#include <BMI088_gyro.hpp>

Inheritance diagram for BMI088_gyro:

Collaboration diagram for BMI088_gyro:

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

Public Member Functions
	BMI088_gyro (int bus, const char *path_gyro, uint32_t device, enum Rotation rotation)

virtual	~BMI088_gyro ()

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

virtual uint16_t	read_reg16 (unsigned reg)

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_gyro. More...

void	write_checked_reg (unsigned reg, uint8_t value)
	Write a register in the BMI088_gyro, updating _checked_values. More...

int	set_gyro_range (unsigned max_dps)
	Set the BMI088_gyro measurement range. More...

int	gyro_set_sample_rate (float desired_sample_rate_hz)

void	check_registers (void)

	BMI088_gyro (const BMI088_gyro &)

BMI088_gyro	operator= (const BMI088_gyro &)

Static Private Member Functions
static void	measure_trampoline (void *arg)
	Static trampoline from the hrt_call context; because we don't have a generic hrt wrapper yet. More...

Private Attributes
PX4Gyroscope	_px4_gyro

perf_counter_t	_sample_perf

perf_counter_t	_bad_transfers

perf_counter_t	_bad_registers

uint8_t	_checked_values [BMI088_GYRO_NUM_CHECKED_REGISTERS]

uint8_t	_checked_bad [BMI088_GYRO_NUM_CHECKED_REGISTERS]

float	_last_temperature

Static Private Attributes
static const uint8_t	_checked_registers [BMI088_GYRO_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 132 of file BMI088_gyro.hpp.

Constructor & Destructor Documentation

◆ BMI088_gyro() [1/2]

BMI088_gyro::BMI088_gyro	(	int	bus,
		const char *	path_gyro,
		uint32_t	device,
		enum Rotation	rotation
	)

Definition at line 58 of file BMI088_gyro.cpp.

References _px4_gyro, DRV_DEVTYPE_BMI088, and PX4Gyroscope::set_device_type().

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◆ ~BMI088_gyro()

BMI088_gyro::~BMI088_gyro ( )

virtual

Definition at line 69 of file BMI088_gyro.cpp.

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

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◆ BMI088_gyro() [2/2]

BMI088_gyro::BMI088_gyro ( const BMI088_gyro & )

private

Member Function Documentation

◆ check_registers()

void BMI088_gyro::check_registers ( void )

private

Definition at line 296 of file BMI088_gyro.cpp.

References _bad_registers, _checked_bad, BMI088::_checked_next, _checked_registers, _checked_values, BMI088::_register_wait, BMI088::_reset_wait, BMI088_GYR_SOFTRESET, BMI088_GYRO_NUM_CHECKED_REGISTERS, BMI088_SOFT_RESET, hrt_absolute_time(), perf_count(), BMI088::read_reg(), and BMI088::write_reg().

Referenced by measure().

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◆ gyro_set_sample_rate()

int BMI088_gyro::gyro_set_sample_rate ( float desired_sample_rate_hz )

private

Definition at line 153 of file BMI088_gyro.cpp.

References BMI088_GYR_BW, BMI088_GYRO_BW_MASK, BMI088_GYRO_RATE_100, BMI088_GYRO_RATE_1000, BMI088_GYRO_RATE_2000, BMI088_GYRO_RATE_400, modify_reg(), and OK.

Referenced by reset().

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◆ init()

int BMI088_gyro::init ( )

virtual

Definition at line 81 of file BMI088_gyro.cpp.

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

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◆ measure()

void BMI088_gyro::measure ( )

private

Fetch measurements from the sensor and update the report buffers.

Definition at line 339 of file BMI088_gyro.cpp.

References _accel_last_temperature_copy, _bad_registers, _bad_transfers, _last_temperature, _px4_gyro, BMI088::_register_wait, BMI088::_reset_wait, _sample_perf, BMI088_GYR_X_L, check_registers(), BMI088_gyro::BMI_GyroReport::cmd, DIR_READ, hrt_absolute_time(), hrt_abstime, OK, perf_begin(), perf_count(), perf_end(), perf_event_count(), PX4Gyroscope::set_error_count(), PX4Gyroscope::set_temperature(), and PX4Gyroscope::update().

Referenced by measure_trampoline(), and Run().

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◆ measure_trampoline()

void BMI088_gyro::measure_trampoline ( void * arg )

staticprivate

Static trampoline from the hrt_call context; because we don't have a generic hrt wrapper yet.

Called by the HRT in interrupt context at the specified rate if automatic polling is enabled.

Parameters

arg	Instance pointer for the driver that is polling.

Definition at line 287 of file BMI088_gyro.cpp.

References measure().

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◆ modify_reg()

void BMI088_gyro::modify_reg	(	unsigned	reg,
		uint8_t	clearbits,
		uint8_t	setbits
	)

private

Modify a register in the BMI088_gyro.

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 195 of file BMI088_gyro.cpp.

References BMI088::read_reg(), and write_checked_reg().

Referenced by gyro_set_sample_rate(), and set_gyro_range().

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◆ operator=()

BMI088_gyro BMI088_gyro::operator= ( const BMI088_gyro & )

private

◆ print_info()

void BMI088_gyro::print_info ( )

Diagnostics - print some basic information about the driver.

Definition at line 429 of file BMI088_gyro.cpp.

References _bad_registers, _bad_transfers, _checked_bad, BMI088::_checked_next, _checked_registers, _checked_values, _px4_gyro, _sample_perf, BMI088_GYRO_NUM_CHECKED_REGISTERS, perf_print_counter(), PX4Gyroscope::print_status(), and BMI088::read_reg().

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◆ print_registers()

void BMI088_gyro::print_registers ( )

Definition at line 461 of file BMI088_gyro.cpp.

References _checked_registers, and BMI088::read_reg().

Referenced by test_error().

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◆ probe()

int BMI088_gyro::probe ( )

protectedvirtual

Definition at line 132 of file BMI088_gyro.cpp.

References _checked_bad, _checked_values, BMI088::_whoami, BMI088_GYR_CHIP_ID, BMI088_GYR_WHO_AM_I, DEVICE_DEBUG, OK, and BMI088::read_reg().

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◆ reset()

int BMI088_gyro::reset ( )

private

Reset chip.

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

Definition at line 95 of file BMI088_gyro.cpp.

References _checked_registers, _checked_values, BMI088_GYR_BW, BMI088_GYR_DRDY_INT1, BMI088_GYR_DRDY_INT_EN, BMI088_GYR_INT_EN_0, BMI088_GYR_INT_MAP_1, BMI088_GYR_LPM1, BMI088_GYR_RANGE, BMI088_GYR_SOFTRESET, BMI088_GYRO_DEFAULT_RANGE_DPS, BMI088_GYRO_DEFAULT_RATE, BMI088_GYRO_NORMAL, BMI088_GYRO_NUM_CHECKED_REGISTERS, BMI088_SOFT_RESET, gyro_set_sample_rate(), OK, BMI088::read_reg(), set_gyro_range(), write_checked_reg(), and BMI088::write_reg().

Referenced by init().

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◆ Run()

void BMI088_gyro::Run ( )

overrideprivate

Definition at line 280 of file BMI088_gyro.cpp.

References measure().

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◆ set_gyro_range()

int BMI088_gyro::set_gyro_range ( unsigned max_dps )

private

Set the BMI088_gyro measurement range.

Parameters

max_dps The maximum DPS value the range must support.

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

Definition at line 217 of file BMI088_gyro.cpp.

References _px4_gyro, BMI088_GYR_RANGE, BMI088_GYRO_RANGE_1000_DPS, BMI088_GYRO_RANGE_125_DPS, BMI088_GYRO_RANGE_2000_DPS, BMI088_GYRO_RANGE_250_DPS, BMI088_GYRO_RANGE_500_DPS, f(), M_PI_F, modify_reg(), OK, and PX4Gyroscope::set_scale().

Referenced by reset().

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◆ start()

void BMI088_gyro::start ( )

Definition at line 264 of file BMI088_gyro.cpp.

References BMI088_GYRO_DEFAULT_RATE, BMI088_TIMER_REDUCTION, and stop().

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◆ stop()

void BMI088_gyro::stop ( )

private

Stop automatic measurement.

Definition at line 274 of file BMI088_gyro.cpp.

Referenced by start(), and ~BMI088_gyro().

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◆ test_error()

void BMI088_gyro::test_error ( )

Definition at line 187 of file BMI088_gyro.cpp.

References BMI088_GYR_SOFTRESET, BMI088_SOFT_RESET, print_registers(), and BMI088::write_reg().

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◆ write_checked_reg()

void BMI088_gyro::write_checked_reg	(	unsigned	reg,
		uint8_t	value
	)

private

Write a register in the BMI088_gyro, updating _checked_values.

Parameters

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

Definition at line 204 of file BMI088_gyro.cpp.

References _checked_bad, _checked_registers, _checked_values, BMI088_GYRO_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_gyro::_bad_registers

private

Definition at line 163 of file BMI088_gyro.hpp.

Referenced by check_registers(), measure(), print_info(), and ~BMI088_gyro().

◆ _bad_transfers

perf_counter_t BMI088_gyro::_bad_transfers

private

Definition at line 162 of file BMI088_gyro.hpp.

Referenced by measure(), print_info(), and ~BMI088_gyro().

◆ _checked_bad

uint8_t BMI088_gyro::_checked_bad[BMI088_GYRO_NUM_CHECKED_REGISTERS]

private

Definition at line 171 of file BMI088_gyro.hpp.

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

◆ _checked_registers

const uint8_t BMI088_gyro::_checked_registers

staticprivate

Initial value:

= {    BMI088_GYR_CHIP_ID,
                                            BMI088_GYR_LPM1,
                                            BMI088_GYR_BW,
                                            BMI088_GYR_RANGE,
                                            BMI088_GYR_INT_EN_0,
                                            BMI088_GYR_INT_EN_1,
                                            BMI088_GYR_INT_MAP_1
                                           }

Definition at line 169 of file BMI088_gyro.hpp.

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

◆ _checked_values

uint8_t BMI088_gyro::_checked_values[BMI088_GYRO_NUM_CHECKED_REGISTERS]

private

Definition at line 170 of file BMI088_gyro.hpp.

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

◆ _last_temperature

float BMI088_gyro::_last_temperature

private

Definition at line 174 of file BMI088_gyro.hpp.

Referenced by measure().

◆ _px4_gyro

PX4Gyroscope BMI088_gyro::_px4_gyro

private

Definition at line 159 of file BMI088_gyro.hpp.

Referenced by BMI088_gyro(), measure(), print_info(), and set_gyro_range().

◆ _sample_perf

perf_counter_t BMI088_gyro::_sample_perf

private

Definition at line 161 of file BMI088_gyro.hpp.

Referenced by measure(), print_info(), and ~BMI088_gyro().

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

src/drivers/imu/bmi088/BMI088_gyro.hpp
src/drivers/imu/bmi088/BMI088_gyro.cpp

Classes

Public Member Functions

Protected Member Functions

Private Member Functions

Static Private Member Functions

Private Attributes

Static Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ BMI088_gyro() [1/2]

◆ ~BMI088_gyro()

◆ BMI088_gyro() [2/2]

Member Function Documentation

◆ check_registers()

◆ gyro_set_sample_rate()

◆ init()

◆ measure()

◆ measure_trampoline()

◆ modify_reg()

◆ operator=()

◆ print_info()

◆ print_registers()

◆ probe()

◆ reset()

◆ Run()

◆ set_gyro_range()

◆ start()

◆ stop()

◆ test_error()

◆ write_checked_reg()

Member Data Documentation

◆ _bad_registers

◆ _bad_transfers

◆ _checked_bad

◆ _checked_registers

◆ _checked_values

◆ _last_temperature

◆ _px4_gyro

◆ _sample_perf