/**************************************************************************** * boards/arm/cxd56xx/drivers/sensors/bmi160_scu.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 #include #include #include #include #include #include #include #include #include #include #include #include #if defined(CONFIG_SENSORS_BMI160_SCU) /**************************************************************************** * Pre-processor Definitions ****************************************************************************/ #ifdef CONFIG_SENSORS_BMI160_SCU_DECI_GYRO # define GYRO_SEQ_TYPE SEQ_TYPE_DECI #else # define GYRO_SEQ_TYPE SEQ_TYPE_NORMAL #endif #ifdef CONFIG_SENSORS_BMI160_SCU_DECI_ACCEL # define ACCEL_SEQ_TYPE SEQ_TYPE_DECI #else # define ACCEL_SEQ_TYPE SEQ_TYPE_NORMAL #endif #define DEVID 0xd1 #define BMI160_I2C_ADDR 0x68 /* If SDO pin is pulled to VDDIO, use 0x69 */ #define BMI160_I2C_FREQ 400000 /* BMI160 have accel and gyro, XYZ axis respectively in 16 bits. */ #define BMI160_BYTESPERSAMPLE 6 #define BMI160_ELEMENTSIZE 2 /* Use reading sensor data via oneshot, for debug use only */ /* #define USE_ONESHOTREAD */ /* BMI160 Registers *********************************************************/ /* Register Addresses */ #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) /* Register 0x40 - ACCEL_CONFIG accel low power mode averaging */ #define ACCEL_LP_AVG1 (0 << 4) #define ACCEL_LP_AVG2 (1 << 4) #define ACCEL_LP_AVG4 (2 << 4) #define ACCEL_LP_AVG8 (3 << 4) #define ACCEL_LP_AVG16 (4 << 4) #define ACCEL_LP_AVG32 (5 << 4) #define ACCEL_LP_AVG64 (6 << 4) #define ACCEL_LP_AVG128 (7 << 4) /* Register 0x40 - ACCEL_CONFIG accel under sampling */ #define ACCEL_US_DISABLE (0 << 7) #define ACCEL_US_ENABLE (1 << 7) /* 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) /* 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) #ifndef itemsof # define itemsof(array) (sizeof(array)/sizeof(array[0])) #endif /**************************************************************************** * Private Types ****************************************************************************/ /* Save BMI160 power status */ uint32_t g_pmu_stat; struct bmi160_dev_s { #ifdef CONFIG_SENSORS_BMI160_SCU_I2C FAR struct i2c_master_s *i2c; /* I2C interface */ uint8_t addr; /* BMP280 I2C address */ int freq; /* BMP280 Frequency <= 3.4MHz */ int port; /* I2C port */ FAR struct seq_s *seq; /* Sequencer */ int fifoid; /* Sequencer id */ #else /* CONFIG_SENSORS_BMI160_SCU_SPI */ FAR struct spi_dev_s *spi; /* SPI interface */ FAR struct seq_s *seq; /* Sequencer */ int fifoid; /* Sequencer id */ #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); /* Character driver methods */ static int bmi160_open_gyro(FAR struct file *filep); static int bmi160_open_accel(FAR struct file *filep); static int bmi160_close_gyro(FAR struct file *filep); static int bmi160_close_accel(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); #ifdef CONFIG_SENSORS_BMI160_SCU_I2C static int bmi160_devregister(FAR const char *devpath, FAR struct i2c_master_s *dev, int minor, const struct file_operations *fops, int port); #else /* CONFIG_SENSORS_BMI160_SCU_SPI */ static int bmi160_devregister(FAR const char *devpath, FAR struct spi_dev_s *dev, int minor, const struct file_operations *fops); #endif static int bmi160_set_accel_pm(FAR struct bmi160_dev_s *priv, int pm); static int bmi160_set_accel_odr(FAR struct bmi160_dev_s *priv, int odr); /**************************************************************************** * Private Data ****************************************************************************/ /* This the vtable that supports the character driver interface */ static const struct file_operations g_bmi160gyrofops = { bmi160_open_gyro, /* open */ bmi160_close_gyro, /* close */ bmi160_read, /* read */ 0, /* write */ 0, /* seek */ bmi160_ioctl, /* ioctl */ }; static const struct file_operations g_bmi160accelfops = { bmi160_open_accel, /* open */ bmi160_close_accel, /* close */ bmi160_read, /* read */ 0, /* write */ 0, /* seek */ bmi160_ioctl, /* ioctl */ }; /* SCU instructions for pick gyro sensing data. */ static const uint16_t g_bmi160gyroinst[] = { SCU_INST_SEND(BMI160_DATA_8 | 0x80), SCU_INST_RECV(BMI160_BYTESPERSAMPLE) | SCU_INST_LAST, }; /* SCU instructions for pick accel sensing data. */ static const uint16_t g_bmi160accelinst[] = { SCU_INST_SEND(BMI160_DATA_14 | 0x80), SCU_INST_RECV(BMI160_BYTESPERSAMPLE) | SCU_INST_LAST, }; /* Sequencer instance */ static FAR struct seq_s *g_seq_gyro = NULL; static FAR struct seq_s *g_seq_accel = NULL; static int g_refcnt_gyro = 0; static int g_refcnt_accel = 0; /**************************************************************************** * 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; uint16_t inst[2]; /* Send register to read and get the next byte */ inst[0] = SCU_INST_SEND(regaddr | 0x80); inst[1] = SCU_INST_RECV(1) | SCU_INST_LAST; #ifdef CONFIG_SENSORS_BMI160_SCU_I2C scu_i2ctransfer(priv->port, priv->addr, inst, 2, ®val, 1); #else /* CONFIG_SENSORS_BMI160_SCU_SPI */ scu_spitransfer(0, inst, 2, ®val, 1); #endif return regval; } #ifdef USE_ONESHOTREAD /**************************************************************************** * Name: bmi160_getregs * * Description: * Burst read from an BMI160 register * ****************************************************************************/ static uint8_t bmi160_getregs(FAR struct bmi160_dev_s *priv, uint8_t regaddr, void *buffer, int len) { uint16_t inst[3]; int ilen; /* Send register to read and get the next byte */ inst[0] = SCU_INST_SEND(regaddr | 0x80); if (len > 8) { inst[1] = SCU_INST_RECV(8); inst[2] = SCU_INST_RECV(len - 8) | SCU_INST_LAST; ilen = 3; } else { inst[1] = SCU_INST_RECV(len) | SCU_INST_LAST; ilen = 2; } #ifdef CONFIG_SENSORS_BMI160_SCU_I2C scu_i2ctransfer(priv->port, priv->addr, inst, ilen, buffer, len); #else /* CONFIG_SENSORS_BMI160_SCU_SPI */ scu_spitransfer(0, inst, ilen, buffer, len); #endif return OK; } #endif /**************************************************************************** * 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) { uint16_t inst[2]; /* Send register address and set the value */ inst[0] = SCU_INST_SEND(regaddr); inst[1] = SCU_INST_SEND(regval) | SCU_INST_LAST; #ifdef CONFIG_SENSORS_BMI160_SCU_I2C scu_i2ctransfer(priv->port, priv->addr, inst, 2, NULL, 0); #else /* CONFIG_SENSORS_BMI160_SCU_SPI */ scu_spitransfer(0, inst, 2, NULL, 0); #endif } /**************************************************************************** * Name: bmi160_setcommand * * Description: * Write a value to an 8-bit BMI160 register * ****************************************************************************/ static void bmi160_setcommand(FAR struct bmi160_dev_s *priv, uint8_t command) { /* Write command register */ bmi160_putreg8(priv, BMI160_CMD, command); /* Interface idle time delay */ up_mdelay(1); /* Save power mode status of Accel and gyro */ g_pmu_stat = bmi160_getreg8(priv, BMI160_PMU_STAT) & 0x3c; } static int bmi160_seqinit_gyro(FAR struct bmi160_dev_s *priv) { DEBUGASSERT(!g_seq_gyro); /* Open sequencer */ #ifdef CONFIG_SENSORS_BMI160_SCU_I2C g_seq_gyro = seq_open(GYRO_SEQ_TYPE, (priv->port == 0) ? SCU_BUS_I2C0 : SCU_BUS_I2C1); #else /* CONFIG_SENSORS_BMI160_SCU_SPI */ g_seq_gyro = seq_open(GYRO_SEQ_TYPE, SCU_BUS_SPI); #endif if (!g_seq_gyro) { return -ENOENT; } priv->seq = g_seq_gyro; #ifdef CONFIG_SENSORS_BMI160_SCU_I2C seq_setaddress(priv->seq, priv->addr); #else /* CONFIG_SENSORS_BMI160_SCU_SPI */ seq_setaddress(priv->seq, 0); #endif /* Set instruction and sample data information to sequencer */ seq_setinstruction(priv->seq, g_bmi160gyroinst, itemsof(g_bmi160gyroinst)); seq_setsample(priv->seq, BMI160_BYTESPERSAMPLE, 0, BMI160_ELEMENTSIZE, false); return OK; } static int bmi160_seqinit_accel(FAR struct bmi160_dev_s *priv) { DEBUGASSERT(!g_seq_accel); /* Open sequencer */ #ifdef CONFIG_SENSORS_BMI160_SCU_I2C g_seq_accel = seq_open(ACCEL_SEQ_TYPE, (priv->port == 0) ? SCU_BUS_I2C0 : SCU_BUS_I2C1); #else /* CONFIG_SENSORS_BMI160_SCU_SPI */ g_seq_accel = seq_open(ACCEL_SEQ_TYPE, SCU_BUS_SPI); #endif if (!g_seq_accel) { return -ENOENT; } priv->seq = g_seq_accel; #ifdef CONFIG_SENSORS_BMI160_SCU_I2C seq_setaddress(priv->seq, priv->addr); #else /* CONFIG_SENSORS_BMI160_SCU_SPI */ seq_setaddress(priv->seq, 0); #endif /* Set instruction and sample data information to sequencer */ seq_setinstruction(priv->seq, g_bmi160accelinst, itemsof(g_bmi160accelinst)); seq_setsample(priv->seq, BMI160_BYTESPERSAMPLE, 0, BMI160_ELEMENTSIZE, false); return OK; } /**************************************************************************** * Name: bmi160_open * * Description: * Standard character driver open method. * ****************************************************************************/ static int bmi160_open_gyro(FAR struct file *filep) { FAR struct inode *inode = filep->f_inode; FAR struct bmi160_dev_s *priv = inode->i_private; int ret; if (g_refcnt_gyro == 0) { /* Open and set sequencer */ ret = bmi160_seqinit_gyro(priv); if (ret) { return ret; } /* Change gyroscope to normal mode */ bmi160_setcommand(priv, GYRO_PM_NORMAL); up_mdelay(30); /* Set gyro to normal bandwidth and output data rate 100Hz * Hz = 100/2^(8-n) */ bmi160_putreg8(priv, BMI160_GYRO_CONFIG, GYRO_NORMAL_MODE | 8); } else { /* Set existing sequencer */ priv->seq = g_seq_gyro; } g_refcnt_gyro++; return OK; } static int bmi160_open_accel(FAR struct file *filep) { FAR struct inode *inode = filep->f_inode; FAR struct bmi160_dev_s *priv = inode->i_private; int ret; if (g_refcnt_accel == 0) { /* Open and set sequencer */ ret = bmi160_seqinit_accel(priv); if (ret) { return ret; } /* Change accelerometer to normal mode */ bmi160_setcommand(priv, ACCEL_PM_NORMAL); up_mdelay(30); /* Set accel to normal bandwidth and output data rate 100Hz * Hz = 100/2^(8-n) */ bmi160_putreg8(priv, BMI160_ACCEL_CONFIG, ACCEL_OSR4_AVG1 | 8); } else { /* Set existing sequencer */ priv->seq = g_seq_accel; } g_refcnt_accel++; return OK; } /**************************************************************************** * Name: bmi160_close * * Description: * Standard character driver close method. * ****************************************************************************/ static int bmi160_close_gyro(FAR struct file *filep) { FAR struct inode *inode = filep->f_inode; FAR struct bmi160_dev_s *priv = inode->i_private; g_refcnt_gyro--; if (g_refcnt_gyro == 0) { DEBUGASSERT(g_seq_gyro); /* Change gyroscope to suspend */ bmi160_setcommand(priv, GYRO_PM_SUSPEND); up_mdelay(30); seq_close(g_seq_gyro); g_seq_gyro = NULL; } else { seq_ioctl(priv->seq, priv->fifoid, SCUIOC_FREEFIFO, 0); } return OK; } static int bmi160_close_accel(FAR struct file *filep) { FAR struct inode *inode = filep->f_inode; FAR struct bmi160_dev_s *priv = inode->i_private; g_refcnt_accel--; if (g_refcnt_accel == 0) { DEBUGASSERT(g_seq_accel); /* Change accelerometer to suspend */ bmi160_setcommand(priv, ACCEL_PM_SUSPEND); up_mdelay(30); /* Close sequencer */ seq_close(g_seq_accel); g_seq_accel = NULL; } else { seq_ioctl(priv->seq, priv->fifoid, SCUIOC_FREEFIFO, 0); } return OK; } /**************************************************************************** * Name: bmi160_read_gyro * * Description: * Standard character driver read method for accel/gyro. * ****************************************************************************/ 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; #ifdef USE_ONESHOTREAD bmi160_getregs(priv, BMI160_DATA_14, buffer, 6); len = 6; #else len = seq_read(priv->seq, priv->fifoid, buffer, len); #endif return len; } /**************************************************************************** * 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) { case SNIOC_SETACCPM: ret = bmi160_set_accel_pm(priv, arg); break; case SNIOC_SETACCODR: ret = bmi160_set_accel_odr(priv, arg); break; default: { if (_SCUIOCVALID(cmd)) { /* Redirect SCU commands */ ret = seq_ioctl(priv->seq, priv->fifoid, cmd, arg); } else { 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_seqregister * * Description: * Register the BMI160 character device with sequencer * * Input Parameters: * devpath - The base path to the driver to register. E.g., "/dev/accel" * dev - An instance of the SPI interface to use to communicate with * BMI160 * id - FIFO ID * fops - File operations * * Returned Value: * Zero (OK) on success; a negated errno value on failure. * ****************************************************************************/ #ifdef CONFIG_SENSORS_BMI160_SCU_I2C static int bmi160_devregister(FAR const char *devpath, FAR struct i2c_master_s *dev, int minor, const struct file_operations *fops, int port) #else /* CONFIG_SENSORS_BMI160_SCU_SPI */ static int bmi160_devregister(FAR const char *devpath, FAR struct spi_dev_s *dev, int minor, const struct file_operations *fops) #endif { FAR struct bmi160_dev_s *priv; char path[12]; 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_SCU_I2C priv->i2c = dev; priv->seq = NULL; priv->fifoid = minor; priv->addr = BMI160_I2C_ADDR; priv->freq = BMI160_I2C_FREQ; priv->port = port; #else /* CONFIG_SENSORS_BMI160_SCU_SPI */ priv->spi = dev; priv->seq = NULL; priv->fifoid = minor; #endif snprintf(path, sizeof(path), "%s%d", devpath, minor); ret = register_driver(path, fops, 0666, priv); if (ret < 0) { snerr("Failed to register driver: %d\n", ret); kmm_free(priv); } return ret; } /**************************************************************************** * Name: bmi160_set_accel_pm * * Description: * Set the accelerometer's power mode * * Input Parameters: * pm - Power mode to be set. * Modes are suspend(0) or normal(1) or low power(2). * * Returned Value: * Zero (OK) on success; a negated errno value on failure. * ****************************************************************************/ static int bmi160_set_accel_pm(FAR struct bmi160_dev_s *priv, int pm) { uint8_t value; switch (pm) { case BMI160_PM_SUSPEND: /* Set suspend mode */ bmi160_setcommand(priv, ACCEL_PM_SUSPEND); up_mdelay(30); break; case BMI160_PM_NORMAL: /* Keep output data rate settings */ value = bmi160_getreg8(priv, BMI160_ACCEL_CONFIG) & 0x0f; /* Output data rate less than 12.5Hz needs undersampling */ if (value < BMI160_ACCEL_ODR_12_5HZ) { value |= ACCEL_US_ENABLE; } /* Reset undersampling and bandwidth setting */ bmi160_putreg8(priv, BMI160_ACCEL_CONFIG, ACCEL_OSR4_AVG1 | value); up_mdelay(1); /* Set normal mode */ bmi160_setcommand(priv, ACCEL_PM_NORMAL); up_mdelay(30); break; case BMI160_PM_LOWPOWER: /* Keep output data rate setting */ value = bmi160_getreg8(priv, BMI160_ACCEL_CONFIG) & 0x0f; /* Set undersampling and averaging cycle */ bmi160_putreg8(priv, BMI160_ACCEL_CONFIG, ACCEL_US_ENABLE | ACCEL_LP_AVG32 | value); up_mdelay(1); /* Set low power mode */ bmi160_setcommand(priv, ACCEL_PM_LOWPOWER); up_mdelay(30); break; default: return -EINVAL; } return OK; } /**************************************************************************** * Name: bmi160_set_accel_odr * * Description: * Set the accelerometer's output data rate * * Input Parameters: * odr - Output data rate parameter to be set. * The result rate is 100/2^(8-odr) Hz. * * Returned Value: * Zero (OK) on success; a negated errno value on failure. * ****************************************************************************/ static int bmi160_set_accel_odr(FAR struct bmi160_dev_s *priv, int odr) { uint8_t value; if (odr < BMI160_ACCEL_ODR_0_78HZ || BMI160_ACCEL_ODR_1600HZ < odr) { return -EINVAL; } /* Keep undersampling and bandwidth settings */ value = bmi160_getreg8(priv, BMI160_ACCEL_CONFIG) & 0xf0; /* In normal mode, odr < 12.5Hz needs undersampling */ if (((g_pmu_stat & 0x30) >> 4) == BMI160_PM_NORMAL) { if (odr < BMI160_ACCEL_ODR_12_5HZ) { value |= ACCEL_US_ENABLE; } else { value &= ~ACCEL_US_ENABLE; } } /* Set output data rate parameter */ bmi160_putreg8(priv, BMI160_ACCEL_CONFIG, value | odr); up_mdelay(1); return OK; } /**************************************************************************** * Name: bmi160_init * * Description: * Register the BMI160 character device as 'devpath' * * Input Parameters: * 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_SCU_I2C int bmi160_init(FAR struct i2c_master_s *dev, int port) #else /* CONFIG_SENSORS_BMI160_SCU_SPI */ int bmi160_init(FAR struct spi_dev_s *dev) #endif { struct bmi160_dev_s tmp; struct bmi160_dev_s *priv = &tmp; int ret; #ifdef CONFIG_SENSORS_BMI160_SCU_I2C /* Setup temporary device structure for initialization */ priv->i2c = dev; priv->addr = BMI160_I2C_ADDR; priv->freq = BMI160_I2C_FREQ; priv->port = port; #else /* CONFIG_SENSORS_BMI160_SCU_SPI */ /* Configure SPI for the BMI160 */ SPI_SETMODE(dev, SPIDEV_MODE3); SPI_SETBITS(dev, 8); SPI_HWFEATURES(dev, 0); SPI_SETFREQUENCY(dev, BMI160_SPI_MAXFREQUENCY); /* 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 */ #endif ret = bmi160_checkid(priv); if (ret < 0) { snerr("Wrong Device ID!\n"); return ret; } /* To avoid gyro wakeup it is required to write 0x00 to 0x6C */ bmi160_putreg8(priv, BMI160_PMU_TRIGGER, 0); up_mdelay(1); return OK; } /**************************************************************************** * Name: bmi160gyro_register * * Description: * Register the BMI160 gyro sensor character device as 'devpath' * * Input Parameters: * devpath - The base path to the driver to register. E.g., "/dev/gyro" * 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_SCU_I2C int bmi160gyro_register(FAR const char *devpath, int minor, FAR struct i2c_master_s *dev, int port) #else /* CONFIG_SENSORS_BMI160_SCU_SPI */ int bmi160gyro_register(FAR const char *devpath, int minor, FAR struct spi_dev_s *dev) #endif { int ret; #ifdef CONFIG_SENSORS_BMI160_SCU_I2C ret = bmi160_devregister(devpath, dev, minor, &g_bmi160gyrofops, port); #else /* CONFIG_SENSORS_BMI160_SCU_SPI */ ret = bmi160_devregister(devpath, dev, minor, &g_bmi160gyrofops); #endif if (ret < 0) { snerr("Gyroscope register failed. %d\n", ret); return ret; } return OK; } /**************************************************************************** * Name: bmi160accel_register * * Description: * Register the BMI160 accelerometer character device as 'devpath' * * Input Parameters: * devpath - The base path to the driver to register. E.g., "/dev/accel" * 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_SCU_I2C int bmi160accel_register(FAR const char *devpath, int minor, FAR struct i2c_master_s *dev, int port) #else /* CONFIG_SENSORS_BMI160_SCU_SPI */ int bmi160accel_register(FAR const char *devpath, int minor, FAR struct spi_dev_s *dev) #endif { int ret; #ifdef CONFIG_SENSORS_BMI160_SCU_I2C ret = bmi160_devregister(devpath, dev, minor, &g_bmi160accelfops, port); #else /* CONFIG_SENSORS_BMI160_SCU_SPI */ ret = bmi160_devregister(devpath, dev, minor, &g_bmi160accelfops); #endif if (ret < 0) { snerr("Accelerometer register failed. %d\n", ret); return ret; } return OK; } #endif /* CONFIG_BMI160 */