/* * 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_ #include 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) #define BMX160_GYRO_FULLSCALE ((float) 2000 * M_PI/180.0) static inline float ao_bmx160_gyro(float sensor) { return sensor * ((float) (BMX160_GYRO_FULLSCALE / 32767.0)); } #define BMX160_ACCEL_FULLSCALE 16 static inline float ao_bmx160_accel(int16_t sensor) { return (float) sensor * ((float) (BMX160_ACCEL_FULLSCALE * GRAVITY / 32767.0)); } #endif /* _BMX160_H_ */