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nuttx/boards/arm/cxd56xx/drivers/sensors/bmi160_scu.c
simbit18 1b8714f79f fix incorrect comments 
boards/arm/cxd56xx/drivers/sensors/bmi160_scu.c: fix incorrect comments to the Right of Statements.
drivers/sensors/ak09912.c: fix incorrect function description ak09912_putreg8 and ak09912_getreg8
2023-08-01 13:24:16 -04:00

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/****************************************************************************
* boards/arm/cxd56xx/drivers/sensors/bmi160_scu.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 <nuttx/config.h>
#include <stdio.h>
#include <stdlib.h>
#include <fixedmath.h>
#include <string.h>
#include <assert.h>
#include <errno.h>
#include <debug.h>
#include <nuttx/kmalloc.h>
#include <nuttx/fs/fs.h>
#include <nuttx/spi/spi.h>
#include <nuttx/sensors/bmi160.h>
#include <arch/chip/scu.h>
#if defined(CONFIG_SENSORS_BMI160_SCU)
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
#ifdef CONFIG_SENSORS_BMI160_SCU_DECI_GYRO
# define GYRO_SEQ_TYPE SEQ_TYPE_DECI
#else
# define GYRO_SEQ_TYPE SEQ_TYPE_NORMAL
#endif
#ifdef CONFIG_SENSORS_BMI160_SCU_DECI_ACCEL
# define ACCEL_SEQ_TYPE SEQ_TYPE_DECI
#else
# define ACCEL_SEQ_TYPE SEQ_TYPE_NORMAL
#endif
#define DEVID 0xd1
#define BMI160_I2C_ADDR 0x68 /* If SDO pin is pulled to VDDIO, use 0x69 */
#define BMI160_I2C_FREQ 400000
/* BMI160 have accel and gyro, XYZ axis respectively in 16 bits. */
#define BMI160_BYTESPERSAMPLE 6
#define BMI160_ELEMENTSIZE 2
/* Use reading sensor data via oneshot, for debug use only */
/* #define USE_ONESHOTREAD */
/* BMI160 Registers *********************************************************/
/* Register Addresses */
#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)
/* Register 0x40 - ACCEL_CONFIG accel low power mode averaging */
#define ACCEL_LP_AVG1 (0 << 4)
#define ACCEL_LP_AVG2 (1 << 4)
#define ACCEL_LP_AVG4 (2 << 4)
#define ACCEL_LP_AVG8 (3 << 4)
#define ACCEL_LP_AVG16 (4 << 4)
#define ACCEL_LP_AVG32 (5 << 4)
#define ACCEL_LP_AVG64 (6 << 4)
#define ACCEL_LP_AVG128 (7 << 4)
/* Register 0x40 - ACCEL_CONFIG accel under sampling */
#define ACCEL_US_DISABLE (0 << 7)
#define ACCEL_US_ENABLE (1 << 7)
/* 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)
/* 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)
#ifndef itemsof
# define itemsof(array) (sizeof(array)/sizeof(array[0]))
#endif
/****************************************************************************
* Private Types
****************************************************************************/
/* Save BMI160 power status */
uint32_t g_pmu_stat;
struct bmi160_dev_s
{
#ifdef CONFIG_SENSORS_BMI160_SCU_I2C
struct i2c_master_s *i2c; /* I2C interface */
uint8_t addr; /* BMI160 I2C address */
int freq; /* BMI160 Frequency <= 3.4MHz */
int port; /* I2C port */
struct seq_s *seq; /* Sequencer */
int fifoid; /* Sequencer id */
#else /* CONFIG_SENSORS_BMI160_SCU_SPI */
struct spi_dev_s *spi; /* SPI interface */
struct seq_s *seq; /* Sequencer */
int fifoid; /* Sequencer id */
#endif
};
/****************************************************************************
* Private Functions
****************************************************************************/
static uint8_t bmi160_getreg8(struct bmi160_dev_s *priv,
uint8_t regaddr);
static void bmi160_putreg8(struct bmi160_dev_s *priv,
uint8_t regaddr, uint8_t regval);
/* Character driver methods */
static int bmi160_open_gyro(struct file *filep);
static int bmi160_open_accel(struct file *filep);
static int bmi160_close_gyro(struct file *filep);
static int bmi160_close_accel(struct file *filep);
static ssize_t bmi160_read(struct file *filep, char *buffer,
size_t len);
static int bmi160_ioctl(struct file *filep, int cmd,
unsigned long arg);
static int bmi160_checkid(struct bmi160_dev_s *priv);
#ifdef CONFIG_SENSORS_BMI160_SCU_I2C
static int bmi160_devregister(const char *devpath,
struct i2c_master_s *dev,
int minor,
const struct file_operations *fops,
int port);
#else /* CONFIG_SENSORS_BMI160_SCU_SPI */
static int bmi160_devregister(const char *devpath,
struct spi_dev_s *dev,
int minor,
const struct file_operations *fops);
#endif
static int bmi160_set_accel_pm(struct bmi160_dev_s *priv, int pm);
static int bmi160_set_accel_odr(struct bmi160_dev_s *priv, int odr);
/****************************************************************************
* Private Data
****************************************************************************/
/* This the vtable that supports the character driver interface */
static const struct file_operations g_bmi160gyrofops =
{
bmi160_open_gyro, /* open */
bmi160_close_gyro, /* close */
bmi160_read, /* read */
NULL, /* write */
NULL, /* seek */
bmi160_ioctl, /* ioctl */
};
static const struct file_operations g_bmi160accelfops =
{
bmi160_open_accel, /* open */
bmi160_close_accel, /* close */
bmi160_read, /* read */
NULL, /* write */
NULL, /* seek */
bmi160_ioctl, /* ioctl */
};
/* SCU instructions for pick gyro sensing data. */
static const uint16_t g_bmi160gyroinst[] =
{
SCU_INST_SEND(BMI160_DATA_8 | 0x80),
SCU_INST_RECV(BMI160_BYTESPERSAMPLE) | SCU_INST_LAST,
};
/* SCU instructions for pick accel sensing data. */
static const uint16_t g_bmi160accelinst[] =
{
SCU_INST_SEND(BMI160_DATA_14 | 0x80),
SCU_INST_RECV(BMI160_BYTESPERSAMPLE) | SCU_INST_LAST,
};
/* Sequencer instance */
static struct seq_s *g_seq_gyro = NULL;
static struct seq_s *g_seq_accel = NULL;
static int g_refcnt_gyro = 0;
static int g_refcnt_accel = 0;
/****************************************************************************
* Name: bmi160_getreg8
*
* Description:
* Read from an 8-bit BMI160 register
*
****************************************************************************/
static uint8_t bmi160_getreg8(struct bmi160_dev_s *priv, uint8_t regaddr)
{
uint8_t regval = 0;
uint16_t inst[2];
/* Send register to read and get the next byte */
inst[0] = SCU_INST_SEND(regaddr | 0x80);
inst[1] = SCU_INST_RECV(1) | SCU_INST_LAST;
#ifdef CONFIG_SENSORS_BMI160_SCU_I2C
scu_i2ctransfer(priv->port, priv->addr, inst, 2, &regval, 1);
#else /* CONFIG_SENSORS_BMI160_SCU_SPI */
scu_spitransfer(0, inst, 2, &regval, 1);
#endif
return regval;
}
#ifdef USE_ONESHOTREAD
/****************************************************************************
* Name: bmi160_getregs
*
* Description:
* Burst read from an BMI160 register
*
****************************************************************************/
static uint8_t bmi160_getregs(struct bmi160_dev_s *priv,
uint8_t regaddr, void *buffer, int len)
{
uint16_t inst[3];
int ilen;
/* Send register to read and get the next byte */
inst[0] = SCU_INST_SEND(regaddr | 0x80);
if (len > 8)
{
inst[1] = SCU_INST_RECV(8);
inst[2] = SCU_INST_RECV(len - 8) | SCU_INST_LAST;
ilen = 3;
}
else
{
inst[1] = SCU_INST_RECV(len) | SCU_INST_LAST;
ilen = 2;
}
#ifdef CONFIG_SENSORS_BMI160_SCU_I2C
scu_i2ctransfer(priv->port, priv->addr, inst, ilen, buffer, len);
#else /* CONFIG_SENSORS_BMI160_SCU_SPI */
scu_spitransfer(0, inst, ilen, buffer, len);
#endif
return OK;
}
#endif
/****************************************************************************
* Name: bmi160_putreg8
*
* Description:
* Write a value to an 8-bit BMI160 register
*
****************************************************************************/
static void bmi160_putreg8(struct bmi160_dev_s *priv,
uint8_t regaddr, uint8_t regval)
{
uint16_t inst[2];
/* Send register address and set the value */
inst[0] = SCU_INST_SEND(regaddr);
inst[1] = SCU_INST_SEND(regval) | SCU_INST_LAST;
#ifdef CONFIG_SENSORS_BMI160_SCU_I2C
scu_i2ctransfer(priv->port, priv->addr, inst, 2, NULL, 0);
#else /* CONFIG_SENSORS_BMI160_SCU_SPI */
scu_spitransfer(0, inst, 2, NULL, 0);
#endif
}
/****************************************************************************
* Name: bmi160_setcommand
*
* Description:
* Write a value to an 8-bit BMI160 register
*
****************************************************************************/
static void bmi160_setcommand(struct bmi160_dev_s *priv, uint8_t command)
{
/* Write command register */
bmi160_putreg8(priv, BMI160_CMD, command);
/* Interface idle time delay */
up_mdelay(1);
/* Save power mode status of Accel and gyro */
g_pmu_stat = bmi160_getreg8(priv, BMI160_PMU_STAT) & 0x3c;
}
static int bmi160_seqinit_gyro(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(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(struct file *filep)
{
struct inode *inode = filep->f_inode;
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(struct file *filep)
{
struct inode *inode = filep->f_inode;
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(struct file *filep)
{
struct inode *inode = filep->f_inode;
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(struct file *filep)
{
struct inode *inode = filep->f_inode;
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(struct file *filep,
char *buffer,
size_t len)
{
struct inode *inode = filep->f_inode;
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(struct file *filep, int cmd, unsigned long arg)
{
struct inode *inode = filep->f_inode;
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(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(const char *devpath,
struct i2c_master_s *dev,
int minor,
const struct file_operations *fops,
int port)
#else /* CONFIG_SENSORS_BMI160_SCU_SPI */
static int bmi160_devregister(const char *devpath,
struct spi_dev_s *dev,
int minor,
const struct file_operations *fops)
#endif
{
struct bmi160_dev_s *priv;
char path[12];
int ret;
priv = (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(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(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(struct i2c_master_s *dev, int port)
#else /* CONFIG_SENSORS_BMI160_SCU_SPI */
int bmi160_init(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(const char *devpath, int minor,
struct i2c_master_s *dev, int port)
#else /* CONFIG_SENSORS_BMI160_SCU_SPI */
int bmi160gyro_register(const char *devpath, int minor,
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(const char *devpath, int minor,
struct i2c_master_s *dev, int port)
#else /* CONFIG_SENSORS_BMI160_SCU_SPI */
int bmi160accel_register(const char *devpath, int minor,
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 */
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