520 lines
18 KiB
C
520 lines
18 KiB
C
/*
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* Author: Jon Trulson <jtrulson@ics.com>
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* Copyright (c) 2017 Intel Corporation.
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*
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* The MIT License
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*
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* Permission is hereby granted, free of charge, to any person obtaining
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* a copy of this software and associated documentation files (the
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* "Software"), to deal in the Software without restriction, including
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* without limitation the rights to use, copy, modify, merge, publish,
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* distribute, sublicense, and/or sell copies of the Software, and to
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* permit persons to whom the Software is furnished to do so, subject to
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* the following conditions:
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*
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* The above copyright notice and this permission notice shall be
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* included in all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
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* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
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* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
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* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
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* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*/
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#pragma once
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#include <unistd.h>
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#include <string.h>
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#include <mraa/i2c.h>
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#include <mraa/spi.h>
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#include <mraa/gpio.h>
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#include "upm.h"
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#include "bmg160_defs.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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/**
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* @file bmg160.h
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* @library bmg160
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* @brief C API for the bmg160 driver
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*
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* @include bmg160.c
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*/
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/**
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* Device context
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*/
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typedef struct _bmg160_context {
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mraa_i2c_context i2c;
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mraa_spi_context spi;
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mraa_gpio_context gpioCS; // SPI CS pin
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mraa_gpio_context gpio1; // intr 1
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mraa_gpio_context gpio2; // intr 2
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// using SPI?
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bool isSPI;
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// use the FIFO?
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bool useFIFO;
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// always stored in C
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float temperature;
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// gyr data
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float gyrX;
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float gyrY;
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float gyrZ;
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// gyr scaling
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float gyrScale;
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} *bmg160_context;
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/**
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* BMG160 initialization.
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*
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* This device can support both I2C and SPI. For SPI, set the addr
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* to -1, and specify a positive integer representing the Chip
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* Select (CS) pin for the cs argument. If you are using a
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* hardware CS pin (like Intel Edison with Arduino breakout), then
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* you can connect the proper pin to the hardware CS pin on your
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* MCU and supply -1 for cs.
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*
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* @param bus I2C or SPI bus to use.
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* @param addr The address for this device, or -1 for SPI.
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* @param cs The gpio pin to use for the SPI Chip Select. Use -1 for
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* I2C or for SPI with a hardware controlled pin.
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* @return The device context, or NULL on error.
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*/
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bmg160_context bmg160_init(int bus, int addr, int cs);
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/**
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* BMG160 Destructor.
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*
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* @param dev The device context.
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*/
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void bmg160_close(bmg160_context dev);
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/**
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* Update the internal stored values from sensor data.
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*
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* @param dev The device context.
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* @return UPM result.
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*/
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upm_result_t bmg160_update(const bmg160_context dev);
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/**
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* Return the chip ID.
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*
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* @param dev The device context.
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* @return The chip ID (BMG160_CHIPID).
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*/
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uint8_t bmg160_get_chip_id(const bmg160_context dev);
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/**
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* Return gyroscope data in degrees per second. bmg160_update() must
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* have been called prior to calling this method.
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*
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* @param dev The device context.
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* @param x Pointer to a floating point value that will have the
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* current x component placed into it.
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* @param y Pointer to a floating point value that will have the
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* current y component placed into it.
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* @param z Pointer to a floating point value that will have the
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* current z component placed into it.
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*/
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void bmg160_get_gyroscope(const bmg160_context dev,
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float *x, float *y, float *z);
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/**
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* Return the current measured temperature. Note, this is not
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* ambient temperature. bmg160_update() must have been called prior to
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* calling this method.
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*
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* @param dev The device context.
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* @return The temperature in degrees Celsius.
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*/
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float bmg160_get_temperature(const bmg160_context dev);
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/**
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* Initialize the device and start operation. This function is
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* called from bmg160_init(), so it will not need to be called by
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* a user unless the device is reset.
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*
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* In addition, it will enable register shadowing and enable the
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* FIFO in bypass mode.
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*
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* @param dev The device context.
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* @param pwr One of the BMG160_POWER_MODE_T values.
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* @param range One of the BMG160_RANGE_T values.
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* @param bw One of the filtering BMG160_BW_T values.
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* @return UPM result.
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*/
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upm_result_t bmg160_devinit(const bmg160_context dev,
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BMG160_POWER_MODE_T pwr,
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BMG160_RANGE_T range,
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BMG160_BW_T bw);
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/**
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* Reset the device as if during a power on reset. All configured
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* values are lost when this happens. You should call
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* bmg160_devinit() afterwards, or at least perform the same
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* initialization bmg160_devinit() does before continuing.
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*
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* @param dev The device context.
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* @return UPM result.
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*/
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upm_result_t bmg160_reset(const bmg160_context dev);
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/**
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* Set the gyroscope detection scaling range. This device
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* supports 125, 250, 500, 1000, and 2000 degree/s ranges.
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*
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* @param dev The device context.
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* @param range One of the BMG160_RANGE_T values.
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* @return UPM result.
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*/
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upm_result_t bmg160_set_range(const bmg160_context dev,
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BMG160_RANGE_T range);
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/**
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* Set the output filtering bandwidth of the device.
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*
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* @param dev The device context.
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* @param bw One of the BMG160_BW_T values.
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* @return UPM result.
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*/
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upm_result_t bmg160_set_bandwidth(const bmg160_context dev,
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BMG160_BW_T bw);
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/**
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* Set the power mode of the device. Care must be taken when
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* setting a low power or suspend mode. See the datasheet for
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* details. In certain power modes, register write must be
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* drastically slowed down, which we cannot support.
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*
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* @param dev The device context.
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* @param power One of the BMG160_POWER_MODE_T values.
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* @return UPM result.
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*/
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upm_result_t bmg160_set_power_mode(const bmg160_context dev,
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BMG160_POWER_MODE_T power);
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/**
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* Enable bmg160_update() to read from the FIFO rather than the gyroscope
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* axis registers directly. bmg160_devinit() enables this mode by default.
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* An advantage to this mode that all axis data is sampled from
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* the same timeslice. When reading directly from the gyroscope
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* output registers, it's possible for one axis to be updated
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* while another is being read, causing a temporal
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* inconsistency.
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*
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* Using the FIFO removes this problem.
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*
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* @param dev The device context.
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* @param useFIFO true to enable bmg160_update() to read from the FIFO.
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* When false, update will read from the gyroscope output
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* registers directly.
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*/
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void bmg160_enable_fifo(const bmg160_context dev, bool useFIFO);
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/**
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* Set the FIFO watermark. When the watermark is reached an
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* interrupt (if enabled) will be generated.
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*
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* @param dev The device context.
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* @param wm The FIFO watermark to use. The maximum value is 63.
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* @return UPM result.
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*/
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upm_result_t bmg160_fifo_set_watermark(const bmg160_context dev, int wm);
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/**
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* Set the FIFO configuration. bmg160_devinit() uses the
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* BMG160_FIFO_MODE_BYPASS mode with axes set to
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* BMG160_FIFO_DATA_SEL_XYZ by default.
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*
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* @param dev The device context.
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* @param mode One of the BMG160_FIFO_MODE_T values.
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* @param axes One of the BMG160_FIFO_DATA_SEL_T values.
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* @return UPM result.
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*/
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upm_result_t bmg160_fifo_config(const bmg160_context dev,
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BMG160_FIFO_MODE_T mode,
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BMG160_FIFO_DATA_SEL_T axes);
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/**
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* Return the Interrupt Enables 0 register. These registers
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* allow you to enable various interrupt conditions. See the
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* datasheet for details.
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*
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* @param dev The device context.
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* @return A bitmask of BMG160_INT_EN_0_BITS_T bits.
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*/
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uint8_t bmg160_get_interrupt_enable0(const bmg160_context dev);
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/**
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* Set the Interrupt Enables 0 register. See the datasheet for
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* details.
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*
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* @param dev The device context.
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* @param bits A bitmask of BMG160_INT_EN_0_BITS_T bits.
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* @return UPM result.
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*/
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upm_result_t bmg160_set_interrupt_enable0(const bmg160_context dev,
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uint8_t bits);
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/**
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* Return the Interrupt Map 0 register. These registers allow you
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* to map specific interrupts to the interrupt 1 or interrupt 2
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* pin. See the datasheet for details.
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*
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* @param dev The device context.
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* @return A bitmask of BMG160_INT_MAP_0_BITS_T bits.
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*/
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uint8_t bmg160_get_interrupt_map0(const bmg160_context dev);
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/**
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* Set the Interrupt Map 0 register. These registers allow you
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* to map specific interrupts to the interrupt 1 or interrupt 2
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* pin. See the datasheet for details.
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*
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* @param dev The device context.
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* @param A bitmask of BMG160_INT_MAP_0_BITS_T bits.
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* @return UPM result.
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*/
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upm_result_t bmg160_set_interrupt_map0(const bmg160_context dev,
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uint8_t bits);
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/**
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* Return the Interrupt Map 1 register. See the datasheet for
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* details.
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*
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* @param dev The device context.
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* @return A bitmask of BMG160_INT_MAP_1_BITS_T bits.
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*/
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uint8_t bmg160_get_interrupt_map1(const bmg160_context dev);
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/**
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* Set the Interrupt Map 1 register. See the datasheet for
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* details.
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*
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* @param dev The device context.
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* @param A bitmask of BMG160_INT_MAP_1_BITS_T bits.
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* @return UPM result.
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*/
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upm_result_t bmg160_set_interrupt_map1(const bmg160_context dev,
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uint8_t bits);
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/**
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* Return the Interrupt source register. This register allows
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* determining where data comes from (filtered/unfiltered) for
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* those interrupt sources where this is selectable. See the
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* datasheet for details.
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*
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* @param dev The device context.
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* @return A bitmask of BMG160_INT_1A_BITS_T bits.
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*/
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uint8_t bmg160_get_interrupt_src(const bmg160_context dev);
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/**
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* Set the Interrupt source register. This register allows
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* determining where data comes from (filtered/unfiltered) for
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* those interrupt sources where this is selectable. See the
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* datasheet for details.
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*
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* @param dev The device context.
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* @param bits A bitmask of BMG160_INT_1A_BITS_T bits.
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* @return UPM result.
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*/
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upm_result_t bmg160_set_interrupt_src(const bmg160_context dev,
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uint8_t bits);
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/**
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* Return the Interrupt output control register. This register
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* allows determining the electrical characteristics of the 2
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* interrupt pins (open-drain/push-pull and level/edge
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* triggering). See the datasheet for details.
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*
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* @param dev The device context.
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* @return A bitmask of BMG160_INT_EN_1_BITS_T bits.
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*/
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uint8_t bmg160_get_interrupt_output_control(const bmg160_context dev);
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/**
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* Set the Interrupt output control register. This register
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* allows determining the electrical characteristics of the 2
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* interrupt pins (open-drain/push-pull and level/edge
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* triggering). See the datasheet for details.
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*
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* @param dev The device context.
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* @param bits A bitmask of BMG160_INT_EN_1_BITS_T bits.
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* @return UPM result.
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*/
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upm_result_t bmg160_set_interrupt_output_control(const bmg160_context dev,
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uint8_t bits);
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/**
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* Clear all latched interrupts. See the datasheet for details.
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*
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* @param dev The device context.
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* @return UPM result.
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*/
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upm_result_t bmg160_clear_interrupt_latches(const bmg160_context dev);
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/**
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* Return the current interrupt latching behavior. See the
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* datasheet for details.
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*
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* @param dev The device context.
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* @return One of the BMG160_RST_LATCH_T values.
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*/
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BMG160_RST_LATCH_T bmg160_get_interrupt_latch_behavior(
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const bmg160_context dev);
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/**
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* Set the current interrupt latching behavior. See the datasheet
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* for details.
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*
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* @param dev The device context.
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* @param latch One of the BMG160_RST_LATCH_T values.
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* @return UPM result.
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*/
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upm_result_t bmg160_set_interrupt_latch_behavior(const bmg160_context dev,
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BMG160_RST_LATCH_T latch);
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/**
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* Return the interrupt status 0 register. These registers
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* indicate which interrupts have been triggered. See the
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* datasheet for details.
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*
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* @param dev The device context.
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* @return a bitmask of BMG160_INT_STATUS_0_BITS_T bits.
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*/
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uint8_t bmg160_get_interrupt_status0(const bmg160_context dev);
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/**
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* Return the interrupt status 1 register. See the datasheet for
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* details.
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*
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* @param dev The device context.
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* @return a bitmask of BMG160_INT_STATUS_1_BITS_T bits.
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*/
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uint8_t bmg160_get_interrupt_status1(const bmg160_context dev);
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/**
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* Return the interrupt status 2 register. See the datasheet for
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* details.
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*
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* @param dev The device context.
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* @return a bitmask of BMG160_INT_STATUS_2_BITS_T bits.
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*/
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uint8_t bmg160_get_interrupt_status2(const bmg160_context dev);
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/**
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* Return the interrupt status 3 register. See the datasheet for
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* details.
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*
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* @param dev The device context.
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* @return a bitmask of BMG160_INT_STATUS_3_BITS_T bits.
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*/
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uint8_t bmg160_get_interrupt_status3(const bmg160_context dev);
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/**
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* Enable shadowing of the gyroscope output registers. When
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* enabled, a read of an axis LSB register automatically locks the
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* MSB register of that axis until it has been read. This is
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* usually a good thing to have enabled. bmg160_devinit() enables this by
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* default. If disabled, then it becomes possible for part of an
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* axis value to change while another part is being read, causing
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* inconsistent data.
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*
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* @param dev The device context.
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* @param shadow true to enable axis register shadowing, false otherwise.
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* @return UPM result.
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*/
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upm_result_t bmg160_enable_register_shadowing(const bmg160_context dev,
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bool shadow);
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/**
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* Enable filtering of the gyroscope axis data. bmg160_devinit()
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* enables this by default. If disabled, then gyroscope data
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* that is read will be raw and unfiltered (rated R). See the
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* datasheet for details.
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*
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* @param dev The device context.
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* @param filter true to enable filtering, false to disable.
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* @return UPM result.
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*/
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upm_result_t bmg160_enable_output_filtering(const bmg160_context dev,
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bool filter);
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/**
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* install an interrupt handler.
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*
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* @param dev The device context.
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* @param intr One of the BMG160_INTERRUPT_PINS_T values
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* specifying which interrupt pin you are installing.
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* @param gpio GPIO pin to use as interrupt pin
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* @param level The interrupt trigger level (one of mraa_gpio_edge_t
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* values). Make sure that you have configured the interrupt pin
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* properly for whatever level you choose.
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* @param isr The interrupt handler, accepting a void * argument
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* @param arg The argument to pass the the interrupt handler
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* @return UPM result.
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*/
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upm_result_t bmg160_install_isr(const bmg160_context dev,
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BMG160_INTERRUPT_PINS_T intr, int gpio,
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mraa_gpio_edge_t level,
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void (*isr)(void *), void *arg);
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/**
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* uninstall a previously installed interrupt handler
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*
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* @param dev The device context.
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* @param intr One of the BMG160_INTERRUPT_PINS_T values
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* specifying which interrupt pin you are removing.
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*/
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void bmg160_uninstall_isr(const bmg160_context dev,
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BMG160_INTERRUPT_PINS_T intr);
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/**
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* Read a register.
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*
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* @param dev The device context.
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* @param reg The register to read.
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* @return The value of the register.
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*/
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uint8_t bmg160_read_reg(const bmg160_context dev, uint8_t reg);
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/**
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* Read contiguous registers into a buffer.
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*
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* @param dev The device context.
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* @param buffer The buffer to store the results.
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* @param len The number of registers to read.
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* @return The number of bytes read, or -1 on error.
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*/
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int bmg160_read_regs(const bmg160_context dev, uint8_t reg,
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uint8_t *buffer, int len);
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/**
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* Write to a register.
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*
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* @param dev The device context.
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* @param reg The register to write to.
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* @param val The value to write.
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* @return UPM result.
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*/
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upm_result_t bmg160_write_reg(const bmg160_context dev,
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uint8_t reg, uint8_t val);
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#ifdef __cplusplus
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}
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#endif
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