| /* |
| * Copyright (c) 2016 Intel Corporation |
| * |
| * SPDX-License-Identifier: Apache-2.0 |
| */ |
| |
| #include <drivers/i2c.h> |
| #include <init.h> |
| #include <drivers/sensor.h> |
| #include <sys/__assert.h> |
| #include <logging/log.h> |
| |
| #include "bma280.h" |
| |
| #define LOG_LEVEL CONFIG_SENSOR_LOG_LEVEL |
| LOG_MODULE_REGISTER(BMA280); |
| |
| static int bma280_sample_fetch(struct device *dev, enum sensor_channel chan) |
| { |
| struct bma280_data *drv_data = dev->driver_data; |
| u8_t buf[6]; |
| u8_t lsb; |
| |
| __ASSERT_NO_MSG(chan == SENSOR_CHAN_ALL); |
| |
| /* |
| * since all accel data register addresses are consecutive, |
| * a burst read can be used to read all the samples |
| */ |
| if (i2c_burst_read(drv_data->i2c, BMA280_I2C_ADDRESS, |
| BMA280_REG_ACCEL_X_LSB, buf, 6) < 0) { |
| LOG_DBG("Could not read accel axis data"); |
| return -EIO; |
| } |
| |
| lsb = (buf[0] & BMA280_ACCEL_LSB_MASK) >> BMA280_ACCEL_LSB_SHIFT; |
| drv_data->x_sample = (((s8_t)buf[1]) << BMA280_ACCEL_LSB_BITS) | lsb; |
| |
| lsb = (buf[2] & BMA280_ACCEL_LSB_MASK) >> BMA280_ACCEL_LSB_SHIFT; |
| drv_data->y_sample = (((s8_t)buf[3]) << BMA280_ACCEL_LSB_BITS) | lsb; |
| |
| lsb = (buf[4] & BMA280_ACCEL_LSB_MASK) >> BMA280_ACCEL_LSB_SHIFT; |
| drv_data->z_sample = (((s8_t)buf[5]) << BMA280_ACCEL_LSB_BITS) | lsb; |
| |
| if (i2c_reg_read_byte(drv_data->i2c, BMA280_I2C_ADDRESS, |
| BMA280_REG_TEMP, |
| (u8_t *)&drv_data->temp_sample) < 0) { |
| LOG_DBG("Could not read temperature data"); |
| return -EIO; |
| } |
| |
| return 0; |
| } |
| |
| static void bma280_channel_accel_convert(struct sensor_value *val, |
| s64_t raw_val) |
| { |
| /* |
| * accel_val = (sample * BMA280_PMU_FULL_RAGE) / |
| * (2^data_width * 10^6) |
| */ |
| raw_val = (raw_val * BMA280_PMU_FULL_RANGE) / |
| (1 << (8 + BMA280_ACCEL_LSB_BITS)); |
| val->val1 = raw_val / 1000000; |
| val->val2 = raw_val % 1000000; |
| |
| /* normalize val to make sure val->val2 is positive */ |
| if (val->val2 < 0) { |
| val->val1 -= 1; |
| val->val2 += 1000000; |
| } |
| } |
| |
| static int bma280_channel_get(struct device *dev, |
| enum sensor_channel chan, |
| struct sensor_value *val) |
| { |
| struct bma280_data *drv_data = dev->driver_data; |
| |
| /* |
| * See datasheet "Sensor data" section for |
| * more details on processing sample data. |
| */ |
| if (chan == SENSOR_CHAN_ACCEL_X) { |
| bma280_channel_accel_convert(val, drv_data->x_sample); |
| } else if (chan == SENSOR_CHAN_ACCEL_Y) { |
| bma280_channel_accel_convert(val, drv_data->y_sample); |
| } else if (chan == SENSOR_CHAN_ACCEL_Z) { |
| bma280_channel_accel_convert(val, drv_data->z_sample); |
| } else if (chan == SENSOR_CHAN_ACCEL_XYZ) { |
| bma280_channel_accel_convert(val, drv_data->x_sample); |
| bma280_channel_accel_convert(val + 1, drv_data->y_sample); |
| bma280_channel_accel_convert(val + 2, drv_data->z_sample); |
| } else if (chan == SENSOR_CHAN_DIE_TEMP) { |
| /* temperature_val = 23 + sample / 2 */ |
| val->val1 = (drv_data->temp_sample >> 1) + 23; |
| val->val2 = 500000 * (drv_data->temp_sample & 1); |
| return 0; |
| } else { |
| return -ENOTSUP; |
| } |
| |
| return 0; |
| } |
| |
| static const struct sensor_driver_api bma280_driver_api = { |
| #if CONFIG_BMA280_TRIGGER |
| .attr_set = bma280_attr_set, |
| .trigger_set = bma280_trigger_set, |
| #endif |
| .sample_fetch = bma280_sample_fetch, |
| .channel_get = bma280_channel_get, |
| }; |
| |
| int bma280_init(struct device *dev) |
| { |
| struct bma280_data *drv_data = dev->driver_data; |
| u8_t id = 0U; |
| |
| drv_data->i2c = device_get_binding(CONFIG_BMA280_I2C_MASTER_DEV_NAME); |
| if (drv_data->i2c == NULL) { |
| LOG_DBG("Could not get pointer to %s device", |
| CONFIG_BMA280_I2C_MASTER_DEV_NAME); |
| return -EINVAL; |
| } |
| |
| /* read device ID */ |
| if (i2c_reg_read_byte(drv_data->i2c, BMA280_I2C_ADDRESS, |
| BMA280_REG_CHIP_ID, &id) < 0) { |
| LOG_DBG("Could not read chip id"); |
| return -EIO; |
| } |
| |
| if (id != BMA280_CHIP_ID) { |
| LOG_DBG("Unexpected chip id (%x)", id); |
| return -EIO; |
| } |
| |
| if (i2c_reg_write_byte(drv_data->i2c, BMA280_I2C_ADDRESS, |
| BMA280_REG_PMU_BW, BMA280_PMU_BW) < 0) { |
| LOG_DBG("Could not set data filter bandwidth"); |
| return -EIO; |
| } |
| |
| /* set g-range */ |
| if (i2c_reg_write_byte(drv_data->i2c, BMA280_I2C_ADDRESS, |
| BMA280_REG_PMU_RANGE, BMA280_PMU_RANGE) < 0) { |
| LOG_DBG("Could not set data g-range"); |
| return -EIO; |
| } |
| |
| #ifdef CONFIG_BMA280_TRIGGER |
| if (bma280_init_interrupt(dev) < 0) { |
| LOG_DBG("Could not initialize interrupts"); |
| return -EIO; |
| } |
| #endif |
| |
| return 0; |
| } |
| |
| struct bma280_data bma280_driver; |
| |
| DEVICE_AND_API_INIT(bma280, CONFIG_BMA280_NAME, bma280_init, &bma280_driver, |
| NULL, POST_KERNEL, CONFIG_SENSOR_INIT_PRIORITY, |
| &bma280_driver_api); |