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split out magnetometer

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This commit is contained in:
Brendan Haines
2024-07-04 23:30:11 -06:00
parent 9a2419223a
commit d8ac413a9a
7 changed files with 226 additions and 112 deletions
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23
app/src/main.c
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@ -203,14 +203,13 @@ int main(void)
}
LOG_INF("Initialized %s", gyro->name);
mag = accel; // FIXME: this is a hack while splitting apart BMX055
// mag = DEVICE_DT_GET(DT_NODELABEL(bmx055_mag));
// if (!device_is_ready(mag))
// {
// LOG_ERR("Device %s not ready", mag->name);
// return 0;
// }
// LOG_INF("Initialized %s", mag->name);
mag = DEVICE_DT_GET(DT_NODELABEL(bmx055_mag));
if (!device_is_ready(mag))
{
LOG_ERR("Device %s not ready", mag->name);
return 0;
}
LOG_INF("Initialized %s", mag->name);
lis = DEVICE_DT_GET(DT_NODELABEL(lis2dh));
if (!device_is_ready(lis))
@ -289,10 +288,10 @@ int main(void)
LOG_ERR("Could not get gyro");
}
// if (sensor_sample_fetch(mag) < 0)
// {
// LOG_ERR("Could not fetch sample from mag");
// }
if (sensor_sample_fetch(mag) < 0)
{
LOG_ERR("Could not fetch sample from mag");
}
if (sensor_channel_get(mag, SENSOR_CHAN_MAGN_X, &mag_x) < 0)
{
LOG_ERR("Could not get mag");

2
drivers/sensor/CMakeLists.txt
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@ -3,4 +3,6 @@
add_subdirectory_ifdef(CONFIG_EXAMPLE_SENSOR example_sensor)
add_subdirectory_ifdef(CONFIG_BMA255 bma255)
# add_subdirectory_ifdef(CONFIG_BMG160 bmg160)
# add_subdirectory_ifdef(CONFIG_BMM150 bmm150)
add_subdirectory_ifdef(CONFIG_HDC1080 hdc1080)

2
drivers/sensor/Kconfig
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@ -4,5 +4,7 @@
if SENSOR
rsource "example_sensor/Kconfig"
rsource "bma255/Kconfig"
# rsource "bmg160/Kconfig"
# rsource "bmm150/Kconfig"
rsource "hdc1080/Kconfig"
endif # SENSOR

99
drivers/sensor/bma255/bma255.c
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@ -90,44 +90,11 @@ const uint8_t ACCEL_REG_TRIM_GP1 = 0x3C;
const uint8_t ACCEL_REG_FIFO_CONFIG_1 = 0x3E;
const uint8_t ACCEL_REG_FIFO_DATA = 0x3F;
const uint8_t MAG_REG_CHIP_ID = 0x40;
const uint8_t MAG_REG_DATA_X_LSB = 0x42;
const uint8_t MAG_REG_DATA_X_MSB = 0x43;
const uint8_t MAG_REG_DATA_Y_LSB = 0x44;
const uint8_t MAG_REG_DATA_Y_MSB = 0x45;
const uint8_t MAG_REG_DATA_Z_LSB = 0x46;
const uint8_t MAG_REG_DATA_Z_MSB = 0x47;
const uint8_t MAG_REG_RHALL_LSB = 0x48;
const uint8_t MAG_REG_RHALL_MSB = 0x49;
const uint8_t MAG_REG_INT_STATUS = 0x4A;
const uint8_t MAG_REG_POWER = 0x4B;
typedef enum mag_power_t
{
MAG_POWER_POWER_ON = 0x01,
MAG_POWER_RESET = 0x82,
} mag_power_t;
const uint8_t MAG_REG_MODE = 0x4C;
typedef enum mag_mode_t
{
MAG_MODE_OPMODE_NORMAL = 0x00 << 1,
MAG_MODE_OPMODE_FORCED = 0x01 << 1,
MAG_MODE_OPMODE_SLEEP_MODE = 0x11 << 1,
} mag_mode_t;
const uint8_t MAG_REG_INT_ENABLE = 0x4D;
const uint8_t MAG_REG_INT_SETTINGS = 0x4E;
const uint8_t MAG_REG_LOW_THRESH = 0x4F;
const uint8_t MAG_REG_HIGH_THRESH = 0x50;
const uint8_t MAG_REG_REP_XY = 0x51;
const uint8_t MAG_REG_REP_Z = 0x52;
struct bma255_data
{
int16_t accel_x;
int16_t accel_y;
int16_t accel_z;
int16_t mag_x;
int16_t mag_y;
int16_t mag_z;
int8_t temperature;
};
@ -160,19 +127,6 @@ static int bma255_sample_fetch(const struct device *dev,
data->accel_y = ((int16_t)sys_get_le16(&accel[2])) >> 4;
data->accel_z = ((int16_t)sys_get_le16(&accel[4])) >> 4;
uint8_t mag[6];
struct i2c_dt_spec mag_bus = config->bus;
mag_bus.addr = 0x10;
ret = i2c_burst_read_dt(&mag_bus, MAG_REG_DATA_X_LSB, mag, sizeof(mag));
if (ret < 0)
{
LOG_ERR("Failed to read mag registers!");
return ret;
}
data->mag_x = ((int16_t)sys_get_le16(&mag[0])) >> 1;
data->mag_y = ((int16_t)sys_get_le16(&mag[2])) >> 1;
data->mag_z = ((int16_t)sys_get_le16(&mag[4])) >> 1;
ret = i2c_burst_read_dt(&config->bus, ACCEL_REG_ACCD_TEMP, &data->temperature, sizeof(data->temperature));
if (ret < 0)
{
@ -225,28 +179,6 @@ static int bma255_channel_get(const struct device *dev,
val->val2 = (accel - val->val1) * 1000000;
break;
}
// Gauss
case SENSOR_CHAN_MAGN_X:
{
float rate = data->mag_x * 1300.0 / (2 << 15) / 100; // to uT, to gauss
val->val1 = rate;
val->val2 = (rate - val->val1) * 1000000;
break;
}
case SENSOR_CHAN_MAGN_Y:
{
float rate = data->mag_y * 1300.0 / (2 << 15) / 100; // to uT, to gauss
val->val1 = rate;
val->val2 = (rate - val->val1) * 1000000;
break;
}
case SENSOR_CHAN_MAGN_Z:
{
float rate = data->mag_z * 2500.0 / (2 << 15) / 100; // to uT, to gauss
val->val1 = rate;
val->val2 = (rate - val->val1) * 1000000;
break;
}
default:
return -ENOTSUP;
}
@ -308,37 +240,6 @@ static int bma255_init(const struct device *dev)
uint8_t hbw = (1 << 7); // data_high_bw (read filtered data) and enable lsb/msb shadowing
i2c_burst_write_dt(&config->bus, ACCEL_REG_ACCD_HBW, &hbw, sizeof(hbw));
struct i2c_dt_spec mag_bus = config->bus;
mag_bus.addr = 0x10;
uint8_t mag_power = MAG_POWER_POWER_ON;
ret = i2c_burst_write_dt(&mag_bus, MAG_REG_POWER, &mag_power, sizeof(mag_power));
if (ret < 0)
{
LOG_ERR("Failed to power up magnetometer");
return ret;
}
uint8_t mag_mode = MAG_MODE_OPMODE_NORMAL;
ret = i2c_burst_write_dt(&mag_bus, MAG_REG_MODE, &mag_mode, sizeof(mag_mode));
if (ret < 0)
{
LOG_ERR("Failed to start magnetometer");
return ret;
}
uint8_t mag_chip_id;
ret = i2c_burst_read_dt(&mag_bus, MAG_REG_CHIP_ID, &mag_chip_id, sizeof(mag_chip_id));
if (ret < 0)
{
LOG_ERR("Failed to read magnetometer chip ID register!");
return ret;
}
const uint8_t MAG_CHIP_ID = 0x32;
if (mag_chip_id != MAG_CHIP_ID)
{
LOG_ERR("Mag chip ID read from %s incorrect. Read 0x%02X, expected 0x%02X", dev->name, mag_chip_id, MAG_CHIP_ID);
}
return 0;
}

2
drivers/sensor/bmm150/CMakeLists.txt
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@ -1,2 +1,2 @@
zephyr_library()
# zephyr_library_sources(bmm150.c)
zephyr_library_sources(bmm150.c)

17
drivers/sensor/bmm150/Kconfig Normal file
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@ -0,0 +1,17 @@
config BMM150
bool "BMM150"
default y
depends on DT_HAS_BOSCH_BMM150_ENABLED
help
Enable driver for BMM150.
if BMM150
config BMM150_TRIGGER
bool "BMM150 trigger mode"
depends on BMM150
help
Set to enable trigger mode using gpio interrupt, where
interrupts are configured to line ALERT PIN.
endif # BMM150

193
drivers/sensor/bmm150/bmm150.c Normal file
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@ -0,0 +1,193 @@
/*
* Copyright (c) 2021 Nordic Semiconductor ASA
* SPDX-License-Identifier: Apache-2.0
*/
#define DT_DRV_COMPAT bosch_bmm150
#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(bmm150, CONFIG_SENSOR_LOG_LEVEL);
const uint8_t MAG_REG_CHIP_ID = 0x40;
const uint8_t MAG_REG_DATA_X_LSB = 0x42;
const uint8_t MAG_REG_DATA_X_MSB = 0x43;
const uint8_t MAG_REG_DATA_Y_LSB = 0x44;
const uint8_t MAG_REG_DATA_Y_MSB = 0x45;
const uint8_t MAG_REG_DATA_Z_LSB = 0x46;
const uint8_t MAG_REG_DATA_Z_MSB = 0x47;
const uint8_t MAG_REG_RHALL_LSB = 0x48;
const uint8_t MAG_REG_RHALL_MSB = 0x49;
const uint8_t MAG_REG_INT_STATUS = 0x4A;
const uint8_t MAG_REG_POWER = 0x4B;
typedef enum mag_power_t
{
MAG_POWER_POWER_ON = 0x01,
MAG_POWER_RESET = 0x82,
} mag_power_t;
const uint8_t MAG_REG_MODE = 0x4C;
typedef enum mag_mode_t
{
MAG_MODE_OPMODE_NORMAL = 0x00 << 1,
MAG_MODE_OPMODE_FORCED = 0x01 << 1,
MAG_MODE_OPMODE_SLEEP_MODE = 0x11 << 1,
} mag_mode_t;
const uint8_t MAG_REG_INT_ENABLE = 0x4D;
const uint8_t MAG_REG_INT_SETTINGS = 0x4E;
const uint8_t MAG_REG_LOW_THRESH = 0x4F;
const uint8_t MAG_REG_HIGH_THRESH = 0x50;
const uint8_t MAG_REG_REP_XY = 0x51;
const uint8_t MAG_REG_REP_Z = 0x52;
struct bmm150_data
{
int16_t mag_x;
int16_t mag_y;
int16_t mag_z;
int8_t temperature; // TODO: does mag have die temp sensor?
};
struct bmm150_config
{
struct i2c_dt_spec bus;
#ifdef CONFIG_INA230_TRIGGER
bool trig_enabled;
uint16_t mask;
const struct gpio_dt_spec alert_gpio;
uint16_t alert_limit;
#endif /* CONFIG_INA230_TRIGGER */
};
static int bmm150_sample_fetch(const struct device *dev,
enum sensor_channel chan)
{
const struct bmm150_config *config = dev->config;
struct bmm150_data *data = dev->data;
int ret;
uint8_t mag[6];
ret = i2c_burst_read_dt(&config->bus, MAG_REG_DATA_X_LSB, mag, sizeof(mag));
if (ret < 0)
{
LOG_ERR("Failed to read mag registers!");
return ret;
}
data->mag_x = ((int16_t)sys_get_le16(&mag[0])) >> 1;
data->mag_y = ((int16_t)sys_get_le16(&mag[2])) >> 1;
data->mag_z = ((int16_t)sys_get_le16(&mag[4])) >> 1;
return 0;
}
static int bmm150_channel_get(const struct device *dev,
enum sensor_channel chan,
struct sensor_value *val)
{
struct bmm150_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;
// Gauss
case SENSOR_CHAN_MAGN_X:
{
float rate = data->mag_x * 1300.0 / (2 << 15) / 100; // to uT, to gauss
val->val1 = rate;
val->val2 = (rate - val->val1) * 1000000;
break;
}
case SENSOR_CHAN_MAGN_Y:
{
float rate = data->mag_y * 1300.0 / (2 << 15) / 100; // to uT, to gauss
val->val1 = rate;
val->val2 = (rate - val->val1) * 1000000;
break;
}
case SENSOR_CHAN_MAGN_Z:
{
float rate = data->mag_z * 2500.0 / (2 << 15) / 100; // to uT, to gauss
val->val1 = rate;
val->val2 = (rate - val->val1) * 1000000;
break;
}
default:
return -ENOTSUP;
}
return 0;
}
static const struct sensor_driver_api bmm150_api = {
.sample_fetch = &bmm150_sample_fetch,
.channel_get = &bmm150_channel_get,
};
static int bmm150_init(const struct device *dev)
{
const struct bmm150_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 the sensor
// Wait for device to reset
uint8_t mag_power = MAG_POWER_POWER_ON;
ret = i2c_burst_write_dt(&config->bus, MAG_REG_POWER, &mag_power, sizeof(mag_power));
if (ret < 0)
{
LOG_ERR("Failed to power up magnetometer");
return ret;
}
uint8_t mag_mode = MAG_MODE_OPMODE_NORMAL;
ret = i2c_burst_write_dt(&config->bus, MAG_REG_MODE, &mag_mode, sizeof(mag_mode));
if (ret < 0)
{
LOG_ERR("Failed to start magnetometer");
return ret;
}
uint8_t mag_chip_id;
ret = i2c_burst_read_dt(&config->bus, MAG_REG_CHIP_ID, &mag_chip_id, sizeof(mag_chip_id));
if (ret < 0)
{
LOG_ERR("Failed to read magnetometer chip ID register!");
return ret;
}
const uint8_t MAG_CHIP_ID = 0x32;
if (mag_chip_id != MAG_CHIP_ID)
{
LOG_ERR("Mag chip ID read from %s incorrect. Read 0x%02X, expected 0x%02X", dev->name, mag_chip_id, MAG_CHIP_ID);
}
return 0;
}
#define BMM150_INIT(i) \
static struct bmm150_data bmm150_data_##i; \
\
static const struct bmm150_config bmm150_config_##i = { \
.bus = I2C_DT_SPEC_INST_GET(i), \
}; \
\
SENSOR_DEVICE_DT_INST_DEFINE(i, &bmm150_init, NULL, \
&bmm150_data_##i, \
&bmm150_config_##i, POST_KERNEL, \
CONFIG_SENSOR_INIT_PRIORITY, &bmm150_api);
DT_INST_FOREACH_STATUS_OKAY(BMM150_INIT)