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; } }