2 * Copyright © 2019 Keith Packard <keithp@keithp.com>
4 * This program is free software; you can redistribute it and/or modify
5 * it under the terms of the GNU General Public License as published by
6 * the Free Software Foundation; either version 2 of the License, or
7 * (at your option) any later version.
9 * This program is distributed in the hope that it will be useful, but
10 * WITHOUT ANY WARRANTY; without even the implied warranty of
11 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
12 * General Public License for more details.
14 * You should have received a copy of the GNU General Public License along
15 * with this program; if not, write to the Free Software Foundation, Inc.,
16 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
24 struct ao_bmx160_sample {
37 extern struct ao_bmx160_sample ao_bmx160_current;
39 struct ao_bmx160_offset {
49 struct ao_bmm150_trim {
66 #define BMX160_CHIPID 0x00
67 #define BMX160_CHIPID_BMX160 0xd8
68 #define BMX160_ERR_REG 0x02
69 #define BMX160_PMU_STATUS 0x03
70 #define BMX160_PMU_STATUS_MAG_IF_PMU_STATUS 0
71 #define BMX160_PMU_STATUS_MAG_IF_PMU_STATUS_SUSPEND 0
72 #define BMX160_PMU_STATUS_MAG_IF_PMU_STATUS_NORMAL 1
73 #define BMX160_PMU_STATUS_MAG_IF_PMU_STATUS_LOW_POWER 2
74 #define BMX160_PMU_STATUS_GYR_PMU_STATUS 2
75 #define BMX160_PMU_STATUS_GYR_PMU_STATUS_SUSPEND 0
76 #define BMX160_PMU_STATUS_GYR_PMU_STATUS_NORMAL 1
77 #define BMX160_PMU_STATUS_GYR_PMU_STATUS_FAST_START_UP 3
78 #define BMX160_PMU_STATUS_GYR_PMU_STATUS_MASK 3
79 #define BMX160_PMU_STATUS_ACC_PMU_STATUS 4
80 #define BMX160_PMU_STATUS_ACC_PMU_STATUS_SUSPEND 0
81 #define BMX160_PMU_STATUS_ACC_PMU_STATUS_NORMAL 1
82 #define BMX160_PMU_STATUS_ACC_PMU_STATUS_LOW_POWER 2
83 #define BMX160_PMU_STATUS_ACC_PMU_STATUS_MASK 3
84 #define BMX160_DATA_0 0x04
85 #define BMX160_MAG_X_0_7 0x04
86 #define BMX160_MAG_X_8_15 0x05
87 #define BMX160_MAG_Y_0_7 0x06
88 #define BMX160_MAG_Y_8_15 0x07
89 #define BMX160_MAG_Z_0_7 0x08
90 #define BMX160_MAG_Z_8_15 0x09
91 #define BMX160_RHALL_0_7 0x0A
92 #define BMX160_RHALL_8_15 0x0B
93 #define BMX160_GYRO_X_0_7 0x0C
94 #define BMX160_GYRO_X_8_15 0x0D
95 #define BMX160_GYRO_Y_0_7 0x0E
96 #define BMX160_GYRO_Y_8_15 0x0F
97 #define BMX160_GYRO_Z_0_7 0x10
98 #define BMX160_GYRO_Z_8_15 0x11
99 #define BMX160_ACCEL_X_0_7 0x12
100 #define BMX160_ACCEL_X_8_15 0x13
101 #define BMX160_ACCEL_Y_0_7 0x14
102 #define BMX160_ACCEL_Y_8_15 0x15
103 #define BMX160_ACCEL_Z_0_7 0x16
104 #define BMX160_ACCEL_Z_8_15 0x17
105 #define BMX160_SENSORTIME_0_7 0x18
106 #define BMX160_SENSORTIME_8_15 0x19
107 #define BMX160_SENSORTIME_16_23 0x1A
108 #define BMX160_STATUS 0x1B
109 #define BMX160_STATUS_GYR_SELF_TEST_OK 1
110 #define BMX160_STATUS_MAG_MAN_OP 2
111 #define BMX160_STATUS_FOC_RDY 3
112 #define BMX160_STATUS_NVM_RDY 4
113 #define BMX160_STATUS_DRDY_MAG 5
114 #define BMX160_STATUS_DRDY_GYR 6
115 #define BMX160_STATUS_DRDY_ACC 7
116 #define BMX160_INT_STATUS_0 0x1C-0x1F
117 #define BMX160_INT_STATUS_1 0x1D
118 #define BMX160_INT_STATUS_2 0x1E
119 #define BMX160_INT_STATUS_3 0x1F
120 #define BMX160_TEMPERATURE_0_7 0x20
121 #define BMX160_TEMPERATURE_8_15 0x21
122 #define BMX160_FIFO_LENGTH_0_7 0x22
123 #define BMX160_FIFO_LENGTH_8_15 0x23
124 #define BMX160_FIFO_DATA 0x24
125 #define BMX160_ACC_CONF 0x40
126 #define BMX160_ACC_CONF_ACC_ODR 0
127 #define BMX160_ACC_CONF_ACC_ODR_25_32 0x1
128 #define BMX160_ACC_CONF_ACC_ODR_25_16 0x2
129 #define BMX160_ACC_CONF_ACC_ODR_25_8 0x3
130 #define BMX160_ACC_CONF_ACC_ODR_25_4 0x4
131 #define BMX160_ACC_CONF_ACC_ODR_25_2 0x5
132 #define BMX160_ACC_CONF_ACC_ODR_25 0x6
133 #define BMX160_ACC_CONF_ACC_ODR_50 0x7
134 #define BMX160_ACC_CONF_ACC_ODR_100 0x8
135 #define BMX160_ACC_CONF_ACC_ODR_200 0x9
136 #define BMX160_ACC_CONF_ACC_ODR_400 0xa
137 #define BMX160_ACC_CONF_ACC_ODR_800 0xb
138 #define BMX160_ACC_CONF_ACC_ODR_1600 0xc
139 #define BMX160_ACC_CONF_ACC_BWP 4
140 #define BMX160_ACC_CONF_ACC_BWP_NORMAL 0x2
141 #define BMX160_ACC_CONF_ACC_BWP_OSR2 0x1
142 #define BMX160_ACC_CONF_ACC_BWP_OSR4 0x0
143 #define BMX160_ACC_CONF_ACC_US 7
144 #define BMX160_ACC_RANGE 0x41
145 #define BMX160_ACC_RANGE_2G 0x3
146 #define BMX160_ACC_RANGE_4G 0x5
147 #define BMX160_ACC_RANGE_8G 0x8
148 #define BMX160_ACC_RANGE_16G 0xc
149 #define BMX160_GYR_CONF 0x42
150 #define BMX160_GYR_CONF_GYR_ODR 0
151 #define BMX160_GYR_CONF_GYR_ODR_25 0x6
152 #define BMX160_GYR_CONF_GYR_ODR_50 0x7
153 #define BMX160_GYR_CONF_GYR_ODR_100 0x8
154 #define BMX160_GYR_CONF_GYR_ODR_200 0x9
155 #define BMX160_GYR_CONF_GYR_ODR_400 0xa
156 #define BMX160_GYR_CONF_GYR_ODR_800 0xb
157 #define BMX160_GYR_CONF_GYR_ODR_1600 0xc
158 #define BMX160_GYR_CONF_GYR_ODR_3200 0xd
159 #define BMX160_GYR_CONF_GYR_BWP 4
160 #define BMX160_GYR_CONF_GYR_BWP_NORMAL 0x2
161 #define BMX160_GYR_CONF_GYR_BWP_OSR2 0x1
162 #define BMX160_GYR_CONF_GYR_BWP_OSR4 0x0
163 #define BMX160_GYR_RANGE 0x43
164 #define BMX160_GYR_RANGE_2000 0x0
165 #define BMX160_GYR_RANGE_1000 0x1
166 #define BMX160_GYR_RANGE_500 0x2
167 #define BMX160_GYR_RANGE_250 0x3
168 #define BMX160_GYR_RANGE_125 0x4
169 #define BMX160_MAG_CONF 0x44
170 #define BMX160_MAG_CONF_MAG_ODR 0
171 #define BMX160_MAG_CONF_MAG_ODR_25_32 0x1
172 #define BMX160_MAG_CONF_MAG_ODR_25_16 0x2
173 #define BMX160_MAG_CONF_MAG_ODR_25_8 0x3
174 #define BMX160_MAG_CONF_MAG_ODR_25_4 0x4
175 #define BMX160_MAG_CONF_MAG_ODR_25_2 0x5
176 #define BMX160_MAG_CONF_MAG_ODR_25 0x6
177 #define BMX160_MAG_CONF_MAG_ODR_50 0x7
178 #define BMX160_MAG_CONF_MAG_ODR_100 0x8
179 #define BMX160_MAG_CONF_MAG_ODR_200 0x9
180 #define BMX160_MAG_CONF_MAG_ODR_400 0xa
181 #define BMX160_MAG_CONF_MAG_ODR_800 0xb
182 #define BMX160_FIFO_DOWNS 0x45
183 #define BMX160_FIFO_CONFIG_0 0x46
184 #define BMX160_FIFO_CONFIG_1 0x47
185 #define BMX160_MAG_IF_0 0x4C
186 #define BMX160_MAG_IF_0_MAG_RD_BURST 0
187 #define BMX160_MAG_IF_0_MAG_OFFSET 2
188 #define BMX160_MAG_IF_0_MAG_MANUAL_EN 7
189 #define BMX160_MAG_IF_1 0x4D
190 #define BMX160_MAG_IF_2 0x4E
191 #define BMX160_MAG_IF_3 0x4F
192 #define BMX160_INT_EN 0x50-0x52
193 #define BMX160_INT_OUT_CTRL 0x53
194 #define BMX160_INT_LATCH 0x54
195 #define BMX160_INT_MAP 0x55-0x57
196 #define BMX160_INT_DATA 0x58-0x59
197 #define BMX160_INT_LOWHIGH 0x5A-0x5E
198 #define BMX160_INT_MOTION 0x5F-0x62
199 #define BMX160_INT_TAP 0x63-0x64
200 #define BMX160_INT_ORIENT 0x65-0x66
201 #define BMX160_INT_FLAT 0x67-0x68
202 #define BMX160_FOC_CONF 0x69
203 #define BMX160_CONF 0x6A
204 #define BMX160_IF_CONF 0x6B
205 #define BMX160_IF_CONF_IF_MODE 4
206 #define BMX160_IF_CONF_IF_MODE_AUTO_MAG 0x02
207 #define BMX160_PMU_TRIGGER 0x6C
208 #define BMX160_SELF_TEST 0x6D
209 #define BMX160_NV_CONF 0x70
210 #define BMX160_NV_CONF_SPI_EN 0
211 #define BMX160_NV_CONF_I2C_WDT_SEL 1
212 #define BMX160_NV_CONF_I2C_WDT_EN 2
213 #define BMX160_OFFSET 0x71-0x77
214 #define BMX160_STEP_CNT 0x78-0x79
215 #define BMX160_STEP_CONF 0x7A-0x7B
216 #define BMX160_CMD 0x7E
217 #define BMX160_CMD_START_FOC 0x03
218 #define BMX160_CMD_ACC_SET_PMU_MODE(n) (0x10 | (n))
219 #define BMX160_CMD_GYR_SET_PMU_MODE(n) (0x14 | (n))
220 #define BMX160_CMD_MAG_IF_SET_PMU_MODE(n) (0x18 | (n))
221 #define BMX160_CMD_PROG_NVM 0xa0
222 #define BMX160_CMD_FIFO_FLUSH 0xb0
223 #define BMX160_CMD_INT_RESET 0xb1
224 #define BMX160_CMD_SOFTRESET 0xb6
225 #define BMX160_CMD_STEP_CNT_CLR 0xb2
227 #define BMM150_CHIP_ID 0x40
228 #define BMM150_DATA_X_0_4 0x42
229 #define BMM150_DATA_X_5_12 0x43
230 #define BMM150_DATA_Y_0_4 0x44
231 #define BMM150_DATA_Y_5_12 0x45
232 #define BMM150_DATA_Z_0_6 0x46
233 #define BMM150_DATA_Z_7_14 0x47
234 #define BMM150_RHALL_0_5 0x48
235 #define BMM150_RHALL_6_13 0x49
236 #define BMM150_INT_STATUS 0x4a
237 #define BMM150_POWER_MODE 0x4b
238 #define BMM150_POWER_MODE_SOFT_RESET_HI 7
239 #define BMM150_POWER_MODE_SPI3EN 2
240 #define BMM150_POWER_MODE_SOFT_RESET_LO 1
241 #define BMM150_POWER_MODE_POWER_CONTROL 0
242 #define BMM150_CONTROL 0x4c
243 #define BMM150_CONTROL_ADV_ST_1 7
244 #define BMM150_CONTROL_ADV_ST_0 6
245 #define BMM150_CONTROL_DATA_RATE 3
246 #define BMM150_CONTROL_DATA_RATE_10 0
247 #define BMM150_CONTROL_DATA_RATE_2 1
248 #define BMM150_CONTROL_DATA_RATE_6 2
249 #define BMM150_CONTROL_DATA_RATE_8 3
250 #define BMM150_CONTROL_DATA_RATE_15 4
251 #define BMM150_CONTROL_DATA_RATE_20 5
252 #define BMM150_CONTROL_DATA_RATE_25 6
253 #define BMM150_CONTROL_DATA_RATE_30 7
254 #define BMM150_CONTROL_OP_MODE 1
255 #define BMM150_CONTROL_OP_MODE_NORMAL 0
256 #define BMM150_CONTROL_OP_MODE_FORCED 1
257 #define BMM150_CONTROL_OP_MODE_SLEEP 3
258 #define BMM150_CONTROL_SELF_TEST 0
259 #define BMM150_INT_EN 0x4d
260 #define BMM150_INT_CONF 0x4e
261 #define BMM150_INT_CONF_X_DISABLE 3
262 #define BMM150_INT_CONF_Y_DISABLE 4
263 #define BMM150_INT_CONF_Z_DISABLE 5
264 #define BMM150_LOW_THRESHOLD 0x4f
265 #define BMM150_HIGH_THRESHOLD 0x50
266 #define BMM150_REPXY 0x51
267 #define BMM150_REPXY_VALUE(n) (((n)-1) >> 1)
268 #define BMM150_REPZ 0x52
269 #define BMM150_REPZ_VALUE(n) ((n) -1)
271 /* Trim Extended Registers */
272 #define BMM150_DIG_X1 0x5D
273 #define BMM150_DIG_Y1 0x5E
274 #define BMM150_DIG_Z4_LSB 0x62
275 #define BMM150_DIG_Z4_MSB 0x63
276 #define BMM150_DIG_X2 0x64
277 #define BMM150_DIG_Y2 0x65
278 #define BMM150_DIG_Z2_LSB 0x68
279 #define BMM150_DIG_Z2_MSB 0x69
280 #define BMM150_DIG_Z1_LSB 0x6A
281 #define BMM150_DIG_Z1_MSB 0x6B
282 #define BMM150_DIG_XYZ1_LSB 0x6C
283 #define BMM150_DIG_XYZ1_MSB 0x6D
284 #define BMM150_DIG_Z3_LSB 0x6E
285 #define BMM150_DIG_Z3_MSB 0x6F
286 #define BMM150_DIG_XY2 0x70
287 #define BMM150_DIG_XY1 0x71
289 #define BMM150_XYAXES_FLIP_OVERFLOW_ADCVAL -4096
290 #define BMM150_ZAXIS_HALL_OVERFLOW_ADCVAL -16384
291 #define BMM150_OVERFLOW_OUTPUT -32768
292 #define BMM150_NEGATIVE_SATURATION_Z -32767
293 #define BMM150_POSITIVE_SATURATION_Z 32767
295 #define BMX160_GYRO_FULLSCALE ((float) 2000 * M_PI/180.0)
298 ao_bmx160_gyro(float sensor) {
299 return sensor * ((float) (BMX160_GYRO_FULLSCALE / 32767.0));
302 #define BMX160_ACCEL_FULLSCALE 16
305 ao_bmx160_accel(int16_t sensor) {
306 return (float) sensor * ((float) (BMX160_ACCEL_FULLSCALE * GRAVITY / 32767.0));
309 #define ao_bmx_accel_to_sample(accel) ((accel_t) (accel) * (32767.0f / (BMX160_ACCEL_FULLSCALE * GRAVITY)))
311 #endif /* _BMX160_H_ */