217 lines
6.4 KiB
C
217 lines
6.4 KiB
C
/*
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* Copyright (c) 2021 Nordic Semiconductor ASA
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* SPDX-License-Identifier: Apache-2.0
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*/
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#define DT_DRV_COMPAT bosch_bmx055
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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/logging/log.h>
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LOG_MODULE_REGISTER(bmx055, CONFIG_SENSOR_LOG_LEVEL);
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// Accelerometer registers
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const uint8_t REG_BWG_CHIPID = 0x00;
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const uint8_t REG_ACCD_X_LSB = 0x02;
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const uint8_t REG_ACCD_X_MSB = 0x03;
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const uint8_t REG_ACCD_Y_LSB = 0x04;
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const uint8_t REG_ACCD_Y_MSB = 0x05;
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const uint8_t REG_ACCD_Z_LSB = 0x06;
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const uint8_t REG_ACCD_Z_MSB = 0x07;
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const uint8_t REG_ACCD_TEMP = 0x08;
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const uint8_t REG_INT_STATUS_0 = 0x09;
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const uint8_t REG_INT_STATUS_1 = 0x0A;
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const uint8_t REG_INT_STATUS_2 = 0x0B;
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const uint8_t REG_INT_STATUS_3 = 0x0C;
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const uint8_t REG_FIFO_STATUS = 0x0E;
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const uint8_t REG_PMU_RANGE = 0x0F;
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const uint8_t REG_PMU_BW = 0x10;
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const uint8_t REG_PMU_LPW = 0x11;
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const uint8_t REG_PMU_LOW_POWER = 0x12;
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const uint8_t REG_ACCD_HBW = 0x13;
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const uint8_t REG_BGW_SOFTRESET = 0x14;
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const uint8_t REG_INT_EN_0 = 0x16;
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const uint8_t REG_INT_EN_1 = 0x17;
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const uint8_t REG_INT_EN_2 = 0x18;
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const uint8_t REG_INT_MAP_0 = 0x19;
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const uint8_t REG_INT_MAP_1 = 0x1A;
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const uint8_t REG_INT_MAP_2 = 0x1B;
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const uint8_t REG_INT_SRC = 0x1E;
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const uint8_t REG_INT_OUT_CTRL = 0x20;
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const uint8_t REG_INT_RST_LATCH = 0x21;
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const uint8_t REG_INT_0 = 0x22;
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const uint8_t REG_INT_1 = 0x23;
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const uint8_t REG_INT_2 = 0x24;
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const uint8_t REG_INT_3 = 0x25;
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const uint8_t REG_INT_4 = 0x26;
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const uint8_t REG_INT_5 = 0x27;
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const uint8_t REG_INT_6 = 0x28;
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const uint8_t REG_INT_7 = 0x29;
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const uint8_t REG_INT_8 = 0x2A;
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const uint8_t REG_INT_9 = 0x2B;
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const uint8_t REG_INT_A = 0x2C;
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const uint8_t REG_INT_B = 0x2D;
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const uint8_t REG_INT_C = 0x2E;
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const uint8_t REG_INT_D = 0x2F;
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const uint8_t REG_FIFO_CONFIG_0 = 0x30;
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const uint8_t REG_PMU_SELF_TEST = 0x32;
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const uint8_t REG_TRIM_NVM_CTRL = 0x33;
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const uint8_t REG_BGW_SPI3_WDT = 0x34;
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const uint8_t REG_OFC_CTRL = 0x36;
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const uint8_t REG_OFC_SETTING = 0x37;
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const uint8_t REG_OFC_OFFSET_X = 0x38;
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const uint8_t REG_OFC_OFFSET_Y = 0x39;
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const uint8_t REG_OFC_OFFSET_Z = 0x3A;
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const uint8_t REG_TRIM_GP0 = 0x3B;
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const uint8_t REG_TRIM_GP1 = 0x3C;
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const uint8_t REG_FIFO_CONFIG_1 = 0x3E;
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const uint8_t REG_FIFO_DATA = 0x3F;
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struct bmx055_data
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{
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int16_t accel_x;
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int16_t accel_y;
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int16_t accel_z;
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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;
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};
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struct bmx055_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 bmx055_sample_fetch(const struct device *dev,
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enum sensor_channel chan)
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{
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const struct bmx055_config *config = dev->config;
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struct bmx055_data *data = dev->data;
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int ret;
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ret = i2c_burst_read_dt(&config->bus, REG_ACCD_TEMP, &data->temperature, sizeof(data->temperature));
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if (ret < 0)
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{
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LOG_ERR("Failed to read temperature register!");
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return ret;
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}
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return 0;
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}
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static int bmx055_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 bmx055_data *data = dev->data;
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switch (chan)
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{
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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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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 bmx055_api = {
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.sample_fetch = &bmx055_sample_fetch,
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.channel_get = &bmx055_channel_get,
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};
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static int bmx055_init(const struct device *dev)
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{
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const struct bmx055_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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uint8_t chip_id;
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ret = i2c_burst_read_dt(&config->bus, REG_BWG_CHIPID, &chip_id, sizeof(chip_id));
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if (ret < 0)
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{
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LOG_ERR("Failed to read chip ID register!");
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return ret;
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}
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const uint8_t CHIP_ID = 0xfa;
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if (chip_id != CHIP_ID)
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{
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LOG_ERR("Chip ID read from %s incorrect. Read 0x%02X, expected 0x%02X", dev->name, chip_id, CHIP_ID);
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}
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// ret = ina23x_reg_write(&config->bus, INA230_REG_CONFIG, config->config);
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// if (ret < 0)
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// {
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// LOG_ERR("Failed to write configuration register!");
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// return ret;
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// }
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// ret = ina230_calibrate(dev);
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// if (ret < 0)
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// {
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// LOG_ERR("Failed to write calibration register!");
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// return ret;
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// }
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// #ifdef CONFIG_INA230_TRIGGER
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// if (config->trig_enabled)
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// {
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// ret = ina230_trigger_mode_init(dev);
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// if (ret < 0)
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// {
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// LOG_ERR("Failed to init trigger mode\n");
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// return ret;
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// }
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// ret = ina23x_reg_write(&config->bus, INA230_REG_ALERT, config->alert_limit);
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// if (ret < 0)
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// {
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// LOG_ERR("Failed to write alert register!");
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// return ret;
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// }
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// ret = ina23x_reg_write(&config->bus, INA230_REG_MASK, config->mask);
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// if (ret < 0)
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// {
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// LOG_ERR("Failed to write mask register!");
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// return ret;
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// }
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// }
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// #endif /* CONFIG_INA230_TRIGGER */
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return 0;
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}
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#define BMX055_INIT(i) \
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static struct bmx055_data bmx055_data_##i; \
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\
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static const struct bmx055_config bmx055_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, &bmx055_init, NULL, \
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&bmx055_data_##i, \
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&bmx055_config_##i, POST_KERNEL, \
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CONFIG_SENSOR_INIT_PRIORITY, &bmx055_api);
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DT_INST_FOREACH_STATUS_OKAY(BMX055_INIT)
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