diff --git a/drivers/sensors/Kconfig b/drivers/sensors/Kconfig index d5d9daeeccb..8e6ab080f84 100644 --- a/drivers/sensors/Kconfig +++ b/drivers/sensors/Kconfig @@ -182,6 +182,35 @@ config BMI160_I2C_ADDR_69 endchoice endif +config SENSORS_BMI270 + bool "Bosch BMI270 Inertial Measurement Sensor support" + default n + ---help--- + Enable driver support for the Bosch BMI270 Inertial + Measurement sensor + +if SENSORS_BMI270 + +choice + prompt "BMI270 Interface" + default SENSORS_BMI270_SPI + +config SENSORS_BMI270_I2C + bool "BMI270 I2C Interface" + select I2C + ---help--- + Enables support for the I2C interface + +config SENSORS_BMI270_SPI + bool "BMI270 SPI Interface" + select SPI + ---help--- + Enables support for the SPI interface + +endchoice + +endif + config SENSORS_BMP180 bool "Bosch BMP180 Barometer Sensor support" default n diff --git a/drivers/sensors/Make.defs b/drivers/sensors/Make.defs index 046ba03872e..556aa588ac8 100644 --- a/drivers/sensors/Make.defs +++ b/drivers/sensors/Make.defs @@ -132,6 +132,10 @@ ifeq ($(CONFIG_SENSORS_BMI160),y) CSRCS += bmi160.c endif +ifeq ($(CONFIG_SENSORS_BMI270),y) + CSRCS += bmi270.c +endif + ifeq ($(CONFIG_SENSORS_BMP180),y) CSRCS += bmp180.c endif diff --git a/drivers/sensors/bmi270.c b/drivers/sensors/bmi270.c new file mode 100644 index 00000000000..4596674f64c --- /dev/null +++ b/drivers/sensors/bmi270.c @@ -0,0 +1,1483 @@ +/**************************************************************************** + * drivers/sensors/bmi270.c + * + * Licensed to the Apache Software Foundation (ASF) under one or more + * contributor license agreements. See the NOTICE file distributed with + * this work for additional information regarding copyright ownership. The + * ASF licenses this file to you under the Apache License, Version 2.0 (the + * "License"); you may not use this file except in compliance with the + * License. You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the + * License for the specific language governing permissions and limitations + * under the License. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include + +#include +#include +#include + +#include +#include +#include +#ifdef CONFIG_SENSORS_BMI270_I2C +# include +#else +# include +#endif + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +#define BMI270_SPI_MAXFREQUENCY 10000000 +#define BMI270_I2C_FREQ 400000 + +#define DEVID 0x24 + +#define BMI270_CHIP_ID (0x00) /* Chip ID */ +#define BMI270_ERROR (0x02) /* Error register */ +#define BMI270_PMU_STAT (0x03) /* Current power mode */ +#define BMI270_DATA_0 (0x04) /* MAG X 7:0 (LSB) */ +#define BMI270_DATA_1 (0x05) /* MAG X 15:8 (MSB) */ +#define BMI270_DATA_2 (0x06) /* MAG Y 7:0 (LSB) */ +#define BMI270_DATA_3 (0x07) /* MAG Y 15:8 (MSB) */ +#define BMI270_DATA_4 (0x08) /* MAG Z 7:0 (LSB) */ +#define BMI270_DATA_5 (0x09) /* MAG Z 15:8 (MSB) */ +#define BMI270_DATA_6 (0x0A) /* RHALL 7:0 (LSB) */ +#define BMI270_DATA_7 (0x0B) /* RHALL 15:8 (MSB) */ +#define BMI270_DATA_8 (0x0C) /* GYR X 7:0 (LSB) */ +#define BMI270_DATA_9 (0x0D) /* GYR X 15:8 (MSB) */ +#define BMI270_DATA_10 (0x0E) /* GYR Y 7:0 (LSB) */ +#define BMI270_DATA_11 (0x0F) /* GYR Y 15:8 (MSB) */ +#define BMI270_DATA_12 (0x10) /* GYR Z 7:0 (LSB) */ +#define BMI270_DATA_13 (0x11) /* GYR Z 15:8 (MSB) */ +#define BMI270_DATA_14 (0x12) /* ACC X 7:0 (LSB) */ +#define BMI270_DATA_15 (0x13) /* ACC X 15:8 (MSB) */ +#define BMI270_DATA_16 (0x14) /* ACC Y 7:0 (LSB) */ +#define BMI270_DATA_17 (0x15) /* ACC Y 15:8 (MSB) */ +#define BMI270_DATA_18 (0x16) /* ACC Z 7:0 (LSB) */ +#define BMI270_DATA_19 (0x17) /* ACC Z 15:8 (MSB) */ +#define BMI270_SENSORTIME_0 (0x18) /* Sensor time 0 */ +#define BMI270_SENSORTIME_1 (0x19) /* Sensor time 1 */ +#define BMI270_SENSORTIME_2 (0x1A) /* Sensor time 2 */ +#define BMI270_EVENT (0x1B) /* Sensor event flags */ +#define BMI270_INTR_STAT_0 (0x1C) /* Interrupt status */ +#define BMI270_INTR_STAT_1 (0x1D) +#define BMI270_SC_OUT_0 (0x1E) /* Step counting value */ +#define BMI270_SC_OUT_1 (0x1f) /* Step counting value */ +#define BMI270_WR_GEST_ACT (0x20) /* Wrist gesture and activity detection */ +#define BMI270_INTERNAL_STAT (0x21) /* Internal status */ +#define BMI160_TEMPERATURE_0 (0x22) /* Temperature */ +#define BMI160_TEMPERATURE_1 (0x23) +#define BMI270_FIFO_LENGTH_0 (0x24) /* FIFO length */ +#define BMI270_FIFO_LENGTH_1 (0x25) +#define BMI270_FIFO_DATA (0x26) +#define BMI270_FEAT_PAGE (0x2f) /* Page number for feature configuration and output registers */ + /* TODO: Features 0x30-0x3f */ +#define BMI270_ACC_CONFIG (0x40) /* ACCEL config for ODR, bandwidth and undersampling */ +#define BMI270_ACC_RANGE (0x41) /* ACCEL range */ +#define BMI270_GYR_CONFIG (0x42) /* GYRO config for ODR and bandwidth */ +#define BMI270_GYR_RANGE (0x43) /* GYRO range */ +#define BMI270_AUX_CONFIG (0x44) /* AUX config for ODR*/ +#define BMI270_FIFO_DOWN (0x45) /* GYRO and ACCEL downsampling rates for FIFO */ +#define BMI270_FIFO_WTM_0 (0x46) /* FIFO Watermark level */ +#define BMI270_FIFO_WTM_1 (0x47) /* FIFO Watermark level */ +#define BMI270_FIFO_CONFIG_0 (0x48) /* FIFO config */ +#define BMI270_FIFO_CONFIG_1 (0x49) +#define BMI270_SATURATION (0x4A) /* Saturation */ +#define BMI270_AUX_DEV_ID (0x4B) /* Auxiliary interface device_id */ +#define BMI270_AUX_IF_CONF (0x4C) /* Auxiliary interface configuration */ +#define BMI270_AUX_RD_ADDR (0x4C) /* Auxiliary interface read address */ +#define BMI270_AUX_WR_ADDR (0x4E) /* Auxiliary interface write address */ +#define BMI270_AUX_WR_DATA (0x4F) /* Auxiliary interface write data */ +#define BMI270_ERR_REG_MSK (0x52) +#define BMI270_INT1_IO_CTRL (0x53) /* INT pin configuration */ +#define BMI270_INT2_IO_CTRL (0x54) +#define BMI270_INT_LATCH (0x55) /* Configure interrupt modes */ +#define BMI270_INT1_MAP_FEAT (0x56) /* Interrupt/Feature mapping on INT1 */ +#define BMI270_INT2_MAP_FEAT (0x57) /* Interrupt/Feature mapping on INT2 */ +#define BMI270_INT_MAP_DATA (0x58) /* Data Interrupt mapping for both INT pins */ +#define BMI270_INIT_CTRL (0x59) /* Start initialization */ +#define BMI270_INIT_ADDR_0 (0x5b) /* Base address of the initialization data */ +#define BMI270_INIT_ADDR_1 (0x5c) +#define BMI270_INIT_DATA (0x5e) /* Initialization register */ +#define BMI270_INTERNAL_ERROR (0x5f) +#define BMI270_AUX_IF_TRIM (0x68) /* Auxiliary interface trim */ +#define BMI270_GYR_CRT_CONF (0x69) /* Component Retrimming for Gyroscope */ +#define BMI270_NMV_CONFIG (0x6A) /* NVM Configuration */ +#define BMI270_IF_CONFIG (0x6B) /* Serial interface configuration */ +#define BMI270_DRV (0x6C) /* Drive strength control */ +#define BMI270_ACC_SELF_TEST (0x6D) /* Acc self test */ +#define BMI270_GYR_SELF_TEST (0x6E) /* Gyro self test */ +#define BMI270_NV_CONFIG (0x70) /* SPI/I2C selection */ +#define BMI270_OFFSET_0 (0x71) /* ACCEL and GYRO offset */ +#define BMI270_OFFSET_1 (0x72) +#define BMI270_OFFSET_2 (0x73) +#define BMI270_OFFSET_3 (0x74) +#define BMI270_OFFSET_4 (0x75) +#define BMI270_OFFSET_5 (0x76) +#define BMI270_OFFSET_6 (0x77) +#define BMI270_PWR_CONF (0x7C) /* Power mode configuration */ +#define BMI270_PWR_CTRL (0x7D) /* Power mode control */ +#define BMI270_CMD (0x7e) /* Command register */ + +/* Register 0x21 - INTERNAL_STATUS */ + +#define INTSTAT_MSG_MASK (7) +#define INTSTAT_MSG_NOTINIT (0x00) +#define INTSTAT_MSG_INITOK (0x01) + +/* Register 0x40 - ACCEL_CONFIG accel bandwidth */ + +#define ACCEL_OSR4_AVG1 (0 << 4) +#define ACCEL_OSR2_AVG2 (1 << 4) +#define ACCEL_NORMAL_AVG4 (2 << 4) +#define ACCEL_CIC_AVG8 (3 << 4) +#define ACCEL_RES_AVG2 (4 << 4) +#define ACCEL_RES_AVG4 (5 << 4) +#define ACCEL_RES_AVG8 (6 << 4) +#define ACCEL_RES_AVG16 (7 << 4) +#define ACCEL_RES_AVG32 (8 << 4) +#define ACCEL_RES_AVG64 (9 << 4) +#define ACCEL_RES_AVG128 (10 << 4) + +#define ACCEL_ODR_0_78HZ (0x01) +#define ACCEL_ODR_1_56HZ (0x02) +#define ACCEL_ODR_3_12HZ (0x03) +#define ACCEL_ODR_6_25HZ (0x04) +#define ACCEL_ODR_12_5HZ (0x05) +#define ACCEL_ODR_25HZ (0x06) +#define ACCEL_ODR_50HZ (0x07) +#define ACCEL_ODR_100HZ (0x08) +#define ACCEL_ODR_200HZ (0x09) +#define ACCEL_ODR_400HZ (0x0A) +#define ACCEL_ODR_800HZ (0x0B) +#define ACCEL_ODR_1600HZ (0x0C) + +/* Register 0x42 - GYRO_CONFIG accel bandwidth */ + +#define GYRO_OSR4_MODE (0 << 4) +#define GYRO_OSR2_MODE (1 << 4) +#define GYRO_NORMAL_MODE (2 << 4) +#define GYRO_CIC_MODE (3 << 4) + +#define GYRO_ODR_25HZ (0x06) +#define GYRO_ODR_50HZ (0x07) +#define GYRO_ODR_100HZ (0x08) +#define GYRO_ODR_200HZ (0x09) +#define GYRO_ODR_400HZ (0x0A) +#define GYRO_ODR_800HZ (0x0B) +#define GYRO_ODR_1600HZ (0x0C) +#define GYRO_ODR_3200HZ (0x0D) + +/* Register 0x7d - PWR_CONF */ + +#define PWRCONF_APS_ON (1 << 0) +#define PWRCONF_FSW_ON (1 << 1) +#define PWRCONF_FUP_ON (1 << 2) + +/* Register 0x7d - PWR_CTRL */ + +#define PWRCTRL_AUX_EN (1 << 0) +#define PWRCTRL_GYR_EN (1 << 1) +#define PWRCTRL_ACC_EN (1 << 2) +#define PWRCTRL_TEMP_EN (1 << 3) + +/* Register 0x7e - CMD */ + +#define CMD_SOFTRESET (0xB6) + +/**************************************************************************** + * Private Types + ****************************************************************************/ + +struct bmi270_dev_s +{ +#ifdef CONFIG_SENSORS_BMI270_I2C + FAR struct i2c_master_s *i2c; /* I2C interface */ + uint8_t addr; /* I2C address */ + int freq; /* Frequency <= 3.4MHz */ +#else /* CONFIG_SENSORS_BMI270_SPI */ + FAR struct spi_dev_s *spi; /* SPI interface */ +#endif +}; + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +static uint8_t bmi270_getreg8(FAR struct bmi270_dev_s *priv, + uint8_t regaddr); +static void bmi270_putreg8(FAR struct bmi270_dev_s *priv, uint8_t regaddr, + uint8_t regval); + +static void bmi270_getregs(FAR struct bmi270_dev_s *priv, uint8_t regaddr, + FAR uint8_t *regval, int len); +static void bmi270_putregs(FAR struct bmi270_dev_s *priv, uint8_t regaddr, + FAR uint8_t *regval, int len); + +/* Character driver methods */ + +static int bmi270_open(FAR struct file *filep); +static int bmi270_close(FAR struct file *filep); +static ssize_t bmi270_read(FAR struct file *filep, FAR char *buffer, + size_t len); +static int bmi270_ioctl(FAR struct file *filep, int cmd, + unsigned long arg); + +static int bmi270_checkid(FAR struct bmi270_dev_s *priv); + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +/* This the vtable that supports the character driver interface */ + +static const struct file_operations g_bmi270fops = +{ + bmi270_open, /* open */ + bmi270_close, /* close */ + bmi270_read, /* read */ + NULL, /* write */ + NULL, /* seek */ + bmi270_ioctl, /* ioctl */ +}; + +/* BMI270 configuration file - provided by BOSH */ + +static const uint8_t g_bmi270_config_file[] = +{ + 0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0x3d, 0xb1, 0xc8, 0x2e, 0x00, 0x2e, + 0x80, 0x2e, 0x91, 0x03, 0x80, 0x2e, 0xbc, 0xb0, 0x80, 0x2e, 0xa3, 0x03, + 0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0x00, 0xb0, 0x50, 0x30, 0x21, 0x2e, + 0x59, 0xf5, 0x10, 0x30, 0x21, 0x2e, 0x6a, 0xf5, 0x80, 0x2e, 0x3b, 0x03, + 0x00, 0x00, 0x00, 0x00, 0x08, 0x19, 0x01, 0x00, 0x22, 0x00, 0x75, 0x00, + 0x00, 0x10, 0x00, 0x10, 0xd1, 0x00, 0xb3, 0x43, 0x80, 0x2e, 0x00, 0xc1, + 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, + 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, + 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, + 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, + 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, + 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, + 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, + 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, + 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, + 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, + 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, + 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, + 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, + 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0xe0, 0x5f, 0x00, 0x00, + 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x92, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x08, 0x19, 0x00, 0x00, + 0x88, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x05, 0xe0, 0xaa, 0x38, + 0x05, 0xe0, 0x90, 0x30, 0xfa, 0x00, 0x96, 0x00, 0x4b, 0x09, 0x11, 0x00, + 0x11, 0x00, 0x02, 0x00, 0x2d, 0x01, 0xd4, 0x7b, 0x3b, 0x01, 0xdb, 0x7a, + 0x04, 0x00, 0x3f, 0x7b, 0xcd, 0x6c, 0xc3, 0x04, 0x85, 0x09, 0xc3, 0x04, + 0xec, 0xe6, 0x0c, 0x46, 0x01, 0x00, 0x27, 0x00, 0x19, 0x00, 0x96, 0x00, + 0xa0, 0x00, 0x01, 0x00, 0x0c, 0x00, 0xf0, 0x3c, 0x00, 0x01, 0x01, 0x00, + 0x03, 0x00, 0x01, 0x00, 0x0e, 0x00, 0x00, 0x00, 0x32, 0x00, 0x05, 0x00, + 0xee, 0x06, 0x04, 0x00, 0xc8, 0x00, 0x00, 0x00, 0x04, 0x00, 0xa8, 0x05, + 0xee, 0x06, 0x00, 0x04, 0xbc, 0x02, 0xb3, 0x00, 0x85, 0x07, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xb4, 0x00, 0x01, 0x00, 0xb9, 0x00, + 0x01, 0x00, 0x98, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x01, 0x00, 0x80, 0x00, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x80, 0x2e, 0x00, 0xc1, 0xfd, 0x2d, 0xde, 0x00, 0xeb, 0x00, + 0xda, 0x00, 0x00, 0x0c, 0xff, 0x0f, 0x00, 0x04, 0xc0, 0x00, 0x5b, 0xf5, + 0xc9, 0x01, 0x1e, 0xf2, 0x80, 0x00, 0x3f, 0xff, 0x19, 0xf4, 0x58, 0xf5, + 0x66, 0xf5, 0x64, 0xf5, 0xc0, 0xf1, 0xf0, 0x00, 0xe0, 0x00, 0xcd, 0x01, + 0xd3, 0x01, 0xdb, 0x01, 0xff, 0x7f, 0xff, 0x01, 0xe4, 0x00, 0x74, 0xf7, + 0xf3, 0x00, 0xfa, 0x00, 0xff, 0x3f, 0xca, 0x03, 0x6c, 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0x2e, 0x00, 0xc1, + 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, + 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, + 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, + 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, + 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, + 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, + 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, + 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, + 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, + 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, + 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, + 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, + 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, + 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1 +}; + +/**************************************************************************** + * Name: bmi270_configspi + * + * Description: + * + ****************************************************************************/ + +#ifdef CONFIG_SENSORS_BMI270_SPI +static inline void bmi270_configspi(FAR struct spi_dev_s *spi) +{ + /* Configure SPI for the BMI270 */ + + SPI_SETMODE(spi, SPIDEV_MODE0); + SPI_SETBITS(spi, 8); + SPI_HWFEATURES(spi, 0); + SPI_SETFREQUENCY(spi, BMI270_SPI_MAXFREQUENCY); +} +#endif + +/**************************************************************************** + * Name: bmi270_getreg8 + * + * Description: + * Read from an 8-bit BMI270 register + * + ****************************************************************************/ + +static uint8_t bmi270_getreg8(FAR struct bmi270_dev_s *priv, uint8_t regaddr) +{ +#ifdef CONFIG_SENSORS_BMI270_I2C + struct i2c_msg_s msg[2]; + uint8_t regval = 0; + int ret; + + msg[0].frequency = priv->freq; + msg[0].addr = priv->addr; + msg[0].flags = I2C_M_NOSTOP; + msg[0].buffer = ®addr; + msg[0].length = 1; + + msg[1].frequency = priv->freq; + msg[1].addr = priv->addr; + msg[1].flags = I2C_M_READ; + msg[1].buffer = ®val; + msg[1].length = 1; + + ret = I2C_TRANSFER(priv->i2c, msg, 2); + if (ret < 0) + { + snerr("I2C_TRANSFER failed: %d\n", ret); + } + + return regval; +#else /* CONFIG_SENSORS_BMI270_SPI */ + uint8_t regval[2]; + + /* If SPI bus is shared then lock and configure it */ + + SPI_LOCK(priv->spi, true); + bmi270_configspi(priv->spi); + + /* Select the BMI270 */ + + SPI_SELECT(priv->spi, SPIDEV_IMU(0), true); + + /* Send register to read and get the next 2 bytes */ + + SPI_SEND(priv->spi, regaddr | 0x80); + SPI_RECVBLOCK(priv->spi, regval, 2); + + /* Deselect the BMI270 */ + + SPI_SELECT(priv->spi, SPIDEV_IMU(0), false); + + /* Unlock bus */ + + SPI_LOCK(priv->spi, false); + + /* The first byte has to be dropped */ + + return regval[1]; +#endif +} + +/**************************************************************************** + * Name: bmi270_putreg8 + * + * Description: + * Write a value to an 8-bit BMI270 register + * + ****************************************************************************/ + +static void bmi270_putreg8(FAR struct bmi270_dev_s *priv, uint8_t regaddr, + uint8_t regval) +{ +#ifdef CONFIG_SENSORS_BMI270_I2C + struct i2c_msg_s msg[2]; + uint8_t txbuffer[2]; + int ret; + + txbuffer[0] = regaddr; + txbuffer[1] = regval; + + msg[0].frequency = priv->freq; + msg[0].addr = priv->addr; + msg[0].flags = 0; + msg[0].buffer = txbuffer; + msg[0].length = 2; + + ret = I2C_TRANSFER(priv->i2c, msg, 1); + if (ret < 0) + { + snerr("I2C_TRANSFER failed: %d\n", ret); + } + +#else /* CONFIG_SENSORS_BMI270_SPI */ + /* If SPI bus is shared then lock and configure it */ + + SPI_LOCK(priv->spi, true); + bmi270_configspi(priv->spi); + + /* Select the BMI270 */ + + SPI_SELECT(priv->spi, SPIDEV_IMU(0), true); + + /* Send register address and set the value */ + + SPI_SEND(priv->spi, regaddr); + SPI_SEND(priv->spi, regval); + + /* Deselect the BMI270 */ + + SPI_SELECT(priv->spi, SPIDEV_IMU(0), false); + + /* Unlock bus */ + + SPI_LOCK(priv->spi, false); +#endif +} + +/**************************************************************************** + * Name: bmi270_getregs + * + * Description: + * Read cnt bytes from specified dev_addr and reg_addr + * + ****************************************************************************/ + +static void bmi270_getregs(FAR struct bmi270_dev_s *priv, uint8_t regaddr, + FAR uint8_t *regval, int len) +{ +#ifdef CONFIG_SENSORS_BMI270_I2C + struct i2c_msg_s msg[2]; + int ret; + + msg[0].frequency = priv->freq; + msg[0].addr = priv->addr; + msg[0].flags = I2C_M_NOSTOP; + msg[0].buffer = ®addr; + msg[0].length = 1; + + msg[1].frequency = priv->freq; + msg[1].addr = priv->addr; + msg[1].flags = I2C_M_READ; + msg[1].buffer = regval; + msg[1].length = len; + + ret = I2C_TRANSFER(priv->i2c, msg, 2); + if (ret < 0) + { + snerr("I2C_TRANSFER failed: %d\n", ret); + } +#else /* CONFIG_SENSORS_BMI270_SPI */ + uint8_t dummy = 0; + + /* If SPI bus is shared then lock and configure it */ + + SPI_LOCK(priv->spi, true); + bmi270_configspi(priv->spi); + + /* Select the BMI270 */ + + SPI_SELECT(priv->spi, SPIDEV_IMU(0), true); + + /* Send register to read and get bytes */ + + SPI_SEND(priv->spi, regaddr | 0x80); + SPI_RECVBLOCK(priv->spi, &dummy, 1); + SPI_RECVBLOCK(priv->spi, regval, len); + + /* Deselect the BMI270 */ + + SPI_SELECT(priv->spi, SPIDEV_IMU(0), false); + + /* Unlock bus */ + + SPI_LOCK(priv->spi, false); +#endif +} + +/**************************************************************************** + * Name: bmi270_putregs + * + * Description: + * Send cnt bytes for specified dev_addr and reg_addr + * + ****************************************************************************/ + +static void bmi270_putregs(FAR struct bmi270_dev_s *priv, uint8_t regaddr, + FAR uint8_t *regval, int len) +{ +#ifdef CONFIG_SENSORS_BMI270_I2C + struct i2c_msg_s msg[2]; + int ret; + + msg[0].frequency = priv->freq; + msg[0].addr = priv->addr; + msg[0].flags = I2C_M_NOSTOP; + msg[0].buffer = ®addr; + msg[0].length = 1; + + msg[1].frequency = priv->freq; + msg[1].addr = priv->addr; + msg[1].flags = 0; + msg[1].buffer = regval; + msg[1].length = len; + + ret = I2C_TRANSFER(priv->i2c, msg, 2); + if (ret < 0) + { + snerr("I2C_TRANSFER failed: %d\n", ret); + } +#else /* CONFIG_SENSORS_BMI270_SPI */ + /* If SPI bus is shared then lock and configure it */ + + SPI_LOCK(priv->spi, true); + bmi270_configspi(priv->spi); + + /* Select the BMI270 */ + + SPI_SELECT(priv->spi, SPIDEV_IMU(0), true); + + /* Send register to read and get bytes */ + + SPI_SEND(priv->spi, regaddr); + SPI_SNDBLOCK(priv->spi, regval, len); + + /* Deselect the BMI270 */ + + SPI_SELECT(priv->spi, SPIDEV_IMU(0), false); + + /* Unlock bus */ + + SPI_LOCK(priv->spi, false); +#endif +} + +/**************************************************************************** + * Name: bmi270_set_normal_imu + * + * Description: + * set bmi270 to normal IMU mode. + * + ****************************************************************************/ + +static void bmi270_set_normal_imu(FAR struct bmi270_dev_s *priv) +{ + /* Enable acquisition of acc and gyro */ + + bmi270_putreg8(priv, BMI270_PWR_CTRL, PWRCTRL_GYR_EN | PWRCTRL_ACC_EN); + up_mdelay(30); + + /* Set accel and gyro output data rate */ + + bmi270_putreg8(priv, BMI270_ACC_CONFIG, + ACCEL_NORMAL_AVG4 | ACCEL_ODR_100HZ); + bmi270_putreg8(priv, BMI270_GYR_CONFIG, + GYRO_NORMAL_MODE | GYRO_ODR_100HZ); + + /* Disable the adv_power_save bit */ + + bmi270_putreg8(priv, BMI270_PWR_CONF, PWRCONF_FSW_ON); +} + +/**************************************************************************** + * Name: bmi270_init_seq + * + * Description: + * set bmi270 to normal IMU mode. + * + ****************************************************************************/ + +static int bmi270_init_seq(FAR struct bmi270_dev_s *priv) +{ + FAR uint8_t *tmp = NULL; + uint8_t regval = 0; + + /* Check if initalization already done */ + + regval = bmi270_getreg8(priv, BMI270_INTERNAL_STAT); + if ((regval & INTSTAT_MSG_MASK) == INTSTAT_MSG_INITOK) + { + return OK; + } + + /* Disable PWR_CONF.adv_power_save */ + + bmi270_putreg8(priv, BMI270_PWR_CONF, 0); + up_mdelay(5); + + /* Prepare config load INIT_CTRL=0x00 */ + + bmi270_putreg8(priv, BMI270_INIT_CTRL, 0); + + /* Copy configuration to RAM */ + + tmp = malloc(sizeof(g_bmi270_config_file)); + if (tmp == NULL) + { + snerr("Failed to allocate memory for configuration file\n"); + return -ENOMEM; + } + + memcpy(tmp, g_bmi270_config_file, sizeof(g_bmi270_config_file)); + + /* Load configuration - start with byte 0 */ + + bmi270_putregs(priv, BMI270_INIT_DATA, + tmp, + sizeof(g_bmi270_config_file)); + + /* Complete config load INIT_CTRL=0x01 */ + + bmi270_putreg8(priv, BMI270_INIT_CTRL, 1); + + up_mdelay(150); + + /* Check initialization status */ + + regval = bmi270_getreg8(priv, BMI270_INTERNAL_STAT); + if ((regval & INTSTAT_MSG_MASK) != INTSTAT_MSG_INITOK) + { + snerr("Initialization failed status=%d\n", regval); + return -EACCES; + } + + return OK; +} + +/**************************************************************************** + * Name: bmi270_open + * + * Description: + * Standard character driver open method. + * + ****************************************************************************/ + +static int bmi270_open(FAR struct file *filep) +{ + FAR struct inode *inode = filep->f_inode; + FAR struct bmi270_dev_s *priv = inode->i_private; + int ret = OK; + + /* Initialization sequence */ + + ret = bmi270_init_seq(priv); + if (ret != 0) + { + return ret; + } + + /* Set normal mode */ + + bmi270_set_normal_imu(priv); + + return OK; +} + +/**************************************************************************** + * Name: bmi270_close + * + * Description: + * Standard character driver close method. + * + ****************************************************************************/ + +static int bmi270_close(FAR struct file *filep) +{ + FAR struct inode *inode = filep->f_inode; + FAR struct bmi270_dev_s *priv = inode->i_private; + + /* Disable acquisition of acc and gyro */ + + bmi270_putreg8(priv, BMI270_PWR_CTRL, 0); + up_mdelay(30); + + return OK; +} + +/**************************************************************************** + * Name: bmi270_read + * + * Description: + * Standard character driver read method. + * + ****************************************************************************/ + +static ssize_t bmi270_read(FAR struct file *filep, FAR char *buffer, + size_t len) +{ + FAR struct inode *inode = filep->f_inode; + FAR struct bmi270_dev_s *priv = inode->i_private; + FAR struct accel_gyro_st_s *p = (FAR struct accel_gyro_st_s *)buffer; + + if (len < sizeof(struct accel_gyro_st_s)) + { + snerr("Expected buffer size is %d\n", sizeof(struct accel_gyro_st_s)); + return 0; + } + + bmi270_getregs(priv, BMI270_DATA_8, (FAR uint8_t *)p, 15); + + /* Adjust sensing time into 24 bit */ + + p->sensor_time >>= 8; + + return len; +} + +/**************************************************************************** + * Name: bmi270_ioctl + * + * Description: + * Standard character driver ioctl method. + * + ****************************************************************************/ + +static int bmi270_ioctl(FAR struct file *filep, int cmd, unsigned long arg) +{ + return -ENOTTY; +} + +/**************************************************************************** + * Name: bmi270_checkid + * + * Description: + * Read and verify the BMI270 chip ID + * + ****************************************************************************/ + +static int bmi270_checkid(FAR struct bmi270_dev_s *priv) +{ + uint8_t devid = 0; + + /* Read device ID */ + + devid = bmi270_getreg8(priv, BMI270_CHIP_ID); + sninfo("devid: %04x\n", devid); + + if (devid != (uint16_t) DEVID) + { + /* ID is not Correct */ + + return -ENODEV; + } + + return OK; +} + +/**************************************************************************** + * Name: bmi270_register + * + * Description: + * Register the BMI270 character device as 'devpath' + * + * Input Parameters: + * devpath - The full path to the driver to register. E.g., "/dev/imu0" + * dev - An instance of the SPI or I2C interface to use to communicate + * with BMI270 + * addr - (I2C only) The I2C address + * + * Returned Value: + * Zero (OK) on success; a negated errno value on failure. + * + ****************************************************************************/ + +#ifdef CONFIG_SENSORS_BMI270_I2C +int bmi270_register(FAR const char *devpath, FAR struct i2c_master_s *dev, + uint8_t addr) +#else /* CONFIG_SENSORS_BMI270_SPI */ +int bmi270_register(FAR const char *devpath, FAR struct spi_dev_s *dev) +#endif +{ + FAR struct bmi270_dev_s *priv; + int ret; + + priv = (FAR struct bmi270_dev_s *)kmm_malloc(sizeof(struct bmi270_dev_s)); + if (!priv) + { + snerr("Failed to allocate instance\n"); + return -ENOMEM; + } + +#ifdef CONFIG_SENSORS_BMI270_I2C + priv->i2c = dev; + priv->addr = addr; + priv->freq = BMI270_I2C_FREQ; +#else /* CONFIG_SENSORS_BMI270_SPI */ + priv->spi = dev; + + /* BMI270 detects communication bus is SPI by rising edge of CS. */ + + bmi270_getreg8(priv, 0x00); + bmi270_getreg8(priv, 0x00); + up_udelay(200); +#endif + + ret = bmi270_checkid(priv); + if (ret < 0) + { + snerr("Wrong Device ID!\n"); + kmm_free(priv); + return ret; + } + + /* Register driver */ + + ret = register_driver(devpath, &g_bmi270fops, 0666, priv); + if (ret < 0) + { + snerr("Failed to register driver: %d\n", ret); + kmm_free(priv); + } + + sninfo("BMI270 driver loaded successfully!\n"); + return OK; +} diff --git a/include/nuttx/sensors/bmi270.h b/include/nuttx/sensors/bmi270.h new file mode 100644 index 00000000000..95199556d8a --- /dev/null +++ b/include/nuttx/sensors/bmi270.h @@ -0,0 +1,103 @@ +/**************************************************************************** + * include/nuttx/sensors/bmi270.h + * + * Licensed to the Apache Software Foundation (ASF) under one or more + * contributor license agreements. See the NOTICE file distributed with + * this work for additional information regarding copyright ownership. The + * ASF licenses this file to you under the Apache License, Version 2.0 (the + * "License"); you may not use this file except in compliance with the + * License. You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the + * License for the specific language governing permissions and limitations + * under the License. + * + ****************************************************************************/ + +#ifndef __INCLUDE_NUTTX_SENSORS_BMI270_H +#define __INCLUDE_NUTTX_SENSORS_BMI270_H + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include +#include + +/**************************************************************************** + * 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; +}; + +/**************************************************************************** + * Public Function Prototypes + ****************************************************************************/ + +#ifdef __cplusplus +#define EXTERN extern "C" +extern "C" +{ +#else +#define EXTERN extern +#endif + +/**************************************************************************** + * Name: bmi270_register + * + * Description: + * Register the BMI270 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 BMI270 + * addr - (I2C only) I2C address + * + * Returned Value: + * Zero (OK) on success; a negated errno value on failure. + * + ****************************************************************************/ + +#ifdef CONFIG_SENSORS_BMI270_I2C +struct i2c_master_s; +int bmi270_register(FAR const char *devpath, FAR struct i2c_master_s *dev, + uint8_t addr); +#else /* CONFIG_BMI270_SPI */ +struct spi_dev_s; +int bmi270_register(FAR const char *devpath, FAR struct spi_dev_s *dev); +#endif + +#undef EXTERN +#ifdef __cplusplus +} +#endif + +#endif /* __INCLUDE_NUTTX_SENSORS_BMI270_H */ diff --git a/include/nuttx/spi/spi.h b/include/nuttx/spi/spi.h index 530dbefa853..e4ae4764975 100644 --- a/include/nuttx/spi/spi.h +++ b/include/nuttx/spi/spi.h @@ -475,6 +475,7 @@ #define SPIDEV_LPWAN(n) SPIDEV_ID(SPIDEVTYPE_LPWAN, (n)) #define SPIDEV_ADC(n) SPIDEV_ID(SPIDEVTYPE_ADC, (n)) #define SPIDEV_MOTOR(n) SPIDEV_ID(SPIDEVTYPE_MOTOR, (n)) +#define SPIDEV_IMU(n) SPIDEV_ID(SPIDEVTYPE_IMU, (n)) #define SPIDEV_USER(n) SPIDEV_ID(SPIDEVTYPE_USER, (n)) /**************************************************************************** @@ -515,6 +516,7 @@ enum spi_devtype_e SPIDEVTYPE_LPWAN, /* Select SPI LPWAN controller over SPI */ SPIDEVTYPE_ADC, /* Select SPI ADC device */ SPIDEVTYPE_MOTOR, /* Select SPI motor device */ + SPIDEVTYPE_IMU, /* Select SPI IMU device */ SPIDEVTYPE_USER /* Board-specific values start here * This must always be the last definition. */ };