/**************************************************************************** * 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 #include #include #include #include #include #include #ifdef CONFIG_SENSORS_BMI270_I2C # include #else # include #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 */ #define BMI160_TEMPERATURE_0 (0x22) /* Temperature */ #define BMI160_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 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 */ #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) /**************************************************************************** * 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, 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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, 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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 }; /**************************************************************************** * 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 = ®addr; msg[0].length = 1; msg[1].frequency = priv->freq; msg[1].addr = priv->addr; msg[1].flags = I2C_M_READ; msg[1].buffer = ®val; 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 = ®addr; 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 = ®addr; 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; priv = (FAR struct bmi270_dev_s *)kmm_malloc(sizeof(struct bmi270_dev_s)); 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; }