1115 lines
31 KiB
C
1115 lines
31 KiB
C
/****************************************************************************
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* boards/arm/cxd56xx/drivers/sensors/bmi160_scu.c
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*
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* Licensed to the Apache Software Foundation (ASF) under one or more
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* contributor license agreements. See the NOTICE file distributed with
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* this work for additional information regarding copyright ownership. The
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* ASF licenses this file to you under the Apache License, Version 2.0 (the
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* "License"); you may not use this file except in compliance with the
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* License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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* License for the specific language governing permissions and limitations
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* under the License.
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*
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****************************************************************************/
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <fixedmath.h>
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#include <string.h>
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#include <assert.h>
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#include <errno.h>
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#include <debug.h>
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#include <nuttx/kmalloc.h>
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#include <nuttx/fs/fs.h>
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#include <nuttx/spi/spi.h>
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#include <nuttx/sensors/bmi160.h>
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#include <arch/chip/scu.h>
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#if defined(CONFIG_SENSORS_BMI160_SCU)
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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#ifdef CONFIG_SENSORS_BMI160_SCU_DECI_GYRO
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# define GYRO_SEQ_TYPE SEQ_TYPE_DECI
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#else
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# define GYRO_SEQ_TYPE SEQ_TYPE_NORMAL
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#endif
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#ifdef CONFIG_SENSORS_BMI160_SCU_DECI_ACCEL
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# define ACCEL_SEQ_TYPE SEQ_TYPE_DECI
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#else
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# define ACCEL_SEQ_TYPE SEQ_TYPE_NORMAL
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#endif
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#define DEVID 0xd1
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#define BMI160_I2C_ADDR 0x68 /* If SDO pin is pulled to VDDIO, use 0x69 */
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#define BMI160_I2C_FREQ 400000
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/* BMI160 have accel and gyro, XYZ axis respectively in 16 bits. */
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#define BMI160_BYTESPERSAMPLE 6
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#define BMI160_ELEMENTSIZE 2
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/* Use reading sensor data via oneshot, for debug use only */
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/* #define USE_ONESHOTREAD */
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/* BMI160 Registers *********************************************************/
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/* Register Addresses */
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#define BMI160_CHIP_ID (0x00) /* Chip ID */
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#define BMI160_ERROR (0x02) /* Error register */
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#define BMI160_PMU_STAT (0x03) /* Current power mode */
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#define BMI160_DATA_0 (0x04) /* MAG X 7:0 (LSB) */
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#define BMI160_DATA_1 (0x05) /* MAG X 15:8 (MSB) */
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#define BMI160_DATA_2 (0x06) /* MAG Y 7:0 (LSB) */
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#define BMI160_DATA_3 (0x07) /* MAG Y 15:8 (MSB) */
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#define BMI160_DATA_4 (0x08) /* MAG Z 7:0 (LSB) */
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#define BMI160_DATA_5 (0x09) /* MAG Z 15:8 (MSB) */
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#define BMI160_DATA_6 (0x0A) /* RHALL 7:0 (LSB) */
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#define BMI160_DATA_7 (0x0B) /* RHALL 15:8 (MSB) */
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#define BMI160_DATA_8 (0x0C) /* GYR X 7:0 (LSB) */
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#define BMI160_DATA_9 (0x0D) /* GYR X 15:8 (MSB) */
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#define BMI160_DATA_10 (0x0E) /* GYR Y 7:0 (LSB) */
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#define BMI160_DATA_11 (0x0F) /* GYR Y 15:8 (MSB) */
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#define BMI160_DATA_12 (0x10) /* GYR Z 7:0 (LSB) */
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#define BMI160_DATA_13 (0x11) /* GYR Z 15:8 (MSB) */
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#define BMI160_DATA_14 (0x12) /* ACC X 7:0 (LSB) */
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#define BMI160_DATA_15 (0x13) /* ACC X 15:8 (MSB) */
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#define BMI160_DATA_16 (0x14) /* ACC Y 7:0 (LSB) */
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#define BMI160_DATA_17 (0x15) /* ACC Y 15:8 (MSB) */
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#define BMI160_DATA_18 (0x16) /* ACC Z 7:0 (LSB) */
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#define BMI160_DATA_19 (0x17) /* ACC Z 15:8 (MSB) */
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#define BMI160_SENSORTIME_0 (0x18) /* Sensor time 0 */
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#define BMI160_SENSORTIME_1 (0x19) /* Sensor time 1 */
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#define BMI160_SENSORTIME_2 (0x1A) /* Sensor time 2 */
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#define BMI160_STAT (0x1B) /* Status register */
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#define BMI160_INTR_STAT_0 (0x1C) /* Interrupt status */
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#define BMI160_INTR_STAT_1 (0x1D)
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#define BMI160_INTR_STAT_2 (0x1E)
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#define BMI160_INTR_STAT_3 (0x1F)
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#define BMI160_TEMPERATURE_0 (0x20) /* Temperature */
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#define BMI160_TEMPERATURE_1 (0x21)
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#define BMI160_FIFO_LENGTH_0 (0x22) /* FIFO length */
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#define BMI160_FIFO_LENGTH_1 (0x23)
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#define BMI160_FIFO_DATA (0x24)
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#define BMI160_ACCEL_CONFIG (0x40) /* ACCEL config for ODR, bandwidth and undersampling */
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#define BMI160_ACCEL_RANGE (0x41) /* ACCEL range */
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#define BMI160_GYRO_CONFIG (0x42) /* GYRO config for ODR and bandwidth */
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#define BMI160_GYRO_RANGE (0x43) /* GYRO range */
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#define BMI160_MAG_CONFIG (0x44) /* MAG config for ODR */
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#define BMI160_FIFO_DOWN (0x45) /* GYRO and ACCEL downsampling rates for FIFO */
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#define BMI160_FIFO_CONFIG_0 (0x46) /* FIFO config */
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#define BMI160_FIFO_CONFIG_1 (0x47)
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#define BMI160_MAG_IF_0 (0x4B) /* MAG interface */
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#define BMI160_MAG_IF_1 (0x4C)
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#define BMI160_MAG_IF_2 (0x4D)
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#define BMI160_MAG_IF_3 (0x4E)
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#define BMI160_MAG_IF_4 (0x4F)
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#define BMI160_INTR_ENABLE_0 (0x50) /* Interrupt enable */
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#define BMI160_INTR_ENABLE_1 (0x51)
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#define BMI160_INTR_ENABLE_2 (0x52)
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#define BMI160_INTR_OUT_CTRL (0x53)
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#define BMI160_INTR_LATCH (0x54) /* Latch duration */
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#define BMI160_INTR_MAP_0 (0x55) /* Map interrupt */
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#define BMI160_INTR_MAP_1 (0x56)
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#define BMI160_INTR_MAP_2 (0x57)
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#define BMI160_INTR_DATA_0 (0x58) /* Data source */
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#define BMI160_INTR_DATA_1 (0x59)
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#define BMI160_INTR_LOWHIGH_0 (0x5A) /* Threshold interrupt */
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#define BMI160_INTR_LOWHIGH_1 (0x5B)
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#define BMI160_INTR_LOWHIGH_2 (0x5C)
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#define BMI160_INTR_LOWHIGH_3 (0x5D)
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#define BMI160_INTR_LOWHIGH_4 (0x5E)
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#define BMI160_INTR_MOTION_0 (0x5F)
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#define BMI160_INTR_MOTION_1 (0x60)
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#define BMI160_INTR_MOTION_2 (0x61)
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#define BMI160_INTR_MOTION_3 (0x62)
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#define BMI160_INTR_TAP_0 (0x63)
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#define BMI160_INTR_TAP_1 (0x64)
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#define BMI160_INTR_ORIENT_0 (0x65)
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#define BMI160_INTR_ORIENT_1 (0x66)
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#define BMI160_INTR_FLAT_0 (0x67)
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#define BMI160_INTR_FLAT_1 (0x68)
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#define BMI160_FOC_CONFIG (0x69) /* Fast offset configuration */
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#define BMI160_CONFIG (0x6A) /* Miscellaneous configuration */
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#define BMI160_IF_CONFIG (0x6B) /* Serial interface configuration */
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#define BMI160_PMU_TRIGGER (0x6C) /* GYRO power mode trigger */
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#define BMI160_SELF_TEST (0x6D) /* Self test */
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#define BMI160_NV_CONFIG (0x70) /* SPI/I2C selection */
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#define BMI160_OFFSET_0 (0x71) /* ACCEL and GYRO offset */
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#define BMI160_OFFSET_1 (0x72)
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#define BMI160_OFFSET_2 (0x73)
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#define BMI160_OFFSET_3 (0x74)
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#define BMI160_OFFSET_4 (0x75)
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#define BMI160_OFFSET_5 (0x76)
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#define BMI160_OFFSET_6 (0x77)
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#define BMI160_STEP_COUNT_0 (0x78) /* Step counter interrupt */
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#define BMI160_STEP_COUNT_1 (0x79)
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#define BMI160_STEP_CONFIG_0 (0x7A) /* Step counter configuration */
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#define BMI160_STEP_CONFIG_1 (0x7B)
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#define BMI160_CMD (0x7e) /* Command register */
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/* Register 0x40 - ACCEL_CONFIG accel bandwidth */
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#define ACCEL_OSR4_AVG1 (0 << 4)
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#define ACCEL_OSR2_AVG2 (1 << 4)
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#define ACCEL_NORMAL_AVG4 (2 << 4)
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#define ACCEL_CIC_AVG8 (3 << 4)
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#define ACCEL_RES_AVG2 (4 << 4)
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#define ACCEL_RES_AVG4 (5 << 4)
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#define ACCEL_RES_AVG8 (6 << 4)
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#define ACCEL_RES_AVG16 (7 << 4)
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#define ACCEL_RES_AVG32 (8 << 4)
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#define ACCEL_RES_AVG64 (9 << 4)
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#define ACCEL_RES_AVG128 (10 << 4)
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/* Register 0x40 - ACCEL_CONFIG accel low power mode averaging */
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#define ACCEL_LP_AVG1 (0 << 4)
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#define ACCEL_LP_AVG2 (1 << 4)
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#define ACCEL_LP_AVG4 (2 << 4)
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#define ACCEL_LP_AVG8 (3 << 4)
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#define ACCEL_LP_AVG16 (4 << 4)
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#define ACCEL_LP_AVG32 (5 << 4)
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#define ACCEL_LP_AVG64 (6 << 4)
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#define ACCEL_LP_AVG128 (7 << 4)
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/* Register 0x40 - ACCEL_CONFIG accel under sampling */
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#define ACCEL_US_DISABLE (0 << 7)
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#define ACCEL_US_ENABLE (1 << 7)
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/* Register 0x42 - GYRO_CONFIG accel bandwidth */
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#define GYRO_OSR4_MODE (0x00 << 4)
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#define GYRO_OSR2_MODE (0x01 << 4)
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#define GYRO_NORMAL_MODE (0x02 << 4)
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#define GYRO_CIC_MODE (0x03 << 4)
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/* Register 0x7e - CMD */
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#define ACCEL_PM_SUSPEND (0X10)
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#define ACCEL_PM_NORMAL (0x11)
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#define ACCEL_PM_LOWPOWER (0X12)
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#define GYRO_PM_SUSPEND (0x14)
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#define GYRO_PM_NORMAL (0x15)
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#define GYRO_PM_FASTSTARTUP (0x17)
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#define MAG_PM_SUSPEND (0x18)
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#define MAG_PM_NORMAL (0x19)
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#define MAG_PM_LOWPOWER (0x1A)
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#ifndef itemsof
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# define itemsof(array) (sizeof(array)/sizeof(array[0]))
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#endif
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/****************************************************************************
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* Private Types
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****************************************************************************/
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/* Save BMI160 power status */
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uint32_t g_pmu_stat;
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struct bmi160_dev_s
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{
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#ifdef CONFIG_SENSORS_BMI160_SCU_I2C
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FAR struct i2c_master_s *i2c; /* I2C interface */
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uint8_t addr; /* BMP280 I2C address */
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int freq; /* BMP280 Frequency <= 3.4MHz */
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int port; /* I2C port */
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FAR struct seq_s *seq; /* Sequencer */
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int fifoid; /* Sequencer id */
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#else /* CONFIG_SENSORS_BMI160_SCU_SPI */
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FAR struct spi_dev_s *spi; /* SPI interface */
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FAR struct seq_s *seq; /* Sequencer */
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int fifoid; /* Sequencer id */
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#endif
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};
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/****************************************************************************
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* Private Functions
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****************************************************************************/
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static uint8_t bmi160_getreg8(FAR struct bmi160_dev_s *priv,
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uint8_t regaddr);
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static void bmi160_putreg8(FAR struct bmi160_dev_s *priv,
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uint8_t regaddr, uint8_t regval);
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/* Character driver methods */
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static int bmi160_open_gyro(FAR struct file *filep);
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static int bmi160_open_accel(FAR struct file *filep);
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static int bmi160_close_gyro(FAR struct file *filep);
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static int bmi160_close_accel(FAR struct file *filep);
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static ssize_t bmi160_read(FAR struct file *filep, FAR char *buffer,
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size_t len);
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static int bmi160_ioctl(FAR struct file *filep, int cmd,
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unsigned long arg);
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static int bmi160_checkid(FAR struct bmi160_dev_s *priv);
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#ifdef CONFIG_SENSORS_BMI160_SCU_I2C
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static int bmi160_devregister(FAR const char *devpath,
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FAR struct i2c_master_s *dev,
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int minor,
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const struct file_operations *fops,
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int port);
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#else /* CONFIG_SENSORS_BMI160_SCU_SPI */
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static int bmi160_devregister(FAR const char *devpath,
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FAR struct spi_dev_s *dev,
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int minor,
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const struct file_operations *fops);
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#endif
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static int bmi160_set_accel_pm(FAR struct bmi160_dev_s *priv, int pm);
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static int bmi160_set_accel_odr(FAR struct bmi160_dev_s *priv, int odr);
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/****************************************************************************
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* Private Data
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****************************************************************************/
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/* This the vtable that supports the character driver interface */
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static const struct file_operations g_bmi160gyrofops =
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{
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bmi160_open_gyro, /* open */
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bmi160_close_gyro, /* close */
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bmi160_read, /* read */
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0, /* write */
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0, /* seek */
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bmi160_ioctl, /* ioctl */
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};
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static const struct file_operations g_bmi160accelfops =
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{
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bmi160_open_accel, /* open */
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bmi160_close_accel, /* close */
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bmi160_read, /* read */
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0, /* write */
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0, /* seek */
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bmi160_ioctl, /* ioctl */
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};
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/* SCU instructions for pick gyro sensing data. */
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static const uint16_t g_bmi160gyroinst[] =
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{
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SCU_INST_SEND(BMI160_DATA_8 | 0x80),
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SCU_INST_RECV(BMI160_BYTESPERSAMPLE) | SCU_INST_LAST,
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};
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/* SCU instructions for pick accel sensing data. */
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static const uint16_t g_bmi160accelinst[] =
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{
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SCU_INST_SEND(BMI160_DATA_14 | 0x80),
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SCU_INST_RECV(BMI160_BYTESPERSAMPLE) | SCU_INST_LAST,
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};
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/* Sequencer instance */
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static FAR struct seq_s *g_seq_gyro = NULL;
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static FAR struct seq_s *g_seq_accel = NULL;
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static int g_refcnt_gyro = 0;
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static int g_refcnt_accel = 0;
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/****************************************************************************
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* Name: bmi160_getreg8
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*
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* Description:
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* Read from an 8-bit BMI160 register
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*
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****************************************************************************/
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static uint8_t bmi160_getreg8(FAR struct bmi160_dev_s *priv, uint8_t regaddr)
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{
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uint8_t regval = 0;
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uint16_t inst[2];
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/* Send register to read and get the next byte */
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inst[0] = SCU_INST_SEND(regaddr | 0x80);
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inst[1] = SCU_INST_RECV(1) | SCU_INST_LAST;
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#ifdef CONFIG_SENSORS_BMI160_SCU_I2C
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scu_i2ctransfer(priv->port, priv->addr, inst, 2, ®val, 1);
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#else /* CONFIG_SENSORS_BMI160_SCU_SPI */
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scu_spitransfer(0, inst, 2, ®val, 1);
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#endif
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return regval;
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}
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#ifdef USE_ONESHOTREAD
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/****************************************************************************
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* Name: bmi160_getregs
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*
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* Description:
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* Burst read from an BMI160 register
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*
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****************************************************************************/
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static uint8_t bmi160_getregs(FAR struct bmi160_dev_s *priv,
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uint8_t regaddr, void *buffer, int len)
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{
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uint16_t inst[3];
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int ilen;
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/* Send register to read and get the next byte */
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inst[0] = SCU_INST_SEND(regaddr | 0x80);
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if (len > 8)
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{
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inst[1] = SCU_INST_RECV(8);
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inst[2] = SCU_INST_RECV(len - 8) | SCU_INST_LAST;
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ilen = 3;
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}
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else
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{
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inst[1] = SCU_INST_RECV(len) | SCU_INST_LAST;
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ilen = 2;
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}
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#ifdef CONFIG_SENSORS_BMI160_SCU_I2C
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scu_i2ctransfer(priv->port, priv->addr, inst, ilen, buffer, len);
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#else /* CONFIG_SENSORS_BMI160_SCU_SPI */
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scu_spitransfer(0, inst, ilen, buffer, len);
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#endif
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return OK;
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}
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#endif
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/****************************************************************************
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* Name: bmi160_putreg8
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*
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* Description:
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* Write a value to an 8-bit BMI160 register
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*
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****************************************************************************/
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static void bmi160_putreg8(FAR struct bmi160_dev_s *priv,
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uint8_t regaddr, uint8_t regval)
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{
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uint16_t inst[2];
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/* Send register address and set the value */
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inst[0] = SCU_INST_SEND(regaddr);
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inst[1] = SCU_INST_SEND(regval) | SCU_INST_LAST;
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#ifdef CONFIG_SENSORS_BMI160_SCU_I2C
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scu_i2ctransfer(priv->port, priv->addr, inst, 2, NULL, 0);
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#else /* CONFIG_SENSORS_BMI160_SCU_SPI */
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scu_spitransfer(0, inst, 2, NULL, 0);
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#endif
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}
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/****************************************************************************
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* Name: bmi160_setcommand
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*
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* Description:
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* Write a value to an 8-bit BMI160 register
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*
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****************************************************************************/
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static void bmi160_setcommand(FAR struct bmi160_dev_s *priv, uint8_t command)
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{
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/* Write command register */
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bmi160_putreg8(priv, BMI160_CMD, command);
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/* Interface idle time delay */
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up_mdelay(1);
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|
|
|
/* 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 */
|