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Merged in alinjerpelea/nuttx (pull request #912)

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configs: spresense: enable BMI160_I2C sensor

* drivers: sensors: add BMI160 driver

    Enable driver support for the Bosch BMI160 Inertial
    Measurement sensor

    This driver can be used with the BMI160 sensor connected over
    SPI or I2C bus

    Signed-off-by: Alin Jerpelea <alin.jerpelea@sony.com>

* configs: spresense: enable BMI160_I2C sensor

    Enable BMI160 sensor connected over I2C on spresense board

    Signed-off-by: Alin Jerpelea <alin.jerpelea@sony.com>

Approved-by: Gregory Nutt <gnutt@nuttx.org>
This commit is contained in:
Alin Jerpelea 2019-06-20 13:32:36 +00:00 committed by Gregory Nutt
parent af9b70ca5d
commit 977893d5a7
9 changed files with 1151 additions and 0 deletions
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1
configs/spresense/include/board.h
View File

@ -49,6 +49,7 @@
#include "cxd56_power.h"
#include "cxd56_flash.h"
#include "cxd56_gs2200m.h"
#include "cxd56_bmi160.h"
#include "cxd56_sdcard.h"
#include "cxd56_wdt.h"

84
configs/spresense/include/cxd56_bmi160.h Normal file
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@ -0,0 +1,84 @@
/****************************************************************************
* configs/spresense/include/cxd56_bmi160.h
*
* Copyright 2018 Sony Semiconductor Solutions Corporation
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name of Sony Semiconductor Solutions Corporation nor
* the names of its contributors may be used to endorse or promote
* products derived from this software without specific prior written
* permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#ifndef __BOARD_COMMON_INCLUDE_CXD56_BMI160_H
#define __BOARD_COMMON_INCLUDE_CXD56_BMI160_H
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
/****************************************************************************
* Public Types
****************************************************************************/
#ifndef __ASSEMBLY__
/****************************************************************************
* Public Data
****************************************************************************/
#undef EXTERN
#if defined(__cplusplus)
#define EXTERN extern "C"
extern "C"
{
#else
#define EXTERN extern
#endif
/****************************************************************************
* Public Function Prototypes
****************************************************************************/
/****************************************************************************
* Name: board_bmi160_initialize
*
* Description:
* Initialize BMI160 i2c driver and register the BMI160 device.
*
****************************************************************************/
int board_bmi160_initialize(int bus);
#undef EXTERN
#if defined(__cplusplus)
}
#endif
#endif /* __ASSEMBLY__ */
#endif /* __BOARD_COMMON_INCLUDE_CXD56_BMI160_H */

4
configs/spresense/src/Makefile
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@ -92,4 +92,8 @@ ifeq ($(CONFIG_WL_GS2200M),y)
CSRCS += cxd56_gs2200m.c
endif
ifeq ($(CONFIG_SENSORS_BMI160_I2C),y)
CSRCS += cxd56_bmi160_i2c.c
endif
include $(TOPDIR)/configs/Board.mk

86
configs/spresense/src/cxd56_bmi160_i2c.c Normal file
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@ -0,0 +1,86 @@
/****************************************************************************
* configs/spresense/src/cxd56_bmi160_i2c.c
*
* Copyright 2018 Sony Semiconductor Solutions Corporation
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name of Sony Semiconductor Solutions Corporation nor
* the names of its contributors may be used to endorse or promote
* products derived from this software without specific prior written
* permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <stdio.h>
#include <debug.h>
#include <errno.h>
#include <nuttx/board.h>
#include <nuttx/sensors/bmi160.h>
#include "cxd56_i2c.h"
#ifdef CONFIG_CXD56_DECI_GYRO
#define GYRO_NR_SEQS 3
#else
#define GYRO_NR_SEQS 1
#endif
#ifdef CONFIG_CXD56_DECI_ACCEL
#define ACCEL_NR_SEQS 3
#else
#define ACCEL_NR_SEQS 1
#endif
int board_bmi160_initialize(int bus)
{
int ret;
FAR struct i2c_master_s *i2c;
sninfo("Initializing BMI160..\n");
/* Initialize i2c deivce */
i2c = cxd56_i2cbus_initialize(bus);
if (!i2c)
{
snerr("ERROR: Failed to initialize i2c%d.\n", bus);
return -ENODEV;
}
ret = bmi160_register("/dev/accel0", i2c);
if (ret < 0)
{
snerr("Error registering BMI160\n");
}
return ret;
}

8
configs/spresense/src/cxd56_bringup.c
View File

@ -346,5 +346,13 @@ int cxd56_bringup(void)
}
#endif
#ifdef CONFIG_SENSORS_BMI160_I2C
ret = board_bmi160_initialize(0);
if (ret < 0)
{
_err("ERROR: Failed to initialze BMI160. \n");
}
#endif
return 0;
}

30
drivers/sensors/Kconfig
View File

@ -49,6 +49,36 @@ config SENSORS_BMG160
---help---
Enable driver support for the Bosch BMG160 gyroscope sensor.
config SENSORS_BMI160
bool "Bosch BMI160 Inertial Measurement Sensor support"
default n
select I2C
---help---
Enable driver support for the Bosch BMI160 Inertial
Measurement sensor
if SENSORS_BMI160
choice
prompt "BMI160 Interface"
default SENSORS_BMI160_SPI
config SENSORS_BMI160_I2C
bool "BMI160 I2C Interface"
select I2C
---help---
Enables support for the I2C interface
config SENSORS_BMI160_SPI
bool "BMI160 SPI Interface"
select SPI
---help---
Enables support for the SPI interface
endchoice
endif
config SENSORS_BMP180
bool "Bosch BMP180 Barometer Sensor support"
default n

4
drivers/sensors/Make.defs
View File

@ -105,6 +105,10 @@ ifeq ($(CONFIG_SENSORS_BMG160),y)
CSRCS += bmg160.c
endif
ifeq ($(CONFIG_SENSORS_BMI160),y)
CSRCS += bmi160.c
endif
ifeq ($(CONFIG_SENSORS_BMP180),y)
CSRCS += bmp180.c
endif

786
drivers/sensors/bmi160.c Normal file
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@ -0,0 +1,786 @@
/****************************************************************************
* drivers/sensors/bmi160.c
*
* Copyright 2018 Sony Semiconductor Solutions Corporation
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name of Sony Semiconductor Solutions Corporation nor
* the names of its contributors may be used to endorse or promote
* products derived from this software without specific prior written
* permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <stdlib.h>
#include <fixedmath.h>
#include <errno.h>
#include <debug.h>
#include <nuttx/kmalloc.h>
#include <nuttx/fs/fs.h>
#include <nuttx/spi/spi.h>
#include <nuttx/i2c/i2c_master.h>
#include <nuttx/sensors/bmi160.h>
#if defined(CONFIG_SENSORS_BMI160)
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
#define DEVID 0xd1
#define BMI160_I2C_ADDR 0x68 /* If SDO pin is pulled to VDDIO, use 0x69 */
#define BMI160_I2C_FREQ 400000
#define BMI160_CHIP_ID (0x00) /* Chip ID */
#define BMI160_ERROR (0x02) /* Error register */
#define BMI160_PMU_STAT (0x03) /* Current power mode */
#define BMI160_DATA_0 (0x04) /* MAG X 7:0 (LSB) */
#define BMI160_DATA_1 (0x05) /* MAG X 15:8 (MSB) */
#define BMI160_DATA_2 (0x06) /* MAG Y 7:0 (LSB) */
#define BMI160_DATA_3 (0x07) /* MAG Y 15:8 (MSB) */
#define BMI160_DATA_4 (0x08) /* MAG Z 7:0 (LSB) */
#define BMI160_DATA_5 (0x09) /* MAG Z 15:8 (MSB) */
#define BMI160_DATA_6 (0x0A) /* RHALL 7:0 (LSB) */
#define BMI160_DATA_7 (0x0B) /* RHALL 15:8 (MSB) */
#define BMI160_DATA_8 (0x0C) /* GYR X 7:0 (LSB) */
#define BMI160_DATA_9 (0x0D) /* GYR X 15:8 (MSB) */
#define BMI160_DATA_10 (0x0E) /* GYR Y 7:0 (LSB) */
#define BMI160_DATA_11 (0x0F) /* GYR Y 15:8 (MSB) */
#define BMI160_DATA_12 (0x10) /* GYR Z 7:0 (LSB) */
#define BMI160_DATA_13 (0x11) /* GYR Z 15:8 (MSB) */
#define BMI160_DATA_14 (0x12) /* ACC X 7:0 (LSB) */
#define BMI160_DATA_15 (0x13) /* ACC X 15:8 (MSB) */
#define BMI160_DATA_16 (0x14) /* ACC Y 7:0 (LSB) */
#define BMI160_DATA_17 (0x15) /* ACC Y 15:8 (MSB) */
#define BMI160_DATA_18 (0x16) /* ACC Z 7:0 (LSB) */
#define BMI160_DATA_19 (0x17) /* ACC Z 15:8 (MSB) */
#define BMI160_SENSORTIME_0 (0x18) /* Sensor time 0 */
#define BMI160_SENSORTIME_1 (0x19) /* Sensor time 1 */
#define BMI160_SENSORTIME_2 (0x1A) /* Sensor time 2 */
#define BMI160_STAT (0x1B) /* Status register */
#define BMI160_INTR_STAT_0 (0x1C) /* Interrupt status */
#define BMI160_INTR_STAT_1 (0x1D)
#define BMI160_INTR_STAT_2 (0x1E)
#define BMI160_INTR_STAT_3 (0x1F)
#define BMI160_TEMPERATURE_0 (0x20) /* Temperature */
#define BMI160_TEMPERATURE_1 (0x21)
#define BMI160_FIFO_LENGTH_0 (0x22) /* FIFO length */
#define BMI160_FIFO_LENGTH_1 (0x23)
#define BMI160_FIFO_DATA (0x24)
#define BMI160_ACCEL_CONFIG (0x40) /* ACCEL config for ODR, bandwidth and undersampling */
#define BMI160_ACCEL_RANGE (0x41) /* ACCEL range */
#define BMI160_GYRO_CONFIG (0x42) /* GYRO config for ODR and bandwidth */
#define BMI160_GYRO_RANGE (0x43) /* GYRO range */
#define BMI160_MAG_CONFIG (0x44) /* MAG config for ODR */
#define BMI160_FIFO_DOWN (0x45) /* GYRO and ACCEL downsampling rates for FIFO */
#define BMI160_FIFO_CONFIG_0 (0x46) /* FIFO config */
#define BMI160_FIFO_CONFIG_1 (0x47)
#define BMI160_MAG_IF_0 (0x4B) /* MAG interface */
#define BMI160_MAG_IF_1 (0x4C)
#define BMI160_MAG_IF_2 (0x4D)
#define BMI160_MAG_IF_3 (0x4E)
#define BMI160_MAG_IF_4 (0x4F)
#define BMI160_INTR_ENABLE_0 (0x50) /* Interrupt enable */
#define BMI160_INTR_ENABLE_1 (0x51)
#define BMI160_INTR_ENABLE_2 (0x52)
#define BMI160_INTR_OUT_CTRL (0x53)
#define BMI160_INTR_LATCH (0x54) /* Latch duration */
#define BMI160_INTR_MAP_0 (0x55) /* Map interrupt */
#define BMI160_INTR_MAP_1 (0x56)
#define BMI160_INTR_MAP_2 (0x57)
#define BMI160_INTR_DATA_0 (0x58) /* Data source */
#define BMI160_INTR_DATA_1 (0x59)
#define BMI160_INTR_LOWHIGH_0 (0x5A) /* Threshold interrupt */
#define BMI160_INTR_LOWHIGH_1 (0x5B)
#define BMI160_INTR_LOWHIGH_2 (0x5C)
#define BMI160_INTR_LOWHIGH_3 (0x5D)
#define BMI160_INTR_LOWHIGH_4 (0x5E)
#define BMI160_INTR_MOTION_0 (0x5F)
#define BMI160_INTR_MOTION_1 (0x60)
#define BMI160_INTR_MOTION_2 (0x61)
#define BMI160_INTR_MOTION_3 (0x62)
#define BMI160_INTR_TAP_0 (0x63)
#define BMI160_INTR_TAP_1 (0x64)
#define BMI160_INTR_ORIENT_0 (0x65)
#define BMI160_INTR_ORIENT_1 (0x66)
#define BMI160_INTR_FLAT_0 (0x67)
#define BMI160_INTR_FLAT_1 (0x68)
#define BMI160_FOC_CONFIG (0x69) /* Fast offset configuration */
#define BMI160_CONFIG (0x6A) /* Miscellaneous configuration */
#define BMI160_IF_CONFIG (0x6B) /* Serial interface configuration */
#define BMI160_PMU_TRIGGER (0x6C) /* GYRO power mode trigger */
#define BMI160_SELF_TEST (0x6D) /* Self test */
#define BMI160_NV_CONFIG (0x70) /* SPI/I2C selection */
#define BMI160_OFFSET_0 (0x71) /* ACCEL and GYRO offset */
#define BMI160_OFFSET_1 (0x72)
#define BMI160_OFFSET_2 (0x73)
#define BMI160_OFFSET_3 (0x74)
#define BMI160_OFFSET_4 (0x75)
#define BMI160_OFFSET_5 (0x76)
#define BMI160_OFFSET_6 (0x77)
#define BMI160_STEP_COUNT_0 (0x78) /* Step counter interrupt */
#define BMI160_STEP_COUNT_1 (0x79)
#define BMI160_STEP_CONFIG_0 (0x7A) /* Step counter configuration */
#define BMI160_STEP_CONFIG_1 (0x7B)
#define BMI160_CMD (0x7e) /* Command register */
/* 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 (0x00 << 4)
#define GYRO_OSR2_MODE (0x01 << 4)
#define GYRO_NORMAL_MODE (0x02 << 4)
#define GYRO_CIC_MODE (0x03 << 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 0x7b STEP_CONFIG_1 */
#define STEP_CNT_EN (1 << 3)
/* Register 0x7e - CMD */
#define ACCEL_PM_SUSPEND (0X10)
#define ACCEL_PM_NORMAL (0x11)
#define ACCEL_PM_LOWPOWER (0X12)
#define GYRO_PM_SUSPEND (0x14)
#define GYRO_PM_NORMAL (0x15)
#define GYRO_PM_FASTSTARTUP (0x17)
#define MAG_PM_SUSPEND (0x18)
#define MAG_PM_NORMAL (0x19)
#define MAG_PM_LOWPOWER (0x1A)
/****************************************************************************
* Private Types
****************************************************************************/
struct bmi160_dev_s
{
#ifdef CONFIG_SENSORS_BMI160_I2C
FAR struct i2c_master_s *i2c; /* I2C interface */
uint8_t addr; /* I2C address */
int freq; /* Frequency <= 3.4MHz */
#else /* CONFIG_SENSORS_BMI160_SPI */
FAR struct spi_dev_s *spi; /* SPI interface */
#endif
};
/****************************************************************************
* Private Functions
****************************************************************************/
static uint8_t bmi160_getreg8(FAR struct bmi160_dev_s *priv,
uint8_t regaddr);
static void bmi160_putreg8(FAR struct bmi160_dev_s *priv, uint8_t regaddr,
uint8_t regval);
static uint16_t bmi160_getreg16(FAR struct bmi160_dev_s *priv,
uint8_t regaddr);
static void bmi160_getregs(FAR struct bmi160_dev_s *priv, uint8_t regaddr,
uint8_t *regval, int len);
/* Character driver methods */
static int bmi160_open(FAR struct file *filep);
static int bmi160_close(FAR struct file *filep);
static ssize_t bmi160_read(FAR struct file *filep, FAR char *buffer,
size_t len);
static int bmi160_ioctl(FAR struct file *filep, int cmd,
unsigned long arg);
static int bmi160_checkid(FAR struct bmi160_dev_s *priv);
/****************************************************************************
* Private Data
****************************************************************************/
/* This the vtable that supports the character driver interface */
static const struct file_operations g_bmi160fops =
{
bmi160_open, /* open */
bmi160_close, /* close */
bmi160_read, /* read */
0, /* write */
0, /* seek */
bmi160_ioctl, /* ioctl */
};
/****************************************************************************
* Name: bmi160_configspi
*
* Description:
*
****************************************************************************/
#ifdef CONFIG_SENSORS_BMI160_SPI
static inline void bmi160_configspi(FAR struct spi_dev_s *spi)
{
/* Configure SPI for the BMI160 */
SPI_SETMODE(spi, SPIDEV_MODE3);
SPI_SETBITS(spi, 8);
(void)SPI_HWFEATURES(spi, 0);
(void)SPI_SETFREQUENCY(spi, BMI160_SPI_MAXFREQUENCY);
}
#endif
/****************************************************************************
* Name: bmi160_getreg8
*
* Description:
* Read from an 8-bit BMI160 register
*
****************************************************************************/
static uint8_t bmi160_getreg8(FAR struct bmi160_dev_s *priv, uint8_t regaddr)
{
uint8_t regval = 0;
#ifdef CONFIG_SENSORS_BMI160_I2C
struct i2c_msg_s msg[2];
int ret;
msg[0].frequency = priv->freq;
msg[0].addr = priv->addr;
msg[0].flags = 0;
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);
}
#else /* CONFIG_SENSORS_BMI160_SPI */
/* If SPI bus is shared then lock and configure it */
(void)SPI_LOCK(priv->spi, true);
bmi160_configspi(priv->spi);
/* Select the BMI160 */
SPI_SELECT(priv->spi, SPIDEV_ACCELEROMETER(0), true);
/* Send register to read and get the next byte */
(void)SPI_SEND(priv->spi, regaddr | 0x80);
SPI_RECVBLOCK(priv->spi, &regval, 1);
/* Deselect the BMI160 */
SPI_SELECT(priv->spi, SPIDEV_ACCELEROMETER(0), false);
/* Unlock bus */
(void)SPI_LOCK(priv->spi, false);
#endif
return regval;
}
/****************************************************************************
* Name: bmi160_putreg8
*
* Description:
* Write a value to an 8-bit BMI160 register
*
****************************************************************************/
static void bmi160_putreg8(FAR struct bmi160_dev_s *priv, uint8_t regaddr,
uint8_t regval)
{
#ifdef CONFIG_SENSORS_BMI160_I2C
struct i2c_msg_s msg[2];
int ret;
uint8_t txbuffer[2];
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_BMI160_SPI */
/* If SPI bus is shared then lock and configure it */
(void)SPI_LOCK(priv->spi, true);
bmi160_configspi(priv->spi);
/* Select the BMI160 */
SPI_SELECT(priv->spi, SPIDEV_ACCELEROMETER(0), true);
/* Send register address and set the value */
(void)SPI_SEND(priv->spi, regaddr);
(void)SPI_SEND(priv->spi, regval);
/* Deselect the BMI160 */
SPI_SELECT(priv->spi, SPIDEV_ACCELEROMETER(0), false);
/* Unlock bus */
(void)SPI_LOCK(priv->spi, false);
#endif
}
/****************************************************************************
* Name: bmi160_getreg16
*
* Description:
* Read 16-bits of data from an BMI160 register
*
****************************************************************************/
static uint16_t bmi160_getreg16(FAR struct bmi160_dev_s *priv,
uint8_t regaddr)
{
uint16_t regval = 0;
#ifdef CONFIG_SENSORS_BMI160_I2C
struct i2c_msg_s msg[2];
int ret;
msg[0].frequency = priv->freq;
msg[0].addr = priv->addr;
msg[0].flags = 0;
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 = (uint8_t *)&regval;
msg[1].length = 2;
ret = I2C_TRANSFER(priv->i2c, msg, 2);
if (ret < 0)
{
snerr("I2C_TRANSFER failed: %d\n", ret);
}
#else /* CONFIG_SENSORS_BMI160_SPI */
/* If SPI bus is shared then lock and configure it */
(void)SPI_LOCK(priv->spi, true);
bmi160_configspi(priv->spi);
/* Select the BMI160 */
SPI_SELECT(priv->spi, SPIDEV_ACCELEROMETER(0), true);
/* Send register to read and get the next 2 bytes */
(void)SPI_SEND(priv->spi, regaddr | 0x80);
SPI_RECVBLOCK(priv->spi, &regval, 2);
/* Deselect the BMI160 */
SPI_SELECT(priv->spi, SPIDEV_ACCELEROMETER(0), false);
/* Unlock bus */
(void)SPI_LOCK(priv->spi, false);
#endif
return regval;
}
/****************************************************************************
* Name: bmi160_getregs
*
* Description:
* Read cnt bytes from specified dev_addr and reg_addr
*
****************************************************************************/
static void bmi160_getregs(FAR struct bmi160_dev_s *priv, uint8_t regaddr,
uint8_t *regval, int len)
{
#ifdef CONFIG_SENSORS_BMI160_I2C
struct i2c_msg_s msg[2];
int ret;
msg[0].frequency = priv->freq;
msg[0].addr = priv->addr;
msg[0].flags = 0;
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_BMI160_SPI */
/* If SPI bus is shared then lock and configure it */
(void)SPI_LOCK(priv->spi, true);
bmi160_configspi(priv->spi);
/* Select the BMI160 */
SPI_SELECT(priv->spi, SPIDEV_ACCELEROMETER(0), true);
/* Send register to read and get the next 2 bytes */
(void)SPI_SEND(priv->spi, regaddr | 0x80);
SPI_RECVBLOCK(priv->spi, regval, len);
/* Deselect the BMI160 */
SPI_SELECT(priv->spi, SPIDEV_ACCELEROMETER(0), false);
/* Unlock bus */
(void)SPI_LOCK(priv->spi, false);
#endif
}
/****************************************************************************
* Name: bmi160_set_normal_imu
*
* Description:
* set bmi160 to normal IMU mode.
*
****************************************************************************/
static void bmi160_set_normal_imu(FAR struct bmi160_dev_s *priv)
{
/* Set accel & gyro as normal mode. */
bmi160_putreg8(priv, BMI160_CMD, ACCEL_PM_NORMAL);
up_mdelay(30);
bmi160_putreg8(priv, BMI160_CMD, GYRO_PM_NORMAL);
up_mdelay(30);
/* Set accel & gyro output data rate. */
bmi160_putreg8(priv, BMI160_ACCEL_CONFIG,
ACCEL_NORMAL_AVG4 | ACCEL_ODR_100HZ);
bmi160_putreg8(priv, BMI160_GYRO_CONFIG, GYRO_NORMAL_MODE | GYRO_ODR_100HZ);
}
/****************************************************************************
* Name: bmi160_open
*
* Description:
* Standard character driver open method.
*
****************************************************************************/
static int bmi160_open(FAR struct file *filep)
{
FAR struct inode *inode = filep->f_inode;
FAR struct bmi160_dev_s *priv = inode->i_private;
bmi160_set_normal_imu(priv);
return OK;
}
/****************************************************************************
* Name: bmi160_close
*
* Description:
* Standard character driver close method.
*
****************************************************************************/
static int bmi160_close(FAR struct file *filep)
{
FAR struct inode *inode = filep->f_inode;
FAR struct bmi160_dev_s *priv = inode->i_private;
/* Set suspend mode to each sensors. */
bmi160_putreg8(priv, BMI160_CMD, ACCEL_PM_SUSPEND);
up_mdelay(30);
bmi160_putreg8(priv, BMI160_CMD, GYRO_PM_SUSPEND);
up_mdelay(30);
return OK;
}
/****************************************************************************
* Name: bmi160_read
*
* Description:
* Standard character driver read method.
*
****************************************************************************/
static ssize_t bmi160_read(FAR struct file *filep, FAR char *buffer,
size_t len)
{
FAR struct inode *inode = filep->f_inode;
FAR struct bmi160_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;
}
bmi160_getregs(priv, BMI160_DATA_8, (FAR uint8_t *)buffer, 15);
/* Adjust sensing time into 24 bit */
p->sensor_time >>= 8;
return len;
}
static void bmi160_enable_stepcounter(FAR struct bmi160_dev_s *priv,
int enable)
{
uint8_t val;
val = bmi160_getreg8(priv, BMI160_STEP_CONFIG_1);
if (enable)
{
val |= STEP_CNT_EN;
}
else
{
val &= ~STEP_CNT_EN;
}
bmi160_putreg8(priv, BMI160_STEP_CONFIG_1, val);
sninfo("Step counter %sabled.\n", val & STEP_CNT_EN ? "en" : "dis");
}
/****************************************************************************
* Name: bmi160_ioctl
*
* Description:
* Standard character driver ioctl method.
*
****************************************************************************/
static int bmi160_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
{
FAR struct inode *inode = filep->f_inode;
FAR struct bmi160_dev_s *priv = inode->i_private;
int ret = OK;
switch (cmd)
{
/* Enable bmi160 step counter. Arg: int value */
case SNIOC_ENABLESC:
{
bmi160_enable_stepcounter(priv, (int)arg);
}
break;
/* Read bmi160 step count. Arg: int16_t* pointer */
case SNIOC_READSC:
{
int16_t *ptr = (FAR int16_t *)((uintptr_t)arg);
DEBUGASSERT(ptr != NULL);
*ptr = bmi160_getreg16(priv, BMI160_STEP_COUNT_0);
}
break;
default:
snerr("Unrecognized cmd: %d\n", cmd);
ret = -ENOTTY;
break;
}
return ret;
}
/****************************************************************************
* Name: bmi160_checkid
*
* Description:
* Read and verify the BMI160 chip ID
*
****************************************************************************/
static int bmi160_checkid(FAR struct bmi160_dev_s *priv)
{
uint8_t devid = 0;
/* Read device ID */
devid = bmi160_getreg8(priv, BMI160_CHIP_ID);
sninfo("devid: %04x\n", devid);
if (devid != (uint16_t) DEVID)
{
/* ID is not Correct */
return -ENODEV;
}
return OK;
}
/****************************************************************************
* Name: bmi160_register
*
* Description:
* Register the BMI160 character device as 'devpath'
*
* Input Parameters:
* devpath - The full path to the driver to register. E.g., "/dev/press0"
* dev - An instance of the SPI interface to use to communicate with
* BMI160
*
* Returned Value:
* Zero (OK) on success; a negated errno value on failure.
*
****************************************************************************/
#ifdef CONFIG_SENSORS_BMI160_I2C
int bmi160_register(FAR const char *devpath, FAR struct i2c_master_s *dev)
#else /* CONFIG_SENSORS_BMI160_SPI */
int bmi160_register(FAR const char *devpath, FAR struct spi_dev_s *dev)
#endif
{
FAR struct bmi160_dev_s *priv;
int ret;
priv = (FAR struct bmi160_dev_s *)kmm_malloc(sizeof(struct bmi160_dev_s));
if (!priv)
{
snerr("Failed to allocate instance\n");
return -ENOMEM;
}
#ifdef CONFIG_SENSORS_BMI160_I2C
priv->i2c = dev;
priv->addr = BMI160_I2C_ADDR;
priv->freq = BMI160_I2C_FREQ;
#else /* CONFIG_SENSORS_BMI160_SPI */
priv->spi = dev;
/* BMI160 detects communication bus is SPI by rising edge of CS. */
bmi160_getreg8(priv, 0x7f);
bmi160_getreg8(priv, 0x7f); /* workaround: fail to switch SPI, run twice */
up_udelay(200);
#endif
ret = bmi160_checkid(priv);
if (ret < 0)
{
snerr("Wrong Device ID!\n");
kmm_free(priv);
return ret;
}
/* To avoid gyro wakeup it is required to write 0x00 to 0x6C */
bmi160_putreg8(priv, BMI160_PMU_TRIGGER, 0);
ret = register_driver(devpath, &g_bmi160fops, 0666, priv);
if (ret < 0)
{
snerr("Failed to register driver: %d\n", ret);
kmm_free(priv);
}
sninfo("BMI160 driver loaded successfully!\n");
return OK;
}
#endif /* CONFIG_SENSORS_BMI160 */

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/****************************************************************************
* include/nuttx/sensors/bmi160.h
*
* Copyright 2018 Sony Semiconductor Solutions Corporation
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name of Sony Semiconductor Solutions Corporation nor
* the names of its contributors may be used to endorse or promote
* products derived from this software without specific prior written
* permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#ifndef __INCLUDE_NUTTX_SENSORS_BMI160_H
#define __INCLUDE_NUTTX_SENSORS_BMI160_H
#include <nuttx/config.h>
#include <nuttx/fs/ioctl.h>
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
#define BMI160_SPI_MAXFREQUENCY 10000000
/* Configuration ************************************************************/
/* Power mode */
#define BMI160_PM_SUSPEND (0x00)
#define BMI160_PM_NORMAL (0x01)
#define BMI160_PM_LOWPOWER (0x02)
#define BMI160_PM_FASTSTARTUP (0x03)
/* Output data rate */
#define BMI160_ACCEL_ODR_0_78HZ (0x01)
#define BMI160_ACCEL_ODR_1_56HZ (0x02)
#define BMI160_ACCEL_ODR_3_12HZ (0x03)
#define BMI160_ACCEL_ODR_6_25HZ (0x04)
#define BMI160_ACCEL_ODR_12_5HZ (0x05)
#define BMI160_ACCEL_ODR_25HZ (0x06)
#define BMI160_ACCEL_ODR_50HZ (0x07)
#define BMI160_ACCEL_ODR_100HZ (0x08)
#define BMI160_ACCEL_ODR_200HZ (0x09)
#define BMI160_ACCEL_ODR_400HZ (0x0A)
#define BMI160_ACCEL_ODR_800HZ (0x0B)
#define BMI160_ACCEL_ODR_1600HZ (0x0C)
/* IOCTL Commands ***********************************************************/
#define SNIOC_ENABLESC _SNIOC(0x0001) /* Arg: uint8_t value */
#define SNIOC_READSC _SNIOC(0x0002) /* Arg: int16_t* pointer */
#define SNIOC_SETACCPM _SNIOC(0x0003) /* Arg: uint8_t value */
#define SNIOC_SETACCODR _SNIOC(0x0004) /* Arg: uint8_t value */
/****************************************************************************
* Public Types
****************************************************************************/
/****************************************************************************
* struct 6-axis data
****************************************************************************/
struct accel_t
{
int16_t x;
int16_t y;
int16_t z;
};
struct gyro_t
{
int16_t x;
int16_t y;
int16_t z;
};
struct accel_gyro_st_s
{
struct gyro_t gyro;
struct accel_t accel;
uint32_t sensor_time;
};
struct spi_dev_s;
struct i2c_master_s;
/****************************************************************************
* Public Function Prototypes
****************************************************************************/
#ifdef __cplusplus
#define EXTERN extern "C"
extern "C"
{
#else
#define EXTERN extern
#endif
/****************************************************************************
* Name: bmi160_register
*
* Description:
* Register the BMI160 character device as 'devpath'
*
* Input Parameters:
* devpath - The full path to the driver to register. E.g., "/dev/accel0"
* dev - An instance of the SPI or I2C interface to use to communicate
* with BMI160
*
* Returned Value:
* Zero (OK) on success; a negated errno value on failure.
*
****************************************************************************/
# ifdef CONFIG_SENSORS_BMI160_I2C
int bmi160_register(FAR const char *devpath, FAR struct i2c_master_s *dev);
# else
int bmi160_register(FAR const char *devpath, FAR struct spi_dev_s *dev);
# endif
#undef EXTERN
#ifdef __cplusplus
}
#endif
#endif /* __INCLUDE_NUTTX_SENSORS_BMI160_H */