X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fdrivers%2Fao_bmx160.h;fp=src%2Fdrivers%2Fao_bmx160.h;h=265be995d3952fd081e939ff864145f967bf1727;hp=0000000000000000000000000000000000000000;hb=a87698663f8a5ced468755068a0468755d8f2746;hpb=99525a748e00406424b98a0952f0156437b30b6c diff --git a/src/drivers/ao_bmx160.h b/src/drivers/ao_bmx160.h new file mode 100644 index 00000000..265be995 --- /dev/null +++ b/src/drivers/ao_bmx160.h @@ -0,0 +1,253 @@ +/* + * Copyright © 2019 Keith Packard + * + * 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_ */