498 lines
17 KiB
C
498 lines
17 KiB
C
|
/* Copyright 2015 The Chromium OS Authors. All rights reserved.
|
||
|
|
* Use of this source code is governed by a BSD-style license that can be
|
||
|
|
* found in the LICENSE file.
|
||
|
|
*/
|
||
|
|
|
||
|
|
/* BMI160 accelerometer and gyro and BMM150 compass module for Chrome EC */
|
||
|
|
|
||
|
|
#ifndef __CROS_EC_ACCELGYRO_BMI160_H
|
||
|
|
#define __CROS_EC_ACCELGYRO_BMI160_H
|
||
|
|
|
||
|
|
#include "accelgyro.h"
|
||
|
|
#include "mag_bmm150.h"
|
||
|
|
|
||
|
|
/*
|
||
|
|
* The addr field of motion_sensor support both SPI and I2C:
|
||
|
|
* This is defined in include/i2c.h and is no longer an 8bit
|
||
|
|
* address. The 7/10 bit address starts at bit 0 and leaves
|
||
|
|
* room for a 10 bit address, although we don't currently
|
||
|
|
* have any 10 bit slaves. I2C or SPI is indicated by a
|
||
|
|
* more significant bit
|
||
|
|
*/
|
||
|
|
|
||
|
|
/* I2C addresses */
|
||
|
|
#define BMI160_ADDR0_FLAGS 0x68
|
||
|
|
#define BMI160_ADDR1_FLAGS 0x69
|
||
|
|
|
||
|
|
#define BMI160_CHIP_ID 0x00
|
||
|
|
#define BMI160_CHIP_ID_MAJOR 0xd1
|
||
|
|
#define BMI168_CHIP_ID_MAJOR 0xd2
|
||
|
|
|
||
|
|
#define BMI160_SPEC_ACC_STARTUP_TIME_MS 10
|
||
|
|
#define BMI160_SPEC_GYR_STARTUP_TIME_MS 80
|
||
|
|
#define BMI160_SPEC_MAG_STARTUP_TIME_MS 60
|
||
|
|
|
||
|
|
|
||
|
|
#define BMI160_ERR_REG 0x02
|
||
|
|
#define BMI160_PMU_STATUS 0x03
|
||
|
|
#define BMI160_PMU_MAG_OFFSET 0
|
||
|
|
#define BMI160_PMU_GYR_OFFSET 2
|
||
|
|
#define BMI160_PMU_ACC_OFFSET 4
|
||
|
|
#define BMI160_PMU_SENSOR_STATUS(_sensor_type, _val) \
|
||
|
|
(((_val) >> (4 - 2 * (_sensor_type))) & 0x3)
|
||
|
|
#define BMI160_PMU_SUSPEND 0
|
||
|
|
#define BMI160_PMU_NORMAL 1
|
||
|
|
#define BMI160_PMU_LOW_POWER 2
|
||
|
|
#define BMI160_PMU_FAST_STARTUP 3
|
||
|
|
|
||
|
|
#define BMI160_MAG_X_L_G 0x04
|
||
|
|
#define BMI160_MAG_X_H_G 0x05
|
||
|
|
#define BMI160_MAG_Y_L_G 0x06
|
||
|
|
#define BMI160_MAG_Y_H_G 0x07
|
||
|
|
#define BMI160_MAG_Z_L_G 0x08
|
||
|
|
#define BMI160_MAG_Z_H_G 0x09
|
||
|
|
#define BMI160_RHALL_L_G 0x0a
|
||
|
|
#define BMI160_RHALL_H_G 0x0b
|
||
|
|
#define BMI160_GYR_X_L_G 0x0c
|
||
|
|
#define BMI160_GYR_X_H_G 0x0d
|
||
|
|
#define BMI160_GYR_Y_L_G 0x0e
|
||
|
|
#define BMI160_GYR_Y_H_G 0x0f
|
||
|
|
#define BMI160_GYR_Z_L_G 0x10
|
||
|
|
#define BMI160_GYR_Z_H_G 0x11
|
||
|
|
#define BMI160_ACC_X_L_G 0x12
|
||
|
|
#define BMI160_ACC_X_H_G 0x13
|
||
|
|
#define BMI160_ACC_Y_L_G 0x14
|
||
|
|
#define BMI160_ACC_Y_H_G 0x15
|
||
|
|
#define BMI160_ACC_Z_L_G 0x16
|
||
|
|
#define BMI160_ACC_Z_H_G 0x17
|
||
|
|
|
||
|
|
#define BMI160_SENSORTIME_0 0x18
|
||
|
|
#define BMI160_SENSORTIME_1 0x19
|
||
|
|
#define BMI160_SENSORTIME_2 0x1a
|
||
|
|
|
||
|
|
#define BMI160_STATUS 0x1b
|
||
|
|
#define BMI160_POR_DETECTED BIT(0)
|
||
|
|
#define BMI160_GYR_SLF_TST BIT(1)
|
||
|
|
#define BMI160_MAG_MAN_OP BIT(2)
|
||
|
|
#define BMI160_FOC_RDY BIT(3)
|
||
|
|
#define BMI160_NVM_RDY BIT(4)
|
||
|
|
#define BMI160_DRDY_MAG BIT(5)
|
||
|
|
#define BMI160_DRDY_GYR BIT(6)
|
||
|
|
#define BMI160_DRDY_ACC BIT(7)
|
||
|
|
#define BMI160_DRDY_OFF(_sensor) (7 - (_sensor))
|
||
|
|
#define BMI160_DRDY_MASK(_sensor) (1 << BMI160_DRDY_OFF(_sensor))
|
||
|
|
|
||
|
|
/* first 2 bytes are the interrupt reasons, next 2 some qualifier */
|
||
|
|
#define BMI160_INT_STATUS_0 0x1c
|
||
|
|
#define BMI160_STEP_INT BIT(0)
|
||
|
|
#define BMI160_SIGMOT_INT BIT(1)
|
||
|
|
#define BMI160_ANYM_INT BIT(2)
|
||
|
|
#define BMI160_PMU_TRIGGER_INT BIT(3)
|
||
|
|
#define BMI160_D_TAP_INT BIT(4)
|
||
|
|
#define BMI160_S_TAP_INT BIT(5)
|
||
|
|
#define BMI160_ORIENT_INT BIT(6)
|
||
|
|
#define BMI160_FLAT_INT BIT(7)
|
||
|
|
#define BMI160_ORIENT_XY_MASK 0x30
|
||
|
|
#define BMI160_ORIENT_PORTRAIT (0 << 4)
|
||
|
|
#define BMI160_ORIENT_PORTRAIT_INVERT BIT(4)
|
||
|
|
#define BMI160_ORIENT_LANDSCAPE (2 << 4)
|
||
|
|
#define BMI160_ORIENT_LANDSCAPE_INVERT (3 << 4)
|
||
|
|
|
||
|
|
|
||
|
|
#define BMI160_INT_STATUS_1 0x1d
|
||
|
|
#define BMI160_HIGHG_INT (1 << (2 + 8))
|
||
|
|
#define BMI160_LOWG_INT (1 << (3 + 8))
|
||
|
|
#define BMI160_DRDY_INT (1 << (4 + 8))
|
||
|
|
#define BMI160_FFULL_INT (1 << (5 + 8))
|
||
|
|
#define BMI160_FWM_INT (1 << (6 + 8))
|
||
|
|
#define BMI160_NOMO_INT (1 << (7 + 8))
|
||
|
|
|
||
|
|
#define BMI160_INT_MASK 0xFFFF
|
||
|
|
|
||
|
|
#define BMI160_INT_STATUS_2 0x1e
|
||
|
|
#define BMI160_INT_STATUS_3 0x1f
|
||
|
|
#define BMI160_FIRST_X (1 << (0 + 16))
|
||
|
|
#define BMI160_FIRST_Y (1 << (1 + 16))
|
||
|
|
#define BMI160_FIRST_Z (1 << (2 + 16))
|
||
|
|
#define BMI160_SIGN (1 << (3 + 16))
|
||
|
|
#define BMI160_ANYM_OFFSET 0
|
||
|
|
#define BMI160_TAP_OFFSET 4
|
||
|
|
#define BMI160_HIGH_OFFSET 8
|
||
|
|
#define BMI160_INT_INFO(_type, _data) \
|
||
|
|
(CONCAT2(BMI160_, _data) << CONCAT3(BMI160_, _type, _OFFSET))
|
||
|
|
|
||
|
|
#define BMI160_ORIENT_Z (1 << (6 + 24))
|
||
|
|
#define BMI160_FLAT (1 << (7 + 24))
|
||
|
|
|
||
|
|
#define BMI160_TEMPERATURE_0 0x20
|
||
|
|
#define BMI160_TEMPERATURE_1 0x21
|
||
|
|
#define BMI160_INVALID_TEMP 0x8000
|
||
|
|
|
||
|
|
|
||
|
|
#define BMI160_FIFO_LENGTH_0 0x22
|
||
|
|
#define BMI160_FIFO_LENGTH_1 0x23
|
||
|
|
#define BMI160_FIFO_LENGTH_MASK (BIT(11) - 1)
|
||
|
|
#define BMI160_FIFO_DATA 0x24
|
||
|
|
enum fifo_header {
|
||
|
|
BMI160_EMPTY = 0x80,
|
||
|
|
BMI160_SKIP = 0x40,
|
||
|
|
BMI160_TIME = 0x44,
|
||
|
|
BMI160_CONFIG = 0x48
|
||
|
|
};
|
||
|
|
|
||
|
|
#define BMI160_FH_MODE_MASK 0xc0
|
||
|
|
#define BMI160_FH_PARM_OFFSET 2
|
||
|
|
#define BMI160_FH_PARM_MASK (0x7 << BMI160_FH_PARM_OFFSET)
|
||
|
|
#define BMI160_FH_EXT_MASK 0x03
|
||
|
|
|
||
|
|
|
||
|
|
#define BMI160_ACC_CONF 0x40
|
||
|
|
#define BMI160_ODR_MASK 0x0F
|
||
|
|
#define BMI160_ACC_BW_OFFSET 4
|
||
|
|
#define BMI160_ACC_BW_MASK (0x7 << BMI160_ACC_BW_OFFSET)
|
||
|
|
|
||
|
|
#define BMI160_ACC_RANGE 0x41
|
||
|
|
#define BMI160_GSEL_2G 0x03
|
||
|
|
#define BMI160_GSEL_4G 0x05
|
||
|
|
#define BMI160_GSEL_8G 0x08
|
||
|
|
#define BMI160_GSEL_16G 0x0c
|
||
|
|
|
||
|
|
#define BMI160_GYR_CONF 0x42
|
||
|
|
#define BMI160_GYR_BW_OFFSET 4
|
||
|
|
#define BMI160_GYR_BW_MASK (0x3 << BMI160_GYR_BW_OFFSET)
|
||
|
|
|
||
|
|
#define BMI160_GYR_RANGE 0x43
|
||
|
|
#define BMI160_DPS_SEL_2000 0x00
|
||
|
|
#define BMI160_DPS_SEL_1000 0x01
|
||
|
|
#define BMI160_DPS_SEL_500 0x02
|
||
|
|
#define BMI160_DPS_SEL_250 0x03
|
||
|
|
#define BMI160_DPS_SEL_125 0x04
|
||
|
|
|
||
|
|
|
||
|
|
#define BMI160_MAG_CONF 0x44
|
||
|
|
|
||
|
|
/* odr = 100 / (1 << (8 - reg)) ,within limit */
|
||
|
|
#define BMI160_ODR_0_78HZ 0x01
|
||
|
|
#define BMI160_ODR_100HZ 0x08
|
||
|
|
|
||
|
|
#define BMI160_REG_TO_ODR(_regval) \
|
||
|
|
((_regval) < BMI160_ODR_100HZ ? 100000 / (1 << (8 - (_regval))) : \
|
||
|
|
100000 * (1 << ((_regval) - 8)))
|
||
|
|
#define BMI160_ODR_TO_REG(_odr) \
|
||
|
|
((_odr) < 100000 ? (__builtin_clz(100000 / (_odr)) - 24) : \
|
||
|
|
(39 - __builtin_clz((_odr) / 100000)))
|
||
|
|
|
||
|
|
#define BMI160_CONF_REG(_sensor) (0x40 + 2 * (_sensor))
|
||
|
|
#define BMI160_RANGE_REG(_sensor) (0x41 + 2 * (_sensor))
|
||
|
|
|
||
|
|
#define BMI160_FIFO_DOWNS 0x45
|
||
|
|
#define BMI160_FIFO_CONFIG_0 0x46
|
||
|
|
#define BMI160_FIFO_CONFIG_1 0x47
|
||
|
|
#define BMI160_FIFO_TAG_TIME_EN BIT(1)
|
||
|
|
#define BMI160_FIFO_TAG_INT2_EN BIT(2)
|
||
|
|
#define BMI160_FIFO_TAG_INT1_EN BIT(3)
|
||
|
|
#define BMI160_FIFO_HEADER_EN BIT(4)
|
||
|
|
#define BMI160_FIFO_MAG_EN BIT(5)
|
||
|
|
#define BMI160_FIFO_ACC_EN BIT(6)
|
||
|
|
#define BMI160_FIFO_GYR_EN BIT(7)
|
||
|
|
#define BMI160_FIFO_TARG_INT(_i) CONCAT3(BMI160_FIFO_TAG_INT, _i, _EN)
|
||
|
|
#define BMI160_FIFO_SENSOR_EN(_sensor) \
|
||
|
|
((_sensor) == MOTIONSENSE_TYPE_ACCEL ? BMI160_FIFO_ACC_EN : \
|
||
|
|
((_sensor) == MOTIONSENSE_TYPE_GYRO ? BMI160_FIFO_GYR_EN : \
|
||
|
|
BMI160_FIFO_MAG_EN))
|
||
|
|
|
||
|
|
#define BMI160_MAG_IF_0 0x4b
|
||
|
|
#define BMI160_MAG_I2C_ADDRESS BMI160_MAG_IF_0
|
||
|
|
#define BMI160_MAG_IF_1 0x4c
|
||
|
|
#define BMI160_MAG_I2C_CONTROL BMI160_MAG_IF_1
|
||
|
|
#define BMI160_MAG_READ_BURST_MASK 3
|
||
|
|
#define BMI160_MAG_READ_BURST_1 0
|
||
|
|
#define BMI160_MAG_READ_BURST_2 1
|
||
|
|
#define BMI160_MAG_READ_BURST_6 2
|
||
|
|
#define BMI160_MAG_READ_BURST_8 3
|
||
|
|
#define BMI160_MAG_OFFSET_OFF 3
|
||
|
|
#define BMI160_MAG_OFFSET_MASK (0xf << BMI160_MAG_OFFSET_OFF)
|
||
|
|
#define BMI160_MAG_MANUAL_EN BIT(7)
|
||
|
|
|
||
|
|
#define BMI160_MAG_IF_2 0x4d
|
||
|
|
#define BMI160_MAG_I2C_READ_ADDR BMI160_MAG_IF_2
|
||
|
|
#define BMI160_MAG_IF_3 0x4e
|
||
|
|
#define BMI160_MAG_I2C_WRITE_ADDR BMI160_MAG_IF_3
|
||
|
|
#define BMI160_MAG_IF_4 0x4f
|
||
|
|
#define BMI160_MAG_I2C_WRITE_DATA BMI160_MAG_IF_4
|
||
|
|
#define BMI160_MAG_I2C_READ_DATA BMI160_MAG_X_L_G
|
||
|
|
|
||
|
|
#define BMI160_INT_EN_0 0x50
|
||
|
|
#define BMI160_INT_ANYMO_X_EN BIT(0)
|
||
|
|
#define BMI160_INT_ANYMO_Y_EN BIT(1)
|
||
|
|
#define BMI160_INT_ANYMO_Z_EN BIT(2)
|
||
|
|
#define BMI160_INT_D_TAP_EN BIT(4)
|
||
|
|
#define BMI160_INT_S_TAP_EN BIT(5)
|
||
|
|
#define BMI160_INT_ORIENT_EN BIT(6)
|
||
|
|
#define BMI160_INT_FLAT_EN BIT(7)
|
||
|
|
#define BMI160_INT_EN_1 0x51
|
||
|
|
#define BMI160_INT_HIGHG_X_EN BIT(0)
|
||
|
|
#define BMI160_INT_HIGHG_Y_EN BIT(1)
|
||
|
|
#define BMI160_INT_HIGHG_Z_EN BIT(2)
|
||
|
|
#define BMI160_INT_LOW_EN BIT(3)
|
||
|
|
#define BMI160_INT_DRDY_EN BIT(4)
|
||
|
|
#define BMI160_INT_FFUL_EN BIT(5)
|
||
|
|
#define BMI160_INT_FWM_EN BIT(6)
|
||
|
|
#define BMI160_INT_EN_2 0x52
|
||
|
|
#define BMI160_INT_NOMOX_EN BIT(0)
|
||
|
|
#define BMI160_INT_NOMOY_EN BIT(1)
|
||
|
|
#define BMI160_INT_NOMOZ_EN BIT(2)
|
||
|
|
#define BMI160_INT_STEP_DET_EN BIT(3)
|
||
|
|
|
||
|
|
#define BMI160_INT_OUT_CTRL 0x53
|
||
|
|
#define BMI160_INT_EDGE_CTRL BIT(0)
|
||
|
|
#define BMI160_INT_LVL_CTRL BIT(1)
|
||
|
|
#define BMI160_INT_OD BIT(2)
|
||
|
|
#define BMI160_INT_OUTPUT_EN BIT(3)
|
||
|
|
#define BMI160_INT1_CTRL_OFFSET 0
|
||
|
|
#define BMI160_INT2_CTRL_OFFSET 4
|
||
|
|
#define BMI160_INT_CTRL(_i, _bit) \
|
||
|
|
(CONCAT2(BMI160_INT_, _bit) << CONCAT3(BMI160_INT, _i, _CTRL_OFFSET))
|
||
|
|
|
||
|
|
#define BMI160_INT_LATCH 0x54
|
||
|
|
#define BMI160_INT1_INPUT_EN BIT(4)
|
||
|
|
#define BMI160_INT2_INPUT_EN BIT(5)
|
||
|
|
#define BMI160_LATCH_MASK 0xf
|
||
|
|
#define BMI160_LATCH_NONE 0
|
||
|
|
#define BMI160_LATCH_5MS 5
|
||
|
|
#define BMI160_LATCH_FOREVER 0xf
|
||
|
|
|
||
|
|
#define BMI160_INT_MAP_0 0x55
|
||
|
|
#define BMI160_INT_LOWG_STEP BIT(0)
|
||
|
|
#define BMI160_INT_HIGHG BIT(1)
|
||
|
|
#define BMI160_INT_ANYMOTION BIT(2)
|
||
|
|
#define BMI160_INT_NOMOTION BIT(3)
|
||
|
|
#define BMI160_INT_D_TAP BIT(4)
|
||
|
|
#define BMI160_INT_S_TAP BIT(5)
|
||
|
|
#define BMI160_INT_ORIENT BIT(6)
|
||
|
|
#define BMI160_INT_FLAT BIT(7)
|
||
|
|
|
||
|
|
#define BMI160_INT_MAP_1 0x56
|
||
|
|
#define BMI160_INT_PMU_TRIG BIT(0)
|
||
|
|
#define BMI160_INT_FFULL BIT(1)
|
||
|
|
#define BMI160_INT_FWM BIT(2)
|
||
|
|
#define BMI160_INT_DRDY BIT(3)
|
||
|
|
#define BMI160_INT1_MAP_OFFSET 4
|
||
|
|
#define BMI160_INT2_MAP_OFFSET 0
|
||
|
|
#define BMI160_INT_MAP(_i, _bit) \
|
||
|
|
(CONCAT2(BMI160_INT_, _bit) << CONCAT3(BMI160_INT, _i, _MAP_OFFSET))
|
||
|
|
#define BMI160_INT_FIFO_MAP BMI160_INT_MAP_1
|
||
|
|
|
||
|
|
#define BMI160_INT_MAP_2 0x57
|
||
|
|
|
||
|
|
#define BMI160_INT_MAP_INT_1 BMI160_INT_MAP_0
|
||
|
|
#define BMI160_INT_MAP_INT_2 BMI160_INT_MAP_2
|
||
|
|
#define BMI160_INT_MAP_REG(_i) CONCAT2(BMI160_INT_MAP_INT_, _i)
|
||
|
|
|
||
|
|
#define BMI160_INT_DATA_0 0x58
|
||
|
|
#define BMI160_INT_DATA_1 0x59
|
||
|
|
|
||
|
|
#define BMI160_INT_MOTION_0 0x5f
|
||
|
|
#define BMI160_INT_MOTION_1 0x60
|
||
|
|
/*
|
||
|
|
* The formula is defined in 2.11.25 (any motion interrupt [1]).
|
||
|
|
*
|
||
|
|
* if we want threshold at a (in mg), the register should be x, where
|
||
|
|
* x * 7.81mg = a, assuming a range of 4G, which is
|
||
|
|
* x * 4 * 1.953 = a so
|
||
|
|
* x = a * 1000 / range * 1953
|
||
|
|
*/
|
||
|
|
#define BMI160_MOTION_TH(_s, _mg) \
|
||
|
|
(MIN(((_mg) * 1000) / ((_s)->drv->get_range(_s) * 1953), 0xff))
|
||
|
|
#define BMI160_INT_MOTION_2 0x61
|
||
|
|
#define BMI160_INT_MOTION_3 0x62
|
||
|
|
#define BMI160_MOTION_NO_MOT_SEL BIT(0)
|
||
|
|
#define BMI160_MOTION_SIG_MOT_SEL BIT(1)
|
||
|
|
#define BMI160_MOTION_SKIP_OFF 2
|
||
|
|
#define BMI160_MOTION_SKIP_MASK 0x3
|
||
|
|
#define BMI160_MOTION_SKIP_TIME(_ms) \
|
||
|
|
(MIN(__fls((_ms) / 1500), BMI160_MOTION_SKIP_MASK))
|
||
|
|
#define BMI160_MOTION_PROOF_OFF 4
|
||
|
|
#define BMI160_MOTION_PROOF_MASK 0x3
|
||
|
|
#define BMI160_MOTION_PROOF_TIME(_ms) \
|
||
|
|
(MIN(__fls((_ms) / 250), BMI160_MOTION_PROOF_MASK))
|
||
|
|
|
||
|
|
#define BMI160_INT_TAP_0 0x63
|
||
|
|
#define BMI160_TAP_DUR(_s, _ms) \
|
||
|
|
((_ms) <= 250 ? MAX((_ms), 50) / 50 - 1 : \
|
||
|
|
(_ms) <= 500 ? 4 + ((_ms) - 250) / 125 : \
|
||
|
|
(_ms) < 700 ? 6 : 7)
|
||
|
|
|
||
|
|
#define BMI160_INT_TAP_1 0x64
|
||
|
|
#define BMI160_TAP_TH(_s, _mg) \
|
||
|
|
(MIN(((_mg) * 1000) / ((_s)->drv->get_range(_s) * 31250), 0x1f))
|
||
|
|
|
||
|
|
#define BMI160_INT_ORIENT_0 0x65
|
||
|
|
|
||
|
|
/* No hysterisis, theta block, int on slope > 0.2 or axis > 1.5, symmetrical */
|
||
|
|
#define BMI160_INT_ORIENT_0_INIT_VAL 0x48
|
||
|
|
|
||
|
|
#define BMI160_INT_ORIENT_1 0x66
|
||
|
|
|
||
|
|
/* no axes remap, no int on up/down, no blocking angle */
|
||
|
|
#define BMI160_INT_ORIENT_1_INIT_VAL 0x00
|
||
|
|
|
||
|
|
#define BMI160_INT_FLAT_0 0x67
|
||
|
|
#define BMI160_INT_FLAT_1 0x68
|
||
|
|
|
||
|
|
#define BMI160_FOC_CONF 0x69
|
||
|
|
#define BMI160_FOC_GYRO_EN BIT(6)
|
||
|
|
#define BMI160_FOC_ACC_PLUS_1G 1
|
||
|
|
#define BMI160_FOC_ACC_MINUS_1G 2
|
||
|
|
#define BMI160_FOC_ACC_0G 3
|
||
|
|
#define BMI160_FOC_ACC_Z_OFFSET 0
|
||
|
|
#define BMI160_FOC_ACC_Y_OFFSET 2
|
||
|
|
#define BMI160_FOC_ACC_X_OFFSET 4
|
||
|
|
|
||
|
|
#define BMI160_CONF 0x6a
|
||
|
|
#define BMI160_IF_CONF 0x6b
|
||
|
|
#define BMI160_IF_MODE_OFF 4
|
||
|
|
#define BMI160_IF_MODE_MASK 3
|
||
|
|
#define BMI160_IF_MODE_AUTO_OFF 0
|
||
|
|
#define BMI160_IF_MODE_I2C_IOS 1
|
||
|
|
#define BMI160_IF_MODE_AUTO_I2C 2
|
||
|
|
|
||
|
|
#define BMI160_PMU_TRIGGER 0x6c
|
||
|
|
#define BMI160_SELF_TEST 0x6d
|
||
|
|
|
||
|
|
#define BMI160_OFFSET_ACC70 0x71
|
||
|
|
#define BMI160_OFFSET_ACC_MULTI_MG (3900 * 1024)
|
||
|
|
#define BMI160_OFFSET_ACC_DIV_MG 1000000
|
||
|
|
#define BMI160_OFFSET_GYR70 0x74
|
||
|
|
#define BMI160_OFFSET_GYRO_MULTI_MDS (61 * 1024)
|
||
|
|
#define BMI160_OFFSET_GYRO_DIV_MDS 1000
|
||
|
|
#define BMI160_OFFSET_EN_GYR98 0x77
|
||
|
|
#define BMI160_OFFSET_ACC_EN BIT(6)
|
||
|
|
#define BMI160_OFFSET_GYRO_EN BIT(7)
|
||
|
|
|
||
|
|
|
||
|
|
#define BMI160_CMD_REG 0x7e
|
||
|
|
#define BMI160_CMD_SOFT_RESET 0xb6
|
||
|
|
#define BMI160_CMD_NOOP 0x00
|
||
|
|
#define BMI160_CMD_START_FOC 0x03
|
||
|
|
#define BMI160_CMD_ACC_MODE_OFFSET 0x10
|
||
|
|
#define BMI160_CMD_ACC_MODE_SUSP 0x10
|
||
|
|
#define BMI160_CMD_ACC_MODE_NORMAL 0x11
|
||
|
|
#define BMI160_CMD_ACC_MODE_LOWPOWER 0x12
|
||
|
|
#define BMI160_CMD_GYR_MODE_SUSP 0x14
|
||
|
|
#define BMI160_CMD_GYR_MODE_NORMAL 0x15
|
||
|
|
#define BMI160_CMD_GYR_MODE_FAST_STARTUP 0x17
|
||
|
|
#define BMI160_CMD_MAG_MODE_SUSP 0x18
|
||
|
|
#define BMI160_CMD_MAG_MODE_NORMAL 0x19
|
||
|
|
#define BMI160_CMD_MAG_MODE_LOWPOWER 0x1a
|
||
|
|
#define BMI160_CMD_MODE_SUSPEND(_sensor_type) \
|
||
|
|
(BMI160_CMD_ACC_MODE_OFFSET | (_sensor_type) << 2 | BMI160_PMU_SUSPEND)
|
||
|
|
#define BMI160_CMD_MODE_NORMAL(_sensor_type) \
|
||
|
|
(BMI160_CMD_ACC_MODE_OFFSET | (_sensor_type) << 2 | BMI160_PMU_NORMAL)
|
||
|
|
|
||
|
|
#define BMI160_CMD_FIFO_FLUSH 0xb0
|
||
|
|
#define BMI160_CMD_INT_RESET 0xb1
|
||
|
|
#define BMI160_CMD_SOFT_RESET 0xb6
|
||
|
|
#define BMI160_CMD_EXT_MODE_EN_B0 0x37
|
||
|
|
#define BMI160_CMD_EXT_MODE_EN_B1 0x9a
|
||
|
|
#define BMI160_CMD_EXT_MODE_EN_B2 0xc0
|
||
|
|
|
||
|
|
#define BMI160_CMD_EXT_MODE_ADDR 0x7f
|
||
|
|
#define BMI160_CMD_PAGING_EN BIT(7)
|
||
|
|
#define BMI160_CMD_TARGET_PAGE BIT(4)
|
||
|
|
#define BMI160_COM_C_TRIM_ADDR 0x85
|
||
|
|
#define BMI160_COM_C_TRIM (3 << 4)
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
#define BMI160_CMD_TGT_PAGE 0
|
||
|
|
#define BMI160_CMD_TGT_PAGE_COM 1
|
||
|
|
#define BMI160_CMD_TGT_PAGE_ACC 2
|
||
|
|
#define BMI160_CMD_TGT_PAGE_GYR 3
|
||
|
|
|
||
|
|
#define BMI160_FF_FRAME_LEN_TS 4
|
||
|
|
#define BMI160_FF_DATA_LEN_ACC 6
|
||
|
|
#define BMI160_FF_DATA_LEN_GYR 6
|
||
|
|
#define BMI160_FF_DATA_LEN_MAG 8
|
||
|
|
|
||
|
|
/* Sensor resolution in number of bits. This sensor has fixed resolution. */
|
||
|
|
#define BMI160_RESOLUTION 16
|
||
|
|
|
||
|
|
/* Min and Max sampling frequency in mHz */
|
||
|
|
#define BMI160_ACCEL_MIN_FREQ 12500
|
||
|
|
#define BMI160_ACCEL_MAX_FREQ MOTION_MAX_SENSOR_FREQUENCY(1600000, 100000)
|
||
|
|
#define BMI160_GYRO_MIN_FREQ 25000
|
||
|
|
#define BMI160_GYRO_MAX_FREQ MOTION_MAX_SENSOR_FREQUENCY(3200000, 100000)
|
||
|
|
|
||
|
|
extern const struct accelgyro_drv bmi160_drv;
|
||
|
|
|
||
|
|
enum bmi160_running_mode {
|
||
|
|
STANDARD_UI_9DOF_FIFO = 0,
|
||
|
|
STANDARD_UI_IMU_FIFO = 1,
|
||
|
|
STANDARD_UI_IMU = 2,
|
||
|
|
STANDARD_UI_ADVANCEPOWERSAVE = 3,
|
||
|
|
ACCEL_PEDOMETER = 4,
|
||
|
|
APPLICATION_HEAD_TRACKING = 5,
|
||
|
|
APPLICATION_NAVIGATION = 6,
|
||
|
|
APPLICATION_REMOTE_CONTROL = 7,
|
||
|
|
APPLICATION_INDOOR_NAVIGATION = 8,
|
||
|
|
};
|
||
|
|
|
||
|
|
#define BMI160_FLAG_SEC_I2C_ENABLED BIT(0)
|
||
|
|
#define BMI160_FIFO_FLAG_OFFSET 4
|
||
|
|
#define BMI160_FIFO_ALL_MASK 7
|
||
|
|
|
||
|
|
struct bmi160_drv_data_t {
|
||
|
|
struct accelgyro_saved_data_t saved_data[3];
|
||
|
|
uint8_t flags;
|
||
|
|
uint8_t enabled_activities;
|
||
|
|
uint8_t disabled_activities;
|
||
|
|
#ifdef CONFIG_MAG_BMI160_BMM150
|
||
|
|
struct bmm150_private_data compass;
|
||
|
|
#endif
|
||
|
|
#ifdef CONFIG_BMI160_ORIENTATION_SENSOR
|
||
|
|
uint8_t raw_orientation;
|
||
|
|
enum motionsensor_orientation orientation;
|
||
|
|
enum motionsensor_orientation last_orientation;
|
||
|
|
#endif
|
||
|
|
|
||
|
|
};
|
||
|
|
|
||
|
|
#define BMI160_GET_DATA(_s) \
|
||
|
|
((struct bmi160_drv_data_t *)(_s)->drv_data)
|
||
|
|
#define BMI160_GET_SAVED_DATA(_s) \
|
||
|
|
(&BMI160_GET_DATA(_s)->saved_data[(_s)->type])
|
||
|
|
|
||
|
|
#ifdef CONFIG_BMI160_ORIENTATION_SENSOR
|
||
|
|
#define ORIENTATION_CHANGED(_sensor) \
|
||
|
|
(BMI160_GET_DATA(_sensor)->orientation != \
|
||
|
|
BMI160_GET_DATA(_sensor)->last_orientation)
|
||
|
|
|
||
|
|
#define GET_ORIENTATION(_sensor) \
|
||
|
|
(BMI160_GET_DATA(_sensor)->orientation)
|
||
|
|
|
||
|
|
#define SET_ORIENTATION(_sensor, _val) \
|
||
|
|
(BMI160_GET_DATA(_sensor)->orientation = _val)
|
||
|
|
|
||
|
|
#define SET_ORIENTATION_UPDATED(_sensor) \
|
||
|
|
(BMI160_GET_DATA(_sensor)->last_orientation = \
|
||
|
|
BMI160_GET_DATA(_sensor)->orientation)
|
||
|
|
#endif
|
||
|
|
|
||
|
|
void bmi160_interrupt(enum gpio_signal signal);
|
||
|
|
|
||
|
|
#ifdef CONFIG_BMI160_SEC_I2C
|
||
|
|
/* Functions to access the secondary device through the accel/gyro. */
|
||
|
|
int bmi160_sec_raw_read8(const int port, const uint16_t addr_flags,
|
||
|
|
const uint8_t reg, int *data_ptr);
|
||
|
|
int bmi160_sec_raw_write8(const int port, const uint16_t addr_flags,
|
||
|
|
const uint8_t reg, int data);
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#ifdef CONFIG_CMD_I2C_STRESS_TEST_ACCEL
|
||
|
|
extern struct i2c_stress_test_dev bmi160_i2c_stress_test_dev;
|
||
|
|
#endif
|
||
|
|
|
||
|
|
int bmi160_get_sensor_temp(int idx, int *temp_ptr);
|
||
|
|
#endif /* __CROS_EC_ACCELGYRO_BMI160_H */
|