split out gyro code
This commit is contained in:
189
drivers/sensor/bmg160/bmg160.c
Normal file
189
drivers/sensor/bmg160/bmg160.c
Normal file
@ -0,0 +1,189 @@
|
||||
/*
|
||||
* Copyright (c) 2021 Nordic Semiconductor ASA
|
||||
* SPDX-License-Identifier: Apache-2.0
|
||||
*/
|
||||
|
||||
#define DT_DRV_COMPAT bosch_bmg160
|
||||
|
||||
#include <zephyr/device.h>
|
||||
#include <zephyr/drivers/gpio.h>
|
||||
#include <zephyr/drivers/i2c.h>
|
||||
#include <zephyr/drivers/sensor.h>
|
||||
#include <zephyr/sys/byteorder.h>
|
||||
|
||||
#include <zephyr/logging/log.h>
|
||||
LOG_MODULE_REGISTER(bmg160, CONFIG_SENSOR_LOG_LEVEL);
|
||||
|
||||
const uint8_t GYRO_REG_CHIP_ID = 0x00;
|
||||
const uint8_t GYRO_REG_RATE_X_LSB = 0x02;
|
||||
const uint8_t GYRO_REG_RATE_X_MSB = 0x03;
|
||||
const uint8_t GYRO_REG_RATE_Y_LSB = 0x04;
|
||||
const uint8_t GYRO_REG_RATE_Y_MSB = 0x05;
|
||||
const uint8_t GYRO_REG_RATE_Z_LSB = 0x06;
|
||||
const uint8_t GYRO_REG_RATE_Z_MSB = 0x07;
|
||||
const uint8_t GYRO_REG_INT_STATUS_0 = 0x09;
|
||||
const uint8_t GYRO_REG_INT_STATUS_1 = 0x0A;
|
||||
const uint8_t GYRO_REG_INT_STATUS_2 = 0x0B;
|
||||
const uint8_t GYRO_REG_INT_STATUS_3 = 0x0C;
|
||||
const uint8_t GYRO_REG_FIFO_STATUS = 0x0E;
|
||||
const uint8_t GYRO_REG_RANGE = 0x0F;
|
||||
const uint8_t GYRO_REG_BW = 0x10;
|
||||
const uint8_t GYRO_REG_LPM1 = 0x11;
|
||||
const uint8_t GYRO_REG_LPM2 = 0x12;
|
||||
const uint8_t GYRO_REG_RATE_HBW = 0x13;
|
||||
const uint8_t GYRO_REG_BGW_SOFTRESET = 0x14;
|
||||
const uint8_t GYRO_REG_INT_EN_0 = 0x15;
|
||||
const uint8_t GYRO_REG_INT_EN_1 = 0x16;
|
||||
const uint8_t GYRO_REG_INT_MAP_0 = 0x17;
|
||||
const uint8_t GYRO_REG_INT_MAP_1 = 0x18;
|
||||
const uint8_t GYRO_REG_INT_MAP_2 = 0x19;
|
||||
const uint8_t GYRO_REG_INT_SOURCE_1 = 0x1A;
|
||||
const uint8_t GYRO_REG_INT_SOURCE_2 = 0x1B;
|
||||
// const uint8_t GYRO_REG_ = 0x1C;
|
||||
// const uint8_t GYRO_REG_ = 0x1E;
|
||||
const uint8_t GYRO_REG_INT_RST_LATCH = 0x21;
|
||||
const uint8_t GYRO_REG_HIGH_TH_X = 0x22;
|
||||
const uint8_t GYRO_REG_HIGH_DUR_X = 0x23;
|
||||
const uint8_t GYRO_REG_HIGH_TH_Y = 0x24;
|
||||
const uint8_t GYRO_REG_HIGH_DUR_Y = 0x25;
|
||||
const uint8_t GYRO_REG_HIGH_TH_Z = 0x26;
|
||||
const uint8_t GYRO_REG_HIGH_DUR_Z = 0x27;
|
||||
const uint8_t GYRO_REG_SOC = 0x31;
|
||||
const uint8_t GYRO_REG_A_FOC = 0x32;
|
||||
const uint8_t GYRO_REG_TRIM_NVM_CTRL = 0x33;
|
||||
const uint8_t GYRO_REG_BGW_SPI3_WDT = 0x34;
|
||||
const uint8_t GYRO_REG_OFC1 = 0x36;
|
||||
const uint8_t GYRO_REG_OFC2 = 0x37;
|
||||
const uint8_t GYRO_REG_OFC3 = 0x38;
|
||||
const uint8_t GYRO_REG_OFC4 = 0x39;
|
||||
const uint8_t GYRO_REG_TRIM_GP0 = 0x3A;
|
||||
const uint8_t GYRO_REG_TRIM_GP1 = 0x3B;
|
||||
const uint8_t GYRO_REG_BIST = 0x3C;
|
||||
const uint8_t GYRO_REG_FIFO_CONFIG_0 = 0x3D;
|
||||
const uint8_t GYRO_REG_FIFO_CONFIG_1 = 0x3E;
|
||||
|
||||
struct bmg160_data
|
||||
{
|
||||
int16_t gyro_x;
|
||||
int16_t gyro_y;
|
||||
int16_t gyro_z;
|
||||
int8_t temperature; // FIXME: does gyro have die temp sensor?
|
||||
};
|
||||
|
||||
struct bmg160_config
|
||||
{
|
||||
struct i2c_dt_spec bus;
|
||||
};
|
||||
|
||||
static int bmg160_sample_fetch(const struct device *dev,
|
||||
enum sensor_channel chan)
|
||||
{
|
||||
const struct bmg160_config *config = dev->config;
|
||||
struct bmg160_data *data = dev->data;
|
||||
int ret;
|
||||
|
||||
uint8_t gyro[6];
|
||||
ret = i2c_burst_read_dt(&config->bus, GYRO_REG_RATE_X_LSB, gyro, sizeof(gyro));
|
||||
if (ret < 0)
|
||||
{
|
||||
LOG_ERR("Failed to read gyro registers!");
|
||||
return ret;
|
||||
}
|
||||
data->gyro_x = ((int16_t)sys_get_le16(&gyro[0]));
|
||||
data->gyro_y = ((int16_t)sys_get_le16(&gyro[2]));
|
||||
data->gyro_z = ((int16_t)sys_get_le16(&gyro[4]));
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
static int bmg160_channel_get(const struct device *dev,
|
||||
enum sensor_channel chan,
|
||||
struct sensor_value *val)
|
||||
{
|
||||
struct bmg160_data *data = dev->data;
|
||||
|
||||
switch (chan)
|
||||
{
|
||||
// // degrees C
|
||||
// case SENSOR_CHAN_DIE_TEMP:
|
||||
// // 0.5K/LSB, center temperature is 23C
|
||||
// val->val1 = 23 + data->temperature / 2;
|
||||
// val->val2 = 0; // TODO: don't throw out LSB
|
||||
// break;
|
||||
// radians/second
|
||||
case SENSOR_CHAN_GYRO_X:
|
||||
{
|
||||
float rate = data->gyro_x * 2000.0 / 32767;
|
||||
val->val1 = rate;
|
||||
val->val2 = (rate - val->val1) * 1000000;
|
||||
break;
|
||||
}
|
||||
case SENSOR_CHAN_GYRO_Y:
|
||||
{
|
||||
float rate = data->gyro_y * 2000.0 / 32767;
|
||||
val->val1 = rate;
|
||||
val->val2 = (rate - val->val1) * 1000000;
|
||||
break;
|
||||
}
|
||||
case SENSOR_CHAN_GYRO_Z:
|
||||
{
|
||||
float rate = data->gyro_z * 2000.0 / 32767;
|
||||
val->val1 = rate;
|
||||
val->val2 = (rate - val->val1) * 1000000;
|
||||
break;
|
||||
}
|
||||
default:
|
||||
return -ENOTSUP;
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
static const struct sensor_driver_api bmg160_api = {
|
||||
.sample_fetch = &bmg160_sample_fetch,
|
||||
.channel_get = &bmg160_channel_get,
|
||||
};
|
||||
|
||||
static int bmg160_init(const struct device *dev)
|
||||
{
|
||||
const struct bmg160_config *const config = dev->config;
|
||||
int ret;
|
||||
|
||||
if (!device_is_ready(config->bus.bus))
|
||||
{
|
||||
LOG_ERR("I2C bus %s is not ready", config->bus.bus->name);
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
// TODO: reset IC?
|
||||
// Wait for device to reset
|
||||
|
||||
uint8_t gyro_chip_id;
|
||||
ret = i2c_burst_read_dt(&config->bus, GYRO_REG_CHIP_ID, &gyro_chip_id, sizeof(gyro_chip_id));
|
||||
if (ret < 0)
|
||||
{
|
||||
LOG_ERR("Failed to read gyro chip ID register!");
|
||||
return ret;
|
||||
}
|
||||
const uint8_t GYRO_CHIP_ID = 0x0f;
|
||||
if (gyro_chip_id != GYRO_CHIP_ID)
|
||||
{
|
||||
LOG_ERR("Gyro chip ID read from %s incorrect. Read 0x%02X, expected 0x%02X", dev->name, gyro_chip_id, GYRO_CHIP_ID);
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
#define BMG160_INIT(i) \
|
||||
static struct bmg160_data bmg160_data_##i; \
|
||||
\
|
||||
static const struct bmg160_config bmg160_config_##i = { \
|
||||
.bus = I2C_DT_SPEC_INST_GET(i), \
|
||||
}; \
|
||||
\
|
||||
SENSOR_DEVICE_DT_INST_DEFINE(i, &bmg160_init, NULL, \
|
||||
&bmg160_data_##i, \
|
||||
&bmg160_config_##i, POST_KERNEL, \
|
||||
CONFIG_SENSOR_INIT_PRIORITY, &bmg160_api);
|
||||
|
||||
DT_INST_FOREACH_STATUS_OKAY(BMG160_INIT)
|
||||
Reference in New Issue
Block a user