diff --git a/app/src/main.c b/app/src/main.c index 90540ac..228ec5b 100644 --- a/app/src/main.c +++ b/app/src/main.c @@ -118,11 +118,12 @@ int main(void) while (1) { int ret; - struct sensor_value voltage, current, pressure, temperature, humidity; + struct sensor_value voltage, current, pressure, temperature, accel_x, humidity; char str_v[15] = {0}; char str_i[15] = {0}; char str_p[16] = {0}; char str_t[16] = {0}; + char str_ax[16] = {0}; char str_h[16] = {0}; ret = sensor_sample_fetch(ina); @@ -175,6 +176,12 @@ int main(void) LOG_ERR("Could not get temperature (%d)", ret); return 0; } + ret = sensor_channel_get(bmx, SENSOR_CHAN_ACCEL_X, &accel_x); + if (ret < 0) + { + LOG_ERR("Could not get acceleration (%d)", ret); + return 0; + } // ret = sensor_sample_fetch(hdc); // if (ret < 0) @@ -193,6 +200,7 @@ int main(void) sprintf(str_i, "I:%01d.%06d", current.val1, current.val2); sprintf(str_p, "P:%03d.%04d", pressure.val1, pressure.val2 / 100); sprintf(str_t, "T:%03d.%04d", temperature.val1, temperature.val2 / 100); + sprintf(str_ax, "X:%03d.%04d", accel_x.val1, accel_x.val2 / 100); sprintf(str_h, "H:%05d.%06d", humidity.val1, humidity.val2); // printf("%s\t%s\t%s\t%s\n", str_v, str_i, str_p, str_t); @@ -208,7 +216,7 @@ int main(void) printf("Failed to print a string\n"); continue; } - if (cfb_print(dev, str_p, 0, 16 * 2)) + if (cfb_print(dev, str_ax, 0, 16 * 2)) { printf("Failed to print a string\n"); continue; diff --git a/drivers/sensor/bmx055/bmx055.c b/drivers/sensor/bmx055/bmx055.c index 1c18093..24e499c 100644 --- a/drivers/sensor/bmx055/bmx055.c +++ b/drivers/sensor/bmx055/bmx055.c @@ -9,6 +9,7 @@ #include #include #include +#include #include LOG_MODULE_REGISTER(bmx055, CONFIG_SENSOR_LOG_LEVEL); @@ -28,11 +29,30 @@ const uint8_t REG_INT_STATUS_2 = 0x0B; const uint8_t REG_INT_STATUS_3 = 0x0C; const uint8_t REG_FIFO_STATUS = 0x0E; const uint8_t REG_PMU_RANGE = 0x0F; +typedef enum pmu_range_t +{ + PMU_RANGE_2G = 0b0011, ///< DEFAULT + PMU_RANGE_4G = 0b0101, + PMU_RANGE_8G = 0b1000, + PMU_RANGE_16G = 0b1100, +} pmu_range_t; const uint8_t REG_PMU_BW = 0x10; +typedef enum pmu_bw_t +{ + PMU_BW_8HZ = 0b01000, + PMU_BW_16HZ = 0b01001, + PMU_BW_31HZ = 0b01010, + PMU_BW_63HZ = 0b01011, + PMU_BW_125HZ = 0b01100, + PMU_BW_250HZ = 0b01101, + PMU_BW_500HZ = 0b01110, + PMU_BW_1000HZ = 0b01111, +} pmu_bw_t; const uint8_t REG_PMU_LPW = 0x11; const uint8_t REG_PMU_LOW_POWER = 0x12; const uint8_t REG_ACCD_HBW = 0x13; const uint8_t REG_BGW_SOFTRESET = 0x14; +const uint8_t BGW_SOFTRESET = 0xB6; ///< Soft reset occurs when this value is written to REG_BGW_SOFTRESET const uint8_t REG_INT_EN_0 = 0x16; const uint8_t REG_INT_EN_1 = 0x17; const uint8_t REG_INT_EN_2 = 0x18; @@ -99,6 +119,17 @@ static int bmx055_sample_fetch(const struct device *dev, struct bmx055_data *data = dev->data; int ret; + uint8_t accel[6]; + ret = i2c_burst_read_dt(&config->bus, REG_ACCD_X_LSB, accel, sizeof(accel)); + if (ret < 0) + { + LOG_ERR("Failed to read acceleration registers!"); + return ret; + } + data->accel_x = sys_get_be16(&accel[0]) >> 4; + data->accel_y = sys_get_be16(&accel[2]) >> 4; + data->accel_z = sys_get_be16(&accel[4]) >> 4; + ret = i2c_burst_read_dt(&config->bus, REG_ACCD_TEMP, &data->temperature, sizeof(data->temperature)); if (ret < 0) { @@ -122,6 +153,28 @@ static int bmx055_channel_get(const struct device *dev, val->val1 = 23 + data->temperature / 2; val->val2 = 0; // TODO: don't throw out LSB break; + case SENSOR_CHAN_ACCEL_X: + // For now assume 2g since that's the default value + // 2g 0.98mg/LSB + // 4g 1.95mg/LSB + // 8g 3.91mg/LSB + // 16g 7.81mg/LSB + // 1 g = 9.80665 m/s^2 + float accel = data->accel_x * 0.00098 * 9.80665; // to gees, to m/s^2 + val->val1 = accel; + val->val2 = (accel - val->val1) * 1000000; + break; + case SENSOR_CHAN_ACCEL_Y: + case SENSOR_CHAN_ACCEL_Z: + return -ENOTSUP; + case SENSOR_CHAN_GYRO_X: + case SENSOR_CHAN_GYRO_Y: + case SENSOR_CHAN_GYRO_Z: + return -ENOTSUP; + case SENSOR_CHAN_MAGN_X: + case SENSOR_CHAN_MAGN_Y: + case SENSOR_CHAN_MAGN_Z: + return -ENOTSUP; default: return -ENOTSUP; } @@ -158,45 +211,18 @@ static int bmx055_init(const struct device *dev) LOG_ERR("Chip ID read from %s incorrect. Read 0x%02X, expected 0x%02X", dev->name, chip_id, CHIP_ID); } - // ret = ina23x_reg_write(&config->bus, INA230_REG_CONFIG, config->config); - // if (ret < 0) - // { - // LOG_ERR("Failed to write configuration register!"); - // return ret; - // } + // Reset the sensor + uint8_t reset_val = BGW_SOFTRESET; + i2c_burst_write_dt(&config->bus, REG_BGW_SOFTRESET, &reset_val, sizeof(reset_val)); - // ret = ina230_calibrate(dev); - // if (ret < 0) - // { - // LOG_ERR("Failed to write calibration register!"); - // return ret; - // } + // Wait for device to reset - // #ifdef CONFIG_INA230_TRIGGER - // if (config->trig_enabled) - // { - // ret = ina230_trigger_mode_init(dev); - // if (ret < 0) - // { - // LOG_ERR("Failed to init trigger mode\n"); - // return ret; - // } + // Write configuration + uint8_t accel_range = PMU_RANGE_2G; + i2c_burst_write_dt(&config->bus, REG_PMU_RANGE, &accel_range, sizeof(accel_range)); - // ret = ina23x_reg_write(&config->bus, INA230_REG_ALERT, config->alert_limit); - // if (ret < 0) - // { - // LOG_ERR("Failed to write alert register!"); - // return ret; - // } - - // ret = ina23x_reg_write(&config->bus, INA230_REG_MASK, config->mask); - // if (ret < 0) - // { - // LOG_ERR("Failed to write mask register!"); - // return ret; - // } - // } - // #endif /* CONFIG_INA230_TRIGGER */ + uint8_t accel_bw = PMU_BW_8HZ; + i2c_burst_write_dt(&config->bus, REG_PMU_BW, &accel_bw, sizeof(accel_bw)); return 0; }