int bmg160_init(struct device *dev) { struct bmg160_device_config *cfg = dev->config->config_info; struct bmg160_device_data *bmg160 = dev->driver_data; uint8_t chip_id = 0; uint16_t range_dps; bmg160->i2c = device_get_binding((char *)cfg->i2c_port); if (!bmg160->i2c) { SYS_LOG_DBG("I2C master controller not found!"); return -EINVAL; } nano_sem_init(&bmg160->sem); nano_sem_give(&bmg160->sem); if (bmg160_read_byte(dev, BMG160_REG_CHIPID, &chip_id) < 0) { SYS_LOG_DBG("Failed to read chip id."); return -EIO; } if (chip_id != BMG160_CHIP_ID) { SYS_LOG_DBG("Unsupported chip detected (0x%x)!", chip_id); return -ENODEV; } /* reset the chip */ bmg160_write_byte(dev, BMG160_REG_BGW_SOFTRESET, BMG160_RESET); sys_thread_busy_wait(1000); /* wait for the chip to come up */ if (bmg160_write_byte(dev, BMG160_REG_RANGE, BMG160_DEFAULT_RANGE) < 0) { SYS_LOG_DBG("Failed to set range."); return -EIO; } range_dps = bmg160_gyro_range_map[BMG160_DEFAULT_RANGE]; bmg160->scale = BMG160_RANGE_TO_SCALE(range_dps); if (bmg160_write_byte(dev, BMG160_REG_BW, BMG160_DEFAULT_ODR) < 0) { SYS_LOG_DBG("Failed to set sampling frequency."); return -EIO; } /* disable interrupts */ if (bmg160_write_byte(dev, BMG160_REG_INT_EN0, 0) < 0) { SYS_LOG_DBG("Failed to disable all interrupts."); return -EIO; } #ifdef CONFIG_BMG160_TRIGGER bmg160_trigger_init(dev); #endif dev->driver_api = &bmg160_api; return 0; }
static int bmg160_attr_set(struct device *dev, enum sensor_channel chan, enum sensor_attribute attr, const struct sensor_value *val) { struct bmg160_device_data *bmg160 = dev->driver_data; int idx; u16_t range_dps; if (chan != SENSOR_CHAN_GYRO_XYZ) { return -ENOTSUP; } switch (attr) { case SENSOR_ATTR_FULL_SCALE: range_dps = sensor_rad_to_degrees(val); idx = bmg160_is_val_valid(range_dps, bmg160_gyro_range_map, BMG160_GYRO_RANGE_MAP_SIZE); if (idx < 0) { return -ENOTSUP; } if (bmg160_write_byte(dev, BMG160_REG_RANGE, idx) < 0) { return -EIO; } bmg160->scale = BMG160_RANGE_TO_SCALE(range_dps); return 0; case SENSOR_ATTR_SAMPLING_FREQUENCY: idx = bmg160_is_val_valid(val->val1, bmg160_sampling_freq_map, BMG160_SAMPLING_FREQ_MAP_SIZE); if (idx < 0) { return -ENOTSUP; } /* * The sampling frequencies values start at 1, i.e. a * sampling frequency of 2000Hz translates to BW value * of 1. Hence the 1 added to the index received. */ if (bmg160_write_byte(dev, BMG160_REG_BW, idx + 1) < 0) { return -EIO; } return 0; #ifdef CONFIG_BMG160_TRIGGER case SENSOR_ATTR_SLOPE_TH: case SENSOR_ATTR_SLOPE_DUR: return bmg160_slope_config(dev, attr, val); #endif default: return -ENOTSUP; } }