bmx055.h

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/*
 * SPDX-FileCopyrightText: 2017 Freie Universität Berlin
 * SPDX-License-Identifier: LGPL-2.1-only
 */
 
#pragma once

 
#include <stdint.h>
 
#include "periph/i2c.h"
#include "periph/gpio.h"
 
#ifdef __cplusplus
extern "C" {
#endif

#ifndef CONFIG_BMX055_MAG_ADDR_DEFAULT
#define CONFIG_BMX055_MAG_ADDR_DEFAULT  (0x10U)
#endif

#ifndef CONFIG_BMX055_ACC_ADDR_DEFAULT
#define CONFIG_BMX055_ACC_ADDR_DEFAULT  (0x18U)
#endif

#ifndef CONFIG_BMX055_GYRO_ADDR_DEFAULT
#define CONFIG_BMX055_GYRO_ADDR_DEFAULT (0x68U)
#endif

enum {
    BMX055_OK       =  0,               
    BMX055_NOBUS    = -1,               
    BMX055_NODEV    = -2,               
    BMX055_NOREAD   = -3,               
    BMX055_NOWRITE  = -4,               
    BMX055_NOTREADY = -5,               
};

typedef enum {
    BMX055_MAG_DRATE_DEFAULT    = 0x0,  
    BMX055_MAG_DRATE_02HZ       = 0x1,  
    BMX055_MAG_DRATE_06HZ       = 0x2,  
    BMX055_MAG_DRATE_08HZ       = 0x3,  
    BMX055_MAG_DRATE_15HZ       = 0x4,  
    BMX055_MAG_DRATE_20HZ       = 0x5,  
    BMX055_MAG_DRATE_25HZ       = 0x6,  
    BMX055_MAG_DRATE_30HZ       = 0x7,  
} bmx055_mag_rate_t;

typedef enum {
    BMX055_ACC_RANGE_2G     = 0x0,      
    BMX055_ACC_RANGE_4G     = 0x1,      
    BMX055_ACC_RANGE_8G     = 0x2,      
    BMX055_ACC_RANGE_16G    = 0x3,      
} bmx055_acc_range_t;

typedef enum {
    BMX055_GYRO_SCALE_2000DPS = 0x0,    
    BMX055_GYRO_SCALE_1000DPS = 0x1,    
    BMX055_GYRO_SCALE_0500DPS = 0x2,    
    BMX055_GYRO_SCALE_0250DPS = 0x3,    
    BMX055_GYRO_SCALE_0125DPS = 0x4,    
} bmx055_gyro_scale_t;

typedef struct {
    i2c_t i2c;                          
    uint8_t addr_mag;                   
    uint8_t addr_acc;                   
    uint8_t addr_gyro;                  
    gpio_t int1_pin;                    
    gpio_t int2_pin;                    
    uint8_t mag_rate;                   
    uint8_t acc_range;                  
    uint8_t gyro_scale;                 
} bmx055_params_t;

typedef struct {
    bmx055_params_t p;  
} bmx055_t;

int bmx055_init(bmx055_t *dev, const bmx055_params_t *params);

int bmx055_mag_read(const bmx055_t *dev, int16_t *data);

int bmx055_acc_read(const bmx055_t *dev, int16_t *data);

int bmx055_gyro_read(const bmx055_t *dev, int16_t *data);
 
#ifdef __cplusplus
}
#endif