--- /dev/null
+/*
+ * Copyright © 2019 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#ifndef _AO_BMX160_H_
+#define _AO_BMX160_H_
+
+struct ao_bmx160_sample {
+ int16_t mag_x;
+ int16_t mag_y;
+ int16_t mag_z;
+ int16_t rhall;
+ int16_t gyr_x;
+ int16_t gyr_y;
+ int16_t gyr_z;
+ int16_t acc_x;
+ int16_t acc_y;
+ int16_t acc_z;
+};
+
+extern struct ao_bmx160_sample ao_bmx160_current;
+
+struct ao_bmx160_offset {
+ int8_t off_acc_x;
+ int8_t off_acc_y;
+ int8_t off_acc_z;
+ int8_t off_gyr_x;
+ int8_t off_gyr_y;
+ int8_t off_gyr_z;
+ uint8_t offset_6;
+};
+
+void
+ao_bmx160_init(void);
+
+#define BMX160_CHIPID 0x00
+#define BMX160_CHIPID_BMX160 0xd8
+#define BMX160_ERR_REG 0x02
+#define BMX160_PMU_STATUS 0x03
+#define BMX160_PMU_STATUS_MAG_IF_PMU_STATUS 0
+#define BMX160_PMU_STATUS_MAG_IF_PMU_STATUS_SUSPEND 0
+#define BMX160_PMU_STATUS_MAG_IF_PMU_STATUS_NORMAL 1
+#define BMX160_PMU_STATUS_MAG_IF_PMU_STATUS_LOW_POWER 2
+#define BMX160_PMU_STATUS_GYR_PMU_STATUS 2
+#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_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_DATA_0 0x04
+#define BMX160_MAG_X_0_7 0x04
+#define BMX160_MAG_X_8_15 0x05
+#define BMX160_MAG_Y_0_7 0x06
+#define BMX160_MAG_Y_8_15 0x07
+#define BMX160_MAG_Z_0_7 0x08
+#define BMX160_MAG_Z_8_15 0x09
+#define BMX160_RHALL_0_7 0x0A
+#define BMX160_RHALL_8_15 0x0B
+#define BMX160_GYRO_X_0_7 0x0C
+#define BMX160_GYRO_X_8_15 0x0D
+#define BMX160_GYRO_Y_0_7 0x0E
+#define BMX160_GYRO_Y_8_15 0x0F
+#define BMX160_GYRO_Z_0_7 0x10
+#define BMX160_GYRO_Z_8_15 0x11
+#define BMX160_ACCEL_X_0_7 0x12
+#define BMX160_ACCEL_X_8_15 0x13
+#define BMX160_ACCEL_Y_0_7 0x14
+#define BMX160_ACCEL_Y_8_15 0x15
+#define BMX160_ACCEL_Z_0_7 0x16
+#define BMX160_ACCEL_Z_8_15 0x17
+#define BMX160_SENSORTIME_0_7 0x18
+#define BMX160_SENSORTIME_8_15 0x19
+#define BMX160_SENSORTIME_16_23 0x1A
+#define BMX160_STATUS 0x1B
+#define BMX160_STATUS_GYR_SELF_TEST_OK 1
+#define BMX160_STATUS_MAG_MAN_OP 2
+#define BMX160_STATUS_FOC_RDY 3
+#define BMX160_STATUS_NVM_RDY 4
+#define BMX160_STATUS_DRDY_MAG 5
+#define BMX160_STATUS_DRDY_GYR 6
+#define BMX160_STATUS_DRDY_ACC 7
+#define BMX160_INT_STATUS_0 0x1C-0x1F
+#define BMX160_INT_STATUS_1 0x1D
+#define BMX160_INT_STATUS_2 0x1E
+#define BMX160_INT_STATUS_3 0x1F
+#define BMX160_TEMPERATURE_0_7 0x20
+#define BMX160_TEMPERATURE_8_15 0x21
+#define BMX160_FIFO_LENGTH_0_7 0x22
+#define BMX160_FIFO_LENGTH_8_15 0x23
+#define BMX160_FIFO_DATA 0x24
+#define BMX160_ACC_CONF 0x40
+#define BMX160_ACC_CONF_ACC_ODR 0
+#define BMX160_ACC_CONF_ACC_ODR_25_32 0x1
+#define BMX160_ACC_CONF_ACC_ODR_25_16 0x2
+#define BMX160_ACC_CONF_ACC_ODR_25_8 0x3
+#define BMX160_ACC_CONF_ACC_ODR_25_4 0x4
+#define BMX160_ACC_CONF_ACC_ODR_25_2 0x5
+#define BMX160_ACC_CONF_ACC_ODR_25 0x6
+#define BMX160_ACC_CONF_ACC_ODR_50 0x7
+#define BMX160_ACC_CONF_ACC_ODR_100 0x8
+#define BMX160_ACC_CONF_ACC_ODR_200 0x9
+#define BMX160_ACC_CONF_ACC_ODR_400 0xa
+#define BMX160_ACC_CONF_ACC_ODR_800 0xb
+#define BMX160_ACC_CONF_ACC_ODR_1600 0xc
+#define BMX160_ACC_CONF_ACC_BWP 4
+#define BMX160_ACC_CONF_ACC_BWP_NORMAL 0x2
+#define BMX160_ACC_CONF_ACC_BWP_OSR2 0x1
+#define BMX160_ACC_CONF_ACC_BWP_OSR4 0x0
+#define BMX160_ACC_CONF_ACC_US 7
+#define BMX160_ACC_RANGE 0x41
+#define BMX160_ACC_RANGE_2G 0x3
+#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
+#define BMX160_GYR_CONF_GYR_ODR_50 0x7
+#define BMX160_GYR_CONF_GYR_ODR_100 0x8
+#define BMX160_GYR_CONF_GYR_ODR_200 0x9
+#define BMX160_GYR_CONF_GYR_ODR_400 0xa
+#define BMX160_GYR_CONF_GYR_ODR_800 0xb
+#define BMX160_GYR_CONF_GYR_ODR_1600 0xc
+#define BMX160_GYR_CONF_GYR_ODR_3200 0xd
+#define BMX160_GYR_CONF_GYR_BWP 4
+#define BMX160_GYR_CONF_GYR_BWP_NORMAL 0x2
+#define BMX160_GYR_CONF_GYR_BWP_OSR2 0x1
+#define BMX160_GYR_CONF_GYR_BWP_OSR4 0x0
+#define BMX160_GYR_RANGE 0x43
+#define BMX160_GYR_RANGE_2000 0x0
+#define BMX160_GYR_RANGE_1000 0x1
+#define BMX160_GYR_RANGE_500 0x2
+#define BMX160_GYR_RANGE_250 0x3
+#define BMX160_GYR_RANGE_125 0x4
+#define BMX160_MAG_CONF 0x44
+#define BMX160_MAG_CONF_MAG_ODR 0
+#define BMX160_MAG_CONF_MAG_ODR_25_32 0x1
+#define BMX160_MAG_CONF_MAG_ODR_25_16 0x2
+#define BMX160_MAG_CONF_MAG_ODR_25_8 0x3
+#define BMX160_MAG_CONF_MAG_ODR_25_4 0x4
+#define BMX160_MAG_CONF_MAG_ODR_25_2 0x5
+#define BMX160_MAG_CONF_MAG_ODR_25 0x6
+#define BMX160_MAG_CONF_MAG_ODR_50 0x7
+#define BMX160_MAG_CONF_MAG_ODR_100 0x8
+#define BMX160_MAG_CONF_MAG_ODR_200 0x9
+#define BMX160_MAG_CONF_MAG_ODR_400 0xa
+#define BMX160_MAG_CONF_MAG_ODR_800 0xb
+#define BMX160_FIFO_DOWNS 0x45
+#define BMX160_FIFO_CONFIG_0 0x46
+#define BMX160_FIFO_CONFIG_1 0x47
+#define BMX160_MAG_IF_0 0x4C
+#define BMX160_MAG_IF_0_MAG_RD_BURST 0
+#define BMX160_MAG_IF_0_MAG_OFFSET 2
+#define BMX160_MAG_IF_0_MAG_MANUAL_EN 7
+#define BMX160_MAG_IF_1 0x4D
+#define BMX160_MAG_IF_2 0x4E
+#define BMX160_MAG_IF_3 0x4F
+#define BMX160_INT_EN 0x50-0x52
+#define BMX160_INT_OUT_CTRL 0x53
+#define BMX160_INT_LATCH 0x54
+#define BMX160_INT_MAP 0x55-0x57
+#define BMX160_INT_DATA 0x58-0x59
+#define BMX160_INT_LOWHIGH 0x5A-0x5E
+#define BMX160_INT_MOTION 0x5F-0x62
+#define BMX160_INT_TAP 0x63-0x64
+#define BMX160_INT_ORIENT 0x65-0x66
+#define BMX160_INT_FLAT 0x67-0x68
+#define BMX160_FOC_CONF 0x69
+#define BMX160_CONF 0x6A
+#define BMX160_IF_CONF 0x6B
+#define BMX160_PMU_TRIGGER 0x6C
+#define BMX160_SELF_TEST 0x6D
+#define BMX160_NV_CONF 0x70
+#define BMX160_NV_CONF_SPI_EN 0
+#define BMX160_NV_CONF_I2C_WDT_SEL 1
+#define BMX160_NV_CONF_I2C_WDT_EN 2
+#define BMX160_OFFSET 0x71-0x77
+#define BMX160_STEP_CNT 0x78-0x79
+#define BMX160_STEP_CONF 0x7A-0x7B
+#define BMX160_CMD 0x7E
+#define BMX160_CMD_START_FOC 0x03
+#define BMX160_CMD_ACC_SET_PMU_MODE(n) (0x10 | (n))
+#define BMX160_CMD_GYR_SET_PMU_MODE(n) (0x14 | (n))
+#define BMX160_CMD_MAG_IF_SET_PMU_MODE(n) (0x18 | (n))
+#define BMX160_CMD_PROG_NVM 0xa0
+#define BMX160_CMD_FIFO_FLUSH 0xb0
+#define BMX160_CMD_INT_RESET 0xb1
+#define BMX160_CMD_SOFTRESET 0xb6
+#define BMX160_CMD_STEP_CNT_CLR 0xb2
+
+#define BMM150_CHIP_ID 0x40
+#define BMM150_DATA_X_0_4 0x42
+#define BMM150_DATA_X_5_12 0x43
+#define BMM150_DATA_Y_0_4 0x44
+#define BMM150_DATA_Y_5_12 0x45
+#define BMM150_DATA_Z_0_6 0x46
+#define BMM150_DATA_Z_7_14 0x47
+#define BMM150_RHALL_0_5 0x48
+#define BMM150_RHALL_6_13 0x49
+#define BMM150_INT_STATUS 0x4a
+#define BMM150_POWER_MODE 0x4b
+#define BMM150_POWER_MODE_SOFT_RESET_HI 7
+#define BMM150_POWER_MODE_SPI3EN 2
+#define BMM150_POWER_MODE_SOFT_RESET_LO 1
+#define BMM150_POWER_MODE_POWER_CONTROL 0
+#define BMM150_CONTROL 0x4c
+#define BMM150_CONTROL_ADV_ST_1 7
+#define BMM150_CONTROL_ADV_ST_0 6
+#define BMM150_CONTROL_DATA_RATE 3
+#define BMM150_CONTROL_DATA_RATE_10 0
+#define BMM150_CONTROL_DATA_RATE_2 1
+#define BMM150_CONTROL_DATA_RATE_6 2
+#define BMM150_CONTROL_DATA_RATE_8 3
+#define BMM150_CONTROL_DATA_RATE_15 4
+#define BMM150_CONTROL_DATA_RATE_20 5
+#define BMM150_CONTROL_DATA_RATE_25 6
+#define BMM150_CONTROL_DATA_RATE_30 7
+#define BMM150_CONTROL_OP_MODE 1
+#define BMM150_CONTROL_OP_MODE_NORMAL 0
+#define BMM150_CONTROL_OP_MODE_FORCED 1
+#define BMM150_CONTROL_OP_MODE_SLEEP 3
+#define BMM150_CONTROL_SELF_TEST 0
+#define BMM150_INT_EN 0x4d
+#define BMM150_INT_CONF 0x4e
+#define BMM150_INT_CONF_X_DISABLE 3
+#define BMM150_INT_CONF_Y_DISABLE 4
+#define BMM150_INT_CONF_Z_DISABLE 5
+#define BMM150_LOW_THRESHOLD 0x4f
+#define BMM150_HIGH_THRESHOLD 0x50
+#define BMM150_REPXY 0x51
+#define BMM150_REPXY_VALUE(n) (((n)-1) >> 1)
+#define BMM150_REPZ 0x52
+#define BMM150_REPZ_VALUE(n) ((n) -1)
+
+#endif /* _BMX160_H_ */
projects / fw / altos / blobdiff