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Diffstat (limited to 'components/drivers/sensors/bmi055_sensor.cpp')
-rw-r--r--components/drivers/sensors/bmi055_sensor.cpp455
1 files changed, 455 insertions, 0 deletions
diff --git a/components/drivers/sensors/bmi055_sensor.cpp b/components/drivers/sensors/bmi055_sensor.cpp
new file mode 100644
index 0000000000..705895f368
--- /dev/null
+++ b/components/drivers/sensors/bmi055_sensor.cpp
@@ -0,0 +1,455 @@
+/*
+ * File : bmi055_sensor.cpp
+ * This file is part of RT-Thread RTOS
+ * COPYRIGHT (C) 2014, RT-Thread Development Team
+ *
+ * The license and distribution terms for this file may be
+ * found in the file LICENSE in this distribution or at
+ * http://www.rt-thread.org/license/LICENSE
+ *
+ * Change Logs:
+ * Date Author Notes
+ * 2015-1-11 RT_learning the first version
+ */
+
+#include <string.h>
+#include <stdio.h>
+#include <rtdevice.h>
+#include "bmi055_sensor.h"
+
+
+const static sensor_t _BMI055_sensor[] =
+{
+ {
+ .name = "Accelerometer",
+ .vendor = "Bosch",
+ .version = sizeof(sensor_t),
+ .handle = 0,
+ .type = SENSOR_TYPE_ACCELEROMETER,
+ .maxRange = SENSOR_ACCEL_RANGE_16G,
+ .resolution = 1.0f,
+ .power = 0.5f,
+ .minDelay = 10000,
+ .fifoReservedEventCount = 0,
+ .fifoMaxEventCount = 64,
+ },
+ {
+ .name = "Gyroscope",
+ .vendor = "Bosch",
+ .version = sizeof(sensor_t),
+ .handle = 0,
+ .type = SENSOR_TYPE_GYROSCOPE,
+ .maxRange = SENSOR_GYRO_RANGE_2000DPS,
+ .resolution = 1.0f,
+ .power = 0.5f,
+ .minDelay = 10000,
+ .fifoReservedEventCount = 0,
+ .fifoMaxEventCount = 64,
+ }
+};
+
+BMI055::BMI055(int sensor_type, const char* iic_bus, int addr)
+ : SensorBase(sensor_type)
+{
+ this->i2c_bus = (struct rt_i2c_bus_device *)rt_device_find(iic_bus);
+ if (this->i2c_bus == NULL)
+ {
+ printf("BMI055: No IIC device:%s\n", iic_bus);
+ return;
+ }
+
+ this->i2c_addr = addr;
+
+ /* register to sensor manager */
+ SensorManager::registerSensor(this);
+}
+
+int BMI055::read_reg(rt_uint8_t reg, rt_uint8_t *value)
+{
+ struct rt_i2c_msg msgs[2];
+
+ msgs[0].addr = this->i2c_addr;
+ msgs[0].flags = RT_I2C_WR;
+ msgs[0].buf = &reg;
+ msgs[0].len = 1;
+
+ msgs[1].addr = this->i2c_addr;
+ msgs[1].flags = RT_I2C_RD; /* Read from slave */
+ msgs[1].buf = (rt_uint8_t *)value;
+ msgs[1].len = 1;
+
+ if (rt_i2c_transfer(this->i2c_bus, msgs, 2) == 2)
+ return RT_EOK;
+
+ return -RT_ERROR;
+}
+
+int BMI055::read_buffer(rt_uint8_t reg, rt_uint8_t* value, rt_size_t size)
+{
+ struct rt_i2c_msg msgs[2];
+
+ msgs[0].addr = this->i2c_addr;
+ msgs[0].flags = RT_I2C_WR;
+ msgs[0].buf = &reg;
+ msgs[0].len = 1;
+
+ msgs[1].addr = this->i2c_addr;
+ msgs[1].flags = RT_I2C_RD; /* Read from slave */
+ msgs[1].buf = (rt_uint8_t *)value;
+ msgs[1].len = size;
+
+ if (rt_i2c_transfer(this->i2c_bus, msgs, 2) == 2)
+ return RT_EOK;
+
+ return -RT_ERROR;
+}
+
+int BMI055::write_reg(rt_uint8_t reg, rt_uint8_t value)
+{
+ struct rt_i2c_msg msgs[2];
+
+ msgs[0].addr = this->i2c_addr;
+ msgs[0].flags = RT_I2C_WR;
+ msgs[0].buf = &reg;
+ msgs[0].len = 1;
+
+ msgs[1].addr = this->i2c_addr;
+ msgs[1].flags = RT_I2C_WR | RT_I2C_NO_START;
+ msgs[1].buf = (rt_uint8_t *)&value;
+ msgs[1].len = 1;
+
+ if (rt_i2c_transfer(this->i2c_bus, msgs, 2) == 2)
+ return RT_EOK;
+
+ return -RT_ERROR;
+}
+
+
+BMI055_Accelerometer::BMI055_Accelerometer(const char* iic_name, int addr)
+ : BMI055(SENSOR_TYPE_ACCELEROMETER, iic_name, addr)
+{
+ int index;
+ uint8_t id;
+ rt_uint8_t value[6] = {0};
+ rt_int32_t x, y, z;
+ SensorConfig config = {SENSOR_MODE_NORMAL, SENSOR_DATARATE_400HZ, SENSOR_ACCEL_RANGE_2G};
+
+ write_reg(BMI055_BGW_SOFTRESET, 0xB6); /* reset of the sensor P57 */
+ write_reg(BMI055_PMU_LPW, 0x00); /* PMU_LPW NORMAL mode P55 */
+ write_reg(BMI055_PMU_BW, 0x0A); /* 01010b 31.25 Hz P55 */
+ write_reg(BMI055_PMU_RANGE, 0x05); /* 0101b ±4g range PMU_RANGE set acc +-4g/s P54 */
+
+
+ x_offset = y_offset = z_offset = 0;
+ x = y = z = 0;
+
+ /* read BMI055 id */
+ read_buffer(BMI055_ACC_BGW_CHIPID, &id, 1); /* BGW_CHIPID P47*/
+ if (id != BMI055_ACC_BGW_CHIPID_VALUE)
+ {
+ printf("Warning: not found BMI055 id: %02x\n", id);
+ }
+
+ /* get offset */
+ for (index = 0; index < 200; index ++)
+ {
+ read_buffer(BMI055_ACCD_X_LSB, value, 6); /*ACCD_X_LSB P47 */
+
+ x += (((rt_int16_t)value[1] << 8) | value[0]);
+ y += (((rt_int16_t)value[3] << 8) | value[2]);
+ z += (((rt_int16_t)value[5] << 8) | value[4]);
+ }
+ x_offset = x / 200;
+ y_offset = y / 200;
+ z_offset = z / 200;
+
+ this->enable = RT_FALSE;
+ this->sensitivity = SENSOR_ACCEL_SENSITIVITY_2G;
+ this->config = config;
+}
+
+int
+BMI055_Accelerometer::configure(SensorConfig *config)
+{
+ int range;
+ uint8_t value;
+
+ if (config == RT_NULL) return -1;
+
+ /* TODO: set datarate */
+
+ /* get range and calc the sensitivity */
+ range = config->range.accel_range;
+ switch (range)
+ {
+ case SENSOR_ACCEL_RANGE_2G:
+ this->sensitivity = SENSOR_ACCEL_SENSITIVITY_2G;
+ range = 0x03; //0011b
+ break;
+ case SENSOR_ACCEL_RANGE_4G:
+ this->sensitivity = SENSOR_ACCEL_SENSITIVITY_4G;
+ range = 0x05; //0101b
+ break;
+ case SENSOR_ACCEL_RANGE_8G:
+ this->sensitivity = SENSOR_ACCEL_SENSITIVITY_8G;
+ range = 0x01 << 3; //1000b
+ break;
+ case SENSOR_ACCEL_RANGE_16G:
+ this->sensitivity = SENSOR_ACCEL_SENSITIVITY_16G;
+ range = 0x03 << 2; //1100b
+ break;
+ default:
+ return -1;
+ }
+
+ /* set range to sensor */
+ read_reg(BMI055_PMU_RANGE, &value); /* PMU_RANGE P54 */
+ value &= 0xF0;
+ value |= range;
+ write_reg(BMI055_PMU_RANGE, value);
+
+ return 0;
+}
+
+int
+BMI055_Accelerometer::activate(int enable)
+{
+ uint8_t value;
+
+ if (enable && this->enable == RT_FALSE)
+ {
+ /* enable accelerometer */
+ read_reg(BMI055_PMU_LPW, &value); /* P55 */
+ value &= ~(0x07 << 7);
+ write_reg(BMI055_PMU_LPW, value);
+ }
+
+ if (!enable && this->enable == RT_TRUE)
+ {
+ /* disable accelerometer */
+ read_reg(BMI055_PMU_LPW, &value);
+ value &= ~(0x07 << 7);
+ value |= (0x01 << 7);
+ write_reg(BMI055_PMU_LPW, value);
+ }
+
+ if (enable) this->enable = RT_TRUE;
+ else this->enable = RT_FALSE;
+
+ return 0;
+}
+
+int
+BMI055_Accelerometer::poll(sensors_event_t *event)
+{
+ rt_uint8_t value[6];
+ rt_int16_t x, y, z;
+
+ /* parameters check */
+ if (event == NULL) return -1;
+
+ /* get event data */
+ event->version = sizeof(sensors_event_t);
+ event->sensor = (int32_t) this;
+ event->timestamp = rt_tick_get();
+ event->type = SENSOR_TYPE_ACCELEROMETER;
+
+ read_buffer(0x02, value, 6);
+
+ /* get raw data */
+ x = (((rt_int16_t)value[1] << 8) | value[0]);
+ y = (((rt_int16_t)value[3] << 8) | value[2]);
+ z = (((rt_int16_t)value[5] << 8) | value[4]);
+
+ if (config.mode == SENSOR_MODE_RAW)
+ {
+ event->raw_acceleration.x = x;
+ event->raw_acceleration.y = y;
+ event->raw_acceleration.z = z;
+ }
+ else
+ {
+
+ x -= x_offset; y -= y_offset; z -= z_offset;
+ event->acceleration.x = x * this->sensitivity * SENSORS_GRAVITY_STANDARD;
+ event->acceleration.y = y * this->sensitivity * SENSORS_GRAVITY_STANDARD;
+ event->acceleration.z = z * this->sensitivity * SENSORS_GRAVITY_STANDARD;
+ }
+
+ return 0;
+}
+
+void
+BMI055_Accelerometer::getSensor(sensor_t *sensor)
+{
+ /* get sensor description */
+ if (sensor)
+ {
+ memcpy(sensor, &_BMI055_sensor[0], sizeof(sensor_t));
+ }
+}
+
+BMI055_Gyroscope::BMI055_Gyroscope(const char* iic_name, int addr)
+ : BMI055(SENSOR_TYPE_GYROSCOPE, iic_name, addr)
+{
+ int index;
+ uint8_t id;
+ rt_uint8_t value[6];
+ rt_int32_t x, y, z;
+
+ /* initialize BMI055 */
+ write_reg(BMI055_MODE_LPM1_ADDR, 0x00); /* normal mode */
+ write_reg(BMI055_MODE_LPM2_ADDR, 0x80); /* fast powerup */
+ write_reg(BMI055_BW_ADDR, 0x03); /* ODR:400Hz Filter Bandwidth:47Hz */
+ write_reg(BMI055_RANGE_ADDR, 0x00); /* 2000dps */
+
+
+ x_offset = y_offset = z_offset = 0;
+ x = y = z = 0;
+
+ /* read BMI055 id */
+ read_buffer(BMI055_CHIP_ID_ADDR, &id, 1);
+ if (id != BMI055_GRRO_CHIP_ID)
+ {
+ printf("Warning: not found BMI055 id: %02x\n", id);
+ }
+
+ /* get offset */
+ for (index = 0; index < 200; index ++)
+ {
+ read_buffer(BMI055_RATE_X_LSB_ADDR, value, 6);
+
+ x += (((rt_int16_t)value[1] << 8) | value[0]);
+ y += (((rt_int16_t)value[3] << 8) | value[2]);
+ z += (((rt_int16_t)value[5] << 8) | value[4]);
+ }
+ x_offset = x / 200;
+ y_offset = y / 200;
+ z_offset = z / 200;
+
+ this->enable = RT_FALSE;
+ this->sensitivity = SENSOR_GYRO_SENSITIVITY_250DPS;
+}
+
+int
+BMI055_Gyroscope::configure(SensorConfig *config)
+{
+ int range;
+ uint8_t value;
+
+ if (config == RT_NULL) return -1;
+
+ /* TODO: set datarate */
+
+ /* get range and calc the sensitivity */
+ range = config->range.gyro_range;
+ switch (range)
+ {
+ //to do add more range e.g 125DPS
+ //case
+ case SENSOR_GYRO_RANGE_250DPS:
+ this->sensitivity = SENSOR_GYRO_SENSITIVITY_250DPS;
+ range = 0x11;
+ break;
+ case SENSOR_GYRO_RANGE_500DPS:
+ this->sensitivity = SENSOR_GYRO_SENSITIVITY_500DPS;
+ range = 0x10;
+ break;
+ case SENSOR_GYRO_RANGE_1000DPS:
+ this->sensitivity = SENSOR_GYRO_SENSITIVITY_1000DPS;
+ range = 0x01;
+ break;
+ case SENSOR_GYRO_RANGE_2000DPS:
+ this->sensitivity = SENSOR_GYRO_SENSITIVITY_2000DPS;
+ range = 0x00;
+ break;
+ default:
+ return -1;
+ }
+
+ /* set range to sensor */
+ read_reg(BMI055_RANGE_ADDR, &value);
+ value &= ~0x07;
+ value |= range;
+ write_reg(BMI055_RANGE_ADDR, value);
+
+ return 0;
+}
+
+int
+BMI055_Gyroscope::activate(int enable)
+{
+ uint8_t value;
+
+ if (enable && this->enable == RT_FALSE)
+ {
+ /* enable gyroscope */
+ read_reg(BMI055_MODE_LPM1_ADDR, &value);
+ value &= ~(0x1010 << 4); //{0; 0} NORMAL mode
+ write_reg(BMI055_MODE_LPM1_ADDR, value); //P101 NORMAL mode
+ }
+
+ if (!enable && this->enable == RT_TRUE)
+ {
+ /* disable gyroscope */
+ read_reg(BMI055_MODE_LPM1_ADDR, &value);
+ value &= ~(0x01 << 5); //set bit5 deep_suspend 0
+ value |= (0x01 << 7); //set bit1 suspend 1
+ write_reg(BMI055_MODE_LPM1_ADDR, value); //{1; 0} SUSPEND mode
+ }
+
+ if (enable) this->enable = RT_TRUE;
+ else this->enable = RT_FALSE;
+
+ return 0;
+}
+
+int
+BMI055_Gyroscope::poll(sensors_event_t *event)
+{
+ rt_uint8_t value[6];
+ rt_int16_t x, y, z;
+
+ /* parameters check */
+ if (event == NULL) return -1;
+
+ /* get event data */
+ event->version = sizeof(sensors_event_t);
+ event->sensor = (int32_t) this;
+ event->timestamp = rt_tick_get();
+ event->type = SENSOR_TYPE_GYROSCOPE;
+
+ read_buffer(BMI055_RATE_X_LSB_ADDR, value, 6);
+
+ /* get raw data */
+ x = (((rt_int16_t)value[1] << 8) | value[0]);
+ y = (((rt_int16_t)value[3] << 8) | value[2]);
+ z = (((rt_int16_t)value[5] << 8) | value[4]);
+
+
+ if (config.mode == SENSOR_MODE_RAW)
+ {
+ event->raw_gyro.x = x;
+ event->raw_gyro.y = y;
+ event->raw_gyro.z = z;
+ }
+ else
+ {
+ x -= x_offset; y -= y_offset; z -= z_offset;
+ event->gyro.x = x * this->sensitivity * SENSORS_DPS_TO_RADS;
+ event->gyro.y = y * this->sensitivity * SENSORS_DPS_TO_RADS;
+ event->gyro.z = z * this->sensitivity * SENSORS_DPS_TO_RADS;
+ }
+
+ return 0;
+}
+
+void
+BMI055_Gyroscope::getSensor(sensor_t *sensor)
+{
+ /* get sensor description */
+ if (sensor)
+ {
+ memcpy(sensor, &_BMI055_sensor[1], sizeof(sensor_t));
+ }
+}
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