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/*
* 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_ */
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