Remove bmg160 and bmm150 drivers. These weren't even being used because zephyr already has these libraries
This commit is contained in:
@ -3,6 +3,4 @@
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add_subdirectory_ifdef(CONFIG_EXAMPLE_SENSOR example_sensor)
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add_subdirectory_ifdef(CONFIG_BMA255 bma255)
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# add_subdirectory_ifdef(CONFIG_BMG160 bmg160)
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# add_subdirectory_ifdef(CONFIG_BMM150 bmm150)
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add_subdirectory_ifdef(CONFIG_HDC1080 hdc1080)
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@ -4,7 +4,5 @@
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if SENSOR
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rsource "example_sensor/Kconfig"
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rsource "bma255/Kconfig"
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# rsource "bmg160/Kconfig"
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# rsource "bmm150/Kconfig"
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rsource "hdc1080/Kconfig"
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endif # SENSOR
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@ -1,2 +0,0 @@
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zephyr_library()
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zephyr_library_sources(bmg160.c)
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@ -1,17 +0,0 @@
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config BMG160
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bool "BMG160"
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default y
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depends on DT_HAS_BOSCH_BMG160_ENABLED
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help
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Enable driver for BMG160.
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if BMG160
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config BMG160_TRIGGER
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bool "BMG160 trigger mode"
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depends on BMG160
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help
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Set to enable trigger mode using gpio interrupt, where
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interrupts are configured to line ALERT PIN.
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endif # BMG160
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@ -1,188 +0,0 @@
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/*
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* Copyright (c) 2023 Brendan Haines
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*/
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#define DT_DRV_COMPAT bosch_bmg160
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#include <zephyr/device.h>
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#include <zephyr/drivers/gpio.h>
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#include <zephyr/drivers/i2c.h>
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#include <zephyr/drivers/sensor.h>
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#include <zephyr/sys/byteorder.h>
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#include <zephyr/logging/log.h>
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LOG_MODULE_REGISTER(bmg160, CONFIG_SENSOR_LOG_LEVEL);
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const uint8_t GYRO_REG_CHIP_ID = 0x00;
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const uint8_t GYRO_REG_RATE_X_LSB = 0x02;
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const uint8_t GYRO_REG_RATE_X_MSB = 0x03;
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const uint8_t GYRO_REG_RATE_Y_LSB = 0x04;
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const uint8_t GYRO_REG_RATE_Y_MSB = 0x05;
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const uint8_t GYRO_REG_RATE_Z_LSB = 0x06;
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const uint8_t GYRO_REG_RATE_Z_MSB = 0x07;
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const uint8_t GYRO_REG_INT_STATUS_0 = 0x09;
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const uint8_t GYRO_REG_INT_STATUS_1 = 0x0A;
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const uint8_t GYRO_REG_INT_STATUS_2 = 0x0B;
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const uint8_t GYRO_REG_INT_STATUS_3 = 0x0C;
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const uint8_t GYRO_REG_FIFO_STATUS = 0x0E;
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const uint8_t GYRO_REG_RANGE = 0x0F;
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const uint8_t GYRO_REG_BW = 0x10;
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const uint8_t GYRO_REG_LPM1 = 0x11;
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const uint8_t GYRO_REG_LPM2 = 0x12;
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const uint8_t GYRO_REG_RATE_HBW = 0x13;
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const uint8_t GYRO_REG_BGW_SOFTRESET = 0x14;
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const uint8_t GYRO_REG_INT_EN_0 = 0x15;
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const uint8_t GYRO_REG_INT_EN_1 = 0x16;
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const uint8_t GYRO_REG_INT_MAP_0 = 0x17;
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const uint8_t GYRO_REG_INT_MAP_1 = 0x18;
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const uint8_t GYRO_REG_INT_MAP_2 = 0x19;
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const uint8_t GYRO_REG_INT_SOURCE_1 = 0x1A;
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const uint8_t GYRO_REG_INT_SOURCE_2 = 0x1B;
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// const uint8_t GYRO_REG_ = 0x1C;
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// const uint8_t GYRO_REG_ = 0x1E;
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const uint8_t GYRO_REG_INT_RST_LATCH = 0x21;
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const uint8_t GYRO_REG_HIGH_TH_X = 0x22;
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const uint8_t GYRO_REG_HIGH_DUR_X = 0x23;
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const uint8_t GYRO_REG_HIGH_TH_Y = 0x24;
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const uint8_t GYRO_REG_HIGH_DUR_Y = 0x25;
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const uint8_t GYRO_REG_HIGH_TH_Z = 0x26;
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const uint8_t GYRO_REG_HIGH_DUR_Z = 0x27;
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const uint8_t GYRO_REG_SOC = 0x31;
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const uint8_t GYRO_REG_A_FOC = 0x32;
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const uint8_t GYRO_REG_TRIM_NVM_CTRL = 0x33;
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const uint8_t GYRO_REG_BGW_SPI3_WDT = 0x34;
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const uint8_t GYRO_REG_OFC1 = 0x36;
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const uint8_t GYRO_REG_OFC2 = 0x37;
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const uint8_t GYRO_REG_OFC3 = 0x38;
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const uint8_t GYRO_REG_OFC4 = 0x39;
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const uint8_t GYRO_REG_TRIM_GP0 = 0x3A;
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const uint8_t GYRO_REG_TRIM_GP1 = 0x3B;
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const uint8_t GYRO_REG_BIST = 0x3C;
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const uint8_t GYRO_REG_FIFO_CONFIG_0 = 0x3D;
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const uint8_t GYRO_REG_FIFO_CONFIG_1 = 0x3E;
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struct bmg160_data
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{
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int16_t gyro_x;
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int16_t gyro_y;
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int16_t gyro_z;
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int8_t temperature; // FIXME: does gyro have die temp sensor?
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};
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struct bmg160_config
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{
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struct i2c_dt_spec bus;
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};
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static int bmg160_sample_fetch(const struct device *dev,
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enum sensor_channel chan)
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{
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const struct bmg160_config *config = dev->config;
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struct bmg160_data *data = dev->data;
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int ret;
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uint8_t gyro[6];
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ret = i2c_burst_read_dt(&config->bus, GYRO_REG_RATE_X_LSB, gyro, sizeof(gyro));
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if (ret < 0)
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{
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LOG_ERR("Failed to read gyro registers!");
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return ret;
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}
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data->gyro_x = ((int16_t)sys_get_le16(&gyro[0]));
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data->gyro_y = ((int16_t)sys_get_le16(&gyro[2]));
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data->gyro_z = ((int16_t)sys_get_le16(&gyro[4]));
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return 0;
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}
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static int bmg160_channel_get(const struct device *dev,
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enum sensor_channel chan,
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struct sensor_value *val)
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{
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struct bmg160_data *data = dev->data;
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switch (chan)
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{
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// // degrees C
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// case SENSOR_CHAN_DIE_TEMP:
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// // 0.5K/LSB, center temperature is 23C
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// val->val1 = 23 + data->temperature / 2;
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// val->val2 = 0; // TODO: don't throw out LSB
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// break;
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// radians/second
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case SENSOR_CHAN_GYRO_X:
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{
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float rate = data->gyro_x * 2000.0 / 32767;
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val->val1 = rate;
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val->val2 = (rate - val->val1) * 1000000;
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break;
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}
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case SENSOR_CHAN_GYRO_Y:
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{
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float rate = data->gyro_y * 2000.0 / 32767;
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val->val1 = rate;
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val->val2 = (rate - val->val1) * 1000000;
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break;
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}
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case SENSOR_CHAN_GYRO_Z:
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{
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float rate = data->gyro_z * 2000.0 / 32767;
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val->val1 = rate;
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val->val2 = (rate - val->val1) * 1000000;
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break;
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}
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default:
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return -ENOTSUP;
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}
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return 0;
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}
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static const struct sensor_driver_api bmg160_api = {
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.sample_fetch = &bmg160_sample_fetch,
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.channel_get = &bmg160_channel_get,
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};
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static int bmg160_init(const struct device *dev)
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{
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const struct bmg160_config *const config = dev->config;
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int ret;
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if (!device_is_ready(config->bus.bus))
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{
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LOG_ERR("I2C bus %s is not ready", config->bus.bus->name);
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return -ENODEV;
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}
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// TODO: reset IC?
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// Wait for device to reset
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uint8_t gyro_chip_id;
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ret = i2c_burst_read_dt(&config->bus, GYRO_REG_CHIP_ID, &gyro_chip_id, sizeof(gyro_chip_id));
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if (ret < 0)
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{
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LOG_ERR("Failed to read gyro chip ID register!");
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return ret;
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}
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const uint8_t GYRO_CHIP_ID = 0x0f;
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if (gyro_chip_id != GYRO_CHIP_ID)
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{
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LOG_ERR("Gyro chip ID read from %s incorrect. Read 0x%02X, expected 0x%02X", dev->name, gyro_chip_id, GYRO_CHIP_ID);
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}
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return 0;
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}
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#define BMG160_INIT(i) \
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static struct bmg160_data bmg160_data_##i; \
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\
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static const struct bmg160_config bmg160_config_##i = { \
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.bus = I2C_DT_SPEC_INST_GET(i), \
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}; \
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\
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SENSOR_DEVICE_DT_INST_DEFINE(i, &bmg160_init, NULL, \
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&bmg160_data_##i, \
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&bmg160_config_##i, POST_KERNEL, \
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CONFIG_SENSOR_INIT_PRIORITY, &bmg160_api);
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DT_INST_FOREACH_STATUS_OKAY(BMG160_INIT)
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@ -1,2 +0,0 @@
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zephyr_library()
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zephyr_library_sources(bmm150.c)
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@ -1,17 +0,0 @@
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config BMM150
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bool "BMM150"
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default y
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depends on DT_HAS_BOSCH_BMM150_ENABLED
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help
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Enable driver for BMM150.
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if BMM150
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config BMM150_TRIGGER
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bool "BMM150 trigger mode"
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depends on BMM150
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help
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Set to enable trigger mode using gpio interrupt, where
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interrupts are configured to line ALERT PIN.
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endif # BMM150
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@ -1,192 +0,0 @@
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/*
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* Copyright (c) 2023 Brendan Haines
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*/
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#define DT_DRV_COMPAT bosch_bmm150
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#include <zephyr/device.h>
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#include <zephyr/drivers/gpio.h>
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#include <zephyr/drivers/i2c.h>
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#include <zephyr/drivers/sensor.h>
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#include <zephyr/sys/byteorder.h>
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#include <zephyr/logging/log.h>
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LOG_MODULE_REGISTER(bmm150, CONFIG_SENSOR_LOG_LEVEL);
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const uint8_t MAG_REG_CHIP_ID = 0x40;
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const uint8_t MAG_REG_DATA_X_LSB = 0x42;
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const uint8_t MAG_REG_DATA_X_MSB = 0x43;
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const uint8_t MAG_REG_DATA_Y_LSB = 0x44;
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const uint8_t MAG_REG_DATA_Y_MSB = 0x45;
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const uint8_t MAG_REG_DATA_Z_LSB = 0x46;
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const uint8_t MAG_REG_DATA_Z_MSB = 0x47;
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const uint8_t MAG_REG_RHALL_LSB = 0x48;
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const uint8_t MAG_REG_RHALL_MSB = 0x49;
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const uint8_t MAG_REG_INT_STATUS = 0x4A;
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const uint8_t MAG_REG_POWER = 0x4B;
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typedef enum mag_power_t
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{
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MAG_POWER_POWER_ON = 0x01,
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MAG_POWER_RESET = 0x82,
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} mag_power_t;
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const uint8_t MAG_REG_MODE = 0x4C;
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typedef enum mag_mode_t
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{
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MAG_MODE_OPMODE_NORMAL = 0x00 << 1,
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MAG_MODE_OPMODE_FORCED = 0x01 << 1,
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MAG_MODE_OPMODE_SLEEP_MODE = 0x11 << 1,
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} mag_mode_t;
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const uint8_t MAG_REG_INT_ENABLE = 0x4D;
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const uint8_t MAG_REG_INT_SETTINGS = 0x4E;
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const uint8_t MAG_REG_LOW_THRESH = 0x4F;
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const uint8_t MAG_REG_HIGH_THRESH = 0x50;
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const uint8_t MAG_REG_REP_XY = 0x51;
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const uint8_t MAG_REG_REP_Z = 0x52;
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struct bmm150_data
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{
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int16_t mag_x;
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int16_t mag_y;
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int16_t mag_z;
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int8_t temperature; // TODO: does mag have die temp sensor?
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};
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struct bmm150_config
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{
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struct i2c_dt_spec bus;
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#ifdef CONFIG_INA230_TRIGGER
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bool trig_enabled;
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uint16_t mask;
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const struct gpio_dt_spec alert_gpio;
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uint16_t alert_limit;
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#endif /* CONFIG_INA230_TRIGGER */
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};
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static int bmm150_sample_fetch(const struct device *dev,
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enum sensor_channel chan)
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{
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const struct bmm150_config *config = dev->config;
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struct bmm150_data *data = dev->data;
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int ret;
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uint8_t mag[6];
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ret = i2c_burst_read_dt(&config->bus, MAG_REG_DATA_X_LSB, mag, sizeof(mag));
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if (ret < 0)
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{
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LOG_ERR("Failed to read mag registers!");
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return ret;
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}
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data->mag_x = ((int16_t)sys_get_le16(&mag[0])) >> 1;
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data->mag_y = ((int16_t)sys_get_le16(&mag[2])) >> 1;
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data->mag_z = ((int16_t)sys_get_le16(&mag[4])) >> 1;
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return 0;
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}
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static int bmm150_channel_get(const struct device *dev,
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enum sensor_channel chan,
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struct sensor_value *val)
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{
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struct bmm150_data *data = dev->data;
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switch (chan)
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{
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// // degrees C
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// case SENSOR_CHAN_DIE_TEMP:
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// // 0.5K/LSB, center temperature is 23C
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// val->val1 = 23 + data->temperature / 2;
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// val->val2 = 0; // TODO: don't throw out LSB
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// break;
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// Gauss
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case SENSOR_CHAN_MAGN_X:
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{
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float rate = data->mag_x * 1300.0 / (2 << 15) / 100; // to uT, to gauss
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val->val1 = rate;
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val->val2 = (rate - val->val1) * 1000000;
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break;
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}
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case SENSOR_CHAN_MAGN_Y:
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{
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float rate = data->mag_y * 1300.0 / (2 << 15) / 100; // to uT, to gauss
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val->val1 = rate;
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val->val2 = (rate - val->val1) * 1000000;
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break;
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}
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case SENSOR_CHAN_MAGN_Z:
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{
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float rate = data->mag_z * 2500.0 / (2 << 15) / 100; // to uT, to gauss
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val->val1 = rate;
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val->val2 = (rate - val->val1) * 1000000;
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break;
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}
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default:
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return -ENOTSUP;
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}
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return 0;
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}
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static const struct sensor_driver_api bmm150_api = {
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.sample_fetch = &bmm150_sample_fetch,
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.channel_get = &bmm150_channel_get,
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};
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static int bmm150_init(const struct device *dev)
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{
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const struct bmm150_config *const config = dev->config;
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int ret;
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if (!device_is_ready(config->bus.bus))
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{
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LOG_ERR("I2C bus %s is not ready", config->bus.bus->name);
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return -ENODEV;
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}
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// TODO: Reset the sensor
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// Wait for device to reset
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uint8_t mag_power = MAG_POWER_POWER_ON;
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ret = i2c_burst_write_dt(&config->bus, MAG_REG_POWER, &mag_power, sizeof(mag_power));
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if (ret < 0)
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{
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LOG_ERR("Failed to power up magnetometer");
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return ret;
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}
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uint8_t mag_mode = MAG_MODE_OPMODE_NORMAL;
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ret = i2c_burst_write_dt(&config->bus, MAG_REG_MODE, &mag_mode, sizeof(mag_mode));
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if (ret < 0)
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{
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LOG_ERR("Failed to start magnetometer");
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return ret;
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}
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uint8_t mag_chip_id;
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ret = i2c_burst_read_dt(&config->bus, MAG_REG_CHIP_ID, &mag_chip_id, sizeof(mag_chip_id));
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if (ret < 0)
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{
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LOG_ERR("Failed to read magnetometer chip ID register!");
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return ret;
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}
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const uint8_t MAG_CHIP_ID = 0x32;
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if (mag_chip_id != MAG_CHIP_ID)
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{
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LOG_ERR("Mag chip ID read from %s incorrect. Read 0x%02X, expected 0x%02X", dev->name, mag_chip_id, MAG_CHIP_ID);
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}
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return 0;
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}
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#define BMM150_INIT(i) \
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static struct bmm150_data bmm150_data_##i; \
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\
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static const struct bmm150_config bmm150_config_##i = { \
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.bus = I2C_DT_SPEC_INST_GET(i), \
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}; \
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\
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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)
|
Reference in New Issue
Block a user