#include <bmi160.hpp>

Inheritance diagram for BMI160:

Collaboration diagram for BMI160:

Classes
struct	BMIReport
	Report conversation within the BMI160, including command byte and interrupt status. More...

Public Member Functions
	BMI160 (int bus, uint32_t device, enum Rotation rotation)

virtual	~BMI160 ()

virtual int	init ()

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

void	print_registers ()

void	test_error ()

Protected Member Functions
virtual int	probe ()

Private Member Functions
void	start ()
	Start automatic measurement. More...

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...

uint8_t	read_reg (unsigned reg)
	Read a register from the BMI160. More...

uint16_t	read_reg16 (unsigned reg)

void	write_reg (unsigned reg, uint8_t value)
	Write a register in the BMI160. More...

void	modify_reg (unsigned reg, uint8_t clearbits, uint8_t setbits)
	Modify a register in the BMI160. More...

void	write_checked_reg (unsigned reg, uint8_t value)
	Write a register in the BMI160, updating _checked_values. More...

int	set_accel_range (unsigned max_g)
	Set the BMI160 measurement range. More...

int	set_gyro_range (unsigned max_dps)

uint16_t	swap16 (uint16_t val)
	Swap a 16-bit value read from the BMI160 to native byte order. More...

void	_set_dlpf_filter (uint16_t frequency_hz)

int	accel_set_sample_rate (float desired_sample_rate_hz)

int	gyro_set_sample_rate (float desired_sample_rate_hz)

void	check_registers (void)

	BMI160 (const BMI160 &)

BMI160	operator= (const BMI160 &)

Private Attributes
PX4Accelerometer	_px4_accel

PX4Gyroscope	_px4_gyro

uint8_t	_whoami

unsigned	_dlpf_freq
	whoami result More...

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}

uint8_t	_checked_values [BMI160_NUM_CHECKED_REGISTERS]

uint8_t	_checked_bad [BMI160_NUM_CHECKED_REGISTERS]

uint8_t	_checked_next {0}

uint16_t	_last_accel [3] {}

bool	_got_duplicate {false}

Static Private Attributes
static constexpr int	BMI160_NUM_CHECKED_REGISTERS {10}

static const uint8_t	_checked_registers [BMI160_NUM_CHECKED_REGISTERS]

Detailed Description

Definition at line 246 of file bmi160.hpp.

Constructor & Destructor Documentation

◆ BMI160() [1/2]

BMI160::BMI160	(	int	bus,
		uint32_t	device,
		enum Rotation	rotation
	)

Definition at line 52 of file bmi160.cpp.

References _px4_accel, _px4_gyro, BMI160_ACCEL_DEFAULT_RATE, BMI160_GYRO_DEFAULT_RATE, DRV_ACC_DEVTYPE_BMI160, DRV_GYR_DEVTYPE_BMI160, PX4Accelerometer::set_device_type(), PX4Gyroscope::set_device_type(), and PX4Accelerometer::set_sample_rate().

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◆ ~BMI160()

BMI160::~BMI160 ( )

virtual

Definition at line 73 of file bmi160.cpp.

References _accel_reads, _bad_registers, _bad_transfers, _duplicates, _good_transfers, _gyro_reads, _reset_retries, _sample_perf, perf_free(), and stop().

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◆ BMI160() [2/2]

BMI160::BMI160 ( const BMI160 & )

private

Member Function Documentation

◆ _set_dlpf_filter()

void BMI160::_set_dlpf_filter ( uint16_t frequency_hz )

private

Definition at line 308 of file bmi160.cpp.

References _dlpf_freq.

◆ accel_set_sample_rate()

int BMI160::accel_set_sample_rate ( float desired_sample_rate_hz )

private

Definition at line 190 of file bmi160.cpp.

References _accel_sample_rate, BMI_ACCEL_RATE_100, BMI_ACCEL_RATE_1600, BMI_ACCEL_RATE_200, BMI_ACCEL_RATE_25, BMI_ACCEL_RATE_25_16, BMI_ACCEL_RATE_25_2, BMI_ACCEL_RATE_25_32, BMI_ACCEL_RATE_25_4, BMI_ACCEL_RATE_25_8, BMI_ACCEL_RATE_400, BMI_ACCEL_RATE_50, BMI_ACCEL_RATE_800, BMIREG_ACC_CONF, modify_reg(), and OK.

Referenced by reset().

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◆ check_registers()

void BMI160::check_registers ( void )

private

Definition at line 523 of file bmi160.cpp.

References _bad_registers, _checked_bad, _checked_next, _checked_registers, _checked_values, _register_wait, _reset_wait, BMI160_NUM_CHECKED_REGISTERS, BMI160_SOFT_RESET, BMIREG_CMD, hrt_absolute_time(), perf_count(), read_reg(), and write_reg().

Referenced by measure().

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◆ gyro_set_sample_rate()

int BMI160::gyro_set_sample_rate ( float desired_sample_rate_hz )

private

Definition at line 257 of file bmi160.cpp.

References _gyro_sample_rate, BMI_GYRO_RATE_100, BMI_GYRO_RATE_1600, BMI_GYRO_RATE_200, BMI_GYRO_RATE_25, BMI_GYRO_RATE_3200, BMI_GYRO_RATE_400, BMI_GYRO_RATE_50, BMI_GYRO_RATE_800, BMIREG_GYR_CONF, modify_reg(), and OK.

Referenced by reset().

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◆ init()

int BMI160::init ( )

virtual

Definition at line 90 of file bmi160.cpp.

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

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◆ measure()

void BMI160::measure ( )

private

Fetch measurements from the sensor and update the report buffers.

Definition at line 566 of file bmi160.cpp.

References _bad_registers, _bad_transfers, _duplicates, _good_transfers, _got_duplicate, _last_accel, _px4_accel, _px4_gyro, _register_wait, _reset_wait, _sample_perf, BMI160::BMIReport::accel_x, BMI160::BMIReport::accel_y, BMI160::BMIReport::accel_z, BMIREG_GYR_X_L, BMIREG_STATUS, BMIREG_TEMP_0, BMIREG_TEMP_1, check_registers(), BMI160::BMIReport::cmd, DIR_READ, BMI160::BMIReport::gyro_x, BMI160::BMIReport::gyro_y, BMI160::BMIReport::gyro_z, hrt_absolute_time(), hrt_abstime, OK, perf_begin(), perf_count(), perf_end(), perf_event_count(), read_reg(), PX4Accelerometer::set_error_count(), PX4Gyroscope::set_error_count(), PX4Accelerometer::set_temperature(), PX4Gyroscope::set_temperature(), status, PX4Accelerometer::update(), and PX4Gyroscope::update().

Referenced by Run().

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◆ modify_reg()

void BMI160::modify_reg	(	unsigned	reg,
		uint8_t	clearbits,
		uint8_t	setbits
	)

private

Modify a register in the BMI160.

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 384 of file bmi160.cpp.

References read_reg(), and write_checked_reg().

Referenced by accel_set_sample_rate(), gyro_set_sample_rate(), set_accel_range(), and set_gyro_range().

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◆ operator=()

BMI160 BMI160::operator= ( const BMI160 & )

private

◆ print_info()

void BMI160::print_info ( )

Diagnostics - print some basic information about the driver.

Definition at line 696 of file bmi160.cpp.

References _accel_reads, _bad_registers, _bad_transfers, _checked_bad, _checked_next, _checked_registers, _checked_values, _duplicates, _good_transfers, _gyro_reads, _px4_accel, _px4_gyro, _reset_retries, _sample_perf, BMI160_NUM_CHECKED_REGISTERS, perf_print_counter(), PX4Accelerometer::print_status(), PX4Gyroscope::print_status(), and read_reg().

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◆ print_registers()

void BMI160::print_registers ( )

Definition at line 732 of file bmi160.cpp.

References read_reg().

Referenced by test_error().

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◆ probe()

int BMI160::probe ( )

protectedvirtual

Definition at line 170 of file bmi160.cpp.

References _checked_bad, _checked_values, _whoami, BMI160_WHO_AM_I, BMIREG_CHIP_ID, DEVICE_DEBUG, OK, and read_reg().

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◆ read_reg()

uint8_t BMI160::read_reg ( unsigned reg )

private

Read a register from the BMI160.

Parameters

The	register to read.

Returns: The value that was read.

Definition at line 353 of file bmi160.cpp.

References DIR_READ.

Referenced by check_registers(), measure(), modify_reg(), print_info(), print_registers(), probe(), and reset().

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◆ read_reg16()

uint16_t BMI160::read_reg16 ( unsigned reg )

private

Definition at line 363 of file bmi160.cpp.

References DIR_READ.

◆ reset()

int BMI160::reset ( )

private

Reset chip.

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

Definition at line 112 of file bmi160.cpp.

References _accel_reads, _checked_registers, _checked_values, _gyro_reads, accel_set_sample_rate(), BMI160_ACCEL_DEFAULT_RANGE_G, BMI160_ACCEL_DEFAULT_RATE, BMI160_GYRO_DEFAULT_RANGE_DPS, BMI160_GYRO_DEFAULT_RATE, BMI160_NUM_CHECKED_REGISTERS, BMI_ACCEL_BWP_NORMAL, BMI_ACCEL_NORMAL_MODE, BMI_ACCEL_US, BMI_AUTO_DIS_SEC, BMI_DRDY_INT1, BMI_DRDY_INT_EN, BMI_GYRO_BWP_NORMAL, BMI_GYRO_NORMAL_MODE, BMI_INT1_EN, BMI_SPI, BMI_SPI_4_WIRE, BMIREG_ACC_CONF, BMIREG_ACC_RANGE, BMIREG_CMD, BMIREG_CONF, BMIREG_GYR_CONF, BMIREG_GYR_RANGE, BMIREG_IF_CONF, BMIREG_INT_EN_1, BMIREG_INT_MAP_1, BMIREG_INT_OUT_CTRL, BMIREG_NV_CONF, gyro_set_sample_rate(), OK, read_reg(), set_accel_range(), set_gyro_range(), write_checked_reg(), and write_reg().

Referenced by init(), and start().

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◆ Run()

void BMI160::Run ( )

overrideprivate

Definition at line 516 of file bmi160.cpp.

References measure().

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◆ set_accel_range()

int BMI160::set_accel_range ( unsigned max_g )

private

Set the BMI160 measurement range.

Parameters

max_g	The maximum G value the range must support.
max_dps	The maximum DPS value the range must support.

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

Definition at line 408 of file bmi160.cpp.

References _px4_accel, BMI_ACCEL_RANGE_16_G, BMI_ACCEL_RANGE_2_G, BMI_ACCEL_RANGE_4_G, BMI_ACCEL_RANGE_8_G, BMIREG_ACC_RANGE, CONSTANTS_ONE_G, modify_reg(), OK, and PX4Accelerometer::set_scale().

Referenced by reset().

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◆ set_gyro_range()

int BMI160::set_gyro_range ( unsigned max_dps )

private

Definition at line 450 of file bmi160.cpp.

References _px4_gyro, BMI_GYRO_RANGE_1000_DPS, BMI_GYRO_RANGE_125_DPS, BMI_GYRO_RANGE_2000_DPS, BMI_GYRO_RANGE_250_DPS, BMI_GYRO_RANGE_500_DPS, BMIREG_GYR_RANGE, f(), M_PI_F, modify_reg(), OK, and PX4Gyroscope::set_scale().

Referenced by reset().

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◆ start()

void BMI160::start ( )

private

Start automatic measurement.

Definition at line 498 of file bmi160.cpp.

References BMI160_GYRO_DEFAULT_RATE, BMI160_TIMER_REDUCTION, reset(), and stop().

Referenced by init().

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◆ stop()

void BMI160::stop ( )

private

Stop automatic measurement.

Definition at line 510 of file bmi160.cpp.

Referenced by start(), and ~BMI160().

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◆ swap16()

uint16_t BMI160::swap16 ( uint16_t val )

inlineprivate

Swap a 16-bit value read from the BMI160 to native byte order.

Definition at line 377 of file bmi160.hpp.

◆ test_error()

void BMI160::test_error ( )

Definition at line 345 of file bmi160.cpp.

References BMI160_SOFT_RESET, BMIREG_CMD, print_registers(), and write_reg().

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◆ write_checked_reg()

void BMI160::write_checked_reg	(	unsigned	reg,
		uint8_t	value
	)

private

Write a register in the BMI160, updating _checked_values.

Parameters

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

Definition at line 395 of file bmi160.cpp.

References _checked_bad, _checked_registers, _checked_values, BMI160_NUM_CHECKED_REGISTERS, and write_reg().

Referenced by modify_reg(), and reset().

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◆ write_reg()

void BMI160::write_reg	(	unsigned	reg,
		uint8_t	value
	)

private

Write a register in the BMI160.

Parameters

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

Definition at line 373 of file bmi160.cpp.

References DIR_WRITE.

Referenced by check_registers(), reset(), test_error(), and write_checked_reg().

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Member Data Documentation

◆ _accel_reads

perf_counter_t BMI160::_accel_reads

private

Definition at line 279 of file bmi160.hpp.

Referenced by print_info(), reset(), and ~BMI160().

◆ _accel_sample_rate

float BMI160::_accel_sample_rate {BMI160_ACCEL_DEFAULT_RATE}

private

Definition at line 276 of file bmi160.hpp.

Referenced by accel_set_sample_rate().

◆ _bad_registers

perf_counter_t BMI160::_bad_registers

private

Definition at line 283 of file bmi160.hpp.

Referenced by check_registers(), measure(), print_info(), and ~BMI160().

◆ _bad_transfers

perf_counter_t BMI160::_bad_transfers

private

Definition at line 282 of file bmi160.hpp.

Referenced by measure(), print_info(), and ~BMI160().

◆ _checked_bad

uint8_t BMI160::_checked_bad[BMI160_NUM_CHECKED_REGISTERS]

private

Definition at line 297 of file bmi160.hpp.

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

◆ _checked_next

uint8_t BMI160::_checked_next {0}

private

Definition at line 298 of file bmi160.hpp.

Referenced by check_registers(), and print_info().

◆ _checked_registers

const uint8_t BMI160::_checked_registers

staticprivate

Initial value:

= {    BMIREG_CHIP_ID,
                                          BMIREG_ACC_CONF,
                                          BMIREG_ACC_RANGE,
                                          BMIREG_GYR_CONF,
                                          BMIREG_GYR_RANGE,
                                          BMIREG_INT_EN_1,
                                          BMIREG_INT_OUT_CTRL,
                                          BMIREG_INT_MAP_1,
                                          BMIREG_IF_CONF,
                                          BMIREG_NV_CONF
                                     }

Definition at line 295 of file bmi160.hpp.

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

◆ _checked_values

uint8_t BMI160::_checked_values[BMI160_NUM_CHECKED_REGISTERS]

private

Definition at line 296 of file bmi160.hpp.

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

◆ _dlpf_freq

unsigned BMI160::_dlpf_freq

private

whoami result

Definition at line 274 of file bmi160.hpp.

Referenced by _set_dlpf_filter().

◆ _duplicates

perf_counter_t BMI160::_duplicates

private

Definition at line 286 of file bmi160.hpp.

Referenced by measure(), print_info(), and ~BMI160().

◆ _good_transfers

perf_counter_t BMI160::_good_transfers

private

Definition at line 284 of file bmi160.hpp.

Referenced by measure(), print_info(), and ~BMI160().

◆ _got_duplicate

bool BMI160::_got_duplicate {false}

private

Definition at line 302 of file bmi160.hpp.

Referenced by measure().

◆ _gyro_reads

perf_counter_t BMI160::_gyro_reads

private

Definition at line 280 of file bmi160.hpp.

Referenced by print_info(), reset(), and ~BMI160().

◆ _gyro_sample_rate

float BMI160::_gyro_sample_rate {BMI160_GYRO_DEFAULT_RATE}

private

Definition at line 277 of file bmi160.hpp.

Referenced by gyro_set_sample_rate().

◆ _last_accel

uint16_t BMI160::_last_accel[3] {}

private

Definition at line 301 of file bmi160.hpp.

Referenced by measure().

◆ _px4_accel

PX4Accelerometer BMI160::_px4_accel

private

Definition at line 269 of file bmi160.hpp.

Referenced by BMI160(), measure(), print_info(), and set_accel_range().

◆ _px4_gyro

PX4Gyroscope BMI160::_px4_gyro

private

Definition at line 270 of file bmi160.hpp.

Referenced by BMI160(), measure(), print_info(), and set_gyro_range().

◆ _register_wait

uint8_t BMI160::_register_wait {0}

private

Definition at line 288 of file bmi160.hpp.

Referenced by check_registers(), and measure().

◆ _reset_retries

perf_counter_t BMI160::_reset_retries

private

Definition at line 285 of file bmi160.hpp.

Referenced by print_info(), and ~BMI160().

◆ _reset_wait

uint64_t BMI160::_reset_wait {0}

private

Definition at line 289 of file bmi160.hpp.

Referenced by check_registers(), and measure().

◆ _sample_perf

perf_counter_t BMI160::_sample_perf

private

Definition at line 281 of file bmi160.hpp.

Referenced by measure(), print_info(), and ~BMI160().

◆ _whoami

uint8_t BMI160::_whoami

private

Definition at line 272 of file bmi160.hpp.

Referenced by probe().

◆ BMI160_NUM_CHECKED_REGISTERS

constexpr int BMI160::BMI160_NUM_CHECKED_REGISTERS {10}

staticprivate

Definition at line 294 of file bmi160.hpp.

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

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

src/drivers/imu/bmi160/bmi160.hpp
src/drivers/imu/bmi160/bmi160.cpp

Classes

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ BMI160() [1/2]

◆ ~BMI160()

◆ BMI160() [2/2]

Member Function Documentation

◆ _set_dlpf_filter()

◆ accel_set_sample_rate()

◆ check_registers()

◆ gyro_set_sample_rate()

◆ init()

◆ measure()

◆ modify_reg()

◆ operator=()

◆ print_info()

◆ print_registers()

◆ probe()

◆ read_reg()

◆ read_reg16()

◆ reset()

◆ Run()

◆ set_accel_range()

◆ set_gyro_range()

◆ start()

◆ stop()

◆ swap16()

◆ test_error()

◆ write_checked_reg()

◆ write_reg()

Member Data Documentation

◆ _accel_reads

◆ _accel_sample_rate

◆ _bad_registers

◆ _bad_transfers

◆ _checked_bad

◆ _checked_next

◆ _checked_registers

◆ _checked_values

◆ _dlpf_freq

◆ _duplicates

◆ _good_transfers

◆ _got_duplicate

◆ _gyro_reads

◆ _gyro_sample_rate

◆ _last_accel

◆ _px4_accel

◆ _px4_gyro

◆ _register_wait

◆ _reset_retries

◆ _reset_wait

◆ _sample_perf

◆ _whoami

◆ BMI160_NUM_CHECKED_REGISTERS