[TEST CODE Do not merge]

boards/px4/fmu-v5x/init/rc.board_sensors

@@ -13,11 +13,8 @@ mpu6000 -R 8 -s -T 20602 start
 # Internal SPI bus ISM300DLC
 ism330dlc start
 
-# Internal SPI bus BMI088 accel
-bmi088 -A -R 10 start
-
-# Internal SPI bus BMI088 gyro
-bmi088 -G -R 10 start
+# Internal SPI bus BMI088
+bmi088 -R 10 start
 
 # Possible external compasses
 ist8310 -C -b 1 start

src/drivers/imu/CMakeLists.txt

@@ -36,6 +36,7 @@ add_subdirectory(adis16477)
 add_subdirectory(adis16497)
 add_subdirectory(bma180)
 add_subdirectory(bmi055)
+add_subdirectory(bmi088)
 add_subdirectory(bmi160)
 add_subdirectory(fxas21002c)
 add_subdirectory(fxos8701cq)

src/drivers/imu/bmi088/BMI088.cpp

@@ -0,0 +1,147 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2019 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include "BMI088.hpp"
+
+BMI088::BMI088(int bus, enum Rotation rotation) :
+	_accel{bus, PX4_SPIDEV_BMI088_ACC, rotation},
+	_gyro{bus, PX4_SPIDEV_BMI088_GYR, rotation}
+{
+}
+
+int
+BMI088::init()
+{
+	int ret_accel = _accel.init();
+
+	if (ret_accel != PX4_OK) {
+		return ret_accel;
+	}
+
+	int ret_gyro = _gyro.init();
+
+	if (ret_gyro != PX4_OK) {
+		return ret_gyro;
+	}
+
+	return PX4_OK;
+}
+
+static int acc_data_ready_interrupt(int irq, void *context, void *arg)
+{
+	static volatile int acc_count = 0;
+	acc_count++;
+	return PX4_OK;
+}
+
+static int gyro_data_ready_interrupt(int irq, void *context, void *arg)
+{
+	static volatile int gyro_count = 0;
+	gyro_count++;
+	return PX4_OK;
+}
+
+bool
+BMI088::start()
+{
+
+	// make sure we are stopped first
+	stop();
+
+#ifdef GPIO_SPI3_DRDY1_BMI088_INT1_ACCEL
+	// Setup data ready Interrupt on Falling edge for better noise immunity
+	px4_arch_gpiosetevent(GPIO_SPI3_DRDY1_BMI088_INT1_ACCEL, false, true, false, &acc_data_ready_interrupt, this);
+#endif // GPIO_SPI3_DRDY1_BMI088_INT1_ACCEL
+
+#ifdef GPIO_SPI3_DRDY2_BMI088_INT3_GYRO
+	// Setup data ready Interrupt on Falling edge for better noise immunity
+	px4_arch_gpiosetevent(GPIO_SPI3_DRDY2_BMI088_INT3_GYRO, false, true, false, &gyro_data_ready_interrupt, this);
+#endif // GPIO_SPI3_DRDY2_BMI088_INT3_GYRO
+
+	// start polling at the specified rate
+	//ScheduleOnInterval(BMI088_GYRO_DEFAULT_RATE - BMI088_TIMER_REDUCTION, 1000);
+	// make another measurement
+	Run(false);
+	Run(true);
+
+	return true;
+}
+
+bool
+BMI088::stop()
+{
+
+#ifdef GPIO_SPI3_DRDY1_BMI088_INT1_ACCEL
+	// Disable data ready callback
+	px4_arch_gpiosetevent(GPIO_SPI3_DRDY1_BMI088_INT1_ACCEL, false, false, false, nullptr, nullptr);
+#endif // GPIO_SPI3_DRDY1_BMI088_INT1_ACCEL
+
+#ifdef GPIO_SPI3_DRDY2_BMI088_INT3_GYRO
+	// Disable data ready callback
+	px4_arch_gpiosetevent(GPIO_SPI3_DRDY2_BMI088_INT3_GYRO, false, false, false, nullptr, nullptr);
+#endif // GPIO_SPI3_DRDY2_BMI088_INT3_GYRO
+
+	//ScheduleClear();
+
+	return true;
+}
+
+void
+BMI088::print_info()
+{
+	_accel.print_info();
+	_gyro.print_info();
+}
+
+void
+BMI088::print_registers()
+{
+	_accel.print_registers();
+	_gyro.print_registers();
+}
+
+void
+BMI088::Run(bool a)
+{
+
+
+	a ? _accel.Run() :   _gyro.Run();
+
+	// grab temperature from accel and set in gyro
+
+	// TODO: at 1 Hz check temperature, health, etc?
+
+
+
+
+}

src/drivers/imu/bmi088/BMI088.hpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2018 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2019 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -33,64 +33,37 @@
 
 #pragma once
 
-#include <drivers/device/spi.h>
-#include <ecl/geo/geo.h>
-#include <lib/conversion/rotation.h>
 #include <lib/perf/perf_counter.h>
 #include <px4_getopt.h>
 #include <px4_work_queue/ScheduledWorkItem.hpp>
 
-#define DIR_READ                0x80
-#define DIR_WRITE               0x00
+#include "BMI088_Accelerometer.hpp"
+#include "BMI088_Gyroscope.hpp"
 
-//Soft-reset command Value
-#define BMI088_SOFT_RESET       0xB6
+using Bosch_BMI088_Accelerometer::BMI088_Accelerometer;
+using Bosch_BMI088_Gyroscope::BMI088_Gyroscope;
 
-#define BMI088_BUS_SPEED				10*1000*1000
-
-#define BMI088_TIMER_REDUCTION				200
-
-class BMI088 : public device::SPI
+class BMI088
 {
+public:
 
-protected:
-
-	uint8_t         _whoami;    /** whoami result */
-
-	uint8_t         _register_wait;
-	uint64_t        _reset_wait;
-
-	enum Rotation       _rotation;
+	BMI088(int bus, enum Rotation rotation);
+	virtual ~BMI088() = default;
 
-	uint8_t         _checked_next;
+	int init();
 
-	/**
-	* Read a register from the BMI088
-	*
-	* @param       The register to read.
-	* @return      The value that was read.
-	*/
-	virtual uint8_t         read_reg(unsigned reg); // This needs to be declared as virtual, because the
-	virtual uint16_t        read_reg16(unsigned reg);
+	bool start();
+	bool stop();
 
-	/**
-	* Write a register in the BMI088
-	*
-	* @param reg       The register to write.
-	* @param value     The new value to write.
-	*/
-	void            write_reg(unsigned reg, uint8_t value);
+	void print_info();
+	void print_registers();
 
-	/* do not allow to copy this class due to pointer data members */
-	BMI088(const BMI088 &);
-	BMI088 operator=(const BMI088 &);
+	void Run(bool a);
 
-public:
+private:
 
-	BMI088(const char *name, const char *devname, int bus, uint32_t device, enum spi_mode_e mode, uint32_t frequency,
-	       enum Rotation rotation);
-
-	virtual ~BMI088() = default;
 
+	BMI088_Accelerometer	_accel;
+	BMI088_Gyroscope	_gyro;
 
 };