1 /* 2 * Copyright (c) 2023 Trackunit Corporation 3 * 4 * SPDX-License-Identifier: Apache-2.0 5 */ 6 7 #ifndef ZEPHYR_DRIVERS_SENSOR_BMI323_BMI323_H_ 8 #define ZEPHYR_DRIVERS_SENSOR_BMI323_BMI323_H_ 9 10 #include <zephyr/sys/util.h> 11 #include <zephyr/types.h> 12 13 #define IMU_BOSCH_BMI323_REG_ACC_DATA_X (0x03) 14 #define IMU_BOSCH_BMI323_REG_ACC_DATA_Y (0x04) 15 #define IMU_BOSCH_BMI323_REG_ACC_DATA_Z (0x05) 16 17 #define IMU_BOSCH_BMI323_REG_GYRO_DATA_X (0x06) 18 #define IMU_BOSCH_BMI323_REG_GYRO_DATA_Y (0x07) 19 #define IMU_BOSCH_BMI323_REG_GYRO_DATA_Z (0x08) 20 21 #define IMU_BOSCH_BMI323_REG_TEMP_DATA (0x09) 22 23 #define IMU_BOSCH_BMI323_REG_FEATURE_IO0 (0x10) 24 25 #define IMU_BOSCH_BMI323_REG_FEATURE_IO0_MOTION_X_EN_OFFSET (0x03) 26 #define IMU_BOSCH_BMI323_REG_FEATURE_IO0_MOTION_X_EN_SIZE (0x01) 27 #define IMU_BOSCH_BMI323_REG_FEATURE_IO0_MOTION_X_EN_VAL_DIS (0x00) 28 #define IMU_BOSCH_BMI323_REG_FEATURE_IO0_MOTION_X_EN_VAL_EN (0x01) 29 30 #define IMU_BOSCH_BMI323_REG_FEATURE_IO0_MOTION_Y_EN_OFFSET (0x04) 31 #define IMU_BOSCH_BMI323_REG_FEATURE_IO0_MOTION_Y_EN_SIZE (0x01) 32 #define IMU_BOSCH_BMI323_REG_FEATURE_IO0_MOTION_Y_EN_VAL_DIS (0x00) 33 #define IMU_BOSCH_BMI323_REG_FEATURE_IO0_MOTION_Y_EN_VAL_EN (0x01) 34 35 #define IMU_BOSCH_BMI323_REG_FEATURE_IO0_MOTION_Z_EN_OFFSET (0x05) 36 #define IMU_BOSCH_BMI323_REG_FEATURE_IO0_MOTION_Z_EN_SIZE (0x01) 37 #define IMU_BOSCH_BMI323_REG_FEATURE_IO0_MOTION_Z_EN_VAL_DIS (0x00) 38 #define IMU_BOSCH_BMI323_REG_FEATURE_IO0_MOTION_Z_EN_VAL_EN (0x01) 39 40 #define IMU_BOSCH_BMI323_REG_FEATURE_IO2 (0x12) 41 42 #define IMU_BOSCH_BMI323_REG_FEATURE_IO_STATUS (0x14) 43 44 #define IMU_BOSCH_BMI323_REG_FEATURE_IO_STATUS_STATUS_OFFSET (0x00) 45 #define IMU_BOSCH_BMI323_REG_FEATURE_IO_STATUS_STATUS_SIZE (0x01) 46 #define IMU_BOSCH_BMI323_REG_FEATURE_IO_STATUS_STATUS_VAL_SET (0x01) 47 48 #define IMU_BOSCH_BMI323_REG_INT_STATUS_INT1 (0x0D) 49 #define IMU_BOSCH_BMI323_REG_INT_STATUS_INT2 (0x0E) 50 51 #define IMU_BOSCH_BMI323_REG_ACC_CONF (0x20) 52 53 #define IMU_BOSCH_BMI323_REG_ACC_CONF_ODR_OFFSET (0x00) 54 #define IMU_BOSCH_BMI323_REG_ACC_CONF_ODR_SIZE (0x04) 55 #define IMU_BOSCH_BMI323_REG_ACC_CONF_ODR_VAL_HZ0P78125 (0x01) 56 #define IMU_BOSCH_BMI323_REG_ACC_CONF_ODR_VAL_HZ1P5625 (0x02) 57 #define IMU_BOSCH_BMI323_REG_ACC_CONF_ODR_VAL_HZ3P125 (0x03) 58 #define IMU_BOSCH_BMI323_REG_ACC_CONF_ODR_VAL_HZ6P25 (0x04) 59 #define IMU_BOSCH_BMI323_REG_ACC_CONF_ODR_VAL_HZ12P5 (0x05) 60 #define IMU_BOSCH_BMI323_REG_ACC_CONF_ODR_VAL_HZ25 (0x06) 61 #define IMU_BOSCH_BMI323_REG_ACC_CONF_ODR_VAL_HZ50 (0x07) 62 #define IMU_BOSCH_BMI323_REG_ACC_CONF_ODR_VAL_HZ100 (0x08) 63 #define IMU_BOSCH_BMI323_REG_ACC_CONF_ODR_VAL_HZ200 (0x09) 64 #define IMU_BOSCH_BMI323_REG_ACC_CONF_ODR_VAL_HZ400 (0x0A) 65 #define IMU_BOSCH_BMI323_REG_ACC_CONF_ODR_VAL_HZ800 (0x0B) 66 #define IMU_BOSCH_BMI323_REG_ACC_CONF_ODR_VAL_HZ1600 (0x0C) 67 #define IMU_BOSCH_BMI323_REG_ACC_CONF_ODR_VAL_HZ3200 (0x0D) 68 #define IMU_BOSCH_BMI323_REG_ACC_CONF_ODR_VAL_HZ6400 (0x0E) 69 70 #define IMU_BOSCH_BMI323_REG_ACC_CONF_RANGE_OFFSET (0x04) 71 #define IMU_BOSCH_BMI323_REG_ACC_CONF_RANGE_SIZE (0x03) 72 #define IMU_BOSCH_BMI323_REG_ACC_CONF_RANGE_VAL_G2 (0x00) 73 #define IMU_BOSCH_BMI323_REG_ACC_CONF_RANGE_VAL_G4 (0x01) 74 #define IMU_BOSCH_BMI323_REG_ACC_CONF_RANGE_VAL_G8 (0x02) 75 #define IMU_BOSCH_BMI323_REG_ACC_CONF_RANGE_VAL_G16 (0x03) 76 77 #define IMU_BOSCH_BMI323_REG_ACC_CONF_MODE_OFFSET (0x0C) 78 #define IMU_BOSCH_BMI323_REG_ACC_CONF_MODE_SIZE (0x03) 79 #define IMU_BOSCH_BMI323_REG_ACC_CONF_MODE_VAL_DIS (0x00) 80 #define IMU_BOSCH_BMI323_REG_ACC_CONF_MODE_VAL_LPWR (0x04) 81 #define IMU_BOSCH_BMI323_REG_ACC_CONF_MODE_VAL_HPWR (0x07) 82 83 #define IMU_BOSCH_BMI323_REG_GYRO_CONF (0x21) 84 85 #define IMU_BOSCH_BMI323_REG_GYRO_CONF_ODR_OFFSET (0x00) 86 #define IMU_BOSCH_BMI323_REG_GYRO_CONF_ODR_SIZE (0x04) 87 #define IMU_BOSCH_BMI323_REG_GYRO_CONF_ODR_VAL_HZ0P78125 (0x01) 88 #define IMU_BOSCH_BMI323_REG_GYRO_CONF_ODR_VAL_HZ1P5625 (0x02) 89 #define IMU_BOSCH_BMI323_REG_GYRO_CONF_ODR_VAL_HZ3P125 (0x03) 90 #define IMU_BOSCH_BMI323_REG_GYRO_CONF_ODR_VAL_HZ6P25 (0x04) 91 #define IMU_BOSCH_BMI323_REG_GYRO_CONF_ODR_VAL_HZ12P5 (0x05) 92 #define IMU_BOSCH_BMI323_REG_GYRO_CONF_ODR_VAL_HZ25 (0x06) 93 #define IMU_BOSCH_BMI323_REG_GYRO_CONF_ODR_VAL_HZ50 (0x07) 94 #define IMU_BOSCH_BMI323_REG_GYRO_CONF_ODR_VAL_HZ100 (0x08) 95 #define IMU_BOSCH_BMI323_REG_GYRO_CONF_ODR_VAL_HZ200 (0x09) 96 #define IMU_BOSCH_BMI323_REG_GYRO_CONF_ODR_VAL_HZ400 (0x0A) 97 #define IMU_BOSCH_BMI323_REG_GYRO_CONF_ODR_VAL_HZ800 (0x0B) 98 #define IMU_BOSCH_BMI323_REG_GYRO_CONF_ODR_VAL_HZ1600 (0x0C) 99 #define IMU_BOSCH_BMI323_REG_GYRO_CONF_ODR_VAL_HZ3200 (0x0D) 100 #define IMU_BOSCH_BMI323_REG_GYRO_CONF_ODR_VAL_HZ6400 (0x0E) 101 102 #define IMU_BOSCH_BMI323_REG_GYRO_CONF_RANGE_OFFSET (0x04) 103 #define IMU_BOSCH_BMI323_REG_GYRO_CONF_RANGE_SIZE (0x03) 104 #define IMU_BOSCH_BMI323_REG_GYRO_CONF_RANGE_VAL_DPS125 (0x00) 105 #define IMU_BOSCH_BMI323_REG_GYRO_CONF_RANGE_VAL_DPS250 (0x01) 106 #define IMU_BOSCH_BMI323_REG_GYRO_CONF_RANGE_VAL_DPS500 (0x02) 107 #define IMU_BOSCH_BMI323_REG_GYRO_CONF_RANGE_VAL_DPS1000 (0x03) 108 #define IMU_BOSCH_BMI323_REG_GYRO_CONF_RANGE_VAL_DPS2000 (0x04) 109 110 #define IMU_BOSCH_BMI323_REG_GYRO_CONF_MODE_OFFSET (0x0C) 111 #define IMU_BOSCH_BMI323_REG_GYRO_CONF_MODE_SIZE (0x03) 112 #define IMU_BOSCH_BMI323_REG_GYRO_CONF_MODE_VAL_DIS (0x00) 113 #define IMU_BOSCH_BMI323_REG_GYRO_CONF_MODE_VAL_LPWR (0x04) 114 #define IMU_BOSCH_BMI323_REG_GYRO_CONF_MODE_VAL_HPWR (0x07) 115 116 #define IMU_BOSCH_BMI323_REG_IO_INT_CTRL (0x38) 117 118 #define IMU_BOSCH_BMI323_REG_IO_INT_CTRL_INT1_LVL_OFFSET (0x00) 119 #define IMU_BOSCH_BMI323_REG_IO_INT_CTRL_INT1_LVL_SIZE (0x01) 120 #define IMU_BOSCH_BMI323_REG_IO_INT_CTRL_INT1_LVL_VAL_ACT_LOW (0x00) 121 #define IMU_BOSCH_BMI323_REG_IO_INT_CTRL_INT1_LVL_VAL_ACT_HIGH (0x01) 122 #define IMU_BOSCH_BMI323_REG_IO_INT_CTRL_INT1_OD_OFFSET (0x01) 123 #define IMU_BOSCH_BMI323_REG_IO_INT_CTRL_INT1_OD_SIZE (0x01) 124 #define IMU_BOSCH_BMI323_REG_IO_INT_CTRL_INT1_OD_VAL_PUSH_PULL (0x00) 125 #define IMU_BOSCH_BMI323_REG_IO_INT_CTRL_INT1_OD_VAL_OPEN_DRAIN (0x01) 126 #define IMU_BOSCH_BMI323_REG_IO_INT_CTRL_INT1_OUTPUT_EN_OFFSET (0x02) 127 #define IMU_BOSCH_BMI323_REG_IO_INT_CTRL_INT1_OUTPUT_EN_SIZE (0x01) 128 #define IMU_BOSCH_BMI323_REG_IO_INT_CTRL_INT1_OUTPUT_EN_VAL_DIS (0x00) 129 #define IMU_BOSCH_BMI323_REG_IO_INT_CTRL_INT1_OUTPUT_EN_VAL_EN (0x01) 130 131 #define IMU_BOSCH_BMI323_REG_INT_CONF (0x39) 132 133 #define IMU_BOSCH_BMI323_REG_INT_CONF_INT_LATCH_OFFSET (0x01) 134 #define IMU_BOSCH_BMI323_REG_INT_CONF_INT_LATCH_SIZE (0x01) 135 #define IMU_BOSCH_BMI323_REG_INT_CONF_INT_LATCH_VAL_NON_LATCHED (0x00) 136 #define IMU_BOSCH_BMI323_REG_INT_CONF_INT_LATCH_VAL_LATCHED (0x01) 137 138 #define IMU_BOSCH_BMI323_REG_INT_MAP1 (0x3A) 139 140 #define IMU_BOSCH_BMI323_REG_INT_MAP1_MOTION_OUT_OFFSET (0x02) 141 #define IMU_BOSCH_BMI323_REG_INT_MAP1_MOTION_OUT_SIZE (0x02) 142 #define IMU_BOSCH_BMI323_REG_INT_MAP1_MOTION_OUT_VAL_DIS (0x00) 143 #define IMU_BOSCH_BMI323_REG_INT_MAP1_MOTION_OUT_VAL_INT1 (0x01) 144 #define IMU_BOSCH_BMI323_REG_INT_MAP1_MOTION_OUT_VAL_INT2 (0x02) 145 146 #define IMU_BOSCH_BMI323_REG_INT_MAP2 (0x3B) 147 148 #define IMU_BOSCH_BMI323_REG_INT_MAP2_ACC_DRDY_INT_OFFSET (0x0A) 149 #define IMU_BOSCH_BMI323_REG_INT_MAP2_ACC_DRDY_INT_SIZE (0x02) 150 #define IMU_BOSCH_BMI323_REG_INT_MAP2_ACC_DRDY_INT_VAL_DIS (0x00) 151 #define IMU_BOSCH_BMI323_REG_INT_MAP2_ACC_DRDY_INT_VAL_INT1 (0x01) 152 #define IMU_BOSCH_BMI323_REG_INT_MAP2_ACC_DRDY_INT_VAL_INT2 (0x02) 153 154 #define IMU_BOSCH_BMI323_REG_FEATURE_CTRL (0x40) 155 156 #define IMU_BOSCH_BMI323_REG_FEATURE_CTRL_ENABLE_OFFSET (0x00) 157 #define IMU_BOSCH_BMI323_REG_FEATURE_CTRL_ENABLE_SIZE (0x01) 158 #define IMU_BOSCH_BMI323_REG_FEATURE_CTRL_ENABLE_VAL_DIS (0x00) 159 #define IMU_BOSCH_BMI323_REG_FEATURE_CTRL_ENABLE_VAL_EN (0x01) 160 161 #define IMU_BOSCH_BMI323_REG_CMD (0x7E) 162 #define IMU_BOSCH_BMI323_REG_CMD_CMD_OFFSET (0x00) 163 #define IMU_BOSCH_BMI323_REG_CMD_CMD_SIZE (0x10) 164 #define IMU_BOSCH_BMI323_REG_CMD_CMD_VAL_SOFT_RESET (0xDEAF) 165 166 #define IMU_BOSCH_BMI323_REG_MASK(reg, field) \ 167 (BIT_MASK(IMU_BOSCH_BMI323_REG_##reg##_##field##_SIZE) \ 168 << IMU_BOSCH_BMI323_REG_##reg##_##field##_OFFSET) 169 170 #define IMU_BOSCH_BMI323_REG_VALUE(reg, field, val) \ 171 (IMU_BOSCH_BMI323_REG_##reg##_##field##_VAL_##val \ 172 << IMU_BOSCH_BMI323_REG_##reg##_##field##_OFFSET) 173 174 #define IMU_BOSCH_BMI323_REG_VALUE_GET_FIELD(reg_value, reg, field) \ 175 ((reg_value >> IMU_BOSCH_BMI323_REG_##reg##_##field##_OFFSET) & \ 176 BIT_MASK(IMU_BOSCH_BMI323_REG_##reg##_##field##_SIZE)) 177 178 struct bosch_bmi323_bus_api { 179 /* Read up to multiple words from the BMI323 */ 180 int (*read_words)(const void *context, uint8_t offset, uint16_t *words, 181 uint16_t words_count); 182 183 /* Write up to multiple words to the BLI323 */ 184 int (*write_words)(const void *context, uint8_t offset, uint16_t *words, 185 uint16_t words_count); 186 187 /* Initialize the bus */ 188 int (*init)(const void *context); 189 }; 190 191 struct bosch_bmi323_bus { 192 const void *context; 193 const struct bosch_bmi323_bus_api *api; 194 }; 195 196 #endif /* ZEPHYR_DRIVERS_SENSOR_BMI323_BMI323_H_ */ 197
