/**************************************************************************** * 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 #include "bmi270_base.h" /**************************************************************************** * Private Functions ****************************************************************************/ /* 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); /**************************************************************************** * 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 */ }; /**************************************************************************** * 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_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 = 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; }