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walnux/drivers/sensors/bmi088_base.h
jerryslhao f1b7d7d641 drivers/sensors/bmi088: add driver for Bosch BMI088 IMU 
This adds a driver for the Bosch BMI088 IMU sensor.
The driver supports spi.

Signed-off-by: jerryslhao <jerryslhao@gmail.com>
2025-01-14 10:29:48 +08:00

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/****************************************************************************
* drivers/sensors/bmi088_base.h
*
* SPDX-License-Identifier: Apache-2.0
*
* Licensed to the Apache Software Foundation (ASF) under one or more
* contributor license agreements. See the NOTICE file distributed with
* this work for additional information regarding copyright ownership. The
* ASF licenses this file to you under the Apache License, Version 2.0 (the
* "License"); you may not use this file except in compliance with the
* License. You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
* License for the specific language governing permissions and limitations
* under the License.
*
****************************************************************************/
#ifndef __INCLUDE_NUTTX_SENSORS_BMI088_COMMOM_H
#define __INCLUDE_NUTTX_SENSORS_BMI088_COMMOM_H
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <nuttx/arch.h>
#include <nuttx/fs/fs.h>
#include <nuttx/kmalloc.h>
#include <nuttx/spi/spi.h>
#include <nuttx/i2c/i2c_master.h>
#include <nuttx/sensors/bmi088.h>
#include <stdlib.h>
#include <assert.h>
#include <errno.h>
#include <debug.h>
#include <fixedmath.h>
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
#define DEVID_ACC 0x1E
#define DEVID_GYRO 0x0F
/* I2C ACC Address
*
* NOTE: If SDO1 pin is pulled to VDDIO, use 0x19
*/
#ifdef CONFIG_BMI088_I2C_ACC_ADDR_18
#define BMI088_I2C_ACC_ADDR 0x18
#else
#define BMI088_I2C_ACC_ADDR 0x19
#endif
/* I2C GY Address
*
* NOTE: If SDO2 pin is pulled to VDDIO, use 0x69
*/
#ifdef CONFIG_BMI088_I2C_GY_ADDR_68
#define BMI088_I2C_GY_ADDR 0x68
#else
#define BMI088_I2C_GY_ADDR 0x69
#endif
#define BMI088_I2C_FREQ 400000
#define BMI088_SPI_DEV_ACC 0x00
#define BMI088_SPI_DEV_GYRO 0x01
/* Accelerometer Registers */
#define BMI088_ACC_CHIP_ID 0x00
#define BMI088_ACC_ERR_REG 0x02
#define BMI088_ACC_STATUS 0x03
#define BMI088_ACC_X_LSB 0x12
#define BMI088_ACC_X_MSB 0x13
#define BMI088_ACC_Y_LSB 0x14
#define BMI088_ACC_Y_MSB 0x15
#define BMI088_ACC_Z_LSB 0x16
#define BMI088_ACC_Z_MSB 0x17
#define BMI088_SENSORTIME_0 0x18
#define BMI088_SENSORTIME_1 0x19
#define BMI088_SENSORTIME_2 0x1A
#define BMI088_ACC_INT_STAT_1 0x1D
#define BMI088_TEMP_MSB 0x22
#define BMI088_TEMP_LSB 0x23
#define BMI088_ACC_CONF 0x40
#define BMI088_ACC_RANGE 0x41
#define BMI088_INT1_IO_CONF 0x53
#define BMI088_INT2_IO_CONF 0x54
#define BMI088_INT1_INT2_MAP_DATA 0x58
#define BMI088_ACC_SELF_TEST 0x6D
#define BMI088_ACC_PWR_CONF 0x7C
#define BMI088_ACC_PWR_CTRL 0x7D
#define BMI088_ACC_SOFTRESET 0x7E
/* Gyroscope Registers */
#define BMI088_GYRO_CHIP_ID 0x00
#define BMI088_GYRO_X_LSB 0x02
#define BMI088_GYRO_X_MSB 0x03
#define BMI088_GYRO_Y_LSB 0x04
#define BMI088_GYRO_Y_MSB 0x05
#define BMI088_GYRO_Z_LSB 0x06
#define BMI088_GYRO_Z_MSB 0x07
#define BMI088_GYRO_INT_STAT_1 0x0A
#define BMI088_GYRO_RANGE 0x0F
#define BMI088_GYRO_BANDWIDTH 0x10
#define BMI088_GYRO_LPM1 0x11
#define BMI088_GYRO_SOFTRESET 0x14
#define BMI088_GYRO_INT_CTRL 0x15
#define BMI088_INT3_INT4_IO_CONF 0x16
#define BMI088_INT3_INT4_IO_MAP 0x18
#define BMI088_GYRO_SELF_TEST 0x3C
/* additional constants */
#define BMI088_SOFTRESET_CMD 0xB6
#define BMI088_ACC_ENABLE 0x04
#define BMI088_GYRO_PM_NORMAL 0x00
#define BMI088_GYRO_PM_SUSPEND 0x80
#define BMI088_GYRO_PM_DEEPSUSPEND 0x20
/* ACC_ERR_REG (0x02) Accelerometer Error Register */
#define BMI088_ACC_ERR_REG_NO_ERROR (0x00)
#define BMI088_ACC_ERR_REG_ERROR_OCCURRED (0x01)
/* ACC_CONF (0x40) Accelerometer configuration register */
#define BMI088_ACC_CONF_BWP_OSR4 (0x00 << 4)
#define BMI088_ACC_CONF_BWP_OSR2 (0x01 << 4)
#define BMI088_ACC_CONF_BWP_NORMAL (0x02 << 4)
#define BMI088_ACC_CONF_ODR_12_5 (0x05 << 0)
#define BMI088_ACC_CONF_ODR_25 (0x06 << 0)
#define BMI088_ACC_CONF_ODR_50 (0x07 << 0)
#define BMI088_ACC_CONF_ODR_100 (0x08 << 0)
#define BMI088_ACC_CONF_ODR_200 (0x09 << 0)
#define BMI088_ACC_CONF_ODR_400 (0x0A << 0)
#define BMI088_ACC_CONF_ODR_800 (0x0B << 0)
#define BMI088_ACC_CONF_ODR_1600 (0x0C << 0)
/* ACC_RANGE (0x41) Accelerometer Range Setting Register */
#define BMI088_ACC_RANGE_3G (0x00 << 0)
#define BMI088_ACC_RANGE_6G (0x01 << 0)
#define BMI088_ACC_RANGE_12G (0x02 << 0)
#define BMI088_ACC_RANGE_24G (0x03 << 0)
/* INT1_IO_CONF (0x53) Configures the input/output pin INT1 */
#define BMI088_INT1_IO_CONF_INT1_INPUT (0x01<<4)
#define BMI088_INT1_IO_CONF_INT1_OUTPUT (0x01<<3)
#define BMI088_INT1_IO_CONF_INT1_PP (0x00<<2)
#define BMI088_INT1_IO_CONF_INT1_OD (0x01<<2)
#define BMI088_INT1_IO_CONF_INT1_LVL (0x00<<1)
#define BMI088_INT1_IO_CONF_INT1_HL (0x01<<1)
/* INT1_IO_CONF (0x54) Configures the input/output pin INT1 */
#define BMI088_INT2_IO_CONF_INT2_INPUT (0x01<<4)
#define BMI088_INT2_IO_CONF_INT2_OUTPUT (0x01<<3)
#define BMI088_INT2_IO_CONF_INT2_PP (0x00<<2)
#define BMI088_INT2_IO_CONF_INT2_OD (0x01<<2)
#define BMI088_INT2_IO_CONF_INT2_LVL (0x00<<1)
#define BMI088_INT2_IO_CONF_INT2_HL (0x01<<1)
/* ACC_SELF_TEST (0x6D) Enables the sensor self-test signal */
#define BMI088_ACC_SELF_TEST_OFF (0x00 << 0)
#define BMI088_ACC_SELF_TEST_POSITIVE (0x0D << 0)
#define BMI088_ACC_SELF_TEST_NEGATIVE (0x09 << 0)
/* ACC_PWR_CONF (0x7C) */
#define BMI088_ACC_PWR_CONF_ACTIVE_MODE (0x00 << 0)
#define BMI088_ACC_PWR_CONF_SUSPEND_MODE (0x03 << 0)
/* ACC_PWR_CTRL (0x7D) Switches accelerometer ON or OFF. */
#define BMI088_ACC_PWR_CTRL_ACC_DISABLE (0x00 << 0)
#define BMI088_ACC_PWR_CTRL_ACC_ENABLE (0x04 << 0)
/* GYRO_RANGE (0x0F) Angular rate range and resolution. */
#define BMI088_GYRO_RANGE_2000DPS (0x00 << 0)
#define BMI088_GYRO_RANGE_1000DPS (0x01 << 0)
#define BMI088_GYRO_RANGE_500DPS (0x02 << 0)
#define BMI088_GYRO_RANGE_250DPS (0x03 << 0)
#define BMI088_GYRO_RANGE_125DPS (0x04 << 0)
/* GYRO_BANDWIDTH (0x10) */
#define BMI088_GYRO_BANDWIDTH_2000HZ_532HZ (0x00 << 0)
#define BMI088_GYRO_BANDWIDTH_2000HZ_230HZ (0x01 << 0)
#define BMI088_GYRO_BANDWIDTH_1000HZ_116HZ (0x02 << 0)
#define BMI088_GYRO_BANDWIDTH_400HZ_47HZ (0x03 << 0)
#define BMI088_GYRO_BANDWIDTH_200HZ_23HZ (0x04 << 0)
#define BMI088_GYRO_BANDWIDTH_100HZ_12HZ (0x05 << 0)
#define BMI088_GYRO_BANDWIDTH_200HZ_64HZ (0x06 << 0)
#define BMI088_GYRO_BANDWIDTH_100HZ_32HZ (0x07 << 0)
/* GYRO_LPM1 (0x11) Selection of the main power modes. */
#define BMI088_GYRO_LPM1_NORMAL_MODE (0x00 << 0)
#define BMI088_GYRO_LPM1_SUSPEND_MODE (0x80 << 0)
#define BMI088_GYRO_LPM1_DEEP_SUSPEND_MODE (0x20 << 0)
/* GYRO_INT_CTRL (0x15) Control the data ready interrupt generation. */
#define BMI088_GYRO_INT_CTRL_DATA_RDY_INT_DISABLE (0x00 << 0)
#define BMI088_GYRO_INT_CTRL_DATA_RDY_INT_ENABLE (0x80 << 0)
/* INT3_INT4_IO_MAP (0x18) */
#define BMI088_INT3_INT4_IO_MAP_NONE (0x00 << 0)
#define BMI088_INT3_INT4_IO_MAP_INT3_ONLY (0x01 << 0)
#define BMI088_INT3_INT4_IO_MAP_INT4_ONLY (0x80 << 0)
#define BMI088_INT3_INT4_IO_MAP_INT3_AND_INT4 (0x81 << 0)
/****************************************************************************
* Public Types
****************************************************************************/
struct bmi088_dev_s
{
#ifdef CONFIG_SENSORS_BMI088_I2C
FAR struct i2c_master_s *i2c; /* I2C interface */
uint8_t addr; /* I2C address */
int freq; /* Frequency <= 3.4MHz */
#else /* CONFIG_SENSORS_BMI088_SPI */
FAR struct spi_dev_s *spi; /* SPI interface */
#endif
};
/****************************************************************************
* Public Function Prototypes
****************************************************************************/
uint8_t bmi088_get_acc_reg8(FAR struct bmi088_dev_s *priv, uint8_t regaddr);
uint8_t bmi088_get_gyro_reg8(FAR struct bmi088_dev_s *priv, uint8_t regaddr);
void bmi088_put_acc_reg8(FAR struct bmi088_dev_s *priv, uint8_t regaddr,
uint8_t regval);
void bmi088_put_gyro_reg8(FAR struct bmi088_dev_s *priv, uint8_t regaddr,
uint8_t regval);
void bmi088_get_acc_regs(FAR struct bmi088_dev_s *priv, uint8_t regaddr,
uint8_t *regval, int len);
void bmi088_get_gyro_regs(FAR struct bmi088_dev_s *priv, uint8_t regaddr,
uint8_t *regval, int len);
#endif /* __INCLUDE_NUTTX_SENSORS_BMI088_COMMOM_H */
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