示例#1
0
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;
}
示例#2
0
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;
}
示例#3
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;
}
示例#4
0
文件: bmg160.c 项目: zmole945/zephyr
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;
	}
}