You are viewing a plain text version of this content. The canonical link for it is here.
Posted to commits@mynewt.apache.org by vi...@apache.org on 2017/02/24 19:38:29 UTC
[34/50] incubator-mynewt-core git commit: Initial Commit BNO055 Driver
Initial Commit BNO055 Driver
- Adding BNO055 Driver
- Also adding a shell for it
- Cleaning up tsl driver
Project: http://git-wip-us.apache.org/repos/asf/incubator-mynewt-core/repo
Commit: http://git-wip-us.apache.org/repos/asf/incubator-mynewt-core/commit/5a76b68c
Tree: http://git-wip-us.apache.org/repos/asf/incubator-mynewt-core/tree/5a76b68c
Diff: http://git-wip-us.apache.org/repos/asf/incubator-mynewt-core/diff/5a76b68c
Branch: refs/heads/develop
Commit: 5a76b68ccc34fe3f342811d512f2d35e7ddb9d0b
Parents: 1b0f375
Author: Vipul Rahane <vi...@apache.org>
Authored: Thu Feb 9 17:55:24 2017 -0800
Committer: Vipul Rahane <vi...@apache.org>
Committed: Thu Feb 9 17:55:24 2017 -0800
----------------------------------------------------------------------
apps/slinky/pkg.yml | 1 +
apps/slinky/src/main.c | 37 +-
apps/slinky/syscfg.yml | 5 +-
.../sensors/bno055/include/bno055/bno055.h | 128 +++
hw/drivers/sensors/bno055/pkg.yml | 32 +
hw/drivers/sensors/bno055/src/bno055.c | 828 +++++++++++++++++++
hw/drivers/sensors/bno055/src/bno055_priv.h | 235 ++++++
hw/drivers/sensors/bno055/src/bno055_shell.c | 424 ++++++++++
hw/drivers/sensors/bno055/syscfg.yml | 35 +
hw/drivers/sensors/tsl2561/src/tsl2561.c | 8 +-
hw/sensor/include/sensor/euler.h | 50 ++
hw/sensor/include/sensor/quat.h | 50 ++
hw/sensor/include/sensor/sensor.h | 18 +-
13 files changed, 1836 insertions(+), 15 deletions(-)
----------------------------------------------------------------------
http://git-wip-us.apache.org/repos/asf/incubator-mynewt-core/blob/5a76b68c/apps/slinky/pkg.yml
----------------------------------------------------------------------
diff --git a/apps/slinky/pkg.yml b/apps/slinky/pkg.yml
index 2f84f69..db9cc10 100644
--- a/apps/slinky/pkg.yml
+++ b/apps/slinky/pkg.yml
@@ -34,6 +34,7 @@ pkg.deps:
- hw/drivers/sensors/sim
- hw/drivers/sensors/lsm303dlhc
- hw/drivers/sensors/tsl2561
+ - hw/drivers/sensors/bno055
- boot/bootutil
- sys/shell
- sys/config
http://git-wip-us.apache.org/repos/asf/incubator-mynewt-core/blob/5a76b68c/apps/slinky/src/main.c
----------------------------------------------------------------------
diff --git a/apps/slinky/src/main.c b/apps/slinky/src/main.c
index 718d690..aa58fcb 100755
--- a/apps/slinky/src/main.c
+++ b/apps/slinky/src/main.c
@@ -32,6 +32,7 @@
#include <sensor/sensor.h>
#include <lsm303dlhc/lsm303dlhc.h>
#include <tsl2561/tsl2561.h>
+#include <bno055/bno055.h>
#include "flash_map/flash_map.h"
#include <hal/hal_system.h>
#if MYNEWT_VAL(SPLIT_LOADER)
@@ -47,9 +48,6 @@
#include <reboot/log_reboot.h>
#include <os/os_time.h>
#include <id/id.h>
-#if MYNEWT_VAL(TSL2561_CLI)
-#include <tsl2561/tsl2561.h>
-#endif
#ifdef ARCH_sim
#include <mcu/mcu_sim.h>
@@ -252,6 +250,10 @@ config_sensor(void)
dev = (struct os_dev *) os_dev_open("light0", OS_TIMEOUT_NEVER, NULL);
assert(dev != NULL);
rc = tsl2561_init(dev, NULL);
+ if (rc) {
+ os_dev_close(dev);
+ goto err;
+ }
/* Gain set to 1X and Inetgration time set to 13ms */
tslcfg.gain = TSL2561_LIGHT_GAIN_1X;
@@ -271,6 +273,10 @@ config_sensor(void)
assert(dev != NULL);
rc = lsm303dlhc_init(dev, NULL);
+ if (rc) {
+ os_dev_close(dev);
+ goto err;
+ }
/* read once per sec. API should take this value in ms. */
lsmcfg.accel_rate = LSM303DLHC_ACCEL_RATE_1;
@@ -283,6 +289,27 @@ config_sensor(void)
}
#endif
+#if MYNEWT_VAL(BNO055_PRESENT)
+ struct bno055_cfg bcfg;
+
+ dev = (struct os_dev *) os_dev_open("accel0", OS_TIMEOUT_NEVER, NULL);
+ assert(dev != NULL);
+
+ rc = bno055_init(dev, NULL);
+ if (rc) {
+ os_dev_close(dev);
+ assert(0);
+ goto err;
+ }
+
+ rc = bno055_config((struct bno055 *) dev, &bcfg);
+ if (rc) {
+ os_dev_close(dev);
+ assert(0);
+ goto err;
+ }
+#endif
+
os_dev_close(dev);
return (0);
@@ -384,6 +411,10 @@ main(int argc, char **argv)
tsl2561_shell_init();
#endif
+#if MYNEWT_VAL(BNO055_CLI)
+ bno055_shell_init();
+#endif
+
config_sensor();
/*
http://git-wip-us.apache.org/repos/asf/incubator-mynewt-core/blob/5a76b68c/apps/slinky/syscfg.yml
----------------------------------------------------------------------
diff --git a/apps/slinky/syscfg.yml b/apps/slinky/syscfg.yml
index d324731..d184302 100644
--- a/apps/slinky/syscfg.yml
+++ b/apps/slinky/syscfg.yml
@@ -42,7 +42,7 @@ syscfg.vals:
CONFIG_NEWTMGR: 1
OS_MAIN_TASK_PRIO: 10
- OS_MAIN_STACKS_SIZE: 512
+ OS_MAIN_STACK_SIZE: 512
syscfg.defs:
TSL2561_PRESENT:
@@ -51,3 +51,6 @@ syscfg.defs:
LSM303DLHC_PRESENT:
description: 'LSM303 is present'
value: 0
+ BNO055_PRESENT:
+ description: 'BNO055 is present'
+ value: 0
http://git-wip-us.apache.org/repos/asf/incubator-mynewt-core/blob/5a76b68c/hw/drivers/sensors/bno055/include/bno055/bno055.h
----------------------------------------------------------------------
diff --git a/hw/drivers/sensors/bno055/include/bno055/bno055.h b/hw/drivers/sensors/bno055/include/bno055/bno055.h
new file mode 100644
index 0000000..a540628
--- /dev/null
+++ b/hw/drivers/sensors/bno055/include/bno055/bno055.h
@@ -0,0 +1,128 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one
+ * or more contributor license agreements. See the NOTICE file
+ * distributed with this work for additional information
+ * regarding copyright ownership. The ASF licenses this file
+ * to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance
+ * with the License. You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing,
+ * software distributed under the License is distributed on an
+ * "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY
+ * KIND, either express or implied. See the License for the
+ * specific language governing permissions and limitations
+ * under the License.
+ */
+
+#ifndef __BNO055_H__
+#define __BNO055_H__
+
+#include <os/os.h>
+#include "os/os_dev.h"
+#include "sensor/sensor.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+struct bno055_cfg {
+ uint8_t bc_mode;
+};
+
+struct bno055 {
+ struct os_dev dev;
+ struct sensor sensor;
+ struct bno055_cfg cfg;
+ os_time_t last_read_time;
+};
+
+struct bno055_rev_info {
+ uint8_t bri_accel_rev;
+ uint8_t bri_mag_rev;
+ uint8_t bri_gyro_rev;
+ uint8_t bri_bl_rev;
+ uint16_t bri_sw_rev;
+};
+
+/**
+ * Initialize the bno055. This function is normally called by sysinit.
+ *
+ * @param dev Pointer to the bno055_dev device descriptor
+ */
+int bno055_init(struct os_dev *dev, void *arg);
+
+int bno055_config(struct bno055 *, struct bno055_cfg *);
+
+int
+bno055_get_vector_data(void *datastruct, int type);
+
+/**
+ * Get quat data from sensor
+ *
+ * @param sensor quat data to be filled up
+ * @return 0 on success, non-zero on error
+ */
+int
+bno055_get_quat_data(void *sqd);
+
+/**
+ * Get temperature from bno055 sensor
+ *
+ * @return temperature in degree celcius
+ */
+int
+bno055_get_temp(int8_t *temp);
+
+/**
+ * Setting mode for the bno055 sensor
+ *
+ * @param Operation mode for the sensor
+ * @return 0 on success, non-zero on failure
+ */
+int
+bno055_set_mode(uint8_t mode);
+
+#if MYNEWT_VAL(BNO055_CLI)
+int bno055_shell_init(void);
+#endif
+
+/**
+ * Get Revision info for different sensors in the bno055
+ *
+ * @param pass the pointer to the revision structure
+ * @return 0 on success, non-zero on error
+ */
+int
+bno055_get_rev_info(struct bno055_rev_info *ri);
+
+/**
+ * Gets system status, test results and errors if any from the sensor
+ *
+ * @param ptr to system status
+ * @param ptr to self test result
+ * @param ptr to system error
+ */
+int
+bno055_get_sys_status(uint8_t *system_status, uint8_t *self_test_result,
+ uint8_t *system_error);
+
+int
+bno055_get_chip_id(uint8_t *id);
+
+/**
+ * Read current operational mode of the sensor
+ *
+ * @return mode
+ */
+uint8_t
+bno055_get_mode(void);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __BNO055_H__ */
http://git-wip-us.apache.org/repos/asf/incubator-mynewt-core/blob/5a76b68c/hw/drivers/sensors/bno055/pkg.yml
----------------------------------------------------------------------
diff --git a/hw/drivers/sensors/bno055/pkg.yml b/hw/drivers/sensors/bno055/pkg.yml
new file mode 100644
index 0000000..5589276
--- /dev/null
+++ b/hw/drivers/sensors/bno055/pkg.yml
@@ -0,0 +1,32 @@
+#
+# Licensed to the Apache Software Foundation (ASF) under one
+# or more contributor license agreements. See the NOTICE file
+# distributed with this work for additional information
+# regarding copyright ownership. The ASF licenses this file
+# to you under the Apache License, Version 2.0 (the
+# "License"); you may not use this file except in compliance
+# with the License. You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing,
+# software distributed under the License is distributed on an
+# "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY
+# KIND, either express or implied. See the License for the
+# specific language governing permissions and limitations
+# under the License.
+#
+
+pkg.name: hw/drivers/sensors/bno055
+pkg.description: Driver for the BNO055
+pkg.author: "Adafruit <su...@adafruit.com>"
+pkg.homepage: "http://www.adafruit.com/"
+pkg.keywords:
+ - adafruit
+ - bno055
+ - i2c
+ - sensor
+
+pkg.deps:
+ - "@apache-mynewt-core/kernel/os"
+ - "@apache-mynewt-core/hw/hal"
http://git-wip-us.apache.org/repos/asf/incubator-mynewt-core/blob/5a76b68c/hw/drivers/sensors/bno055/src/bno055.c
----------------------------------------------------------------------
diff --git a/hw/drivers/sensors/bno055/src/bno055.c b/hw/drivers/sensors/bno055/src/bno055.c
new file mode 100644
index 0000000..665db28
--- /dev/null
+++ b/hw/drivers/sensors/bno055/src/bno055.c
@@ -0,0 +1,828 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one
+ * or more contributor license agreements. See the NOTICE file
+ * distributed with this work for additional information
+ * resarding copyright ownership. The ASF licenses this file
+ * to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance
+ * with the License. You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing,
+ * software distributed under the License is distributed on an
+ * "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY
+ * KIND, either express or implied. See the License for the
+ * specific language governing permissions and limitations
+ * under the License.
+ */
+
+#include <string.h>
+#include <errno.h>
+#include <assert.h>
+
+#include "defs/error.h"
+#include "os/os.h"
+#include "sysinit/sysinit.h"
+#include "hal/hal_i2c.h"
+#include "sensor/sensor.h"
+#include "sensor/accel.h"
+#include "sensor/mag.h"
+#include "sensor/quat.h"
+#include "sensor/euler.h"
+#include "bno055/bno055.h"
+#include "bno055_priv.h"
+
+#if MYNEWT_VAL(BNO055_LOG)
+#include "log/log.h"
+#endif
+
+#if MYNEWT_VAL(BNO055_STATS)
+#include "stats/stats.h"
+#endif
+
+#if MYNEWT_VAL(BNO055_STATS)
+/* Define the stats section and records */
+STATS_SECT_START(bno055_stat_section)
+ STATS_SECT_ENTRY(samples_acc_2g)
+ STATS_SECT_ENTRY(samples_acc_4g)
+ STATS_SECT_ENTRY(samples_acc_8g)
+ STATS_SECT_ENTRY(samples_acc_16g)
+ STATS_SECT_ENTRY(samples_mag_1_3g)
+ STATS_SECT_ENTRY(samples_mag_1_9g)
+ STATS_SECT_ENTRY(samples_mag_2_5g)
+ STATS_SECT_ENTRY(samples_mag_4_0g)
+ STATS_SECT_ENTRY(samples_mag_4_7g)
+ STATS_SECT_ENTRY(samples_mag_5_6g)
+ STATS_SECT_ENTRY(samples_mag_8_1g)
+ STATS_SECT_ENTRY(errors)
+STATS_SECT_END
+
+/* Define stat names for querying */
+STATS_NAME_START(bno055_stat_section)
+ STATS_NAME(bno055_stat_section, samples_acc_2g)
+ STATS_NAME(bno055_stat_section, samples_acc_4g)
+ STATS_NAME(bno055_stat_section, samples_acc_8g)
+ STATS_NAME(bno055_stat_section, samples_acc_16g)
+ STATS_NAME(bno055_stat_section, samples_mag_1_3g)
+ STATS_NAME(bno055_stat_section, samples_mag_1_9g)
+ STATS_NAME(bno055_stat_section, samples_mag_2_5g)
+ STATS_NAME(bno055_stat_section, samples_mag_4_0g)
+ STATS_NAME(bno055_stat_section, samples_mag_4_7g)
+ STATS_NAME(bno055_stat_section, samples_mag_5_6g)
+ STATS_NAME(bno055_stat_section, samples_mag_8_1g)
+ STATS_NAME(bno055_stat_section, errors)
+STATS_NAME_END(bno055_stat_section)
+
+/* Global variable used to hold stats data */
+STATS_SECT_DECL(bno055_stat_section) g_bno055stats;
+#endif
+
+#if MYNEWT_VAL(BNO055_LOG)
+#define LOG_MODULE_BNO055 (303)
+#define BNO055_INFO(...) LOG_INFO(&_log, LOG_MODULE_BNO055, __VA_ARGS__)
+#define BNO055_ERR(...) LOG_ERROR(&_log, LOG_MODULE_BNO055, __VA_ARGS__)
+static struct log _log;
+#else
+#define BNO055_INFO(...)
+#define BNO055_ERR(...)
+#endif
+
+/* Exports for the sensor interface.
+ */
+static void *bno055_sensor_get_interface(struct sensor *, sensor_type_t);
+static int bno055_sensor_read(struct sensor *, sensor_type_t,
+ sensor_data_func_t, void *, uint32_t);
+static int bno055_sensor_get_config(struct sensor *, sensor_type_t,
+ struct sensor_cfg *);
+
+static const struct sensor_driver g_bno055_sensor_driver = {
+ bno055_sensor_get_interface,
+ bno055_sensor_read,
+ bno055_sensor_get_config
+};
+
+static uint8_t g_bno055_mode;
+
+/**
+ * Writes a single byte to the specified register
+ *
+ * @param The register address to write to
+ * @param The value to write
+ *
+ * @return 0 on success, non-zero error on failure.
+ */
+int
+bno055_write8(uint8_t reg, uint32_t value)
+{
+ int rc;
+ uint8_t payload[2] = { reg, value & 0xFF };
+
+ struct hal_i2c_master_data data_struct = {
+ .address = MYNEWT_VAL(BNO055_I2CADDR),
+ .len = 2,
+ .buffer = payload
+ };
+
+ rc = hal_i2c_master_write(MYNEWT_VAL(BNO055_I2CBUS), &data_struct,
+ OS_TICKS_PER_SEC / 10, 1);
+ if (rc) {
+ BNO055_ERR("Failed to write to 0x%02X:0x%02X with value 0x%02X\n",
+ data_struct.address, reg, value);
+#if MYNEWT_VAL(BNO055_STATS)
+ STATS_INC(g_bno055stats, errors);
+#endif
+ }
+
+ return rc;
+}
+
+/**
+ * Reads a single byte from the specified register
+ *
+ * @param The register address to read from
+ * @param Pointer to where the register value should be written
+ *
+ * @return 0 on success, non-zero error on failure.
+ */
+int
+bno055_read8(uint8_t reg, uint8_t *value)
+{
+ int rc;
+ uint8_t payload;
+
+ struct hal_i2c_master_data data_struct = {
+ .address = MYNEWT_VAL(BNO055_I2CADDR),
+ .len = 1,
+ .buffer = &payload
+ };
+
+ /* Register write */
+ payload = reg;
+ rc = hal_i2c_master_write(MYNEWT_VAL(BNO055_I2CBUS), &data_struct,
+ OS_TICKS_PER_SEC / 10, 1);
+ if (rc) {
+ BNO055_ERR("I2C register write failed at address 0x%02X:0x%02X\n",
+ data_struct.address, reg);
+#if MYNEWT_VAL(BNO055_STATS)
+ STATS_INC(g_bno055stats, errors);
+#endif
+ goto err;
+ }
+
+ /* Read one byte back */
+ payload = 0;
+ rc = hal_i2c_master_read(MYNEWT_VAL(BNO055_I2CBUS), &data_struct,
+ OS_TICKS_PER_SEC / 10, 1);
+ *value = payload;
+ if (rc) {
+ BNO055_ERR("Failed to read from 0x%02X:0x%02X\n", addr, reg);
+#if MYNEWT_VAL(BNO055_STATS)
+ STATS_INC(g_bno055stats, errors);
+#endif
+ }
+
+err:
+ return rc;
+}
+
+/**
+ * Read data from the sensor of variable length (MAX: 8 bytes)
+ *
+ *
+ * @param Register to read from
+ * @param Bufer to read into
+ * @param Length of the buffer
+ *
+ * @return 0 on success and non-zero on failure
+ */
+static int
+bno055_readlen(uint8_t reg, uint8_t *buffer, uint8_t len)
+{
+ int rc;
+ uint8_t payload[8] = { reg, 0, 0, 0, 0, 0, 0, 0};
+
+ struct hal_i2c_master_data data_struct = {
+ .address = reg,
+ .len = 1,
+ .buffer = payload
+ };
+
+ if (len > 8) {
+ rc = SYS_EINVAL;
+ goto err;
+ }
+
+ /* Clear the supplied buffer */
+ memset(buffer, 0, 8);
+
+ /* Register write */
+ rc = hal_i2c_master_write(MYNEWT_VAL(BNO055_I2CBUS), &data_struct,
+ OS_TICKS_PER_SEC / 10, 1);
+ if (rc) {
+ BNO055_ERR("I2C access failed at address 0x%02X\n", addr);
+#if MYNEWT_VAL(BNO055_STATS)
+ STATS_INC(g_bno055stats, errors);
+#endif
+ goto err;
+ }
+
+ /* Read six bytes back */
+ memset(payload, 0, sizeof(payload));
+ data_struct.len = len;
+ rc = hal_i2c_master_read(MYNEWT_VAL(BNO055_I2CBUS), &data_struct,
+ OS_TICKS_PER_SEC / 10, 1);
+
+ if (rc) {
+ BNO055_ERR("Failed to read from 0x%02X:0x%02X\n", addr, reg);
+#if MYNEWT_VAL(BNO055_STATS)
+ STATS_INC(g_bno055stats, errors);
+#endif
+ goto err;
+ }
+
+ /* Copy the I2C results into the supplied buffer */
+ memcpy(buffer, payload, len);
+
+ return 0;
+err:
+ return rc;
+}
+
+
+/**
+ * Setting mode for the bno055 sensor
+ *
+ * @param Operation mode for the sensor
+ * @return 0 on success, non-zero on failure
+ */
+int
+bno055_set_mode(uint8_t mode)
+{
+ int rc;
+
+ rc = bno055_write8(BNO055_OPR_MODE_ADDR, mode);
+ if (rc) {
+ goto err;
+ }
+
+ if (mode == BNO055_OPERATION_MODE_CONFIG) {
+ os_time_delay(OS_TICKS_PER_SEC/1000 * 19);
+ } else {
+ os_time_delay(OS_TICKS_PER_SEC/1000 * 7);
+ }
+
+ g_bno055_mode = mode;
+ return 0;
+err:
+ return rc;
+}
+
+/**
+ * Read current operational mode of the sensor
+ *
+ * @return mode
+ */
+uint8_t
+bno055_get_mode(void)
+{
+ return g_bno055_mode;
+}
+
+/**
+ * Expects to be called back through os_dev_create().
+ *
+ * @param The device object associated with this accellerometer
+ * @param Argument passed to OS device init, unused
+ *
+ * @return 0 on success, non-zero error on failure.
+ */
+int
+bno055_init(struct os_dev *dev, void *arg)
+{
+ struct bno055 *bno055;
+ struct sensor *sensor;
+ int rc;
+
+ bno055 = (struct bno055 *) dev;
+
+#if MYNEWT_VAL(BNO055_LOG)
+ log_register("bno055", &_log, &log_console_handler, NULL, LOG_SYSLEVEL);
+#endif
+
+ sensor = &bno055->sensor;
+
+#if MYNEWT_VAL(BNO055_STATS)
+ /* Initialise the stats entry */
+ rc = stats_init(
+ STATS_HDR(g_bno055stats),
+ STATS_SIZE_INIT_PARMS(g_bno055stats, STATS_SIZE_32),
+ STATS_NAME_INIT_PARMS(bno055_stat_section));
+ SYSINIT_PANIC_ASSERT(rc == 0);
+ /* Register the entry with the stats registry */
+ rc = stats_register("bno055", STATS_HDR(g_bno055stats));
+ SYSINIT_PANIC_ASSERT(rc == 0);
+#endif
+
+ rc = sensor_init(sensor, dev);
+ if (rc != 0) {
+ goto err;
+ }
+
+ /* Add the accelerometer/magnetometer driver */
+ rc = sensor_set_driver(sensor, SENSOR_TYPE_ACCELEROMETER |
+ SENSOR_TYPE_MAGNETIC_FIELD,
+ (struct sensor_driver *) &g_bno055_sensor_driver);
+ if (rc != 0) {
+ goto err;
+ }
+
+ rc = sensor_mgr_register(sensor);
+ if (rc != 0) {
+ goto err;
+ }
+
+ return (0);
+err:
+ return (rc);
+}
+
+int
+bno055_get_chip_id(uint8_t *id)
+{
+ int rc;
+ uint8_t idtmp;
+
+ /* Check if we can read the chip address */
+ rc = bno055_read8(BNO055_CHIP_ID_ADDR, &idtmp);
+ if (rc) {
+ goto err;
+ }
+
+ *id = idtmp;
+
+ return 0;
+err:
+ return rc;
+}
+
+int
+bno055_config(struct bno055 *bno055, struct bno055_cfg *cfg)
+{
+ int rc;
+ uint8_t id;
+ uint8_t prev_mode;
+
+ prev_mode = g_bno055_mode;
+
+ /* Check if we can read the chip address */
+ rc = bno055_read8(BNO055_CHIP_ID_ADDR, &id);
+ if (rc) {
+ goto err;
+ }
+
+ if (id != BNO055_ID) {
+ os_time_delay(OS_TICKS_PER_SEC/2);
+
+ rc = bno055_read8(BNO055_CHIP_ID_ADDR, &id);
+ if (rc) {
+ goto err;
+ }
+
+ if(id != BNO055_ID) {
+ goto err;
+ }
+ }
+
+ rc = bno055_set_mode(BNO055_OPERATION_MODE_CONFIG);
+ if (rc) {
+ goto err;
+ }
+
+ /* Reset sensor */
+ rc = bno055_write8(BNO055_SYS_TRIGGER_ADDR, 0x20);
+ if (rc) {
+ goto err;
+ }
+
+ /* Wait for about 100 ms */
+ os_time_delay(OS_TICKS_PER_SEC/1000 * 100);
+
+ /* Set to normal power mode */
+ rc = bno055_write8(BNO055_PWR_MODE_ADDR, BNO055_POWER_MODE_NORMAL);
+ if (rc) {
+ goto err;
+ }
+
+ rc = bno055_write8(BNO055_SYS_TRIGGER_ADDR, 0x0);
+ if (rc) {
+ goto err;
+ }
+
+ os_time_delay(OS_TICKS_PER_SEC/1000 * 10);
+
+ /* Overwrite the configuration data. */
+ memcpy(&bno055->cfg, cfg, sizeof(*cfg));
+
+ /* Change back to previous mode */
+ rc = bno055_set_mode(prev_mode);
+ if (rc) {
+ goto err;
+ }
+
+ os_time_delay(OS_TICKS_PER_SEC/1000 * 20);
+
+ return 0;
+err:
+ return rc;
+}
+
+/**
+ * Get quat data from sensor
+ *
+ * @param sensor quat data to be filled up
+ * @return 0 on success, non-zero on error
+ */
+int
+bno055_get_quat_data(void *datastruct)
+{
+ uint8_t buffer[8];
+ double scale;
+ int rc;
+ struct sensor_quat_data *sqd;
+
+ sqd = (struct sensor_quat_data *)datastruct;
+
+ /* As per Section 3.6.5.5 Orientation (Quaternion) */
+ scale = (1.0 / (1<<14));
+
+ memset (buffer, 0, 8);
+
+ /* Read quat data */
+ rc = bno055_readlen(BNO055_QUATERNION_DATA_W_LSB_ADDR, buffer, 8);
+
+ if (rc) {
+ goto err;
+ }
+
+ sqd->sqd_w = ((((uint16_t)buffer[1]) << 8) | ((uint16_t)buffer[0])) * scale;
+ sqd->sqd_x = ((((uint16_t)buffer[3]) << 8) | ((uint16_t)buffer[2])) * scale;
+ sqd->sqd_y = ((((uint16_t)buffer[5]) << 8) | ((uint16_t)buffer[4])) * scale;
+ sqd->sqd_z = ((((uint16_t)buffer[7]) << 8) | ((uint16_t)buffer[6])) * scale;
+
+ return 0;
+err:
+ return rc;
+}
+
+/**
+ * Find register based on sensor type
+ *
+ * @return register address
+ */
+static int
+bno055_find_reg(sensor_type_t type, uint8_t *reg)
+{
+ int rc;
+
+ rc = 0;
+ switch(type) {
+ case SENSOR_TYPE_ACCELEROMETER:
+ *reg = BNO055_ACCEL_DATA_X_LSB_ADDR;
+ break;
+ case SENSOR_TYPE_GYROSCOPE:
+ *reg = BNO055_GYRO_DATA_X_LSB_ADDR;
+ break;
+ case SENSOR_TYPE_MAGNETIC_FIELD:
+ *reg = BNO055_MAG_DATA_X_LSB_ADDR;
+ break;
+ case SENSOR_TYPE_EULER:
+ *reg = BNO055_EULER_H_LSB_ADDR;
+ break;
+ case SENSOR_TYPE_LINEAR_ACCEL:
+ *reg = BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR;
+ break;
+ case SENSOR_TYPE_GRAVITY:
+ *reg = BNO055_GRAVITY_DATA_X_LSB_ADDR;
+ break;
+ default:
+ BNO055_ERR("Not supported sensor type: %d\n", type);
+ rc = SYS_EINVAL;
+ break;
+ }
+
+ return rc;
+}
+
+int
+bno055_get_vector_data(void *datastruct, int type)
+{
+
+ uint8_t payload[6];
+ int16_t x, y, z;
+ struct sensor_mag_data *smd;
+ struct sensor_accel_data *sad;
+ struct sensor_euler_data *sed;
+ uint8_t reg;
+ int rc;
+
+ memset (payload, 0, 6);
+
+ x = y = z = 0;
+
+ rc = bno055_find_reg(type, ®);
+ if (rc) {
+ goto err;
+ }
+
+ rc = bno055_readlen(reg, payload, 6);
+ if (rc) {
+ goto err;
+ }
+
+ x = ((int16_t)payload[0]) | (((int16_t)payload[1]) << 8);
+ y = ((int16_t)payload[2]) | (((int16_t)payload[3]) << 8);
+ z = ((int16_t)payload[4]) | (((int16_t)payload[5]) << 8);
+
+ /**
+ * Convert the value to an appropriate range (section 3.6.4)
+ */
+ switch(type) {
+ case SENSOR_TYPE_MAGNETIC_FIELD:
+ smd = datastruct;
+ /* 1uT = 16 LSB */
+ smd->smd_x = ((double)x)/16.0;
+ smd->smd_y = ((double)y)/16.0;
+ smd->smd_z = ((double)z)/16.0;
+ break;
+ case SENSOR_TYPE_GYROSCOPE:
+ sad = datastruct;
+ /* 1rps = 900 LSB */
+ sad->sad_x = ((double)x)/900.0;
+ sad->sad_y = ((double)y)/900.0;
+ sad->sad_z = ((double)z)/900.0;
+ break;
+ case SENSOR_TYPE_EULER:
+ sad = datastruct;
+ /* 1 degree = 16 LSB */
+ sed->sed_h = ((double)x)/16.0;
+ sed->sed_r = ((double)y)/16.0;
+ sed->sed_p = ((double)z)/16.0;
+ break;
+ case SENSOR_TYPE_ACCELEROMETER:
+ case SENSOR_TYPE_LINEAR_ACCEL:
+ case SENSOR_TYPE_GRAVITY:
+ sad = datastruct;
+ /* 1m/s^2 = 100 LSB */
+ sad->sad_x = ((double)x)/100.0;
+ sad->sad_y = ((double)y)/100.0;
+ sad->sad_z = ((double)z)/100.0;
+ break;
+ default:
+ BNO055_ERR("Not supported sensor type: %d\n", type);
+ rc = SYS_EINVAL;
+ goto err;
+ }
+
+ return 0;
+err:
+ return rc;
+}
+
+/**
+ * Get temperature from bno055 sensor
+ *
+ * @return temperature in degree celcius
+ */
+int
+bno055_get_temp(int8_t *temp)
+{
+ int rc;
+
+ rc = bno055_read8(BNO055_TEMP_ADDR, (uint8_t *)temp);
+
+ return rc;
+}
+
+/**
+ * Get sensor data of specific type. This function also allocates a buffer
+ * to fill up the data in.
+ *
+ * @param Sensor structure used by the SensorAPI
+ * @param Sensor type
+ * @param Data function provided by the caler of the API
+ * @param Argument for the data function
+ * @param Timeout if any for reading
+ * @return 0 on success, non-zero on error
+ */
+static int
+bno055_sensor_read(struct sensor *sensor, sensor_type_t type,
+ sensor_data_func_t data_func, void *data_arg, uint32_t timeout)
+{
+ void *databuf;
+ int rc;
+
+ /* Since this is the biggest struct, malloc space for it */
+ databuf = malloc(sizeof(struct sensor_quat_data));
+
+ if (type == SENSOR_TYPE_ROTATION_VECTOR) {
+ /* Quaternion is a rotation vector */
+ rc = bno055_get_quat_data(databuf);
+ if (rc) {
+ goto err;
+ }
+ } else if (type == SENSOR_TYPE_TEMPERATURE) {
+ rc = bno055_get_temp(databuf);
+ if (rc) {
+ goto err;
+ }
+ } else {
+ /* Get vector data, accel or gravity values */
+ rc = bno055_get_vector_data(databuf, type);
+ if (rc) {
+ goto err;
+ }
+ }
+
+ /* Call data function */
+ rc = data_func(sensor, data_arg, databuf);
+ if (rc) {
+ goto err;
+ }
+
+ /* Free the data buffer */
+ free(databuf);
+
+ return 0;
+err:
+ return rc;
+}
+
+/**
+ * Gets system status, test results and errors if any from the sensor
+ *
+ * @param ptr to system status
+ * @param ptr to self test result
+ * @param ptr to system error
+ */
+int
+bno055_get_sys_status(uint8_t *system_status, uint8_t *self_test_result, uint8_t *system_error)
+{
+ int rc;
+
+ rc = bno055_write8(BNO055_PAGE_ID_ADDR, 0);
+ if (rc) {
+ goto err;
+ }
+ /**
+ * System Status (see section 4.3.58)
+ * ---------------------------------
+ * bit 0: Idle
+ * bit 1: System Error
+ * bit 2: Initializing Peripherals
+ * bit 3: System Iniitalization
+ * bit 4: Executing Self-Test
+ * bit 5: Sensor fusion algorithm running
+ * bit 6: System running without fusion algorithms
+ */
+
+ if (system_status != 0) {
+ rc = bno055_read8(BNO055_SYS_STAT_ADDR, system_status);
+ if (rc) {
+ goto err;
+ }
+ }
+
+ /**
+ * Self Test Results (see section )
+ * --------------------------------
+ * 1: test passed, 0: test failed
+ * bit 0: Accelerometer self test
+ * bit 1: Magnetometer self test
+ * bit 2: Gyroscope self test
+ * bit 3: MCU self test
+ *
+ * 0x0F : All Good
+ */
+
+ if (self_test_result != 0) {
+ rc = bno055_read8(BNO055_SELFTEST_RESULT_ADDR, self_test_result);
+ if (rc) {
+ goto err;
+ }
+ }
+
+ /**
+ * System Error (see section 4.3.59)
+ * ---------------------------------
+ * bit 0 : No error
+ * bit 1 : Peripheral initialization error
+ * bit 2 : System initialization error
+ * bit 3 : Self test result failed
+ * bit 4 : Register map value out of range
+ * bit 5 : Register map address out of range
+ * bit 6 : Register map write error
+ * bit 7 : BNO low power mode not available for selected operat ion mode
+ * bit 8 : Accelerometer power mode not available
+ * bit 9 : Fusion algorithm configuration error
+ * bit 10 : Sensor configuration error
+ */
+
+ if (system_error != 0) {
+ rc = bno055_read8(BNO055_SYS_ERR_ADDR, system_error);
+ if (rc) {
+ goto err;
+ }
+ }
+
+ os_time_delay(OS_TICKS_PER_SEC/1000 * 200);
+
+ return 0;
+err:
+ return rc;
+}
+
+/**
+ * Get Revision info for different sensors in the bno055
+ *
+ * @param pass the pointer to the revision structure
+ * @return 0 on success, non-zero on error
+ */
+int
+bno055_get_rev_info(struct bno055_rev_info *ri)
+{
+ uint8_t sw_rev_l, sw_rev_h;
+ int rc;
+
+ memset(ri, 0, sizeof(struct bno055_rev_info));
+
+ /* Check the accelerometer revision */
+ rc = bno055_read8(BNO055_ACCEL_REV_ID_ADDR, &(ri->bri_accel_rev));
+ if (rc) {
+ goto err;
+ }
+
+ /* Check the magnetometer revision */
+ rc = bno055_read8(BNO055_MAG_REV_ID_ADDR, &(ri->bri_mag_rev));
+ if (rc) {
+ goto err;
+ }
+
+ /* Check the gyroscope revision */
+ rc = bno055_read8(BNO055_GYRO_REV_ID_ADDR, &(ri->bri_gyro_rev));
+ if (rc) {
+ goto err;
+ }
+
+ rc = bno055_read8(BNO055_BL_REV_ID_ADDR, &(ri->bri_bl_rev));
+ if (rc) {
+ goto err;
+ }
+
+ /* Check the SW revision */
+ rc = bno055_read8(BNO055_SW_REV_ID_LSB_ADDR, &sw_rev_l);
+ if (rc) {
+ goto err;
+ }
+
+ rc = bno055_read8(BNO055_SW_REV_ID_MSB_ADDR, &sw_rev_h);
+ if (rc) {
+ goto err;
+ }
+
+ ri->bri_sw_rev = (((uint16_t)sw_rev_h) << 8) | ((uint16_t)sw_rev_l);
+
+ return 0;
+err:
+ return rc;
+}
+
+static void *
+bno055_sensor_get_interface(struct sensor *sensor, sensor_type_t type)
+{
+ return (NULL);
+}
+
+static int
+bno055_sensor_get_config(struct sensor *sensor, sensor_type_t type,
+ struct sensor_cfg *cfg)
+{
+ int rc;
+
+ if ((type != SENSOR_TYPE_ACCELEROMETER) &&
+ (type != SENSOR_TYPE_MAGNETIC_FIELD) &&
+ (type != SENSOR_TYPE_TEMPERATURE) &&
+ (type != SENSOR_TYPE_ROTATION_VECTOR) &&
+ (type != SENSOR_TYPE_LINEAR_ACCEL) &&
+ (type != SENSOR_TYPE_GRAVITY) &&
+ (type != SENSOR_TYPE_EULER)) {
+ rc = SYS_EINVAL;
+ goto err;
+ }
+
+ cfg->sc_valtype = SENSOR_VALUE_TYPE_FLOAT_TRIPLET;
+
+ return (0);
+err:
+ return (rc);
+}
http://git-wip-us.apache.org/repos/asf/incubator-mynewt-core/blob/5a76b68c/hw/drivers/sensors/bno055/src/bno055_priv.h
----------------------------------------------------------------------
diff --git a/hw/drivers/sensors/bno055/src/bno055_priv.h b/hw/drivers/sensors/bno055/src/bno055_priv.h
new file mode 100644
index 0000000..3a2da68
--- /dev/null
+++ b/hw/drivers/sensors/bno055/src/bno055_priv.h
@@ -0,0 +1,235 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one
+ * or more contributor license agreements. See the NOTICE file
+ * distributed with this work for additional information
+ * resarding copyright ownership. The ASF licenses this file
+ * to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance
+ * with the License. You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing,
+ * software distributed under the License is distributed on an
+ * "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY
+ * KIND, either express or implied. See the License for the
+ * specific language governing permissions and limitations
+ * under the License.
+ */
+
+/* Page id register definition */
+#define BNO055_PAGE_ID_ADDR 0X07
+
+/* PAGE0 REGISTER DEFINITION START*/
+#define BNO055_CHIP_ID_ADDR 0x00
+#define BNO055_ACCEL_REV_ID_ADDR 0x01
+#define BNO055_MAG_REV_ID_ADDR 0x02
+#define BNO055_GYRO_REV_ID_ADDR 0x03
+#define BNO055_SW_REV_ID_LSB_ADDR 0x04
+#define BNO055_SW_REV_ID_MSB_ADDR 0x05
+#define BNO055_BL_REV_ID_ADDR 0X06
+/* Accel data register */
+#define BNO055_ACCEL_DATA_X_LSB_ADDR 0X08
+#define BNO055_ACCEL_DATA_X_MSB_ADDR 0X09
+#define BNO055_ACCEL_DATA_Y_LSB_ADDR 0X0A
+#define BNO055_ACCEL_DATA_Y_MSB_ADDR 0X0B
+#define BNO055_ACCEL_DATA_Z_LSB_ADDR 0X0C
+#define BNO055_ACCEL_DATA_Z_MSB_ADDR 0X0D
+
+/* Mag data register */
+#define BNO055_MAG_DATA_X_LSB_ADDR 0X0E
+#define BNO055_MAG_DATA_X_MSB_ADDR 0X0F
+#define BNO055_MAG_DATA_Y_LSB_ADDR 0X10
+#define BNO055_MAG_DATA_Y_MSB_ADDR 0X11
+#define BNO055_MAG_DATA_Z_LSB_ADDR 0X12
+#define BNO055_MAG_DATA_Z_MSB_ADDR 0X13
+
+/* Gyro data registers */
+#define BNO055_GYRO_DATA_X_LSB_ADDR 0X14
+#define BNO055_GYRO_DATA_X_MSB_ADDR 0X15
+#define BNO055_GYRO_DATA_Y_LSB_ADDR 0X16
+#define BNO055_GYRO_DATA_Y_MSB_ADDR 0X17
+#define BNO055_GYRO_DATA_Z_LSB_ADDR 0X18
+#define BNO055_GYRO_DATA_Z_MSB_ADDR 0X19
+
+/* Euler data registers */
+#define BNO055_EULER_H_LSB_ADDR 0X1A
+#define BNO055_EULER_H_MSB_ADDR 0X1B
+#define BNO055_EULER_R_LSB_ADDR 0X1C
+#define BNO055_EULER_R_MSB_ADDR 0X1D
+#define BNO055_EULER_P_LSB_ADDR 0X1E
+#define BNO055_EULER_P_MSB_ADDR 0X1F
+
+/* Quaternion data registers */
+#define BNO055_QUATERNION_DATA_W_LSB_ADDR 0X20
+#define BNO055_QUATERNION_DATA_W_MSB_ADDR 0X21
+#define BNO055_QUATERNION_DATA_X_LSB_ADDR 0X22
+#define BNO055_QUATERNION_DATA_X_MSB_ADDR 0X23
+#define BNO055_QUATERNION_DATA_Y_LSB_ADDR 0X24
+#define BNO055_QUATERNION_DATA_Y_MSB_ADDR 0X25
+#define BNO055_QUATERNION_DATA_Z_LSB_ADDR 0X26
+#define BNO055_QUATERNION_DATA_Z_MSB_ADDR 0X27
+
+/* Linear acceleration data registers */
+#define BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR 0X28
+#define BNO055_LINEAR_ACCEL_DATA_X_MSB_ADDR 0X29
+#define BNO055_LINEAR_ACCEL_DATA_Y_LSB_ADDR 0X2A
+#define BNO055_LINEAR_ACCEL_DATA_Y_MSB_ADDR 0X2B
+#define BNO055_LINEAR_ACCEL_DATA_Z_LSB_ADDR 0X2C
+#define BNO055_LINEAR_ACCEL_DATA_Z_MSB_ADDR 0X2D
+
+/* Gravity data registers */
+#define BNO055_GRAVITY_DATA_X_LSB_ADDR 0X2E
+#define BNO055_GRAVITY_DATA_X_MSB_ADDR 0X2F
+#define BNO055_GRAVITY_DATA_Y_LSB_ADDR 0X30
+#define BNO055_GRAVITY_DATA_Y_MSB_ADDR 0X31
+#define BNO055_GRAVITY_DATA_Z_LSB_ADDR 0X32
+#define BNO055_GRAVITY_DATA_Z_MSB_ADDR 0X33
+
+/* Temperature data register */
+#define BNO055_TEMP_ADDR 0X34
+
+/* Status registers */
+#define BNO055_CALIB_STAT_ADDR 0X35
+#define BNO055_SELFTEST_RESULT_ADDR 0X36
+#define BNO055_INTR_STAT_ADDR 0X37
+
+#define BNO055_SYS_CLK_STAT_ADDR 0X38
+#define BNO055_SYS_STAT_ADDR 0X39
+#define BNO055_SYS_ERR_ADDR 0X3A
+
+/* Unit selection register */
+#define BNO055_UNIT_SEL_ADDR 0X3B
+#define BNO055_DATA_SELECT_ADDR 0X3C
+
+/* Mode registers */
+#define BNO055_OPR_MODE_ADDR 0X3D
+#define BNO055_PWR_MODE_ADDR 0X3E
+
+#define BNO055_SYS_TRIGGER_ADDR 0X3F
+#define BNO055_TEMP_SOURCE_ADDR 0X40
+
+/* Axis remap registers */
+#define BNO055_AXIS_MAP_CONFIG_ADDR 0X41
+#define BNO055_AXIS_MAP_SIGN_ADDR 0X42
+
+/* SIC registers */
+#define BNO055_SIC_MATRIX_0_LSB_ADDR 0X43
+#define BNO055_SIC_MATRIX_0_MSB_ADDR 0X44
+#define BNO055_SIC_MATRIX_1_LSB_ADDR 0X45
+#define BNO055_SIC_MATRIX_1_MSB_ADDR 0X46
+#define BNO055_SIC_MATRIX_2_LSB_ADDR 0X47
+#define BNO055_SIC_MATRIX_2_MSB_ADDR 0X48
+#define BNO055_SIC_MATRIX_3_LSB_ADDR 0X49
+#define BNO055_SIC_MATRIX_3_MSB_ADDR 0X4A
+#define BNO055_SIC_MATRIX_4_LSB_ADDR 0X4B
+#define BNO055_SIC_MATRIX_4_MSB_ADDR 0X4C
+#define BNO055_SIC_MATRIX_5_LSB_ADDR 0X4D
+#define BNO055_SIC_MATRIX_5_MSB_ADDR 0X4E
+#define BNO055_SIC_MATRIX_6_LSB_ADDR 0X4F
+#define BNO055_SIC_MATRIX_6_MSB_ADDR 0X50
+#define BNO055_SIC_MATRIX_7_LSB_ADDR 0X51
+#define BNO055_SIC_MATRIX_7_MSB_ADDR 0X52
+#define BNO055_SIC_MATRIX_8_LSB_ADDR 0X53
+#define BNO055_SIC_MATRIX_8_MSB_ADDR 0X54
+
+/* Accelerometer Offset registers */
+#define BNO055_ACCEL_OFFSET_X_LSB_ADDR 0X55
+#define BNO055_ACCEL_OFFSET_X_MSB_ADDR 0X56
+#define BNO055_ACCEL_OFFSET_Y_LSB_ADDR 0X57
+#define BNO055_ACCEL_OFFSET_Y_MSB_ADDR 0X58
+#define BNO055_ACCEL_OFFSET_Z_LSB_ADDR 0X59
+#define BNO055_ACCEL_OFFSET_Z_MSB_ADDR 0X5A
+
+/* Magnetometer Offset registers */
+#define BNO055_MAG_OFFSET_X_LSB_ADDR 0X5B
+#define BNO055_MAG_OFFSET_X_MSB_ADDR 0X5C
+#define BNO055_MAG_OFFSET_Y_LSB_ADDR 0X5D
+#define BNO055_MAG_OFFSET_Y_MSB_ADDR 0X5E
+#define BNO055_MAG_OFFSET_Z_LSB_ADDR 0X5F
+#define BNO055_MAG_OFFSET_Z_MSB_ADDR 0X60
+
+/* Gyroscope Offset register s*/
+#define BNO055_GYRO_OFFSET_X_LSB_ADDR 0X61
+#define BNO055_GYRO_OFFSET_X_MSB_ADDR 0X62
+#define BNO055_GYRO_OFFSET_Y_LSB_ADDR 0X63
+#define BNO055_GYRO_OFFSET_Y_MSB_ADDR 0X64
+#define BNO055_GYRO_OFFSET_Z_LSB_ADDR 0X65
+#define BNO055_GYRO_OFFSET_Z_MSB_ADDR 0X66
+
+/* Radius registers */
+#define BNO055_ACCEL_RADIUS_LSB_ADDR 0X67
+#define BNO055_ACCEL_RADIUS_MSB_ADDR 0X68
+#define BNO055_MAG_RADIUS_LSB_ADDR 0X69
+#define BNO055_MAG_RADIUS_MSB_ADDR 0X6A
+
+/* Power modes */
+#define BNO055_POWER_MODE_NORMAL 0X00
+#define BNO055_POWER_MODE_LOWPOWER 0X01
+#define BNO055_POWER_MODE_SUSPEND 0X02
+
+/* Operation Modes */
+#define BNO055_OPERATION_MODE_CONFIG 0X00
+#define BNO055_OPERATION_MODE_ACCONLY 0X01
+#define BNO055_OPERATION_MODE_MAGONLY 0X02
+#define BNO055_OPERATION_MODE_GYRONLY 0X03
+#define BNO055_OPERATION_MODE_ACCMAG 0X04
+#define BNO055_OPERATION_MODE_ACCGYRO 0X05
+#define BNO055_OPERATION_MODE_MAGGYRO 0X06
+#define BNO055_OPERATION_MODE_AMG 0X07
+#define BNO055_OPERATION_MODE_IMUPLUS 0X08
+#define BNO055_OPERATION_MODE_COMPASS 0X09
+#define BNO055_OPERATION_MODE_M4G 0X0A
+#define BNO055_OPERATION_MODE_NDOF_FMC_OFF 0X0B
+#define BNO055_OPERATION_MODE_NDOF 0X0C
+
+/* Remap config - Default: 0x24 */
+#define BNO055_REMAP_CONFIG_P0 0x21
+#define BNO055_REMAP_CONFIG_P1 0x24
+#define BNO055_REMAP_CONFIG_P2 0x24
+#define BNO055_REMAP_CONFIG_P3 0x21
+#define BNO055_REMAP_CONFIG_P4 0x24
+#define BNO055_REMAP_CONFIG_P5 0x21
+#define BNO055_REMAP_CONFIG_P6 0x21
+#define BNO055_REMAP_CONFIG_P7 0x24
+
+/* Remap Sign - Default: 0x00 */
+#define BNO055_REMAP_SIGN_P0 0x04
+#define BNO055_REMAP_SIGN_P1 0x00
+#define BNO055_REMAP_SIGN_P2 0x06
+#define BNO055_REMAP_SIGN_P3 0x02
+#define BNO055_REMAP_SIGN_P4 0x03
+#define BNO055_REMAP_SIGN_P5 0x01
+#define BNO055_REMAP_SIGN_P6 0x07
+#define BNO055_REMAP_SIGN_P7 0x05
+
+/* PAGE1 REGISTERS DEFINITION START*/
+/* Configuration registers*/
+#define BNO055_ACCEL_CONFIG_ADDR 0X08
+#define BNO055_MAG_CONFIG_ADDR 0X09
+#define BNO055_GYRO_CONFIG_ADDR 0X0A
+#define BNO055_GYRO_MODE_CONFIG_ADDR 0X0B
+#define BNO055_ACCEL_SLEEP_CONFIG_ADDR 0X0C
+#define BNO055_GYRO_SLEEP_CONFIG_ADDR 0X0D
+#define BNO055_MAG_SLEEP_CONFIG_ADDR 0x0E
+
+/* Interrupt Registers */
+#define BNO055_INT_MASK_ADDR 0X0F
+#define BNO055_INT_ADDR 0X10
+#define BNO055_ACCEL_ANY_MOTION_THRES_ADDR 0X11
+#define BNO055_ACCEL_INTR_SETTINGS_ADDR 0X12
+#define BNO055_ACCEL_HIGH_G_DURN_ADDR 0X13
+#define BNO055_ACCEL_HIGH_G_THRES_ADDR 0X14
+#define BNO055_ACCEL_NO_MOTION_THRES_ADDR 0X15
+#define BNO055_ACCEL_NO_MOTION_SET_ADDR 0X16
+#define BNO055_GYRO_INTR_SETING_ADDR 0X17
+#define BNO055_GYRO_HIGHRATE_X_SET_ADDR 0X18
+#define BNO055_GYRO_DURN_X_ADDR 0X19
+#define BNO055_GYRO_HIGHRATE_Y_SET_ADDR 0X1A
+#define BNO055_GYRO_DURN_Y_ADDR 0X1B
+#define BNO055_GYRO_HIGHRATE_Z_SET_ADDR 0X1C
+#define BNO055_GYRO_DURN_Z_ADDR 0X1D
+#define BNO055_GYRO_ANY_MOTION_THRES_ADDR 0X1E
+#define BNO055_GYRO_ANY_MOTION_SET_ADDR 0X1F
+
+#define BNO055_ID 0xA0
http://git-wip-us.apache.org/repos/asf/incubator-mynewt-core/blob/5a76b68c/hw/drivers/sensors/bno055/src/bno055_shell.c
----------------------------------------------------------------------
diff --git a/hw/drivers/sensors/bno055/src/bno055_shell.c b/hw/drivers/sensors/bno055/src/bno055_shell.c
new file mode 100644
index 0000000..3f39a38
--- /dev/null
+++ b/hw/drivers/sensors/bno055/src/bno055_shell.c
@@ -0,0 +1,424 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one
+ * or more contributor license agreements. See the NOTICE file
+ * distributed with this work for additional information
+ * regarding copyright ownership. The ASF licenses this file
+ * to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance
+ * with the License. You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing,
+ * software distributed under the License is distributed on an
+ * "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY
+ * KIND, either express or implied. See the License for the
+ * specific language governing permissions and limitations
+ * under the License.
+ */
+
+#include <string.h>
+#include <errno.h>
+#include "sysinit/sysinit.h"
+#include "console/console.h"
+#include "shell/shell.h"
+#include "hal/hal_gpio.h"
+#include "bno055_priv.h"
+#include "bno055/bno055.h"
+#include "sensor/sensor.h"
+#include "sensor/accel.h"
+#include "sensor/mag.h"
+#include "sensor/quat.h"
+#include "sensor/euler.h"
+
+#if MYNEWT_VAL(BNO055_CLI)
+extern uint8_t g_bno055_mode;
+
+static int bno055_shell_cmd(int argc, char **argv);
+
+static struct shell_cmd bno055_shell_cmd_struct = {
+ .sc_cmd = "bno055",
+ .sc_cmd_func = bno055_shell_cmd
+};
+
+static int
+bno055_shell_stol(char *param_val, long min, long max, long *output)
+{
+ char *endptr;
+ long lval;
+
+ lval = strtol(param_val, &endptr, 10); /* Base 10 */
+ if (param_val != '\0' && *endptr == '\0' &&
+ lval >= min && lval <= max) {
+ *output = lval;
+ } else {
+ return EINVAL;
+ }
+
+ return 0;
+}
+
+static int
+bno055_shell_err_too_many_args(char *cmd_name)
+{
+ console_printf("Error: too many arguments for command \"%s\"\n",
+ cmd_name);
+ return EINVAL;
+}
+
+static int
+bno055_shell_err_unknown_arg(char *cmd_name)
+{
+ console_printf("Error: unknown argument \"%s\"\n",
+ cmd_name);
+ return EINVAL;
+}
+
+static int
+bno055_shell_err_invalid_arg(char *cmd_name)
+{
+ console_printf("Error: invalid argument \"%s\"\n",
+ cmd_name);
+ return EINVAL;
+}
+
+static int
+bno055_shell_help(void)
+{
+ console_printf("%s cmd [flags...]\n", bno055_shell_cmd_struct.sc_cmd);
+ console_printf("cmd:\n");
+ console_printf("\tr [n_samples] [ 0-acc | 1 -mag | 2 -gyro | 4 -temp |\n"
+ "\t 9-quat | 26-linearacc | 27-gravity | 28-euler ]\n\n");
+ console_printf("\tmode [0-config | 1-acc | 2 -mag | 3 -gyro | 4 -accmag |\n"
+ "\t 5-accgyro | 6-maggyro | 7 -amg | 8 -imuplus | 9 -compass|\n"
+ "\t 9-m4g |11-NDOF_FMC_OFF | 12-NDOF ]\n");
+ console_printf("\tchip_id\n");
+ console_printf("\trev\n");
+ console_printf("\treset\n");
+ console_printf("\tpmode [0-normal | 1-lowpower | 2-suspend]\n");
+ console_printf("\tdumpreg [addr]\n");
+
+ return 0;
+}
+
+static int
+bno055_shell_cmd_get_chip_id(int argc, char **argv)
+{
+ uint8_t id;
+ int rc;
+
+ if (argc > 3) {
+ return bno055_shell_err_too_many_args(argv[1]);
+ }
+
+ /* Display the chip id */
+ if (argc == 2) {
+ rc = bno055_get_chip_id(&id);
+ if (rc) {
+ console_printf("Read failed %d", rc);
+ }
+ console_printf("%x\n", id ? 16u : 1u);
+ }
+
+ return 0;
+}
+
+static int
+bno055_shell_cmd_get_rev_info(int argc, char **argv)
+{
+ int rc;
+ struct bno055_rev_info ri;
+
+ if (argc > 3) {
+ return bno055_shell_err_too_many_args(argv[1]);
+ }
+
+ /* Display the rev ids */
+ if (argc == 2) {
+ rc = bno055_get_rev_info(&ri);
+ if (rc) {
+ console_printf("Read failed %d", rc);
+ }
+ console_printf("accel_rev:%x\nmag_rev:%x\ngyro_rev:%x\n"
+ "sw_rev:%x\nbl_rev:%x\n", ri.bri_accel_rev,
+ ri.bri_mag_rev, ri.bri_gyro_rev, ri.bri_sw_rev,
+ ri.bri_bl_rev);
+ }
+
+ return 0;
+}
+
+static int
+bno055_shell_cmd_read(int argc, char **argv)
+{
+ uint16_t samples = 1;
+ long val;
+ int rc;
+ void *databuf;
+ struct sensor_quat_data *sqd;
+ struct sensor_euler_data *sed;
+ struct sensor_accel_data *sad;
+ int type;
+
+ type = 0;
+ if (argc > 4) {
+ return bno055_shell_err_too_many_args(argv[1]);
+ }
+
+ /* Since this is the biggest struct, malloc space for it */
+ databuf = malloc(sizeof(*sqd));
+
+
+ /* Check if more than one sample requested */
+ if (argc == 4) {
+ if (bno055_shell_stol(argv[2], 1, UINT16_MAX, &val)) {
+ return bno055_shell_err_invalid_arg(argv[2]);
+ }
+ samples = (uint16_t)val;
+
+ if (bno055_shell_stol(argv[2], 1, UINT16_MAX, &val)) {
+ return bno055_shell_err_invalid_arg(argv[2]);
+ }
+ type = (uint16_t)(1 << val);
+ }
+
+ while(samples--) {
+
+ if (type == SENSOR_TYPE_ROTATION_VECTOR) {
+ rc = bno055_get_quat_data(databuf);
+ if (rc) {
+ console_printf("Read failed: %d\n", rc);
+ goto err;
+ }
+ sqd = databuf;
+ console_printf("x:%u y:%u z:%u w:%u\n", (unsigned int)sqd->sqd_x,
+ (unsigned int)sqd->sqd_y, (unsigned int)sqd->sqd_z,
+ (unsigned int)sqd->sqd_w);
+ } else if (type == SENSOR_TYPE_EULER) {
+ rc = bno055_get_vector_data(databuf, type);
+ if (rc) {
+ console_printf("Read failed: %d\n", rc);
+ }
+ sed = databuf;
+ console_printf("h:%u r:%u p:%u\n", (unsigned int)sed->sed_h,
+ (unsigned int)sed->sed_r, (unsigned int)sed->sed_p);
+ } else {
+ rc = bno055_get_vector_data(databuf, type);
+ if (rc) {
+ console_printf("Read failed: %d\n", rc);
+ }
+ sad = databuf;
+ console_printf("x:%u y:%u z:%u\n", (unsigned int)sad->sad_x,
+ (unsigned int)sad->sad_y, (unsigned int)sad->sad_z);
+ }
+ }
+
+ return 0;
+err:
+ return rc;
+}
+
+static int
+bno055_shell_cmd_mode(int argc, char **argv)
+{
+ long val;
+ int rc;
+
+ if (argc > 3) {
+ return bno055_shell_err_too_many_args(argv[1]);
+ }
+
+ /* Display the mode */
+ if (argc == 2) {
+ val = bno055_get_mode();
+ console_printf("%u\n", val ? 16u : 1u);
+ }
+
+ /* Update the mode */
+ if (argc == 3) {
+ if (bno055_shell_stol(argv[2], 1, 16, &val)) {
+ return bno055_shell_err_invalid_arg(argv[2]);
+ }
+ /* Make sure mode is */
+ if (val > BNO055_OPERATION_MODE_NDOF) {
+ return bno055_shell_err_invalid_arg(argv[2]);
+ }
+
+ rc = bno055_set_mode(val);
+ if (rc) {
+ goto err;
+ }
+ }
+
+ return 0;
+err:
+ return rc;
+}
+
+#if 0
+static int
+bno055_shell_cmd_int(int argc, char **argv)
+{
+ int rc;
+ int pin;
+ long val;
+ uint8_t rate;
+ uint16_t lower;
+ uint16_t upper;
+
+ if (argc > 6) {
+ return bno055_shell_err_too_many_args(argv[1]);
+ }
+
+ if (argc == 2) {
+ console_printf("ToDo: Display int details\n");
+ return 0;
+ }
+
+ /* Enable the interrupt */
+ if (argc == 3 && strcmp(argv[2], "on") == 0) {
+ return bno055_enable_interrupt(1);
+ }
+
+ /* Disable the interrupt */
+ if (argc == 3 && strcmp(argv[2], "off") == 0) {
+ return bno055_enable_interrupt(0);
+ }
+
+ /* Clear the interrupt on 'clr' */
+ if (argc == 3 && strcmp(argv[2], "clr") == 0) {
+ return bno055_clear_interrupt();
+ }
+
+ /* Configure the interrupt on 'set' */
+ if (argc == 6 && strcmp(argv[2], "set") == 0) {
+ /* Get rate */
+ if (bno055_shell_stol(argv[3], 0, 15, &val)) {
+ return bno055_shell_err_invalid_arg(argv[3]);
+ }
+ rate = (uint8_t)val;
+ /* Get lower threshold */
+ if (bno055_shell_stol(argv[4], 0, UINT16_MAX, &val)) {
+ return bno055_shell_err_invalid_arg(argv[4]);
+ }
+ lower = (uint16_t)val;
+ /* Get upper threshold */
+ if (bno055_shell_stol(argv[5], 0, UINT16_MAX, &val)) {
+ return bno055_shell_err_invalid_arg(argv[5]);
+ }
+ upper = (uint16_t)val;
+ /* Set the values */
+ rc = bno055_setup_interrupt(rate, lower, upper);
+ console_printf("Configured interrupt as:\n");
+ console_printf("\trate: %u\n", rate);
+ console_printf("\tlower: %u\n", lower);
+ console_printf("\tupper: %u\n", upper);
+ return rc;
+ }
+
+ /* Setup INT pin on 'pin' */
+ if (argc == 4 && strcmp(argv[2], "pin") == 0) {
+ /* Get the pin number */
+ if (bno055_shell_stol(argv[3], 0, 0xFF, &val)) {
+ return bno055_shell_err_invalid_arg(argv[3]);
+ }
+ pin = (int)val;
+ /* INT is open drain, pullup is required */
+ rc = hal_gpio_init_in(pin, HAL_GPIO_PULL_UP);
+ assert(rc == 0);
+ console_printf("Set pin \"%d\" to INPUT with pull up enabled\n", pin);
+ return 0;
+ }
+
+ /* Unknown command */
+ return bno055_shell_err_invalid_arg(argv[2]);
+}
+
+static int
+bno055_shell_cmd_dump(int argc, char **argv)
+{
+ uint8_t val;
+
+ if (argc > 3) {
+ return bno055_shell_err_too_many_args(argv[1]);
+ }
+
+ val = 0;
+ assert(0 == bno055_read8(BNO055_COMMAND_BIT | BNO055_REGISTER_CONTROL, &val));
+ console_printf("0x%02X (CONTROL): 0x%02X\n", BNO055_REGISTER_CONTROL, val);
+ assert(0 == bno055_read8(BNO055_COMMAND_BIT | BNO055_REGISTER_TIMING, &val));
+ console_printf("0x%02X (TIMING): 0x%02X\n", BNO055_REGISTER_TIMING, val);
+ assert(0 == bno055_read8(BNO055_COMMAND_BIT | BNO055_REGISTER_THRESHHOLDL_LOW, &val));
+ console_printf("0x%02X (THRLL): 0x%02X\n", BNO055_REGISTER_THRESHHOLDL_LOW, val);
+ assert(0 == bno055_read8(BNO055_COMMAND_BIT | BNO055_REGISTER_THRESHHOLDL_HIGH, &val));
+ console_printf("0x%02X (THRLH): 0x%02X\n", BNO055_REGISTER_THRESHHOLDL_HIGH, val);
+ assert(0 == bno055_read8(BNO055_COMMAND_BIT | BNO055_REGISTER_THRESHHOLDH_LOW, &val));
+ console_printf("0x%02X (THRHL): 0x%02X\n", BNO055_REGISTER_THRESHHOLDH_LOW, val);
+ assert(0 == bno055_read8(BNO055_COMMAND_BIT | BNO055_REGISTER_THRESHHOLDH_HIGH, &val));
+ console_printf("0x%02X (THRHH): 0x%02X\n", BNO055_REGISTER_THRESHHOLDH_HIGH, val);
+ assert(0 == bno055_read8(BNO055_COMMAND_BIT | BNO055_REGISTER_INTERRUPT, &val));
+ console_printf("0x%02X (INTER): 0x%02X\n", BNO055_REGISTER_INTERRUPT, val);
+ assert(0 == bno055_read8(BNO055_COMMAND_BIT | BNO055_REGISTER_ID, &val));
+ console_printf("0x%02X (ID): 0x%02X\n", BNO055_REGISTER_ID, val);
+
+ return 0;
+}
+#endif
+
+static int
+bno055_shell_cmd(int argc, char **argv)
+{
+ if (argc == 1) {
+ return bno055_shell_help();
+ }
+
+ /* Read command (get a new data sample) */
+ if (argc > 1 && strcmp(argv[1], "r") == 0) {
+ return bno055_shell_cmd_read(argc, argv);
+ }
+
+ /* Mode command */
+ if (argc > 1 && strcmp(argv[1], "mode") == 0) {
+ return bno055_shell_cmd_mode(argc, argv);
+ }
+
+ /* Chip ID command */
+ if (argc > 1 && strcmp(argv[1], "chip_id") == 0) {
+ return bno055_shell_cmd_get_chip_id(argc, argv);
+ }
+
+ /* Rev command */
+ if (argc > 1 && strcmp(argv[1], "rev") == 0) {
+ return bno055_shell_cmd_get_rev_info(argc, argv);
+ }
+#if 0
+ /* Reset command */
+ if (argc > 1 && strcmp(argv[1], "reset") == 0) {
+ return bno055_shell_cmd_reset(argc, argv);
+ }
+
+ /* Power mode command */
+ if (argc > 1 && strcmp(argv[1], "pmode") == 0) {
+ return bno055_shell_cmd_pmode(argc, argv);
+ }
+
+ /* Dump Registers command */
+ if (argc > 1 && strcmp(argv[1], "dumpreg") == 0) {
+ return bno055_shell_cmd_dumpreg(argc, argv);
+ }
+#endif
+ return bno055_shell_err_unknown_arg(argv[1]);
+}
+
+int
+bno055_shell_init(void)
+{
+ int rc;
+
+ rc = shell_cmd_register(&bno055_shell_cmd_struct);
+ SYSINIT_PANIC_ASSERT(rc == 0);
+
+ return rc;
+}
+
+#endif
http://git-wip-us.apache.org/repos/asf/incubator-mynewt-core/blob/5a76b68c/hw/drivers/sensors/bno055/syscfg.yml
----------------------------------------------------------------------
diff --git a/hw/drivers/sensors/bno055/syscfg.yml b/hw/drivers/sensors/bno055/syscfg.yml
new file mode 100644
index 0000000..f6cb228
--- /dev/null
+++ b/hw/drivers/sensors/bno055/syscfg.yml
@@ -0,0 +1,35 @@
+#
+# Licensed to the Apache Software Foundation (ASF) under one
+# or more contributor license agreements. See the NOTICE file
+# distributed with this work for additional information
+# regarding copyright ownership. The ASF licenses this file
+# to you under the Apache License, Version 2.0 (the
+# "License"); you may not use this file except in compliance
+# with the License. You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing,
+# software distributed under the License is distributed on an
+# "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY
+# KIND, either express or implied. See the License for the
+# specific language governing permissions and limitations
+# under the License.
+#
+
+syscfg.defs:
+ BNO055_I2CADDR:
+ description: 'HW I2C address for the BNO055'
+ value: 0x28
+ BNO055_I2CBUS:
+ description: 'I2C bus number for the BNO055'
+ value: -1
+ BNO055_CLI:
+ description: 'Enable shell support for the BNO055'
+ value: 0
+ BNO055_LOG:
+ description: 'Enable BNO055 logging'
+ value: 0
+ BNO055_STATS:
+ description: 'Enable BNO055 statistics'
+ value: 0
http://git-wip-us.apache.org/repos/asf/incubator-mynewt-core/blob/5a76b68c/hw/drivers/sensors/tsl2561/src/tsl2561.c
----------------------------------------------------------------------
diff --git a/hw/drivers/sensors/tsl2561/src/tsl2561.c b/hw/drivers/sensors/tsl2561/src/tsl2561.c
index b3c7d2d..8ea8ad3 100644
--- a/hw/drivers/sensors/tsl2561/src/tsl2561.c
+++ b/hw/drivers/sensors/tsl2561/src/tsl2561.c
@@ -124,7 +124,11 @@ tsl2561_write8(uint8_t reg, uint32_t value)
rc = hal_i2c_master_write(MYNEWT_VAL(TSL2561_I2CBUS), &data_struct,
OS_TICKS_PER_SEC / 10, 1);
if (rc) {
- TSL2561_ERR("Failed to write @0x%02X with value 0x%02X\n", reg, value);
+ TSL2561_ERR("Failed to write 0x%02X:0x%02X with value 0x%02X\n",
+ data_struct.address, reg, value);
+#if MYNEWT_VAL(TSL2561_STATS)
+ STATS_INC(g_tsl2561stats, errors);
+#endif
}
return rc;
@@ -273,7 +277,7 @@ tsl2561_set_gain(uint8_t gain)
if ((gain != TSL2561_LIGHT_GAIN_1X) && (gain != TSL2561_LIGHT_GAIN_16X)) {
TSL2561_ERR("Invalid gain value\n");
- rc = EINVAL;
+ rc = SYS_EINVAL;
goto err;
}
http://git-wip-us.apache.org/repos/asf/incubator-mynewt-core/blob/5a76b68c/hw/sensor/include/sensor/euler.h
----------------------------------------------------------------------
diff --git a/hw/sensor/include/sensor/euler.h b/hw/sensor/include/sensor/euler.h
new file mode 100644
index 0000000..5ddd44f
--- /dev/null
+++ b/hw/sensor/include/sensor/euler.h
@@ -0,0 +1,50 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one
+ * or more contributor license agreements. See the NOTICE file
+ * distributed with this work for additional information
+ * regarding copyright ownership. The ASF licenses this file
+ * to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance
+ * with the License. You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing,
+ * software distributed under the License is distributed on an
+ * "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY
+ * KIND, either express or implied. See the License for the
+ * specific language governing permissions and limitations
+ * under the License.
+ */
+
+#ifndef __SENSOR_EULER_H__
+#define __SENSOR_EULER_H__
+
+#include "os/os.h"
+#include "os/os_dev.h"
+#include "sensor/sensor.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Data representing Euler angles
+ * All values are in Degrees
+ * Heading, Roll and Pitch
+ */
+struct sensor_euler_data {
+ float sed_h;
+ float sed_r;
+ float sed_p;
+} __attribute__((packed));
+
+/**
+ * Accelerometer data is unused for this field.
+ */
+#define SENSOR_ACCEL_DATA_UNUSED (-1)
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __SENSOR_ACCEL_H__ */
http://git-wip-us.apache.org/repos/asf/incubator-mynewt-core/blob/5a76b68c/hw/sensor/include/sensor/quat.h
----------------------------------------------------------------------
diff --git a/hw/sensor/include/sensor/quat.h b/hw/sensor/include/sensor/quat.h
new file mode 100644
index 0000000..3abb132
--- /dev/null
+++ b/hw/sensor/include/sensor/quat.h
@@ -0,0 +1,50 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one
+ * or more contributor license agreements. See the NOTICE file
+ * distributed with this work for additional information
+ * regarding copyright ownership. The ASF licenses this file
+ * to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance
+ * with the License. You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing,
+ * software distributed under the License is distributed on an
+ * "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY
+ * KIND, either express or implied. See the License for the
+ * specific language governing permissions and limitations
+ * under the License.
+ */
+
+#ifndef __SENSOR_QUAT_H__
+#define __SENSOR_QUAT_H__
+
+#include "os/os.h"
+#include "os/os_dev.h"
+#include "sensor/sensor.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Data representing a singular read from an accelerometer.
+ * All values are in MS^2
+ */
+struct sensor_quat_data {
+ float sqd_x;
+ float sqd_y;
+ float sqd_z;
+ float sqd_w;
+} __attribute__((packed));
+
+/**
+ * Quaternion data is unused for this field.
+ */
+#define SENSOR_QUAT_DATA_UNUSED (-1)
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __SENSOR_ACCEL_H__ */
http://git-wip-us.apache.org/repos/asf/incubator-mynewt-core/blob/5a76b68c/hw/sensor/include/sensor/sensor.h
----------------------------------------------------------------------
diff --git a/hw/sensor/include/sensor/sensor.h b/hw/sensor/include/sensor/sensor.h
index 2f99ea2..d707e2b 100644
--- a/hw/sensor/include/sensor/sensor.h
+++ b/hw/sensor/include/sensor/sensor.h
@@ -66,18 +66,18 @@ typedef enum {
SENSOR_TYPE_ALTITUDE = (1 << 10),
/* Weight Supported */
SENSOR_TYPE_WEIGHT = (1 << 11),
+ /* Linear Accelerometer (Without Gravity) */
+ SENSOR_TYPE_LINEAR_ACCEL = (1 << 26),
+ /* Gravity Sensor */
+ SENSOR_TYPE_GRAVITY = (1 << 27),
+ /* Euler Orientation Sensor */
+ SENSOR_TYPE_EULER = (1 << 28),
/* User defined sensor type 1 */
- SENSOR_TYPE_USER_DEFINED_1 = (1 << 26),
+ SENSOR_TYPE_USER_DEFINED_1 = (1 << 29),
/* User defined sensor type 2 */
- SENSOR_TYPE_USER_DEFINED_2 = (1 << 27),
+ SENSOR_TYPE_USER_DEFINED_2 = (1 << 30),
/* User defined sensor type 3 */
- SENSOR_TYPE_USER_DEFINED_3 = (1 << 28),
- /* User defined sensor type 4 */
- SENSOR_TYPE_USER_DEFINED_4 = (1 << 29),
- /* User defined sensor type 5 */
- SENSOR_TYPE_USER_DEFINED_5 = (1 << 30),
- /* User defined sensor type 6 */
- SENSOR_TYPE_USER_DEFINED_6 = (1 << 31),
+ SENSOR_TYPE_USER_DEFINED_3 = (1 << 31),
/* A selector, describes all sensors */
SENSOR_TYPE_ALL = 0xFFFFFFFF
} sensor_type_t;