BMI055_accel.hpp

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#pragma once

#include <lib/drivers/accelerometer/PX4Accelerometer.hpp>

#include "BMI055.hpp"

#define BMI055_DEVICE_PATH_ACCEL    "/dev/bmi055_accel"
#define BMI055_DEVICE_PATH_ACCEL_EXT    "/dev/bmi055_accel_ext"

// BMI055 Accel registers
#define BMI055_ACC_CHIP_ID          0x00
#define BMI055_ACC_X_L              0x02
#define BMI055_ACC_X_H              0x03
#define BMI055_ACC_Y_L              0x04
#define BMI055_ACC_Y_H              0x05
#define BMI055_ACC_Z_L              0x06
#define BMI055_ACC_Z_H              0x07
#define BMI055_ACC_TEMP             0x08
#define BMI055_ACC_INT_STATUS_0     0x09
#define BMI055_ACC_INT_STATUS_1     0x0A
#define BMI055_ACC_INT_STATUS_2     0x0B
#define BMI055_ACC_INT_STATUS_3     0x0C
#define BMI055_ACC_FIFO_STATUS      0x0E
#define BMI055_ACC_RANGE            0x0F
#define BMI055_ACC_BW               0x10
#define BMI055_ACC_PMU_LPW          0x11
#define BMI055_ACC_PMU_LOW_POWER    0x12
#define BMI055_ACC_DATA_CTRL        0x13
#define BMI055_ACC_SOFTRESET        0x14
#define BMI055_ACC_INT_EN_0         0x16
#define BMI055_ACC_INT_EN_1         0x17
#define BMI055_ACC_INT_EN_2         0x18
#define BMI055_ACC_INT_MAP_0        0x19
#define BMI055_ACC_INT_MAP_1        0x1A
#define BMI055_ACC_INT_MAP_2        0x1B
#define BMI055_ACC_INT_SRC          0x1E
#define BMI055_ACC_INT_OUT_CTRL     0x20
#define BMI055_ACC_INT_LATCH        0x21
#define BMI055_ACC_INT_LH_0         0x22
#define BMI055_ACC_INT_LH_1         0x23
#define BMI055_ACC_INT_LH_2         0x24
#define BMI055_ACC_INT_LH_3         0x25
#define BMI055_ACC_INT_LH_4         0x26
#define BMI055_ACC_INT_MOT_0        0x27
#define BMI055_ACC_INT_MOT_1        0x28
#define BMI055_ACC_INT_MOT_2        0x29
#define BMI055_ACC_INT_TAP_0        0x2A
#define BMI055_ACC_INT_TAP_1        0x2B
#define BMI055_ACC_INT_ORIE_0       0x2C
#define BMI055_ACC_INT_ORIE_1       0x2D
#define BMI055_ACC_INT_FLAT_0       0x2E
#define BMI055_ACC_INT_FLAT_1       0x2F
#define BMI055_ACC_FIFO_CONFIG_0    0x30
#define BMI055_ACC_SELF_TEST        0x32
#define BMI055_ACC_EEPROM_CTRL      0x33
#define BMI055_ACC_SERIAL_CTRL      0x34
#define BMI055_ACC_OFFSET_CTRL      0x36
#define BMI055_ACC_OFC_SETTING      0x37
#define BMI055_ACC_OFFSET_X         0x38
#define BMI055_ACC_OFFSET_Y         0x39
#define BMI055_ACC_OFFSET_Z         0x3A
#define BMI055_ACC_TRIM_GPO         0x3B
#define BMI055_ACC_TRIM_GP1         0x3C
#define BMI055_ACC_FIFO_CONFIG_1    0x3E
#define BMI055_ACC_FIFO_DATA        0x3F

// BMI055 Accelerometer Chip-Id
#define BMI055_ACC_WHO_AM_I         0xFA

// DLPF filter bandwidth settings
#define BMI055_ACCEL_BW_7_81      (1<<3) | (0<<2) | (0<<1) | (0<<0)
#define BMI055_ACCEL_BW_15_63     (1<<3) | (0<<2) | (0<<1) | (1<<0)
#define BMI055_ACCEL_BW_31_25     (1<<3) | (0<<2) | (1<<1) | (0<<0)
#define BMI055_ACCEL_BW_62_5      (1<<3) | (0<<2) | (1<<1) | (1<<0)
#define BMI055_ACCEL_BW_125       (1<<3) | (1<<2) | (0<<1) | (0<<0)
#define BMI055_ACCEL_BW_250       (1<<3) | (1<<2) | (0<<1) | (1<<0)
#define BMI055_ACCEL_BW_500       (1<<3) | (1<<2) | (1<<1) | (0<<0)
#define BMI055_ACCEL_BW_1000      (1<<3) | (1<<2) | (1<<1) | (1<<0)

//BMI055_ACC_PMU_LPW     0x11
#define BMI055_ACCEL_NORMAL         (0<<7) | (0<<6) | (0<<5)
#define BMI055_ACCEL_DEEP_SUSPEND   (0<<7) | (0<<6) | (1<<5)
#define BMI055_ACCEL_LOW_POWER      (0<<7) | (1<<6) | (0<<5)
#define BMI055_ACCEL_SUSPEND        (1<<7) | (0<<6) | (0<<5)

//BMI055_ACC_RANGE        0x0F
#define BMI055_ACCEL_RANGE_2_G      (0<<3) | (0<<2) | (1<<1) | (1<<0)
#define BMI055_ACCEL_RANGE_4_G      (0<<3) | (1<<2) | (0<<1) | (1<<0)
#define BMI055_ACCEL_RANGE_8_G      (1<<3) | (0<<2) | (0<<1) | (0<<0)
#define BMI055_ACCEL_RANGE_16_G     (1<<3) | (1<<2) | (0<<1) | (0<<0)

//BMI055_ACC_INT_EN_1      0x17
#define BMI055_ACC_DRDY_INT_EN      (1<<4)

//BMI055_ACC_INT_MAP_1         0x1A
#define BMI055_ACC_DRDY_INT1        (1<<0)

// Default and Max values
#define BMI055_ACCEL_DEFAULT_RANGE_G        16
#define BMI055_ACCEL_DEFAULT_RATE           1000
#define BMI055_ACCEL_MAX_RATE               1000
#define BMI055_ACCEL_MAX_PUBLISH_RATE       280

#define BMI055_ACCEL_DEFAULT_DRIVER_FILTER_FREQ 50

/* Mask definitions for ACCD_X_LSB, ACCD_Y_LSB and ACCD_Z_LSB Register */
#define BMI055_NEW_DATA_MASK                 0x01

class BMI055_accel : public BMI055, public px4::ScheduledWorkItem
{
public:
    BMI055_accel(int bus, const char *path_accel, uint32_t device, enum Rotation rotation);
    virtual ~BMI055_accel();

    virtual int     init();

    // Start automatic measurement.
    void            start();

    /**
    * 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;

    perf_counter_t      _sample_perf;
    perf_counter_t      _bad_transfers;
    perf_counter_t      _bad_registers;
    perf_counter_t      _duplicates;

    // this is used to support runtime checking of key
    // configuration registers to detect SPI bus errors and sensor
    // reset
#define BMI055_ACCEL_NUM_CHECKED_REGISTERS 5
    static const uint8_t    _checked_registers[BMI055_ACCEL_NUM_CHECKED_REGISTERS];
    uint8_t         _checked_values[BMI055_ACCEL_NUM_CHECKED_REGISTERS];
    uint8_t         _checked_bad[BMI055_ACCEL_NUM_CHECKED_REGISTERS];

    bool            _got_duplicate;

    /**
     * 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();

    /**
     * Modify a register in the BMI055_accel
     *
     * 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 BMI055_accel, 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 BMI055_accel measurement range.
     *
     * @param max_g     The maximum G value the range must support.
     * @return      OK if the value can be supported, -EINVAL otherwise.
     */
    int         set_accel_range(unsigned max_g);

    /*
     * 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 */
    BMI055_accel(const BMI055_accel &);
    BMI055_accel operator=(const BMI055_accel &);

};