From a87698663f8a5ced468755068a0468755d8f2746 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Mon, 16 Sep 2019 12:39:09 -0700 Subject: [PATCH] altos: Add bmx160 driver This just adds the driver, it doesn't hook it up yet Signed-off-by: Keith Packard --- src/drivers/ao_bmx160.c | 422 ++++++++++++++++++++++++++++++++++++++++ src/drivers/ao_bmx160.h | 253 ++++++++++++++++++++++++ src/kernel/ao.h | 1 + src/kernel/ao_data.h | 12 +- 4 files changed, 687 insertions(+), 1 deletion(-) create mode 100644 src/drivers/ao_bmx160.c create mode 100644 src/drivers/ao_bmx160.h diff --git a/src/drivers/ao_bmx160.c b/src/drivers/ao_bmx160.c new file mode 100644 index 00000000..4c3c2a9f --- /dev/null +++ b/src/drivers/ao_bmx160.c @@ -0,0 +1,422 @@ +/* + * 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. + */ + +#include +#include +#include + +static uint8_t ao_bmx160_configured; + +#define ao_bmx160_spi_get() ao_spi_get(AO_BMX160_SPI_BUS, AO_SPI_SPEED_8MHz) +#define ao_bmx160_spi_put() ao_spi_put(AO_BMX160_SPI_BUS) + +#define ao_bmx160_spi_start() ao_spi_set_cs(AO_BMX160_SPI_CS_PORT, \ + (1 << AO_BMX160_SPI_CS_PIN)) + +#define ao_bmx160_spi_end() ao_spi_clr_cs(AO_BMX160_SPI_CS_PORT, \ + (1 << AO_BMX160_SPI_CS_PIN)) + +static void +_ao_bmx160_reg_write(uint8_t addr, uint8_t value) +{ + uint8_t d[2] = { addr, value }; + ao_bmx160_spi_start(); + ao_spi_send(d, 2, AO_BMX160_SPI_BUS); + ao_bmx160_spi_end(); +} + +static void +_ao_bmx160_read(uint8_t addr, void *data, uint8_t len) +{ + addr |= 0x80; + ao_bmx160_spi_start(); + ao_spi_send(&addr, 1, AO_BMX160_SPI_BUS); + ao_spi_recv(data, len, AO_BMX160_SPI_BUS); + ao_bmx160_spi_end(); +} + +static uint8_t +_ao_bmx160_reg_read(uint8_t addr) +{ + uint8_t value; + addr |= 0x80; + ao_bmx160_spi_start(); + ao_spi_send(&addr, 1, AO_BMX160_SPI_BUS); + ao_spi_recv(&value, 1, AO_BMX160_SPI_BUS); + ao_bmx160_spi_end(); + return value; +} + +static void +_ao_bmx160_cmd(uint8_t cmd) +{ + _ao_bmx160_reg_write(BMX160_CMD, cmd); + ao_delay(AO_MS_TO_TICKS(100)); +} + +static void +_ao_bmx160_mag_setup(void) +{ + _ao_bmx160_reg_write(BMX160_MAG_IF_0, 0x80); +} + +static void +_ao_bmm150_wait_manual(void) +{ + while (_ao_bmx160_reg_read(BMX160_STATUS) & (1 << BMX160_STATUS_MAG_MAN_OP)) + ; +} + +static void +_ao_bmm150_reg_write(uint8_t addr, uint8_t data) +{ + _ao_bmx160_reg_write(BMX160_MAG_IF_3, data); + _ao_bmx160_reg_write(BMX160_MAG_IF_2, addr); + _ao_bmm150_wait_manual(); +} + +static uint8_t +_ao_bmm150_reg_read(uint8_t addr) +{ + _ao_bmx160_reg_write(BMX160_MAG_IF_1, addr); + _ao_bmm150_wait_manual(); + return _ao_bmx160_reg_read(BMX160_DATA_0); +} + +static void +_ao_bmx160_sample(struct ao_bmx160_sample *sample) +{ + _ao_bmx160_read(BMX160_MAG_X_0_7, sample, sizeof (*sample)); +#if __BYTE_ORDER != __LITTLE_ENDIAN + int i = sizeof (*sample) / 2; + uint16_t *d = (uint16_t *) sample; + + /* byte swap */ + while (i--) { + uint16_t t = *d; + *d++ = (t >> 8) | (t << 8); + } +#endif +} + +#define G 981 /* in cm/s² */ + +#if 0 +static int16_t /* cm/s² */ +ao_bmx160_accel(int16_t v) +{ + return (int16_t) ((v * (int32_t) (16.0 * 980.665 + 0.5)) / 32767); +} + +static int16_t /* deg*10/s */ +ao_bmx160_gyro(int16_t v) +{ + return (int16_t) ((v * (int32_t) 20000) / 32767); +} + +static uint8_t +ao_bmx160_accel_check(int16_t normal, int16_t test) +{ + int16_t diff = test - normal; + + if (diff < BMX160_ST_ACCEL(16) / 4) { + return 1; + } + if (diff > BMX160_ST_ACCEL(16) * 4) { + return 1; + } + return 0; +} + +static uint8_t +ao_bmx160_gyro_check(int16_t normal, int16_t test) +{ + int16_t diff = test - normal; + + if (diff < 0) + diff = -diff; + if (diff < BMX160_ST_GYRO(2000) / 4) { + return 1; + } + if (diff > BMX160_ST_GYRO(2000) * 4) { + return 1; + } + return 0; +} +#endif + +static void +_ao_bmx160_wait_alive(void) +{ + uint8_t i; + + /* Wait for the chip to wake up */ + for (i = 0; i < 30; i++) { + ao_delay(AO_MS_TO_TICKS(100)); + if (_ao_bmx160_reg_read(BMX160_CHIPID) == BMX160_CHIPID_BMX160) + break; + } + if (i == 30) + ao_panic(AO_PANIC_SELF_TEST_BMX160); +} + +#define ST_TRIES 10 +#define MAG_TRIES 10 + +static void +_ao_bmx160_setup(void) +{ + if (ao_bmx160_configured) + return; + + /* Make sure the chip is responding */ + _ao_bmx160_wait_alive(); + + /* Reboot */ + _ao_bmx160_cmd(BMX160_CMD_SOFTRESET); + + /* Force SPI mode */ + _ao_bmx160_reg_write(BMX160_NV_CONF, 1 << BMX160_NV_CONF_SPI_EN); + + /* Configure accelerometer: + * + * undersampling disabled + * normal filter + * 200Hz sampling rate + * 16g range + * + * This yields a 3dB cutoff frequency of 80Hz + */ + _ao_bmx160_reg_write(BMX160_ACC_CONF, + (0 << BMX160_ACC_CONF_ACC_US) | + (BMX160_ACC_CONF_ACC_BWP_NORMAL << BMX160_ACC_CONF_ACC_BWP) | + (BMX160_ACC_CONF_ACC_ODR_200 << BMX160_ACC_CONF_ACC_ODR)); + _ao_bmx160_reg_write(BMX160_ACC_RANGE, + BMX160_ACC_RANGE_16G); + + /* Configure gyro: + * + * 200Hz sampling rate + * Normal filter mode + * ±2000°/s + */ + _ao_bmx160_reg_write(BMX160_GYR_CONF, + (BMX160_GYR_CONF_GYR_BWP_NORMAL << BMX160_GYR_CONF_GYR_BWP) | + (BMX160_GYR_CONF_GYR_ODR_200 << BMX160_GYR_CONF_GYR_ODR)); + _ao_bmx160_reg_write(BMX160_GYR_RANGE, + BMX160_GYR_RANGE_2000); + + + /* Configure magnetometer: + * + * 30Hz sampling rate + * power on + * axes enabled + */ + _ao_bmx160_cmd(BMX160_CMD_MAG_IF_SET_PMU_MODE(BMX160_PMU_STATUS_MAG_IF_PMU_STATUS_NORMAL)); + + /* Enter setup mode */ + _ao_bmx160_mag_setup(); + + /* Place in suspend mode to reboot the chip */ + _ao_bmm150_reg_write(BMM150_POWER_MODE, + (0 << BMM150_POWER_MODE_POWER_CONTROL)); + + /* Power on */ + _ao_bmm150_reg_write(BMM150_POWER_MODE, + (1 << BMM150_POWER_MODE_POWER_CONTROL)); + + /* Set data rate and place in sleep mode */ + _ao_bmm150_reg_write(BMM150_CONTROL, + (BMM150_CONTROL_DATA_RATE_30 << BMM150_CONTROL_DATA_RATE) | + (BMM150_CONTROL_OP_MODE_SLEEP << BMM150_CONTROL_OP_MODE)); + + /* enable all axes (should already be enabled) */ + _ao_bmm150_reg_write(BMM150_INT_CONF, + (0 << BMM150_INT_CONF_X_DISABLE) | + (0 << BMM150_INT_CONF_Y_DISABLE) | + (0 << BMM150_INT_CONF_Z_DISABLE)); + + /* Set repetition values (?) */ + _ao_bmm150_reg_write(BMM150_REPXY, BMM150_REPXY_VALUE(9)); + _ao_bmm150_reg_write(BMM150_REPZ, BMM150_REPZ_VALUE(15)); + + /* To get data out of the magnetometer, set the control op mode to 'forced', then read + * from the data registers + */ + _ao_bmx160_reg_write(BMX160_MAG_IF_3, (BMM150_CONTROL_OP_MODE_FORCED << BMM150_CONTROL_OP_MODE)); + _ao_bmx160_reg_write(BMX160_MAG_IF_2, BMM150_CONTROL); + _ao_bmx160_reg_write(BMX160_MAG_IF_1, BMM150_DATA_X_0_4); + + /* Set data rate to 200Hz */ + _ao_bmx160_reg_write(BMX160_MAG_CONF, + (BMX160_MAG_CONF_MAG_ODR_200 << BMX160_MAG_CONF_MAG_ODR)); + + /* Put magnetometer interface back into 'normal mode' + */ + _ao_bmx160_reg_write(BMX160_MAG_IF_0, + (0 << BMX160_MAG_IF_0_MAG_MANUAL_EN) | + (0 << BMX160_MAG_IF_0_MAG_OFFSET) | + (0 << BMX160_MAG_IF_0_MAG_RD_BURST)); + + /* Enable acc and gyr + */ + + _ao_bmx160_cmd(BMX160_CMD_ACC_SET_PMU_MODE(BMX160_PMU_STATUS_ACC_PMU_STATUS_NORMAL)); + _ao_bmx160_cmd(BMX160_CMD_GYR_SET_PMU_MODE(BMX160_PMU_STATUS_GYR_PMU_STATUS_NORMAL)); + ao_bmx160_configured = 1; +} + +struct ao_bmx160_sample ao_bmx160_current; + +static void +ao_bmx160(void) +{ + struct ao_bmx160_sample sample; + + /* ao_bmx160_init already grabbed the SPI bus and mutex */ + _ao_bmx160_setup(); + ao_bmx160_spi_put(); + for (;;) + { + ao_bmx160_spi_get(); + _ao_bmx160_sample(&sample); + ao_bmx160_spi_put(); + ao_arch_block_interrupts(); + ao_bmx160_current = sample; + AO_DATA_PRESENT(AO_DATA_BMX160); + AO_DATA_WAIT(); + ao_arch_release_interrupts(); + } +} + +static struct ao_task ao_bmx160_task; + +static void +ao_bmx160_show(void) +{ + printf ("Accel: %7d %7d %7d Gyro: %7d %7d %7d Mag: %7d %7d %7d\n", + ao_bmx160_current.acc_x, + ao_bmx160_current.acc_y, + ao_bmx160_current.acc_z, + ao_bmx160_current.gyr_x, + ao_bmx160_current.gyr_y, + ao_bmx160_current.gyr_z, + ao_bmx160_current.mag_x, + ao_bmx160_current.mag_y, + ao_bmx160_current.mag_z); +} + +#if BMX160_TEST + +static void +ao_bmx160_read(void) +{ + uint8_t addr; + uint8_t val; + + addr = ao_cmd_hex(); + if (ao_cmd_status != ao_cmd_success) + return; + ao_bmx160_spi_get(); + val = _ao_bmx160_reg_read(addr); + ao_bmx160_spi_put(); + printf("Addr %02x val %02x\n", addr, val); +} + +static void +ao_bmx160_write(void) +{ + uint8_t addr; + uint8_t val; + + addr = ao_cmd_hex(); + if (ao_cmd_status != ao_cmd_success) + return; + val = ao_cmd_hex(); + if (ao_cmd_status != ao_cmd_success) + return; + printf("Addr %02x val %02x\n", addr, val); + ao_bmx160_spi_get(); + _ao_bmx160_reg_write(addr, val); + ao_bmx160_spi_put(); +} + +static void +ao_bmm150_read(void) +{ + uint8_t addr; + uint8_t val; + + addr = ao_cmd_hex(); + if (ao_cmd_status != ao_cmd_success) + return; + ao_bmx160_spi_get(); + val = _ao_bmm150_reg_read(addr); + ao_bmx160_spi_put(); + printf("Addr %02x val %02x\n", addr, val); +} + +static void +ao_bmm150_write(void) +{ + uint8_t addr; + uint8_t val; + + addr = ao_cmd_hex(); + if (ao_cmd_status != ao_cmd_success) + return; + val = ao_cmd_hex(); + if (ao_cmd_status != ao_cmd_success) + return; + printf("Addr %02x val %02x\n", addr, val); + ao_bmx160_spi_get(); + _ao_bmm150_reg_write(addr, val); + ao_bmx160_spi_put(); +} + +#endif /* BMX160_TEST */ + +static const struct ao_cmds ao_bmx160_cmds[] = { + { ao_bmx160_show, "I\0Show BMX160 status" }, +#if BMX160_TEST + { ao_bmx160_read, "R \0Read BMX160 register" }, + { ao_bmx160_write, "W \0Write BMX160 register" }, + { ao_bmm150_read, "M \0Read BMM150 register" }, + { ao_bmm150_write, "N \0Write BMM150 register" }, +#endif + { 0, NULL } +}; + +void +ao_bmx160_init(void) +{ + ao_add_task(&ao_bmx160_task, ao_bmx160, "bmx160"); + + ao_spi_init_cs(AO_BMX160_SPI_CS_PORT, (1 << AO_BMX160_SPI_CS_PIN)); + + /* Pretend to be the bmx160 task. Grab the SPI bus right away and + * hold it for the task so that nothing else uses the SPI bus before + * we get the I2C mode disabled in the chip + */ + + ao_cur_task = &ao_bmx160_task; + ao_bmx160_spi_get(); + ao_cur_task = NULL; + ao_cmd_register(&ao_bmx160_cmds[0]); +} 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_ */ diff --git a/src/kernel/ao.h b/src/kernel/ao.h index 21ab2747..fb7af24d 100644 --- a/src/kernel/ao.h +++ b/src/kernel/ao.h @@ -75,6 +75,7 @@ typedef AO_PORT_TYPE ao_port_t; #define AO_PANIC_SELF_TEST_HMC5883 0x40 | 2 /* Self test failure */ #define AO_PANIC_SELF_TEST_MPU6000 0x40 | 3 /* Self test failure */ #define AO_PANIC_SELF_TEST_MPU9250 0x40 | 3 /* Self test failure */ +#define AO_PANIC_SELF_TEST_BMX160 0x40 | 3 /* Self test failure */ #define AO_PANIC_SELF_TEST_MS5607 0x40 | 4 /* Self test failure */ #define AO_PANIC_SELF_TEST_ADS124S0X 0x40 | 5 /* Self test failure */ diff --git a/src/kernel/ao_data.h b/src/kernel/ao_data.h index 4fc9db8f..55d82e48 100644 --- a/src/kernel/ao_data.h +++ b/src/kernel/ao_data.h @@ -76,6 +76,13 @@ #define AO_DATA_MAX6691 0 #endif +#if HAS_BMX160 +#include +#define AO_DATA_BMX160 (1 << 2) +#else +#define AO_DATA_BMX160 0 +#endif + #ifndef HAS_SENSOR_ERRORS #if HAS_IMU || HAS_MMA655X || HAS_MS5607 || HAS_MS5611 #define HAS_SENSOR_ERRORS 1 @@ -88,7 +95,7 @@ extern uint8_t ao_sensor_errors; #ifdef AO_DATA_RING -#define AO_DATA_ALL (AO_DATA_ADC|AO_DATA_MS5607|AO_DATA_MPU6000|AO_DATA_HMC5883|AO_DATA_MMA655X|AO_DATA_MPU9250|AO_DATA_ADXL375) +#define AO_DATA_ALL (AO_DATA_ADC|AO_DATA_MS5607|AO_DATA_MPU6000|AO_DATA_HMC5883|AO_DATA_MMA655X|AO_DATA_MPU9250|AO_DATA_ADXL375|AO_DATA_BMX160) struct ao_data { uint16_t tick; @@ -123,6 +130,9 @@ struct ao_data { #if HAS_ADS131A0X struct ao_ads131a0x_sample ads131a0x; #endif +#if HAS_BMX160 + struct ao_bmx160_sample bmx160; +#endif }; #define ao_data_ring_next(n) (((n) + 1) & (AO_DATA_RING - 1)) -- 2.30.2