From e42be002056a79e28b7baf5d92e9846616e9aa5a Mon Sep 17 00:00:00 2001 From: Brendan Haines Date: Thu, 4 Jul 2024 23:52:59 -0600 Subject: [PATCH] Remove bmg160 and bmm150 drivers. These weren't even being used because zephyr already has these libraries --- drivers/sensor/CMakeLists.txt | 2 - drivers/sensor/Kconfig | 2 - drivers/sensor/bmg160/CMakeLists.txt | 2 - drivers/sensor/bmg160/Kconfig | 17 --- drivers/sensor/bmg160/bmg160.c | 188 -------------------------- drivers/sensor/bmm150/CMakeLists.txt | 2 - drivers/sensor/bmm150/Kconfig | 17 --- drivers/sensor/bmm150/bmm150.c | 192 --------------------------- 8 files changed, 422 deletions(-) delete mode 100644 drivers/sensor/bmg160/CMakeLists.txt delete mode 100644 drivers/sensor/bmg160/Kconfig delete mode 100644 drivers/sensor/bmg160/bmg160.c delete mode 100644 drivers/sensor/bmm150/CMakeLists.txt delete mode 100644 drivers/sensor/bmm150/Kconfig delete mode 100644 drivers/sensor/bmm150/bmm150.c diff --git a/drivers/sensor/CMakeLists.txt b/drivers/sensor/CMakeLists.txt index 925aa9d..25aedb8 100644 --- a/drivers/sensor/CMakeLists.txt +++ b/drivers/sensor/CMakeLists.txt @@ -3,6 +3,4 @@ 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) diff --git a/drivers/sensor/Kconfig b/drivers/sensor/Kconfig index 9c44725..d24a883 100644 --- a/drivers/sensor/Kconfig +++ b/drivers/sensor/Kconfig @@ -4,7 +4,5 @@ if SENSOR rsource "example_sensor/Kconfig" rsource "bma255/Kconfig" -# rsource "bmg160/Kconfig" -# rsource "bmm150/Kconfig" rsource "hdc1080/Kconfig" endif # SENSOR diff --git a/drivers/sensor/bmg160/CMakeLists.txt b/drivers/sensor/bmg160/CMakeLists.txt deleted file mode 100644 index 5bb8db2..0000000 --- a/drivers/sensor/bmg160/CMakeLists.txt +++ /dev/null @@ -1,2 +0,0 @@ -zephyr_library() -zephyr_library_sources(bmg160.c) diff --git a/drivers/sensor/bmg160/Kconfig b/drivers/sensor/bmg160/Kconfig deleted file mode 100644 index ba586c3..0000000 --- a/drivers/sensor/bmg160/Kconfig +++ /dev/null @@ -1,17 +0,0 @@ -config BMG160 - bool "BMG160" - default y - depends on DT_HAS_BOSCH_BMG160_ENABLED - help - Enable driver for BMG160. - -if BMG160 - -config BMG160_TRIGGER - bool "BMG160 trigger mode" - depends on BMG160 - help - Set to enable trigger mode using gpio interrupt, where - interrupts are configured to line ALERT PIN. - -endif # BMG160 diff --git a/drivers/sensor/bmg160/bmg160.c b/drivers/sensor/bmg160/bmg160.c deleted file mode 100644 index 7d9be1c..0000000 --- a/drivers/sensor/bmg160/bmg160.c +++ /dev/null @@ -1,188 +0,0 @@ -/* - * Copyright (c) 2023 Brendan Haines - */ - -#define DT_DRV_COMPAT bosch_bmg160 - -#include -#include -#include -#include -#include - -#include -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) diff --git a/drivers/sensor/bmm150/CMakeLists.txt b/drivers/sensor/bmm150/CMakeLists.txt deleted file mode 100644 index 7f4c542..0000000 --- a/drivers/sensor/bmm150/CMakeLists.txt +++ /dev/null @@ -1,2 +0,0 @@ -zephyr_library() -zephyr_library_sources(bmm150.c) diff --git a/drivers/sensor/bmm150/Kconfig b/drivers/sensor/bmm150/Kconfig deleted file mode 100644 index 891441b..0000000 --- a/drivers/sensor/bmm150/Kconfig +++ /dev/null @@ -1,17 +0,0 @@ -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 diff --git a/drivers/sensor/bmm150/bmm150.c b/drivers/sensor/bmm150/bmm150.c deleted file mode 100644 index 6b73779..0000000 --- a/drivers/sensor/bmm150/bmm150.c +++ /dev/null @@ -1,192 +0,0 @@ -/* - * Copyright (c) 2023 Brendan Haines - */ - -#define DT_DRV_COMPAT bosch_bmm150 - -#include -#include -#include -#include -#include - -#include -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)