233 lines
6.5 KiB
C
233 lines
6.5 KiB
C
/* Bosch BMG160 gyro driver */
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/*
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* Copyright (c) 2016 Intel Corporation
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#ifndef ZEPHYR_DRIVERS_SENSOR_BMG160_BMG160_H_
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#define ZEPHYR_DRIVERS_SENSOR_BMG160_BMG160_H_
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#include <drivers/i2c.h>
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#include <drivers/gpio.h>
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#include <sys/util.h>
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/* registers */
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#define BMG160_REG_CHIPID 0x00
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#define BMG160_REG_RATE_X 0x02
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#define BMG160_REG_RATE_Y 0x04
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#define BMG160_REG_RATE_Z 0x06
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#define BMG160_REG_TEMP 0x08
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#define BMG160_REG_INT_STATUS0 0x09
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#define BMG160_REG_INT_STATUS1 0x0A
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#define BMG160_REG_INT_STATUS2 0x0B
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#define BMG160_REG_INT_STATUS3 0x0C
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#define BMG160_REG_FIFO_STATUS 0x0E
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#define BMG160_REG_RANGE 0x0F
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#define BMG160_REG_BW 0x10
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#define BMG160_REG_LPM1 0x11
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#define BMG160_REG_LPM2 0x12
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#define BMG160_REG_RATE_HBW 0x13
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#define BMG160_REG_BGW_SOFTRESET 0x14
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#define BMG160_REG_INT_EN0 0x15
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#define BMG160_REG_INT_EN1 0x16
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#define BMG160_REG_INT_MAP0 0x17
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#define BMG160_REG_INT_MAP1 0x18
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#define BMG160_REG_INT_MAP2 0x19
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#define BMG160_REG_FILTER 0x1A
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#define BMG160_REG_THRES 0x1B
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#define BMG160_REG_ANY_EN 0x1C
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#define BMG160_REG_FIFO_WM 0x1E
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#define BMG160_REG_INT_RST_LATCH 0x21
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#define BMG160_REG_HIGH_TH_X 0x22
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#define BMG160_REG_HIGH_DUR_X 0x23
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#define BMG160_REG_HIGH_TH_Y 0x24
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#define BMG160_REG_HIGH_DUR_Y 0x25
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#define BMG160_REG_HIGH_TH_Z 0x26
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#define BMG160_REG_HIGH_DUR_Z 0x27
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#define BMG160_REG_SOC 0x31
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#define BMG160_REG_A_FOC 0x32
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#define BMG160_REG_TRIM_NVM_CTRL 0x33
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#define BMG160_REG_BGW_SPI3_WDT 0x34
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#define BMG160_REG_OFC1 0x36
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#define BMG160_REG_OFC2 0x37
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#define BMG160_REG_OFC3 0x38
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#define BMG160_REG_OFC4 0x39
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#define BMG160_REG_TRIM_GP0 0x3A
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#define BMG160_REG_TRIM_GP1 0x3B
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#define BMG160_REG_TRIM_BIST 0x3C
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#define BMG160_REG_TRIM_FIFO_CONFIG0 0x3D
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#define BMG160_REG_TRIM_FIFO_CONFIG1 0x3E
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#define BMG160_REG_TRIM_FIFO_DATA 0x3F
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/* bitfields */
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/* BMG160_REG_INT_STATUS0 */
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#define BMG160_HIGH_INT BIT(1)
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#define BMG160_ANY_INT BIT(2)
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/* BMG160_REG_INT_STATUS1 */
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#define BMG160_FIFO_INT BIT(4)
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#define BMG160_FAST_OFFSET_INT BIT(5)
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#define BMG160_AUTO_OFFSET_INT BIT(6)
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#define BMG160_DATA_INT BIT(7)
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/* BMG160_REG_INT_STATUS2 */
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#define BMG160_ANY_FIRST_X BIT(0)
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#define BMG160_ANY_FIRST_Y BIT(1)
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#define BMG160_ANY_FIRST_Z BIT(2)
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#define BMG160_ANY_SIGN BIT(3)
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/* BMG160_REG_INT_STATUS3 */
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#define BMG160_HIGH_FIRST_X BIT(0)
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#define BMG160_HIGH_FIRST_Y BIT(1)
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#define BMG160_HIGH_FIRST_Z BIT(2)
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#define BMG160_HIGH_SIGN BIT(3)
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/* BMG160_REG_FIFO_STATUS */
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#define BMG160_FIFO_FRAME_COUNTER_MASK 0x7F
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#define BMG160_FIFO_OVERRUN BIT(7)
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/* BMG160_REG_INT_EN_0 */
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#define BMG160_AUTO_OFFSET_EN BIT(2)
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#define BMG160_FIFO_EN BIT(6)
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#define BMG160_DATA_EN BIT(7)
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/* BMG160_REG_INT_EN_1 */
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#define BMG160_INT1_LVL BIT(0)
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#define BMG160_INT1_OD BIT(1)
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#define BMG160_INT2_LVL BIT(2)
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#define BMG160_INT2_OD BIT(3)
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/* BMG160_REG_INT_MAP0 */
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#define BMG160_INT1_ANY BIT(1)
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#define BMG160_INT1_HIGH BIT(3)
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/* BMG160_REG_INT_MAP1 */
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#define BMG160_INT1_DATA BIT(0)
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#define BMG160_INT1_FAST_OFFSET BIT(1)
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#define BMG160_INT1_FIFO BIT(2)
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#define BMG160_INT1_AUTO_OFFSET BIT(3)
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#define BMG160_INT2_AUTO_OFFSET BIT(4)
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#define BMG160_INT2_FIFO BIT(5)
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#define BMG160_INT2_FAST_OFFSET BIT(6)
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#define BMG160_INT2_DATA BIT(7)
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/* BMG160_REG_ANY_EN */
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#define BMG160_AWAKE_DUR_POS 6
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#define BMG160_AWAKE_DUR_MASK (0x3 << 6)
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#define BMG160_ANY_DURSAMPLE_POS 4
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#define BMG160_ANY_DURSAMPLE_MASK (0x3 << 4)
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#define BMG160_ANY_EN_Z BIT(2)
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#define BMG160_ANY_EN_Y BIT(1)
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#define BMG160_ANY_EN_X BIT(0)
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#define BMG160_ANY_EN_MASK 0x7
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/* BMG160_REG_INT_RST_LATCH */
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#define BMG160_RESET_INT BIT(7)
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#define BMG160_OFFSET_RESET BIT(6)
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#define BMG160_LATCH_STATUS_BIT BIT(4)
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#define BMG160_LATCH_INT_MASK 0x0F
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/* BMG160_REG_THRES */
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#define BMG160_THRES_MASK 0x7F
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/* other */
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#define BMG160_CHIP_ID 0x0F
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#define BMG160_RESET 0xB6
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#define BMG160_RANGE_TO_SCALE(range_dps) \
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((2 * range_dps * SENSOR_PI) / 180LL / 65536LL)
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#define BMG160_SCALE_TO_RANGE(scale) \
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(((scale * 90LL * 65536LL) + SENSOR_PI / 2) / SENSOR_PI)
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/* default settings, based on menuconfig options */
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#if defined(CONFIG_BMG160_RANGE_RUNTIME) ||\
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defined(CONFIG_BMG160_RANGE_2000DPS)
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# define BMG160_DEFAULT_RANGE 0
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#elif defined(CONFIG_BMG160_RANGE_1000DPS)
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# define BMG160_DEFAULT_RANGE 1
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#elif defined(CONFIG_BMG160_RANGE_500DPS)
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# define BMG160_DEFAULT_RANGE 2
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#elif defined(CONFIG_BMG160_RANGE_250DPS)
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# define BMG160_DEFAULT_RANGE 3
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#else
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# define BMG160_DEFAULT_RANGE 4
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#endif
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#if defined(CONFIG_BMG160_ODR_RUNTIME) ||\
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defined(CONFIG_BMG160_ODR_100)
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# define BMG160_DEFAULT_ODR 5
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#elif defined(CONFIG_BMG160_ODR_200)
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# define BMG160_DEFAULT_ODR 4
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#elif defined(CONFIG_BMG160_ODR_400)
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# define BMG160_DEFAULT_ODR 3
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#elif defined(CONFIG_BMG160_ODR_1000)
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# define BMG160_DEFAULT_ODR 2
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#else
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# define BMG160_DEFAULT_ODR 1
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#endif
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#if defined(CONFIG_BMG160_I2C_SPEED_STANDARD)
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#define BMG160_BUS_SPEED I2C_SPEED_STANDARD
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#elif defined(CONFIG_BMG160_I2C_SPEED_FAST)
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#define BMG160_BUS_SPEED I2C_SPEED_FAST
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#endif
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/* end of default settings */
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struct bmg160_device_config {
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const char *i2c_port;
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uint16_t i2c_addr;
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uint8_t i2c_speed;
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#ifdef CONFIG_BMG160_TRIGGER
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gpio_pin_t int_pin;
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gpio_dt_flags_t int_flags;
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const char *gpio_port;
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#endif
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};
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struct bmg160_device_data {
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const struct device *i2c;
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#ifdef CONFIG_BMG160_TRIGGER
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const struct device *dev;
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const struct device *gpio;
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struct gpio_callback gpio_cb;
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#endif
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#ifdef CONFIG_BMG160_TRIGGER_OWN_THREAD
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struct k_sem trig_sem;
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#endif
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struct k_sem sem;
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#ifdef CONFIG_BMG160_TRIGGER_GLOBAL_THREAD
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struct k_work work;
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#endif
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#ifdef CONFIG_BMG160_TRIGGER
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sensor_trigger_handler_t anymotion_handler;
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sensor_trigger_handler_t drdy_handler;
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#endif
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int16_t raw_gyro_xyz[3];
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uint16_t scale;
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uint8_t range_idx;
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int8_t raw_temp;
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};
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int bmg160_trigger_init(const struct device *dev);
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int bmg160_trigger_set(const struct device *dev,
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const struct sensor_trigger *trig,
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sensor_trigger_handler_t handler);
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int bmg160_read(const struct device *dev, uint8_t reg_addr, uint8_t *data,
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uint8_t len);
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int bmg160_read_byte(const struct device *dev, uint8_t reg_addr,
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uint8_t *byte);
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int bmg160_update_byte(const struct device *dev, uint8_t reg_addr,
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uint8_t mask,
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uint8_t value);
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int bmg160_write_byte(const struct device *dev, uint8_t reg_addr,
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uint8_t data);
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int bmg160_slope_config(const struct device *dev, enum sensor_attribute attr,
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const struct sensor_value *val);
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#endif /* ZEPHYR_DRIVERS_SENSOR_BMG160_BMG160_H_ */
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