#include <AP_InertialSensor_BMI160.h>

Inheritance diagram for AP_InertialSensor_BMI160:

Collaboration diagram for AP_InertialSensor_BMI160:

Public Member Functions
void	start () override

bool	update () override

Public Member Functions inherited from AP_InertialSensor_Backend
	AP_InertialSensor_Backend (AP_InertialSensor &imu)

	AP_InertialSensor_Backend (const AP_InertialSensor_Backend &that)=delete

virtual	~AP_InertialSensor_Backend (void)

virtual void	accumulate ()

virtual AuxiliaryBus *	get_auxiliary_bus ()

int16_t	get_id () const

void	notify_fifo_reset (void)

Static Public Member Functions
static AP_InertialSensor_Backend *	probe (AP_InertialSensor &imu, AP_HAL::OwnPtr< AP_HAL::SPIDevice > dev)

Private Member Functions
	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 ()

Private Attributes
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

Additional Inherited Members
Public Types inherited from AP_InertialSensor_Backend
enum	DevTypes { DEVTYPE_BMI160 = 0x09, DEVTYPE_L3G4200D = 0x10, DEVTYPE_ACC_LSM303D = 0x11, DEVTYPE_ACC_BMA180 = 0x12, DEVTYPE_ACC_MPU6000 = 0x13, DEVTYPE_ACC_MPU9250 = 0x16, DEVTYPE_ACC_IIS328DQ = 0x17, DEVTYPE_ACC_LSM9DS1 = 0x18, DEVTYPE_GYR_MPU6000 = 0x21, DEVTYPE_GYR_L3GD20 = 0x22, DEVTYPE_GYR_MPU9250 = 0x24, DEVTYPE_GYR_I3G4250D = 0x25, DEVTYPE_GYR_LSM9DS1 = 0x26, DEVTYPE_INS_ICM20789 = 0x27, DEVTYPE_INS_ICM20689 = 0x28 }

Protected Member Functions inherited from AP_InertialSensor_Backend
void	_rotate_and_correct_accel (uint8_t instance, Vector3f &accel)

void	_rotate_and_correct_gyro (uint8_t instance, Vector3f &gyro)

void	_publish_gyro (uint8_t instance, const Vector3f &gyro)

void	_notify_new_gyro_raw_sample (uint8_t instance, const Vector3f &accel, uint64_t sample_us=0)

void	_publish_accel (uint8_t instance, const Vector3f &accel)

void	_notify_new_accel_raw_sample (uint8_t instance, const Vector3f &accel, uint64_t sample_us=0, bool fsync_set=false)

void	_set_accel_oversampling (uint8_t instance, uint8_t n)

void	_set_gyro_oversampling (uint8_t instance, uint8_t n)

void	_set_accel_sensor_rate_sampling_enabled (uint8_t instance, bool value)

void	_set_gyro_sensor_rate_sampling_enabled (uint8_t instance, bool value)

void	_set_raw_sample_accel_multiplier (uint8_t instance, uint16_t mul)

void	_set_raw_sampl_gyro_multiplier (uint8_t instance, uint16_t mul)

void	_update_sensor_rate (uint16_t &count, uint32_t &start_us, float &rate_hz) const

void	_set_accel_max_abs_offset (uint8_t instance, float offset)

uint32_t	_accel_raw_sample_rate (uint8_t instance) const

void	_set_accel_raw_sample_rate (uint8_t instance, uint16_t rate_hz)

uint32_t	_gyro_raw_sample_rate (uint8_t instance) const

void	_set_gyro_raw_sample_rate (uint8_t instance, uint16_t rate_hz)

void	_publish_temperature (uint8_t instance, float temperature)

void	_set_accel_error_count (uint8_t instance, uint32_t error_count)

void	_set_gyro_error_count (uint8_t instance, uint32_t error_count)

void	_inc_accel_error_count (uint8_t instance)

void	_inc_gyro_error_count (uint8_t instance)

uint8_t	_accel_filter_cutoff (void) const

uint8_t	_gyro_filter_cutoff (void) const

uint16_t	get_sample_rate_hz (void) const

void	update_gyro (uint8_t instance)

void	update_accel (uint8_t instance)

void	set_gyro_orientation (uint8_t instance, enum Rotation rotation)

void	set_accel_orientation (uint8_t instance, enum Rotation rotation)

void	increment_clip_count (uint8_t instance)

bool	enable_fast_sampling (uint8_t instance)

void	_notify_new_accel_sensor_rate_sample (uint8_t instance, const Vector3f &accel)

void	_notify_new_gyro_sensor_rate_sample (uint8_t instance, const Vector3f &gyro)

void	notify_accel_fifo_reset (uint8_t instance)

void	notify_gyro_fifo_reset (uint8_t instance)

Protected Attributes inherited from AP_InertialSensor_Backend
AP_InertialSensor &	_imu

AP_HAL::Semaphore *	_sem

int16_t	_id = -1

int8_t	_last_accel_filter_hz [INS_MAX_INSTANCES]

int8_t	_last_gyro_filter_hz [INS_MAX_INSTANCES]

Detailed Description

Definition at line 26 of file AP_InertialSensor_BMI160.h.

Constructor & Destructor Documentation

◆ AP_InertialSensor_BMI160()

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

private

Definition at line 123 of file AP_InertialSensor_BMI160.cpp.

Referenced by probe().

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Member Function Documentation

◆ _check_err_reg()

void AP_InertialSensor_BMI160::_check_err_reg ( )

private

If the macro BMI160_DEBUG is defined, check if there are errors reported on the device's error register and panic if so. The implementation is empty if the BMI160_DEBUG isn't defined.

Definition at line 198 of file AP_InertialSensor_BMI160.cpp.

Referenced by _configure_accel(), _configure_fifo(), and _configure_gyro().

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◆ _configure_accel()

bool AP_InertialSensor_BMI160::_configure_accel ( )

private

Configure accelerometer sensor. The device semaphore must already be taken before calling this function.

Returns: true on success, false otherwise.

Definition at line 214 of file AP_InertialSensor_BMI160.cpp.

Referenced by start().

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◆ _configure_fifo()

bool AP_InertialSensor_BMI160::_configure_fifo ( )

private

Configure FIFO.

Returns: true on success, false otherwise.

Definition at line 303 of file AP_InertialSensor_BMI160.cpp.

Referenced by start().

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◆ _configure_gyro()

bool AP_InertialSensor_BMI160::_configure_gyro ( )

private

Configure gyroscope sensor. The device semaphore must already be taken before calling this function.

Returns: true on success, false otherwise.

Definition at line 241 of file AP_InertialSensor_BMI160.cpp.

Referenced by start().

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◆ _configure_int1_pin()

bool AP_InertialSensor_BMI160::_configure_int1_pin ( )

private

Configure INT1 pin as watermark interrupt pin at the level of one sample if using fifo or data-ready pin otherwise.

Returns: true on success, false otherwise.

Definition at line 267 of file AP_InertialSensor_BMI160.cpp.

Referenced by start().

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◆ _hardware_init()

bool AP_InertialSensor_BMI160::_hardware_init ( )

private

Try to perform initialization of the BMI160 device.

The device semaphore must be taken and released by the caller.

Returns: true on success, false otherwise.

Definition at line 425 of file AP_InertialSensor_BMI160.cpp.

Referenced by _init().

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◆ _init()

bool AP_InertialSensor_BMI160::_init ( void )

private

Try to initialize this driver.

Do sensor and other required initializations.

Returns: true on success, false otherwise.

Definition at line 487 of file AP_InertialSensor_BMI160.cpp.

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◆ _poll_data()

void AP_InertialSensor_BMI160::_poll_data ( )

private

Device periodic callback to read data from the sensors.

Definition at line 420 of file AP_InertialSensor_BMI160.cpp.

Referenced by start().

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◆ _read_fifo()

void AP_InertialSensor_BMI160::_read_fifo ( )

private

Read samples from fifo.

Definition at line 335 of file AP_InertialSensor_BMI160.cpp.

Referenced by _poll_data().

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◆ probe()

AP_InertialSensor_Backend * AP_InertialSensor_BMI160::probe	(	AP_InertialSensor &	imu,
		AP_HAL::OwnPtr< AP_HAL::SPIDevice >	dev
	)

static

Definition at line 131 of file AP_InertialSensor_BMI160.cpp.

Referenced by AP_InertialSensor::detect_backends().

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◆ start()

void AP_InertialSensor_BMI160::start ( void )

overridevirtual

Configure the sensors and start reading routine.

Reimplemented from AP_InertialSensor_Backend.

Definition at line 151 of file AP_InertialSensor_BMI160.cpp.

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◆ update()

bool AP_InertialSensor_BMI160::update ( void )

overridevirtual

Implements AP_InertialSensor_Backend.

Definition at line 191 of file AP_InertialSensor_BMI160.cpp.

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Member Data Documentation

◆ _accel_instance

uint8_t AP_InertialSensor_BMI160::_accel_instance

private

Definition at line 110 of file AP_InertialSensor_BMI160.h.

Referenced by _read_fifo(), start(), and update().

◆ _accel_scale

float AP_InertialSensor_BMI160::_accel_scale

private

Definition at line 111 of file AP_InertialSensor_BMI160.h.

Referenced by _configure_accel(), and _read_fifo().

◆ _dev

AP_HAL::OwnPtr<AP_HAL::Device> AP_InertialSensor_BMI160::_dev

private

Definition at line 108 of file AP_InertialSensor_BMI160.h.

Referenced by _check_err_reg(), _configure_accel(), _configure_fifo(), _configure_gyro(), _configure_int1_pin(), _hardware_init(), _init(), _read_fifo(), and start().

◆ _gyro_instance

uint8_t AP_InertialSensor_BMI160::_gyro_instance

private

Definition at line 113 of file AP_InertialSensor_BMI160.h.

Referenced by _read_fifo(), start(), and update().

◆ _gyro_scale

float AP_InertialSensor_BMI160::_gyro_scale

private

Definition at line 114 of file AP_InertialSensor_BMI160.h.

Referenced by _configure_gyro(), and _read_fifo().

◆ _int1_pin

AP_HAL::DigitalSource* AP_InertialSensor_BMI160::_int1_pin

private

Definition at line 116 of file AP_InertialSensor_BMI160.h.

Referenced by _configure_int1_pin(), and _read_fifo().

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

libraries/AP_InertialSensor/AP_InertialSensor_BMI160.h
libraries/AP_InertialSensor/AP_InertialSensor_BMI160.cpp

Public Member Functions

Static Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ AP_InertialSensor_BMI160()

Member Function Documentation

◆ _check_err_reg()

◆ _configure_accel()

◆ _configure_fifo()

◆ _configure_gyro()

◆ _configure_int1_pin()

◆ _hardware_init()

◆ _init()

◆ _poll_data()

◆ _read_fifo()

◆ probe()

◆ start()

◆ update()

Member Data Documentation

◆ _accel_instance

◆ _accel_scale

◆ _dev

◆ _gyro_instance

◆ _gyro_scale

◆ _int1_pin