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nuttx/drivers/sensors/bmi270.c

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drivers/sensors: add BMI270 IMU support
2023-05-31 21:09:10 +02:00
/****************************************************************************
* drivers/sensors/bmi270.c
*
* Licensed to the Apache Software Foundation (ASF) under one or more
* contributor license agreements. See the NOTICE file distributed with
* this work for additional information regarding copyright ownership. The
* ASF licenses this file to you 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.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <stdlib.h>
#include <errno.h>
#include <debug.h>
#include <nuttx/kmalloc.h>
#include <nuttx/fs/fs.h>
#include <nuttx/sensors/bmi270.h>
#ifdef CONFIG_SENSORS_BMI270_I2C
# include <nuttx/i2c/i2c_master.h>
#else
# include <nuttx/spi/spi.h>
#endif
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
#define BMI270_SPI_MAXFREQUENCY 10000000
#define BMI270_I2C_FREQ 400000
#define DEVID 0x24
#define BMI270_CHIP_ID (0x00) /* Chip ID */
#define BMI270_ERROR (0x02) /* Error register */
#define BMI270_PMU_STAT (0x03) /* Current power mode */
#define BMI270_DATA_0 (0x04) /* MAG X 7:0 (LSB) */
#define BMI270_DATA_1 (0x05) /* MAG X 15:8 (MSB) */
#define BMI270_DATA_2 (0x06) /* MAG Y 7:0 (LSB) */
#define BMI270_DATA_3 (0x07) /* MAG Y 15:8 (MSB) */
#define BMI270_DATA_4 (0x08) /* MAG Z 7:0 (LSB) */
#define BMI270_DATA_5 (0x09) /* MAG Z 15:8 (MSB) */
#define BMI270_DATA_6 (0x0A) /* RHALL 7:0 (LSB) */
#define BMI270_DATA_7 (0x0B) /* RHALL 15:8 (MSB) */
#define BMI270_DATA_8 (0x0C) /* GYR X 7:0 (LSB) */
#define BMI270_DATA_9 (0x0D) /* GYR X 15:8 (MSB) */
#define BMI270_DATA_10 (0x0E) /* GYR Y 7:0 (LSB) */
#define BMI270_DATA_11 (0x0F) /* GYR Y 15:8 (MSB) */
#define BMI270_DATA_12 (0x10) /* GYR Z 7:0 (LSB) */
#define BMI270_DATA_13 (0x11) /* GYR Z 15:8 (MSB) */
#define BMI270_DATA_14 (0x12) /* ACC X 7:0 (LSB) */
#define BMI270_DATA_15 (0x13) /* ACC X 15:8 (MSB) */
#define BMI270_DATA_16 (0x14) /* ACC Y 7:0 (LSB) */
#define BMI270_DATA_17 (0x15) /* ACC Y 15:8 (MSB) */
#define BMI270_DATA_18 (0x16) /* ACC Z 7:0 (LSB) */
#define BMI270_DATA_19 (0x17) /* ACC Z 15:8 (MSB) */
#define BMI270_SENSORTIME_0 (0x18) /* Sensor time 0 */
#define BMI270_SENSORTIME_1 (0x19) /* Sensor time 1 */
#define BMI270_SENSORTIME_2 (0x1A) /* Sensor time 2 */
#define BMI270_EVENT (0x1B) /* Sensor event flags */
#define BMI270_INTR_STAT_0 (0x1C) /* Interrupt status */
#define BMI270_INTR_STAT_1 (0x1D)
#define BMI270_SC_OUT_0 (0x1E) /* Step counting value */
#define BMI270_SC_OUT_1 (0x1f) /* Step counting value */
#define BMI270_WR_GEST_ACT (0x20) /* Wrist gesture and activity detection */
#define BMI270_INTERNAL_STAT (0x21) /* Internal status */
drivers/sensors/bmi270.c: fix define BMI270_TEMPERATURE fix BMI160_TEMPERATURE_0 ->BMI270_TEMPERATURE_0 fix BMI270_TEMPERATURE_1 ->BMI270_TEMPERATURE_1
2023-08-01 14:56:44 +02:00
#define BMI270_TEMPERATURE_0 (0x22) /* Temperature */
#define BMI270_TEMPERATURE_1 (0x23)
drivers/sensors: add BMI270 IMU support
2023-05-31 21:09:10 +02:00
#define BMI270_FIFO_LENGTH_0 (0x24) /* FIFO length */
#define BMI270_FIFO_LENGTH_1 (0x25)
#define BMI270_FIFO_DATA (0x26)
#define BMI270_FEAT_PAGE (0x2f) /* Page number for feature configuration and output registers */
/* TODO: Features 0x30-0x3f */
#define BMI270_ACC_CONFIG (0x40) /* ACCEL config for ODR, bandwidth and undersampling */
#define BMI270_ACC_RANGE (0x41) /* ACCEL range */
#define BMI270_GYR_CONFIG (0x42) /* GYRO config for ODR and bandwidth */
#define BMI270_GYR_RANGE (0x43) /* GYRO range */
#define BMI270_AUX_CONFIG (0x44) /* AUX config for ODR*/
#define BMI270_FIFO_DOWN (0x45) /* GYRO and ACCEL downsampling rates for FIFO */
#define BMI270_FIFO_WTM_0 (0x46) /* FIFO Watermark level */
#define BMI270_FIFO_WTM_1 (0x47) /* FIFO Watermark level */
#define BMI270_FIFO_CONFIG_0 (0x48) /* FIFO config */
#define BMI270_FIFO_CONFIG_1 (0x49)
#define BMI270_SATURATION (0x4A) /* Saturation */
#define BMI270_AUX_DEV_ID (0x4B) /* Auxiliary interface device_id */
#define BMI270_AUX_IF_CONF (0x4C) /* Auxiliary interface configuration */
#define BMI270_AUX_RD_ADDR (0x4C) /* Auxiliary interface read address */
#define BMI270_AUX_WR_ADDR (0x4E) /* Auxiliary interface write address */
#define BMI270_AUX_WR_DATA (0x4F) /* Auxiliary interface write data */
#define BMI270_ERR_REG_MSK (0x52)
#define BMI270_INT1_IO_CTRL (0x53) /* INT pin configuration */
#define BMI270_INT2_IO_CTRL (0x54)
#define BMI270_INT_LATCH (0x55) /* Configure interrupt modes */
#define BMI270_INT1_MAP_FEAT (0x56) /* Interrupt/Feature mapping on INT1 */
#define BMI270_INT2_MAP_FEAT (0x57) /* Interrupt/Feature mapping on INT2 */
#define BMI270_INT_MAP_DATA (0x58) /* Data Interrupt mapping for both INT pins */
#define BMI270_INIT_CTRL (0x59) /* Start initialization */
#define BMI270_INIT_ADDR_0 (0x5b) /* Base address of the initialization data */
#define BMI270_INIT_ADDR_1 (0x5c)
#define BMI270_INIT_DATA (0x5e) /* Initialization register */
#define BMI270_INTERNAL_ERROR (0x5f)
#define BMI270_AUX_IF_TRIM (0x68) /* Auxiliary interface trim */
#define BMI270_GYR_CRT_CONF (0x69) /* Component Retrimming for Gyroscope */
#define BMI270_NMV_CONFIG (0x6A) /* NVM Configuration */
#define BMI270_IF_CONFIG (0x6B) /* Serial interface configuration */
#define BMI270_DRV (0x6C) /* Drive strength control */
#define BMI270_ACC_SELF_TEST (0x6D) /* Acc self test */
#define BMI270_GYR_SELF_TEST (0x6E) /* Gyro self test */
#define BMI270_NV_CONFIG (0x70) /* SPI/I2C selection */
#define BMI270_OFFSET_0 (0x71) /* ACCEL and GYRO offset */
#define BMI270_OFFSET_1 (0x72)
#define BMI270_OFFSET_2 (0x73)
#define BMI270_OFFSET_3 (0x74)
#define BMI270_OFFSET_4 (0x75)
#define BMI270_OFFSET_5 (0x76)
#define BMI270_OFFSET_6 (0x77)
#define BMI270_PWR_CONF (0x7C) /* Power mode configuration */
#define BMI270_PWR_CTRL (0x7D) /* Power mode control */
#define BMI270_CMD (0x7e) /* Command register */
/* Register 0x21 - INTERNAL_STATUS */
#define INTSTAT_MSG_MASK (7)
#define INTSTAT_MSG_NOTINIT (0x00)
#define INTSTAT_MSG_INITOK (0x01)
/* Register 0x40 - ACCEL_CONFIG accel bandwidth */
#define ACCEL_OSR4_AVG1 (0 << 4)
#define ACCEL_OSR2_AVG2 (1 << 4)
#define ACCEL_NORMAL_AVG4 (2 << 4)
#define ACCEL_CIC_AVG8 (3 << 4)
#define ACCEL_RES_AVG2 (4 << 4)
#define ACCEL_RES_AVG4 (5 << 4)
#define ACCEL_RES_AVG8 (6 << 4)
#define ACCEL_RES_AVG16 (7 << 4)
#define ACCEL_RES_AVG32 (8 << 4)
#define ACCEL_RES_AVG64 (9 << 4)
#define ACCEL_RES_AVG128 (10 << 4)
#define ACCEL_ODR_0_78HZ (0x01)
#define ACCEL_ODR_1_56HZ (0x02)
#define ACCEL_ODR_3_12HZ (0x03)
#define ACCEL_ODR_6_25HZ (0x04)
#define ACCEL_ODR_12_5HZ (0x05)
#define ACCEL_ODR_25HZ (0x06)
#define ACCEL_ODR_50HZ (0x07)
#define ACCEL_ODR_100HZ (0x08)
#define ACCEL_ODR_200HZ (0x09)
#define ACCEL_ODR_400HZ (0x0A)
#define ACCEL_ODR_800HZ (0x0B)
#define ACCEL_ODR_1600HZ (0x0C)
/* Register 0x42 - GYRO_CONFIG accel bandwidth */
#define GYRO_OSR4_MODE (0 << 4)
#define GYRO_OSR2_MODE (1 << 4)
#define GYRO_NORMAL_MODE (2 << 4)
#define GYRO_CIC_MODE (3 << 4)
#define GYRO_ODR_25HZ (0x06)
#define GYRO_ODR_50HZ (0x07)
#define GYRO_ODR_100HZ (0x08)
#define GYRO_ODR_200HZ (0x09)
#define GYRO_ODR_400HZ (0x0A)
#define GYRO_ODR_800HZ (0x0B)
#define GYRO_ODR_1600HZ (0x0C)
#define GYRO_ODR_3200HZ (0x0D)
/* Register 0x7d - PWR_CONF */
Fix nuttx coding style Remove TABs Fix indentation
2023-07-11 14:36:33 +02:00
#define PWRCONF_APS_ON (1 << 0)
#define PWRCONF_FSW_ON (1 << 1)
#define PWRCONF_FUP_ON (1 << 2)
drivers/sensors: add BMI270 IMU support
2023-05-31 21:09:10 +02:00
/* Register 0x7d - PWR_CTRL */
Fix nuttx coding style Remove TABs Fix indentation
2023-07-11 14:36:33 +02:00
#define PWRCTRL_AUX_EN (1 << 0)
#define PWRCTRL_GYR_EN (1 << 1)
#define PWRCTRL_ACC_EN (1 << 2)
#define PWRCTRL_TEMP_EN (1 << 3)
drivers/sensors: add BMI270 IMU support
2023-05-31 21:09:10 +02:00
/* Register 0x7e - CMD */
Fix nuttx coding style Remove TABs Fix indentation Fix Multi-line comments Fix Comments to the Right of Statements.
2023-07-13 15:50:40 +02:00
#define CMD_SOFTRESET (0xB6)
drivers/sensors: add BMI270 IMU support
2023-05-31 21:09:10 +02:00
/****************************************************************************
* Private Types
****************************************************************************/
struct bmi270_dev_s
{
#ifdef CONFIG_SENSORS_BMI270_I2C
FAR struct i2c_master_s *i2c; /* I2C interface */
uint8_t addr; /* I2C address */
int freq; /* Frequency <= 3.4MHz */
#else /* CONFIG_SENSORS_BMI270_SPI */
FAR struct spi_dev_s *spi; /* SPI interface */
#endif
};
/****************************************************************************
* Private Functions
****************************************************************************/
static uint8_t bmi270_getreg8(FAR struct bmi270_dev_s *priv,
uint8_t regaddr);
static void bmi270_putreg8(FAR struct bmi270_dev_s *priv, uint8_t regaddr,
uint8_t regval);
static void bmi270_getregs(FAR struct bmi270_dev_s *priv, uint8_t regaddr,
FAR uint8_t *regval, int len);
static void bmi270_putregs(FAR struct bmi270_dev_s *priv, uint8_t regaddr,
FAR uint8_t *regval, int len);
/* Character driver methods */
static int bmi270_open(FAR struct file *filep);
static int bmi270_close(FAR struct file *filep);
static ssize_t bmi270_read(FAR struct file *filep, FAR char *buffer,
size_t len);
static int bmi270_ioctl(FAR struct file *filep, int cmd,
unsigned long arg);
static int bmi270_checkid(FAR struct bmi270_dev_s *priv);
/****************************************************************************
* Private Data
****************************************************************************/
/* This the vtable that supports the character driver interface */
static const struct file_operations g_bmi270fops =
{
bmi270_open, /* open */
bmi270_close, /* close */
bmi270_read, /* read */
NULL, /* write */
NULL, /* seek */
bmi270_ioctl, /* ioctl */
};
/* BMI270 configuration file - provided by BOSH */
static const uint8_t g_bmi270_config_file[] =
{
0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0x3d, 0xb1, 0xc8, 0x2e, 0x00, 0x2e,
0x80, 0x2e, 0x91, 0x03, 0x80, 0x2e, 0xbc, 0xb0, 0x80, 0x2e, 0xa3, 0x03,
0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0x00, 0xb0, 0x50, 0x30, 0x21, 0x2e,
0x59, 0xf5, 0x10, 0x30, 0x21, 0x2e, 0x6a, 0xf5, 0x80, 0x2e, 0x3b, 0x03,
0x00, 0x00, 0x00, 0x00, 0x08, 0x19, 0x01, 0x00, 0x22, 0x00, 0x75, 0x00,
0x00, 0x10, 0x00, 0x10, 0xd1, 0x00, 0xb3, 0x43, 0x80, 0x2e, 0x00, 0xc1,
0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0xe0, 0x5f, 0x00, 0x00,
0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x92, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x08, 0x19, 0x00, 0x00,
0x88, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x05, 0xe0, 0xaa, 0x38,
0x05, 0xe0, 0x90, 0x30, 0xfa, 0x00, 0x96, 0x00, 0x4b, 0x09, 0x11, 0x00,
0x11, 0x00, 0x02, 0x00, 0x2d, 0x01, 0xd4, 0x7b, 0x3b, 0x01, 0xdb, 0x7a,
0x04, 0x00, 0x3f, 0x7b, 0xcd, 0x6c, 0xc3, 0x04, 0x85, 0x09, 0xc3, 0x04,
0xec, 0xe6, 0x0c, 0x46, 0x01, 0x00, 0x27, 0x00, 0x19, 0x00, 0x96, 0x00,
0xa0, 0x00, 0x01, 0x00, 0x0c, 0x00, 0xf0, 0x3c, 0x00, 0x01, 0x01, 0x00,
0x03, 0x00, 0x01, 0x00, 0x0e, 0x00, 0x00, 0x00, 0x32, 0x00, 0x05, 0x00,
0xee, 0x06, 0x04, 0x00, 0xc8, 0x00, 0x00, 0x00, 0x04, 0x00, 0xa8, 0x05,
0xee, 0x06, 0x00, 0x04, 0xbc, 0x02, 0xb3, 0x00, 0x85, 0x07, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xb4, 0x00, 0x01, 0x00, 0xb9, 0x00,
0x01, 0x00, 0x98, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x01, 0x00, 0x80, 0x00, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x80, 0x2e, 0x00, 0xc1, 0xfd, 0x2d, 0xde, 0x00, 0xeb, 0x00,
0xda, 0x00, 0x00, 0x0c, 0xff, 0x0f, 0x00, 0x04, 0xc0, 0x00, 0x5b, 0xf5,
0xc9, 0x01, 0x1e, 0xf2, 0x80, 0x00, 0x3f, 0xff, 0x19, 0xf4, 0x58, 0xf5,
0x66, 0xf5, 0x64, 0xf5, 0xc0, 0xf1, 0xf0, 0x00, 0xe0, 0x00, 0xcd, 0x01,
0xd3, 0x01, 0xdb, 0x01, 0xff, 0x7f, 0xff, 0x01, 0xe4, 0x00, 0x74, 0xf7,
0xf3, 0x00, 0xfa, 0x00, 0xff, 0x3f, 0xca, 0x03, 0x6c, 0x38, 0x56, 0xfe,
0x44, 0xfd, 0xbc, 0x02, 0xf9, 0x06, 0x00, 0xfc, 0x12, 0x02, 0xae, 0x01,
0x58, 0xfa, 0x9a, 0xfd, 0x77, 0x05, 0xbb, 0x02, 0x96, 0x01, 0x95, 0x01,
0x7f, 0x01, 0x82, 0x01, 0x89, 0x01, 0x87, 0x01, 0x88, 0x01, 0x8a, 0x01,
0x8c, 0x01, 0x8f, 0x01, 0x8d, 0x01, 0x92, 0x01, 0x91, 0x01, 0xdd, 0x00,
0x9f, 0x01, 0x7e, 0x01, 0xdb, 0x00, 0xb6, 0x01, 0x70, 0x69, 0x26, 0xd3,
0x9c, 0x07, 0x1f, 0x05, 0x9d, 0x00, 0x00, 0x08, 0xbc, 0x05, 0x37, 0xfa,
0xa2, 0x01, 0xaa, 0x01, 0xa1, 0x01, 0xa8, 0x01, 0xa0, 0x01, 0xa8, 0x05,
0xb4, 0x01, 0xb4, 0x01, 0xce, 0x00, 0xd0, 0x00, 0xfc, 0x00, 0xc5, 0x01,
0xff, 0xfb, 0xb1, 0x00, 0x00, 0x38, 0x00, 0x30, 0xfd, 0xf5, 0xfc, 0xf5,
0xcd, 0x01, 0xa0, 0x00, 0x5f, 0xff, 0x00, 0x40, 0xff, 0x00, 0x00, 0x80,
0x6d, 0x0f, 0xeb, 0x00, 0x7f, 0xff, 0xc2, 0xf5, 0x68, 0xf7, 0xb3, 0xf1,
0x67, 0x0f, 0x5b, 0x0f, 0x61, 0x0f, 0x80, 0x0f, 0x58, 0xf7, 0x5b, 0xf7,
0x83, 0x0f, 0x86, 0x00, 0x72, 0x0f, 0x85, 0x0f, 0xc6, 0xf1, 0x7f, 0x0f,
0x6c, 0xf7, 0x00, 0xe0, 0x00, 0xff, 0xd1, 0xf5, 0x87, 0x0f, 0x8a, 0x0f,
0xff, 0x03, 0xf0, 0x3f, 0x8b, 0x00, 0x8e, 0x00, 0x90, 0x00, 0xb9, 0x00,
0x2d, 0xf5, 0xca, 0xf5, 0xcb, 0x01, 0x20, 0xf2, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
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0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1
};
/****************************************************************************
* Name: bmi270_configspi
*
* Description:
*
****************************************************************************/
#ifdef CONFIG_SENSORS_BMI270_SPI
static inline void bmi270_configspi(FAR struct spi_dev_s *spi)
{
/* Configure SPI for the BMI270 */
SPI_SETMODE(spi, SPIDEV_MODE0);
SPI_SETBITS(spi, 8);
SPI_HWFEATURES(spi, 0);
SPI_SETFREQUENCY(spi, BMI270_SPI_MAXFREQUENCY);
}
#endif
/****************************************************************************
* Name: bmi270_getreg8
*
* Description:
* Read from an 8-bit BMI270 register
*
****************************************************************************/
static uint8_t bmi270_getreg8(FAR struct bmi270_dev_s *priv, uint8_t regaddr)
{
#ifdef CONFIG_SENSORS_BMI270_I2C
struct i2c_msg_s msg[2];
uint8_t regval = 0;
int ret;
msg[0].frequency = priv->freq;
msg[0].addr = priv->addr;
msg[0].flags = I2C_M_NOSTOP;
msg[0].buffer = &regaddr;
msg[0].length = 1;
msg[1].frequency = priv->freq;
msg[1].addr = priv->addr;
msg[1].flags = I2C_M_READ;
msg[1].buffer = &regval;
msg[1].length = 1;
ret = I2C_TRANSFER(priv->i2c, msg, 2);
if (ret < 0)
{
snerr("I2C_TRANSFER failed: %d\n", ret);
}
return regval;
#else /* CONFIG_SENSORS_BMI270_SPI */
uint8_t regval[2];
/* If SPI bus is shared then lock and configure it */
SPI_LOCK(priv->spi, true);
bmi270_configspi(priv->spi);
/* Select the BMI270 */
SPI_SELECT(priv->spi, SPIDEV_IMU(0), true);
/* Send register to read and get the next 2 bytes */
SPI_SEND(priv->spi, regaddr | 0x80);
SPI_RECVBLOCK(priv->spi, regval, 2);
/* Deselect the BMI270 */
SPI_SELECT(priv->spi, SPIDEV_IMU(0), false);
/* Unlock bus */
SPI_LOCK(priv->spi, false);
/* The first byte has to be dropped */
return regval[1];
#endif
}
/****************************************************************************
* Name: bmi270_putreg8
*
* Description:
* Write a value to an 8-bit BMI270 register
*
****************************************************************************/
static void bmi270_putreg8(FAR struct bmi270_dev_s *priv, uint8_t regaddr,
uint8_t regval)
{
#ifdef CONFIG_SENSORS_BMI270_I2C
struct i2c_msg_s msg[2];
uint8_t txbuffer[2];
int ret;
txbuffer[0] = regaddr;
txbuffer[1] = regval;
msg[0].frequency = priv->freq;
msg[0].addr = priv->addr;
msg[0].flags = 0;
msg[0].buffer = txbuffer;
msg[0].length = 2;
ret = I2C_TRANSFER(priv->i2c, msg, 1);
if (ret < 0)
{
snerr("I2C_TRANSFER failed: %d\n", ret);
}
#else /* CONFIG_SENSORS_BMI270_SPI */
/* If SPI bus is shared then lock and configure it */
SPI_LOCK(priv->spi, true);
bmi270_configspi(priv->spi);
/* Select the BMI270 */
SPI_SELECT(priv->spi, SPIDEV_IMU(0), true);
/* Send register address and set the value */
SPI_SEND(priv->spi, regaddr);
SPI_SEND(priv->spi, regval);
/* Deselect the BMI270 */
SPI_SELECT(priv->spi, SPIDEV_IMU(0), false);
/* Unlock bus */
SPI_LOCK(priv->spi, false);
#endif
}
/****************************************************************************
* Name: bmi270_getregs
*
* Description:
* Read cnt bytes from specified dev_addr and reg_addr
*
****************************************************************************/
static void bmi270_getregs(FAR struct bmi270_dev_s *priv, uint8_t regaddr,
FAR uint8_t *regval, int len)
{
#ifdef CONFIG_SENSORS_BMI270_I2C
struct i2c_msg_s msg[2];
int ret;
msg[0].frequency = priv->freq;
msg[0].addr = priv->addr;
msg[0].flags = I2C_M_NOSTOP;
msg[0].buffer = &regaddr;
msg[0].length = 1;
msg[1].frequency = priv->freq;
msg[1].addr = priv->addr;
msg[1].flags = I2C_M_READ;
msg[1].buffer = regval;
msg[1].length = len;
ret = I2C_TRANSFER(priv->i2c, msg, 2);
if (ret < 0)
{
snerr("I2C_TRANSFER failed: %d\n", ret);
}
#else /* CONFIG_SENSORS_BMI270_SPI */
uint8_t dummy = 0;
/* If SPI bus is shared then lock and configure it */
SPI_LOCK(priv->spi, true);
bmi270_configspi(priv->spi);
/* Select the BMI270 */
SPI_SELECT(priv->spi, SPIDEV_IMU(0), true);
/* Send register to read and get bytes */
SPI_SEND(priv->spi, regaddr | 0x80);
SPI_RECVBLOCK(priv->spi, &dummy, 1);
SPI_RECVBLOCK(priv->spi, regval, len);
/* Deselect the BMI270 */
SPI_SELECT(priv->spi, SPIDEV_IMU(0), false);
/* Unlock bus */
SPI_LOCK(priv->spi, false);
#endif
}
/****************************************************************************
* Name: bmi270_putregs
*
* Description:
* Send cnt bytes for specified dev_addr and reg_addr
*
****************************************************************************/
static void bmi270_putregs(FAR struct bmi270_dev_s *priv, uint8_t regaddr,
FAR uint8_t *regval, int len)
{
#ifdef CONFIG_SENSORS_BMI270_I2C
struct i2c_msg_s msg[2];
int ret;
msg[0].frequency = priv->freq;
msg[0].addr = priv->addr;
msg[0].flags = I2C_M_NOSTOP;
msg[0].buffer = &regaddr;
msg[0].length = 1;
msg[1].frequency = priv->freq;
msg[1].addr = priv->addr;
msg[1].flags = 0;
msg[1].buffer = regval;
msg[1].length = len;
ret = I2C_TRANSFER(priv->i2c, msg, 2);
if (ret < 0)
{
snerr("I2C_TRANSFER failed: %d\n", ret);
}
#else /* CONFIG_SENSORS_BMI270_SPI */
/* If SPI bus is shared then lock and configure it */
SPI_LOCK(priv->spi, true);
bmi270_configspi(priv->spi);
/* Select the BMI270 */
SPI_SELECT(priv->spi, SPIDEV_IMU(0), true);
/* Send register to read and get bytes */
SPI_SEND(priv->spi, regaddr);
SPI_SNDBLOCK(priv->spi, regval, len);
/* Deselect the BMI270 */
SPI_SELECT(priv->spi, SPIDEV_IMU(0), false);
/* Unlock bus */
SPI_LOCK(priv->spi, false);
#endif
}
/****************************************************************************
* Name: bmi270_set_normal_imu
*
* Description:
* set bmi270 to normal IMU mode.
*
****************************************************************************/
static void bmi270_set_normal_imu(FAR struct bmi270_dev_s *priv)
{
/* Enable acquisition of acc and gyro */
bmi270_putreg8(priv, BMI270_PWR_CTRL, PWRCTRL_GYR_EN | PWRCTRL_ACC_EN);
up_mdelay(30);
/* Set accel and gyro output data rate */
bmi270_putreg8(priv, BMI270_ACC_CONFIG,
ACCEL_NORMAL_AVG4 | ACCEL_ODR_100HZ);
bmi270_putreg8(priv, BMI270_GYR_CONFIG,
GYRO_NORMAL_MODE | GYRO_ODR_100HZ);
/* Disable the adv_power_save bit */
bmi270_putreg8(priv, BMI270_PWR_CONF, PWRCONF_FSW_ON);
}
/****************************************************************************
* Name: bmi270_init_seq
*
* Description:
* set bmi270 to normal IMU mode.
*
****************************************************************************/
static int bmi270_init_seq(FAR struct bmi270_dev_s *priv)
{
FAR uint8_t *tmp = NULL;
uint8_t regval = 0;
/* Check if initalization already done */
regval = bmi270_getreg8(priv, BMI270_INTERNAL_STAT);
if ((regval & INTSTAT_MSG_MASK) == INTSTAT_MSG_INITOK)
{
return OK;
}
/* Disable PWR_CONF.adv_power_save */
bmi270_putreg8(priv, BMI270_PWR_CONF, 0);
up_mdelay(5);
/* Prepare config load INIT_CTRL=0x00 */
bmi270_putreg8(priv, BMI270_INIT_CTRL, 0);
/* Copy configuration to RAM */
tmp = malloc(sizeof(g_bmi270_config_file));
if (tmp == NULL)
{
snerr("Failed to allocate memory for configuration file\n");
return -ENOMEM;
}
memcpy(tmp, g_bmi270_config_file, sizeof(g_bmi270_config_file));
/* Load configuration - start with byte 0 */
bmi270_putregs(priv, BMI270_INIT_DATA,
tmp,
sizeof(g_bmi270_config_file));
/* Complete config load INIT_CTRL=0x01 */
bmi270_putreg8(priv, BMI270_INIT_CTRL, 1);
up_mdelay(150);
/* Check initialization status */
regval = bmi270_getreg8(priv, BMI270_INTERNAL_STAT);
if ((regval & INTSTAT_MSG_MASK) != INTSTAT_MSG_INITOK)
{
snerr("Initialization failed status=%d\n", regval);
return -EACCES;
}
return OK;
}
/****************************************************************************
* Name: bmi270_open
*
* Description:
* Standard character driver open method.
*
****************************************************************************/
static int bmi270_open(FAR struct file *filep)
{
FAR struct inode *inode = filep->f_inode;
FAR struct bmi270_dev_s *priv = inode->i_private;
int ret = OK;
/* Initialization sequence */
ret = bmi270_init_seq(priv);
if (ret != 0)
{
return ret;
}
/* Set normal mode */
bmi270_set_normal_imu(priv);
return OK;
}
/****************************************************************************
* Name: bmi270_close
*
* Description:
* Standard character driver close method.
*
****************************************************************************/
static int bmi270_close(FAR struct file *filep)
{
FAR struct inode *inode = filep->f_inode;
FAR struct bmi270_dev_s *priv = inode->i_private;
/* Disable acquisition of acc and gyro */
bmi270_putreg8(priv, BMI270_PWR_CTRL, 0);
up_mdelay(30);
return OK;
}
/****************************************************************************
* Name: bmi270_read
*
* Description:
* Standard character driver read method.
*
****************************************************************************/
static ssize_t bmi270_read(FAR struct file *filep, FAR char *buffer,
size_t len)
{
FAR struct inode *inode = filep->f_inode;
FAR struct bmi270_dev_s *priv = inode->i_private;
FAR struct accel_gyro_st_s *p = (FAR struct accel_gyro_st_s *)buffer;
if (len < sizeof(struct accel_gyro_st_s))
{
snerr("Expected buffer size is %d\n", sizeof(struct accel_gyro_st_s));
return 0;
}
bmi270_getregs(priv, BMI270_DATA_8, (FAR uint8_t *)p, 15);
/* Adjust sensing time into 24 bit */
p->sensor_time >>= 8;
return len;
}
/****************************************************************************
* Name: bmi270_ioctl
*
* Description:
* Standard character driver ioctl method.
*
****************************************************************************/
static int bmi270_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
{
return -ENOTTY;
}
/****************************************************************************
* Name: bmi270_checkid
*
* Description:
* Read and verify the BMI270 chip ID
*
****************************************************************************/
static int bmi270_checkid(FAR struct bmi270_dev_s *priv)
{
uint8_t devid = 0;
/* Read device ID */
devid = bmi270_getreg8(priv, BMI270_CHIP_ID);
sninfo("devid: %04x\n", devid);
if (devid != (uint16_t) DEVID)
{
/* ID is not Correct */
return -ENODEV;
}
return OK;
}
/****************************************************************************
* Name: bmi270_register
*
* Description:
* Register the BMI270 character device as 'devpath'
*
* Input Parameters:
* devpath - The full path to the driver to register. E.g., "/dev/imu0"
* dev - An instance of the SPI or I2C interface to use to communicate
* with BMI270
* addr - (I2C only) The I2C address
*
* Returned Value:
* Zero (OK) on success; a negated errno value on failure.
*
****************************************************************************/
#ifdef CONFIG_SENSORS_BMI270_I2C
int bmi270_register(FAR const char *devpath, FAR struct i2c_master_s *dev,
uint8_t addr)
#else /* CONFIG_SENSORS_BMI270_SPI */
int bmi270_register(FAR const char *devpath, FAR struct spi_dev_s *dev)
#endif
{
FAR struct bmi270_dev_s *priv;
int ret;
mm/alloc: remove all unnecessary cast for alloc Fix the minor style issue and remove unnecessary cast Signed-off-by: chao an <anchao@xiaomi.com>
2023-08-28 09:39:47 +02:00
priv = kmm_malloc(sizeof(struct bmi270_dev_s));
drivers/sensors: add BMI270 IMU support
2023-05-31 21:09:10 +02:00
if (!priv)
{
snerr("Failed to allocate instance\n");
return -ENOMEM;
}
#ifdef CONFIG_SENSORS_BMI270_I2C
priv->i2c = dev;
priv->addr = addr;
priv->freq = BMI270_I2C_FREQ;
#else /* CONFIG_SENSORS_BMI270_SPI */
priv->spi = dev;
/* BMI270 detects communication bus is SPI by rising edge of CS. */
bmi270_getreg8(priv, 0x00);
bmi270_getreg8(priv, 0x00);
up_udelay(200);
#endif
ret = bmi270_checkid(priv);
if (ret < 0)
{
snerr("Wrong Device ID!\n");
kmm_free(priv);
return ret;
}
/* Register driver */
ret = register_driver(devpath, &g_bmi270fops, 0666, priv);
if (ret < 0)
{
snerr("Failed to register driver: %d\n", ret);
kmm_free(priv);
}
sninfo("BMI270 driver loaded successfully!\n");
return OK;
}
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