488 lines
15 KiB
C
488 lines
15 KiB
C
/* Bosch BMI160 inertial measurement unit header
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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 _BMI160_H_
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#define _BMI160_H_
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#include <gpio.h>
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#include <misc/util.h>
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/* registers */
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#define BMI160_REG_CHIPID 0x00
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#define BMI160_REG_ERR 0x02
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#define BMI160_REG_PMU_STATUS 0x03
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#define BMI160_REG_DATA_MAG_X 0x04
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#define BMI160_REG_DATA_MAG_Y 0x06
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#define BMI160_REG_DATA_MAG_Z 0x08
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#define BMI160_REG_DATA_RHALL 0x0A
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#define BMI160_REG_DATA_GYR_X 0x0C
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#define BMI160_REG_DATA_GYR_Y 0x0E
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#define BMI160_REG_DATA_GYR_Z 0x10
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#define BMI160_REG_DATA_ACC_X 0x12
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#define BMI160_REG_DATA_ACC_Y 0x14
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#define BMI160_REG_DATA_ACC_Z 0x16
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#define BMI160_REG_SENSORTIME0 0x18
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#define BMI160_REG_SENSORTIME1 0x19
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#define BMI160_REG_SENSORTIME2 0x1A
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#define BMI160_REG_STATUS 0x1B
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#define BMI160_REG_INT_STATUS0 0x1C
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#define BMI160_REG_INT_STATUS1 0x1D
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#define BMI160_REG_INT_STATUS2 0x1E
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#define BMI160_REG_INT_STATUS3 0x1F
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#define BMI160_REG_TEMPERATURE0 0x20
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#define BMI160_REG_TEMPERATURE1 0x21
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#define BMI160_REG_FIFO_LENGTH0 0x22
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#define BMI160_REG_FIFO_LENGTH1 0x23
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#define BMI160_REG_FIFO_DATA 0x24
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#define BMI160_REG_ACC_CONF 0x40
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#define BMI160_REG_ACC_RANGE 0x41
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#define BMI160_REG_GYR_CONF 0x42
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#define BMI160_REG_GYR_RANGE 0x43
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#define BMI160_REG_MAG_CONF 0x44
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#define BMI160_REG_FIFO_DOWNS 0x45
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#define BMI160_REG_FIFO_CONFIG0 0x46
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#define BMI160_REG_FIFO_CONFIG1 0x47
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#define BMI160_REG_MAG_IF0 0x4B
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#define BMI160_REG_MAG_IF1 0x4C
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#define BMI160_REG_MAG_IF2 0x4D
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#define BMI160_REG_MAG_IF3 0x4E
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#define BMI160_REG_MAG_IF4 0x4F
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#define BMI160_REG_INT_EN0 0x50
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#define BMI160_REG_INT_EN1 0x51
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#define BMI160_REG_INT_EN2 0x52
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#define BMI160_REG_INT_OUT_CTRL 0x53
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#define BMI160_REG_INT_LATCH 0x54
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#define BMI160_REG_INT_MAP0 0x55
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#define BMI160_REG_INT_MAP1 0x56
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#define BMI160_REG_INT_MAP2 0x57
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#define BMI160_REG_INT_DATA0 0x58
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#define BMI160_REG_INT_DATA1 0x59
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#define BMI160_REG_INT_LOWHIGH0 0x5A
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#define BMI160_REG_INT_LOWHIGH1 0x5B
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#define BMI160_REG_INT_LOWHIGH2 0x5C
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#define BMI160_REG_INT_LOWHIGH3 0x5D
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#define BMI160_REG_INT_LOWHIGH4 0x5E
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#define BMI160_REG_INT_MOTION0 0x5F
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#define BMI160_REG_INT_MOTION1 0x60
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#define BMI160_REG_INT_MOTION2 0x61
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#define BMI160_REG_INT_MOTION3 0x62
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#define BMI160_REG_INT_TAP0 0x63
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#define BMI160_REG_INT_TAP1 0x64
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#define BMI160_REG_INT_ORIENT0 0x65
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#define BMI160_REG_INT_ORIENT1 0x66
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#define BMI160_REG_INT_FLAT0 0x67
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#define BMI160_REG_INT_FLAT1 0x68
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#define BMI160_REG_FOC_CONF 0x69
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#define BMI160_REG_CONF 0x6A
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#define BMI160_REG_IF_CONF 0x6B
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#define BMI160_REG_PMU_TRIGGER 0x6C
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#define BMI160_REG_SELF_TEST 0x6D
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#define BMI160_REG_NV_CONF 0x70
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#define BMI160_REG_OFFSET_ACC_X 0x71
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#define BMI160_REG_OFFSET_ACC_Y 0x72
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#define BMI160_REG_OFFSET_ACC_Z 0x73
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#define BMI160_REG_OFFSET_GYR_X 0x74
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#define BMI160_REG_OFFSET_GYR_Y 0x75
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#define BMI160_REG_OFFSET_GYR_Z 0x76
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#define BMI160_REG_OFFSET_EN 0x77
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#define BMI160_REG_STEP_CNT0 0x78
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#define BMI160_REG_STEP_CNT1 0x79
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#define BMI160_REG_STEP_CONF0 0x7A
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#define BMI160_REG_STEP_CONF1 0x7B
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#define BMI160_REG_CMD 0x7E
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/* bitfields */
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/* BMI160_REG_ERR */
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#define BMI160_ERR_FATAL BIT(0)
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#define BMI160_ERR_CODE BIT(1)
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#define BMI160_ERR_CODE_MASK (0xf << 1)
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#define BMI160_ERR_I2C_FAIL BIT(5)
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#define BMI160_ERR_DROP_CMD BIT(6)
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#define BMI160_ERR_MAG_DRDY BIT(7)
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/* BMI160_REG_PMU_STATUS */
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#define BMI160_PMU_STATUS_MAG_MASK 0x3
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#define BMI160_PMU_STATUS_MAG_POS 0
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#define BMI160_PMU_STATUS_GYR_POS 2
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#define BMI160_PMU_STATUS_GYR_MASK (0x3 << 2)
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#define BMI160_PMU_STATUS_ACC_POS 4
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#define BMI160_PMU_STATUS_ACC_MASK (0x3 << 4)
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#define BMI160_PMU_SUSPEND 0
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#define BMI160_PMU_NORMAL 1
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#define BMI160_PMU_LOW_POWER 2
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#define BMI160_PMU_FAST_START 3
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/* BMI160_REG_STATUS */
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#define BMI160_STATUS_GYR_SELFTEST BIT(1)
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#define BMI160_STATUS_MAG_MAN_OP BIT(2)
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#define BMI160_STATUS_FOC_RDY BIT(3)
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#define BMI160_STATUS_NVM_RDY BIT(4)
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#define BMI160_STATUS_MAG_DRDY BIT(5)
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#define BMI160_STATUS_GYR_DRDY BIT(6)
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#define BMI160_STATUS_ACC_DRDY BIT(7)
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/* BMI160_REG_INT_STATUS0 */
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#define BMI160_INT_STATUS0_STEP BIT(0)
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#define BMI160_INT_STATUS0_SIGMOT BIT(1)
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#define BMI160_INT_STATUS0_ANYM BIT(2)
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#define BMI160_INT_STATUS0_PMU_TRIG BIT(3)
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#define BMI160_INT_STATUS0_D_TAP BIT(4)
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#define BMI160_INT_STATUS0_S_TAP BIT(5)
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#define BMI160_INT_STATUS0_ORIENT BIT(6)
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#define BMI160_INT_STATUS0_FLAT BIT(7)
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/* BMI160_REG_INT_STATUS1 */
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#define BMI160_INT_STATUS1_HIGHG BIT(2)
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#define BMI160_INT_STATUS1_LOWG BIT(3)
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#define BMI160_INT_STATUS1_DRDY BIT(4)
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#define BMI160_INT_STATUS1_FFULL BIT(5)
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#define BMI160_INT_STATUS1_FWM BIT(6)
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#define BMI160_INT_STATUS1_NOMO BIT(7)
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/* BMI160_REG_INT_STATUS2 */
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#define BMI160_INT_STATUS2_ANYM_FIRST_X BIT(0)
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#define BMI160_INT_STATUS2_ANYM_FIRST_Y BIT(1)
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#define BMI160_INT_STATUS2_ANYM_FIRST_Z BIT(2)
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#define BMI160_INT_STATUS2_ANYM_SIGN BIT(3)
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#define BMI160_INT_STATUS2_TAP_FIRST_X BIT(4)
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#define BMI160_INT_STATUS2_TAP_FIRST_Y BIT(5)
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#define BMI160_INT_STATUS2_TAP_FIRST_Z BIT(6)
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#define BMI160_INT_STATUS2_TAP_SIGN BIT(7)
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/* BMI160_REG_INT_STATUS3 */
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#define BMI160_INT_STATUS3_HIGH_FIRST_X BIT(0)
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#define BMI160_INT_STATUS3_HIGH_FIRST_Y BIT(1)
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#define BMI160_INT_STATUS3_HIGH_FIRST_Z BIT(2)
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#define BMI160_INT_STATUS3_HIGH_SIGN BIT(3)
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#define BMI160_INT_STATUS3_ORIENT_1_0 BIT(4)
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#define BMI160_INT_STATUS3_ORIENT_2 BIT(6)
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#define BMI160_INT_STATUS3_FLAT BIT(7)
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/* BMI160_REG_ACC_CONF */
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#define BMI160_ACC_CONF_ODR_POS 0
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#define BMI160_ACC_CONF_ODR_MASK 0xF
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#define BMI160_ACC_CONF_BWP_POS 4
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#define BMI160_ACC_CONF_BWP_MASK (0x7 << 4)
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#define BMI160_ACC_CONF_US BIT(7)
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/* BMI160_REG_GYRO_CONF */
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#define BMI160_GYR_CONF_ODR_POS 0
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#define BMI160_GYR_CONF_ODR_MASK 0xF
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#define BMI160_GYR_CONF_BWP_POS 4
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#define BMI160_GYR_CONF_BWP_MASK (0x3 << 4)
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/* BMI160_REG_OFFSET_EN */
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#define BMI160_GYR_OFS_EN_POS 7
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#define BMI160_ACC_OFS_EN_POS 6
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#define BMI160_GYR_MSB_OFS_Z_POS 4
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#define BMI160_GYR_MSB_OFS_Z_MASK (BIT(4) | BIT(5))
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#define BMI160_GYR_MSB_OFS_Y_POS 2
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#define BMI160_GYR_MSB_OFS_Y_MASK (BIT(2) | BIT(3))
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#define BMI160_GYR_MSB_OFS_X_POS 0
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#define BMI160_GYR_MSB_OFS_X_MASK (BIT(0) | BIT(1))
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/* BMI160_REG_CMD */
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#define BMI160_CMD_START_FOC 3
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#define BMI160_CMD_PMU_ACC 0x10
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#define BMI160_CMD_PMU_GYR 0x14
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#define BMI160_CMD_PMU_MAG 0x18
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#define BMI160_CMD_SOFT_RESET 0xB6
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/* BMI160_REG_FOC_CONF */
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#define BMI160_FOC_ACC_Z_POS 0
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#define BMI160_FOC_ACC_Y_POS 2
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#define BMI160_FOC_ACC_X_POS 4
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#define BMI160_FOC_GYR_EN_POS 6
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/* BMI160_REG_INT_MOTION0 */
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#define BMI160_ANYM_DUR_POS 0
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#define BMI160_ANYM_DUR_MASK 0x3
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/* BMI160_REG_INT_EN0 */
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#define BMI160_INT_FLAT_EN BIT(7)
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#define BMI160_INT_ORIENT_EN BIT(6)
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#define BMI160_INT_S_TAP_EN BIT(5)
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#define BMI160_INT_D_TAP_EN BIT(4)
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#define BMI160_INT_ANYM_Z_EN BIT(2)
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#define BMI160_INT_ANYM_Y_EN BIT(1)
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#define BMI160_INT_ANYM_X_EN BIT(0)
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#define BMI160_INT_ANYM_MASK (BIT(0) | BIT(1) | BIT(2))
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/* BMI160_REG_INT_EN1 */
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#define BMI160_INT_FWM_EN BIT(6)
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#define BMI160_INT_FFULL_EN BIT(5)
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#define BMI160_INT_DRDY_EN BIT(4)
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#define BMI160_INT_LOWG_EN BIT(3)
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#define BMI160_INT_HIGHG_Z_EN BIT(2)
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#define BMI160_INT_HIGHG_Y_EN BIT(1)
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#define BMI160_INT_HIGHG_X_EN BIT(0)
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#define BMI160_INT_HIGHG_MASK (BIT(0) | BIT(1) | BIT(2))
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/* BMI160_REG_INT_EN2 */
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#define BMI160_INT_STEP_DET_EN BIT(3)
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#define BMI160_INT_STEP_NOMO_Z_EN BIT(2)
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#define BMI160_INT_STEP_NOMO_Y_EN BIT(1)
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#define BMI160_INT_STEP_NOMO_X_EN BIT(0)
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#define BMI160_INT_STEP_NOMO_MASK (BIT(0) | BIT(1) | BIT(2))
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/* BMI160_REG_INT_OUT_CTRL */
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#define BMI160_INT2_OUT_EN BIT(7)
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#define BMI160_INT2_OD BIT(6)
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#define BMI160_INT2_LVL BIT(5)
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#define BMI160_INT2_EDGE_CTRL BIT(4)
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#define BMI160_INT1_OUT_EN BIT(3)
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#define BMI160_INT1_OD BIT(2)
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#define BMI160_INT1_LVL BIT(1)
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#define BMI160_INT1_EDGE_CTRL BIT(0)
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/* other */
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#define BMI160_CHIP_ID 0xD1
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#define BMI160_TEMP_OFFSET 23
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/* allowed ODR values */
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enum bmi160_odr {
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BMI160_ODR_25_32 = 1,
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BMI160_ODR_25_16,
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BMI160_ODR_25_8,
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BMI160_ODR_25_4,
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BMI160_ODR_25_2,
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BMI160_ODR_25,
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BMI160_ODR_50,
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BMI160_ODR_100,
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BMI160_ODR_200,
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BMI160_ODR_400,
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BMI160_ODR_800,
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BMI160_ODR_1600,
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BMI160_ODR_3200,
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};
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/* Range values for accelerometer */
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#define BMI160_ACC_RANGE_2G 0x3
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#define BMI160_ACC_RANGE_4G 0x5
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#define BMI160_ACC_RANGE_8G 0x8
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#define BMI160_ACC_RANGE_16G 0xC
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/* Range values for gyro */
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#define BMI160_GYR_RANGE_2000DPS 0
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#define BMI160_GYR_RANGE_1000DPS 1
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#define BMI160_GYR_RANGE_500DPS 2
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#define BMI160_GYR_RANGE_250DPS 3
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#define BMI160_GYR_RANGE_125DPS 4
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#define BMI160_ACC_SCALE(range_g) ((2 * range_g * SENSOR_G) / 65536LL)
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#define BMI160_GYR_SCALE(range_dps)\
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((2 * range_dps * SENSOR_PI) / 180LL / 65536LL)
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/* default settings, based on menuconfig options */
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/* make sure at least one sensor is active */
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#if defined(CONFIG_BMI160_ACCEL_PMU_SUSPEND) &&\
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defined(CONFIG_BMI160_GYRO_PMU_SUSPEND)
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#error "Error: You need to activate at least one sensor!"
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#endif
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#if defined(CONFIG_BMI160_ACCEL_PMU_RUNTIME) ||\
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defined(CONFIG_BMI160_ACCEL_PMU_NORMAL)
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# define BMI160_DEFAULT_PMU_ACC BMI160_PMU_NORMAL
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#elif defined(CONFIG_BMI160_ACCEL_PMU_SUSPEND)
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# define BMI160_DEFAULT_PMU_ACC BMI160_PMU_SUSPEND
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#else
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# define BMI160_DEFAULT_PMU_ACC BMI160_PMU_LOW_POWER
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#endif
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#if defined(CONFIG_BMI160_GYRO_PMU_RUNTIME) ||\
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defined(CONFIG_BMI160_GYRO_PMU_NORMAL)
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# define BMI160_DEFAULT_PMU_GYR BMI160_PMU_NORMAL
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#elif defined(CONFIG_BMI160_GYRO_PMU_SUSPEND)
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# define BMI160_DEFAULT_PMU_GYR BMI160_PMU_SUSPEND
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#else
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# define BMI160_DEFAULT_PMU_GYR BMI160_PMU_FAST_START
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#endif
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#if defined(CONFIG_BMI160_ACCEL_RANGE_RUNTIME) ||\
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defined(CONFIG_BMI160_ACCEL_RANGE_2G)
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# define BMI160_DEFAULT_RANGE_ACC BMI160_ACC_RANGE_2G
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#elif defined(CONFIG_BMI160_ACCEL_RANGE_4G)
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# define BMI160_DEFAULT_RANGE_ACC BMI160_ACC_RANGE_4G
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#elif defined(CONFIG_BMI160_ACCEL_RANGE_8G)
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# define BMI160_DEFAULT_RANGE_ACC BMI160_ACC_RANGE_8G
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#else
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# define BMI160_DEFAULT_RANGE_ACC BMI160_ACC_RANGE_16G
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#endif
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#if defined(CONFIG_BMI160_GYRO_RANGE_RUNTIME) ||\
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defined(CONFIG_BMI160_GYRO_RANGE_2000DPS)
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# define BMI160_DEFAULT_RANGE_GYR BMI160_GYR_RANGE_2000DPS
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#elif defined(CONFIG_BMI160_GYRO_RANGE_1000DPS)
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# define BMI160_DEFAULT_RANGE_GYR BMI160_GYR_RANGE_1000DPS
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#elif defined(CONFIG_BMI160_GYRO_RANGE_500DPS)
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# define BMI160_DEFAULT_RANGE_GYR BMI160_GYR_RANGE_500DPS
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#elif defined(CONFIG_BMI160_GYRO_RANGE_250DPS)
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# define BMI160_DEFAULT_RANGE_GYR BMI160_GYR_RANGE_250DPS
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#else
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# define BMI160_DEFAULT_RANGE_GYR BMI160_GYR_RANGE_125DPS
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#endif
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#if defined(CONFIG_BMI160_ACCEL_ODR_RUNTIME) ||\
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defined(CONFIG_BMI160_ACCEL_ODR_100)
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# define BMI160_DEFAULT_ODR_ACC 8
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#elif defined(CONFIG_BMI160_ACCEL_ODR_25_32)
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# define BMI160_DEFAULT_ODR_ACC 1
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#elif defined(CONFIG_BMI160_ACCEL_ODR_25_16)
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# define BMI160_DEFAULT_ODR_ACC 2
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#elif defined(CONFIG_BMI160_ACCEL_ODR_25_8)
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# define BMI160_DEFAULT_ODR_ACC 3
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#elif defined(CONFIG_BMI160_ACCEL_ODR_25_4)
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# define BMI160_DEFAULT_ODR_ACC 4
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#elif defined(CONFIG_BMI160_ACCEL_ODR_25_2)
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# define BMI160_DEFAULT_ODR_ACC 5
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#elif defined(CONFIG_BMI160_ACCEL_ODR_25)
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# define BMI160_DEFAULT_ODR_ACC 6
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#elif defined(CONFIG_BMI160_ACCEL_ODR_50)
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# define BMI160_DEFAULT_ODR_ACC 7
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#elif defined(CONFIG_BMI160_ACCEL_ODR_200)
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# define BMI160_DEFAULT_ODR_ACC 9
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#elif defined(CONFIG_BMI160_ACCEL_ODR_400)
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# define BMI160_DEFAULT_ODR_ACC 10
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#elif defined(CONFIG_BMI160_ACCEL_ODR_800)
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# define BMI160_DEFAULT_ODR_ACC 11
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#else
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# define BMI160_DEFAULT_ODR_ACC 12
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#endif
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#if defined(CONFIG_BMI160_GYRO_ODR_RUNTIME) ||\
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defined(CONFIG_BMI160_GYRO_ODR_100)
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# define BMI160_DEFAULT_ODR_GYR 8
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#elif defined(CONFIG_BMI160_GYRO_ODR_25)
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# define BMI160_DEFAULT_ODR_GYR 6
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#elif defined(CONFIG_BMI160_GYRO_ODR_50)
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# define BMI160_DEFAULT_ODR_GYR 7
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#elif defined(CONFIG_BMI160_GYRO_ODR_200)
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# define BMI160_DEFAULT_ODR_GYR 9
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#elif defined(CONFIG_BMI160_GYRO_ODR_400)
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# define BMI160_DEFAULT_ODR_GYR 10
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#elif defined(CONFIG_BMI160_GYRO_ODR_800)
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# define BMI160_DEFAULT_ODR_GYR 11
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#elif defined(CONFIG_BMI160_GYRO_ODR_1600)
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# define BMI160_DEFAULT_ODR_GYR 12
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#else
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# define BMI160_DEFAULT_ODR_GYR 13
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#endif
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/* end of default settings */
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struct bmi160_range {
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u16_t range;
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u8_t reg_val;
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};
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struct bmi160_device_config {
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const char *spi_port;
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#if defined(CONFIG_BMI160_TRIGGER)
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const char *gpio_port;
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u8_t int_pin;
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#endif
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u32_t spi_freq;
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u8_t spi_slave;
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};
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union bmi160_pmu_status {
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u8_t raw;
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struct {
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u8_t mag : 2;
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u8_t gyr : 2;
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u8_t acc : 2;
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u8_t res : 2;
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};
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};
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|
|
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#if !defined(CONFIG_BMI160_GYRO_PMU_SUSPEND) && \
|
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!defined(CONFIG_BMI160_ACCEL_PMU_SUSPEND)
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# define BMI160_SAMPLE_SIZE (6 * sizeof(u16_t))
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#else
|
|
# define BMI160_SAMPLE_SIZE (3 * sizeof(u16_t))
|
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#endif
|
|
|
|
/* total buffer contains one dummy byte, needed by SPI */
|
|
#define BMI160_BUF_SIZE (BMI160_SAMPLE_SIZE + 1)
|
|
#define BMI160_DATA_OFS 1
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|
union bmi160_sample {
|
|
u8_t raw[BMI160_BUF_SIZE];
|
|
struct {
|
|
u8_t dummy_byte;
|
|
#if !defined(CONFIG_BMI160_GYRO_PMU_SUSPEND)
|
|
u16_t gyr[3];
|
|
#endif
|
|
#if !defined(CONFIG_BMI160_ACCEL_PMU_SUSPEND)
|
|
u16_t acc[3];
|
|
#endif
|
|
} __packed;
|
|
};
|
|
|
|
struct bmi160_scale {
|
|
u16_t acc; /* micro m/s^2/lsb */
|
|
u16_t gyr; /* micro radians/s/lsb */
|
|
};
|
|
|
|
struct bmi160_device_data {
|
|
struct device *spi;
|
|
#if defined(CONFIG_BMI160_TRIGGER)
|
|
struct device *gpio;
|
|
struct gpio_callback gpio_cb;
|
|
#endif
|
|
union bmi160_pmu_status pmu_sts;
|
|
union bmi160_sample sample;
|
|
struct bmi160_scale scale;
|
|
|
|
#ifdef CONFIG_BMI160_TRIGGER_OWN_THREAD
|
|
struct k_sem sem;
|
|
#endif
|
|
|
|
#ifdef CONFIG_BMI160_TRIGGER_GLOBAL_THREAD
|
|
struct k_work work;
|
|
struct device *dev;
|
|
#endif
|
|
|
|
#ifdef CONFIG_BMI160_TRIGGER
|
|
#if !defined(CONFIG_BMI160_ACCEL_PMU_SUSPEND)
|
|
sensor_trigger_handler_t handler_drdy_acc;
|
|
sensor_trigger_handler_t handler_anymotion;
|
|
#endif
|
|
#if !defined(CONFIG_BMI160_GYRO_PMU_SUSPEND)
|
|
sensor_trigger_handler_t handler_drdy_gyr;
|
|
#endif
|
|
#endif /* CONFIG_BMI160_TRIGGER */
|
|
};
|
|
|
|
int bmi160_read(struct device *dev, u8_t reg_addr,
|
|
u8_t *data, u8_t len);
|
|
int bmi160_byte_read(struct device *dev, u8_t reg_addr, u8_t *byte);
|
|
int bmi160_byte_write(struct device *dev, u8_t reg_addr, u8_t byte);
|
|
int bmi160_word_write(struct device *dev, u8_t reg_addr, u16_t word);
|
|
int bmi160_reg_field_update(struct device *dev, u8_t reg_addr,
|
|
u8_t pos, u8_t mask, u8_t val);
|
|
static inline int bmi160_reg_update(struct device *dev, u8_t reg_addr,
|
|
u8_t mask, u8_t val)
|
|
{
|
|
return bmi160_reg_field_update(dev, reg_addr, 0, mask, val);
|
|
}
|
|
int bmi160_trigger_mode_init(struct device *dev);
|
|
int bmi160_trigger_set(struct device *dev,
|
|
const struct sensor_trigger *trig,
|
|
sensor_trigger_handler_t handler);
|
|
int bmi160_acc_slope_config(struct device *dev, enum sensor_attribute attr,
|
|
const struct sensor_value *val);
|
|
s32_t bmi160_acc_reg_val_to_range(u8_t reg_val);
|
|
s32_t bmi160_gyr_reg_val_to_range(u8_t reg_val);
|
|
|
|
#define SYS_LOG_DOMAIN "BMI160"
|
|
#define SYS_LOG_LEVEL CONFIG_SYS_LOG_SENSOR_LEVEL
|
|
#include <logging/sys_log.h>
|
|
#endif /* _BMI160_H_ */
|