BMX160.h

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/* Copyright (c) 2020 Skyward Experimental Rocketry
 * Author: Davide Mor
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in
 * all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 * THE SOFTWARE.
 */
 
#pragma once
 
#include <diagnostic/PrintLogger.h>
#include <drivers/spi/SPIDriver.h>
#include <drivers/timer/TimestampTimer.h>
#include <sensors/Sensor.h>
#include <utils/Constants.h>
 
#include <algorithm>
#include <cstring>
 
#include "BMX160Config.h"
#include "BMX160Data.h"
#include "BMX160Defs.h"
 
namespace Boardcore
{
 
class BMX160 : public SensorFIFO<BMX160Data, BMX160Defs::FIFO_SIZE>
{
public:
    enum BMX160Errors : uint8_t
    {
        INVALID_FIFO_DATA =
            SensorErrors::END_OF_BASE_ERRORS  
    };
 
    BMX160(SPIBusInterface& bus, miosix::GpioPin cs, BMX160Config config = {});
 
    BMX160(SPIBusInterface& bus, miosix::GpioPin cs, BMX160Config config,
           SPIBusConfig busConfig);
 
    bool init() override;
 
    bool selfTest() override;
 
    BMX160Data sampleImpl() override;
 
    BMX160Temperature getTemperature();
 
    BMX160FifoStats getFifoStats();
 
    void IRQupdateTimestamp(uint64_t ts) override;
 
private:
    void sendCmd(SPITransaction& spi, BMX160Defs::Cmd cmd,
                 BMX160Defs::PowerMode pmu = BMX160Defs::PowerMode::SUSPEND);
 
    void pushSample(BMX160Data sample);
 
    void confMag(SPITransaction& spi, uint8_t value);
 
    void mapMag(SPITransaction& spi, uint8_t reg);
 
    uint8_t readMag(SPITransaction& spi, uint8_t reg);
 
    void readMag(SPITransaction& spi, uint8_t reg, uint8_t* data, size_t size);
 
    void writeMag(SPITransaction& spi, uint8_t reg, uint8_t value);
 
    bool checkChipid();
 
    void softReset();
 
    bool setPowerMode();
 
    void initAcc();
 
    void initGyr();
 
    void initMag();
 
    void initFifo();
 
    void initInt();
 
    bool testAcc();
 
    bool testGyr();
 
    bool testMag();
 
    MagnetometerData buildMagData(BMX160Defs::MagRaw data, uint64_t timestamp);
 
    AccelerometerData buildAccData(BMX160Defs::AccRaw data, uint64_t timestamp);
 
    GyroscopeData buildGyrData(BMX160Defs::GyrRaw data, uint64_t timestamp);
 
    const char* debugErr(SPITransaction& spi);
 
    uint64_t odrToTimeOffset(BMX160Config::OutputDataRate odr, uint8_t downs);
 
    void readTemp();
 
    void readData();
 
    void readFifo(bool headerless);
 
    template <typename T>
    T parseStruct(uint8_t* buf, int& idx);
 
    void boschReadTrim(SPITransaction& spi);
 
    float boschMagCompensateX(int16_t x, uint16_t rhall);
 
    float boschMagCompensateY(int16_t y, uint16_t rhall);
 
    float boschMagCompensateZ(int16_t z, uint16_t rhall);
 
    float temperature = 0.0f;
    MagnetometerData oldMag;
    GyroscopeData oldGyr;
    AccelerometerData oldAcc;
 
    bool isInit = false;
    SPISlave spiSlave;
 
    BMX160Defs::TrimData trimData = {};
    BMX160Config config;
 
    BMX160FifoStats stats = {};
 
    float gyrSensibility = 0.0f;
    float accSensibility = 0.0f;
 
    int tempCounter = 0;
 
    // Sometimes the buffer gets over 1000
    static constexpr unsigned int FIFO_BUF_SIZE = 1100;
 
    bool irqEnabled = true;
 
    PrintLogger logger = Logging::getLogger("bmx160");
};
 
}  // namespace Boardcore