/**************************************************************************** * include/nuttx/sensors/bmi160.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_BMI160_COMMOM_H #define __INCLUDE_NUTTX_SENSORS_BMI160_COMMOM_H /**************************************************************************** * Included Files ****************************************************************************/ #include #include #include #include #include #include #include #include #include #include #include /**************************************************************************** * Pre-processor Definitions ****************************************************************************/ #define DEVID 0xd1 /* I2C Address * * NOTE: If SDO pin is pulled to VDDIO, use 0x69 */ #ifdef CONFIG_BMI160_I2C_ADDR_68 #define BMI160_I2C_ADDR 0x68 #else #define BMI160_I2C_ADDR 0x69 #endif #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 ****************************************************************************/ /* Device struct */ 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 ****************************************************************************/ uint8_t bmi160_getreg8(FAR struct bmi160_dev_s *priv, uint8_t regaddr); void bmi160_putreg8(FAR struct bmi160_dev_s *priv, uint8_t regaddr, uint8_t regval); uint16_t bmi160_getreg16(FAR struct bmi160_dev_s *priv, uint8_t regaddr); void bmi160_getregs(FAR struct bmi160_dev_s *priv, uint8_t regaddr, uint8_t *regval, int len); int bmi160_checkid(FAR struct bmi160_dev_s *priv); /**************************************************************************** * Name: bmi160_configspi * * Description: * ****************************************************************************/ #ifdef CONFIG_SENSORS_BMI160_SPI inline void bmi160_configspi(FAR struct spi_dev_s *spi) { /* Configure SPI for the BMI160 */ SPI_SETMODE(spi, SPIDEV_MODE0); SPI_SETBITS(spi, 8); SPI_HWFEATURES(spi, 0); SPI_SETFREQUENCY(spi, BMI160_SPI_MAXFREQUENCY); } #endif #endif /* __INCLUDE_NUTTX_SENSORS_BMI160_COMMOM_H */