193 lines
5.5 KiB
C
193 lines
5.5 KiB
C
/*
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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, \
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&bmm150_data_##i, \
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&bmm150_config_##i, POST_KERNEL, \
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CONFIG_SENSOR_INIT_PRIORITY, &bmm150_api);
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DT_INST_FOREACH_STATUS_OKAY(BMM150_INIT)
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