151 lines
4.7 KiB
C
151 lines
4.7 KiB
C
/****************************************************************************
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* include/nuttx/sensors/bmi160.h
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*
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* Licensed to the Apache Software Foundation (ASF) under one or more
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* contributor license agreements. See the NOTICE file distributed with
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* this work for additional information regarding copyright ownership. The
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* ASF licenses this file to you under the Apache License, Version 2.0 (the
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* "License"); you may not use this file except in compliance with the
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* License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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* License for the specific language governing permissions and limitations
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* under the License.
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*
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****************************************************************************/
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#ifndef __INCLUDE_NUTTX_SENSORS_BMI160_H
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#define __INCLUDE_NUTTX_SENSORS_BMI160_H
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <nuttx/fs/ioctl.h>
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#if defined(CONFIG_SENSORS_BMI160) || defined(CONFIG_SENSORS_BMI160_SCU)
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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#define BMI160_SPI_MAXFREQUENCY 10000000
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/* Configuration ************************************************************/
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/* Power mode */
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#define BMI160_PM_SUSPEND (0x00)
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#define BMI160_PM_NORMAL (0x01)
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#define BMI160_PM_LOWPOWER (0x02)
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#define BMI160_PM_FASTSTARTUP (0x03)
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/* Output data rate */
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#define BMI160_ACCEL_ODR_0_78HZ (0x01)
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#define BMI160_ACCEL_ODR_1_56HZ (0x02)
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#define BMI160_ACCEL_ODR_3_12HZ (0x03)
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#define BMI160_ACCEL_ODR_6_25HZ (0x04)
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#define BMI160_ACCEL_ODR_12_5HZ (0x05)
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#define BMI160_ACCEL_ODR_25HZ (0x06)
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#define BMI160_ACCEL_ODR_50HZ (0x07)
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#define BMI160_ACCEL_ODR_100HZ (0x08)
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#define BMI160_ACCEL_ODR_200HZ (0x09)
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#define BMI160_ACCEL_ODR_400HZ (0x0A)
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#define BMI160_ACCEL_ODR_800HZ (0x0B)
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#define BMI160_ACCEL_ODR_1600HZ (0x0C)
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/* IOCTL Commands ***********************************************************/
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#define SNIOC_ENABLESC _SNIOC(0x0001) /* Arg: uint8_t value */
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#define SNIOC_READSC _SNIOC(0x0002) /* Arg: int16_t* pointer */
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#define SNIOC_SETACCPM _SNIOC(0x0003) /* Arg: uint8_t value */
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#define SNIOC_SETACCODR _SNIOC(0x0004) /* Arg: uint8_t value */
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/****************************************************************************
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* Public Types
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****************************************************************************/
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/****************************************************************************
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* struct 6-axis data
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****************************************************************************/
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struct accel_t
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{
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int16_t x;
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int16_t y;
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int16_t z;
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};
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struct gyro_t
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{
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int16_t x;
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int16_t y;
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int16_t z;
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};
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struct accel_gyro_st_s
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{
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struct gyro_t gyro;
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struct accel_t accel;
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uint32_t sensor_time;
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};
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struct spi_dev_s;
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struct i2c_master_s;
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/****************************************************************************
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* Public Function Prototypes
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****************************************************************************/
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#ifdef __cplusplus
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#define EXTERN extern "C"
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extern "C"
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{
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#else
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#define EXTERN extern
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#endif
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/****************************************************************************
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* Name: bmi160_register
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*
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* Description:
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* Register the BMI160 character device as 'devpath'
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*
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* Input Parameters:
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* devpath - The full path to the driver to register. E.g., "/dev/accel0"
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* dev - An instance of the SPI or I2C interface to use to communicate
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* with BMI160
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*
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* Returned Value:
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* Zero (OK) on success; a negated errno value on failure.
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*
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****************************************************************************/
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#ifdef CONFIG_SENSORS_BMI160_I2C
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# ifdef CONFIG_SENSORS_BMI160_UORB
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int bmi160_register_uorb(int devno, FAR struct i2c_master_s *dev);
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# else
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int bmi160_register(FAR const char *devpath, FAR struct i2c_master_s *dev);
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# endif /* CONFIG_SENSORS_BMI160_UORB */
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#else /* CONFIG_BMI160_SPI */
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# ifdef CONFIG_SENSORS_BMI160_UORB
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int bmi160_register_uorb(int devno, FAR struct spi_dev_s *dev);
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# else
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int bmi160_register(FAR const char *devpath, FAR struct spi_dev_s *dev);
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# endif /* CONFIG_SENSORS_BMI160_UORB */
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#endif
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#undef EXTERN
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#ifdef __cplusplus
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}
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#endif
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#endif /* CONFIG_SENSORS_BMI160 */
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#endif /* __INCLUDE_NUTTX_SENSORS_BMI160_H */
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