text: /****************************************************************************
   *
   *   Copyright (c) 2018 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.
   *
   ****************************************************************************/
  
  #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
  
  //Soft-reset command Value
  #define BMI088_SOFT_RESET       0xB6
  
  #define BMI088_BUS_SPEED				10*1000*1000
  
  #define BMI088_TIMER_REDUCTION				200
  
  class BMI088 : public device::SPI
  {
  
  protected:
  
  	uint8_t         _whoami;    /** whoami result */
  
  	uint8_t         _register_wait;
  	uint64_t        _reset_wait;
  
  	enum Rotation       _rotation;
  
  	uint8_t         _checked_next;
  
  	/**
  	* 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);
  
  	/**
  	* 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);
  
  	/* do not allow to copy this class due to pointer data members */
  	BMI088(const BMI088 &);
  	BMI088 operator=(const BMI088 &);
  
  public:
  
  	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;
  
  
  };
  