drivers: sensors: bmi08x: add initial support for bmi08x

This adds support for the bosch bmi085 and bmi088. This also includes
support for data sync mode.

Signed-off-by: Ryan McClelland <[email protected]>

drivers/sensor/CMakeLists.txt

@@ -18,6 +18,7 @@ add_subdirectory_ifdef(CONFIG_BMC150_MAGN bmc150_magn)
 add_subdirectory_ifdef(CONFIG_BME280 bme280)
 add_subdirectory_ifdef(CONFIG_BME680 bme680)
 add_subdirectory_ifdef(CONFIG_BMG160 bmg160)
+add_subdirectory_ifdef(CONFIG_BMI08X bmi08x)
 add_subdirectory_ifdef(CONFIG_BMI160 bmi160)
 add_subdirectory_ifdef(CONFIG_BMI270 bmi270)
 add_subdirectory_ifdef(CONFIG_BMI323 bmi323)

drivers/sensor/Kconfig

@@ -74,6 +74,7 @@ source "drivers/sensor/bmc150_magn/Kconfig"
 source "drivers/sensor/bme280/Kconfig"
 source "drivers/sensor/bme680/Kconfig"
 source "drivers/sensor/bmg160/Kconfig"
+source "drivers/sensor/bmi08x/Kconfig"
 source "drivers/sensor/bmi160/Kconfig"
 source "drivers/sensor/bmi270/Kconfig"
 source "drivers/sensor/bmi323/Kconfig"

drivers/sensor/bmi08x/CMakeLists.txt

@@ -0,0 +1,9 @@
+# SPDX-License-Identifier: Apache-2.0
+
+zephyr_library()
+
+zephyr_library_sources_ifdef(CONFIG_BMI08X bmi08x_accel.c)
+zephyr_library_sources_ifdef(CONFIG_BMI08X bmi08x_gyro.c)
+zephyr_library_sources_ifdef(CONFIG_BMI08X bmi08x.c)
+zephyr_library_sources_ifdef(CONFIG_BMI08X_ACCEL_TRIGGER bmi08x_accel_trigger.c)
+zephyr_library_sources_ifdef(CONFIG_BMI08X_GYRO_TRIGGER bmi08x_gyro_trigger.c)

drivers/sensor/bmi08x/Kconfig

@@ -0,0 +1,95 @@
+# Bosch BMI08X inertial measurement configuration options
+
+# Copyright (c) 2022 Meta Platforms, Inc. and its affiliates
+# SPDX-License-Identifier: Apache-2.0
+
+menuconfig BMI08X
+	bool "Bosch BMI08X inertial measurement unit"
+	default y
+	depends on DT_HAS_BOSCH_BMI08X_ACCEL_ENABLED || DT_HAS_BOSCH_BMI08X_GYRO_ENABLED
+	select I2C if $(dt_compat_on_bus,$(DT_COMPAT_BOSCH_BMI08X_ACCEL),i2c) \
+		|| $(dt_compat_on_bus,$(DT_COMPAT_BOSCH_BMI08X_GYRO),i2c)
+	select SPI if $(dt_compat_on_bus,$(DT_COMPAT_BOSCH_BMI08X_ACCEL),spi) \
+		|| $(dt_compat_on_bus,$(DT_COMPAT_BOSCH_BMI08X_GYRO),spi)
+	help
+	  Enable Bosch BMI08X inertial measurement unit that provides acceleration
+	  and angular rate measurements.
+
+if BMI08X
+
+choice BMI08X_ACCEL_TRIGGER_MODE
+	prompt "Accelerometer trigger mode"
+	default BMI08X_ACCEL_TRIGGER_GLOBAL_THREAD
+	help
+	  Specify the type of triggering to be used by the driver.
+
+config BMI08X_ACCEL_TRIGGER_NONE
+	bool "No trigger"
+
+config BMI08X_ACCEL_TRIGGER_GLOBAL_THREAD
+	bool "Use global thread"
+	select BMI08X_ACCEL_TRIGGER
+
+config BMI08X_ACCEL_TRIGGER_OWN_THREAD
+	bool "Use own thread"
+	select BMI08X_ACCEL_TRIGGER
+endchoice
+
+config BMI08X_ACCEL_TRIGGER
+	bool
+
+config BMI08X_ACCEL_THREAD_PRIORITY
+	int "Accelerometer own thread priority"
+	depends on BMI08X_ACCEL_TRIGGER_OWN_THREAD
+	default 10
+	help
+	  The priority of the thread used for handling interrupts.
+
+config BMI08X_ACCEL_THREAD_STACK_SIZE
+	int "Accelerometer own thread stack size"
+	depends on BMI08X_ACCEL_TRIGGER_OWN_THREAD
+	default 1536
+	help
+	  The thread stack size.
+
+choice BMI08X_GYRO_TRIGGER_MODE
+	prompt "Gyroscope trigger mode"
+	default BMI08X_GYRO_TRIGGER_NONE
+	default BMI08X_GYRO_TRIGGER_GLOBAL_THREAD
+	help
+	  Specify the type of triggering to be used by the driver.
+
+config BMI08X_GYRO_TRIGGER_NONE
+	bool "No trigger"
+
+config BMI08X_GYRO_TRIGGER_GLOBAL_THREAD
+	bool "Use global thread"
+	select BMI08X_GYRO_TRIGGER
+
+config BMI08X_GYRO_TRIGGER_OWN_THREAD
+	bool "Use own thread"
+	select BMI08X_GYRO_TRIGGER
+endchoice
+
+config BMI08X_GYRO_TRIGGER
+	bool
+
+config BMI08X_GYRO_THREAD_PRIORITY
+	int "Own thread priority"
+	depends on BMI08X_GYRO_TRIGGER_OWN_THREAD
+	default 10
+	help
+	  The priority of the thread used for handling interrupts.
+
+config BMI08X_GYRO_THREAD_STACK_SIZE
+	int "Own thread stack size"
+	depends on BMI08X_GYRO_TRIGGER_OWN_THREAD
+	default 1536
+	help
+	  The thread stack size.
+
+config BMI08X_I2C_WRITE_BURST_SIZE
+	int "Maximum length of single i2c write"
+	default 16
+
+endif # BMI08X

drivers/sensor/bmi08x/bmi08x.c

@@ -0,0 +1,74 @@
+/* Bosch BMI08X inertial measurement unit driver
+ *
+ * Copyright (c) 2022 Meta Platforms, Inc. and its affiliates
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include <zephyr/kernel.h>
+#include "bmi08x.h"
+
+/*
+ * Output data rate map with allowed frequencies:
+ * freq = freq_int + freq_milli / 1000
+ *
+ * Since we don't need a finer frequency resolution than milliHz, use uint16_t
+ * to save some flash.
+ */
+static const struct {
+	uint16_t freq_int;
+	uint16_t freq_milli; /* User should convert to uHz before setting the
+			      * SENSOR_ATTR_SAMPLING_FREQUENCY attribute.
+			      */
+} bmi08x_odr_map[] = {
+	{0, 0},	 {0, 780}, {1, 562}, {3, 120}, {6, 250}, {12, 500}, {25, 0},
+	{50, 0}, {100, 0}, {200, 0}, {400, 0}, {800, 0}, {1600, 0}, {3200, 0},
+};
+
+int bmi08x_freq_to_odr_val(uint16_t freq_int, uint16_t freq_milli)
+{
+	size_t i;
+
+	/* An ODR of 0 Hz is not allowed */
+	if (freq_int == 0U && freq_milli == 0U) {
+		return -EINVAL;
+	}
+
+	for (i = 0; i < ARRAY_SIZE(bmi08x_odr_map); i++) {
+		if (freq_int < bmi08x_odr_map[i].freq_int ||
+		    (freq_int == bmi08x_odr_map[i].freq_int &&
+		     freq_milli <= bmi08x_odr_map[i].freq_milli)) {
+			return i;
+		}
+	}
+
+	return -EINVAL;
+}
+
+int32_t bmi08x_range_to_reg_val(uint16_t range, const struct bmi08x_range *range_map,
+				       uint16_t range_map_size)
+{
+	int i;
+
+	for (i = 0; i < range_map_size; i++) {
+		if (range <= range_map[i].range) {
+			return range_map[i].reg_val;
+		}
+	}
+
+	return -EINVAL;
+}
+
+int32_t bmi08x_reg_val_to_range(uint8_t reg_val, const struct bmi08x_range *range_map,
+				       uint16_t range_map_size)
+{
+	int i;
+
+	for (i = 0; i < range_map_size; i++) {
+		if (reg_val == range_map[i].reg_val) {
+			return range_map[i].range;
+		}
+	}
+
+	return -EINVAL;
+}