHECKED_REGISTERS

#define BMI088_GYRO_NUM_CHECKED_REGISTERS   7

Definition at line 168 of file BMI088_gyro.hpp.

Referenced by BMI088_gyro::check_registers(), BMI088_gyro::print_info(), BMI088_gyro::reset(), and BMI088_gyro::write_checked_reg().

◆ BMI088_GYRO_RANGE_1000_DPS

#define BMI088_GYRO_RANGE_1000_DPS   (0<<2) | (0<<1) | (1<<0)

Definition at line 110 of file BMI088_gyro.hpp.

Referenced by BMI088_gyro::set_gyro_range().

◆ BMI088_GYRO_RANGE_125_DPS

#define BMI088_GYRO_RANGE_125_DPS   (1<<2) | (0<<1) | (0<<0)

Definition at line 113 of file BMI088_gyro.hpp.

Referenced by BMI088_gyro::set_gyro_range().

◆ BMI088_GYRO_RANGE_2000_DPS

#define BMI088_GYRO_RANGE_2000_DPS   (0<<2) | (0<<1) | (0<<0)

Definition at line 109 of file BMI088_gyro.hpp.

Referenced by BMI088_gyro::set_gyro_range().

◆ BMI088_GYRO_RANGE_250_DPS

#define BMI088_GYRO_RANGE_250_DPS   (0<<2) | (1<<1) | (1<<0)

Definition at line 112 of file BMI088_gyro.hpp.

Referenced by BMI088_gyro::set_gyro_range().

◆ BMI088_GYRO_RANGE_500_DPS

#define BMI088_GYRO_RANGE_500_DPS   (0<<2) | (1<<1) | (0<<0)

Definition at line 111 of file BMI088_gyro.hpp.

Referenced by BMI088_gyro::set_gyro_range().

◆ BMI088_GYRO_RATE_100

#define BMI088_GYRO_RATE_100   (0<<3) | (1<<2) | (1<<1) | (1<<0)

Definition at line 97 of file BMI088_gyro.hpp.

Referenced by BMI088_gyro::gyro_set_sample_rate().

◆ BMI088_GYRO_RATE_1000

#define BMI088_GYRO_RATE_1000   (0<<3) | (0<<2) | (1<<1) | (0<<0)

Definition at line 100 of file BMI088_gyro.hpp.

Referenced by BMI088_gyro::gyro_set_sample_rate().

◆ BMI088_GYRO_RATE_200

#define BMI088_GYRO_RATE_200   (0<<3) | (1<<2) | (1<<1) | (0<<0)

Definition at line 98 of file BMI088_gyro.hpp.

◆ BMI088_GYRO_RATE_2000

#define BMI088_GYRO_RATE_2000   (0<<3) | (0<<2) | (0<<1) | (1<<0)

Definition at line 101 of file BMI088_gyro.hpp.

Referenced by BMI088_gyro::gyro_set_sample_rate().

◆ BMI088_GYRO_RATE_400

#define BMI088_GYRO_RATE_400   (0<<3) | (0<<2) | (1<<1) | (1<<0)

Definition at line 99 of file BMI088_gyro.hpp.

Referenced by BMI088_gyro::gyro_set_sample_rate().

◆ BMI088_GYRO_SUSPEND

#define BMI088_GYRO_SUSPEND   (1<<7) | (0<<5)

Definition at line 106 of file BMI088_gyro.hpp.