forked from nuttx/nuttx-update
sensors/bmi270: add support for the new sensor framework
bmi270 can be used with the new sensor framework
This commit is contained in:
raiden00pl
Xiang Xiao
parent
3d765616ea
commit
5af805b2ef
8 changed files with 2135 additions and 1272 deletions
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@ -65,7 +65,12 @@ if(CONFIG_SENSORS)
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endif()
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if(CONFIG_SENSORS_BMI270)
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list(APPEND SRCS bmi270.c)
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list(APPEND SRCS bmi270_base.c)
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if(CONFIG_SENSORS_BMI270_UORB)
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list(APPEND SRCS bmi270_uorb.c)
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else()
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list(APPEND SRCS bmi270.c)
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endif()
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endif()
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# These drivers depend on I2C support
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@ -223,6 +223,35 @@ config SENSORS_BMI270
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if SENSORS_BMI270
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config SENSORS_BMI270_UORB
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bool "Bosch BMI270 UORB"
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default n
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if SENSORS_BMI270_UORB
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config SENSORS_BMI270_POLL
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bool "Enables polling sensor data"
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default n
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---help---
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Enables polling of sensor.
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config SENSORS_BMI270_POLL_INTERVAL
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int "Polling interval in microseconds, default 1 sec"
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depends on SENSORS_BMI270_POLL
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default 1000000
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range 0 4294967295
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---help---
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The interval until a new sensor measurement will be triggered.
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config SENSORS_BMI270_THREAD_STACKSIZE
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int "Worker thread stack size"
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depends on SENSORS_BMI270_POLL
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default 1024
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---help---
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The stack size for the worker thread.
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endif #SENSORS_BMI270_UORB
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choice
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prompt "BMI270 Interface"
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default SENSORS_BMI270_SPI
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@ -65,8 +65,13 @@ ifeq ($(CONFIG_SENSORS_DHTXX),y)
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endif
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ifeq ($(CONFIG_SENSORS_BMI270),y)
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CSRCS += bmi270_base.c
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ifeq ($(CONFIG_SENSORS_BMI270_UORB),y)
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CSRCS += bmi270_bmi.c
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else
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CSRCS += bmi270.c
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endif
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endif
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# These drivers depend on I2C support
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File diff suppressed because it is too large
Load diff
1118
drivers/sensors/bmi270_base.c
Normal file
1118
drivers/sensors/bmi270_base.c
Normal file
File diff suppressed because it is too large
Load diff
260
drivers/sensors/bmi270_base.h
Normal file
260
drivers/sensors/bmi270_base.h
Normal file
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@ -0,0 +1,260 @@
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/****************************************************************************
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* drivers/sensors/bmi270_base.h
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*
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* Licensed to the Apache Software Foundation (ASF) under one or more
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* contributor license agreements. See the NOTICE file distributed with
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* this work for additional information regarding copyright ownership. The
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* ASF licenses this file to you under the Apache License, Version 2.0 (the
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* "License"); you may not use this file except in compliance with the
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* License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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* License for the specific language governing permissions and limitations
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* under the License.
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*
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****************************************************************************/
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#ifndef __INCLUDE_NUTTX_SENSORS_BMI270_BASE_H
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#define __INCLUDE_NUTTX_SENSORS_BMI270_BASE_H
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <stdint.h>
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#include <stdlib.h>
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#include <errno.h>
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#include <debug.h>
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#include <nuttx/kmalloc.h>
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#include <nuttx/fs/fs.h>
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#include <nuttx/sensors/bmi270.h>
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#ifdef CONFIG_SENSORS_BMI270_I2C
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# include <nuttx/i2c/i2c_master.h>
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#else
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# include <nuttx/spi/spi.h>
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#endif
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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#define BMI270_SPI_MAXFREQUENCY 10000000
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#define BMI270_I2C_FREQ 400000
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#define DEVID 0x24
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#define BMI270_CHIP_ID (0x00) /* Chip ID */
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#define BMI270_ERROR (0x02) /* Error register */
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#define BMI270_PMU_STAT (0x03) /* Current power mode */
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#define BMI270_DATA_0 (0x04) /* MAG X 7:0 (LSB) */
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#define BMI270_DATA_1 (0x05) /* MAG X 15:8 (MSB) */
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#define BMI270_DATA_2 (0x06) /* MAG Y 7:0 (LSB) */
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#define BMI270_DATA_3 (0x07) /* MAG Y 15:8 (MSB) */
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#define BMI270_DATA_4 (0x08) /* MAG Z 7:0 (LSB) */
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#define BMI270_DATA_5 (0x09) /* MAG Z 15:8 (MSB) */
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#define BMI270_DATA_6 (0x0a) /* RHALL 7:0 (LSB) */
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#define BMI270_DATA_7 (0x0b) /* RHALL 15:8 (MSB) */
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#define BMI270_DATA_8 (0x0c) /* ACC X 7:0 (LSB) */
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#define BMI270_DATA_9 (0x0d) /* ACC X 15:8 (MSB) */
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#define BMI270_DATA_10 (0x0e) /* ACC Y 7:0 (LSB) */
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#define BMI270_DATA_11 (0x0f) /* ACC Y 15:8 (MSB) */
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#define BMI270_DATA_12 (0x10) /* ACC Z 7:0 (LSB) */
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#define BMI270_DATA_13 (0x11) /* ACC Z 15:8 (MSB) */
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#define BMI270_DATA_14 (0x12) /* GYR X 7:0 (LSB) */
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#define BMI270_DATA_15 (0x13) /* GYR X 15:8 (MSB) */
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#define BMI270_DATA_16 (0x14) /* GYR Y 7:0 (LSB) */
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#define BMI270_DATA_17 (0x15) /* GYR Y 15:8 (MSB) */
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#define BMI270_DATA_18 (0x16) /* GYR Z 7:0 (LSB) */
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#define BMI270_DATA_19 (0x17) /* GYR Z 15:8 (MSB) */
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#define BMI270_SENSORTIME_0 (0x18) /* Sensor time 0 */
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#define BMI270_SENSORTIME_1 (0x19) /* Sensor time 1 */
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#define BMI270_SENSORTIME_2 (0x1A) /* Sensor time 2 */
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#define BMI270_EVENT (0x1B) /* Sensor event flags */
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#define BMI270_INTR_STAT_0 (0x1C) /* Interrupt status */
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#define BMI270_INTR_STAT_1 (0x1D)
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#define BMI270_SC_OUT_0 (0x1E) /* Step counting value */
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#define BMI270_SC_OUT_1 (0x1f) /* Step counting value */
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#define BMI270_WR_GEST_ACT (0x20) /* Wrist gesture and activity detection */
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#define BMI270_INTERNAL_STAT (0x21) /* Internal status */
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#define BMI270_TEMPERATURE_0 (0x22) /* Temperature */
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#define BMI270_TEMPERATURE_1 (0x23)
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#define BMI270_FIFO_LENGTH_0 (0x24) /* FIFO length */
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#define BMI270_FIFO_LENGTH_1 (0x25)
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#define BMI270_FIFO_DATA (0x26)
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#define BMI270_FEAT_PAGE (0x2f) /* Page number for feature configuration and output registers */
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/* TODO: Features 0x30-0x3f */
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#define BMI270_ACC_CONFIG (0x40) /* ACCEL config for ODR, bandwidth and undersampling */
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#define BMI270_ACC_RANGE (0x41) /* ACCEL range */
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#define BMI270_GYR_CONFIG (0x42) /* GYRO config for ODR and bandwidth */
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#define BMI270_GYR_RANGE (0x43) /* GYRO range */
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#define BMI270_AUX_CONFIG (0x44) /* AUX config for ODR */
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#define BMI270_FIFO_DOWN (0x45) /* GYRO and ACCEL downsampling rates for FIFO */
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#define BMI270_FIFO_WTM_0 (0x46) /* FIFO Watermark level */
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#define BMI270_FIFO_WTM_1 (0x47) /* FIFO Watermark level */
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#define BMI270_FIFO_CONFIG_0 (0x48) /* FIFO config */
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#define BMI270_FIFO_CONFIG_1 (0x49)
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#define BMI270_SATURATION (0x4A) /* Saturation */
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#define BMI270_AUX_DEV_ID (0x4B) /* Auxiliary interface device_id */
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#define BMI270_AUX_IF_CONF (0x4C) /* Auxiliary interface configuration */
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#define BMI270_AUX_RD_ADDR (0x4C) /* Auxiliary interface read address */
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#define BMI270_AUX_WR_ADDR (0x4E) /* Auxiliary interface write address */
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#define BMI270_AUX_WR_DATA (0x4F) /* Auxiliary interface write data */
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#define BMI270_ERR_REG_MSK (0x52)
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#define BMI270_INT1_IO_CTRL (0x53) /* INT pin configuration */
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#define BMI270_INT2_IO_CTRL (0x54)
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#define BMI270_INT_LATCH (0x55) /* Configure interrupt modes */
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#define BMI270_INT1_MAP_FEAT (0x56) /* Interrupt/Feature mapping on INT1 */
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#define BMI270_INT2_MAP_FEAT (0x57) /* Interrupt/Feature mapping on INT2 */
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#define BMI270_INT_MAP_DATA (0x58) /* Data Interrupt mapping for both INT pins */
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#define BMI270_INIT_CTRL (0x59) /* Start initialization */
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#define BMI270_INIT_ADDR_0 (0x5b) /* Base address of the initialization data */
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#define BMI270_INIT_ADDR_1 (0x5c)
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#define BMI270_INIT_DATA (0x5e) /* Initialization register */
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#define BMI270_INTERNAL_ERROR (0x5f)
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#define BMI270_AUX_IF_TRIM (0x68) /* Auxiliary interface trim */
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#define BMI270_GYR_CRT_CONF (0x69) /* Component Retrimming for Gyroscope */
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#define BMI270_NMV_CONFIG (0x6A) /* NVM Configuration */
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#define BMI270_IF_CONFIG (0x6B) /* Serial interface configuration */
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#define BMI270_DRV (0x6C) /* Drive strength control */
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#define BMI270_ACC_SELF_TEST (0x6D) /* Acc self test */
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#define BMI270_GYR_SELF_TEST (0x6E) /* Gyro self test */
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#define BMI270_NV_CONFIG (0x70) /* SPI/I2C selection */
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#define BMI270_OFFSET_0 (0x71) /* ACCEL and GYRO offset */
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#define BMI270_OFFSET_1 (0x72)
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#define BMI270_OFFSET_2 (0x73)
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#define BMI270_OFFSET_3 (0x74)
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#define BMI270_OFFSET_4 (0x75)
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#define BMI270_OFFSET_5 (0x76)
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#define BMI270_OFFSET_6 (0x77)
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#define BMI270_PWR_CONF (0x7C) /* Power mode configuration */
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#define BMI270_PWR_CTRL (0x7D) /* Power mode control */
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#define BMI270_CMD (0x7e) /* Command register */
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/* Register 0x21 - INTERNAL_STATUS */
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#define INTSTAT_MSG_MASK (7)
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#define INTSTAT_MSG_NOTINIT (0x00)
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#define INTSTAT_MSG_INITOK (0x01)
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/* Register 0x40 - ACCEL_CONFIG accel bandwidth */
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#define ACCEL_OSR4_AVG1 (0 << 4)
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#define ACCEL_OSR2_AVG2 (1 << 4)
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#define ACCEL_NORMAL_AVG4 (2 << 4)
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#define ACCEL_CIC_AVG8 (3 << 4)
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#define ACCEL_RES_AVG2 (4 << 4)
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#define ACCEL_RES_AVG4 (5 << 4)
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#define ACCEL_RES_AVG8 (6 << 4)
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#define ACCEL_RES_AVG16 (7 << 4)
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#define ACCEL_RES_AVG32 (8 << 4)
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#define ACCEL_RES_AVG64 (9 << 4)
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#define ACCEL_RES_AVG128 (10 << 4)
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#define ACCEL_ODR_0_78HZ (0x01)
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#define ACCEL_ODR_1_56HZ (0x02)
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#define ACCEL_ODR_3_12HZ (0x03)
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#define ACCEL_ODR_6_25HZ (0x04)
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#define ACCEL_ODR_12_5HZ (0x05)
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#define ACCEL_ODR_25HZ (0x06)
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#define ACCEL_ODR_50HZ (0x07)
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#define ACCEL_ODR_100HZ (0x08)
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#define ACCEL_ODR_200HZ (0x09)
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#define ACCEL_ODR_400HZ (0x0A)
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#define ACCEL_ODR_800HZ (0x0B)
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#define ACCEL_ODR_1600HZ (0x0C)
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/* Register 0x41 - ACC_RANGE accel range */
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#define ACCEL_RANGE_2G (0x00)
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#define ACCEL_RANGE_4G (0x01)
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#define ACCEL_RANGE_8G (0x02)
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#define ACCEL_RANGE_16G (0x03)
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/* Register 0x42 - GYRO_CONFIG accel bandwidth */
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#define GYRO_OSR4_MODE (0 << 4)
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#define GYRO_OSR2_MODE (1 << 4)
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#define GYRO_NORMAL_MODE (2 << 4)
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#define GYRO_CIC_MODE (3 << 4)
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#define GYRO_ODR_25HZ (0x06)
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#define GYRO_ODR_50HZ (0x07)
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#define GYRO_ODR_100HZ (0x08)
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#define GYRO_ODR_200HZ (0x09)
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#define GYRO_ODR_400HZ (0x0A)
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#define GYRO_ODR_800HZ (0x0B)
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#define GYRO_ODR_1600HZ (0x0C)
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#define GYRO_ODR_3200HZ (0x0D)
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/* Register 0x43 - GYR_RANGE gyr range */
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#define GYRO_RANGE_2000 (0x00)
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#define GYRO_RANGE_1000 (0x01)
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#define GYRO_RANGE_500 (0x02)
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#define GYRO_RANGE_250 (0x03)
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#define GYRO_RANGE_125 (0x04)
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/* Register 0x7d - PWR_CONF */
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#define PWRCONF_APS_ON (1 << 0)
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#define PWRCONF_FSW_ON (1 << 1)
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#define PWRCONF_FUP_ON (1 << 2)
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/* Register 0x7d - PWR_CTRL */
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#define PWRCTRL_AUX_EN (1 << 0)
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#define PWRCTRL_GYR_EN (1 << 1)
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#define PWRCTRL_ACC_EN (1 << 2)
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#define PWRCTRL_TEMP_EN (1 << 3)
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/* Register 0x7e - CMD */
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#define CMD_SOFTRESET (0xB6)
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/****************************************************************************
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* Public Types
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****************************************************************************/
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struct bmi270_dev_s
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{
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#ifdef CONFIG_SENSORS_BMI270_I2C
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FAR struct i2c_master_s *i2c; /* I2C interface */
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uint8_t addr; /* I2C address */
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int freq; /* Frequency <= 3.4MHz */
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#else /* CONFIG_SENSORS_BMI270_SPI */
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FAR struct spi_dev_s *spi; /* SPI interface */
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#endif
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};
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/****************************************************************************
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* Public Data
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****************************************************************************/
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extern const uint8_t g_bmi270_config_file[];
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/****************************************************************************
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* Public Function Prototypes
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****************************************************************************/
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uint8_t bmi270_getreg8(FAR struct bmi270_dev_s *priv, uint8_t regaddr);
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void bmi270_putreg8(FAR struct bmi270_dev_s *priv, uint8_t regaddr,
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uint8_t regval);
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void bmi270_getregs(FAR struct bmi270_dev_s *priv, uint8_t regaddr,
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FAR uint8_t *regval, int len);
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void bmi270_putregs(FAR struct bmi270_dev_s *priv, uint8_t regaddr,
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FAR uint8_t *regval, int len);
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void bmi270_set_normal_imu(FAR struct bmi270_dev_s *priv);
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int bmi270_init_seq(FAR struct bmi270_dev_s *priv);
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int bmi270_checkid(FAR struct bmi270_dev_s *priv);
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#endif /* __INCLUDE_NUTTX_SENSORS_BMI270_BASE_H */
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706
drivers/sensors/bmi270_uorb.c
Normal file
706
drivers/sensors/bmi270_uorb.c
Normal file
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@ -0,0 +1,706 @@
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/****************************************************************************
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* drivers/sensors/bmi270_uorb.c
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*
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* Licensed to the Apache Software Foundation (ASF) under one or more
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* contributor license agreements. See the NOTICE file distributed with
|
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* this work for additional information regarding copyright ownership. The
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* ASF licenses this file to you under the Apache License, Version 2.0 (the
|
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* "License"); you may not use this file except in compliance with the
|
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* License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
|
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* License for the specific language governing permissions and limitations
|
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* under the License.
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*
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****************************************************************************/
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <math.h>
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#include <stdio.h>
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#include <string.h>
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#include <limits.h>
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#include <fcntl.h>
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#include <inttypes.h>
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#include <sys/param.h>
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#include <nuttx/mutex.h>
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#include <nuttx/signal.h>
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#include <nuttx/compiler.h>
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#include <nuttx/nuttx.h>
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#include <nuttx/kthread.h>
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#include <nuttx/sensors/sensor.h>
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#include <nuttx/sensors/ioctl.h>
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#include "bmi270_base.h"
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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#define CONSTANTS_ONE_G 9.8f
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/****************************************************************************
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* Private Types
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****************************************************************************/
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enum bmi270_idx_e
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{
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BMI270_ACCEL_IDX = 0,
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BMI270_GYRO_IDX,
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BMI270_MAX_IDX
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};
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struct bmi270_sensor_s
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{
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struct sensor_lowerhalf_s lower;
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uint64_t last_update;
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float scale;
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FAR void *dev;
|
||||
bool enabled;
|
||||
#ifdef CONFIG_SENSORS_BMI270_POLL
|
||||
unsigned long interval;
|
||||
#endif
|
||||
struct bmi270_dev_s base;
|
||||
};
|
||||
|
||||
struct bmi270_sensor_dev_s
|
||||
{
|
||||
struct bmi270_sensor_s priv[BMI270_MAX_IDX];
|
||||
mutex_t lock;
|
||||
#ifdef CONFIG_SENSORS_BMI270_POLL
|
||||
sem_t run;
|
||||
#endif
|
||||
};
|
||||
|
||||
/****************************************************************************
|
||||
* Private Function Prototypes
|
||||
****************************************************************************/
|
||||
|
||||
/* Sensor methods */
|
||||
|
||||
static int bmi270_activate(FAR struct sensor_lowerhalf_s *lower,
|
||||
FAR struct file *filep,
|
||||
bool enable);
|
||||
static int bmi270_set_interval(FAR struct sensor_lowerhalf_s *lower,
|
||||
FAR struct file *filep,
|
||||
FAR unsigned long *period_us);
|
||||
#ifndef CONFIG_SENSORS_BMI270_POLL
|
||||
static int bmi270_fetch(FAR struct sensor_lowerhalf_s *lower,
|
||||
FAR struct file *filep,
|
||||
FAR char *buffer, size_t buflen);
|
||||
#endif
|
||||
static int bmi270_control(FAR struct sensor_lowerhalf_s *lower,
|
||||
FAR struct file *filep,
|
||||
int cmd, unsigned long arg);
|
||||
|
||||
/* Helpers */
|
||||
|
||||
static int bmi270_accel_scale(FAR struct bmi270_sensor_s *priv,
|
||||
uint8_t scale);
|
||||
static int bmi270_gyro_scale(FAR struct bmi270_sensor_s *priv,
|
||||
uint16_t scale);
|
||||
|
||||
/****************************************************************************
|
||||
* Private Data
|
||||
****************************************************************************/
|
||||
|
||||
static const struct sensor_ops_s g_sensor_ops =
|
||||
{
|
||||
NULL, /* open */
|
||||
NULL, /* close */
|
||||
bmi270_activate,
|
||||
bmi270_set_interval,
|
||||
NULL, /* batch */
|
||||
#ifdef CONFIG_SENSORS_BMI270_POLL
|
||||
NULL, /* fetch */
|
||||
#else
|
||||
bmi270_fetch,
|
||||
#endif
|
||||
NULL, /* selftest */
|
||||
NULL, /* set_calibvalue */
|
||||
NULL, /* calibrate */
|
||||
bmi270_control
|
||||
};
|
||||
|
||||
/****************************************************************************
|
||||
* Private Functions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Name: bmi270_activate
|
||||
****************************************************************************/
|
||||
|
||||
static int bmi270_activate(FAR struct sensor_lowerhalf_s *lower,
|
||||
FAR struct file *filep, bool enable)
|
||||
{
|
||||
FAR struct bmi270_sensor_s *priv = NULL;
|
||||
FAR struct bmi270_sensor_dev_s *dev = NULL;
|
||||
bool start = false;
|
||||
bool stop = false;
|
||||
int ret = OK;
|
||||
int tmp = 0;
|
||||
|
||||
priv = (FAR struct bmi270_sensor_s *)lower;
|
||||
dev = priv->dev;
|
||||
|
||||
nxmutex_lock(&dev->lock);
|
||||
|
||||
tmp = (dev->priv[BMI270_ACCEL_IDX].enabled +
|
||||
dev->priv[BMI270_GYRO_IDX].enabled);
|
||||
|
||||
if (enable && tmp == 0)
|
||||
{
|
||||
/* One time start */
|
||||
|
||||
start = true;
|
||||
}
|
||||
else if (tmp == 1)
|
||||
{
|
||||
/* One time stop */
|
||||
|
||||
stop = true;
|
||||
}
|
||||
|
||||
priv->enabled = enable;
|
||||
|
||||
nxmutex_unlock(&dev->lock);
|
||||
|
||||
if (start)
|
||||
{
|
||||
/* Initialization sequence */
|
||||
|
||||
ret = bmi270_init_seq(&priv->base);
|
||||
if (ret != 0)
|
||||
{
|
||||
return ret;
|
||||
}
|
||||
|
||||
/* Set normal mode */
|
||||
|
||||
bmi270_set_normal_imu(&priv->base);
|
||||
|
||||
#ifdef CONFIG_SENSORS_BMI270_POLL
|
||||
priv->last_update = sensor_get_timestamp();
|
||||
|
||||
/* Wake up the thread */
|
||||
|
||||
nxsem_post(&dev->run);
|
||||
#endif
|
||||
}
|
||||
|
||||
else if (stop)
|
||||
{
|
||||
/* Disable acquisition of acc and gyro */
|
||||
|
||||
bmi270_putreg8(&priv->base, BMI270_PWR_CTRL, 0);
|
||||
up_mdelay(30);
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: bmi270_set_interval
|
||||
****************************************************************************/
|
||||
|
||||
static int bmi270_set_interval(FAR struct sensor_lowerhalf_s *lower,
|
||||
FAR struct file *filep,
|
||||
FAR unsigned long *interval)
|
||||
{
|
||||
#ifdef CONFIG_SENSORS_BMI270_POLL
|
||||
FAR struct bmi270_sensor_s *priv = NULL;
|
||||
|
||||
priv = (FAR struct bmi270_sensor_s *)lower;
|
||||
|
||||
priv->interval = *interval;
|
||||
#endif
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
#ifndef CONFIG_SENSORS_BMI270_POLL
|
||||
/****************************************************************************
|
||||
* Name: bmi270_set_interval
|
||||
****************************************************************************/
|
||||
|
||||
static int bmi270_fetch(FAR struct sensor_lowerhalf_s *lower,
|
||||
FAR struct file *filep, FAR char *buffer,
|
||||
size_t buflen)
|
||||
{
|
||||
FAR struct bmi270_sensor_s *priv = NULL;
|
||||
int16_t data[3];
|
||||
int ret = OK;
|
||||
|
||||
priv = (FAR struct bmi270_sensor_s *)lower;
|
||||
|
||||
switch (lower->type)
|
||||
{
|
||||
case SENSOR_TYPE_ACCELEROMETER:
|
||||
{
|
||||
struct sensor_accel accel;
|
||||
|
||||
bmi270_getregs(&priv->base, BMI270_DATA_8,
|
||||
(FAR uint8_t *)data, 6);
|
||||
|
||||
accel.timestamp = sensor_get_timestamp();
|
||||
accel.x = data[0] * priv->scale;
|
||||
accel.y = data[1] * priv->scale;
|
||||
accel.z = data[2] * priv->scale;
|
||||
|
||||
memcpy(buffer, &accel, sizeof(accel));
|
||||
ret = sizeof(accel);
|
||||
|
||||
break;
|
||||
}
|
||||
|
||||
case SENSOR_TYPE_GYROSCOPE:
|
||||
{
|
||||
struct sensor_gyro gyro;
|
||||
|
||||
bmi270_getregs(&priv->base, BMI270_DATA_14,
|
||||
(FAR uint8_t *)data, 6);
|
||||
|
||||
gyro.timestamp = sensor_get_timestamp();
|
||||
gyro.x = data[0] * priv->scale;
|
||||
gyro.y = data[1] * priv->scale;
|
||||
gyro.z = data[2] * priv->scale;
|
||||
|
||||
memcpy(buffer, &gyro, sizeof(gyro));
|
||||
ret = sizeof(gyro);
|
||||
|
||||
break;
|
||||
}
|
||||
|
||||
default:
|
||||
{
|
||||
ret = -EINVAL;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
#endif
|
||||
|
||||
/****************************************************************************
|
||||
* Name: bmi270_cotrol
|
||||
****************************************************************************/
|
||||
|
||||
static int bmi270_control(FAR struct sensor_lowerhalf_s *lower,
|
||||
FAR struct file *filep, int cmd,
|
||||
unsigned long arg)
|
||||
{
|
||||
FAR struct bmi270_sensor_s *priv = NULL;
|
||||
int ret = OK;
|
||||
|
||||
priv = (FAR struct bmi270_sensor_s *)lower;
|
||||
|
||||
switch (cmd)
|
||||
{
|
||||
/* Set full scale command */
|
||||
|
||||
case SNIOC_SET_SCALE_XL:
|
||||
{
|
||||
if (priv->lower.type == SENSOR_TYPE_GYROSCOPE)
|
||||
{
|
||||
ret = bmi270_gyro_scale(priv, arg);
|
||||
}
|
||||
else if (priv->lower.type == SENSOR_TYPE_ACCELEROMETER)
|
||||
{
|
||||
ret = bmi270_accel_scale(priv, arg);
|
||||
}
|
||||
|
||||
break;
|
||||
}
|
||||
|
||||
default:
|
||||
{
|
||||
snerr("ERROR: Unrecognized cmd: %d\n", cmd);
|
||||
ret = -ENOTTY;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: bmi270_midpoint
|
||||
*
|
||||
* Description:
|
||||
* Find the midpoint between two numbers.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
static uint32_t bmi270_midpoint(uint32_t a, uint32_t b)
|
||||
{
|
||||
return (uint32_t)(((uint64_t)a +
|
||||
(uint64_t)b + (uint64_t)1) / (uint64_t)2);
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: bmi270_accel_scale
|
||||
****************************************************************************/
|
||||
|
||||
static int bmi270_accel_scale(FAR struct bmi270_sensor_s *priv,
|
||||
uint8_t scale)
|
||||
{
|
||||
int ret = OK;
|
||||
|
||||
if (scale < bmi270_midpoint(2, 4))
|
||||
{
|
||||
bmi270_putreg8(&priv->base, BMI270_ACC_RANGE, ACCEL_RANGE_2G);
|
||||
priv->scale = CONSTANTS_ONE_G / 16384.f;
|
||||
}
|
||||
else if (scale < bmi270_midpoint(4, 8))
|
||||
{
|
||||
bmi270_putreg8(&priv->base, BMI270_ACC_RANGE, ACCEL_RANGE_4G);
|
||||
priv->scale = CONSTANTS_ONE_G / 8192.f;
|
||||
}
|
||||
else if (scale < bmi270_midpoint(8, 16))
|
||||
{
|
||||
bmi270_putreg8(&priv->base, BMI270_ACC_RANGE, ACCEL_RANGE_8G);
|
||||
priv->scale = CONSTANTS_ONE_G / 4096.f;
|
||||
}
|
||||
else
|
||||
{
|
||||
bmi270_putreg8(&priv->base, BMI270_ACC_RANGE, ACCEL_RANGE_16G);
|
||||
priv->scale = CONSTANTS_ONE_G / 2048.f;
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: bmi270_gyro_scale
|
||||
****************************************************************************/
|
||||
|
||||
static int bmi270_gyro_scale(FAR struct bmi270_sensor_s *priv,
|
||||
uint16_t scale)
|
||||
{
|
||||
int ret = OK;
|
||||
|
||||
if (scale < bmi270_midpoint(125, 250))
|
||||
{
|
||||
bmi270_putreg8(&priv->base, BMI270_GYR_RANGE, GYRO_RANGE_125);
|
||||
priv->scale = (M_PI / 180.0f) * 125.f / 32768.f;
|
||||
}
|
||||
else if (scale < bmi270_midpoint(250, 500))
|
||||
{
|
||||
bmi270_putreg8(&priv->base, BMI270_GYR_RANGE, GYRO_RANGE_250);
|
||||
priv->scale = (M_PI / 180.0f) * 250.f / 32768.f;
|
||||
}
|
||||
else if (scale < bmi270_midpoint(500, 1000))
|
||||
{
|
||||
bmi270_putreg8(&priv->base, BMI270_GYR_RANGE, GYRO_RANGE_500);
|
||||
priv->scale = (M_PI / 180.0f) * 500.f / 32768.f;
|
||||
}
|
||||
else if (scale < bmi270_midpoint(1000, 2000))
|
||||
{
|
||||
bmi270_putreg8(&priv->base, BMI270_GYR_RANGE, GYRO_RANGE_1000);
|
||||
priv->scale = (M_PI / 180.0f) * 1000.f / 32768.f;
|
||||
}
|
||||
else
|
||||
{
|
||||
bmi270_putreg8(&priv->base, BMI270_GYR_RANGE, GYRO_RANGE_2000);
|
||||
priv->scale = (M_PI / 180.0f) * 2000.f / 32768.f;
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
#ifdef CONFIG_SENSORS_BMI270_POLL
|
||||
/****************************************************************************
|
||||
* Name: bmi270_accel_data
|
||||
*
|
||||
* Description:
|
||||
* Get and push accel data from struct sensor_data_s
|
||||
*
|
||||
* Parameter:
|
||||
* priv - Internal private lower half driver instance
|
||||
* buf - Point to data
|
||||
*
|
||||
* Return:
|
||||
* OK - on success
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
static void bmi270_accel_data(FAR struct bmi270_sensor_s *priv,
|
||||
FAR int16_t *buf)
|
||||
{
|
||||
FAR struct sensor_lowerhalf_s *lower = &priv->lower;
|
||||
struct sensor_accel accel;
|
||||
uint64_t now = sensor_get_timestamp();
|
||||
|
||||
if (!priv->enabled || now - priv->last_update < priv->interval)
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
priv->last_update = now;
|
||||
|
||||
accel.timestamp = now;
|
||||
accel.x = buf[0] * priv->scale;
|
||||
accel.y = buf[1] * priv->scale;
|
||||
accel.z = buf[2] * priv->scale;
|
||||
accel.temperature = 0;
|
||||
|
||||
lower->push_event(lower->priv, &accel, sizeof(accel));
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: bmi270_gyro_data
|
||||
*
|
||||
* Description:
|
||||
* Get and push gyro data from struct sensor_data_s
|
||||
*
|
||||
* Parameter:
|
||||
* priv - Internal private lower half driver instance
|
||||
* buf - Point to data
|
||||
*
|
||||
* Return:
|
||||
* OK - on success
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
static void bmi270_gyro_data(FAR struct bmi270_sensor_s *priv,
|
||||
FAR int16_t *buf)
|
||||
{
|
||||
FAR struct sensor_lowerhalf_s *lower = &priv->lower;
|
||||
struct sensor_gyro gyro;
|
||||
uint64_t now = sensor_get_timestamp();
|
||||
|
||||
if (!priv->enabled || now - priv->last_update < priv->interval)
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
priv->last_update = now;
|
||||
|
||||
gyro.timestamp = now;
|
||||
gyro.x = buf[0] * priv->scale;
|
||||
gyro.y = buf[1] * priv->scale;
|
||||
gyro.z = buf[2] * priv->scale;
|
||||
gyro.temperature = 0;
|
||||
|
||||
lower->push_event(lower->priv, &gyro, sizeof(gyro));
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: bmi270_thread
|
||||
*
|
||||
* Description:
|
||||
* Thread for performing interval measurement cycle and data read.
|
||||
*
|
||||
* Parameter:
|
||||
* argc - Number opf arguments
|
||||
* argv - Pointer to argument list
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
static int bmi270_thread(int argc, FAR char **argv)
|
||||
{
|
||||
FAR struct bmi270_sensor_dev_s *dev
|
||||
= (FAR struct bmi270_sensor_dev_s *)((uintptr_t)strtoul(argv[1], NULL,
|
||||
16));
|
||||
FAR struct bmi270_sensor_s *accel = &dev->priv[BMI270_ACCEL_IDX];
|
||||
FAR struct bmi270_sensor_s *gyro = &dev->priv[BMI270_GYRO_IDX];
|
||||
unsigned long min_interval;
|
||||
int16_t data[6];
|
||||
int ret;
|
||||
|
||||
while (true)
|
||||
{
|
||||
if ((!accel->enabled) && (!gyro->enabled))
|
||||
{
|
||||
/* Waiting to be woken up */
|
||||
|
||||
ret = nxsem_wait(&dev->run);
|
||||
if (ret < 0)
|
||||
{
|
||||
continue;
|
||||
}
|
||||
}
|
||||
|
||||
/* Get data */
|
||||
|
||||
bmi270_getregs(&gyro->base, BMI270_DATA_8, (uint8_t *)data, 12);
|
||||
|
||||
/* Read accel */
|
||||
|
||||
if (accel->enabled)
|
||||
{
|
||||
bmi270_accel_data(accel, data);
|
||||
}
|
||||
|
||||
/* Read gyro */
|
||||
|
||||
if (gyro->enabled)
|
||||
{
|
||||
bmi270_gyro_data(gyro, &data[3]);
|
||||
}
|
||||
|
||||
/* Sleeping thread before fetching the next sensor data */
|
||||
|
||||
min_interval = MIN(accel->interval, gyro->interval);
|
||||
nxsig_usleep(min_interval);
|
||||
}
|
||||
|
||||
return OK;
|
||||
}
|
||||
#endif
|
||||
|
||||
/****************************************************************************
|
||||
* Public Functions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Name: bmi270_register_uorb
|
||||
*
|
||||
* Description:
|
||||
* Register the BMI270 IMU as sensor device
|
||||
*
|
||||
* Input Parameters:
|
||||
* devno - Instance number for driver
|
||||
*
|
||||
* Returned Value:
|
||||
* Zero (OK) on success; a negated errno value on failure.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#ifdef CONFIG_SENSORS_BMI270_I2C
|
||||
int bmi270_register_uorb(int devno, FAR struct i2c_master_s *i2c,
|
||||
uint8_t addr)
|
||||
#else /* CONFIG_SENSORS_BMI270_SPI */
|
||||
int bmi270_register_uorb(int devno, FAR struct spi_dev_s *spi)
|
||||
#endif
|
||||
{
|
||||
FAR struct bmi270_sensor_dev_s *dev = NULL;
|
||||
FAR struct bmi270_sensor_s *tmp = NULL;
|
||||
#ifdef CONFIG_SENSORS_BMI270_POLL
|
||||
FAR char *argv[2];
|
||||
char arg1[32];
|
||||
#endif
|
||||
int ret = OK;
|
||||
|
||||
/* Initialize the device structure. */
|
||||
|
||||
dev = (FAR struct bmi270_sensor_dev_s *)kmm_malloc(sizeof(*dev));
|
||||
if (dev == NULL)
|
||||
{
|
||||
snerr("ERROR: Failed to allocate instance\n");
|
||||
return -ENOMEM;
|
||||
}
|
||||
|
||||
memset(dev, 0, sizeof(*dev));
|
||||
nxmutex_init(&dev->lock);
|
||||
#ifdef CONFIG_SENSORS_BMI270_POLL
|
||||
nxsem_init(&dev->run, 0, 0);
|
||||
#endif
|
||||
|
||||
/* Accelerometer register */
|
||||
|
||||
tmp = &dev->priv[BMI270_ACCEL_IDX];
|
||||
tmp->dev = dev;
|
||||
#ifdef CONFIG_SENSORS_BMI270_I2C
|
||||
tmp->base.i2c = i2c;
|
||||
tmp->base.addr = addr;
|
||||
#else
|
||||
tmp->base.spi = spi;
|
||||
#endif
|
||||
tmp->lower.ops = &g_sensor_ops;
|
||||
tmp->lower.type = SENSOR_TYPE_ACCELEROMETER;
|
||||
tmp->lower.nbuffer = 1;
|
||||
#ifdef CONFIG_SENSORS_BMI270_POLL
|
||||
tmp->enabled = false;
|
||||
tmp->interval = CONFIG_SENSORS_BMI270_POLL_INTERVAL;
|
||||
#endif
|
||||
|
||||
ret = sensor_register(&tmp->lower, devno);
|
||||
if (ret < 0)
|
||||
{
|
||||
snerr("sensor_register failed: %d\n", ret);
|
||||
goto gyro_err;
|
||||
}
|
||||
|
||||
bmi270_accel_scale(tmp, 2);
|
||||
|
||||
/* Gyroscope register */
|
||||
|
||||
tmp = &dev->priv[BMI270_GYRO_IDX];
|
||||
tmp->dev = dev;
|
||||
#ifdef CONFIG_SENSORS_BMI270_I2C
|
||||
tmp->base.i2c = i2c;
|
||||
tmp->base.addr = addr;
|
||||
#else
|
||||
tmp->base.spi = spi;
|
||||
#endif
|
||||
tmp->lower.ops = &g_sensor_ops;
|
||||
tmp->lower.type = SENSOR_TYPE_GYROSCOPE;
|
||||
tmp->lower.nbuffer = 1;
|
||||
#ifdef CONFIG_SENSORS_BMI270_POLL
|
||||
tmp->enabled = false;
|
||||
tmp->interval = CONFIG_SENSORS_BMI270_POLL_INTERVAL;
|
||||
#endif
|
||||
|
||||
ret = sensor_register(&tmp->lower, devno);
|
||||
if (ret < 0)
|
||||
{
|
||||
snerr("sensor_register failed: %d\n", ret);
|
||||
goto gyro_err;
|
||||
}
|
||||
|
||||
bmi270_gyro_scale(tmp, 2000);
|
||||
|
||||
#ifdef CONFIG_SENSORS_BMI270_SPI
|
||||
/* BMI270 detects communication bus is SPI by rising edge of CS. */
|
||||
|
||||
bmi270_getreg8(&tmp->base, 0x00);
|
||||
bmi270_getreg8(&tmp->base, 0x00);
|
||||
up_udelay(200);
|
||||
#endif
|
||||
|
||||
#ifdef CONFIG_SENSORS_BMI270_POLL
|
||||
/* Create thread for polling sensor data */
|
||||
|
||||
snprintf(arg1, 16, "%p", dev);
|
||||
argv[0] = arg1;
|
||||
argv[1] = NULL;
|
||||
|
||||
ret = kthread_create("bmi270_thread", SCHED_PRIORITY_DEFAULT,
|
||||
CONFIG_SENSORS_BMI270_THREAD_STACKSIZE,
|
||||
bmi270_thread,
|
||||
argv);
|
||||
if (ret < 0)
|
||||
{
|
||||
goto thr_err;
|
||||
}
|
||||
#endif
|
||||
|
||||
return ret;
|
||||
|
||||
#ifdef CONFIG_SENSORS_BMI270_POLL
|
||||
thr_err:
|
||||
#endif
|
||||
#ifdef AUX_MAG_SUPPORTED
|
||||
sensor_unregister(&dev->priv[BMI270_MAG_IDX].lower, devno);
|
||||
mag_err:
|
||||
#endif
|
||||
sensor_unregister(&dev->priv[BMI270_GYRO_IDX].lower, devno);
|
||||
gyro_err:
|
||||
sensor_unregister(&dev->priv[BMI270_ACCEL_IDX].lower, devno);
|
||||
|
||||
kmm_free(dev);
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
|
@ -57,6 +57,9 @@ struct accel_gyro_st_s
|
|||
uint32_t sensor_time;
|
||||
};
|
||||
|
||||
struct i2c_master_s;
|
||||
struct spi_dev_s;
|
||||
|
||||
/****************************************************************************
|
||||
* Public Function Prototypes
|
||||
****************************************************************************/
|
||||
|
|
@ -86,12 +89,15 @@ extern "C"
|
|||
*
|
||||
****************************************************************************/
|
||||
|
||||
#ifdef CONFIG_SENSORS_BMI270_I2C
|
||||
struct i2c_master_s;
|
||||
#if defined(CONFIG_SENSORS_BMI270_I2C) && defined(CONFIG_SENSORS_BMI270_UORB)
|
||||
int bmi270_register_uorb(int devno, FAR struct i2c_master_s *dev,
|
||||
uint8_t addr);
|
||||
#elif defined(CONFIG_SENSORS_BMI270_I2C) && !defined(CONFIG_SENSORS_BMI270_UORB)
|
||||
int bmi270_register(FAR const char *devpath, FAR struct i2c_master_s *dev,
|
||||
uint8_t addr);
|
||||
#else /* CONFIG_BMI270_SPI */
|
||||
struct spi_dev_s;
|
||||
#elif !defined(CONFIG_SENSORS_BMI270_I2C) && defined(CONFIG_SENSORS_BMI270_UORB)
|
||||
int bmi270_register_uorb(int devno, FAR struct spi_dev_s *dev);
|
||||
#elif !defined(CONFIG_SENSORS_BMI270_I2C) && !defined(CONFIG_SENSORS_BMI270_UORB)
|
||||
int bmi270_register(FAR const char *devpath, FAR struct spi_dev_s *dev);
|
||||
#endif
|
||||
|
||||
|
|
|
|||
Loading…
Reference in a new issue