AP_InertialSensor_BMI160.cpp File Reference

#include <utility>
#include <AP_HAL/AP_HAL.h>
#include <AP_HAL/utility/sparse-endian.h>
#include <AP_HAL_Linux/GPIO.h>
#include <AP_Math/AP_Math.h>
#include "AP_InertialSensor_BMI160.h"

Include dependency graph for AP_InertialSensor_BMI160.cpp:

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Classes
struct	RawData

Macros
#define	BMI160_REG_CHIPID   0x00
#define	BMI160_CHIPID   0xD1
#define	BMI160_REG_ERR_REG   0x02
#define	BMI160_REG_FIFO_LENGTH   0x22
#define	BMI160_REG_FIFO_DATA   0x24
#define	BMI160_REG_ACC_CONF   0x40
#define	BMI160_REG_ACC_RANGE   0x41
#define	BMI160_ACC_RANGE_16G   3
#define	BMI160_REG_GYR_CONF   0x42
#define	BMI160_REG_GYR_RANGE   0x43
#define	BMI160_GYR_RANGE_2000DPS   0x00
#define	BMI160_REG_FIFO_CONFIG_0   0x46
#define	BMI160_REG_FIFO_CONFIG_1   0x47
#define	BMI160_FIFO_ACC_EN   0x40
#define	BMI160_FIFO_GYR_EN   0x80
#define	BMI160_REG_INT_EN_1   0x51
#define	BMI160_INT_FWM_EN   0x40
#define	BMI160_REG_INT_OUT_CTRL   0x53
#define	BMI160_INT1_LVL   0x02
#define	BMI160_INT1_OUTPUT_EN   0x08
#define	BMI160_REG_INT_MAP_1   0x56
#define	BMI160_INT_MAP_INT1_FWM   0x40
#define	BMI160_REG_CMD   0x7E
#define	BMI160_CMD_ACCEL_NORMAL_POWER_MODE   0x11
#define	BMI160_CMD_GYRO_NORMAL_POWER_MODE   0x15
#define	BMI160_CMD_FIFO_FLUSH   0xB0
#define	BMI160_CMD_SOFTRESET   0xB6
#define	BMI160_OSR_NORMAL   0x20
#define	BMI160_ODR_1600HZ   0x0C
#define	BMI160_POWERUP_DELAY_MSEC   10
#define	BMI160_SOFTRESET_DELAY_MSEC   100
#define	BMI160_ACCEL_NORMAL_POWER_MODE_DELAY_MSEC   4
#define	BMI160_GYRO_NORMAL_POWER_MODE_DELAY_MSEC   81
#define	BMI160_OSR   BMI160_OSR_NORMAL
#define	BMI160_ODR   BMI160_ODR_1600HZ
#define	BMI160_ACC_RANGE   BMI160_ACC_RANGE_16G
#define	BMI160_GYR_RANGE   BMI160_GYR_RANGE_2000DPS
#define	BMI160_ACC_RANGE_BITS   (BMI160_ACC_RANGE * (BMI160_ACC_RANGE + 3) / 2 + 3)
#define	BMI160_ODR_TO_HZ(odr_)   (uint16_t)(odr_ > 8 ? 100 << (odr_ - 8) : 100 >> (8 - odr_))
#define	BMI160_MAX_FIFO_SAMPLES   8
#define	BMI160_READ_FLAG   0x80
#define	BMI160_HARDWARE_INIT_MAX_TRIES   5
#define	BMI160_INT1_GPIO   AERO_GPIO_BMI160_INT1

Variables
const AP_HAL::HAL &	hal
	-*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- More...

Macro Definition Documentation

BMI160_ACC_RANGE

#define BMI160_ACC_RANGE   BMI160_ACC_RANGE_16G

Definition at line 79 of file AP_InertialSensor_BMI160.cpp.

Referenced by AP_InertialSensor_BMI160::_configure_accel().

BMI160_ACC_RANGE_16G

#define BMI160_ACC_RANGE_16G   3

Definition at line 40 of file AP_InertialSensor_BMI160.cpp.

BMI160_ACC_RANGE_BITS

#define BMI160_ACC_RANGE_BITS   (BMI160_ACC_RANGE * (BMI160_ACC_RANGE + 3) / 2 + 3)

Definition at line 87 of file AP_InertialSensor_BMI160.cpp.

Referenced by AP_InertialSensor_BMI160::_configure_accel().

BMI160_ACCEL_NORMAL_POWER_MODE_DELAY_MSEC

#define BMI160_ACCEL_NORMAL_POWER_MODE_DELAY_MSEC   4

Definition at line 74 of file AP_InertialSensor_BMI160.cpp.

Referenced by AP_InertialSensor_BMI160::_hardware_init().

BMI160_CHIPID

#define BMI160_CHIPID   0xD1

Definition at line 32 of file AP_InertialSensor_BMI160.cpp.

Referenced by AP_InertialSensor_BMI160::_hardware_init().

BMI160_CMD_ACCEL_NORMAL_POWER_MODE

#define BMI160_CMD_ACCEL_NORMAL_POWER_MODE   0x11

Definition at line 56 of file AP_InertialSensor_BMI160.cpp.

Referenced by AP_InertialSensor_BMI160::_hardware_init().

BMI160_CMD_FIFO_FLUSH

#define BMI160_CMD_FIFO_FLUSH   0xB0

Definition at line 58 of file AP_InertialSensor_BMI160.cpp.

Referenced by AP_InertialSensor_BMI160::_configure_fifo(), and AP_InertialSensor_BMI160::_read_fifo().

BMI160_CMD_GYRO_NORMAL_POWER_MODE

#define BMI160_CMD_GYRO_NORMAL_POWER_MODE   0x15

Definition at line 57 of file AP_InertialSensor_BMI160.cpp.

Referenced by AP_InertialSensor_BMI160::_hardware_init().

BMI160_CMD_SOFTRESET

#define BMI160_CMD_SOFTRESET   0xB6

Definition at line 59 of file AP_InertialSensor_BMI160.cpp.

Referenced by AP_InertialSensor_BMI160::_hardware_init().

BMI160_FIFO_ACC_EN

#define BMI160_FIFO_ACC_EN   0x40

Definition at line 46 of file AP_InertialSensor_BMI160.cpp.

Referenced by AP_InertialSensor_BMI160::_configure_fifo().

BMI160_FIFO_GYR_EN

#define BMI160_FIFO_GYR_EN   0x80

Definition at line 47 of file AP_InertialSensor_BMI160.cpp.

Referenced by AP_InertialSensor_BMI160::_configure_fifo().

BMI160_GYR_RANGE

#define BMI160_GYR_RANGE   BMI160_GYR_RANGE_2000DPS

Definition at line 80 of file AP_InertialSensor_BMI160.cpp.

Referenced by AP_InertialSensor_BMI160::_configure_gyro().

BMI160_GYR_RANGE_2000DPS

#define BMI160_GYR_RANGE_2000DPS   0x00

Definition at line 43 of file AP_InertialSensor_BMI160.cpp.

BMI160_GYRO_NORMAL_POWER_MODE_DELAY_MSEC

#define BMI160_GYRO_NORMAL_POWER_MODE_DELAY_MSEC   81

Definition at line 75 of file AP_InertialSensor_BMI160.cpp.

Referenced by AP_InertialSensor_BMI160::_hardware_init().

BMI160_HARDWARE_INIT_MAX_TRIES

#define BMI160_HARDWARE_INIT_MAX_TRIES   5

Definition at line 100 of file AP_InertialSensor_BMI160.cpp.

Referenced by AP_InertialSensor_BMI160::_hardware_init().

BMI160_INT1_GPIO

#define BMI160_INT1_GPIO   AERO_GPIO_BMI160_INT1

Definition at line 103 of file AP_InertialSensor_BMI160.cpp.

Referenced by AP_InertialSensor_BMI160::_configure_int1_pin(), and AP_InertialSensor_BMI160::start().

BMI160_INT1_LVL

#define BMI160_INT1_LVL   0x02

Definition at line 51 of file AP_InertialSensor_BMI160.cpp.

Referenced by AP_InertialSensor_BMI160::_configure_int1_pin().

BMI160_INT1_OUTPUT_EN

#define BMI160_INT1_OUTPUT_EN   0x08

Definition at line 52 of file AP_InertialSensor_BMI160.cpp.

Referenced by AP_InertialSensor_BMI160::_configure_int1_pin().

BMI160_INT_FWM_EN

#define BMI160_INT_FWM_EN   0x40

Definition at line 49 of file AP_InertialSensor_BMI160.cpp.

Referenced by AP_InertialSensor_BMI160::_configure_int1_pin().

BMI160_INT_MAP_INT1_FWM

#define BMI160_INT_MAP_INT1_FWM   0x40

Definition at line 54 of file AP_InertialSensor_BMI160.cpp.

Referenced by AP_InertialSensor_BMI160::_configure_int1_pin().

BMI160_MAX_FIFO_SAMPLES

#define BMI160_MAX_FIFO_SAMPLES   8

Definition at line 97 of file AP_InertialSensor_BMI160.cpp.

BMI160_ODR

#define BMI160_ODR   BMI160_ODR_1600HZ

Definition at line 78 of file AP_InertialSensor_BMI160.cpp.

Referenced by AP_InertialSensor_BMI160::_configure_accel(), AP_InertialSensor_BMI160::_configure_gyro(), and AP_InertialSensor_BMI160::start().

BMI160_ODR_1600HZ

#define BMI160_ODR_1600HZ   0x0C

Definition at line 62 of file AP_InertialSensor_BMI160.cpp.

BMI160_ODR_TO_HZ

#define BMI160_ODR_TO_HZ

(

odr_

)

(uint16_t)(odr_ > 8 ? 100 << (odr_ - 8) : 100 >> (8 - odr_))

Definition at line 92 of file AP_InertialSensor_BMI160.cpp.

Referenced by AP_InertialSensor_BMI160::start().

BMI160_OSR

#define BMI160_OSR   BMI160_OSR_NORMAL

Definition at line 77 of file AP_InertialSensor_BMI160.cpp.

Referenced by AP_InertialSensor_BMI160::_configure_accel(), and AP_InertialSensor_BMI160::_configure_gyro().

BMI160_OSR_NORMAL

#define BMI160_OSR_NORMAL   0x20

Definition at line 61 of file AP_InertialSensor_BMI160.cpp.

BMI160_POWERUP_DELAY_MSEC

#define BMI160_POWERUP_DELAY_MSEC   10

Definition at line 66 of file AP_InertialSensor_BMI160.cpp.

Referenced by AP_InertialSensor_BMI160::_hardware_init().

BMI160_READ_FLAG

#define BMI160_READ_FLAG   0x80

Definition at line 99 of file AP_InertialSensor_BMI160.cpp.

Referenced by AP_InertialSensor_BMI160::_init().

BMI160_REG_ACC_CONF

#define BMI160_REG_ACC_CONF   0x40

Definition at line 36 of file AP_InertialSensor_BMI160.cpp.

Referenced by AP_InertialSensor_BMI160::_configure_accel().

BMI160_REG_ACC_RANGE

#define BMI160_REG_ACC_RANGE   0x41

Definition at line 37 of file AP_InertialSensor_BMI160.cpp.

Referenced by AP_InertialSensor_BMI160::_configure_accel().

BMI160_REG_CHIPID

#define BMI160_REG_CHIPID   0x00

Definition at line 31 of file AP_InertialSensor_BMI160.cpp.

Referenced by AP_InertialSensor_BMI160::_hardware_init().

BMI160_REG_CMD

#define BMI160_REG_CMD   0x7E

Definition at line 55 of file AP_InertialSensor_BMI160.cpp.

Referenced by AP_InertialSensor_BMI160::_configure_fifo(), AP_InertialSensor_BMI160::_hardware_init(), and AP_InertialSensor_BMI160::_read_fifo().

BMI160_REG_ERR_REG

#define BMI160_REG_ERR_REG   0x02

Definition at line 33 of file AP_InertialSensor_BMI160.cpp.

Referenced by AP_InertialSensor_BMI160::_check_err_reg().

BMI160_REG_FIFO_CONFIG_0

#define BMI160_REG_FIFO_CONFIG_0   0x46

Definition at line 44 of file AP_InertialSensor_BMI160.cpp.

Referenced by AP_InertialSensor_BMI160::_configure_fifo().

BMI160_REG_FIFO_CONFIG_1

#define BMI160_REG_FIFO_CONFIG_1   0x47

Definition at line 45 of file AP_InertialSensor_BMI160.cpp.

Referenced by AP_InertialSensor_BMI160::_configure_fifo().

BMI160_REG_FIFO_DATA

#define BMI160_REG_FIFO_DATA   0x24

Definition at line 35 of file AP_InertialSensor_BMI160.cpp.

Referenced by AP_InertialSensor_BMI160::_read_fifo().

BMI160_REG_FIFO_LENGTH

#define BMI160_REG_FIFO_LENGTH   0x22

Definition at line 34 of file AP_InertialSensor_BMI160.cpp.

Referenced by AP_InertialSensor_BMI160::_read_fifo().

BMI160_REG_GYR_CONF

#define BMI160_REG_GYR_CONF   0x42

Definition at line 41 of file AP_InertialSensor_BMI160.cpp.

Referenced by AP_InertialSensor_BMI160::_configure_gyro().

BMI160_REG_GYR_RANGE

#define BMI160_REG_GYR_RANGE   0x43

Definition at line 42 of file AP_InertialSensor_BMI160.cpp.

Referenced by AP_InertialSensor_BMI160::_configure_gyro().

BMI160_REG_INT_EN_1

#define BMI160_REG_INT_EN_1   0x51

Definition at line 48 of file AP_InertialSensor_BMI160.cpp.

Referenced by AP_InertialSensor_BMI160::_configure_int1_pin().

BMI160_REG_INT_MAP_1

#define BMI160_REG_INT_MAP_1   0x56

Definition at line 53 of file AP_InertialSensor_BMI160.cpp.

Referenced by AP_InertialSensor_BMI160::_configure_int1_pin().

BMI160_REG_INT_OUT_CTRL

#define BMI160_REG_INT_OUT_CTRL   0x53

Definition at line 50 of file AP_InertialSensor_BMI160.cpp.

Referenced by AP_InertialSensor_BMI160::_configure_int1_pin().

BMI160_SOFTRESET_DELAY_MSEC

#define BMI160_SOFTRESET_DELAY_MSEC   100

Definition at line 70 of file AP_InertialSensor_BMI160.cpp.

Referenced by AP_InertialSensor_BMI160::_hardware_init().

Variable Documentation

hal

const AP_HAL::HAL& hal

-*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-

Definition at line 14 of file AC_PID_test.cpp.