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204 lines
6.8 KiB
C
204 lines
6.8 KiB
C
/*
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* Copyright (C) 2017 Freie Universität Berlin
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*
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* This file is subject to the terms and conditions of the GNU Lesser
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* General Public License v2.1. See the file LICENSE in the top level
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* directory for more details.
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*/
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/**
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* @defgroup drivers_bmx055 BMX055 9-axis sensor
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* @ingroup drivers_sensors
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* @ingroup drivers_saul
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* @brief Device driver for the Bosch BMX055 9-axis sensor
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*
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* This driver provides @ref drivers_saul capabilities.
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* @{
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*
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* @file
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* @brief Device driver interface for the Bosch BMX055 9-axis sensor
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*
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* @note The current state of the driver only implements basic polling.
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*
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* @author Semjon Kerner <semjon.kerner@fu-berlin.de>
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*/
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#ifndef BMX055_H
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#define BMX055_H
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#include <stdint.h>
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#include "periph/i2c.h"
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#include "periph/gpio.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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* @defgroup drivers_bmx055_config BMX055 sensor driver compile configuration
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* @ingroup config_drivers_sensors
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* @{
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*/
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/**
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* @brief Magnetometer default address
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*
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* The address depends on the state of SDO1, SDO2 and CSB3 pins.
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* For more information refer to the section 'Inter-Integrated
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* Circuit (I²C)' in the datasheet.
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*/
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#ifndef CONFIG_BMX055_MAG_ADDR_DEFAULT
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#define CONFIG_BMX055_MAG_ADDR_DEFAULT (0x10U)
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#endif
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/**
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* @brief Accelerometer default address
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*
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* The address depends on the state of SDO1, SDO2 and CSB3 pins.
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* For more information refer to the section 'Inter-Integrated
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* Circuit (I²C)' in the datasheet.
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*/
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#ifndef CONFIG_BMX055_ACC_ADDR_DEFAULT
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#define CONFIG_BMX055_ACC_ADDR_DEFAULT (0x18U)
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#endif
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/**
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* @brief Gyroscope default address
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*
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* The address depends on the state of SDO1, SDO2 and CSB3 pins.
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* For more information refer to the section 'Inter-Integrated
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* Circuit (I²C)' in the datasheet.
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*/
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#ifndef CONFIG_BMX055_GYRO_ADDR_DEFAULT
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#define CONFIG_BMX055_GYRO_ADDR_DEFAULT (0x68U)
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#endif
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/** @} */
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/**
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* @brief Status and error return codes
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*/
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enum {
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BMX055_OK = 0, /**< exit without error */
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BMX055_NOBUS = -1, /**< cannot connect to module on i2c bus */
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BMX055_NODEV = -2, /**< cannot read any data from module */
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BMX055_NOREAD = -3, /**< cannot read data from module */
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BMX055_NOWRITE = -4, /**< cannot write data to module */
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BMX055_NOTREADY = -5, /**< no new data ready for reading */
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};
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/**
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* @brief Datarate for Magnetometer
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*/
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typedef enum {
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BMX055_MAG_DRATE_DEFAULT = 0x0, /**< output data rate: 10 Hz */
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BMX055_MAG_DRATE_02HZ = 0x1, /**< output data rate: 2 Hz */
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BMX055_MAG_DRATE_06HZ = 0x2, /**< output data rate: 6 Hz */
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BMX055_MAG_DRATE_08HZ = 0x3, /**< output data rate: 8 Hz*/
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BMX055_MAG_DRATE_15HZ = 0x4, /**< output data rate: 15 Hz */
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BMX055_MAG_DRATE_20HZ = 0x5, /**< output data rate: 20 Hz */
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BMX055_MAG_DRATE_25HZ = 0x6, /**< output data rate: 25 Hz */
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BMX055_MAG_DRATE_30HZ = 0x7, /**< output data rate: 30 Hz */
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} bmx055_mag_rate_t;
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/**
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* @brief Range for Accelerometer
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*/
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typedef enum {
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BMX055_ACC_RANGE_2G = 0x0, /**< range: 2g */
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BMX055_ACC_RANGE_4G = 0x1, /**< range: 4g */
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BMX055_ACC_RANGE_8G = 0x2, /**< range: 8g */
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BMX055_ACC_RANGE_16G = 0x3, /**< range: 16g */
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} bmx055_acc_range_t;
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/**
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* @brief Measurement scale for the gyro
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*/
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typedef enum {
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BMX055_GYRO_SCALE_2000DPS = 0x0, /**< scale: 2000 degree per second */
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BMX055_GYRO_SCALE_1000DPS = 0x1, /**< scale: 1000 degree per second */
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BMX055_GYRO_SCALE_0500DPS = 0x2, /**< scale: 500 degree per second */
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BMX055_GYRO_SCALE_0250DPS = 0x3, /**< scale: 250 degree per second */
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BMX055_GYRO_SCALE_0125DPS = 0x4, /**< scale: 125 degree per second */
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} bmx055_gyro_scale_t;
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/**
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* @brief Data structure holding the device parameters needed for initialization
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*/
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typedef struct {
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i2c_t i2c; /**< I2C bus the device is connected to */
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uint8_t addr_mag; /**< the magnetometer address on that bus */
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uint8_t addr_acc; /**< the accelerometer address on that bus */
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uint8_t addr_gyro; /**< the gyroscope address on that bus */
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gpio_t int1_pin; /**< GPIO pin connected to the INT1 line */
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gpio_t int2_pin; /**< GPIO pin connected to the INT2 line */
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uint8_t mag_rate; /**< datarate of magnetometer */
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uint8_t acc_range; /**< range of accelerometer */
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uint8_t gyro_scale; /**< range of gyroscope*/
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} bmx055_params_t;
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/**
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* @brief Device descriptor for BMX055 sensors
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*/
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typedef struct {
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bmx055_params_t p; /**< Device initialization parameters*/
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} bmx055_t;
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/**
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* @brief Initialize modules magnetometer, accelerometer, gyroscope
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*
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* @param[out] dev device descriptor of sensor to initialize
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* @param[in] params default parameter values
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*
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* @return BMX055_OK on success
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* @return BMX055_NOBUS if i2C connection can not be establish
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* @return BMX055_NODEV if the register of a module can not be read
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* @return BMX055_NOWRITE if a register can not be written
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*/
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int bmx055_init(bmx055_t *dev, const bmx055_params_t *params);
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/**
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* @brief Read magnetic field value in Gauss per second from magnetometer
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*
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* @param[in] dev device descriptor of magnetometer
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* @param[out] data result vector in Gs per axis
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*
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* @return BMX055_OK on success
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* @return BMX055_NOREAD if reading mag data is not possible
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* @return BMX055_NOTRDY if no new data is available
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*/
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int bmx055_mag_read(const bmx055_t *dev, int16_t *data);
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/**
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* @brief Read acceleration value in g from accelerometer
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*
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* @param[in] dev device descriptor of accelerometer
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* @param[out] data result vector in g per axis
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*
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* @return BMX055_OK on success
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* @return BMX055_NOREAD if reading acc data is not possible
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* @return BMX055_NOTRDY if no new data is available
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*/
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int bmx055_acc_read(const bmx055_t *dev, int16_t *data);
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/**
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* @brief Read angular speed value in degree per second from gyroscope
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*
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* @note The data of steady axis deviate from the expected values while
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* moving the sensor in one of the other axis. Hence reading data for all axis
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* at once may not always give the expected results.
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*
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* @param[in] dev device descriptor of gyroscope
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* @param[out] data result vector in dps per axis
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*
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* @return BMX055_OK on success
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* @return BMX055_NOREAD if reading gyro data is not possible
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*/
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int bmx055_gyro_read(const bmx055_t *dev, int16_t *data);
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#ifdef __cplusplus
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}
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#endif
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#endif /* BMX055_H */
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/** @} */
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