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Merged in alinjerpelea/nuttx (pull request #912)

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configs: spresense: enable BMI160_I2C sensor

* drivers: sensors: add BMI160 driver

    Enable driver support for the Bosch BMI160 Inertial
    Measurement sensor

    This driver can be used with the BMI160 sensor connected over
    SPI or I2C bus

    Signed-off-by: Alin Jerpelea <alin.jerpelea@sony.com>

* configs: spresense: enable BMI160_I2C sensor

    Enable BMI160 sensor connected over I2C on spresense board

    Signed-off-by: Alin Jerpelea <alin.jerpelea@sony.com>

Approved-by: Gregory Nutt <gnutt@nuttx.org>
This commit is contained in:
Alin Jerpelea
2019-06-20 13:32:36 +00:00
committed by Gregory Nutt
parent af9b70ca5d
commit 977893d5a7
9 changed files with 1151 additions and 0 deletions
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include/nuttx/sensors/bmi160.h
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/****************************************************************************
* include/nuttx/sensors/bmi160.h
*
* Copyright 2018 Sony Semiconductor Solutions Corporation
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name of Sony Semiconductor Solutions Corporation nor
* the names of its contributors may be used to endorse or promote
* products derived from this software without specific prior written
* permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#ifndef __INCLUDE_NUTTX_SENSORS_BMI160_H
#define __INCLUDE_NUTTX_SENSORS_BMI160_H
#include <nuttx/config.h>
#include <nuttx/fs/ioctl.h>
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
#define BMI160_SPI_MAXFREQUENCY 10000000
/* Configuration ************************************************************/
/* Power mode */
#define BMI160_PM_SUSPEND (0x00)
#define BMI160_PM_NORMAL (0x01)
#define BMI160_PM_LOWPOWER (0x02)
#define BMI160_PM_FASTSTARTUP (0x03)
/* Output data rate */
#define BMI160_ACCEL_ODR_0_78HZ (0x01)
#define BMI160_ACCEL_ODR_1_56HZ (0x02)
#define BMI160_ACCEL_ODR_3_12HZ (0x03)
#define BMI160_ACCEL_ODR_6_25HZ (0x04)
#define BMI160_ACCEL_ODR_12_5HZ (0x05)
#define BMI160_ACCEL_ODR_25HZ (0x06)
#define BMI160_ACCEL_ODR_50HZ (0x07)
#define BMI160_ACCEL_ODR_100HZ (0x08)
#define BMI160_ACCEL_ODR_200HZ (0x09)
#define BMI160_ACCEL_ODR_400HZ (0x0A)
#define BMI160_ACCEL_ODR_800HZ (0x0B)
#define BMI160_ACCEL_ODR_1600HZ (0x0C)
/* IOCTL Commands ***********************************************************/
#define SNIOC_ENABLESC _SNIOC(0x0001) /* Arg: uint8_t value */
#define SNIOC_READSC _SNIOC(0x0002) /* Arg: int16_t* pointer */
#define SNIOC_SETACCPM _SNIOC(0x0003) /* Arg: uint8_t value */
#define SNIOC_SETACCODR _SNIOC(0x0004) /* Arg: uint8_t value */
/****************************************************************************
* Public Types
****************************************************************************/
/****************************************************************************
* struct 6-axis data
****************************************************************************/
struct accel_t
{
int16_t x;
int16_t y;
int16_t z;
};
struct gyro_t
{
int16_t x;
int16_t y;
int16_t z;
};
struct accel_gyro_st_s
{
struct gyro_t gyro;
struct accel_t accel;
uint32_t sensor_time;
};
struct spi_dev_s;
struct i2c_master_s;
/****************************************************************************
* Public Function Prototypes
****************************************************************************/
#ifdef __cplusplus
#define EXTERN extern "C"
extern "C"
{
#else
#define EXTERN extern
#endif
/****************************************************************************
* Name: bmi160_register
*
* Description:
* Register the BMI160 character device as 'devpath'
*
* Input Parameters:
* devpath - The full path to the driver to register. E.g., "/dev/accel0"
* dev - An instance of the SPI or I2C interface to use to communicate
* with BMI160
*
* Returned Value:
* Zero (OK) on success; a negated errno value on failure.
*
****************************************************************************/
# ifdef CONFIG_SENSORS_BMI160_I2C
int bmi160_register(FAR const char *devpath, FAR struct i2c_master_s *dev);
# else
int bmi160_register(FAR const char *devpath, FAR struct spi_dev_s *dev);
# endif
#undef EXTERN
#ifdef __cplusplus
}
#endif
#endif /* __INCLUDE_NUTTX_SENSORS_BMI160_H */