AP_InertialSensor_BMI160.h

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/*
 * Copyright (C) 2016  Intel Corporation. All rights reserved.
 *
 * This file is free software: you can redistribute it and/or modify it
 * under the terms of the GNU General Public License as published by the
 * Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This file is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
 * See the GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License along
 * with this program.  If not, see <http://www.gnu.org/licenses/>.
 */
#pragma once

#include <AP_HAL/AP_HAL.h>

#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX

#include "AP_InertialSensor.h"
#include "AP_InertialSensor_Backend.h"

class AP_InertialSensor_BMI160 : public AP_InertialSensor_Backend {
public:
    static AP_InertialSensor_Backend *probe(AP_InertialSensor &imu,
                                            AP_HAL::OwnPtr<AP_HAL::SPIDevice> dev);

    void start() override;

    bool update() override;

private:
    AP_InertialSensor_BMI160(AP_InertialSensor &imu,
                             AP_HAL::OwnPtr<AP_HAL::Device> dev);

    void _check_err_reg();

    bool _hardware_init();

    bool _init();

    bool _configure_accel();

    bool _configure_gyro();

    bool _configure_int1_pin();

    bool _configure_fifo();

    void _poll_data();

    void _read_fifo();

    AP_HAL::OwnPtr<AP_HAL::Device> _dev;

    uint8_t _accel_instance;
    float _accel_scale;

    uint8_t _gyro_instance;
    float _gyro_scale;

    AP_HAL::DigitalSource *_int1_pin;
};

#endif