244 lines
6.9 KiB
C
244 lines
6.9 KiB
C
/* Bosch BMG160 gyro driver */
|
|
|
|
/*
|
|
* Copyright (c) 2016 Intel Corporation
|
|
*
|
|
* Licensed under the Apache License, Version 2.0 (the "License");
|
|
* you may not use this file except in compliance with the License.
|
|
* You may obtain a copy of the License at
|
|
*
|
|
* http://www.apache.org/licenses/LICENSE-2.0
|
|
*
|
|
* Unless required by applicable law or agreed to in writing, software
|
|
* distributed under the License is distributed on an "AS IS" BASIS,
|
|
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
* See the License for the specific language governing permissions and
|
|
* limitations under the License.
|
|
*/
|
|
|
|
#ifndef _BMG160_H_
|
|
#define _BMG160_H_
|
|
|
|
#include <i2c.h>
|
|
#include <gpio.h>
|
|
#include <misc/util.h>
|
|
|
|
/* registers */
|
|
#define BMG160_REG_CHIPID 0x00
|
|
#define BMG160_REG_RATE_X 0x02
|
|
#define BMG160_REG_RATE_Y 0x04
|
|
#define BMG160_REG_RATE_Z 0x06
|
|
#define BMG160_REG_TEMP 0x08
|
|
#define BMG160_REG_INT_STATUS0 0x09
|
|
#define BMG160_REG_INT_STATUS1 0x0A
|
|
#define BMG160_REG_INT_STATUS2 0x0B
|
|
#define BMG160_REG_INT_STATUS3 0x0C
|
|
#define BMG160_REG_FIFO_STATUS 0x0E
|
|
#define BMG160_REG_RANGE 0x0F
|
|
#define BMG160_REG_BW 0x10
|
|
#define BMG160_REG_LPM1 0x11
|
|
#define BMG160_REG_LPM2 0x12
|
|
#define BMG160_REG_RATE_HBW 0x13
|
|
#define BMG160_REG_BGW_SOFTRESET 0x14
|
|
#define BMG160_REG_INT_EN0 0x15
|
|
#define BMG160_REG_INT_EN1 0x16
|
|
#define BMG160_REG_INT_MAP0 0x17
|
|
#define BMG160_REG_INT_MAP1 0x18
|
|
#define BMG160_REG_INT_MAP2 0x19
|
|
#define BMG160_REG_FILTER 0x1A
|
|
#define BMG160_REG_THRES 0x1B
|
|
#define BMG160_REG_ANY_EN 0x1C
|
|
#define BMG160_REG_FIFO_WM 0x1E
|
|
#define BMG160_REG_INT_RST_LATCH 0x21
|
|
#define BMG160_REG_HIGH_TH_X 0x22
|
|
#define BMG160_REG_HIGH_DUR_X 0x23
|
|
#define BMG160_REG_HIGH_TH_Y 0x24
|
|
#define BMG160_REG_HIGH_DUR_Y 0x25
|
|
#define BMG160_REG_HIGH_TH_Z 0x26
|
|
#define BMG160_REG_HIGH_DUR_Z 0x27
|
|
#define BMG160_REG_SOC 0x31
|
|
#define BMG160_REG_A_FOC 0x32
|
|
#define BMG160_REG_TRIM_NVM_CTRL 0x33
|
|
#define BMG160_REG_BGW_SPI3_WDT 0x34
|
|
#define BMG160_REG_OFC1 0x36
|
|
#define BMG160_REG_OFC2 0x37
|
|
#define BMG160_REG_OFC3 0x38
|
|
#define BMG160_REG_OFC4 0x39
|
|
#define BMG160_REG_TRIM_GP0 0x3A
|
|
#define BMG160_REG_TRIM_GP1 0x3B
|
|
#define BMG160_REG_TRIM_BIST 0x3C
|
|
#define BMG160_REG_TRIM_FIFO_CONFIG0 0x3D
|
|
#define BMG160_REG_TRIM_FIFO_CONFIG1 0x3E
|
|
#define BMG160_REG_TRIM_FIFO_DATA 0x3F
|
|
|
|
/* bitfields */
|
|
|
|
/* BMG160_REG_INT_STATUS0 */
|
|
#define BMG160_HIGH_INT BIT(1)
|
|
#define BMG160_ANY_INT BIT(2)
|
|
|
|
/* BMG160_REG_INT_STATUS1 */
|
|
#define BMG160_FIFO_INT BIT(4)
|
|
#define BMG160_FAST_OFFSET_INT BIT(5)
|
|
#define BMG160_AUTO_OFFSET_INT BIT(6)
|
|
#define BMG160_DATA_INT BIT(7)
|
|
|
|
/* BMG160_REG_INT_STATUS2 */
|
|
#define BMG160_ANY_FIRST_X BIT(0)
|
|
#define BMG160_ANY_FIRST_Y BIT(1)
|
|
#define BMG160_ANY_FIRST_Z BIT(2)
|
|
#define BMG160_ANY_SIGN BIT(3)
|
|
|
|
/* BMG160_REG_INT_STATUS3 */
|
|
#define BMG160_HIGH_FIRST_X BIT(0)
|
|
#define BMG160_HIGH_FIRST_Y BIT(1)
|
|
#define BMG160_HIGH_FIRST_Z BIT(2)
|
|
#define BMG160_HIGH_SIGN BIT(3)
|
|
|
|
/* BMG160_REG_FIFO_STATUS */
|
|
#define BMG160_FIFO_FRAME_COUNTER_MASK 0x7F
|
|
#define BMG160_FIFO_OVERRUN BIT(7)
|
|
|
|
/* BMG160_REG_INT_EN_0 */
|
|
#define BMG160_AUTO_OFFSET_EN BIT(2)
|
|
#define BMG160_FIFO_EN BIT(6)
|
|
#define BMG160_DATA_EN BIT(7)
|
|
|
|
/* BMG160_REG_INT_EN_1 */
|
|
#define BMG160_INT1_LVL BIT(0)
|
|
#define BMG160_INT1_OD BIT(1)
|
|
#define BMG160_INT2_LVL BIT(2)
|
|
#define BMG160_INT2_OD BIT(3)
|
|
|
|
/* BMG160_REG_INT_MAP0 */
|
|
#define BMG160_INT1_ANY BIT(1)
|
|
#define BMG160_INT1_HIGH BIT(3)
|
|
|
|
/* BMG160_REG_INT_MAP1 */
|
|
#define BMG160_INT1_DATA BIT(0)
|
|
#define BMG160_INT1_FAST_OFFSET BIT(1)
|
|
#define BMG160_INT1_FIFO BIT(2)
|
|
#define BMG160_INT1_AUTO_OFFSET BIT(3)
|
|
#define BMG160_INT2_AUTO_OFFSET BIT(4)
|
|
#define BMG160_INT2_FIFO BIT(5)
|
|
#define BMG160_INT2_FAST_OFFSET BIT(6)
|
|
#define BMG160_INT2_DATA BIT(7)
|
|
|
|
/* BMG160_REG_ANY_EN */
|
|
#define BMG160_AWAKE_DUR_POS 6
|
|
#define BMG160_AWAKE_DUR_MASK (0x3 << 6)
|
|
#define BMG160_ANY_DURSAMPLE_POS 4
|
|
#define BMG160_ANY_DURSAMPLE_MASK (0x3 << 4)
|
|
#define BMG160_ANY_EN_Z BIT(2)
|
|
#define BMG160_ANY_EN_Y BIT(1)
|
|
#define BMG160_ANY_EN_X BIT(0)
|
|
#define BMG160_ANY_EN_MASK 0x7
|
|
|
|
/* BMG160_REG_INT_RST_LATCH */
|
|
#define BMG160_RESET_INT BIT(7)
|
|
#define BMG160_OFFSET_RESET BIT(6)
|
|
#define BMG160_LATCH_STATUS_BIT BIT(4)
|
|
#define BMG160_LATCH_INT_MASK 0x0F
|
|
|
|
/* BMG160_REG_THRES */
|
|
#define BMG160_THRES_MASK 0x7F
|
|
|
|
/* other */
|
|
#define BMG160_CHIP_ID 0x0F
|
|
#define BMG160_RESET 0xB6
|
|
|
|
#define BMG160_RANGE_TO_SCALE(range_dps) \
|
|
((2 * range_dps * SENSOR_PI) / 180LL / 65536LL)
|
|
#define BMG160_SCALE_TO_RANGE(scale) \
|
|
(((scale * 90LL * 65536LL) + SENSOR_PI / 2) / SENSOR_PI)
|
|
|
|
/* default settings, based on menuconfig options */
|
|
#if defined(CONFIG_BMG160_RANGE_RUNTIME) ||\
|
|
defined(CONFIG_BMG160_RANGE_2000DPS)
|
|
# define BMG160_DEFAULT_RANGE 0
|
|
#elif defined(CONFIG_BMG160_RANGE_1000DPS)
|
|
# define BMG160_DEFAULT_RANGE 1
|
|
#elif defined(CONFIG_BMG160_RANGE_500DPS)
|
|
# define BMG160_DEFAULT_RANGE 2
|
|
#elif defined(CONFIG_BMG160_RANGE_250DPS)
|
|
# define BMG160_DEFAULT_RANGE 3
|
|
#else
|
|
# define BMG160_DEFAULT_RANGE 4
|
|
#endif
|
|
|
|
#if defined(CONFIG_BMG160_ODR_RUNTIME) ||\
|
|
defined(CONFIG_BMG160_ODR_100)
|
|
# define BMG160_DEFAULT_ODR 5
|
|
#elif defined(CONFIG_BMG160_ODR_200)
|
|
# define BMG160_DEFAULT_ODR 4
|
|
#elif defined(CONFIG_BMG160_ODR_400)
|
|
# define BMG160_DEFAULT_ODR 3
|
|
#elif defined(CONFIG_BMG160_ODR_1000)
|
|
# define BMG160_DEFAULT_ODR 2
|
|
#else
|
|
# define BMG160_DEFAULT_ODR 1
|
|
#endif
|
|
|
|
#if defined(CONFIG_BMG160_I2C_SPEED_STANDARD)
|
|
#define BMG160_BUS_SPEED I2C_SPEED_STANDARD
|
|
#elif defined(CONFIG_BMG160_I2C_SPEED_FAST)
|
|
#define BMG160_BUS_SPEED I2C_SPEED_FAST
|
|
#endif
|
|
|
|
/* end of default settigns */
|
|
|
|
struct bmg160_device_config {
|
|
const char *i2c_port;
|
|
#ifdef CONFIG_BMG160_TRIGGER
|
|
const char *gpio_port;
|
|
#endif
|
|
uint16_t i2c_addr;
|
|
uint8_t i2c_speed;
|
|
#ifdef CONFIG_BMG160_TRIGGER
|
|
uint8_t int_pin;
|
|
#endif
|
|
};
|
|
|
|
struct bmg160_device_data {
|
|
struct device *i2c;
|
|
#ifdef CONFIG_BMG160_TRIGGER
|
|
struct device *gpio;
|
|
struct gpio_callback gpio_cb;
|
|
#endif
|
|
#ifdef CONFIG_BMG160_TRIGGER_OWN_THREAD
|
|
struct k_sem trig_sem;
|
|
#endif
|
|
struct k_sem sem;
|
|
#ifdef CONFIG_BMG160_TRIGGER_GLOBAL_THREAD
|
|
struct k_work work;
|
|
struct device *dev;
|
|
#endif
|
|
#ifdef CONFIG_BMG160_TRIGGER
|
|
sensor_trigger_handler_t anymotion_handler;
|
|
sensor_trigger_handler_t drdy_handler;
|
|
#endif
|
|
int16_t raw_gyro_xyz[3];
|
|
uint16_t scale;
|
|
uint8_t range_idx;
|
|
|
|
int8_t raw_temp;
|
|
};
|
|
|
|
int bmg160_trigger_init(struct device *dev);
|
|
int bmg160_trigger_set(struct device *dev,
|
|
const struct sensor_trigger *trig,
|
|
sensor_trigger_handler_t handler);
|
|
int bmg160_read(struct device *dev, uint8_t reg_addr, uint8_t *data,
|
|
uint8_t len);
|
|
int bmg160_read_byte(struct device *dev, uint8_t reg_addr, uint8_t *byte);
|
|
int bmg160_update_byte(struct device *dev, uint8_t reg_addr, uint8_t mask,
|
|
uint8_t value);
|
|
int bmg160_write_byte(struct device *dev, uint8_t reg_addr, uint8_t data);
|
|
int bmg160_slope_config(struct device *dev, enum sensor_attribute attr,
|
|
const struct sensor_value *val);
|
|
|
|
#define SYS_LOG_DOMAIN "BMG160"
|
|
#define SYS_LOG_LEVEL CONFIG_SYS_LOG_SENSOR_LEVEL
|
|
#include <logging/sys_log.h>
|
|
#endif /* _BMG160_H_ */
|