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/* Bosch BMG160 gyro driver */
/*
* Copyright (c) 2016 Intel Corporation
*
* Licensed 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.
*/
#ifndef _BMG160_H_
#define _BMG160_H_
#include <i2c.h>
#include <gpio.h>
#include <misc/util.h>
#include <misc/nano_work.h>
/* registers */
#define BMG160_REG_CHIPID 0x00
#define BMG160_REG_RATE_X 0x02
#define BMG160_REG_RATE_Y 0x04
#define BMG160_REG_RATE_Z 0x06
#define BMG160_REG_TEMP 0x08
#define BMG160_REG_INT_STATUS0 0x09
#define BMG160_REG_INT_STATUS1 0x0A
#define BMG160_REG_INT_STATUS2 0x0B
#define BMG160_REG_INT_STATUS3 0x0C
#define BMG160_REG_FIFO_STATUS 0x0E
#define BMG160_REG_RANGE 0x0F
#define BMG160_REG_BW 0x10
#define BMG160_REG_LPM1 0x11
#define BMG160_REG_LPM2 0x12
#define BMG160_REG_RATE_HBW 0x13
#define BMG160_REG_BGW_SOFTRESET 0x14
#define BMG160_REG_INT_EN0 0x15
#define BMG160_REG_INT_EN1 0x16
#define BMG160_REG_INT_MAP0 0x17
#define BMG160_REG_INT_MAP1 0x18
#define BMG160_REG_INT_MAP2 0x19
#define BMG160_REG_FILTER 0x1A
#define BMG160_REG_THRES 0x1B
#define BMG160_REG_ANY_EN 0x1C
#define BMG160_REG_FIFO_WM 0x1E
#define BMG160_REG_INT_RST_LATCH 0x21
#define BMG160_REG_HIGH_TH_X 0x22
#define BMG160_REG_HIGH_DUR_X 0x23
#define BMG160_REG_HIGH_TH_Y 0x24
#define BMG160_REG_HIGH_DUR_Y 0x25
#define BMG160_REG_HIGH_TH_Z 0x26
#define BMG160_REG_HIGH_DUR_Z 0x27
#define BMG160_REG_SOC 0x31
#define BMG160_REG_A_FOC 0x32
#define BMG160_REG_TRIM_NVM_CTRL 0x33
#define BMG160_REG_BGW_SPI3_WDT 0x34
#define BMG160_REG_OFC1 0x36
#define BMG160_REG_OFC2 0x37
#define BMG160_REG_OFC3 0x38
#define BMG160_REG_OFC4 0x39
#define BMG160_REG_TRIM_GP0 0x3A
#define BMG160_REG_TRIM_GP1 0x3B
#define BMG160_REG_TRIM_BIST 0x3C
#define BMG160_REG_TRIM_FIFO_CONFIG0 0x3D
#define BMG160_REG_TRIM_FIFO_CONFIG1 0x3E
#define BMG160_REG_TRIM_FIFO_DATA 0x3F
/* bitfields */
/* BMG160_REG_INT_STATUS0 */
#define BMG160_HIGH_INT BIT(1)
#define BMG160_ANY_INT BIT(2)
/* BMG160_REG_INT_STATUS1 */
#define BMG160_FIFO_INT BIT(4)
#define BMG160_FAST_OFFSET_INT BIT(5)
#define BMG160_AUTO_OFFSET_INT BIT(6)
#define BMG160_DATA_INT BIT(7)
/* BMG160_REG_INT_STATUS2 */
#define BMG160_ANY_FIRST_X BIT(0)
#define BMG160_ANY_FIRST_Y BIT(1)
#define BMG160_ANY_FIRST_Z BIT(2)
#define BMG160_ANY_SIGN BIT(3)
/* BMG160_REG_INT_STATUS3 */
#define BMG160_HIGH_FIRST_X BIT(0)
#define BMG160_HIGH_FIRST_Y BIT(1)
#define BMG160_HIGH_FIRST_Z BIT(2)
#define BMG160_HIGH_SIGN BIT(3)
/* BMG160_REG_FIFO_STATUS */
#define BMG160_FIFO_FRAME_COUNTER_MASK 0x7F
#define BMG160_FIFO_OVERRUN BIT(7)
/* BMG160_REG_INT_EN_0 */
#define BMG160_AUTO_OFFSET_EN BIT(2)
#define BMG160_FIFO_EN BIT(6)
#define BMG160_DATA_EN BIT(7)
/* BMG160_REG_INT_EN_1 */
#define BMG160_INT1_LVL BIT(0)
#define BMG160_INT1_OD BIT(1)
#define BMG160_INT2_LVL BIT(2)
#define BMG160_INT2_OD BIT(3)
/* BMG160_REG_INT_MAP0 */
#define BMG160_INT1_ANY BIT(1)
#define BMG160_INT1_HIGH BIT(3)
/* BMG160_REG_INT_MAP1 */
#define BMG160_INT1_DATA BIT(0)
#define BMG160_INT1_FAST_OFFSET BIT(1)
#define BMG160_INT1_FIFO BIT(2)
#define BMG160_INT1_AUTO_OFFSET BIT(3)
#define BMG160_INT2_AUTO_OFFSET BIT(4)
#define BMG160_INT2_FIFO BIT(5)
#define BMG160_INT2_FAST_OFFSET BIT(6)
#define BMG160_INT2_DATA BIT(7)
/* BMG160_REG_ANY_EN */
#define BMG160_AWAKE_DUR_POS 6
#define BMG160_AWAKE_DUR_MASK (0x3 << 6)
#define BMG160_ANY_DURSAMPLE_POS 4
#define BMG160_ANY_DURSAMPLE_MASK (0x3 << 4)
#define BMG160_ANY_EN_Z BIT(2)
#define BMG160_ANY_EN_Y BIT(1)
#define BMG160_ANY_EN_X BIT(0)
#define BMG160_ANY_EN_MASK 0x7
/* BMG160_REG_INT_RST_LATCH */
#define BMG160_RESET_INT BIT(7)
#define BMG160_OFFSET_RESET BIT(6)
#define BMG160_LATCH_STATUS_BIT BIT(4)
#define BMG160_LATCH_INT_MASK 0x0F
/* BMG160_REG_THRES */
#define BMG160_THRES_MASK 0x7F
/* other */
#define BMG160_CHIP_ID 0x0F
#define BMG160_RESET 0xB6
#define BMG160_RANGE_TO_SCALE(range_dps) \
((2 * range_dps * SENSOR_PI) / 180LL / 65536LL)
#define BMG160_SCALE_TO_RANGE(scale) \
(((scale * 90LL * 65536LL) + SENSOR_PI / 2) / SENSOR_PI)
/* default settings, based on menuconfig options */
#if defined(CONFIG_BMG160_RANGE_RUNTIME) ||\
defined(CONFIG_BMG160_RANGE_2000DPS)
# define BMG160_DEFAULT_RANGE 0
#elif defined(CONFIG_BMG160_RANGE_1000DPS)
# define BMG160_DEFAULT_RANGE 1
#elif defined(CONFIG_BMG160_RANGE_500DPS)
# define BMG160_DEFAULT_RANGE 2
#elif defined(CONFIG_BMG160_RANGE_250DPS)
# define BMG160_DEFAULT_RANGE 3
#else
# define BMG160_DEFAULT_RANGE 4
#endif
#if defined(CONFIG_BMG160_ODR_RUNTIME) ||\
defined(CONFIG_BMG160_ODR_100)
# define BMG160_DEFAULT_ODR 5
#elif defined(CONFIG_BMG160_ODR_200)
# define BMG160_DEFAULT_ODR 4
#elif defined(CONFIG_BMG160_ODR_400)
# define BMG160_DEFAULT_ODR 3
#elif defined(CONFIG_BMG160_ODR_1000)
# define BMG160_DEFAULT_ODR 2
#else
# define BMG160_DEFAULT_ODR 1
#endif
#if defined(CONFIG_BMG160_I2C_SPEED_STANDARD)
#define BMG160_BUS_SPEED I2C_SPEED_STANDARD
#elif defined(CONFIG_BMG160_I2C_SPEED_FAST)
#define BMG160_BUS_SPEED I2C_SPEED_FAST
#endif
/* end of default settigns */
struct bmg160_device_config {
const char *i2c_port;
#ifdef CONFIG_BMG160_TRIGGER
const char *gpio_port;
#endif
uint16_t i2c_addr;
uint8_t i2c_speed;
#ifdef CONFIG_BMG160_TRIGGER
uint8_t int_pin;
#endif
};
struct bmg160_device_data {
struct device *i2c;
#ifdef CONFIG_BMG160_TRIGGER
struct device *gpio;
struct gpio_callback gpio_cb;
#endif
#ifdef CONFIG_BMG160_TRIGGER_OWN_FIBER
struct nano_sem trig_sem;
#endif
struct nano_sem sem;
#ifdef CONFIG_BMG160_TRIGGER_GLOBAL_FIBER
struct nano_work work;
struct device *dev;
#endif
#ifdef CONFIG_BMG160_TRIGGER
sensor_trigger_handler_t anymotion_handler;
sensor_trigger_handler_t drdy_handler;
#endif
int16_t raw_gyro_xyz[3];
uint16_t scale;
uint8_t range_idx;
int8_t raw_temp;
};
int bmg160_trigger_init(struct device *dev);
int bmg160_trigger_set(struct device *dev,
const struct sensor_trigger *trig,
sensor_trigger_handler_t handler);
int bmg160_read(struct device *dev, uint8_t reg_addr, uint8_t *data,
uint8_t len);
int bmg160_read_byte(struct device *dev, uint8_t reg_addr, uint8_t *byte);
int bmg160_update_byte(struct device *dev, uint8_t reg_addr, uint8_t mask,
uint8_t value);
int bmg160_write_byte(struct device *dev, uint8_t reg_addr, uint8_t data);
int bmg160_slope_config(struct device *dev, enum sensor_attribute attr,
const struct sensor_value *val);
#define SYS_LOG_DOMAIN "BMG160"
#define SYS_LOG_LEVEL CONFIG_BMG160_SYS_LOG_LEVEL
#include <misc/sys_log.h>
#endif /* _BMG160_H_ */