bosch bmi160 driver (#4469)

cmake/configs/nuttx_px4fmu-v2_default.cmake

@@ -48,6 +48,7 @@ set(config_module_list
 	drivers/bst
 	drivers/snapdragon_rc_pwm
 	drivers/lis3mdl
+	drivers/bmi160
 
 	#
 	# System commands

src/drivers/bmi160/CMakeLists.txt

+############################################################################
+#
+#   Copyright (c) 2015 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.
+#
+############################################################################
+px4_add_module(
+	MODULE drivers__bmi160
+	MAIN bmi160
+	STACK_MAIN 1200
+	COMPILE_FLAGS
+		-Weffc++
+		-Os
+	SRCS
+		bmi160.cpp
+		bmi160_gyro.cpp
+		bmi160_main.cpp
+	DEPENDS
+		platforms__common
+	)
+# vim: set noet ft=cmake fenc=utf-8 ff=unix : 

src/drivers/bmi160/bmi160.hpp

+#ifndef BMI160_HPP_
+#define BMI160_HPP_
+
+#include <px4_config.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <stddef.h>
+#include <stdlib.h>
+#include <semaphore.h>
+#include <string.h>
+#include <fcntl.h>
+#include <poll.h>
+#include <errno.h>
+#include <stdio.h>
+#include <math.h>
+#include <unistd.h>
+#include <getopt.h>
+
+#include <systemlib/perf_counter.h>
+#include <systemlib/err.h>
+#include <systemlib/conversions.h>
+
+#include <nuttx/arch.h>
+#include <nuttx/clock.h>
+
+#include <board_config.h>
+#include <drivers/drv_hrt.h>
+
+#include <drivers/device/spi.h>
+#include <drivers/device/ringbuffer.h>
+#include <drivers/device/integrator.h>
+#include <drivers/drv_accel.h>
+#include <drivers/drv_gyro.h>
+#include <drivers/drv_mag.h>
+#include <mathlib/math/filter/LowPassFilter2p.hpp>
+#include <lib/conversion/rotation.h>
+
+#define DIR_READ                0x80
+#define DIR_WRITE               0x00
+
+#define BMI160_DEVICE_PATH_ACCEL    "/dev/bmi160_accel"
+#define BMI160_DEVICE_PATH_GYRO		"/dev/bmi160_gyro"
+#define BMI160_DEVICE_PATH_MAG		"/dev/bmi160_mag"
+#define BMI160_DEVICE_PATH_ACCEL_EXT    "/dev/bmi160_accel_ext"
+#define BMI160_DEVICE_PATH_GYRO_EXT		"/dev/bmi160_gyro_ext"
+#define BMI160_DEVICE_PATH_MAG_EXT	"/dev/bmi160_mag_ext"
+
+// BMI 160 registers
+
+#define BMIREG_CHIP_ID          0x00
+#define BMIREG_ERR_REG          0x02
+#define BMIREG_PMU_STATUS       0x03
+#define BMIREG_DATA_0           0x04
+#define BMIREG_DATA_1           0x05
+#define BMIREG_DATA_2           0x06
+#define BMIREG_DATA_3           0x07
+#define BMIREG_DATA_4           0x08
+#define BMIREG_DATA_5           0x09
+#define BMIREG_DATA_6           0x0A
+#define BMIREG_DATA_7           0x0B
+#define BMIREG_GYR_X_L          0x0C
+#define BMIREG_GYR_X_H          0x0D
+#define BMIREG_GYR_Y_L          0x0E
+#define BMIREG_GYR_Y_H          0x0F
+#define BMIREG_GYR_Z_L          0x10
+#define BMIREG_GYR_Z_H          0x11
+#define BMIREG_ACC_X_L          0x12
+#define BMIREG_ACC_X_H          0x13
+#define BMIREG_ACC_Y_L          0x14
+#define BMIREG_ACC_Y_H          0x15
+#define BMIREG_ACC_Z_L          0x16
+#define BMIREG_ACC_Z_H          0x17
+#define BMIREG_SENSORTIME0      0x18
+#define BMIREG_SENSORTIME1      0x19
+#define BMIREG_SENSORTIME2      0x1A
+#define BMIREG_STATUS           0x1B
+#define BMIREG_INT_STATUS_0     0x1C
+#define BMIREG_INT_STATUS_1     0x1D
+#define BMIREG_INT_STATUS_2     0x1E
+#define BMIREG_INT_STATUS_3     0x1F
+#define BMIREG_TEMP_0           0x20
+#define BMIREG_TEMP_1           0x21
+#define BMIREG_FIFO_LEN_0       0x22
+#define BMIREG_FIFO_LEN_1       0x23
+#define BMIREG_FIFO_DATA        0x24
+#define BMIREG_ACC_CONF         0x40
+#define BMIREG_ACC_RANGE        0x41
+#define BMIREG_GYR_CONF         0x42
+#define BMIREG_GYR_RANGE        0x43
+#define BMIREG_MAG_CONF         0x44
+#define BMIREG_FIFO_DOWNS       0x45
+#define BMIREG_FIFO_CONFIG_0    0x46
+#define BMIREG_FIFO_CONFIG_1    0x47
+#define BMIREG_MAG_IF_0         0x4B
+#define BMIREG_MAG_IF_1         0x4C
+#define BMIREG_MAG_IF_2         0x4D
+#define BMIREG_MAG_IF_3         0x4E
+#define BMIREG_MAG_IF_4         0x4F
+#define BMIREG_INT_EN_0         0x50
+#define BMIREG_INT_EN_1         0x51
+#define BMIREG_INT_EN_2         0x52
+#define BMIREG_INT_OUT_CTRL     0x53
+#define BMIREG_INT_LANTCH       0x54
+#define BMIREG_INT_MAP_0        0x55
+#define BMIREG_INT_MAP_1        0x56
+#define BMIREG_INT_MAP_2        0x57
+#define BMIREG_INT_DATA_0       0x58
+#define BMIREG_INT_DATA_1       0x59
+#define BMIREG_INT_LH_0         0x5A
+#define BMIREG_INT_LH_1         0x5B
+#define BMIREG_INT_LH_2         0x5C
+#define BMIREG_INT_LH_3         0x5D
+#define BMIREG_INT_LH_4         0x5E
+#define BMIREG_INT_MOT_0        0x5F
+#define BMIREG_INT_MOT_1        0x60
+#define BMIREG_INT_MOT_2        0x61
+#define BMIREG_INT_MOT_3        0x62
+#define BMIREG_INT_TAP_0        0x63
+#define BMIREG_INT_TAP_1        0x64
+#define BMIREG_INT_ORIE_0       0x65
+#define BMIREG_INT_ORIE_1       0x66
+#define BMIREG_INT_FLAT_0       0x67
+#define BMIREG_INT_FLAT_1       0x68
+#define BMIREG_FOC_CONF         0x69
+#define BMIREG_CONF             0x6A
+#define BMIREG_IF_CONF          0x6B
+#define BMIREG_PMU_TRIGGER      0x6C
+#define BMIREG_SELF_TEST        0x6D
+#define BMIREG_NV_CONF          0x70
+#define BMIREG_OFFSET_ACC_X     0x71
+#define BMIREG_OFFSET_ACC_Y     0x72
+#define BMIREG_OFFSET_ACC_Z     0x73
+#define BMIREG_OFFSET_GYR_X     0x74
+#define BMIREG_OFFSET_GYR_Y     0x75
+#define BMIREG_OFFSET_GYR_Z     0x76
+#define BMIREG_OFFSET_EN        0x77
+#define BMIREG_STEP_CONT_0      0x78
+#define BMIREG_STEP_CONT_1      0x79
+#define BMIREG_STEP_CONF_0      0x7A
+#define BMIREG_STEP_CONF_1      0x7B
+#define BMIREG_CMD              0x7E
+
+
+// Configuration bits BMI 160
+#define BMI160_WHO_AM_I         0xD1
+
+//BMIREG_STATUS           0x1B
+#define BMI_DRDY_ACCEL          (1<<7)
+#define BMI_DRDY_GYRO           (1<<6)
+#define BMI_DRDY_MAG            (1<<5)
+#define BMI_GYRO_SELF_TEST_OK   (1<<1)
+
+//BMIREG_INT_STATUS_1     0x1D
+#define BMI_DRDY_INT            (1<<4)
+
+//BMIREG_ACC_CONF         0x40
+#define BMI_ACCEL_RATE_25_32    (0<<3) | (0<<2) | (0<<1) | (1<<0)
+#define BMI_ACCEL_RATE_25_16    (0<<3) | (0<<2) | (1<<1) | (0<<0)
+#define BMI_ACCEL_RATE_25_8     (0<<3) | (0<<2) | (1<<1) | (1<<0)
+#define BMI_ACCEL_RATE_25_4     (0<<3) | (1<<2) | (0<<1) | (0<<0)
+#define BMI_ACCEL_RATE_25_2     (0<<3) | (1<<2) | (0<<1) | (1<<0)
+#define BMI_ACCEL_RATE_25       (0<<3) | (1<<2) | (1<<1) | (0<<0)
+#define BMI_ACCEL_RATE_50       (0<<3) | (1<<2) | (1<<1) | (1<<0)
+#define BMI_ACCEL_RATE_100      (1<<3) | (0<<2) | (0<<1) | (0<<0)
+#define BMI_ACCEL_RATE_200      (1<<3) | (0<<2) | (0<<1) | (1<<0)
+#define BMI_ACCEL_RATE_400      (1<<3) | (0<<2) | (1<<1) | (0<<0)
+#define BMI_ACCEL_RATE_800      (1<<3) | (0<<2) | (1<<1) | (1<<0)
+#define BMI_ACCEL_RATE_1600     (1<<3) | (1<<2) | (0<<1) | (0<<0)
+#define BMI_ACCEL_US            (0<<7)
+#define BMI_ACCEL_BWP_NORMAL    (0<<6) | (1<<5) | (0<<4)
+#define BMI_ACCEL_BWP_OSR2      (0<<6) | (0<<5) | (1<<4)
+#define BMI_ACCEL_BWP_OSR4      (0<<6) | (0<<5) | (0<<4)
+
+//BMIREG_ACC_RANGE        0x41
+#define BMI_ACCEL_RANGE_2_G     (0<<3) | (0<<2) | (1<<1) | (1<<0)
+#define BMI_ACCEL_RANGE_4_G     (0<<3) | (1<<2) | (0<<1) | (1<<0)
+#define BMI_ACCEL_RANGE_8_G     (1<<3) | (0<<2) | (0<<1) | (0<<0)
+#define BMI_ACCEL_RANGE_16_G    (1<<3) | (1<<2) | (0<<1) | (0<<0)
+
+//BMIREG_GYR_CONF         0x42
+#define BMI_GYRO_RATE_25        (0<<3) | (1<<2) | (1<<1) | (0<<0)
+#define BMI_GYRO_RATE_50        (0<<3) | (1<<2) | (1<<1) | (1<<0)
+#define BMI_GYRO_RATE_100       (1<<3) | (0<<2) | (0<<1) | (0<<0)
+#define BMI_GYRO_RATE_200       (1<<3) | (0<<2) | (0<<1) | (1<<0)
+#define BMI_GYRO_RATE_400       (1<<3) | (0<<2) | (1<<1) | (0<<0)
+#define BMI_GYRO_RATE_800       (1<<3) | (0<<2) | (1<<1) | (1<<0)
+#define BMI_GYRO_RATE_1600      (1<<3) | (1<<2) | (0<<1) | (0<<0)
+#define BMI_GYRO_RATE_3200      (1<<3) | (1<<2) | (0<<1) | (1<<0)
+#define BMI_GYRO_BWP_NORMAL     (1<<5) | (0<<4)
+#define BMI_GYRO_BWP_OSR2       (0<<5) | (1<<4)
+#define BMI_GYRO_BWP_OSR4       (0<<5) | (0<<4)
+
+//BMIREG_GYR_RANGE        0x43
+#define BMI_GYRO_RANGE_2000_DPS (0<<2) | (0<<1) | (0<<0)
+#define BMI_GYRO_RANGE_1000_DPS (0<<2) | (0<<1) | (1<<0)
+#define BMI_GYRO_RANGE_500_DPS  (0<<2) | (1<<1) | (0<<0)
+#define BMI_GYRO_RANGE_250_DPS  (0<<2) | (1<<1) | (1<<0)
+#define BMI_GYRO_RANGE_125_DPS  (1<<2) | (0<<1) | (0<<0)
+
+//BMIREG_INT_EN_1         0x51
+#define BMI_DRDY_INT_EN         (1<<4)
+
+//BMIREG_INT_OUT_CTRL     0x53
+#define BMI_INT1_EN             (1<<3) | (0<<2) | (1<<1)    //Data Ready on INT1 High
+
+//BMIREG_INT_MAP_1        0x56
+#define BMI_DRDY_INT1           (1<<7)
+
+//BMIREG_IF_CONF          0x6B
+#define BMI_SPI_3_WIRE          (1<<0)
+#define BMI_SPI_4_WIRE          (0<<0)
+#define BMI_AUTO_DIS_SEC        (0<<5) | (0<<4)
+#define BMI_I2C_OIS_SEC         (0<<5) | (1<<4)
+#define BMI_AUTO_MAG_SEC        (1<<5) | (0<<4)
+
+//BMIREG_NV_CONF          0x70
+#define BMI_SPI                 (1<<0)
+
+//BMIREG_CMD              0x7E
+#define BMI_ACCEL_NORMAL_MODE   0x11 //Wait at least 3.8 ms before another CMD
+#define BMI_GYRO_NORMAL_MODE    0x15 //Wait at least 80 ms before another CMD
+#define BMI160_SOFT_RESET       0xB6
+
+#define BMI160_ACCEL_DEFAULT_RANGE_G		4
+#define BMI160_GYRO_DEFAULT_RANGE_DPS		2000
+#define BMI160_ACCEL_DEFAULT_RATE           800
+#define BMI160_ACCEL_MAX_RATE               1600
+#define BMI160_GYRO_DEFAULT_RATE            800
+#define BMI160_GYRO_MAX_RATE                3200
+
+#define BMI160_ACCEL_DEFAULT_ONCHIP_FILTER_FREQ	324
+#define BMI160_ACCEL_DEFAULT_DRIVER_FILTER_FREQ	50
+
+#define BMI160_GYRO_DEFAULT_ONCHIP_FILTER_FREQ	254.6f
+#define BMI160_GYRO_DEFAULT_DRIVER_FILTER_FREQ	50
+
+#define BMI160_ONE_G                       9.80665f
+
+#define BMI160_LOW_BUS_SPEED				1000*1000
+#define BMI160_HIGH_BUS_SPEED				11*1000*1000
+
+#define BMI160_TIMER_REDUCTION				200
+
+#ifdef PX4_SPI_BUS_EXT
+#define EXTERNAL_BUS PX4_SPI_BUS_EXT
+#else
+#define EXTERNAL_BUS 0
+#endif
+
+
+class BMI160_gyro;
+
+class BMI160 : public device::SPI
+{
+public:
+	BMI160(int bus, const char *path_accel, const char *path_gyro, spi_dev_e device, enum Rotation rotation);
+	virtual ~BMI160();
+
+	virtual int		init();
+
+	virtual ssize_t		read(struct file *filp, char *buffer, size_t buflen);
+	virtual int		ioctl(struct file *filp, int cmd, unsigned long arg);
+
+	/**
+	 * Diagnostics - print some basic information about the driver.
+	 */
+	void			print_info();
+
+	void			print_registers();
+
+	// deliberately cause a sensor error
+	void 			test_error();
+
+protected:
+	virtual int		probe();
+
+	friend class BMI160_gyro;
+
+	virtual ssize_t		gyro_read(struct file *filp, char *buffer, size_t buflen);
+	virtual int		gyro_ioctl(struct file *filp, int cmd, unsigned long arg);
+
+private:
+	BMI160_gyro		*_gyro;
+	uint8_t			_whoami;	/** whoami result */
+
+	struct hrt_call		_call;
+	unsigned		_call_interval;
+
+	ringbuffer::RingBuffer	*_accel_reports;
+
+	struct accel_calibration_s	_accel_scale;
+	float			_accel_range_scale;
+	float			_accel_range_m_s2;
+	orb_advert_t		_accel_topic;
+	int			_accel_orb_class_instance;
+	int			_accel_class_instance;
+
+	ringbuffer::RingBuffer	*_gyro_reports;
+
+	struct gyro_calibration_s	_gyro_scale;
+	float			_gyro_range_scale;
+	float			_gyro_range_rad_s;
+
+	unsigned		_dlpf_freq;
+
+	float		_accel_sample_rate;
+	float		_gyro_sample_rate;
+	perf_counter_t		_accel_reads;
+	perf_counter_t		_gyro_reads;
+	perf_counter_t		_sample_perf;
+	perf_counter_t		_bad_transfers;
+	perf_counter_t		_bad_registers;
+	perf_counter_t		_good_transfers;
+	perf_counter_t		_reset_retries;
+	perf_counter_t		_duplicates;
+	perf_counter_t		_controller_latency_perf;
+
+	uint8_t			_register_wait;
+	uint64_t		_reset_wait;
+
+	math::LowPassFilter2p	_accel_filter_x;
+	math::LowPassFilter2p	_accel_filter_y;
+	math::LowPassFilter2p	_accel_filter_z;
+	math::LowPassFilter2p	_gyro_filter_x;
+	math::LowPassFilter2p	_gyro_filter_y;
+	math::LowPassFilter2p	_gyro_filter_z;
+
+	Integrator		_accel_int;
+	Integrator		_gyro_int;
+
+	enum Rotation		_rotation;
+
+	// this is used to support runtime checking of key
+	// configuration registers to detect SPI bus errors and sensor
+	// reset
+#define BMI160_NUM_CHECKED_REGISTERS 10
+	static const uint8_t	_checked_registers[BMI160_NUM_CHECKED_REGISTERS];
+	uint8_t			_checked_values[BMI160_NUM_CHECKED_REGISTERS];
+	uint8_t			_checked_bad[BMI160_NUM_CHECKED_REGISTERS];
+	uint8_t			_checked_next;
+
+	// last temperature reading for print_info()
+	float			_last_temperature;
+
+	// keep last accel reading for duplicate detection
+	uint16_t		_last_accel[3];
+	bool			_got_duplicate;
+
+	/**
+	 * Start automatic measurement.
+	 */
+	void			start();
+
+	/**
+	 * Stop automatic measurement.
+	 */
+	void			stop();
+
+	/**
+	 * Reset chip.
+	 *
+	 * Resets the chip and measurements ranges, but not scale and offset.
+	 */
+	int			reset();
+
+	/**
+	 * Static trampoline from the hrt_call context; because we don't have a
+	 * generic hrt wrapper yet.
+	 *
+	 * Called by the HRT in interrupt context at the specified rate if
+	 * automatic polling is enabled.
+	 *
+	 * @param arg		Instance pointer for the driver that is polling.
+	 */
+	static void		measure_trampoline(void *arg);
+
+	/**
+	 * Fetch measurements from the sensor and update the report buffers.
+	 */
+	void			measure();
+
+	/**
+	 * Read a register from the BMI160
+	 *
+	 * @param		The register to read.
+	 * @return		The value that was read.
+	 */
+	uint8_t			read_reg(unsigned reg, uint32_t speed = BMI160_LOW_BUS_SPEED);
+	uint16_t		read_reg16(unsigned reg);
+
+	/**
+	 * Write a register in the BMI160
+	 *
+	 * @param reg		The register to write.
+	 * @param value		The new value to write.
+	 */
+	void			write_reg(unsigned reg, uint8_t value);
+
+	/**
+	 * Modify a register in the BMI160
+	 *
+	 * Bits are cleared before bits are set.
+	 *
+	 * @param reg		The register to modify.
+	 * @param clearbits	Bits in the register to clear.
+	 * @param setbits	Bits in the register to set.
+	 */
+	void			modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits);
+
+	/**
+	 * Write a register in the BMI160, updating _checked_values
+	 *
+	 * @param reg		The register to write.
+	 * @param value		The new value to write.
+	 */
+	void			write_checked_reg(unsigned reg, uint8_t value);
+
+	/**
+	 * Set the BMI160 measurement range.
+	 *
+	 * @param max_g		The maximum G value the range must support.
+	 * @param max_dps	The maximum DPS value the range must support.
+	 * @return		OK if the value can be supported, -ERANGE otherwise.
+	 */
+	int			set_accel_range(unsigned max_g);
+	int			set_gyro_range(unsigned max_dps);
+
+	/**
+	 * Swap a 16-bit value read from the BMI160 to native byte order.
+	 */
+	uint16_t		swap16(uint16_t val) { return (val >> 8) | (val << 8);	}
+
+	/**
+	 * Get the internal / external state
+	 *
+	 * @return true if the sensor is not on the main MCU board
+	 */
+	bool			is_external() { return (_bus == EXTERNAL_BUS); }
+
+	/**
+	 * Measurement self test
+	 *
+	 * @return 0 on success, 1 on failure
+	 */
+	int 			self_test();
+
+	/**
+	 * Accel self test
+	 *
+	 * @return 0 on success, 1 on failure
+	 */
+	int 			accel_self_test();
+
+	/**
+	 * Gyro self test
+	 *
+	 * @return 0 on success, 1 on failure
+	 */
+	int 			gyro_self_test();
+
+	/*
+	  set low pass filter frequency
+	 */
+	void _set_dlpf_filter(uint16_t frequency_hz);
+
+	/*
+	  set sample rate (approximate) - 10 - 952 Hz
+	*/
+	int accel_set_sample_rate(float desired_sample_rate_hz);
+	int gyro_set_sample_rate(float desired_sample_rate_hz);
+	/*
+	  check that key registers still have the right value
+	 */
+	void check_registers(void);
+
+	/* do not allow to copy this class due to pointer data members */
+	BMI160(const BMI160 &);
+	BMI160 operator=(const BMI160 &);
+
+#pragma pack(push, 1)
+	/**
+	 * Report conversation within the BMI160, including command byte and
+	 * interrupt status.
+	 */
+	struct BMIReport {
+		uint8_t		cmd;
+		int16_t		gyro_x;
+		int16_t		gyro_y;
+		int16_t		gyro_z;
+		int16_t		accel_x;
+		int16_t		accel_y;
+		int16_t		accel_z;
+	};
+#pragma pack(pop)
+};
+
+
+
+#endif /* BMI160_HPP_ */

src/drivers/bmi160/bmi160_gyro.cpp

+
+#include "bmi160_gyro.hpp"
+#include "bmi160.hpp"
+
+BMI160_gyro::BMI160_gyro(BMI160 *parent, const char *path) : CDev("BMI160_gyro", path),
+	_parent(parent),
+	_gyro_topic(nullptr),
+	_gyro_orb_class_instance(-1),
+	_gyro_class_instance(-1)
+{
+}
+
+BMI160_gyro::~BMI160_gyro()
+{
+	if (_gyro_class_instance != -1) {
+		unregister_class_devname(GYRO_BASE_DEVICE_PATH, _gyro_class_instance);
+	}
+}
+
+int
+BMI160_gyro::init()
+{
+	int ret;
+
+	// do base class init
+	ret = CDev::init();
+
+	/* if probe/setup failed, bail now */
+	if (ret != OK) {
+		DEVICE_DEBUG("gyro init failed");
+		return ret;
+	}
+
+	_gyro_class_instance = register_class_devname(GYRO_BASE_DEVICE_PATH);
+
+	return ret;
+}
+
+void
+BMI160_gyro::parent_poll_notify()
+{
+	poll_notify(POLLIN);
+}
+
+ssize_t
+BMI160_gyro::read(struct file *filp, char *buffer, size_t buflen)
+{
+	return _parent->gyro_read(filp, buffer, buflen);
+}
+
+int
+BMI160_gyro::ioctl(struct file *filp, int cmd, unsigned long arg)
+{
+
+	switch (cmd) {
+	case DEVIOCGDEVICEID:
+		return (int)CDev::ioctl(filp, cmd, arg);
+		break;
+
+	default:
+		return _parent->gyro_ioctl(filp, cmd, arg);
+	}
+}

src/drivers/bmi160/bmi160_gyro.hpp

+#ifndef BMI160_GYRO_HPP_
+#define BMI160_GYRO_HPP_
+
+#include <px4_config.h>
+
+#include "bmi160.hpp"
+
+/**
+ * Helper class implementing the gyro driver node.
+ */
+class BMI160_gyro : public device::CDev
+{
+public:
+	BMI160_gyro(BMI160 *parent, const char *path);
+	~BMI160_gyro();
+
+	virtual ssize_t		read(struct file *filp, char *buffer, size_t buflen);
+	virtual int		ioctl(struct file *filp, int cmd, unsigned long arg);
+
+	virtual int		init();
+
+protected:
+	friend class BMI160;
+
+	void			parent_poll_notify();
+
+private:
+	BMI160			*_parent;
+	orb_advert_t		_gyro_topic;
+	int			_gyro_orb_class_instance;
+	int			_gyro_class_instance;
+
+	/* do not allow to copy this class due to pointer data members */
+	BMI160_gyro(const BMI160_gyro &);
+	BMI160_gyro operator=(const BMI160_gyro &);
+};
+
+
+
+
+#endif /* BMI160_GYRO_HPP_ */

src/drivers/bmi160/bmi160_main.cpp

+
+#include "bmi160.hpp"
+
+#include <board_config.h>
+
+/** driver 'main' command */
+extern "C" { __EXPORT int bmi160_main(int argc, char *argv[]); }
+
+/**
+ * Local functions in support of the shell command.
+ */
+namespace bmi160
+{
+
+BMI160	*g_dev_int; // on internal bus
+BMI160	*g_dev_ext; // on external bus
+
+void	start(bool, enum Rotation);
+void	stop(bool);
+void	test(bool);
+void	reset(bool);
+void	info(bool);
+void	regdump(bool);
+void	testerror(bool);
+void	usage();
+
+
+/**
+ * Start the driver.
+ *
+ * This function only returns if the driver is up and running
+ * or failed to detect the sensor.
+ */
+void
+start(bool external_bus, enum Rotation rotation)
+{
+	int fd;
+	BMI160 **g_dev_ptr = external_bus ? &g_dev_ext : &g_dev_int;
+	const char *path_accel = external_bus ? BMI160_DEVICE_PATH_ACCEL_EXT : BMI160_DEVICE_PATH_ACCEL;
+	const char *path_gyro  = external_bus ? BMI160_DEVICE_PATH_GYRO_EXT : BMI160_DEVICE_PATH_GYRO;
+
+	if (*g_dev_ptr != nullptr)
+		/* if already started, the still command succeeded */
+	{
+		errx(0, "already started");
+	}
+
+	/* create the driver */
+	if (external_bus) {
+#if defined(PX4_SPI_BUS_EXT) && defined(PX4_SPIDEV_EXT_BMI)
+		*g_dev_ptr = new BMI160(PX4_SPI_BUS_EXT, path_accel, path_gyro, (spi_dev_e)PX4_SPIDEV_EXT_BMI, rotation);
+#else
+		errx(0, "External SPI not available");
+#endif
+
+	} else {
+		*g_dev_ptr = new BMI160(PX4_SPI_BUS_SENSORS, path_accel, path_gyro, (spi_dev_e)PX4_SPIDEV_BMI, rotation);
+	}
+
+	if (*g_dev_ptr == nullptr) {
+		goto fail;
+	}
+
+	if (OK != (*g_dev_ptr)->init()) {
+		goto fail;
+	}
+
+	/* set the poll rate to default, starts automatic data collection */
+	fd = open(path_accel, O_RDONLY);
+
+	if (fd < 0) {
+		goto fail;
+	}
+
+	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
+		goto fail;
+	}
+
+	close(fd);
+
+	exit(0);
+fail:
+
+	if (*g_dev_ptr != nullptr) {
+		delete(*g_dev_ptr);
+		*g_dev_ptr = nullptr;
+	}
+
+	errx(1, "driver start failed");
+}
+
+void
+stop(bool external_bus)
+{
+	BMI160 **g_dev_ptr = external_bus ? &g_dev_ext : &g_dev_int;
+
+	if (*g_dev_ptr != nullptr) {
+		delete *g_dev_ptr;
+		*g_dev_ptr = nullptr;
+
+	} else {
+		/* warn, but not an error */
+		warnx("already stopped.");
+	}
+
+	exit(0);
+}
+
+/**
+ * Perform some basic functional tests on the driver;
+ * make sure we can collect data from the sensor in polled
+ * and automatic modes.
+ */
+void
+test(bool external_bus)
+{
+	const char *path_accel = external_bus ? BMI160_DEVICE_PATH_ACCEL_EXT : BMI160_DEVICE_PATH_ACCEL;
+	const char *path_gyro  = external_bus ? BMI160_DEVICE_PATH_GYRO_EXT : BMI160_DEVICE_PATH_GYRO;
+	accel_report a_report;
+	gyro_report g_report;
+	ssize_t sz;
+
+	/* get the driver */
+	int fd = open(path_accel, O_RDONLY);
+
+	if (fd < 0)
+		err(1, "%s open failed (try 'bmi160 start')",
+		    path_accel);
+
+	/* get the driver */
+	int fd_gyro = open(path_gyro, O_RDONLY);
+
+	if (fd_gyro < 0) {
+		err(1, "%s open failed", path_gyro);
+	}
+
+	/* reset to manual polling */
+	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MANUAL) < 0) {
+		err(1, "reset to manual polling");
+	}
+
+	/* do a simple demand read */
+	sz = read(fd, &a_report, sizeof(a_report));
+
+	if (sz != sizeof(a_report)) {
+		warnx("ret: %d, expected: %d", sz, sizeof(a_report));
+		err(1, "immediate acc read failed");
+	}
+
+	warnx("single read");
+	warnx("time:     %lld", a_report.timestamp);
+	warnx("acc  x:  \t%8.4f\tm/s^2", (double)a_report.x);
+	warnx("acc  y:  \t%8.4f\tm/s^2", (double)a_report.y);
+	warnx("acc  z:  \t%8.4f\tm/s^2", (double)a_report.z);
+	warnx("acc  x:  \t%d\traw 0x%0x", (short)a_report.x_raw, (unsigned short)a_report.x_raw);
+	warnx("acc  y:  \t%d\traw 0x%0x", (short)a_report.y_raw, (unsigned short)a_report.y_raw);
+	warnx("acc  z:  \t%d\traw 0x%0x", (short)a_report.z_raw, (unsigned short)a_report.z_raw);
+	warnx("acc range: %8.4f m/s^2 (%8.4f g)", (double)a_report.range_m_s2,
+	      (double)(a_report.range_m_s2 / BMI160_ONE_G));
+
+	/* do a simple demand read */
+	sz = read(fd_gyro, &g_report, sizeof(g_report));
+
+	if (sz != sizeof(g_report)) {
+		warnx("ret: %d, expected: %d", sz, sizeof(g_report));
+		err(1, "immediate gyro read failed");
+	}
+
+	warnx("gyro x: \t% 9.5f\trad/s", (double)g_report.x);
+	warnx("gyro y: \t% 9.5f\trad/s", (double)g_report.y);
+	warnx("gyro z: \t% 9.5f\trad/s", (double)g_report.z);
+	warnx("gyro x: \t%d\traw", (int)g_report.x_raw);
+	warnx("gyro y: \t%d\traw", (int)g_report.y_raw);
+	warnx("gyro z: \t%d\traw", (int)g_report.z_raw);
+	warnx("gyro range: %8.4f rad/s (%d deg/s)", (double)g_report.range_rad_s,
+	      (int)((g_report.range_rad_s / M_PI_F) * 180.0f + 0.5f));
+
+	warnx("temp:  \t%8.4f\tdeg celsius", (double)a_report.temperature);
+	warnx("temp:  \t%d\traw 0x%0x", (short)a_report.temperature_raw, (unsigned short)a_report.temperature_raw);
+
+	/* reset to default polling */
+	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
+		err(1, "reset to default polling");
+	}
+
+	close(fd);
+	close(fd_gyro);
+
+	/* XXX add poll-rate tests here too */
+
+	reset(external_bus);
+	errx(0, "PASS");
+}
+
+/**
+ * Reset the driver.
+ */
+void
+reset(bool external_bus)
+{
+	const char *path_accel = external_bus ? BMI160_DEVICE_PATH_ACCEL_EXT : BMI160_DEVICE_PATH_ACCEL;
+	int fd = open(path_accel, O_RDONLY);
+
+	if (fd < 0) {
+		err(1, "failed ");
+	}
+
+	if (ioctl(fd, SENSORIOCRESET, 0) < 0) {
+		err(1, "driver reset failed");
+	}
+
+	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
+		err(1, "driver poll restart failed");
+	}
+
+	close(fd);
+
+	exit(0);
+}
+
+/**
+ * Print a little info about the driver.
+ */
+void
+info(bool external_bus)
+{
+	BMI160 **g_dev_ptr = external_bus ? &g_dev_ext : &g_dev_int;
+
+	if (*g_dev_ptr == nullptr) {
+		errx(1, "driver not running");
+	}
+
+	printf("state @ %p\n", *g_dev_ptr);
+	(*g_dev_ptr)->print_info();
+
+	exit(0);
+}
+
+/**
+ * Dump the register information
+ */
+void
+regdump(bool external_bus)
+{
+	BMI160 **g_dev_ptr = external_bus ? &g_dev_ext : &g_dev_int;
+
+	if (*g_dev_ptr == nullptr) {
+		errx(1, "driver not running");
+	}
+
+	printf("regdump @ %p\n", *g_dev_ptr);
+	(*g_dev_ptr)->print_registers();
+
+	exit(0);
+}
+
+
+/**
+ * deliberately produce an error to test recovery
+ */
+void
+testerror(bool external_bus)
+{
+	BMI160 **g_dev_ptr = external_bus ? &g_dev_ext : &g_dev_int;
+
+	if (*g_dev_ptr == nullptr) {
+		errx(1, "driver not running");
+	}
+
+	(*g_dev_ptr)->test_error();
+
+	exit(0);
+}
+
+void
+usage()
+{
+	warnx("missing command: try 'start', 'info', 'test', 'stop',\n'reset', 'regdump', 'testerror'");
+	warnx("options:");
+	warnx("    -X    (external bus)");
+	warnx("    -R rotation");
+}
+
+} // namespace
+
+int
+bmi160_main(int argc, char *argv[])
+{
+	bool external_bus = false;
+	int ch;
+	enum Rotation rotation = ROTATION_NONE;
+
+	/* jump over start/off/etc and look at options first */
+	while ((ch = getopt(argc, argv, "XR:")) != EOF) {
+		switch (ch) {
+		case 'X':
+			external_bus = true;
+			break;
+
+		case 'R':
+			rotation = (enum Rotation)atoi(optarg);
+			break;
+
+		default:
+			bmi160::usage();
+			exit(0);
+		}
+	}
+
+	const char *verb = argv[optind];
+
+	/*
+	 * Start/load the driver.
+
+	 */
+	if (!strcmp(verb, "start")) {
+		bmi160::start(external_bus, rotation);
+	}
+
+	if (!strcmp(verb, "stop")) {
+		bmi160::stop(external_bus);
+	}
+
+	/*
+	 * Test the driver/device.
+	 */
+	if (!strcmp(verb, "test")) {
+		bmi160::test(external_bus);
+	}
+
+	/*
+	 * Reset the driver.
+	 */
+	if (!strcmp(verb, "reset")) {
+		bmi160::reset(external_bus);
+	}
+
+	/*
+	 * Print driver information.
+	 */
+	if (!strcmp(verb, "info")) {
+		bmi160::info(external_bus);
+	}
+
+	/*
+	 * Print register information.
+	 */
+	if (!strcmp(verb, "regdump")) {
+		bmi160::regdump(external_bus);
+	}
+
+	if (!strcmp(verb, "testerror")) {
+		bmi160::testerror(external_bus);
+	}
+
+	bmi160::usage();
+	exit(1);
+}

src/drivers/boards/px4fmu-v2/board_config.h

@@ -125,6 +125,7 @@ __BEGIN_DECLS
 #define PX4_SPIDEV_MPU		4
 #define PX4_SPIDEV_HMC		5
 #define PX4_SPIDEV_LIS		7
+#define	PX4_SPIDEV_BMI		8
 
 /* External bus */
 #define PX4_SPIDEV_EXT0		1
@@ -138,6 +139,8 @@ __BEGIN_DECLS
 #define PX4_SPIDEV_EXT_ACCEL_MAG	PX4_SPIDEV_EXT2
 #define PX4_SPIDEV_EXT_GYRO		PX4_SPIDEV_EXT3
 
+#define PX4_SPIDEV_EXT_BMI		PX4_SPIDEV_EXT_GYRO
+
 /* I2C busses */
 #define PX4_I2C_BUS_EXPANSION	1
 #define PX4_I2C_BUS_ONBOARD	2

src/drivers/drv_sensor.h

@@ -63,10 +63,12 @@
 #define DRV_ACC_DEVTYPE_ACCELSIM 0x14
 #define DRV_ACC_DEVTYPE_GYROSIM  0x15
 #define DRV_ACC_DEVTYPE_MPU9250  0x16
+#define DRV_ACC_DEVTYPE_BMI160   0x17
 #define DRV_GYR_DEVTYPE_MPU6000  0x21
 #define DRV_GYR_DEVTYPE_L3GD20   0x22
 #define DRV_GYR_DEVTYPE_GYROSIM  0x23
 #define DRV_GYR_DEVTYPE_MPU9250  0x24
+#define DRV_GYR_DEVTYPE_BMI160   0x25
 #define DRV_RNG_DEVTYPE_MB12XX   0x31
 #define DRV_RNG_DEVTYPE_LL40LS   0x32
 
@@ -78,6 +80,7 @@
 #define DRV_GYR_DEVTYPE_MPU6500 0x21
 #endif
 
+
 /*
  * ioctl() definitions
  *