/**************************************************************************** * drivers/sensors/bmi270_base.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 "bmi270_base.h" /**************************************************************************** * Public Data ****************************************************************************/ /* BMI270 configuration file - provided by BOSCH */ 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, 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}; /**************************************************************************** * Private Functions ****************************************************************************/ /**************************************************************************** * Name: bmi270_configspi * * Description: * ****************************************************************************/ #ifdef CONFIG_SENSORS_BMI270_SPI static 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 /**************************************************************************** * Public Functions ****************************************************************************/ /**************************************************************************** * Name: bmi270_getreg8 * * Description: * Read from an 8-bit BMI270 register * ****************************************************************************/ 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 * ****************************************************************************/ 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 * ****************************************************************************/ 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 * ****************************************************************************/ 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. * ****************************************************************************/ 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. * ****************************************************************************/ int bmi270_init_seq(FAR struct bmi270_dev_s *priv) { FAR uint8_t *tmp = NULL; uint8_t regval = 0; /* Check if initialization 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); #ifdef CONFIG_SENSORS_BMI270_LOAD_FROM_HEAP /* Copy configuration to RAM */ tmp = kmm_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)); #else /* Transfer directly from const data memory */ tmp = (FAR uint8_t *)&g_bmi270_config_file; #endif /* Load configuration - start with byte 0 */ bmi270_putregs(priv, BMI270_INIT_DATA, tmp, sizeof(g_bmi270_config_file)); #ifdef CONFIG_SENSORS_BMI270_LOAD_FROM_HEAP kmm_free(tmp); #endif /* 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_checkid * * Description: * Read and verify the BMI270 chip ID * ****************************************************************************/ 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; }