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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         uint16_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 struct ao_bmm150_trim {
  50         int8_t          dig_x1;
  51         int8_t          dig_y1;
  52         int8_t          dig_x2;
  53         int8_t          dig_y2;
  54         uint16_t        dig_z1;
  55         int16_t         dig_z2;
  56         int16_t         dig_z3;
  57         int16_t         dig_z4;
  58         uint8_t         dig_xy1;
  59         int8_t          dig_xy2;
  60         uint16_t        dig_xyz1;
  61 };
  62
  63 void
  64 ao_bmx160_init(void);
  65
  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
 226
 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)
 270
 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
 288
 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
 294
 295 #define BMX160_GYRO_FULLSCALE   ((float) 2000 * M_PI/180.0)
 296
 297 static inline float
 298 ao_bmx160_gyro(float sensor) {
 299         return sensor * ((float) (BMX160_GYRO_FULLSCALE / 32767.0));
 300 }
 301
 302 #define BMX160_ACCEL_FULLSCALE  16
 303
 304 static inline float
 305 ao_bmx160_accel(int16_t sensor) {
 306         return (float) sensor * ((float) (BMX160_ACCEL_FULLSCALE * GRAVITY / 32767.0));
 307 }
 308
 309 #endif /* _BMX160_H_ */