From 5af805b2ef76a63c4707178a470c1449027ea474 Mon Sep 17 00:00:00 2001 From: raiden00pl Date: Tue, 27 Feb 2024 19:05:03 +0100 Subject: [PATCH] sensors/bmi270: add support for the new sensor framework bmi270 can be used with the new sensor framework --- drivers/sensors/CMakeLists.txt | 7 +- drivers/sensors/Kconfig | 29 + drivers/sensors/Make.defs | 5 + drivers/sensors/bmi270.c | 1268 +------------------------------- drivers/sensors/bmi270_base.c | 1118 ++++++++++++++++++++++++++++ drivers/sensors/bmi270_base.h | 260 +++++++ drivers/sensors/bmi270_uorb.c | 706 ++++++++++++++++++ include/nuttx/sensors/bmi270.h | 14 +- 8 files changed, 2135 insertions(+), 1272 deletions(-) create mode 100644 drivers/sensors/bmi270_base.c create mode 100644 drivers/sensors/bmi270_base.h create mode 100644 drivers/sensors/bmi270_uorb.c diff --git a/drivers/sensors/CMakeLists.txt b/drivers/sensors/CMakeLists.txt index 35f5c36514..a7f3e0a4aa 100644 --- a/drivers/sensors/CMakeLists.txt +++ b/drivers/sensors/CMakeLists.txt @@ -65,7 +65,12 @@ if(CONFIG_SENSORS) endif() if(CONFIG_SENSORS_BMI270) - list(APPEND SRCS bmi270.c) + list(APPEND SRCS bmi270_base.c) + if(CONFIG_SENSORS_BMI270_UORB) + list(APPEND SRCS bmi270_uorb.c) + else() + list(APPEND SRCS bmi270.c) + endif() endif() # These drivers depend on I2C support diff --git a/drivers/sensors/Kconfig b/drivers/sensors/Kconfig index 083aa441ea..fe0560debe 100644 --- a/drivers/sensors/Kconfig +++ b/drivers/sensors/Kconfig @@ -223,6 +223,35 @@ config SENSORS_BMI270 if SENSORS_BMI270 +config SENSORS_BMI270_UORB + bool "Bosch BMI270 UORB" + default n + +if SENSORS_BMI270_UORB + +config SENSORS_BMI270_POLL + bool "Enables polling sensor data" + default n + ---help--- + Enables polling of sensor. + +config SENSORS_BMI270_POLL_INTERVAL + int "Polling interval in microseconds, default 1 sec" + depends on SENSORS_BMI270_POLL + default 1000000 + range 0 4294967295 + ---help--- + The interval until a new sensor measurement will be triggered. + +config SENSORS_BMI270_THREAD_STACKSIZE + int "Worker thread stack size" + depends on SENSORS_BMI270_POLL + default 1024 + ---help--- + The stack size for the worker thread. + +endif #SENSORS_BMI270_UORB + choice prompt "BMI270 Interface" default SENSORS_BMI270_SPI diff --git a/drivers/sensors/Make.defs b/drivers/sensors/Make.defs index b718045151..f12c563479 100644 --- a/drivers/sensors/Make.defs +++ b/drivers/sensors/Make.defs @@ -65,8 +65,13 @@ ifeq ($(CONFIG_SENSORS_DHTXX),y) endif ifeq ($(CONFIG_SENSORS_BMI270),y) + CSRCS += bmi270_base.c +ifeq ($(CONFIG_SENSORS_BMI270_UORB),y) + CSRCS += bmi270_bmi.c +else CSRCS += bmi270.c endif +endif # These drivers depend on I2C support diff --git a/drivers/sensors/bmi270.c b/drivers/sensors/bmi270.c index 8a03f8471b..6095898683 100644 --- a/drivers/sensors/bmi270.c +++ b/drivers/sensors/bmi270.c @@ -37,197 +37,12 @@ # include #endif -/**************************************************************************** - * Pre-processor Definitions - ****************************************************************************/ - -#define BMI270_SPI_MAXFREQUENCY 10000000 -#define BMI270_I2C_FREQ 400000 - -#define DEVID 0x24 - -#define BMI270_CHIP_ID (0x00) /* Chip ID */ -#define BMI270_ERROR (0x02) /* Error register */ -#define BMI270_PMU_STAT (0x03) /* Current power mode */ -#define BMI270_DATA_0 (0x04) /* MAG X 7:0 (LSB) */ -#define BMI270_DATA_1 (0x05) /* MAG X 15:8 (MSB) */ -#define BMI270_DATA_2 (0x06) /* MAG Y 7:0 (LSB) */ -#define BMI270_DATA_3 (0x07) /* MAG Y 15:8 (MSB) */ -#define BMI270_DATA_4 (0x08) /* MAG Z 7:0 (LSB) */ -#define BMI270_DATA_5 (0x09) /* MAG Z 15:8 (MSB) */ -#define BMI270_DATA_6 (0x0A) /* RHALL 7:0 (LSB) */ -#define BMI270_DATA_7 (0x0B) /* RHALL 15:8 (MSB) */ -#define BMI270_DATA_8 (0x0C) /* ACC X 7:0 (LSB) */ -#define BMI270_DATA_9 (0x0D) /* ACC X 15:8 (MSB) */ -#define BMI270_DATA_10 (0x0E) /* ACC Y 7:0 (LSB) */ -#define BMI270_DATA_11 (0x0F) /* ACC Y 15:8 (MSB) */ -#define BMI270_DATA_12 (0x10) /* ACC Z 7:0 (LSB) */ -#define BMI270_DATA_13 (0x11) /* ACC Z 15:8 (MSB) */ -#define BMI270_DATA_14 (0x12) /* GRY X 7:0 (LSB) */ -#define BMI270_DATA_15 (0x13) /* GRY X 15:8 (MSB) */ -#define BMI270_DATA_16 (0x14) /* GRY Y 7:0 (LSB) */ -#define BMI270_DATA_17 (0x15) /* GRY Y 15:8 (MSB) */ -#define BMI270_DATA_18 (0x16) /* GRY Z 7:0 (LSB) */ -#define BMI270_DATA_19 (0x17) /* GRY Z 15:8 (MSB) */ -#define BMI270_SENSORTIME_0 (0x18) /* Sensor time 0 */ -#define BMI270_SENSORTIME_1 (0x19) /* Sensor time 1 */ -#define BMI270_SENSORTIME_2 (0x1A) /* Sensor time 2 */ -#define BMI270_EVENT (0x1B) /* Sensor event flags */ -#define BMI270_INTR_STAT_0 (0x1C) /* Interrupt status */ -#define BMI270_INTR_STAT_1 (0x1D) -#define BMI270_SC_OUT_0 (0x1E) /* Step counting value */ -#define BMI270_SC_OUT_1 (0x1f) /* Step counting value */ -#define BMI270_WR_GEST_ACT (0x20) /* Wrist gesture and activity detection */ -#define BMI270_INTERNAL_STAT (0x21) /* Internal status */ -#define BMI270_TEMPERATURE_0 (0x22) /* Temperature */ -#define BMI270_TEMPERATURE_1 (0x23) -#define BMI270_FIFO_LENGTH_0 (0x24) /* FIFO length */ -#define BMI270_FIFO_LENGTH_1 (0x25) -#define BMI270_FIFO_DATA (0x26) -#define BMI270_FEAT_PAGE (0x2f) /* Page number for feature configuration and output registers */ - /* TODO: Features 0x30-0x3f */ -#define BMI270_ACC_CONFIG (0x40) /* ACCEL config for ODR, bandwidth and undersampling */ -#define BMI270_ACC_RANGE (0x41) /* ACCEL range */ -#define BMI270_GYR_CONFIG (0x42) /* GYRO config for ODR and bandwidth */ -#define BMI270_GYR_RANGE (0x43) /* GYRO range */ -#define BMI270_AUX_CONFIG (0x44) /* AUX config for ODR*/ -#define BMI270_FIFO_DOWN (0x45) /* GYRO and ACCEL downsampling rates for FIFO */ -#define BMI270_FIFO_WTM_0 (0x46) /* FIFO Watermark level */ -#define BMI270_FIFO_WTM_1 (0x47) /* FIFO Watermark level */ -#define BMI270_FIFO_CONFIG_0 (0x48) /* FIFO config */ -#define BMI270_FIFO_CONFIG_1 (0x49) -#define BMI270_SATURATION (0x4A) /* Saturation */ -#define BMI270_AUX_DEV_ID (0x4B) /* Auxiliary interface device_id */ -#define BMI270_AUX_IF_CONF (0x4C) /* Auxiliary interface configuration */ -#define BMI270_AUX_RD_ADDR (0x4C) /* Auxiliary interface read address */ -#define BMI270_AUX_WR_ADDR (0x4E) /* Auxiliary interface write address */ -#define BMI270_AUX_WR_DATA (0x4F) /* Auxiliary interface write data */ -#define BMI270_ERR_REG_MSK (0x52) -#define BMI270_INT1_IO_CTRL (0x53) /* INT pin configuration */ -#define BMI270_INT2_IO_CTRL (0x54) -#define BMI270_INT_LATCH (0x55) /* Configure interrupt modes */ -#define BMI270_INT1_MAP_FEAT (0x56) /* Interrupt/Feature mapping on INT1 */ -#define BMI270_INT2_MAP_FEAT (0x57) /* Interrupt/Feature mapping on INT2 */ -#define BMI270_INT_MAP_DATA (0x58) /* Data Interrupt mapping for both INT pins */ -#define BMI270_INIT_CTRL (0x59) /* Start initialization */ -#define BMI270_INIT_ADDR_0 (0x5b) /* Base address of the initialization data */ -#define BMI270_INIT_ADDR_1 (0x5c) -#define BMI270_INIT_DATA (0x5e) /* Initialization register */ -#define BMI270_INTERNAL_ERROR (0x5f) -#define BMI270_AUX_IF_TRIM (0x68) /* Auxiliary interface trim */ -#define BMI270_GYR_CRT_CONF (0x69) /* Component Retrimming for Gyroscope */ -#define BMI270_NMV_CONFIG (0x6A) /* NVM Configuration */ -#define BMI270_IF_CONFIG (0x6B) /* Serial interface configuration */ -#define BMI270_DRV (0x6C) /* Drive strength control */ -#define BMI270_ACC_SELF_TEST (0x6D) /* Acc self test */ -#define BMI270_GYR_SELF_TEST (0x6E) /* Gyro self test */ -#define BMI270_NV_CONFIG (0x70) /* SPI/I2C selection */ -#define BMI270_OFFSET_0 (0x71) /* ACCEL and GYRO offset */ -#define BMI270_OFFSET_1 (0x72) -#define BMI270_OFFSET_2 (0x73) -#define BMI270_OFFSET_3 (0x74) -#define BMI270_OFFSET_4 (0x75) -#define BMI270_OFFSET_5 (0x76) -#define BMI270_OFFSET_6 (0x77) -#define BMI270_PWR_CONF (0x7C) /* Power mode configuration */ -#define BMI270_PWR_CTRL (0x7D) /* Power mode control */ -#define BMI270_CMD (0x7e) /* Command register */ - -/* Register 0x21 - INTERNAL_STATUS */ - -#define INTSTAT_MSG_MASK (7) -#define INTSTAT_MSG_NOTINIT (0x00) -#define INTSTAT_MSG_INITOK (0x01) - -/* Register 0x40 - ACCEL_CONFIG accel bandwidth */ - -#define ACCEL_OSR4_AVG1 (0 << 4) -#define ACCEL_OSR2_AVG2 (1 << 4) -#define ACCEL_NORMAL_AVG4 (2 << 4) -#define ACCEL_CIC_AVG8 (3 << 4) -#define ACCEL_RES_AVG2 (4 << 4) -#define ACCEL_RES_AVG4 (5 << 4) -#define ACCEL_RES_AVG8 (6 << 4) -#define ACCEL_RES_AVG16 (7 << 4) -#define ACCEL_RES_AVG32 (8 << 4) -#define ACCEL_RES_AVG64 (9 << 4) -#define ACCEL_RES_AVG128 (10 << 4) - -#define ACCEL_ODR_0_78HZ (0x01) -#define ACCEL_ODR_1_56HZ (0x02) -#define ACCEL_ODR_3_12HZ (0x03) -#define ACCEL_ODR_6_25HZ (0x04) -#define ACCEL_ODR_12_5HZ (0x05) -#define ACCEL_ODR_25HZ (0x06) -#define ACCEL_ODR_50HZ (0x07) -#define ACCEL_ODR_100HZ (0x08) -#define ACCEL_ODR_200HZ (0x09) -#define ACCEL_ODR_400HZ (0x0A) -#define ACCEL_ODR_800HZ (0x0B) -#define ACCEL_ODR_1600HZ (0x0C) - -/* Register 0x42 - GYRO_CONFIG accel bandwidth */ - -#define GYRO_OSR4_MODE (0 << 4) -#define GYRO_OSR2_MODE (1 << 4) -#define GYRO_NORMAL_MODE (2 << 4) -#define GYRO_CIC_MODE (3 << 4) - -#define GYRO_ODR_25HZ (0x06) -#define GYRO_ODR_50HZ (0x07) -#define GYRO_ODR_100HZ (0x08) -#define GYRO_ODR_200HZ (0x09) -#define GYRO_ODR_400HZ (0x0A) -#define GYRO_ODR_800HZ (0x0B) -#define GYRO_ODR_1600HZ (0x0C) -#define GYRO_ODR_3200HZ (0x0D) - -/* Register 0x7d - PWR_CONF */ - -#define PWRCONF_APS_ON (1 << 0) -#define PWRCONF_FSW_ON (1 << 1) -#define PWRCONF_FUP_ON (1 << 2) - -/* Register 0x7d - PWR_CTRL */ - -#define PWRCTRL_AUX_EN (1 << 0) -#define PWRCTRL_GYR_EN (1 << 1) -#define PWRCTRL_ACC_EN (1 << 2) -#define PWRCTRL_TEMP_EN (1 << 3) - -/* Register 0x7e - CMD */ - -#define CMD_SOFTRESET (0xB6) - -/**************************************************************************** - * Private Types - ****************************************************************************/ - -struct bmi270_dev_s -{ -#ifdef CONFIG_SENSORS_BMI270_I2C - FAR struct i2c_master_s *i2c; /* I2C interface */ - uint8_t addr; /* I2C address */ - int freq; /* Frequency <= 3.4MHz */ -#else /* CONFIG_SENSORS_BMI270_SPI */ - FAR struct spi_dev_s *spi; /* SPI interface */ -#endif -}; +#include "bmi270_base.h" /**************************************************************************** * Private Functions ****************************************************************************/ -static uint8_t bmi270_getreg8(FAR struct bmi270_dev_s *priv, - uint8_t regaddr); -static void bmi270_putreg8(FAR struct bmi270_dev_s *priv, uint8_t regaddr, - uint8_t regval); - -static void bmi270_getregs(FAR struct bmi270_dev_s *priv, uint8_t regaddr, - FAR uint8_t *regval, int len); -static void bmi270_putregs(FAR struct bmi270_dev_s *priv, uint8_t regaddr, - FAR uint8_t *regval, int len); - /* Character driver methods */ static int bmi270_open(FAR struct file *filep); @@ -237,8 +52,6 @@ static ssize_t bmi270_read(FAR struct file *filep, FAR char *buffer, static int bmi270_ioctl(FAR struct file *filep, int cmd, unsigned long arg); -static int bmi270_checkid(FAR struct bmi270_dev_s *priv); - /**************************************************************************** * Private Data ****************************************************************************/ @@ -255,1058 +68,6 @@ static const struct file_operations g_bmi270fops = bmi270_ioctl, /* ioctl */ }; -/* BMI270 configuration file - provided by BOSH */ - -static const uint8_t g_bmi270_config_file[] = -{ - 0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0x3d, 0xb1, 0xc8, 0x2e, 0x00, 0x2e, - 0x80, 0x2e, 0x91, 0x03, 0x80, 0x2e, 0xbc, 0xb0, 0x80, 0x2e, 0xa3, 0x03, - 0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0x00, 0xb0, 0x50, 0x30, 0x21, 0x2e, - 0x59, 0xf5, 0x10, 0x30, 0x21, 0x2e, 0x6a, 0xf5, 0x80, 0x2e, 0x3b, 0x03, - 0x00, 0x00, 0x00, 0x00, 0x08, 0x19, 0x01, 0x00, 0x22, 0x00, 0x75, 0x00, - 0x00, 0x10, 0x00, 0x10, 0xd1, 0x00, 0xb3, 0x43, 0x80, 0x2e, 0x00, 0xc1, - 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, - 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, - 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, - 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, - 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, - 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, - 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, - 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, - 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, - 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, - 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, - 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, - 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, - 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0xe0, 0x5f, 0x00, 0x00, - 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, - 0x00, 0x00, 0x92, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x08, 0x19, 0x00, 0x00, - 0x88, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x05, 0xe0, 0xaa, 0x38, - 0x05, 0xe0, 0x90, 0x30, 0xfa, 0x00, 0x96, 0x00, 0x4b, 0x09, 0x11, 0x00, - 0x11, 0x00, 0x02, 0x00, 0x2d, 0x01, 0xd4, 0x7b, 0x3b, 0x01, 0xdb, 0x7a, - 0x04, 0x00, 0x3f, 0x7b, 0xcd, 0x6c, 0xc3, 0x04, 0x85, 0x09, 0xc3, 0x04, - 0xec, 0xe6, 0x0c, 0x46, 0x01, 0x00, 0x27, 0x00, 0x19, 0x00, 0x96, 0x00, - 0xa0, 0x00, 0x01, 0x00, 0x0c, 0x00, 0xf0, 0x3c, 0x00, 0x01, 0x01, 0x00, - 0x03, 0x00, 0x01, 0x00, 0x0e, 0x00, 0x00, 0x00, 0x32, 0x00, 0x05, 0x00, - 0xee, 0x06, 0x04, 0x00, 0xc8, 0x00, 0x00, 0x00, 0x04, 0x00, 0xa8, 0x05, - 0xee, 0x06, 0x00, 0x04, 0xbc, 0x02, 0xb3, 0x00, 0x85, 0x07, 0x00, 0x00, - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xb4, 0x00, 0x01, 0x00, 0xb9, 0x00, - 0x01, 0x00, 0x98, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, - 0x01, 0x00, 0x80, 0x00, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, - 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0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, - 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1 -}; - -/**************************************************************************** - * Name: bmi270_configspi - * - * Description: - * - ****************************************************************************/ - -#ifdef CONFIG_SENSORS_BMI270_SPI -static inline void bmi270_configspi(FAR struct spi_dev_s *spi) -{ - /* Configure SPI for the BMI270 */ - - SPI_SETMODE(spi, SPIDEV_MODE0); - SPI_SETBITS(spi, 8); - SPI_HWFEATURES(spi, 0); - SPI_SETFREQUENCY(spi, BMI270_SPI_MAXFREQUENCY); -} -#endif - -/**************************************************************************** - * Name: bmi270_getreg8 - * - * Description: - * Read from an 8-bit BMI270 register - * - ****************************************************************************/ - -static uint8_t bmi270_getreg8(FAR struct bmi270_dev_s *priv, uint8_t regaddr) -{ -#ifdef CONFIG_SENSORS_BMI270_I2C - struct i2c_msg_s msg[2]; - uint8_t regval = 0; - int ret; - - msg[0].frequency = priv->freq; - msg[0].addr = priv->addr; - msg[0].flags = I2C_M_NOSTOP; - msg[0].buffer = ®addr; - msg[0].length = 1; - - msg[1].frequency = priv->freq; - msg[1].addr = priv->addr; - msg[1].flags = I2C_M_READ; - msg[1].buffer = ®val; - msg[1].length = 1; - - ret = I2C_TRANSFER(priv->i2c, msg, 2); - if (ret < 0) - { - snerr("I2C_TRANSFER failed: %d\n", ret); - } - - return regval; -#else /* CONFIG_SENSORS_BMI270_SPI */ - uint8_t regval[2]; - - /* If SPI bus is shared then lock and configure it */ - - SPI_LOCK(priv->spi, true); - bmi270_configspi(priv->spi); - - /* Select the BMI270 */ - - SPI_SELECT(priv->spi, SPIDEV_IMU(0), true); - - /* Send register to read and get the next 2 bytes */ - - SPI_SEND(priv->spi, regaddr | 0x80); - SPI_RECVBLOCK(priv->spi, regval, 2); - - /* Deselect the BMI270 */ - - SPI_SELECT(priv->spi, SPIDEV_IMU(0), false); - - /* Unlock bus */ - - SPI_LOCK(priv->spi, false); - - /* The first byte has to be dropped */ - - return regval[1]; -#endif -} - -/**************************************************************************** - * Name: bmi270_putreg8 - * - * Description: - * Write a value to an 8-bit BMI270 register - * - ****************************************************************************/ - -static void bmi270_putreg8(FAR struct bmi270_dev_s *priv, uint8_t regaddr, - uint8_t regval) -{ -#ifdef CONFIG_SENSORS_BMI270_I2C - struct i2c_msg_s msg[2]; - uint8_t txbuffer[2]; - int ret; - - txbuffer[0] = regaddr; - txbuffer[1] = regval; - - msg[0].frequency = priv->freq; - msg[0].addr = priv->addr; - msg[0].flags = 0; - msg[0].buffer = txbuffer; - msg[0].length = 2; - - ret = I2C_TRANSFER(priv->i2c, msg, 1); - if (ret < 0) - { - snerr("I2C_TRANSFER failed: %d\n", ret); - } - -#else /* CONFIG_SENSORS_BMI270_SPI */ - /* If SPI bus is shared then lock and configure it */ - - SPI_LOCK(priv->spi, true); - bmi270_configspi(priv->spi); - - /* Select the BMI270 */ - - SPI_SELECT(priv->spi, SPIDEV_IMU(0), true); - - /* Send register address and set the value */ - - SPI_SEND(priv->spi, regaddr); - SPI_SEND(priv->spi, regval); - - /* Deselect the BMI270 */ - - SPI_SELECT(priv->spi, SPIDEV_IMU(0), false); - - /* Unlock bus */ - - SPI_LOCK(priv->spi, false); -#endif -} - -/**************************************************************************** - * Name: bmi270_getregs - * - * Description: - * Read cnt bytes from specified dev_addr and reg_addr - * - ****************************************************************************/ - -static void bmi270_getregs(FAR struct bmi270_dev_s *priv, uint8_t regaddr, - FAR uint8_t *regval, int len) -{ -#ifdef CONFIG_SENSORS_BMI270_I2C - struct i2c_msg_s msg[2]; - int ret; - - msg[0].frequency = priv->freq; - msg[0].addr = priv->addr; - msg[0].flags = I2C_M_NOSTOP; - msg[0].buffer = ®addr; - msg[0].length = 1; - - msg[1].frequency = priv->freq; - msg[1].addr = priv->addr; - msg[1].flags = I2C_M_READ; - msg[1].buffer = regval; - msg[1].length = len; - - ret = I2C_TRANSFER(priv->i2c, msg, 2); - if (ret < 0) - { - snerr("I2C_TRANSFER failed: %d\n", ret); - } -#else /* CONFIG_SENSORS_BMI270_SPI */ - uint8_t dummy = 0; - - /* If SPI bus is shared then lock and configure it */ - - SPI_LOCK(priv->spi, true); - bmi270_configspi(priv->spi); - - /* Select the BMI270 */ - - SPI_SELECT(priv->spi, SPIDEV_IMU(0), true); - - /* Send register to read and get bytes */ - - SPI_SEND(priv->spi, regaddr | 0x80); - SPI_RECVBLOCK(priv->spi, &dummy, 1); - SPI_RECVBLOCK(priv->spi, regval, len); - - /* Deselect the BMI270 */ - - SPI_SELECT(priv->spi, SPIDEV_IMU(0), false); - - /* Unlock bus */ - - SPI_LOCK(priv->spi, false); -#endif -} - -/**************************************************************************** - * Name: bmi270_putregs - * - * Description: - * Send cnt bytes for specified dev_addr and reg_addr - * - ****************************************************************************/ - -static void bmi270_putregs(FAR struct bmi270_dev_s *priv, uint8_t regaddr, - FAR uint8_t *regval, int len) -{ -#ifdef CONFIG_SENSORS_BMI270_I2C - struct i2c_msg_s msg[2]; - int ret; - - msg[0].frequency = priv->freq; - msg[0].addr = priv->addr; - msg[0].flags = I2C_M_NOSTOP; - msg[0].buffer = ®addr; - msg[0].length = 1; - - msg[1].frequency = priv->freq; - msg[1].addr = priv->addr; - msg[1].flags = 0; - msg[1].buffer = regval; - msg[1].length = len; - - ret = I2C_TRANSFER(priv->i2c, msg, 2); - if (ret < 0) - { - snerr("I2C_TRANSFER failed: %d\n", ret); - } -#else /* CONFIG_SENSORS_BMI270_SPI */ - /* If SPI bus is shared then lock and configure it */ - - SPI_LOCK(priv->spi, true); - bmi270_configspi(priv->spi); - - /* Select the BMI270 */ - - SPI_SELECT(priv->spi, SPIDEV_IMU(0), true); - - /* Send register to read and get bytes */ - - SPI_SEND(priv->spi, regaddr); - SPI_SNDBLOCK(priv->spi, regval, len); - - /* Deselect the BMI270 */ - - SPI_SELECT(priv->spi, SPIDEV_IMU(0), false); - - /* Unlock bus */ - - SPI_LOCK(priv->spi, false); -#endif -} - -/**************************************************************************** - * Name: bmi270_set_normal_imu - * - * Description: - * set bmi270 to normal IMU mode. - * - ****************************************************************************/ - -static void bmi270_set_normal_imu(FAR struct bmi270_dev_s *priv) -{ - /* Enable acquisition of acc and gyro */ - - bmi270_putreg8(priv, BMI270_PWR_CTRL, PWRCTRL_GYR_EN | PWRCTRL_ACC_EN); - up_mdelay(30); - - /* Set accel and gyro output data rate */ - - bmi270_putreg8(priv, BMI270_ACC_CONFIG, - ACCEL_NORMAL_AVG4 | ACCEL_ODR_100HZ); - bmi270_putreg8(priv, BMI270_GYR_CONFIG, - GYRO_NORMAL_MODE | GYRO_ODR_100HZ); - - /* Disable the adv_power_save bit */ - - bmi270_putreg8(priv, BMI270_PWR_CONF, PWRCONF_FSW_ON); -} - -/**************************************************************************** - * Name: bmi270_init_seq - * - * Description: - * set bmi270 to normal IMU mode. - * - ****************************************************************************/ - -static int bmi270_init_seq(FAR struct bmi270_dev_s *priv) -{ - FAR uint8_t *tmp = NULL; - uint8_t regval = 0; - - /* Check if initialization already done */ - - regval = bmi270_getreg8(priv, BMI270_INTERNAL_STAT); - if ((regval & INTSTAT_MSG_MASK) == INTSTAT_MSG_INITOK) - { - return OK; - } - - /* Disable PWR_CONF.adv_power_save */ - - bmi270_putreg8(priv, BMI270_PWR_CONF, 0); - up_mdelay(5); - - /* Prepare config load INIT_CTRL=0x00 */ - - bmi270_putreg8(priv, BMI270_INIT_CTRL, 0); - -#ifdef CONFIG_SENSORS_BMI270_LOAD_FROM_HEAP - - /* Copy configuration to RAM */ - - tmp = kmm_malloc(sizeof(g_bmi270_config_file)); - if (tmp == NULL) - { - snerr("Failed to allocate memory for configuration file\n"); - return -ENOMEM; - } - - memcpy(tmp, g_bmi270_config_file, sizeof(g_bmi270_config_file)); - -#else - - /* Transfer directly from const data memory */ - - tmp = (FAR uint8_t *)&g_bmi270_config_file; - -#endif - - /* Load configuration - start with byte 0 */ - - bmi270_putregs(priv, BMI270_INIT_DATA, - tmp, - sizeof(g_bmi270_config_file)); - -#ifdef CONFIG_SENSORS_BMI270_LOAD_FROM_HEAP - kmm_free(tmp); -#endif - - /* Complete config load INIT_CTRL=0x01 */ - - bmi270_putreg8(priv, BMI270_INIT_CTRL, 1); - - up_mdelay(150); - - /* Check initialization status */ - - regval = bmi270_getreg8(priv, BMI270_INTERNAL_STAT); - if ((regval & INTSTAT_MSG_MASK) != INTSTAT_MSG_INITOK) - { - snerr("Initialization failed status=%d\n", regval); - return -EACCES; - } - - return OK; -} - /**************************************************************************** * Name: bmi270_open * @@ -1400,33 +161,6 @@ static int bmi270_ioctl(FAR struct file *filep, int cmd, unsigned long arg) return -ENOTTY; } -/**************************************************************************** - * Name: bmi270_checkid - * - * Description: - * Read and verify the BMI270 chip ID - * - ****************************************************************************/ - -static int bmi270_checkid(FAR struct bmi270_dev_s *priv) -{ - uint8_t devid = 0; - - /* Read device ID */ - - devid = bmi270_getreg8(priv, BMI270_CHIP_ID); - sninfo("devid: %04x\n", devid); - - if (devid != (uint16_t) DEVID) - { - /* ID is not Correct */ - - return -ENODEV; - } - - return OK; -} - /**************************************************************************** * Name: bmi270_register * diff --git a/drivers/sensors/bmi270_base.c b/drivers/sensors/bmi270_base.c new file mode 100644 index 0000000000..0e082e8123 --- /dev/null +++ b/drivers/sensors/bmi270_base.c @@ -0,0 +1,1118 @@ +/**************************************************************************** + * drivers/sensors/bmi270_base.c + * + * Licensed to the Apache Software Foundation (ASF) under one or more + * contributor license agreements. See the NOTICE file distributed with + * this work for additional information regarding copyright ownership. The + * ASF licenses this file to you 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. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include + +# include "bmi270_base.h" + +/**************************************************************************** + * Public Data + ****************************************************************************/ + +/* BMI270 configuration file - provided by BOSH */ + +const uint8_t g_bmi270_config_file[] = +{ + 0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0x3d, 0xb1, 0xc8, 0x2e, 0x00, 0x2e, + 0x80, 0x2e, 0x91, 0x03, 0x80, 0x2e, 0xbc, 0xb0, 0x80, 0x2e, 0xa3, 0x03, + 0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0x00, 0xb0, 0x50, 0x30, 0x21, 0x2e, + 0x59, 0xf5, 0x10, 0x30, 0x21, 0x2e, 0x6a, 0xf5, 0x80, 0x2e, 0x3b, 0x03, + 0x00, 0x00, 0x00, 0x00, 0x08, 0x19, 0x01, 0x00, 0x22, 0x00, 0x75, 0x00, + 0x00, 0x10, 0x00, 0x10, 0xd1, 0x00, 0xb3, 0x43, 0x80, 0x2e, 0x00, 0xc1, + 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, + 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, + 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, + 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, + 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, + 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, + 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, + 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, + 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, + 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, + 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, + 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, + 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, + 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0xe0, 0x5f, 0x00, 0x00, + 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x92, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x08, 0x19, 0x00, 0x00, + 0x88, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x05, 0xe0, 0xaa, 0x38, + 0x05, 0xe0, 0x90, 0x30, 0xfa, 0x00, 0x96, 0x00, 0x4b, 0x09, 0x11, 0x00, + 0x11, 0x00, 0x02, 0x00, 0x2d, 0x01, 0xd4, 0x7b, 0x3b, 0x01, 0xdb, 0x7a, + 0x04, 0x00, 0x3f, 0x7b, 0xcd, 0x6c, 0xc3, 0x04, 0x85, 0x09, 0xc3, 0x04, + 0xec, 0xe6, 0x0c, 0x46, 0x01, 0x00, 0x27, 0x00, 0x19, 0x00, 0x96, 0x00, + 0xa0, 0x00, 0x01, 0x00, 0x0c, 0x00, 0xf0, 0x3c, 0x00, 0x01, 0x01, 0x00, + 0x03, 0x00, 0x01, 0x00, 0x0e, 0x00, 0x00, 0x00, 0x32, 0x00, 0x05, 0x00, + 0xee, 0x06, 0x04, 0x00, 0xc8, 0x00, 0x00, 0x00, 0x04, 0x00, 0xa8, 0x05, + 0xee, 0x06, 0x00, 0x04, 0xbc, 0x02, 0xb3, 0x00, 0x85, 0x07, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xb4, 0x00, 0x01, 0x00, 0xb9, 0x00, + 0x01, 0x00, 0x98, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x80, 0x00, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x80, 0x2e, 0x00, 0xc1, 0xfd, 0x2d, 0xde, 0x00, 0xeb, 0x00, + 0xda, 0x00, 0x00, 0x0c, 0xff, 0x0f, 0x00, 0x04, 0xc0, 0x00, 0x5b, 0xf5, + 0xc9, 0x01, 0x1e, 0xf2, 0x80, 0x00, 0x3f, 0xff, 0x19, 0xf4, 0x58, 0xf5, + 0x66, 0xf5, 0x64, 0xf5, 0xc0, 0xf1, 0xf0, 0x00, 0xe0, 0x00, 0xcd, 0x01, + 0xd3, 0x01, 0xdb, 0x01, 0xff, 0x7f, 0xff, 0x01, 0xe4, 0x00, 0x74, 0xf7, + 0xf3, 0x00, 0xfa, 0x00, 0xff, 0x3f, 0xca, 0x03, 0x6c, 0x38, 0x56, 0xfe, + 0x44, 0xfd, 0xbc, 0x02, 0xf9, 0x06, 0x00, 0xfc, 0x12, 0x02, 0xae, 0x01, + 0x58, 0xfa, 0x9a, 0xfd, 0x77, 0x05, 0xbb, 0x02, 0x96, 0x01, 0x95, 0x01, + 0x7f, 0x01, 0x82, 0x01, 0x89, 0x01, 0x87, 0x01, 0x88, 0x01, 0x8a, 0x01, + 0x8c, 0x01, 0x8f, 0x01, 0x8d, 0x01, 0x92, 0x01, 0x91, 0x01, 0xdd, 0x00, + 0x9f, 0x01, 0x7e, 0x01, 0xdb, 0x00, 0xb6, 0x01, 0x70, 0x69, 0x26, 0xd3, + 0x9c, 0x07, 0x1f, 0x05, 0x9d, 0x00, 0x00, 0x08, 0xbc, 0x05, 0x37, 0xfa, + 0xa2, 0x01, 0xaa, 0x01, 0xa1, 0x01, 0xa8, 0x01, 0xa0, 0x01, 0xa8, 0x05, + 0xb4, 0x01, 0xb4, 0x01, 0xce, 0x00, 0xd0, 0x00, 0xfc, 0x00, 0xc5, 0x01, + 0xff, 0xfb, 0xb1, 0x00, 0x00, 0x38, 0x00, 0x30, 0xfd, 0xf5, 0xfc, 0xf5, + 0xcd, 0x01, 0xa0, 0x00, 0x5f, 0xff, 0x00, 0x40, 0xff, 0x00, 0x00, 0x80, + 0x6d, 0x0f, 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0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, + 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, + 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, + 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1 +}; + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: bmi270_configspi + * + * Description: + * + ****************************************************************************/ + +#ifdef CONFIG_SENSORS_BMI270_SPI +static void bmi270_configspi(FAR struct spi_dev_s *spi) +{ + /* Configure SPI for the BMI270 */ + + SPI_SETMODE(spi, SPIDEV_MODE0); + SPI_SETBITS(spi, 8); + SPI_HWFEATURES(spi, 0); + SPI_SETFREQUENCY(spi, BMI270_SPI_MAXFREQUENCY); +} +#endif + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: bmi270_getreg8 + * + * Description: + * Read from an 8-bit BMI270 register + * + ****************************************************************************/ + +uint8_t bmi270_getreg8(FAR struct bmi270_dev_s *priv, uint8_t regaddr) +{ +#ifdef CONFIG_SENSORS_BMI270_I2C + struct i2c_msg_s msg[2]; + uint8_t regval = 0; + int ret; + + msg[0].frequency = priv->freq; + msg[0].addr = priv->addr; + msg[0].flags = I2C_M_NOSTOP; + msg[0].buffer = ®addr; + msg[0].length = 1; + + msg[1].frequency = priv->freq; + msg[1].addr = priv->addr; + msg[1].flags = I2C_M_READ; + msg[1].buffer = ®val; + msg[1].length = 1; + + ret = I2C_TRANSFER(priv->i2c, msg, 2); + if (ret < 0) + { + snerr("I2C_TRANSFER failed: %d\n", ret); + } + + return regval; +#else /* CONFIG_SENSORS_BMI270_SPI */ + uint8_t regval[2]; + + /* If SPI bus is shared then lock and configure it */ + + SPI_LOCK(priv->spi, true); + bmi270_configspi(priv->spi); + + /* Select the BMI270 */ + + SPI_SELECT(priv->spi, SPIDEV_IMU(0), true); + + /* Send register to read and get the next 2 bytes */ + + SPI_SEND(priv->spi, regaddr | 0x80); + SPI_RECVBLOCK(priv->spi, regval, 2); + + /* Deselect the BMI270 */ + + SPI_SELECT(priv->spi, SPIDEV_IMU(0), false); + + /* Unlock bus */ + + SPI_LOCK(priv->spi, false); + + /* The first byte has to be dropped */ + + return regval[1]; +#endif +} + +/**************************************************************************** + * Name: bmi270_putreg8 + * + * Description: + * Write a value to an 8-bit BMI270 register + * + ****************************************************************************/ + +void bmi270_putreg8(FAR struct bmi270_dev_s *priv, uint8_t regaddr, + uint8_t regval) +{ +#ifdef CONFIG_SENSORS_BMI270_I2C + struct i2c_msg_s msg[2]; + uint8_t txbuffer[2]; + int ret; + + txbuffer[0] = regaddr; + txbuffer[1] = regval; + + msg[0].frequency = priv->freq; + msg[0].addr = priv->addr; + msg[0].flags = 0; + msg[0].buffer = txbuffer; + msg[0].length = 2; + + ret = I2C_TRANSFER(priv->i2c, msg, 1); + if (ret < 0) + { + snerr("I2C_TRANSFER failed: %d\n", ret); + } + +#else /* CONFIG_SENSORS_BMI270_SPI */ + /* If SPI bus is shared then lock and configure it */ + + SPI_LOCK(priv->spi, true); + bmi270_configspi(priv->spi); + + /* Select the BMI270 */ + + SPI_SELECT(priv->spi, SPIDEV_IMU(0), true); + + /* Send register address and set the value */ + + SPI_SEND(priv->spi, regaddr); + SPI_SEND(priv->spi, regval); + + /* Deselect the BMI270 */ + + SPI_SELECT(priv->spi, SPIDEV_IMU(0), false); + + /* Unlock bus */ + + SPI_LOCK(priv->spi, false); +#endif +} + +/**************************************************************************** + * Name: bmi270_getregs + * + * Description: + * Read cnt bytes from specified dev_addr and reg_addr + * + ****************************************************************************/ + +void bmi270_getregs(FAR struct bmi270_dev_s *priv, uint8_t regaddr, + FAR uint8_t *regval, int len) +{ +#ifdef CONFIG_SENSORS_BMI270_I2C + struct i2c_msg_s msg[2]; + int ret; + + msg[0].frequency = priv->freq; + msg[0].addr = priv->addr; + msg[0].flags = I2C_M_NOSTOP; + msg[0].buffer = ®addr; + msg[0].length = 1; + + msg[1].frequency = priv->freq; + msg[1].addr = priv->addr; + msg[1].flags = I2C_M_READ; + msg[1].buffer = regval; + msg[1].length = len; + + ret = I2C_TRANSFER(priv->i2c, msg, 2); + if (ret < 0) + { + snerr("I2C_TRANSFER failed: %d\n", ret); + } +#else /* CONFIG_SENSORS_BMI270_SPI */ + uint8_t dummy = 0; + + /* If SPI bus is shared then lock and configure it */ + + SPI_LOCK(priv->spi, true); + bmi270_configspi(priv->spi); + + /* Select the BMI270 */ + + SPI_SELECT(priv->spi, SPIDEV_IMU(0), true); + + /* Send register to read and get bytes */ + + SPI_SEND(priv->spi, regaddr | 0x80); + SPI_RECVBLOCK(priv->spi, &dummy, 1); + SPI_RECVBLOCK(priv->spi, regval, len); + + /* Deselect the BMI270 */ + + SPI_SELECT(priv->spi, SPIDEV_IMU(0), false); + + /* Unlock bus */ + + SPI_LOCK(priv->spi, false); +#endif +} + +/**************************************************************************** + * Name: bmi270_putregs + * + * Description: + * Send cnt bytes for specified dev_addr and reg_addr + * + ****************************************************************************/ + +void bmi270_putregs(FAR struct bmi270_dev_s *priv, uint8_t regaddr, + FAR uint8_t *regval, int len) +{ +#ifdef CONFIG_SENSORS_BMI270_I2C + struct i2c_msg_s msg[2]; + int ret; + + msg[0].frequency = priv->freq; + msg[0].addr = priv->addr; + msg[0].flags = I2C_M_NOSTOP; + msg[0].buffer = ®addr; + msg[0].length = 1; + + msg[1].frequency = priv->freq; + msg[1].addr = priv->addr; + msg[1].flags = 0; + msg[1].buffer = regval; + msg[1].length = len; + + ret = I2C_TRANSFER(priv->i2c, msg, 2); + if (ret < 0) + { + snerr("I2C_TRANSFER failed: %d\n", ret); + } +#else /* CONFIG_SENSORS_BMI270_SPI */ + /* If SPI bus is shared then lock and configure it */ + + SPI_LOCK(priv->spi, true); + bmi270_configspi(priv->spi); + + /* Select the BMI270 */ + + SPI_SELECT(priv->spi, SPIDEV_IMU(0), true); + + /* Send register to read and get bytes */ + + SPI_SEND(priv->spi, regaddr); + SPI_SNDBLOCK(priv->spi, regval, len); + + /* Deselect the BMI270 */ + + SPI_SELECT(priv->spi, SPIDEV_IMU(0), false); + + /* Unlock bus */ + + SPI_LOCK(priv->spi, false); +#endif +} + +/**************************************************************************** + * Name: bmi270_set_normal_imu + * + * Description: + * set bmi270 to normal IMU mode. + * + ****************************************************************************/ + +void bmi270_set_normal_imu(FAR struct bmi270_dev_s *priv) +{ + /* Enable acquisition of acc and gyro */ + + bmi270_putreg8(priv, BMI270_PWR_CTRL, PWRCTRL_GYR_EN | PWRCTRL_ACC_EN); + up_mdelay(30); + + /* Set accel and gyro output data rate */ + + bmi270_putreg8(priv, BMI270_ACC_CONFIG, + ACCEL_NORMAL_AVG4 | ACCEL_ODR_100HZ); + bmi270_putreg8(priv, BMI270_GYR_CONFIG, + GYRO_NORMAL_MODE | GYRO_ODR_100HZ); + + /* Disable the adv_power_save bit */ + + bmi270_putreg8(priv, BMI270_PWR_CONF, PWRCONF_FSW_ON); +} + +/**************************************************************************** + * Name: bmi270_init_seq + * + * Description: + * set bmi270 to normal IMU mode. + * + ****************************************************************************/ + +int bmi270_init_seq(FAR struct bmi270_dev_s *priv) +{ + FAR uint8_t *tmp = NULL; + uint8_t regval = 0; + + /* Check if initialization already done */ + + regval = bmi270_getreg8(priv, BMI270_INTERNAL_STAT); + if ((regval & INTSTAT_MSG_MASK) == INTSTAT_MSG_INITOK) + { + return OK; + } + + /* Disable PWR_CONF.adv_power_save */ + + bmi270_putreg8(priv, BMI270_PWR_CONF, 0); + up_mdelay(5); + + /* Prepare config load INIT_CTRL=0x00 */ + + bmi270_putreg8(priv, BMI270_INIT_CTRL, 0); + +#ifdef CONFIG_SENSORS_BMI270_LOAD_FROM_HEAP + + /* Copy configuration to RAM */ + + tmp = kmm_malloc(sizeof(g_bmi270_config_file)); + if (tmp == NULL) + { + snerr("Failed to allocate memory for configuration file\n"); + return -ENOMEM; + } + + memcpy(tmp, g_bmi270_config_file, sizeof(g_bmi270_config_file)); + +#else + + /* Transfer directly from const data memory */ + + tmp = (FAR uint8_t *)&g_bmi270_config_file; + +#endif + + /* Load configuration - start with byte 0 */ + + bmi270_putregs(priv, BMI270_INIT_DATA, + tmp, + sizeof(g_bmi270_config_file)); + +#ifdef CONFIG_SENSORS_BMI270_LOAD_FROM_HEAP + kmm_free(tmp); +#endif + + /* Complete config load INIT_CTRL=0x01 */ + + bmi270_putreg8(priv, BMI270_INIT_CTRL, 1); + + up_mdelay(150); + + /* Check initialization status */ + + regval = bmi270_getreg8(priv, BMI270_INTERNAL_STAT); + if ((regval & INTSTAT_MSG_MASK) != INTSTAT_MSG_INITOK) + { + snerr("Initialization failed status=%d\n", regval); + return -EACCES; + } + + return OK; +} + +/**************************************************************************** + * Name: bmi270_checkid + * + * Description: + * Read and verify the BMI270 chip ID + * + ****************************************************************************/ + +int bmi270_checkid(FAR struct bmi270_dev_s *priv) +{ + uint8_t devid = 0; + + /* Read device ID */ + + devid = bmi270_getreg8(priv, BMI270_CHIP_ID); + sninfo("devid: %04x\n", devid); + + if (devid != (uint16_t) DEVID) + { + /* ID is not Correct */ + + return -ENODEV; + } + + return OK; +} diff --git a/drivers/sensors/bmi270_base.h b/drivers/sensors/bmi270_base.h new file mode 100644 index 0000000000..b70295f84f --- /dev/null +++ b/drivers/sensors/bmi270_base.h @@ -0,0 +1,260 @@ +/**************************************************************************** + * drivers/sensors/bmi270_base.h + * + * Licensed to the Apache Software Foundation (ASF) under one or more + * contributor license agreements. See the NOTICE file distributed with + * this work for additional information regarding copyright ownership. The + * ASF licenses this file to you 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 __INCLUDE_NUTTX_SENSORS_BMI270_BASE_H +#define __INCLUDE_NUTTX_SENSORS_BMI270_BASE_H + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include + +#include +#include +#include +#include + +#include +#include +#include +#ifdef CONFIG_SENSORS_BMI270_I2C +# include +#else +# include +#endif + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +#define BMI270_SPI_MAXFREQUENCY 10000000 +#define BMI270_I2C_FREQ 400000 + +#define DEVID 0x24 + +#define BMI270_CHIP_ID (0x00) /* Chip ID */ +#define BMI270_ERROR (0x02) /* Error register */ +#define BMI270_PMU_STAT (0x03) /* Current power mode */ +#define BMI270_DATA_0 (0x04) /* MAG X 7:0 (LSB) */ +#define BMI270_DATA_1 (0x05) /* MAG X 15:8 (MSB) */ +#define BMI270_DATA_2 (0x06) /* MAG Y 7:0 (LSB) */ +#define BMI270_DATA_3 (0x07) /* MAG Y 15:8 (MSB) */ +#define BMI270_DATA_4 (0x08) /* MAG Z 7:0 (LSB) */ +#define BMI270_DATA_5 (0x09) /* MAG Z 15:8 (MSB) */ +#define BMI270_DATA_6 (0x0a) /* RHALL 7:0 (LSB) */ +#define BMI270_DATA_7 (0x0b) /* RHALL 15:8 (MSB) */ + +#define BMI270_DATA_8 (0x0c) /* ACC X 7:0 (LSB) */ +#define BMI270_DATA_9 (0x0d) /* ACC X 15:8 (MSB) */ +#define BMI270_DATA_10 (0x0e) /* ACC Y 7:0 (LSB) */ +#define BMI270_DATA_11 (0x0f) /* ACC Y 15:8 (MSB) */ +#define BMI270_DATA_12 (0x10) /* ACC Z 7:0 (LSB) */ +#define BMI270_DATA_13 (0x11) /* ACC Z 15:8 (MSB) */ + +#define BMI270_DATA_14 (0x12) /* GYR X 7:0 (LSB) */ +#define BMI270_DATA_15 (0x13) /* GYR X 15:8 (MSB) */ +#define BMI270_DATA_16 (0x14) /* GYR Y 7:0 (LSB) */ +#define BMI270_DATA_17 (0x15) /* GYR Y 15:8 (MSB) */ +#define BMI270_DATA_18 (0x16) /* GYR Z 7:0 (LSB) */ +#define BMI270_DATA_19 (0x17) /* GYR Z 15:8 (MSB) */ +#define BMI270_SENSORTIME_0 (0x18) /* Sensor time 0 */ +#define BMI270_SENSORTIME_1 (0x19) /* Sensor time 1 */ +#define BMI270_SENSORTIME_2 (0x1A) /* Sensor time 2 */ +#define BMI270_EVENT (0x1B) /* Sensor event flags */ +#define BMI270_INTR_STAT_0 (0x1C) /* Interrupt status */ +#define BMI270_INTR_STAT_1 (0x1D) +#define BMI270_SC_OUT_0 (0x1E) /* Step counting value */ +#define BMI270_SC_OUT_1 (0x1f) /* Step counting value */ +#define BMI270_WR_GEST_ACT (0x20) /* Wrist gesture and activity detection */ +#define BMI270_INTERNAL_STAT (0x21) /* Internal status */ +#define BMI270_TEMPERATURE_0 (0x22) /* Temperature */ +#define BMI270_TEMPERATURE_1 (0x23) +#define BMI270_FIFO_LENGTH_0 (0x24) /* FIFO length */ +#define BMI270_FIFO_LENGTH_1 (0x25) +#define BMI270_FIFO_DATA (0x26) +#define BMI270_FEAT_PAGE (0x2f) /* Page number for feature configuration and output registers */ + /* TODO: Features 0x30-0x3f */ +#define BMI270_ACC_CONFIG (0x40) /* ACCEL config for ODR, bandwidth and undersampling */ +#define BMI270_ACC_RANGE (0x41) /* ACCEL range */ +#define BMI270_GYR_CONFIG (0x42) /* GYRO config for ODR and bandwidth */ +#define BMI270_GYR_RANGE (0x43) /* GYRO range */ +#define BMI270_AUX_CONFIG (0x44) /* AUX config for ODR */ +#define BMI270_FIFO_DOWN (0x45) /* GYRO and ACCEL downsampling rates for FIFO */ +#define BMI270_FIFO_WTM_0 (0x46) /* FIFO Watermark level */ +#define BMI270_FIFO_WTM_1 (0x47) /* FIFO Watermark level */ +#define BMI270_FIFO_CONFIG_0 (0x48) /* FIFO config */ +#define BMI270_FIFO_CONFIG_1 (0x49) +#define BMI270_SATURATION (0x4A) /* Saturation */ +#define BMI270_AUX_DEV_ID (0x4B) /* Auxiliary interface device_id */ +#define BMI270_AUX_IF_CONF (0x4C) /* Auxiliary interface configuration */ +#define BMI270_AUX_RD_ADDR (0x4C) /* Auxiliary interface read address */ +#define BMI270_AUX_WR_ADDR (0x4E) /* Auxiliary interface write address */ +#define BMI270_AUX_WR_DATA (0x4F) /* Auxiliary interface write data */ +#define BMI270_ERR_REG_MSK (0x52) +#define BMI270_INT1_IO_CTRL (0x53) /* INT pin configuration */ +#define BMI270_INT2_IO_CTRL (0x54) +#define BMI270_INT_LATCH (0x55) /* Configure interrupt modes */ +#define BMI270_INT1_MAP_FEAT (0x56) /* Interrupt/Feature mapping on INT1 */ +#define BMI270_INT2_MAP_FEAT (0x57) /* Interrupt/Feature mapping on INT2 */ +#define BMI270_INT_MAP_DATA (0x58) /* Data Interrupt mapping for both INT pins */ +#define BMI270_INIT_CTRL (0x59) /* Start initialization */ +#define BMI270_INIT_ADDR_0 (0x5b) /* Base address of the initialization data */ +#define BMI270_INIT_ADDR_1 (0x5c) +#define BMI270_INIT_DATA (0x5e) /* Initialization register */ +#define BMI270_INTERNAL_ERROR (0x5f) +#define BMI270_AUX_IF_TRIM (0x68) /* Auxiliary interface trim */ +#define BMI270_GYR_CRT_CONF (0x69) /* Component Retrimming for Gyroscope */ +#define BMI270_NMV_CONFIG (0x6A) /* NVM Configuration */ +#define BMI270_IF_CONFIG (0x6B) /* Serial interface configuration */ +#define BMI270_DRV (0x6C) /* Drive strength control */ +#define BMI270_ACC_SELF_TEST (0x6D) /* Acc self test */ +#define BMI270_GYR_SELF_TEST (0x6E) /* Gyro self test */ +#define BMI270_NV_CONFIG (0x70) /* SPI/I2C selection */ +#define BMI270_OFFSET_0 (0x71) /* ACCEL and GYRO offset */ +#define BMI270_OFFSET_1 (0x72) +#define BMI270_OFFSET_2 (0x73) +#define BMI270_OFFSET_3 (0x74) +#define BMI270_OFFSET_4 (0x75) +#define BMI270_OFFSET_5 (0x76) +#define BMI270_OFFSET_6 (0x77) +#define BMI270_PWR_CONF (0x7C) /* Power mode configuration */ +#define BMI270_PWR_CTRL (0x7D) /* Power mode control */ +#define BMI270_CMD (0x7e) /* Command register */ + +/* Register 0x21 - INTERNAL_STATUS */ + +#define INTSTAT_MSG_MASK (7) +#define INTSTAT_MSG_NOTINIT (0x00) +#define INTSTAT_MSG_INITOK (0x01) + +/* Register 0x40 - ACCEL_CONFIG accel bandwidth */ + +#define ACCEL_OSR4_AVG1 (0 << 4) +#define ACCEL_OSR2_AVG2 (1 << 4) +#define ACCEL_NORMAL_AVG4 (2 << 4) +#define ACCEL_CIC_AVG8 (3 << 4) +#define ACCEL_RES_AVG2 (4 << 4) +#define ACCEL_RES_AVG4 (5 << 4) +#define ACCEL_RES_AVG8 (6 << 4) +#define ACCEL_RES_AVG16 (7 << 4) +#define ACCEL_RES_AVG32 (8 << 4) +#define ACCEL_RES_AVG64 (9 << 4) +#define ACCEL_RES_AVG128 (10 << 4) + +#define ACCEL_ODR_0_78HZ (0x01) +#define ACCEL_ODR_1_56HZ (0x02) +#define ACCEL_ODR_3_12HZ (0x03) +#define ACCEL_ODR_6_25HZ (0x04) +#define ACCEL_ODR_12_5HZ (0x05) +#define ACCEL_ODR_25HZ (0x06) +#define ACCEL_ODR_50HZ (0x07) +#define ACCEL_ODR_100HZ (0x08) +#define ACCEL_ODR_200HZ (0x09) +#define ACCEL_ODR_400HZ (0x0A) +#define ACCEL_ODR_800HZ (0x0B) +#define ACCEL_ODR_1600HZ (0x0C) + +/* Register 0x41 - ACC_RANGE accel range */ + +#define ACCEL_RANGE_2G (0x00) +#define ACCEL_RANGE_4G (0x01) +#define ACCEL_RANGE_8G (0x02) +#define ACCEL_RANGE_16G (0x03) + +/* Register 0x42 - GYRO_CONFIG accel bandwidth */ + +#define GYRO_OSR4_MODE (0 << 4) +#define GYRO_OSR2_MODE (1 << 4) +#define GYRO_NORMAL_MODE (2 << 4) +#define GYRO_CIC_MODE (3 << 4) + +#define GYRO_ODR_25HZ (0x06) +#define GYRO_ODR_50HZ (0x07) +#define GYRO_ODR_100HZ (0x08) +#define GYRO_ODR_200HZ (0x09) +#define GYRO_ODR_400HZ (0x0A) +#define GYRO_ODR_800HZ (0x0B) +#define GYRO_ODR_1600HZ (0x0C) +#define GYRO_ODR_3200HZ (0x0D) + +/* Register 0x43 - GYR_RANGE gyr range */ + +#define GYRO_RANGE_2000 (0x00) +#define GYRO_RANGE_1000 (0x01) +#define GYRO_RANGE_500 (0x02) +#define GYRO_RANGE_250 (0x03) +#define GYRO_RANGE_125 (0x04) + +/* Register 0x7d - PWR_CONF */ + +#define PWRCONF_APS_ON (1 << 0) +#define PWRCONF_FSW_ON (1 << 1) +#define PWRCONF_FUP_ON (1 << 2) + +/* Register 0x7d - PWR_CTRL */ + +#define PWRCTRL_AUX_EN (1 << 0) +#define PWRCTRL_GYR_EN (1 << 1) +#define PWRCTRL_ACC_EN (1 << 2) +#define PWRCTRL_TEMP_EN (1 << 3) + +/* Register 0x7e - CMD */ + +#define CMD_SOFTRESET (0xB6) + +/**************************************************************************** + * Public Types + ****************************************************************************/ + +struct bmi270_dev_s +{ +#ifdef CONFIG_SENSORS_BMI270_I2C + FAR struct i2c_master_s *i2c; /* I2C interface */ + uint8_t addr; /* I2C address */ + int freq; /* Frequency <= 3.4MHz */ +#else /* CONFIG_SENSORS_BMI270_SPI */ + FAR struct spi_dev_s *spi; /* SPI interface */ +#endif +}; + +/**************************************************************************** + * Public Data + ****************************************************************************/ + +extern const uint8_t g_bmi270_config_file[]; + +/**************************************************************************** + * Public Function Prototypes + ****************************************************************************/ + +uint8_t bmi270_getreg8(FAR struct bmi270_dev_s *priv, uint8_t regaddr); +void bmi270_putreg8(FAR struct bmi270_dev_s *priv, uint8_t regaddr, + uint8_t regval); +void bmi270_getregs(FAR struct bmi270_dev_s *priv, uint8_t regaddr, + FAR uint8_t *regval, int len); +void bmi270_putregs(FAR struct bmi270_dev_s *priv, uint8_t regaddr, + FAR uint8_t *regval, int len); + +void bmi270_set_normal_imu(FAR struct bmi270_dev_s *priv); +int bmi270_init_seq(FAR struct bmi270_dev_s *priv); +int bmi270_checkid(FAR struct bmi270_dev_s *priv); + +#endif /* __INCLUDE_NUTTX_SENSORS_BMI270_BASE_H */ diff --git a/drivers/sensors/bmi270_uorb.c b/drivers/sensors/bmi270_uorb.c new file mode 100644 index 0000000000..cc3583898e --- /dev/null +++ b/drivers/sensors/bmi270_uorb.c @@ -0,0 +1,706 @@ +/**************************************************************************** + * drivers/sensors/bmi270_uorb.c + * + * Licensed to the Apache Software Foundation (ASF) under one or more + * contributor license agreements. See the NOTICE file distributed with + * this work for additional information regarding copyright ownership. The + * ASF licenses this file to you 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. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include + +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include + +#include +#include + +#include "bmi270_base.h" + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +#define CONSTANTS_ONE_G 9.8f + +/**************************************************************************** + * Private Types + ****************************************************************************/ + +enum bmi270_idx_e +{ + BMI270_ACCEL_IDX = 0, + BMI270_GYRO_IDX, + BMI270_MAX_IDX +}; + +struct bmi270_sensor_s +{ + struct sensor_lowerhalf_s lower; + uint64_t last_update; + float scale; + 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; +} diff --git a/include/nuttx/sensors/bmi270.h b/include/nuttx/sensors/bmi270.h index 238f307ac9..7dee91d68c 100644 --- a/include/nuttx/sensors/bmi270.h +++ b/include/nuttx/sensors/bmi270.h @@ -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