int bmg160_slope_config(struct device *dev, enum sensor_attribute attr,
const struct sensor_value *val)
{
struct bmg160_device_data *bmg160 = dev->driver_data;
if (attr == SENSOR_ATTR_SLOPE_TH) {
u16_t any_th_dps, range_dps;
u8_t any_th_reg_val;
any_th_dps = sensor_rad_to_degrees(val);
range_dps = BMG160_SCALE_TO_RANGE(bmg160->scale);
any_th_reg_val = any_th_dps * 2000 / range_dps;
/* the maximum slope depends on selected range */
if (any_th_dps > range_dps / 16) {
return -ENOTSUP;
}
return bmg160_write_byte(dev, BMG160_REG_THRES,
any_th_dps & BMG160_THRES_MASK);
} else if (attr == SENSOR_ATTR_SLOPE_DUR) {
/* slope duration can be 4, 8, 12 or 16 samples */
if (val->val1 != 4 && val->val1 != 8 &&
val->val1 != 12 && val->val1 != 16) {
return -ENOTSUP;
}
return bmg160_write_byte(dev, BMG160_REG_ANY_EN,
(val->val1 << BMG160_ANY_DURSAMPLE_POS) &
BMG160_ANY_DURSAMPLE_MASK);
}
return -ENOTSUP;
}
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;
}
int bmg160_trigger_init(struct device *dev)
{
const struct bmg160_device_config *cfg = dev->config->config_info;
struct bmg160_device_data *bmg160 = dev->driver_data;
/* set INT1 pin to: push-pull, active low */
if (bmg160_write_byte(dev, BMG160_REG_INT_EN1, 0) < 0) {
SYS_LOG_DBG("Failed to select interrupt pins type.");
return -EIO;
}
/* set interrupt mode to non-latched */
if (bmg160_write_byte(dev, BMG160_REG_INT_RST_LATCH, 0) < 0) {
SYS_LOG_DBG("Failed to set the interrupt mode.");
return -EIO;
}
/* map anymotion and high rate interrupts to INT1 pin */
if (bmg160_write_byte(dev, BMG160_REG_INT_MAP0,
BMG160_INT1_ANY | BMG160_INT1_HIGH) < 0) {
SYS_LOG_DBG("Unable to map interrupts.");
return -EIO;
}
/* map data ready, FIFO and FastOffset interrupts to INT1 pin */
if (bmg160_write_byte(dev, BMG160_REG_INT_MAP1,
BMG160_INT1_DATA | BMG160_INT1_FIFO |
BMG160_INT1_FAST_OFFSET) < 0) {
SYS_LOG_DBG("Unable to map interrupts.");
return -EIO;
}
bmg160->gpio = device_get_binding((char *)cfg->gpio_port);
if (!bmg160->gpio) {
SYS_LOG_DBG("Gpio controller %s not found", cfg->gpio_port);
return -EINVAL;
}
#if defined(CONFIG_BMG160_TRIGGER_OWN_THREAD)
k_sem_init(&bmg160->trig_sem, 0, UINT_MAX);
k_thread_create(&bmg160_thread, bmg160_thread_stack,
CONFIG_BMG160_THREAD_STACK_SIZE, bmg160_thread_main,
dev, NULL, NULL, K_PRIO_COOP(10), 0, 0);
#elif defined(CONFIG_BMG160_TRIGGER_GLOBAL_THREAD)
bmg160->work.handler = bmg160_work_cb;
bmg160->dev = dev;
#endif
gpio_pin_configure(bmg160->gpio, cfg->int_pin,
GPIO_DIR_IN | GPIO_INT | GPIO_INT_EDGE |
GPIO_INT_ACTIVE_LOW | GPIO_INT_DEBOUNCE);
gpio_init_callback(&bmg160->gpio_cb, bmg160_gpio_callback,
BIT(cfg->int_pin));
gpio_add_callback(bmg160->gpio, &bmg160->gpio_cb);
gpio_pin_enable_callback(bmg160->gpio, cfg->int_pin);
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;
}
}