| /* Bosch BMI08X inertial measurement unit header |
| * |
| * Copyright (c) 2022 Meta Platforms, Inc. and its affiliates |
| * |
| * SPDX-License-Identifier: Apache-2.0 |
| */ |
| |
| #ifndef ZEPHYR_DRIVERS_SENSOR_BMI08X_H_ |
| #define ZEPHYR_DRIVERS_SENSOR_BMI08X_H_ |
| |
| #include <zephyr/drivers/gpio.h> |
| #include <zephyr/drivers/i2c.h> |
| #include <zephyr/drivers/sensor.h> |
| #include <zephyr/drivers/spi.h> |
| #include <zephyr/sys/util.h> |
| |
| /* Accel Chip Id register */ |
| #define BMI08X_REG_ACCEL_CHIP_ID 0x00 |
| |
| /* Accel Error condition register */ |
| #define BMI08X_REG_ACCEL_ERR 0x02 |
| |
| /* Accel Status flag register */ |
| #define BMI08X_REG_ACCEL_STATUS 0x03 |
| |
| /* Accel X LSB data register */ |
| #define BMI08X_REG_ACCEL_X_LSB 0x12 |
| |
| /* Accel X MSB data register */ |
| #define BMI08X_REG_ACCEL_X_MSB 0x13 |
| |
| /* Accel Y LSB data register */ |
| #define BMI08X_REG_ACCEL_Y_LSB 0x14 |
| |
| /* Accel Y MSB data register */ |
| #define BMI08X_REG_ACCEL_Y_MSB 0x15 |
| |
| /* Accel Z LSB data register */ |
| #define BMI08X_REG_ACCEL_Z_LSB 0x16 |
| |
| /* Accel Z MSB data register */ |
| #define BMI08X_REG_ACCEL_Z_MSB 0x17 |
| |
| /* Sensor time byte 0 register */ |
| #define BMI08X_REG_ACCEL_SENSORTIME_0 0x18 |
| |
| /* Sensor time byte 1 register */ |
| #define BMI08X_REG_ACCEL_SENSORTIME_1 0x19 |
| |
| /* Sensor time byte 2 register */ |
| #define BMI08X_REG_ACCEL_SENSORTIME_2 0x1A |
| |
| /* Accel Interrupt status0 register */ |
| #define BMI08X_REG_ACCEL_INT_STAT_0 0x1C |
| |
| /* Accel Interrupt status1 register */ |
| #define BMI08X_REG_ACCEL_INT_STAT_1 0x1D |
| |
| /* Accel general purpose register 0*/ |
| #define BMI08X_REG_ACCEL_GP_0 0x1E |
| |
| /* Sensor temperature MSB data register */ |
| #define BMI08X_REG_TEMP_MSB 0x22 |
| |
| /* Sensor temperature LSB data register */ |
| #define BMI08X_REG_TEMP_LSB 0x23 |
| |
| /* Accel general purpose register 4*/ |
| #define BMI08X_REG_ACCEL_GP_4 0x27 |
| |
| /* Accel Internal status register */ |
| #define BMI08X_REG_ACCEL_INTERNAL_STAT 0x2A |
| |
| /* Accel configuration register */ |
| #define BMI08X_REG_ACCEL_CONF 0x40 |
| |
| /* Accel range setting register */ |
| #define BMI08X_REG_ACCEL_RANGE 0x41 |
| |
| /* Accel Interrupt pin 1 configuration register */ |
| #define BMI08X_REG_ACCEL_INT1_IO_CONF 0x53 |
| |
| /* Accel Interrupt pin 2 configuration register */ |
| #define BMI08X_REG_ACCEL_INT2_IO_CONF 0x54 |
| |
| /* Accel Interrupt latch configuration register */ |
| #define BMI08X_REG_ACCEL_INT_LATCH_CONF 0x55 |
| |
| /* Accel Interrupt pin1 mapping register */ |
| #define BMI08X_REG_ACCEL_INT1_MAP 0x56 |
| |
| /* Accel Interrupt pin2 mapping register */ |
| #define BMI08X_REG_ACCEL_INT2_MAP 0x57 |
| |
| /* Accel Interrupt map register */ |
| #define BMI08X_REG_ACCEL_INT1_INT2_MAP_DATA 0x58 |
| |
| /* Accel Init control register */ |
| #define BMI08X_REG_ACCEL_INIT_CTRL 0x59 |
| |
| /* Accel Self test register */ |
| #define BMI08X_REG_ACCEL_SELF_TEST 0x6D |
| |
| /* Accel Power mode configuration register */ |
| #define BMI08X_REG_ACCEL_PWR_CONF 0x7C |
| |
| /* Accel Power control (switch on or off register */ |
| #define BMI08X_REG_ACCEL_PWR_CTRL 0x7D |
| |
| /* Accel Soft reset register */ |
| #define BMI08X_REG_ACCEL_SOFTRESET 0x7E |
| |
| /* BMI085 Accel unique chip identifier */ |
| #define BMI085_ACCEL_CHIP_ID 0x1F |
| |
| /* BMI088 Accel unique chip identifier */ |
| #define BMI088_ACCEL_CHIP_ID 0x1E |
| |
| /* Feature Config related Registers */ |
| #define BMI08X_ACCEL_RESERVED_5B_REG 0x5B |
| #define BMI08X_ACCEL_RESERVED_5C_REG 0x5C |
| #define BMI08X_ACCEL_FEATURE_CFG_REG 0x5E |
| |
| /* Interrupt masks */ |
| #define BMI08X_ACCEL_DATA_READY_INT 0x80 |
| |
| /* Accel Bandwidth */ |
| #define BMI08X_ACCEL_BW_OSR4 0x00 |
| #define BMI08X_ACCEL_BW_OSR2 0x01 |
| #define BMI08X_ACCEL_BW_NORMAL 0x02 |
| |
| /* BMI085 Accel Range */ |
| #define BMI085_ACCEL_RANGE_2G 0x00 |
| #define BMI085_ACCEL_RANGE_4G 0x01 |
| #define BMI085_ACCEL_RANGE_8G 0x02 |
| #define BMI085_ACCEL_RANGE_16G 0x03 |
| |
| /**\name BMI088 Accel Range */ |
| #define BMI088_ACCEL_RANGE_3G 0x00 |
| #define BMI088_ACCEL_RANGE_6G 0x01 |
| #define BMI088_ACCEL_RANGE_12G 0x02 |
| #define BMI088_ACCEL_RANGE_24G 0x03 |
| |
| /* Accel Output data rate */ |
| #define BMI08X_ACCEL_ODR_12_5_HZ 0x05 |
| #define BMI08X_ACCEL_ODR_25_HZ 0x06 |
| #define BMI08X_ACCEL_ODR_50_HZ 0x07 |
| #define BMI08X_ACCEL_ODR_100_HZ 0x08 |
| #define BMI08X_ACCEL_ODR_200_HZ 0x09 |
| #define BMI08X_ACCEL_ODR_400_HZ 0x0A |
| #define BMI08X_ACCEL_ODR_800_HZ 0x0B |
| #define BMI08X_ACCEL_ODR_1600_HZ 0x0C |
| |
| /* Accel Init Ctrl */ |
| #define BMI08X_ACCEL_INIT_CTRL_DISABLE 0x00 |
| #define BMI08X_ACCEL_INIT_CTRL_ENABLE 0x01 |
| |
| /* Accel Self test */ |
| #define BMI08X_ACCEL_SWITCH_OFF_SELF_TEST 0x00 |
| #define BMI08X_ACCEL_POSITIVE_SELF_TEST 0x0D |
| #define BMI08X_ACCEL_NEGATIVE_SELF_TEST 0x09 |
| |
| /* Accel Power mode */ |
| #define BMI08X_ACCEL_PM_ACTIVE 0x00 |
| #define BMI08X_ACCEL_PM_SUSPEND 0x03 |
| |
| /* Accel Power control settings */ |
| #define BMI08X_ACCEL_POWER_DISABLE 0x00 |
| #define BMI08X_ACCEL_POWER_ENABLE 0x04 |
| |
| /* Accel internal interrupt pin mapping */ |
| #define BMI08X_ACCEL_INTA_DISABLE 0x00 |
| #define BMI08X_ACCEL_INTA_ENABLE 0x01 |
| #define BMI08X_ACCEL_INTB_DISABLE 0x00 |
| #define BMI08X_ACCEL_INTB_ENABLE 0x02 |
| #define BMI08X_ACCEL_INTC_DISABLE 0x00 |
| #define BMI08X_ACCEL_INTC_ENABLE 0x04 |
| |
| /* Accel Soft reset delay */ |
| #define BMI08X_ACCEL_SOFTRESET_DELAY_MS 1 |
| |
| /* Mask definitions for ACCEL_ERR_REG register */ |
| #define BMI08X_FATAL_ERR_MASK 0x01 |
| #define BMI08X_ERR_CODE_MASK 0x1C |
| |
| /* Position definitions for ACCEL_ERR_REG register */ |
| #define BMI08X_CMD_ERR_POS 1 |
| #define BMI08X_ERR_CODE_POS 2 |
| |
| /* Mask definition for ACCEL_STATUS_REG register */ |
| #define BMI08X_ACCEL_STATUS_MASK 0x80 |
| |
| /* Position definitions for ACCEL_STATUS_REG */ |
| #define BMI08X_ACCEL_STATUS_POS 7 |
| |
| /* Mask definitions for odr, bandwidth and range */ |
| #define BMI08X_ACCEL_ODR_MASK 0x0F |
| #define BMI08X_ACCEL_BW_MASK 0x70 |
| #define BMI08X_ACCEL_RANGE_MASK 0x03 |
| |
| /* Position definitions for odr, bandwidth and range */ |
| #define BMI08X_ACCEL_BW_POS 4 |
| |
| /* Mask definitions for INT1_IO_CONF register */ |
| #define BMI08X_ACCEL_INT_EDGE_MASK 0x01 |
| #define BMI08X_ACCEL_INT_LVL_MASK 0x02 |
| #define BMI08X_ACCEL_INT_OD_MASK 0x04 |
| #define BMI08X_ACCEL_INT_IO_MASK 0x08 |
| #define BMI08X_ACCEL_INT_IN_MASK 0x10 |
| |
| /* Position definitions for INT1_IO_CONF register */ |
| #define BMI08X_ACCEL_INT_EDGE_POS 0 |
| #define BMI08X_ACCEL_INT_LVL_POS 1 |
| #define BMI08X_ACCEL_INT_OD_POS 2 |
| #define BMI08X_ACCEL_INT_IO_POS 3 |
| #define BMI08X_ACCEL_INT_IN_POS 4 |
| |
| /* Mask definitions for INT1/INT2 mapping register */ |
| #define BMI08X_ACCEL_MAP_INTA_MASK 0x01 |
| |
| /* Mask definitions for INT1/INT2 mapping register */ |
| #define BMI08X_ACCEL_MAP_INTA_POS 0x00 |
| |
| /* Mask definitions for INT1_INT2_MAP_DATA register */ |
| #define BMI08X_ACCEL_INT1_DRDY_MASK 0x04 |
| #define BMI08X_ACCEL_INT2_DRDY_MASK 0x40 |
| |
| /* Position definitions for INT1_INT2_MAP_DATA register */ |
| #define BMI08X_ACCEL_INT1_DRDY_POS 2 |
| #define BMI08X_ACCEL_INT2_DRDY_POS 6 |
| |
| /* Asic Initialization value */ |
| #define BMI08X_ASIC_INITIALIZED 0x01 |
| |
| #define BMI08X_TEMP_OFFSET 32 |
| |
| /*************************** BMI08 Gyroscope Macros *****************************/ |
| /** Register map */ |
| /* Gyro registers */ |
| |
| /* Gyro Chip Id register */ |
| #define BMI08X_REG_GYRO_CHIP_ID 0x00 |
| |
| /* Gyro X LSB data register */ |
| #define BMI08X_REG_GYRO_X_LSB 0x02 |
| |
| /* Gyro X MSB data register */ |
| #define BMI08X_REG_GYRO_X_MSB 0x03 |
| |
| /* Gyro Y LSB data register */ |
| #define BMI08X_REG_GYRO_Y_LSB 0x04 |
| |
| /* Gyro Y MSB data register */ |
| #define BMI08X_REG_GYRO_Y_MSB 0x05 |
| |
| /* Gyro Z LSB data register */ |
| #define BMI08X_REG_GYRO_Z_LSB 0x06 |
| |
| /* Gyro Z MSB data register */ |
| #define BMI08X_REG_GYRO_Z_MSB 0x07 |
| |
| /* Gyro Interrupt status register */ |
| #define BMI08X_REG_GYRO_INT_STAT_1 0x0A |
| |
| /* Gyro Range register */ |
| #define BMI08X_REG_GYRO_RANGE 0x0F |
| |
| /* Gyro Bandwidth register */ |
| #define BMI08X_REG_GYRO_BANDWIDTH 0x10 |
| |
| /* Gyro Power register */ |
| #define BMI08X_REG_GYRO_LPM1 0x11 |
| |
| /* Gyro Soft reset register */ |
| #define BMI08X_REG_GYRO_SOFTRESET 0x14 |
| |
| /* Gyro Interrupt control register */ |
| #define BMI08X_REG_GYRO_INT_CTRL 0x15 |
| |
| /* Gyro Interrupt Pin configuration register */ |
| #define BMI08X_REG_GYRO_INT3_INT4_IO_CONF 0x16 |
| |
| /* Gyro Interrupt Map register */ |
| #define BMI08X_REG_GYRO_INT3_INT4_IO_MAP 0x18 |
| |
| /* Gyro Self test register */ |
| #define BMI08X_REG_GYRO_SELF_TEST 0x3C |
| |
| /* Gyro unique chip identifier */ |
| #define BMI08X_GYRO_CHIP_ID 0x0F |
| |
| /* Gyro Range */ |
| #define BMI08X_GYRO_RANGE_2000_DPS 0x00 |
| #define BMI08X_GYRO_RANGE_1000_DPS 0x01 |
| #define BMI08X_GYRO_RANGE_500_DPS 0x02 |
| #define BMI08X_GYRO_RANGE_250_DPS 0x03 |
| #define BMI08X_GYRO_RANGE_125_DPS 0x04 |
| |
| /* Gyro Output data rate and bandwidth */ |
| #define BMI08X_GYRO_BW_532_ODR_2000_HZ 0x00 |
| #define BMI08X_GYRO_BW_230_ODR_2000_HZ 0x01 |
| #define BMI08X_GYRO_BW_116_ODR_1000_HZ 0x02 |
| #define BMI08X_GYRO_BW_47_ODR_400_HZ 0x03 |
| #define BMI08X_GYRO_BW_23_ODR_200_HZ 0x04 |
| #define BMI08X_GYRO_BW_12_ODR_100_HZ 0x05 |
| #define BMI08X_GYRO_BW_64_ODR_200_HZ 0x06 |
| #define BMI08X_GYRO_BW_32_ODR_100_HZ 0x07 |
| #define BMI08X_GYRO_ODR_RESET_VAL 0x80 |
| |
| /* Gyro Power mode */ |
| #define BMI08X_GYRO_PM_NORMAL 0x00 |
| #define BMI08X_GYRO_PM_DEEP_SUSPEND 0x20 |
| #define BMI08X_GYRO_PM_SUSPEND 0x80 |
| |
| /* Gyro data ready interrupt enable value */ |
| #define BMI08X_GYRO_DRDY_INT_DISABLE_VAL 0x00 |
| #define BMI08X_GYRO_DRDY_INT_ENABLE_VAL 0x80 |
| |
| /* Gyro data ready map values */ |
| #define BMI08X_GYRO_MAP_DRDY_TO_INT3 0x01 |
| #define BMI08X_GYRO_MAP_DRDY_TO_INT4 0x80 |
| #define BMI08X_GYRO_MAP_DRDY_TO_BOTH_INT3_INT4 0x81 |
| |
| /* Gyro Soft reset delay */ |
| #define BMI08X_GYRO_SOFTRESET_DELAY 30 |
| |
| /* Gyro power mode config delay */ |
| #define BMI08X_GYRO_POWER_MODE_CONFIG_DELAY 30 |
| |
| /** Mask definitions for range, bandwidth and power */ |
| #define BMI08X_GYRO_RANGE_MASK 0x07 |
| #define BMI08X_GYRO_BW_MASK 0x0F |
| #define BMI08X_GYRO_POWER_MASK 0xA0 |
| |
| /** Position definitions for range, bandwidth and power */ |
| #define BMI08X_GYRO_POWER_POS 5 |
| |
| /* Mask definitions for BMI08X_GYRO_INT_CTRL_REG register */ |
| #define BMI08X_GYRO_DATA_EN_MASK 0x80 |
| |
| /* Position definitions for BMI08X_GYRO_INT_CTRL_REG register */ |
| #define BMI08X_GYRO_DATA_EN_POS 7 |
| |
| /* Mask definitions for BMI08X_GYRO_INT3_INT4_IO_CONF_REG register */ |
| #define BMI08X_GYRO_INT3_LVL_MASK 0x01 |
| #define BMI08X_GYRO_INT3_OD_MASK 0x02 |
| #define BMI08X_GYRO_INT4_LVL_MASK 0x04 |
| #define BMI08X_GYRO_INT4_OD_MASK 0x08 |
| |
| /* Position definitions for BMI08X_GYRO_INT3_INT4_IO_CONF_REG register */ |
| #define BMI08X_GYRO_INT3_OD_POS 1 |
| #define BMI08X_GYRO_INT4_LVL_POS 2 |
| #define BMI08X_GYRO_INT4_OD_POS 3 |
| |
| /* Mask definitions for BMI08X_GYRO_INT_EN_REG register */ |
| #define BMI08X_GYRO_INT_EN_MASK 0x80 |
| |
| /* Position definitions for BMI08X_GYRO_INT_EN_REG register */ |
| #define BMI08X_GYRO_INT_EN_POS 7 |
| |
| /* Mask definitions for BMI088_GYRO_INT_MAP_REG register */ |
| #define BMI08X_GYRO_INT3_MAP_MASK 0x01 |
| #define BMI08X_GYRO_INT4_MAP_MASK 0x80 |
| |
| /* Position definitions for BMI088_GYRO_INT_MAP_REG register */ |
| #define BMI08X_GYRO_INT3_MAP_POS 0 |
| #define BMI08X_GYRO_INT4_MAP_POS 7 |
| |
| /* Mask definitions for BMI088_GYRO_INT_MAP_REG register */ |
| #define BMI088_GYRO_INT3_MAP_MASK 0x01 |
| #define BMI088_GYRO_INT4_MAP_MASK 0x80 |
| |
| /* Position definitions for BMI088_GYRO_INT_MAP_REG register */ |
| #define BMI088_GYRO_INT3_MAP_POS 0 |
| #define BMI088_GYRO_INT4_MAP_POS 7 |
| |
| /* Mask definitions for GYRO_SELF_TEST register */ |
| #define BMI08X_GYRO_SELF_TEST_EN_MASK 0x01 |
| #define BMI08X_GYRO_SELF_TEST_RDY_MASK 0x02 |
| #define BMI08X_GYRO_SELF_TEST_RESULT_MASK 0x04 |
| #define BMI08X_GYRO_SELF_TEST_FUNCTION_MASK 0x08 |
| |
| /* Position definitions for GYRO_SELF_TEST register */ |
| #define BMI08X_GYRO_SELF_TEST_RDY_POS 1 |
| #define BMI08X_GYRO_SELF_TEST_RESULT_POS 2 |
| #define BMI08X_GYRO_SELF_TEST_FUNCTION_POS 3 |
| |
| /*************************** Common Macros for both Accel and Gyro *****************************/ |
| /** Soft reset Value */ |
| #define BMI08X_SOFT_RESET_CMD 0xB6 |
| |
| /* Constant values macros */ |
| #define BMI08X_SENSOR_DATA_SYNC_TIME_MS 1 |
| #define BMI08X_DELAY_BETWEEN_WRITES_MS 1 |
| #define BMI08X_SELF_TEST_DELAY_MS 3 |
| #define BMI08X_POWER_CONFIG_DELAY 5 |
| #define BMI08X_SENSOR_SETTLE_TIME_MS 30 |
| #define BMI08X_SELF_TEST_DATA_READ_MS 50 |
| #define BMI08X_ASIC_INIT_TIME_MS 150 |
| |
| /* allowed ODR values */ |
| enum bmi08x_odr { |
| BMI08X_ODR_25_2, |
| BMI08X_ODR_25, |
| BMI08X_ODR_50, |
| BMI08X_ODR_100, |
| BMI08X_ODR_200, |
| BMI08X_ODR_400, |
| BMI08X_ODR_800, |
| BMI08X_ODR_1600, |
| }; |
| |
| /* Range values for accelerometer */ |
| #define BMI08X_ACC_RANGE_2G_3G 0x0 |
| #define BMI08X_ACC_RANGE_4G_6G 0x1 |
| #define BMI08X_ACC_RANGE_8G_12G 0x2 |
| #define BMI08X_ACC_RANGE_16G_24G 0x3 |
| |
| /* Range values for gyro */ |
| #define BMI08X_GYR_RANGE_2000DPS 0 |
| #define BMI08X_GYR_RANGE_1000DPS 1 |
| #define BMI08X_GYR_RANGE_500DPS 2 |
| #define BMI08X_GYR_RANGE_250DPS 3 |
| #define BMI08X_GYR_RANGE_125DPS 4 |
| |
| #define BMI08X_ACC_SCALE(range_g) ((2 * range_g * SENSOR_G) / 65536LL) |
| #define BMI08X_GYR_SCALE(range_dps) ((2 * range_dps * SENSOR_PI) / 180LL / 65536LL) |
| |
| /* report of data sync is selected */ |
| #define BMI08X_ACCEL_DATA_SYNC_EN(inst) DT_NODE_HAS_STATUS(DT_INST_PHANDLE(inst, data_sync), okay) |
| /* Macro used for compile time optimization to compile in/out code used for data-sync |
| * if at least 1 bmi08x has data-sync enabled |
| */ |
| #define ACCEL_HELPER(inst) BMI08X_ACCEL_DATA_SYNC_EN(inst) || |
| #define BMI08X_ACCEL_ANY_INST_HAS_DATA_SYNC DT_INST_FOREACH_STATUS_OKAY(ACCEL_HELPER) 0 |
| #define GYRO_HELPER(inst) DT_INST_PROP(inst, data_sync) || |
| #define BMI08X_GYRO_ANY_INST_HAS_DATA_SYNC DT_INST_FOREACH_STATUS_OKAY(GYRO_HELPER) 0 |
| |
| struct bmi08x_range { |
| uint16_t range; |
| uint8_t reg_val; |
| }; |
| |
| union bmi08x_bus { |
| #if DT_ANY_INST_ON_BUS_STATUS_OKAY(spi) |
| struct spi_dt_spec spi; |
| #endif |
| #if DT_ANY_INST_ON_BUS_STATUS_OKAY(i2c) |
| struct i2c_dt_spec i2c; |
| #endif |
| }; |
| |
| struct bmi08x_accel_bus_io { |
| int (*check)(const union bmi08x_bus *bus); |
| int (*bus_init)(const struct device *dev); |
| int (*transceive)(const struct device *dev, uint8_t reg, bool write, void *data, |
| size_t length); |
| #if BMI08X_ACCEL_ANY_INST_HAS_DATA_SYNC |
| int (*write_config_file)(const struct device *dev); |
| #endif |
| }; |
| |
| struct bmi08x_gyro_bus_io { |
| int (*check)(const union bmi08x_bus *bus); |
| int (*transceive)(const struct device *dev, uint8_t reg, bool write, void *data, |
| size_t length); |
| }; |
| |
| struct bmi08x_accel_config { |
| union bmi08x_bus bus; |
| const struct bmi08x_accel_bus_io *api; |
| #if defined(CONFIG_BMI08X_ACCEL_TRIGGER) |
| struct gpio_dt_spec int_gpio; |
| #endif |
| #if defined(CONFIG_BMI08X_ACCEL_TRIGGER) || BMI08X_ACCEL_ANY_INST_HAS_DATA_SYNC |
| uint8_t int1_map; |
| uint8_t int2_map; |
| uint8_t int1_conf_io; |
| uint8_t int2_conf_io; |
| #endif |
| uint8_t accel_hz; |
| uint8_t accel_fs; |
| #if BMI08X_ACCEL_ANY_INST_HAS_DATA_SYNC |
| uint8_t data_sync; |
| #endif |
| }; |
| |
| struct bmi08x_gyro_config { |
| union bmi08x_bus bus; |
| const struct bmi08x_gyro_bus_io *api; |
| #if defined(CONFIG_BMI08X_GYRO_TRIGGER) |
| struct gpio_dt_spec int_gpio; |
| #endif |
| #if defined(CONFIG_BMI08X_GYRO_TRIGGER) || BMI08X_GYRO_ANY_INST_HAS_DATA_SYNC |
| uint8_t int3_4_map; |
| uint8_t int3_4_conf_io; |
| #endif |
| uint8_t gyro_hz; |
| uint16_t gyro_fs; |
| }; |
| |
| struct bmi08x_accel_data { |
| #if defined(CONFIG_BMI08X_ACCEL_TRIGGER) |
| struct gpio_callback gpio_cb; |
| #endif |
| uint16_t acc_sample[3]; |
| uint16_t scale; /* micro m/s^2/lsb */ |
| |
| #if defined(CONFIG_BMI08X_ACCEL_TRIGGER_OWN_THREAD) |
| K_KERNEL_STACK_MEMBER(thread_stack, CONFIG_BMI08X_ACCEL_THREAD_STACK_SIZE); |
| struct k_thread thread; |
| struct k_sem sem; |
| #elif defined(CONFIG_BMI08X_ACCEL_TRIGGER_GLOBAL_THREAD) |
| struct k_work work; |
| const struct device *dev; |
| #endif |
| |
| #ifdef CONFIG_BMI08X_ACCEL_TRIGGER |
| sensor_trigger_handler_t handler_drdy_acc; |
| const struct sensor_trigger *drdy_trig_acc; |
| #endif /* CONFIG_BMI08X_ACCEL_TRIGGER */ |
| uint8_t accel_chip_id; |
| }; |
| |
| struct bmi08x_gyro_data { |
| #if defined(CONFIG_BMI08X_GYRO_TRIGGER) |
| struct gpio_callback gpio_cb; |
| #endif |
| uint16_t gyr_sample[3]; |
| uint16_t scale; /* micro radians/s/lsb */ |
| |
| #if defined(CONFIG_BMI08X_GYRO_TRIGGER_OWN_THREAD) |
| K_KERNEL_STACK_MEMBER(thread_stack, CONFIG_BMI08X_GYRO_THREAD_STACK_SIZE); |
| struct k_thread thread; |
| struct k_sem sem; |
| #elif defined(CONFIG_BMI08X_GYRO_TRIGGER_GLOBAL_THREAD) |
| struct k_work work; |
| const struct device *dev; |
| #endif |
| |
| #ifdef CONFIG_BMI08X_GYRO_TRIGGER |
| sensor_trigger_handler_t handler_drdy_gyr; |
| const struct sensor_trigger *drdy_trig_gyr; |
| #endif /* CONFIG_BMI08X_GYRO_TRIGGER */ |
| }; |
| |
| /* common functions for accel and gyro */ |
| int bmi08x_freq_to_odr_val(uint16_t freq_int, uint16_t freq_milli); |
| int32_t bmi08x_range_to_reg_val(uint16_t range, const struct bmi08x_range *range_map, |
| uint16_t range_map_size); |
| int32_t bmi08x_reg_val_to_range(uint8_t reg_val, const struct bmi08x_range *range_map, |
| uint16_t range_map_size); |
| |
| int bmi08x_accel_read(const struct device *dev, uint8_t reg_addr, uint8_t *data, uint8_t len); |
| int bmi08x_accel_write(const struct device *dev, uint8_t reg_addr, uint8_t *data, uint16_t len); |
| int bmi08x_accel_byte_read(const struct device *dev, uint8_t reg_addr, uint8_t *byte); |
| int bmi08x_accel_byte_write(const struct device *dev, uint8_t reg_addr, uint8_t byte); |
| int bmi08x_accel_word_write(const struct device *dev, uint8_t reg_addr, uint16_t word); |
| int bmi08x_accel_reg_field_update(const struct device *dev, uint8_t reg_addr, uint8_t pos, |
| uint8_t mask, uint8_t val); |
| static inline int bmi08x_accel_reg_update(const struct device *dev, uint8_t reg_addr, uint8_t mask, |
| uint8_t val) |
| { |
| return bmi08x_accel_reg_field_update(dev, reg_addr, 0, mask, val); |
| } |
| |
| int bmi08x_gyro_read(const struct device *dev, uint8_t reg_addr, uint8_t *data, uint8_t len); |
| int bmi08x_gyro_byte_read(const struct device *dev, uint8_t reg_addr, uint8_t *byte); |
| int bmi08x_gyro_byte_write(const struct device *dev, uint8_t reg_addr, uint8_t byte); |
| int bmi08x_gyro_word_write(const struct device *dev, uint8_t reg_addr, uint16_t word); |
| int bmi08x_gyro_reg_field_update(const struct device *dev, uint8_t reg_addr, uint8_t pos, |
| uint8_t mask, uint8_t val); |
| static inline int bmi08x_gyro_reg_update(const struct device *dev, uint8_t reg_addr, uint8_t mask, |
| uint8_t val) |
| { |
| return bmi08x_gyro_reg_field_update(dev, reg_addr, 0, mask, val); |
| } |
| |
| int bmi08x_acc_trigger_mode_init(const struct device *dev); |
| int bmi08x_trigger_set_acc(const struct device *dev, const struct sensor_trigger *trig, |
| sensor_trigger_handler_t handler); |
| int bmi08x_acc_slope_config(const struct device *dev, enum sensor_attribute attr, |
| const struct sensor_value *val); |
| int32_t bmi08x_acc_reg_val_to_range(uint8_t reg_val); |
| |
| int bmi08x_gyr_trigger_mode_init(const struct device *dev); |
| int bmi08x_trigger_set_gyr(const struct device *dev, const struct sensor_trigger *trig, |
| sensor_trigger_handler_t handler); |
| int bmi08x_gyr_slope_config(const struct device *dev, enum sensor_attribute attr, |
| const struct sensor_value *val); |
| int32_t bmi08x_gyr_reg_val_to_range(uint8_t reg_val); |
| |
| #endif /* ZEPHYR_DRIVERS_SENSOR_BMI08X_H_ */ |
