264 lines
10 KiB
C
264 lines
10 KiB
C
/****************************************************************************
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* include/nuttx/sensors/bmi160.h
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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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#ifndef __INCLUDE_NUTTX_SENSORS_BMI160_COMMOM_H
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#define __INCLUDE_NUTTX_SENSORS_BMI160_COMMOM_H
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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 <stdlib.h>
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#include <fixedmath.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/i2c/i2c_master.h>
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#include <nuttx/sensors/bmi160.h>
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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#define DEVID 0xd1
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/* I2C Address
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*
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* NOTE: If SDO pin is pulled to VDDIO, use 0x69
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*/
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#ifdef CONFIG_BMI160_I2C_ADDR_68
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#define BMI160_I2C_ADDR 0x68
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#else
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#define BMI160_I2C_ADDR 0x69
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#endif
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#define BMI160_I2C_FREQ 400000
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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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#define ACCEL_ODR_0_78HZ (0x01)
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#define ACCEL_ODR_1_56HZ (0x02)
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#define ACCEL_ODR_3_12HZ (0x03)
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#define ACCEL_ODR_6_25HZ (0x04)
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#define ACCEL_ODR_12_5HZ (0x05)
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#define ACCEL_ODR_25HZ (0x06)
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#define ACCEL_ODR_50HZ (0x07)
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#define ACCEL_ODR_100HZ (0x08)
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#define ACCEL_ODR_200HZ (0x09)
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#define ACCEL_ODR_400HZ (0x0A)
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#define ACCEL_ODR_800HZ (0x0B)
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#define ACCEL_ODR_1600HZ (0x0C)
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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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#define GYRO_ODR_25HZ (0x06)
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#define GYRO_ODR_50HZ (0x07)
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#define GYRO_ODR_100HZ (0x08)
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#define GYRO_ODR_200HZ (0x09)
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#define GYRO_ODR_400HZ (0x0A)
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#define GYRO_ODR_800HZ (0x0B)
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#define GYRO_ODR_1600HZ (0x0C)
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#define GYRO_ODR_3200HZ (0x0D)
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/* Register 0x7b STEP_CONFIG_1 */
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#define STEP_CNT_EN (1 << 3)
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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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/****************************************************************************
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* Private Types
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****************************************************************************/
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/* Device struct */
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struct bmi160_dev_s
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{
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#ifdef CONFIG_SENSORS_BMI160_I2C
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FAR struct i2c_master_s *i2c; /* I2C interface */
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uint8_t addr; /* I2C address */
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int freq; /* Frequency <= 3.4MHz */
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#else /* CONFIG_SENSORS_BMI160_SPI */
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FAR struct spi_dev_s *spi; /* SPI interface */
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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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uint8_t bmi160_getreg8(FAR struct bmi160_dev_s *priv, uint8_t regaddr);
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void bmi160_putreg8(FAR struct bmi160_dev_s *priv, uint8_t regaddr,
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uint8_t regval);
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uint16_t bmi160_getreg16(FAR struct bmi160_dev_s *priv, uint8_t regaddr);
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void bmi160_getregs(FAR struct bmi160_dev_s *priv, uint8_t regaddr,
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uint8_t *regval, int len);
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int bmi160_checkid(FAR struct bmi160_dev_s *priv);
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/****************************************************************************
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* Name: bmi160_configspi
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*
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* Description:
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*
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****************************************************************************/
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#ifdef CONFIG_SENSORS_BMI160_SPI
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inline void bmi160_configspi(FAR struct spi_dev_s *spi)
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{
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/* Configure SPI for the BMI160 */
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SPI_SETMODE(spi, SPIDEV_MODE0);
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SPI_SETBITS(spi, 8);
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SPI_HWFEATURES(spi, 0);
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SPI_SETFREQUENCY(spi, BMI160_SPI_MAXFREQUENCY);
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}
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#endif
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#endif /* __INCLUDE_NUTTX_SENSORS_BMI160_COMMOM_H */
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