X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fdrivers%2Fao_bmx160.h;h=c5bf0aff634fcd2ccf9453ba0757448517b81f21;hb=c49bd3cb0c31a51fae79ddc92237cc309be9a242;hp=265be995d3952fd081e939ff864145f967bf1727;hpb=a87698663f8a5ced468755068a0468755d8f2746;p=fw%2Faltos

diff --git a/src/drivers/ao_bmx160.h b/src/drivers/ao_bmx160.h
index 265be995..c5bf0aff 100644
--- a/src/drivers/ao_bmx160.h
+++ b/src/drivers/ao_bmx160.h
@@ -19,11 +19,13 @@
 #ifndef _AO_BMX160_H_
 #define _AO_BMX160_H_
 
+#include <math.h>
+
 struct ao_bmx160_sample {
 	int16_t		mag_x;
 	int16_t		mag_y;
 	int16_t		mag_z;
-	int16_t		rhall;
+	uint16_t	rhall;
 	int16_t		gyr_x;
 	int16_t		gyr_y;
 	int16_t		gyr_z;
@@ -44,6 +46,20 @@ struct ao_bmx160_offset {
 	uint8_t		offset_6;
 };
 
+struct ao_bmm150_trim {
+	int8_t		dig_x1;
+	int8_t		dig_y1;
+	int8_t		dig_x2;
+	int8_t		dig_y2;
+	uint16_t	dig_z1;
+	int16_t		dig_z2;
+	int16_t		dig_z3;
+	int16_t		dig_z4;
+	uint8_t		dig_xy1;
+	int8_t		dig_xy2;
+	uint16_t	dig_xyz1;
+};
+
 void
 ao_bmx160_init(void);
 
@@ -59,10 +75,12 @@ ao_bmx160_init(void);
 #define   BMX160_PMU_STATUS_GYR_PMU_STATUS_SUSPEND		0
 #define   BMX160_PMU_STATUS_GYR_PMU_STATUS_NORMAL		1
 #define   BMX160_PMU_STATUS_GYR_PMU_STATUS_FAST_START_UP	3
+#define   BMX160_PMU_STATUS_GYR_PMU_STATUS_MASK			3
 #define  BMX160_PMU_STATUS_ACC_PMU_STATUS	4
 #define   BMX160_PMU_STATUS_ACC_PMU_STATUS_SUSPEND		0
 #define   BMX160_PMU_STATUS_ACC_PMU_STATUS_NORMAL		1
 #define   BMX160_PMU_STATUS_ACC_PMU_STATUS_LOW_POWER		2
+#define   BMX160_PMU_STATUS_ACC_PMU_STATUS_MASK			3
 #define BMX160_DATA_0			0x04
 #define BMX160_MAG_X_0_7		0x04
 #define BMX160_MAG_X_8_15		0x05
@@ -128,8 +146,6 @@ ao_bmx160_init(void);
 #define  BMX160_ACC_RANGE_4G			0x5
 #define  BMX160_ACC_RANGE_8G			0x8
 #define  BMX160_ACC_RANGE_16G			0xc
-#define  BMX160_ACC_RANGE_
-#define  BMX160_ACC_RANGE_
 #define BMX160_GYR_CONF			0x42
 #define  BMX160_GYR_CONF_GYR_ODR		0
 #define   BMX160_GYR_CONF_GYR_ODR_25			0x6
@@ -186,6 +202,8 @@ ao_bmx160_init(void);
 #define BMX160_FOC_CONF			0x69
 #define BMX160_CONF			0x6A
 #define BMX160_IF_CONF			0x6B
+#define  BMX160_IF_CONF_IF_MODE			4
+#define  BMX160_IF_CONF_IF_MODE_AUTO_MAG		0x02
 #define BMX160_PMU_TRIGGER		0x6C
 #define BMX160_SELF_TEST		0x6D
 #define BMX160_NV_CONF			0x70
@@ -250,4 +268,44 @@ ao_bmx160_init(void);
 #define BMM150_REPZ				0x52
 #define  BMM150_REPZ_VALUE(n)				((n) -1)
 
+/* Trim Extended Registers */
+#define BMM150_DIG_X1                        0x5D
+#define BMM150_DIG_Y1                        0x5E
+#define BMM150_DIG_Z4_LSB                    0x62
+#define BMM150_DIG_Z4_MSB                    0x63
+#define BMM150_DIG_X2                        0x64
+#define BMM150_DIG_Y2                        0x65
+#define BMM150_DIG_Z2_LSB                    0x68
+#define BMM150_DIG_Z2_MSB                    0x69
+#define BMM150_DIG_Z1_LSB                    0x6A
+#define BMM150_DIG_Z1_MSB                    0x6B
+#define BMM150_DIG_XYZ1_LSB                  0x6C
+#define BMM150_DIG_XYZ1_MSB                  0x6D
+#define BMM150_DIG_Z3_LSB                    0x6E
+#define BMM150_DIG_Z3_MSB                    0x6F
+#define BMM150_DIG_XY2                       0x70
+#define BMM150_DIG_XY1                       0x71
+
+#define BMM150_XYAXES_FLIP_OVERFLOW_ADCVAL   -4096
+#define BMM150_ZAXIS_HALL_OVERFLOW_ADCVAL    -16384
+#define BMM150_OVERFLOW_OUTPUT               -32768
+#define BMM150_NEGATIVE_SATURATION_Z         -32767
+#define BMM150_POSITIVE_SATURATION_Z         32767
+
+#define BMX160_GYRO_FULLSCALE	((float) 2000 * M_PI/180.0)
+
+static inline float
+ao_bmx160_gyro(float sensor) {
+	return sensor * ((float) (BMX160_GYRO_FULLSCALE / 32767.0));
+}
+
+#define BMX160_ACCEL_FULLSCALE	16
+
+static inline float
+ao_bmx160_accel(int16_t sensor) {
+	return (float) sensor * ((float) (BMX160_ACCEL_FULLSCALE * GRAVITY / 32767.0));
+}
+
+#define ao_bmx_accel_to_sample(accel) ((accel_t) (accel) * (32767.0f / (BMX160_ACCEL_FULLSCALE * GRAVITY)))
+
 #endif /* _BMX160_H_ */