| /* |
| * Copyright (c) 2023 Trackunit Corporation |
| * |
| * SPDX-License-Identifier: Apache-2.0 |
| */ |
| |
| #ifndef ZEPHYR_DRIVERS_SENSOR_BMI323_BMI323_H_ |
| #define ZEPHYR_DRIVERS_SENSOR_BMI323_BMI323_H_ |
| |
| #include <zephyr/sys/util.h> |
| #include <zephyr/types.h> |
| |
| #define IMU_BOSCH_BMI323_REG_ACC_DATA_X (0x03) |
| #define IMU_BOSCH_BMI323_REG_ACC_DATA_Y (0x04) |
| #define IMU_BOSCH_BMI323_REG_ACC_DATA_Z (0x05) |
| |
| #define IMU_BOSCH_BMI323_REG_GYRO_DATA_X (0x06) |
| #define IMU_BOSCH_BMI323_REG_GYRO_DATA_Y (0x07) |
| #define IMU_BOSCH_BMI323_REG_GYRO_DATA_Z (0x08) |
| |
| #define IMU_BOSCH_BMI323_REG_TEMP_DATA (0x09) |
| |
| #define IMU_BOSCH_BMI323_REG_FEATURE_IO0 (0x10) |
| |
| #define IMU_BOSCH_BMI323_REG_FEATURE_IO0_MOTION_X_EN_OFFSET (0x03) |
| #define IMU_BOSCH_BMI323_REG_FEATURE_IO0_MOTION_X_EN_SIZE (0x01) |
| #define IMU_BOSCH_BMI323_REG_FEATURE_IO0_MOTION_X_EN_VAL_DIS (0x00) |
| #define IMU_BOSCH_BMI323_REG_FEATURE_IO0_MOTION_X_EN_VAL_EN (0x01) |
| |
| #define IMU_BOSCH_BMI323_REG_FEATURE_IO0_MOTION_Y_EN_OFFSET (0x04) |
| #define IMU_BOSCH_BMI323_REG_FEATURE_IO0_MOTION_Y_EN_SIZE (0x01) |
| #define IMU_BOSCH_BMI323_REG_FEATURE_IO0_MOTION_Y_EN_VAL_DIS (0x00) |
| #define IMU_BOSCH_BMI323_REG_FEATURE_IO0_MOTION_Y_EN_VAL_EN (0x01) |
| |
| #define IMU_BOSCH_BMI323_REG_FEATURE_IO0_MOTION_Z_EN_OFFSET (0x05) |
| #define IMU_BOSCH_BMI323_REG_FEATURE_IO0_MOTION_Z_EN_SIZE (0x01) |
| #define IMU_BOSCH_BMI323_REG_FEATURE_IO0_MOTION_Z_EN_VAL_DIS (0x00) |
| #define IMU_BOSCH_BMI323_REG_FEATURE_IO0_MOTION_Z_EN_VAL_EN (0x01) |
| |
| #define IMU_BOSCH_BMI323_REG_FEATURE_IO2 (0x12) |
| |
| #define IMU_BOSCH_BMI323_REG_FEATURE_IO_STATUS (0x14) |
| |
| #define IMU_BOSCH_BMI323_REG_FEATURE_IO_STATUS_STATUS_OFFSET (0x00) |
| #define IMU_BOSCH_BMI323_REG_FEATURE_IO_STATUS_STATUS_SIZE (0x01) |
| #define IMU_BOSCH_BMI323_REG_FEATURE_IO_STATUS_STATUS_VAL_SET (0x01) |
| |
| #define IMU_BOSCH_BMI323_REG_INT_STATUS_INT1 (0x0D) |
| #define IMU_BOSCH_BMI323_REG_INT_STATUS_INT2 (0x0E) |
| |
| #define IMU_BOSCH_BMI323_REG_ACC_CONF (0x20) |
| |
| #define IMU_BOSCH_BMI323_REG_ACC_CONF_ODR_OFFSET (0x00) |
| #define IMU_BOSCH_BMI323_REG_ACC_CONF_ODR_SIZE (0x04) |
| #define IMU_BOSCH_BMI323_REG_ACC_CONF_ODR_VAL_HZ0P78125 (0x01) |
| #define IMU_BOSCH_BMI323_REG_ACC_CONF_ODR_VAL_HZ1P5625 (0x02) |
| #define IMU_BOSCH_BMI323_REG_ACC_CONF_ODR_VAL_HZ3P125 (0x03) |
| #define IMU_BOSCH_BMI323_REG_ACC_CONF_ODR_VAL_HZ6P25 (0x04) |
| #define IMU_BOSCH_BMI323_REG_ACC_CONF_ODR_VAL_HZ12P5 (0x05) |
| #define IMU_BOSCH_BMI323_REG_ACC_CONF_ODR_VAL_HZ25 (0x06) |
| #define IMU_BOSCH_BMI323_REG_ACC_CONF_ODR_VAL_HZ50 (0x07) |
| #define IMU_BOSCH_BMI323_REG_ACC_CONF_ODR_VAL_HZ100 (0x08) |
| #define IMU_BOSCH_BMI323_REG_ACC_CONF_ODR_VAL_HZ200 (0x09) |
| #define IMU_BOSCH_BMI323_REG_ACC_CONF_ODR_VAL_HZ400 (0x0A) |
| #define IMU_BOSCH_BMI323_REG_ACC_CONF_ODR_VAL_HZ800 (0x0B) |
| #define IMU_BOSCH_BMI323_REG_ACC_CONF_ODR_VAL_HZ1600 (0x0C) |
| #define IMU_BOSCH_BMI323_REG_ACC_CONF_ODR_VAL_HZ3200 (0x0D) |
| #define IMU_BOSCH_BMI323_REG_ACC_CONF_ODR_VAL_HZ6400 (0x0E) |
| |
| #define IMU_BOSCH_BMI323_REG_ACC_CONF_RANGE_OFFSET (0x04) |
| #define IMU_BOSCH_BMI323_REG_ACC_CONF_RANGE_SIZE (0x03) |
| #define IMU_BOSCH_BMI323_REG_ACC_CONF_RANGE_VAL_G2 (0x00) |
| #define IMU_BOSCH_BMI323_REG_ACC_CONF_RANGE_VAL_G4 (0x01) |
| #define IMU_BOSCH_BMI323_REG_ACC_CONF_RANGE_VAL_G8 (0x02) |
| #define IMU_BOSCH_BMI323_REG_ACC_CONF_RANGE_VAL_G16 (0x03) |
| |
| #define IMU_BOSCH_BMI323_REG_ACC_CONF_MODE_OFFSET (0x0C) |
| #define IMU_BOSCH_BMI323_REG_ACC_CONF_MODE_SIZE (0x03) |
| #define IMU_BOSCH_BMI323_REG_ACC_CONF_MODE_VAL_DIS (0x00) |
| #define IMU_BOSCH_BMI323_REG_ACC_CONF_MODE_VAL_LPWR (0x04) |
| #define IMU_BOSCH_BMI323_REG_ACC_CONF_MODE_VAL_HPWR (0x07) |
| |
| #define IMU_BOSCH_BMI323_REG_GYRO_CONF (0x21) |
| |
| #define IMU_BOSCH_BMI323_REG_GYRO_CONF_ODR_OFFSET (0x00) |
| #define IMU_BOSCH_BMI323_REG_GYRO_CONF_ODR_SIZE (0x04) |
| #define IMU_BOSCH_BMI323_REG_GYRO_CONF_ODR_VAL_HZ0P78125 (0x01) |
| #define IMU_BOSCH_BMI323_REG_GYRO_CONF_ODR_VAL_HZ1P5625 (0x02) |
| #define IMU_BOSCH_BMI323_REG_GYRO_CONF_ODR_VAL_HZ3P125 (0x03) |
| #define IMU_BOSCH_BMI323_REG_GYRO_CONF_ODR_VAL_HZ6P25 (0x04) |
| #define IMU_BOSCH_BMI323_REG_GYRO_CONF_ODR_VAL_HZ12P5 (0x05) |
| #define IMU_BOSCH_BMI323_REG_GYRO_CONF_ODR_VAL_HZ25 (0x06) |
| #define IMU_BOSCH_BMI323_REG_GYRO_CONF_ODR_VAL_HZ50 (0x07) |
| #define IMU_BOSCH_BMI323_REG_GYRO_CONF_ODR_VAL_HZ100 (0x08) |
| #define IMU_BOSCH_BMI323_REG_GYRO_CONF_ODR_VAL_HZ200 (0x09) |
| #define IMU_BOSCH_BMI323_REG_GYRO_CONF_ODR_VAL_HZ400 (0x0A) |
| #define IMU_BOSCH_BMI323_REG_GYRO_CONF_ODR_VAL_HZ800 (0x0B) |
| #define IMU_BOSCH_BMI323_REG_GYRO_CONF_ODR_VAL_HZ1600 (0x0C) |
| #define IMU_BOSCH_BMI323_REG_GYRO_CONF_ODR_VAL_HZ3200 (0x0D) |
| #define IMU_BOSCH_BMI323_REG_GYRO_CONF_ODR_VAL_HZ6400 (0x0E) |
| |
| #define IMU_BOSCH_BMI323_REG_GYRO_CONF_RANGE_OFFSET (0x04) |
| #define IMU_BOSCH_BMI323_REG_GYRO_CONF_RANGE_SIZE (0x03) |
| #define IMU_BOSCH_BMI323_REG_GYRO_CONF_RANGE_VAL_DPS125 (0x00) |
| #define IMU_BOSCH_BMI323_REG_GYRO_CONF_RANGE_VAL_DPS250 (0x01) |
| #define IMU_BOSCH_BMI323_REG_GYRO_CONF_RANGE_VAL_DPS500 (0x02) |
| #define IMU_BOSCH_BMI323_REG_GYRO_CONF_RANGE_VAL_DPS1000 (0x03) |
| #define IMU_BOSCH_BMI323_REG_GYRO_CONF_RANGE_VAL_DPS2000 (0x04) |
| |
| #define IMU_BOSCH_BMI323_REG_GYRO_CONF_MODE_OFFSET (0x0C) |
| #define IMU_BOSCH_BMI323_REG_GYRO_CONF_MODE_SIZE (0x03) |
| #define IMU_BOSCH_BMI323_REG_GYRO_CONF_MODE_VAL_DIS (0x00) |
| #define IMU_BOSCH_BMI323_REG_GYRO_CONF_MODE_VAL_LPWR (0x04) |
| #define IMU_BOSCH_BMI323_REG_GYRO_CONF_MODE_VAL_HPWR (0x07) |
| |
| #define IMU_BOSCH_BMI323_REG_IO_INT_CTRL (0x38) |
| |
| #define IMU_BOSCH_BMI323_REG_IO_INT_CTRL_INT1_LVL_OFFSET (0x00) |
| #define IMU_BOSCH_BMI323_REG_IO_INT_CTRL_INT1_LVL_SIZE (0x01) |
| #define IMU_BOSCH_BMI323_REG_IO_INT_CTRL_INT1_LVL_VAL_ACT_LOW (0x00) |
| #define IMU_BOSCH_BMI323_REG_IO_INT_CTRL_INT1_LVL_VAL_ACT_HIGH (0x01) |
| #define IMU_BOSCH_BMI323_REG_IO_INT_CTRL_INT1_OD_OFFSET (0x01) |
| #define IMU_BOSCH_BMI323_REG_IO_INT_CTRL_INT1_OD_SIZE (0x01) |
| #define IMU_BOSCH_BMI323_REG_IO_INT_CTRL_INT1_OD_VAL_PUSH_PULL (0x00) |
| #define IMU_BOSCH_BMI323_REG_IO_INT_CTRL_INT1_OD_VAL_OPEN_DRAIN (0x01) |
| #define IMU_BOSCH_BMI323_REG_IO_INT_CTRL_INT1_OUTPUT_EN_OFFSET (0x02) |
| #define IMU_BOSCH_BMI323_REG_IO_INT_CTRL_INT1_OUTPUT_EN_SIZE (0x01) |
| #define IMU_BOSCH_BMI323_REG_IO_INT_CTRL_INT1_OUTPUT_EN_VAL_DIS (0x00) |
| #define IMU_BOSCH_BMI323_REG_IO_INT_CTRL_INT1_OUTPUT_EN_VAL_EN (0x01) |
| |
| #define IMU_BOSCH_BMI323_REG_INT_CONF (0x39) |
| |
| #define IMU_BOSCH_BMI323_REG_INT_CONF_INT_LATCH_OFFSET (0x01) |
| #define IMU_BOSCH_BMI323_REG_INT_CONF_INT_LATCH_SIZE (0x01) |
| #define IMU_BOSCH_BMI323_REG_INT_CONF_INT_LATCH_VAL_NON_LATCHED (0x00) |
| #define IMU_BOSCH_BMI323_REG_INT_CONF_INT_LATCH_VAL_LATCHED (0x01) |
| |
| #define IMU_BOSCH_BMI323_REG_INT_MAP1 (0x3A) |
| |
| #define IMU_BOSCH_BMI323_REG_INT_MAP1_MOTION_OUT_OFFSET (0x02) |
| #define IMU_BOSCH_BMI323_REG_INT_MAP1_MOTION_OUT_SIZE (0x02) |
| #define IMU_BOSCH_BMI323_REG_INT_MAP1_MOTION_OUT_VAL_DIS (0x00) |
| #define IMU_BOSCH_BMI323_REG_INT_MAP1_MOTION_OUT_VAL_INT1 (0x01) |
| #define IMU_BOSCH_BMI323_REG_INT_MAP1_MOTION_OUT_VAL_INT2 (0x02) |
| |
| #define IMU_BOSCH_BMI323_REG_INT_MAP2 (0x3B) |
| |
| #define IMU_BOSCH_BMI323_REG_INT_MAP2_ACC_DRDY_INT_OFFSET (0x0A) |
| #define IMU_BOSCH_BMI323_REG_INT_MAP2_ACC_DRDY_INT_SIZE (0x02) |
| #define IMU_BOSCH_BMI323_REG_INT_MAP2_ACC_DRDY_INT_VAL_DIS (0x00) |
| #define IMU_BOSCH_BMI323_REG_INT_MAP2_ACC_DRDY_INT_VAL_INT1 (0x01) |
| #define IMU_BOSCH_BMI323_REG_INT_MAP2_ACC_DRDY_INT_VAL_INT2 (0x02) |
| |
| #define IMU_BOSCH_BMI323_REG_FEATURE_CTRL (0x40) |
| |
| #define IMU_BOSCH_BMI323_REG_FEATURE_CTRL_ENABLE_OFFSET (0x00) |
| #define IMU_BOSCH_BMI323_REG_FEATURE_CTRL_ENABLE_SIZE (0x01) |
| #define IMU_BOSCH_BMI323_REG_FEATURE_CTRL_ENABLE_VAL_DIS (0x00) |
| #define IMU_BOSCH_BMI323_REG_FEATURE_CTRL_ENABLE_VAL_EN (0x01) |
| |
| #define IMU_BOSCH_BMI323_REG_CMD (0x7E) |
| #define IMU_BOSCH_BMI323_REG_CMD_CMD_OFFSET (0x00) |
| #define IMU_BOSCH_BMI323_REG_CMD_CMD_SIZE (0x10) |
| #define IMU_BOSCH_BMI323_REG_CMD_CMD_VAL_SOFT_RESET (0xDEAF) |
| |
| #define IMU_BOSCH_BMI323_REG_MASK(reg, field) \ |
| (BIT_MASK(IMU_BOSCH_BMI323_REG_##reg##_##field##_SIZE) \ |
| << IMU_BOSCH_BMI323_REG_##reg##_##field##_OFFSET) |
| |
| #define IMU_BOSCH_BMI323_REG_VALUE(reg, field, val) \ |
| (IMU_BOSCH_BMI323_REG_##reg##_##field##_VAL_##val \ |
| << IMU_BOSCH_BMI323_REG_##reg##_##field##_OFFSET) |
| |
| #define IMU_BOSCH_BMI323_REG_VALUE_GET_FIELD(reg_value, reg, field) \ |
| ((reg_value >> IMU_BOSCH_BMI323_REG_##reg##_##field##_OFFSET) & \ |
| BIT_MASK(IMU_BOSCH_BMI323_REG_##reg##_##field##_SIZE)) |
| |
| struct bosch_bmi323_bus_api { |
| /* Read up to multiple words from the BMI323 */ |
| int (*read_words)(const void *context, uint8_t offset, uint16_t *words, |
| uint16_t words_count); |
| |
| /* Write up to multiple words to the BLI323 */ |
| int (*write_words)(const void *context, uint8_t offset, uint16_t *words, |
| uint16_t words_count); |
| |
| /* Initialize the bus */ |
| int (*init)(const void *context); |
| }; |
| |
| struct bosch_bmi323_bus { |
| const void *context; |
| const struct bosch_bmi323_bus_api *api; |
| }; |
| |
| #endif /* ZEPHYR_DRIVERS_SENSOR_BMI323_BMI323_H_ */ |
