drivers/sensor/bosch/bmg160/bmg160.c - third_party/github/zephyrproject-rtos/zephyr - Git at Google

 /* Bosch BMG160 gyro driver
  *
  * Copyright (c) 2016 Intel Corporation
  *
  * SPDX-License-Identifier: Apache-2.0
  *
  * Datasheet:
  * http://ae-bst.resource.bosch.com/media/_tech/media/datasheets/BST-BMG160-DS000-09.pdf
  */

 #define DT_DRV_COMPAT bosch_bmg160

 #include <zephyr/init.h>
 #include <zephyr/drivers/sensor.h>
 #include <zephyr/sys/byteorder.h>
 #include <zephyr/kernel.h>
 #include <zephyr/logging/log.h>

 #include "bmg160.h"

 LOG_MODULE_REGISTER(BMG160, CONFIG_SENSOR_LOG_LEVEL);

 static inline int bmg160_bus_config(const struct device *dev)
 {
 	const struct bmg160_device_config *dev_cfg = dev->config;
 	uint32_t i2c_cfg;

 	i2c_cfg = I2C_MODE_CONTROLLER | I2C_SPEED_SET(BMG160_BUS_SPEED);

 	return i2c_configure(dev_cfg->i2c.bus, i2c_cfg);
 }

 int bmg160_read(const struct device *dev, uint8_t reg_addr, uint8_t *data,
 		uint8_t len)
 {
 	const struct bmg160_device_config *dev_cfg = dev->config;
 	struct bmg160_device_data *bmg160 = dev->data;
 	int ret = 0;

 	bmg160_bus_config(dev);

 	k_sem_take(&bmg160->sem, K_FOREVER);

 	if (i2c_burst_read_dt(&dev_cfg->i2c,
 			      reg_addr, data, len) < 0) {
 		ret = -EIO;
 	}

 	k_sem_give(&bmg160->sem);

 	return ret;
 }

 int bmg160_read_byte(const struct device *dev, uint8_t reg_addr,
 		     uint8_t *byte)
 {
 	return bmg160_read(dev, reg_addr, byte, 1);
 }

 static int bmg160_write(const struct device *dev, uint8_t reg_addr,
 			uint8_t *data,
 			uint8_t len)
 {
 	const struct bmg160_device_config *dev_cfg = dev->config;
 	struct bmg160_device_data *bmg160 = dev->data;
 	int ret = 0;

 	bmg160_bus_config(dev);

 	k_sem_take(&bmg160->sem, K_FOREVER);

 	if (i2c_burst_write_dt(&dev_cfg->i2c,
 			       reg_addr, data, len) < 0) {
 		ret = -EIO;
 	}

 	k_sem_give(&bmg160->sem);

 	return ret;
 }

 int bmg160_write_byte(const struct device *dev, uint8_t reg_addr,
 		      uint8_t byte)
 {
 	return bmg160_write(dev, reg_addr, &byte, 1);
 }

 int bmg160_update_byte(const struct device *dev, uint8_t reg_addr,
 		       uint8_t mask,
 		       uint8_t value)
 {
 	const struct bmg160_device_config *dev_cfg = dev->config;
 	struct bmg160_device_data *bmg160 = dev->data;
 	int ret = 0;

 	bmg160_bus_config(dev);

 	k_sem_take(&bmg160->sem, K_FOREVER);

 	if (i2c_reg_update_byte_dt(&dev_cfg->i2c,
 				   reg_addr, mask, value) < 0) {
 		ret = -EIO;
 	}

 	k_sem_give(&bmg160->sem);

 	return ret;
 }

 /* Allowed range values, in degrees/sec. */
 static const int16_t bmg160_gyro_range_map[] = {2000, 1000, 500, 250, 125};
 #define BMG160_GYRO_RANGE_MAP_SIZE	ARRAY_SIZE(bmg160_gyro_range_map)

 /* Allowed sampling frequencies, in Hz */
 static const int16_t bmg160_sampling_freq_map[] = {2000, 1000, 400, 200, 100};
 #define BMG160_SAMPLING_FREQ_MAP_SIZE	ARRAY_SIZE(bmg160_sampling_freq_map)

 static int bmg160_is_val_valid(int16_t val, const int16_t *val_map,
 			       uint16_t map_size)
 {
 	int i;

 	for (i = 0; i < map_size; i++) {
 		if (val == val_map[i]) {
 			return i;
 		}
 	}

 	return -1;
 }

 static int bmg160_attr_set(const struct device *dev, enum sensor_channel chan,
 			   enum sensor_attribute attr,
 			   const struct sensor_value *val)
 {
 	struct bmg160_device_data *bmg160 = dev->data;
 #ifdef CONFIG_BMG160_TRIGGER
 	const struct bmg160_device_config *config = dev->config;
 #endif
 	int idx;
 	uint16_t range_dps;

 	if (chan != SENSOR_CHAN_GYRO_XYZ) {
 		return -ENOTSUP;
 	}

 	switch (attr) {
 	case SENSOR_ATTR_FULL_SCALE:
 		range_dps = sensor_rad_to_degrees(val);

 		idx = bmg160_is_val_valid(range_dps,
 					  bmg160_gyro_range_map,
 					  BMG160_GYRO_RANGE_MAP_SIZE);
 		if (idx < 0) {
 			return -ENOTSUP;
 		}

 		if (bmg160_write_byte(dev, BMG160_REG_RANGE, idx) < 0) {
 			return -EIO;
 		}

 		bmg160->scale = BMG160_RANGE_TO_SCALE(range_dps);

 		return 0;

 	case SENSOR_ATTR_SAMPLING_FREQUENCY:
 		idx = bmg160_is_val_valid(val->val1,
 					  bmg160_sampling_freq_map,
 					  BMG160_SAMPLING_FREQ_MAP_SIZE);
 		if (idx < 0) {
 			return -ENOTSUP;
 		}

 		/*
 		 * The sampling frequencies values start at 1, i.e. a
 		 * sampling frequency of 2000Hz translates to BW value
 		 * of 1. Hence the 1 added to the index received.
 		 */
 		if (bmg160_write_byte(dev, BMG160_REG_BW, idx + 1) < 0) {
 			return -EIO;
 		}

 		return 0;

 #ifdef CONFIG_BMG160_TRIGGER
 	case SENSOR_ATTR_SLOPE_TH:
 	case SENSOR_ATTR_SLOPE_DUR:
 		if (!config->int_gpio.port) {
 			return -ENOTSUP;
 		}

 		return bmg160_slope_config(dev, attr, val);
 #endif
 	default:
 		return -ENOTSUP;
 	}
 }

 static int bmg160_sample_fetch(const struct device *dev,
 			       enum sensor_channel chan)
 {
 	struct bmg160_device_data *bmg160 = dev->data;
 	union {
 		uint8_t raw[7];
 		struct {
 			uint16_t x_axis;
 			uint16_t y_axis;
 			uint16_t z_axis;
 			uint8_t temp;
 		};
 	} buf __aligned(2);

 	/* do a burst read, to fetch all axis data */
 	if (bmg160_read(dev, BMG160_REG_RATE_X, buf.raw, sizeof(buf)) < 0) {
 		return -EIO;
 	}

 	bmg160->raw_gyro_xyz[0] = sys_le16_to_cpu(buf.x_axis);
 	bmg160->raw_gyro_xyz[1] = sys_le16_to_cpu(buf.y_axis);
 	bmg160->raw_gyro_xyz[2] = sys_le16_to_cpu(buf.z_axis);
 	bmg160->raw_temp	= buf.temp;

 	return 0;
 }

 static void bmg160_to_fixed_point(struct bmg160_device_data *bmg160,
 				  enum sensor_channel chan, int16_t raw,
 				  struct sensor_value *val)
 {
 	if (chan == SENSOR_CHAN_DIE_TEMP) {
 		val->val1 = 23 + (raw / 2);
 		val->val2 = (raw % 2) * 500000;
 	} else {
 		int32_t converted_val = raw * bmg160->scale;

 		val->val1 = converted_val / 1000000;
 		val->val2 = converted_val % 1000000;
 	}
 }

 static int bmg160_channel_get(const struct device *dev,
 			      enum sensor_channel chan,
 			      struct sensor_value *val)
 {
 	struct bmg160_device_data *bmg160 = dev->data;
 	int16_t raw_val;
 	int i;

 	switch (chan) {
 	case SENSOR_CHAN_GYRO_X:
 	case SENSOR_CHAN_GYRO_Y:
 	case SENSOR_CHAN_GYRO_Z:
 		raw_val = bmg160->raw_gyro_xyz[chan - SENSOR_CHAN_GYRO_X];
 		bmg160_to_fixed_point(bmg160, chan, raw_val, val);
 		return 0;

 	case SENSOR_CHAN_GYRO_XYZ:
 		/* return all channel values, in one read */
 		for (i = 0; i < 3; i++, val++) {
 			raw_val = bmg160->raw_gyro_xyz[i];
 			bmg160_to_fixed_point(bmg160, chan, raw_val, val);
 		}

 		return 0;

 	case SENSOR_CHAN_DIE_TEMP:
 		bmg160_to_fixed_point(bmg160, chan, bmg160->raw_temp, val);
 		return 0;

 	default:
 		return -ENOTSUP;
 	}
 }

 static const struct sensor_driver_api bmg160_api = {
 	.attr_set = bmg160_attr_set,
 #ifdef CONFIG_BMG160_TRIGGER
 	.trigger_set = bmg160_trigger_set,
 #endif
 	.sample_fetch = bmg160_sample_fetch,
 	.channel_get = bmg160_channel_get,
 };

 int bmg160_init(const struct device *dev)
 {
 	const struct bmg160_device_config *cfg = dev->config;
 	struct bmg160_device_data *bmg160 = dev->data;
 	uint8_t chip_id = 0U;
 	uint16_t range_dps;

 	if (!device_is_ready(cfg->i2c.bus)) {
 		LOG_ERR("I2C bus device not ready");
 		return -ENODEV;
 	}

 	k_sem_init(&bmg160->sem, 1, K_SEM_MAX_LIMIT);

 	if (bmg160_read_byte(dev, BMG160_REG_CHIPID, &chip_id) < 0) {
 		LOG_DBG("Failed to read chip id.");
 		return -EIO;
 	}

 	if (chip_id != BMG160_CHIP_ID) {
 		LOG_DBG("Unsupported chip detected (0x%x)!", chip_id);
 		return -ENODEV;
 	}

 	/* reset the chip */
 	bmg160_write_byte(dev, BMG160_REG_BGW_SOFTRESET, BMG160_RESET);

 	k_busy_wait(1000); /* wait for the chip to come up */

 	if (bmg160_write_byte(dev, BMG160_REG_RANGE,
 			      BMG160_DEFAULT_RANGE) < 0) {
 		LOG_DBG("Failed to set range.");
 		return -EIO;
 	}

 	range_dps = bmg160_gyro_range_map[BMG160_DEFAULT_RANGE];

 	bmg160->scale = BMG160_RANGE_TO_SCALE(range_dps);

 	if (bmg160_write_byte(dev, BMG160_REG_BW, BMG160_DEFAULT_ODR) < 0) {
 		LOG_DBG("Failed to set sampling frequency.");
 		return -EIO;
 	}

 	/* disable interrupts */
 	if (bmg160_write_byte(dev, BMG160_REG_INT_EN0, 0) < 0) {
 		LOG_DBG("Failed to disable all interrupts.");
 		return -EIO;
 	}

 #ifdef CONFIG_BMG160_TRIGGER
 	if (cfg->int_gpio.port) {
 		bmg160_trigger_init(dev);
 	}
 #endif

 	return 0;
 }

 #define BMG160_DEFINE(inst)									\
 	static struct bmg160_device_data bmg160_data_##inst;					\
 												\
 	static const struct bmg160_device_config bmg160_config_##inst = {			\
 		.i2c = I2C_DT_SPEC_INST_GET(inst),						\
 		IF_ENABLED(CONFIG_BMG160_TRIGGER,						\
 			   (.int_gpio = GPIO_DT_SPEC_INST_GET_OR(inst, int_gpios, { 0 }),))	\
 												\
 	};											\
 												\
 	SENSOR_DEVICE_DT_INST_DEFINE(inst, bmg160_init, NULL,					\
 			      &bmg160_data_##inst, &bmg160_config_##inst,			\
 			      POST_KERNEL, CONFIG_SENSOR_INIT_PRIORITY, &bmg160_api);		\

 DT_INST_FOREACH_STATUS_OKAY(BMG160_DEFINE)
	/* Bosch BMG160 gyro driver
	*
	* Copyright (c) 2016 Intel Corporation
	*
	* SPDX-License-Identifier: Apache-2.0
	*
	* Datasheet:
	* http://ae-bst.resource.bosch.com/media/_tech/media/datasheets/BST-BMG160-DS000-09.pdf
	*/

	#define DT_DRV_COMPAT bosch_bmg160

	#include <zephyr/init.h>
	#include <zephyr/drivers/sensor.h>
	#include <zephyr/sys/byteorder.h>
	#include <zephyr/kernel.h>
	#include <zephyr/logging/log.h>

	#include "bmg160.h"

	LOG_MODULE_REGISTER(BMG160, CONFIG_SENSOR_LOG_LEVEL);

	static inline int bmg160_bus_config(const struct device *dev)
	{
	const struct bmg160_device_config *dev_cfg = dev->config;
	uint32_t i2c_cfg;

	i2c_cfg = I2C_MODE_CONTROLLER \| I2C_SPEED_SET(BMG160_BUS_SPEED);

	return i2c_configure(dev_cfg->i2c.bus, i2c_cfg);
	}

	int bmg160_read(const struct device dev, uint8_t reg_addr, uint8_t data,
	uint8_t len)
	{
	const struct bmg160_device_config *dev_cfg = dev->config;
	struct bmg160_device_data *bmg160 = dev->data;
	int ret = 0;

	bmg160_bus_config(dev);

	k_sem_take(&bmg160->sem, K_FOREVER);

	if (i2c_burst_read_dt(&dev_cfg->i2c,
	reg_addr, data, len) < 0) {
	ret = -EIO;
	}

	k_sem_give(&bmg160->sem);

	return ret;
	}

	int bmg160_read_byte(const struct device *dev, uint8_t reg_addr,
	uint8_t *byte)
	{
	return bmg160_read(dev, reg_addr, byte, 1);
	}

	static int bmg160_write(const struct device *dev, uint8_t reg_addr,
	uint8_t *data,
	uint8_t len)
	{
	const struct bmg160_device_config *dev_cfg = dev->config;
	struct bmg160_device_data *bmg160 = dev->data;
	int ret = 0;

	bmg160_bus_config(dev);

	k_sem_take(&bmg160->sem, K_FOREVER);

	if (i2c_burst_write_dt(&dev_cfg->i2c,
	reg_addr, data, len) < 0) {
	ret = -EIO;
	}

	k_sem_give(&bmg160->sem);

	return ret;
	}

	int bmg160_write_byte(const struct device *dev, uint8_t reg_addr,
	uint8_t byte)
	{
	return bmg160_write(dev, reg_addr, &byte, 1);
	}

	int bmg160_update_byte(const struct device *dev, uint8_t reg_addr,
	uint8_t mask,
	uint8_t value)
	{
	const struct bmg160_device_config *dev_cfg = dev->config;
	struct bmg160_device_data *bmg160 = dev->data;
	int ret = 0;

	bmg160_bus_config(dev);

	k_sem_take(&bmg160->sem, K_FOREVER);

	if (i2c_reg_update_byte_dt(&dev_cfg->i2c,
	reg_addr, mask, value) < 0) {
	ret = -EIO;
	}

	k_sem_give(&bmg160->sem);

	return ret;
	}

	/* Allowed range values, in degrees/sec. */
	static const int16_t bmg160_gyro_range_map[] = {2000, 1000, 500, 250, 125};
	#define BMG160_GYRO_RANGE_MAP_SIZE ARRAY_SIZE(bmg160_gyro_range_map)

	/* Allowed sampling frequencies, in Hz */
	static const int16_t bmg160_sampling_freq_map[] = {2000, 1000, 400, 200, 100};
	#define BMG160_SAMPLING_FREQ_MAP_SIZE ARRAY_SIZE(bmg160_sampling_freq_map)

	static int bmg160_is_val_valid(int16_t val, const int16_t *val_map,
	uint16_t map_size)
	{
	int i;

	for (i = 0; i < map_size; i++) {
	if (val == val_map[i]) {
	return i;
	}
	}

	return -1;
	}

	static int bmg160_attr_set(const struct device *dev, enum sensor_channel chan,
	enum sensor_attribute attr,
	const struct sensor_value *val)
	{
	struct bmg160_device_data *bmg160 = dev->data;
	#ifdef CONFIG_BMG160_TRIGGER
	const struct bmg160_device_config *config = dev->config;
	#endif
	int idx;
	uint16_t range_dps;

	if (chan != SENSOR_CHAN_GYRO_XYZ) {
	return -ENOTSUP;
	}

	switch (attr) {
	case SENSOR_ATTR_FULL_SCALE:
	range_dps = sensor_rad_to_degrees(val);

	idx = bmg160_is_val_valid(range_dps,
	bmg160_gyro_range_map,
	BMG160_GYRO_RANGE_MAP_SIZE);
	if (idx < 0) {
	return -ENOTSUP;
	}

	if (bmg160_write_byte(dev, BMG160_REG_RANGE, idx) < 0) {
	return -EIO;
	}

	bmg160->scale = BMG160_RANGE_TO_SCALE(range_dps);

	return 0;

	case SENSOR_ATTR_SAMPLING_FREQUENCY:
	idx = bmg160_is_val_valid(val->val1,
	bmg160_sampling_freq_map,
	BMG160_SAMPLING_FREQ_MAP_SIZE);
	if (idx < 0) {
	return -ENOTSUP;
	}

	/*
	* The sampling frequencies values start at 1, i.e. a
	* sampling frequency of 2000Hz translates to BW value
	* of 1. Hence the 1 added to the index received.
	*/
	if (bmg160_write_byte(dev, BMG160_REG_BW, idx + 1) < 0) {
	return -EIO;
	}

	return 0;

	#ifdef CONFIG_BMG160_TRIGGER
	case SENSOR_ATTR_SLOPE_TH:
	case SENSOR_ATTR_SLOPE_DUR:
	if (!config->int_gpio.port) {
	return -ENOTSUP;
	}

	return bmg160_slope_config(dev, attr, val);
	#endif
	default:
	return -ENOTSUP;
	}
	}

	static int bmg160_sample_fetch(const struct device *dev,
	enum sensor_channel chan)
	{
	struct bmg160_device_data *bmg160 = dev->data;
	union {
	uint8_t raw[7];
	struct {
	uint16_t x_axis;
	uint16_t y_axis;
	uint16_t z_axis;
	uint8_t temp;
	};
	} buf __aligned(2);

	/* do a burst read, to fetch all axis data */
	if (bmg160_read(dev, BMG160_REG_RATE_X, buf.raw, sizeof(buf)) < 0) {
	return -EIO;
	}

	bmg160->raw_gyro_xyz[0] = sys_le16_to_cpu(buf.x_axis);
	bmg160->raw_gyro_xyz[1] = sys_le16_to_cpu(buf.y_axis);
	bmg160->raw_gyro_xyz[2] = sys_le16_to_cpu(buf.z_axis);
	bmg160->raw_temp = buf.temp;

	return 0;
	}

	static void bmg160_to_fixed_point(struct bmg160_device_data *bmg160,
	enum sensor_channel chan, int16_t raw,
	struct sensor_value *val)
	{
	if (chan == SENSOR_CHAN_DIE_TEMP) {
	val->val1 = 23 + (raw / 2);
	val->val2 = (raw % 2) * 500000;
	} else {
	int32_t converted_val = raw * bmg160->scale;

	val->val1 = converted_val / 1000000;
	val->val2 = converted_val % 1000000;
	}
	}

	static int bmg160_channel_get(const struct device *dev,
	enum sensor_channel chan,
	struct sensor_value *val)
	{
	struct bmg160_device_data *bmg160 = dev->data;
	int16_t raw_val;
	int i;

	switch (chan) {
	case SENSOR_CHAN_GYRO_X:
	case SENSOR_CHAN_GYRO_Y:
	case SENSOR_CHAN_GYRO_Z:
	raw_val = bmg160->raw_gyro_xyz[chan - SENSOR_CHAN_GYRO_X];
	bmg160_to_fixed_point(bmg160, chan, raw_val, val);
	return 0;

	case SENSOR_CHAN_GYRO_XYZ:
	/* return all channel values, in one read */
	for (i = 0; i < 3; i++, val++) {
	raw_val = bmg160->raw_gyro_xyz[i];
	bmg160_to_fixed_point(bmg160, chan, raw_val, val);
	}

	return 0;

	case SENSOR_CHAN_DIE_TEMP:
	bmg160_to_fixed_point(bmg160, chan, bmg160->raw_temp, val);
	return 0;

	default:
	return -ENOTSUP;
	}
	}

	static const struct sensor_driver_api bmg160_api = {
	.attr_set = bmg160_attr_set,
	#ifdef CONFIG_BMG160_TRIGGER
	.trigger_set = bmg160_trigger_set,
	#endif
	.sample_fetch = bmg160_sample_fetch,
	.channel_get = bmg160_channel_get,
	};

	int bmg160_init(const struct device *dev)
	{
	const struct bmg160_device_config *cfg = dev->config;
	struct bmg160_device_data *bmg160 = dev->data;
	uint8_t chip_id = 0U;
	uint16_t range_dps;

	if (!device_is_ready(cfg->i2c.bus)) {
	LOG_ERR("I2C bus device not ready");
	return -ENODEV;
	}

	k_sem_init(&bmg160->sem, 1, K_SEM_MAX_LIMIT);

	if (bmg160_read_byte(dev, BMG160_REG_CHIPID, &chip_id) < 0) {
	LOG_DBG("Failed to read chip id.");
	return -EIO;
	}

	if (chip_id != BMG160_CHIP_ID) {
	LOG_DBG("Unsupported chip detected (0x%x)!", chip_id);
	return -ENODEV;
	}

	/* reset the chip */
	bmg160_write_byte(dev, BMG160_REG_BGW_SOFTRESET, BMG160_RESET);

	k_busy_wait(1000); /* wait for the chip to come up */

	if (bmg160_write_byte(dev, BMG160_REG_RANGE,
	BMG160_DEFAULT_RANGE) < 0) {
	LOG_DBG("Failed to set range.");
	return -EIO;
	}

	range_dps = bmg160_gyro_range_map[BMG160_DEFAULT_RANGE];

	bmg160->scale = BMG160_RANGE_TO_SCALE(range_dps);

	if (bmg160_write_byte(dev, BMG160_REG_BW, BMG160_DEFAULT_ODR) < 0) {
	LOG_DBG("Failed to set sampling frequency.");
	return -EIO;
	}

	/* disable interrupts */
	if (bmg160_write_byte(dev, BMG160_REG_INT_EN0, 0) < 0) {
	LOG_DBG("Failed to disable all interrupts.");
	return -EIO;
	}

	#ifdef CONFIG_BMG160_TRIGGER
	if (cfg->int_gpio.port) {
	bmg160_trigger_init(dev);
	}
	#endif

	return 0;
	}

	#define BMG160_DEFINE(inst) \
	static struct bmg160_device_data bmg160_data_##inst; \
	\
	static const struct bmg160_device_config bmg160_config_##inst = { \
	.i2c = I2C_DT_SPEC_INST_GET(inst), \
	IF_ENABLED(CONFIG_BMG160_TRIGGER, \
	(.int_gpio = GPIO_DT_SPEC_INST_GET_OR(inst, int_gpios, { 0 }),)) \
	\
	}; \
	\
	SENSOR_DEVICE_DT_INST_DEFINE(inst, bmg160_init, NULL, \
	&bmg160_data_##inst, &bmg160_config_##inst, \
	POST_KERNEL, CONFIG_SENSOR_INIT_PRIORITY, &bmg160_api); \

	DT_INST_FOREACH_STATUS_OKAY(BMG160_DEFINE)