261 lines
11 KiB
C
261 lines
11 KiB
C
|
/****************************************************************************
|
||
|
|
* drivers/sensors/bmi270_base.h
|
||
|
|
*
|
||
|
|
* 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.
|
||
|
|
*
|
||
|
|
****************************************************************************/
|
||
|
|
|
||
|
|
#ifndef __INCLUDE_NUTTX_SENSORS_BMI270_BASE_H
|
||
|
|
#define __INCLUDE_NUTTX_SENSORS_BMI270_BASE_H
|
||
|
|
|
||
|
|
/****************************************************************************
|
||
|
|
* Included Files
|
||
|
|
****************************************************************************/
|
||
|
|
|
||
|
|
#include <nuttx/config.h>
|
||
|
|
|
||
|
|
#include <stdint.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) /* ACC X 7:0 (LSB) */
|
||
|
|
#define BMI270_DATA_9 (0x0d) /* ACC X 15:8 (MSB) */
|
||
|
|
#define BMI270_DATA_10 (0x0e) /* ACC Y 7:0 (LSB) */
|
||
|
|
#define BMI270_DATA_11 (0x0f) /* ACC Y 15:8 (MSB) */
|
||
|
|
#define BMI270_DATA_12 (0x10) /* ACC Z 7:0 (LSB) */
|
||
|
|
#define BMI270_DATA_13 (0x11) /* ACC Z 15:8 (MSB) */
|
||
|
|
|
||
|
|
#define BMI270_DATA_14 (0x12) /* GYR X 7:0 (LSB) */
|
||
|
|
#define BMI270_DATA_15 (0x13) /* GYR X 15:8 (MSB) */
|
||
|
|
#define BMI270_DATA_16 (0x14) /* GYR Y 7:0 (LSB) */
|
||
|
|
#define BMI270_DATA_17 (0x15) /* GYR Y 15:8 (MSB) */
|
||
|
|
#define BMI270_DATA_18 (0x16) /* GYR Z 7:0 (LSB) */
|
||
|
|
#define BMI270_DATA_19 (0x17) /* GYR 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 */
|
||
|
|
#define BMI270_TEMPERATURE_0 (0x22) /* Temperature */
|
||
|
|
#define BMI270_TEMPERATURE_1 (0x23)
|
||
|
|
#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 0x41 - ACC_RANGE accel range */
|
||
|
|
|
||
|
|
#define ACCEL_RANGE_2G (0x00)
|
||
|
|
#define ACCEL_RANGE_4G (0x01)
|
||
|
|
#define ACCEL_RANGE_8G (0x02)
|
||
|
|
#define ACCEL_RANGE_16G (0x03)
|
||
|
|
|
||
|
|
/* 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 0x43 - GYR_RANGE gyr range */
|
||
|
|
|
||
|
|
#define GYRO_RANGE_2000 (0x00)
|
||
|
|
#define GYRO_RANGE_1000 (0x01)
|
||
|
|
#define GYRO_RANGE_500 (0x02)
|
||
|
|
#define GYRO_RANGE_250 (0x03)
|
||
|
|
#define GYRO_RANGE_125 (0x04)
|
||
|
|
|
||
|
|
/* Register 0x7d - PWR_CONF */
|
||
|
|
|
||
|
|
#define PWRCONF_APS_ON (1 << 0)
|
||
|
|
#define PWRCONF_FSW_ON (1 << 1)
|
||
|
|
#define PWRCONF_FUP_ON (1 << 2)
|
||
|
|
|
||
|
|
/* Register 0x7d - PWR_CTRL */
|
||
|
|
|
||
|
|
#define PWRCTRL_AUX_EN (1 << 0)
|
||
|
|
#define PWRCTRL_GYR_EN (1 << 1)
|
||
|
|
#define PWRCTRL_ACC_EN (1 << 2)
|
||
|
|
#define PWRCTRL_TEMP_EN (1 << 3)
|
||
|
|
|
||
|
|
/* Register 0x7e - CMD */
|
||
|
|
|
||
|
|
#define CMD_SOFTRESET (0xB6)
|
||
|
|
|
||
|
|
/****************************************************************************
|
||
|
|
* Public 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
|
||
|
|
};
|
||
|
|
|
||
|
|
/****************************************************************************
|
||
|
|
* Public Data
|
||
|
|
****************************************************************************/
|
||
|
|
|
||
|
|
extern const uint8_t g_bmi270_config_file[];
|
||
|
|
|
||
|
|
/****************************************************************************
|
||
|
|
* Public Function Prototypes
|
||
|
|
****************************************************************************/
|
||
|
|
|
||
|
|
uint8_t bmi270_getreg8(FAR struct bmi270_dev_s *priv, uint8_t regaddr);
|
||
|
|
void bmi270_putreg8(FAR struct bmi270_dev_s *priv, uint8_t regaddr,
|
||
|
|
uint8_t regval);
|
||
|
|
void bmi270_getregs(FAR struct bmi270_dev_s *priv, uint8_t regaddr,
|
||
|
|
FAR uint8_t *regval, int len);
|
||
|
|
void bmi270_putregs(FAR struct bmi270_dev_s *priv, uint8_t regaddr,
|
||
|
|
FAR uint8_t *regval, int len);
|
||
|
|
|
||
|
|
void bmi270_set_normal_imu(FAR struct bmi270_dev_s *priv);
|
||
|
|
int bmi270_init_seq(FAR struct bmi270_dev_s *priv);
|
||
|
|
int bmi270_checkid(FAR struct bmi270_dev_s *priv);
|
||
|
|
|
||
|
|
#endif /* __INCLUDE_NUTTX_SENSORS_BMI270_BASE_H */
|