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   1 /*
   2  * Copyright © 2019 Keith Packard <keithp@keithp.com>
   3  *
   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.
   8  *
   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.
  13  *
  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.
  17  */
  18
  19 #ifndef _AO_BMX160_H_
  20 #define _AO_BMX160_H_
  21
  22 #include <math.h>
  23
  24 struct ao_bmx160_sample {
  25         int16_t         mag_x;
  26         int16_t         mag_y;
  27         int16_t         mag_z;
  28         int16_t         rhall;
  29         int16_t         gyr_x;
  30         int16_t         gyr_y;
  31         int16_t         gyr_z;
  32         int16_t         acc_x;
  33         int16_t         acc_y;
  34         int16_t         acc_z;
  35 };
  36
  37 extern struct ao_bmx160_sample  ao_bmx160_current;
  38
  39 struct ao_bmx160_offset {
  40         int8_t          off_acc_x;
  41         int8_t          off_acc_y;
  42         int8_t          off_acc_z;
  43         int8_t          off_gyr_x;
  44         int8_t          off_gyr_y;
  45         int8_t          off_gyr_z;
  46         uint8_t         offset_6;
  47 };
  48
  49 void
  50 ao_bmx160_init(void);
  51
  52 #define BMX160_CHIPID                   0x00
  53 #define  BMX160_CHIPID_BMX160                   0xd8
  54 #define BMX160_ERR_REG                  0x02
  55 #define BMX160_PMU_STATUS               0x03
  56 #define  BMX160_PMU_STATUS_MAG_IF_PMU_STATUS    0
  57 #define   BMX160_PMU_STATUS_MAG_IF_PMU_STATUS_SUSPEND           0
  58 #define   BMX160_PMU_STATUS_MAG_IF_PMU_STATUS_NORMAL            1
  59 #define   BMX160_PMU_STATUS_MAG_IF_PMU_STATUS_LOW_POWER         2
  60 #define  BMX160_PMU_STATUS_GYR_PMU_STATUS       2
  61 #define   BMX160_PMU_STATUS_GYR_PMU_STATUS_SUSPEND              0
  62 #define   BMX160_PMU_STATUS_GYR_PMU_STATUS_NORMAL               1
  63 #define   BMX160_PMU_STATUS_GYR_PMU_STATUS_FAST_START_UP        3
  64 #define  BMX160_PMU_STATUS_ACC_PMU_STATUS       4
  65 #define   BMX160_PMU_STATUS_ACC_PMU_STATUS_SUSPEND              0
  66 #define   BMX160_PMU_STATUS_ACC_PMU_STATUS_NORMAL               1
  67 #define   BMX160_PMU_STATUS_ACC_PMU_STATUS_LOW_POWER            2
  68 #define BMX160_DATA_0                   0x04
  69 #define BMX160_MAG_X_0_7                0x04
  70 #define BMX160_MAG_X_8_15               0x05
  71 #define BMX160_MAG_Y_0_7                0x06
  72 #define BMX160_MAG_Y_8_15               0x07
  73 #define BMX160_MAG_Z_0_7                0x08
  74 #define BMX160_MAG_Z_8_15               0x09
  75 #define BMX160_RHALL_0_7                0x0A
  76 #define BMX160_RHALL_8_15               0x0B
  77 #define BMX160_GYRO_X_0_7               0x0C
  78 #define BMX160_GYRO_X_8_15              0x0D
  79 #define BMX160_GYRO_Y_0_7               0x0E
  80 #define BMX160_GYRO_Y_8_15              0x0F
  81 #define BMX160_GYRO_Z_0_7               0x10
  82 #define BMX160_GYRO_Z_8_15              0x11
  83 #define BMX160_ACCEL_X_0_7              0x12
  84 #define BMX160_ACCEL_X_8_15             0x13
  85 #define BMX160_ACCEL_Y_0_7              0x14
  86 #define BMX160_ACCEL_Y_8_15             0x15
  87 #define BMX160_ACCEL_Z_0_7              0x16
  88 #define BMX160_ACCEL_Z_8_15             0x17
  89 #define BMX160_SENSORTIME_0_7           0x18
  90 #define BMX160_SENSORTIME_8_15          0x19
  91 #define BMX160_SENSORTIME_16_23         0x1A
  92 #define BMX160_STATUS                   0x1B
  93 #define  BMX160_STATUS_GYR_SELF_TEST_OK         1
  94 #define  BMX160_STATUS_MAG_MAN_OP               2
  95 #define  BMX160_STATUS_FOC_RDY                  3
  96 #define  BMX160_STATUS_NVM_RDY                  4
  97 #define  BMX160_STATUS_DRDY_MAG                 5
  98 #define  BMX160_STATUS_DRDY_GYR                 6
  99 #define  BMX160_STATUS_DRDY_ACC                 7
 100 #define BMX160_INT_STATUS_0             0x1C-0x1F
 101 #define BMX160_INT_STATUS_1             0x1D
 102 #define BMX160_INT_STATUS_2             0x1E
 103 #define BMX160_INT_STATUS_3             0x1F
 104 #define BMX160_TEMPERATURE_0_7          0x20
 105 #define BMX160_TEMPERATURE_8_15         0x21
 106 #define BMX160_FIFO_LENGTH_0_7          0x22
 107 #define BMX160_FIFO_LENGTH_8_15         0x23
 108 #define BMX160_FIFO_DATA                0x24
 109 #define BMX160_ACC_CONF                 0x40
 110 #define  BMX160_ACC_CONF_ACC_ODR                0
 111 #define   BMX160_ACC_CONF_ACC_ODR_25_32                 0x1
 112 #define   BMX160_ACC_CONF_ACC_ODR_25_16                 0x2
 113 #define   BMX160_ACC_CONF_ACC_ODR_25_8                  0x3
 114 #define   BMX160_ACC_CONF_ACC_ODR_25_4                  0x4
 115 #define   BMX160_ACC_CONF_ACC_ODR_25_2                  0x5
 116 #define   BMX160_ACC_CONF_ACC_ODR_25                    0x6
 117 #define   BMX160_ACC_CONF_ACC_ODR_50                    0x7
 118 #define   BMX160_ACC_CONF_ACC_ODR_100                   0x8
 119 #define   BMX160_ACC_CONF_ACC_ODR_200                   0x9
 120 #define   BMX160_ACC_CONF_ACC_ODR_400                   0xa
 121 #define   BMX160_ACC_CONF_ACC_ODR_800                   0xb
 122 #define   BMX160_ACC_CONF_ACC_ODR_1600                  0xc
 123 #define  BMX160_ACC_CONF_ACC_BWP                4
 124 #define   BMX160_ACC_CONF_ACC_BWP_NORMAL                        0x2
 125 #define   BMX160_ACC_CONF_ACC_BWP_OSR2                          0x1
 126 #define   BMX160_ACC_CONF_ACC_BWP_OSR4                          0x0
 127 #define  BMX160_ACC_CONF_ACC_US                 7
 128 #define BMX160_ACC_RANGE                0x41
 129 #define  BMX160_ACC_RANGE_2G                    0x3
 130 #define  BMX160_ACC_RANGE_4G                    0x5
 131 #define  BMX160_ACC_RANGE_8G                    0x8
 132 #define  BMX160_ACC_RANGE_16G                   0xc
 133 #define  BMX160_ACC_RANGE_
 134 #define  BMX160_ACC_RANGE_
 135 #define BMX160_GYR_CONF                 0x42
 136 #define  BMX160_GYR_CONF_GYR_ODR                0
 137 #define   BMX160_GYR_CONF_GYR_ODR_25                    0x6
 138 #define   BMX160_GYR_CONF_GYR_ODR_50                    0x7
 139 #define   BMX160_GYR_CONF_GYR_ODR_100                   0x8
 140 #define   BMX160_GYR_CONF_GYR_ODR_200                   0x9
 141 #define   BMX160_GYR_CONF_GYR_ODR_400                   0xa
 142 #define   BMX160_GYR_CONF_GYR_ODR_800                   0xb
 143 #define   BMX160_GYR_CONF_GYR_ODR_1600                  0xc
 144 #define   BMX160_GYR_CONF_GYR_ODR_3200                  0xd
 145 #define  BMX160_GYR_CONF_GYR_BWP                4
 146 #define   BMX160_GYR_CONF_GYR_BWP_NORMAL                        0x2
 147 #define   BMX160_GYR_CONF_GYR_BWP_OSR2                          0x1
 148 #define   BMX160_GYR_CONF_GYR_BWP_OSR4                          0x0
 149 #define BMX160_GYR_RANGE                0x43
 150 #define  BMX160_GYR_RANGE_2000                                  0x0
 151 #define  BMX160_GYR_RANGE_1000                                  0x1
 152 #define  BMX160_GYR_RANGE_500                                   0x2
 153 #define  BMX160_GYR_RANGE_250                                   0x3
 154 #define  BMX160_GYR_RANGE_125                                   0x4
 155 #define BMX160_MAG_CONF                 0x44
 156 #define  BMX160_MAG_CONF_MAG_ODR                        0
 157 #define   BMX160_MAG_CONF_MAG_ODR_25_32                         0x1
 158 #define   BMX160_MAG_CONF_MAG_ODR_25_16                         0x2
 159 #define   BMX160_MAG_CONF_MAG_ODR_25_8                          0x3
 160 #define   BMX160_MAG_CONF_MAG_ODR_25_4                          0x4
 161 #define   BMX160_MAG_CONF_MAG_ODR_25_2                          0x5
 162 #define   BMX160_MAG_CONF_MAG_ODR_25                            0x6
 163 #define   BMX160_MAG_CONF_MAG_ODR_50                            0x7
 164 #define   BMX160_MAG_CONF_MAG_ODR_100                           0x8
 165 #define   BMX160_MAG_CONF_MAG_ODR_200                           0x9
 166 #define   BMX160_MAG_CONF_MAG_ODR_400                           0xa
 167 #define   BMX160_MAG_CONF_MAG_ODR_800                           0xb
 168 #define BMX160_FIFO_DOWNS               0x45
 169 #define BMX160_FIFO_CONFIG_0            0x46
 170 #define BMX160_FIFO_CONFIG_1            0x47
 171 #define BMX160_MAG_IF_0                 0x4C
 172 #define  BMX160_MAG_IF_0_MAG_RD_BURST           0
 173 #define  BMX160_MAG_IF_0_MAG_OFFSET             2
 174 #define  BMX160_MAG_IF_0_MAG_MANUAL_EN          7
 175 #define BMX160_MAG_IF_1                 0x4D
 176 #define BMX160_MAG_IF_2                 0x4E
 177 #define BMX160_MAG_IF_3                 0x4F
 178 #define BMX160_INT_EN                   0x50-0x52
 179 #define BMX160_INT_OUT_CTRL             0x53
 180 #define BMX160_INT_LATCH                0x54
 181 #define BMX160_INT_MAP                  0x55-0x57
 182 #define BMX160_INT_DATA                 0x58-0x59
 183 #define BMX160_INT_LOWHIGH              0x5A-0x5E
 184 #define BMX160_INT_MOTION               0x5F-0x62
 185 #define BMX160_INT_TAP                  0x63-0x64
 186 #define BMX160_INT_ORIENT               0x65-0x66
 187 #define BMX160_INT_FLAT                 0x67-0x68
 188 #define BMX160_FOC_CONF                 0x69
 189 #define BMX160_CONF                     0x6A
 190 #define BMX160_IF_CONF                  0x6B
 191 #define BMX160_PMU_TRIGGER              0x6C
 192 #define BMX160_SELF_TEST                0x6D
 193 #define BMX160_NV_CONF                  0x70
 194 #define  BMX160_NV_CONF_SPI_EN                  0
 195 #define  BMX160_NV_CONF_I2C_WDT_SEL             1
 196 #define  BMX160_NV_CONF_I2C_WDT_EN              2
 197 #define BMX160_OFFSET                   0x71-0x77
 198 #define BMX160_STEP_CNT                 0x78-0x79
 199 #define BMX160_STEP_CONF                0x7A-0x7B
 200 #define BMX160_CMD                      0x7E
 201 #define  BMX160_CMD_START_FOC                   0x03
 202 #define  BMX160_CMD_ACC_SET_PMU_MODE(n)         (0x10 | (n))
 203 #define  BMX160_CMD_GYR_SET_PMU_MODE(n)         (0x14 | (n))
 204 #define  BMX160_CMD_MAG_IF_SET_PMU_MODE(n)      (0x18 | (n))
 205 #define  BMX160_CMD_PROG_NVM                    0xa0
 206 #define  BMX160_CMD_FIFO_FLUSH                  0xb0
 207 #define  BMX160_CMD_INT_RESET                   0xb1
 208 #define  BMX160_CMD_SOFTRESET                   0xb6
 209 #define  BMX160_CMD_STEP_CNT_CLR                0xb2
 210
 211 #define BMM150_CHIP_ID                          0x40
 212 #define BMM150_DATA_X_0_4                       0x42
 213 #define BMM150_DATA_X_5_12                      0x43
 214 #define BMM150_DATA_Y_0_4                       0x44
 215 #define BMM150_DATA_Y_5_12                      0x45
 216 #define BMM150_DATA_Z_0_6                       0x46
 217 #define BMM150_DATA_Z_7_14                      0x47
 218 #define BMM150_RHALL_0_5                        0x48
 219 #define BMM150_RHALL_6_13                       0x49
 220 #define BMM150_INT_STATUS                       0x4a
 221 #define BMM150_POWER_MODE                       0x4b
 222 #define  BMM150_POWER_MODE_SOFT_RESET_HI                7
 223 #define  BMM150_POWER_MODE_SPI3EN                       2
 224 #define  BMM150_POWER_MODE_SOFT_RESET_LO                1
 225 #define  BMM150_POWER_MODE_POWER_CONTROL                0
 226 #define BMM150_CONTROL                          0x4c
 227 #define  BMM150_CONTROL_ADV_ST_1                        7
 228 #define  BMM150_CONTROL_ADV_ST_0                        6
 229 #define  BMM150_CONTROL_DATA_RATE                       3
 230 #define   BMM150_CONTROL_DATA_RATE_10                           0
 231 #define   BMM150_CONTROL_DATA_RATE_2                            1
 232 #define   BMM150_CONTROL_DATA_RATE_6                            2
 233 #define   BMM150_CONTROL_DATA_RATE_8                            3
 234 #define   BMM150_CONTROL_DATA_RATE_15                           4
 235 #define   BMM150_CONTROL_DATA_RATE_20                           5
 236 #define   BMM150_CONTROL_DATA_RATE_25                           6
 237 #define   BMM150_CONTROL_DATA_RATE_30                           7
 238 #define  BMM150_CONTROL_OP_MODE                         1
 239 #define   BMM150_CONTROL_OP_MODE_NORMAL                         0
 240 #define   BMM150_CONTROL_OP_MODE_FORCED                         1
 241 #define   BMM150_CONTROL_OP_MODE_SLEEP                          3
 242 #define  BMM150_CONTROL_SELF_TEST                       0
 243 #define BMM150_INT_EN                           0x4d
 244 #define BMM150_INT_CONF                         0x4e
 245 #define  BMM150_INT_CONF_X_DISABLE                      3
 246 #define  BMM150_INT_CONF_Y_DISABLE                      4
 247 #define  BMM150_INT_CONF_Z_DISABLE                      5
 248 #define BMM150_LOW_THRESHOLD                    0x4f
 249 #define BMM150_HIGH_THRESHOLD                   0x50
 250 #define BMM150_REPXY                            0x51
 251 #define  BMM150_REPXY_VALUE(n)                          (((n)-1) >> 1)
 252 #define BMM150_REPZ                             0x52
 253 #define  BMM150_REPZ_VALUE(n)                           ((n) -1)
 254
 255 #define BMX160_GYRO_FULLSCALE   ((float) 2000 * M_PI/180.0)
 256
 257 static inline float
 258 ao_bmx160_gyro(float sensor) {
 259         return sensor * ((float) (BMX160_GYRO_FULLSCALE / 32767.0));
 260 }
 261
 262 #define BMX160_ACCEL_FULLSCALE  16
 263
 264 static inline float
 265 ao_bmx160_accel(int16_t sensor) {
 266         return (float) sensor * ((float) (BMX160_ACCEL_FULLSCALE * GRAVITY / 32767.0));
 267 }
 268
 269 #endif /* _BMX160_H_ */