384 lines
12 KiB
C
384 lines
12 KiB
C
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/* Copyright 2016 The Chromium OS Authors. All rights reserved.
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* Use of this source code is governed by a BSD-style license that can be
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* found in the LICENSE file.
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*/
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/* LSM6DSM (also LSM6DSL) Accel and Gyro driver for Chrome EC */
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#ifndef __CROS_EC_ACCELGYRO_LSM6DSM_H
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#define __CROS_EC_ACCELGYRO_LSM6DSM_H
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#include "stm_mems_common.h"
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#include "mag_cal.h"
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#include "mag_bmm150.h"
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#include "mag_lis2mdl.h"
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/*
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* 7-bit address is 110101xb. Where 'x' is determined
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* by the voltage on the ADDR pin
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*/
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#define LSM6DSM_ADDR0_FLAGS 0x6a
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#define LSM6DSM_ADDR1_FLAGS 0x6b
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/* COMMON DEFINE FOR ACCEL-GYRO SENSORS */
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#define LSM6DSM_EN_BIT 0x01
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#define LSM6DSM_DIS_BIT 0x00
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/* Access to embedded sensor hub register bank */
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#define LSM6DSM_FUNC_CFG_ACC_ADDR 0x01
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#define LSM6DSM_FUNC_CFG_EN 0x80
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#define LSM6DSM_FUNC_CFG_EN_B 0x20
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/* FIFO decimator registers and bitmask */
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#define LSM6DSM_FIFO_CTRL1_ADDR 0x06
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/* Output data rate registers and masks */
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#define LSM6DSM_ODR_REG(_sensor) \
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(LSM6DSM_CTRL1_ADDR + _sensor)
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#define LSM6DSM_ODR_MASK 0xf0
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#define LSM6DSM_FIFO_CTRL2_ADDR 0x07
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#define LSM6DSM_FIFO_CTRL3_ADDR 0x08
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#define LSM6DSM_FIFO_DEC_XL_OFF 0
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#define LSM6DSM_FIFO_DEC_G_OFF 3
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#define LSM6DSM_FIFO_CTRL4_ADDR 0x09
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#define LSM6DSM_FIFO_DECIMATOR(_dec) \
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(_dec < 8 ? _dec : (2 + __builtin_ctz(_dec)))
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/* Hardware FIFO size in byte */
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#define LSM6DSM_MAX_FIFO_SIZE 4096
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#define LSM6DSM_MAX_FIFO_LENGTH (LSM6DSM_MAX_FIFO_SIZE / OUT_XYZ_SIZE)
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#define LSM6DSM_FIFO_CTRL5_ADDR 0x0a
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#define LSM6DSM_FIFO_CTRL5_ODR_OFF 3
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#define LSM6DSM_FIFO_CTRL5_ODR_MASK \
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(0xf << LSM6DSM_FIFO_CTRL5_ODR_OFF)
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#define LSM6DSM_FIFO_CTRL5_MODE_MASK 0x07
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#define LSM6DSM_INT1_CTRL 0x0d
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#define LSM6DSM_INT_FIFO_TH 0x08
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#define LSM6DSM_INT_FIFO_OVR 0x10
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#define LSM6DSM_INT_FIFO_FULL 0x20
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#define LSM6DSM_INT_SIGMO 0x40
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/* Who Am I */
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#define LSM6DSM_WHO_AM_I_REG 0x0f
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/* LSM6DSM/LSM6DSL/LSM6DS3TR-C */
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#define LSM6DSM_WHO_AM_I 0x6a
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/* LSM6DS3 */
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#define LSM6DS3_WHO_AM_I 0x69
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#define LSM6DSM_CTRL1_ADDR 0x10
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#define LSM6DSM_XL_ODR_MASK 0xf0
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#define LSM6DSM_CTRL2_ADDR 0x11
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#define LSM6DSM_CTRL3_ADDR 0x12
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#define LSM6DSM_SW_RESET 0x01
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#define LSM6DSM_IF_INC 0x04
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#define LSM6DSM_PP_OD 0x10
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#define LSM6DSM_H_L_ACTIVE 0x20
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#define LSM6DSM_BDU 0x40
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#define LSM6DSM_BOOT 0x80
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#define LSM6DSM_CTRL4_ADDR 0x13
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#define LSM6DSM_INT2_ON_INT1_MASK 0x20
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#define LSM6DSM_CTRL6_ADDR 0x15
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#define LSM6DSM_CTRL7_ADDR 0x16
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#define LSM6DSM_CTRL10_ADDR 0x19
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#define LSM6DSM_FUNC_EN_MASK 0x04
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#define LSM6DSM_SIG_MOT_MASK 0x01
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#define LSM6DSM_EMBED_FUNC_EN 0x04
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#define LSM6DSM_SIG_MOT_EN 0x01
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/* Master mode configuration register */
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#define LSM6DSM_MASTER_CFG_ADDR 0x1a
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#define LSM6DSM_PASSTROUGH_MASK 0x1f
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#define LSM6DSM_EXT_TRIGGER_EN 0x10
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#define LSM6DSM_PULLUP_EN 0x08
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#define LSM6DSM_I2C_PASS_THRU_MODE 0x04
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#define LSM6DSM_I2C_MASTER_ON 0x01
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#define LSM6DSM_TAP_SRC_ADDR 0x1c
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#define LSM6DSM_STAP_DETECT 0x20
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#define LSM6DSM_DTAP_DETECT 0x10
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#define LSM6DSM_STATUS_REG 0x1e
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#define LSM6DSM_GYRO_OUT_X_L_ADDR 0x22
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#define LSM6DSM_ACCEL_OUT_X_L_ADDR 0x28
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#define LSM6DSM_SENSORHUB1_REG 0x2e
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#define LSM6DSM_FIFO_STS1_ADDR 0x3a
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#define LSM6DSM_FIFO_STS2_ADDR 0x3b
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#define LSM6DSM_FIFO_DIFF_MASK 0x0fff
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#define LSM6DSM_FIFO_EMPTY 0x1000
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#define LSM6DSM_FIFO_FULL 0x2000
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#define LSM6DSM_FIFO_DATA_OVR 0x4000
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#define LSM6DSM_FIFO_WATERMARK 0x8000
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#define LSM6DSM_FIFO_NODECIM 0x01
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/* Out data register */
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#define LSM6DSM_FIFO_DATA_ADDR 0x3e
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/* Registers value for supported FIFO mode */
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#define LSM6DSM_FIFO_MODE_BYPASS_VAL 0x00
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#define LSM6DSM_FIFO_MODE_CONTINUOUS_VAL 0x06
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#define LSM6DSM_FUNC_SRC1_ADDR 0x53
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#define LSM6DSM_SENSORHUB_END_OP 0x01
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#define LSM6DSM_SIGN_MOTION_IA 0x40
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#define LSM6DSM_LIR_ADDR 0x58
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#define LSM6DSM_LIR_MASK 0x01
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#define LSM6DSM_EN_INT 0x80
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#define LSM6DSM_EN_TAP 0x0e
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#define LSM6DSM_TAP_MASK 0x8e
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#define LSM6DSM_TAP_THS_6D 0x59
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#define LSM6DSM_D4D_EN_MASK 0x80
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#define LSM6DSM_TAP_TH_MASK 0x1f
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#define LSM6DSM_INT_DUR2_ADDR 0x5a
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#define LSM6DSM_TAP_DUR_MASK 0xf0
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#define LSM6DSM_TAP_QUIET_MASK 0x0c
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#define LSM6DSM_WUP_THS_ADDR 0x5b
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#define LSM6DSM_S_D_TAP_MASK 0x80
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#define LSM6DSM_STAP_EN 0
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#define LSM6DSM_DTAP_EN 1
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#define LSM6DSM_MD1_CFG_ADDR 0x5e
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#define LSM6DSM_INT1_STAP 0x40
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#define LSM6DSM_INT1_DTAP 0x08
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/* Register values for Sensor Hub Slave 0 / Bank A */
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#define LSM6DSM_SLV0_ADD_ADDR 0x02
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#define LSM6DSM_SLV0_ADDR_SHFT 1
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#define LSM6DSM_SLV0_ADDR_MASK 0xfe
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#define LSM6DSM_SLV0_RD_BIT 0x01
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#define LSM6DSM_SLV0_SUBADD_ADDR 0x03
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#define LSM6DSM_SLV0_CONFIG_ADDR 0x04
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#define LSM6DSM_SLV0_SLV_RATE_SHFT 6
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#define LSM6DSM_SLV0_SLV_RATE_MASK 0xc0
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#define LSM6DSM_SLV0_AUX_SENS_SHFT 4
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#define LSM6DSM_SLV0_AUX_SENS_MASK 0x30
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#define LSM6DSM_SLV0_NUM_OPS_MASK 0x07
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#define LSM6DSM_SLV1_CONFIG_ADDR 0x07
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#define LSM6DSM_SLV0_WR_ONCE_MASK 0x20
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#define LSM6DSM_DATA_WRITE_SUB_SLV0_ADDR 0x0e
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/* Define device available in FIFO pattern */
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enum dev_fifo {
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FIFO_DEV_INVALID = -1,
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FIFO_DEV_GYRO = 0,
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FIFO_DEV_ACCEL,
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#ifdef CONFIG_LSM6DSM_SEC_I2C
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FIFO_DEV_MAG,
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#endif
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FIFO_DEV_NUM,
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};
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struct fstatus {
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uint16_t len;
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uint16_t pattern;
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};
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/* Absolute maximum rate for acc and gyro sensors */
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#define LSM6DSM_ODR_MIN_VAL 13000
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#define LSM6DSM_ODR_MAX_VAL \
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MOTION_MAX_SENSOR_FREQUENCY(416000, LSM6DSM_ODR_MIN_VAL)
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/* ODR reg value from selected data rate in mHz */
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#define LSM6DSM_ODR_TO_REG(_odr) (__fls(_odr / LSM6DSM_ODR_MIN_VAL) + 1)
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/* normalized ODR value from selected data rate in mHz */
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#define LSM6DSM_REG_TO_ODR(_reg) (LSM6DSM_ODR_MIN_VAL << (_reg - 1))
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/* Full Scale range value and gain for Acc */
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#define LSM6DSM_FS_LIST_NUM 4
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#define LSM6DSM_ACCEL_FS_ADDR 0x10
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#define LSM6DSM_ACCEL_FS_MASK 0x0c
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#define LSM6DSM_ACCEL_FS_2G_VAL 0x00
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#define LSM6DSM_ACCEL_FS_4G_VAL 0x02
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#define LSM6DSM_ACCEL_FS_8G_VAL 0x03
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#define LSM6DSM_ACCEL_FS_16G_VAL 0x01
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#define LSM6DSM_ACCEL_FS_MAX_VAL 16
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/* Accel Reg value from Full Scale */
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#define LSM6DSM_ACCEL_FS_REG(_fs) \
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(_fs == 2 ? LSM6DSM_ACCEL_FS_2G_VAL : \
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_fs == 16 ? LSM6DSM_ACCEL_FS_16G_VAL : \
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__fls(_fs))
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/* Accel normalized FS value from Full Scale */
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#define LSM6DSM_ACCEL_NORMALIZE_FS(_fs) (1 << __fls(_fs))
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/* Full Scale range value and gain for Gyro */
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#define LSM6DSM_GYRO_FS_ADDR 0x11
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#define LSM6DSM_GYRO_FS_MASK 0x0c
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/* Supported gyroscope ranges:
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* name(dps) | register | gain(udps/LSB) | actual value(dps)
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* 250 | 0 | 8750 | 286.72
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* 500 | 1 | 17500 | 573.44
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* 1000 | 2 | 35000 | 1146.88
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* 2000 | 3 | 70000 | 2293.76
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*/
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#define LSM6DSM_GYRO_FS_MIN_VAL_MDPS ((8750 << 15) / 1000)
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#define LSM6DSM_GYRO_FS_MAX_REG_VAL 3
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/* Gyro Reg value for Full Scale selection */
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#define LSM6DSM_GYRO_FS_REG(_fs) \
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__fls(MAX(1, (_fs * 1000) / LSM6DSM_GYRO_FS_MIN_VAL_MDPS))
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/* Gyro normalized FS value from Full Scale register */
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#define LSM6DSM_GYRO_NORMALIZE_FS(_reg) \
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((LSM6DSM_GYRO_FS_MIN_VAL_MDPS << (_reg)) / 1000)
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/* FS register address/mask for Acc/Gyro sensors */
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#define LSM6DSM_RANGE_REG(_sensor) (LSM6DSM_ACCEL_FS_ADDR + (_sensor))
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#define LSM6DSM_RANGE_MASK 0x0c
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/* Status register bitmask for Acc/Gyro data ready */
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enum lsm6dsm_status {
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LSM6DSM_STS_DOWN = 0x00,
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LSM6DSM_STS_XLDA_UP = 0x01,
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LSM6DSM_STS_GDA_UP = 0x02
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};
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#define LSM6DSM_STS_XLDA_MASK 0x01
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#define LSM6DSM_STS_GDA_MASK 0x02
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/* Sensor resolution in number of bits: fixed 16 bit */
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#define LSM6DSM_RESOLUTION 16
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extern const struct accelgyro_drv lsm6dsm_drv;
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void lsm6dsm_interrupt(enum gpio_signal signal);
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struct lsm6dsm_fifo_data {
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/*
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* FIFO data order is based on the ODR of each sensors.
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* For example Acc @ 52 Hz, Gyro @ 26 Hz Mag @ 13 Hz in FIFO we have
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* for each pattern this data samples:
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* ________ _______ _______ _______ ________ _______ _______
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* | Gyro_0 | Acc_0 | Mag_0 | Acc_1 | Gyro_1 | Acc_2 | Acc_3 |
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* |________|_______|_______|_______|________|_______|_______|
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*
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* Total samples for each pattern: 2 Gyro, 4 Acc, 1 Mag
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*/
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/* Calculated samples in a pattern, based on ODR. */
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int samples_in_pattern[FIFO_DEV_NUM];
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/* Sum of all samples_in_pattern. */
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int total_samples_in_pattern;
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};
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/*
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* Structure used to maintain the load state per sensor. This will be used to
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* properly spread values in case we have more than one reading for a given
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* sensor in a single fifo read pass.
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*/
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struct load_fifo_sensor_state_t {
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uint32_t int_timestamp;
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uint8_t sample_count;
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int sample_rate;
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};
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/*
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* lsm6dsm_data is used for accel gyro and the sensor connect to a LSM6DSM.
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*
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* +---- lsm6dsm_data ------------------------------------------------+
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* | +--- stprivate_data ---+ |
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* | | | ST common data for accelerometer |
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* | +----------------------+ |
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* | +--- stprivate_data ---+ |
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* | | | ST common data for gyroscope |
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* | +----------------------+ |
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* | +--- stprivate_data ---+ |
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* | | | ST common data for LIS2MDL magnetomer |
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* | +----------------------+ (optional) |
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* | |
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* | Fifo Information |
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* | |
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* | +----- Magnetometer information -----------------------------+ |
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* | | +--- mag_cal_t ------+ | |
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* | | | | Data for online calibration | |
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* | | +--------------------+ | |
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* | | Other privata data | |
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* | +------------------------------------------------------------+ |
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* +------------------------------------------------------------------+
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||
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|
*
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||
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* In motion_sensors array, use LSM6DSM_ST_DATA to point drv_data
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||
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* to the right st_data structure.
|
||
|
|
*/
|
||
|
|
struct lsm6dsm_data {
|
||
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|
#ifdef CONFIG_MAG_LSM6DSM_LIS2MDL
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||
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|
/* LIS2MDL uses st_mems_common and needs stprivate_data */
|
||
|
|
struct stprivate_data st_data[3];
|
||
|
|
#else
|
||
|
|
/* BMM150 doesn't use st_mems_common; no stprivate_data */
|
||
|
|
struct stprivate_data st_data[2];
|
||
|
|
#endif
|
||
|
|
#ifdef CONFIG_ACCEL_FIFO
|
||
|
|
struct lsm6dsm_fifo_data config;
|
||
|
|
struct lsm6dsm_fifo_data current;
|
||
|
|
int next_in_patten;
|
||
|
|
/*
|
||
|
|
* After an ODR change, the sensor filters need settling time; discard
|
||
|
|
* initial samples with incorrect values
|
||
|
|
*/
|
||
|
|
unsigned int samples_to_discard[FIFO_DEV_NUM];
|
||
|
|
struct load_fifo_sensor_state_t load_fifo_sensor_state[FIFO_DEV_NUM];
|
||
|
|
#endif /* CONFIG_ACCEL_FIFO */
|
||
|
|
#if defined(CONFIG_LSM6DSM_SEC_I2C) && defined(CONFIG_MAG_CALIBRATE)
|
||
|
|
union {
|
||
|
|
#ifdef CONFIG_MAG_LSM6DSM_BMM150
|
||
|
|
struct bmm150_private_data compass;
|
||
|
|
#endif
|
||
|
|
#ifdef CONFIG_MAG_LSM6DSM_LIS2MDL
|
||
|
|
struct lis2mdl_private_data compass;
|
||
|
|
#endif
|
||
|
|
struct mag_cal_t cal;
|
||
|
|
};
|
||
|
|
#endif /* CONFIG_MAG_CALIBRATE */
|
||
|
|
};
|
||
|
|
|
||
|
|
/*
|
||
|
|
* Note: The specific number of samples to discard depends on the filters
|
||
|
|
* configured for the chip, as well as the ODR being set. For most of our
|
||
|
|
* allowed ODRs, 5 should suffice.
|
||
|
|
* See: ST's LSM6DSM application notes (AN4987) Tables 17 and 19 for details
|
||
|
|
*/
|
||
|
|
#define LSM6DSM_DISCARD_SAMPLES 5
|
||
|
|
|
||
|
|
#define LSM6DSM_ST_DATA(g, type) (&(&(g))->st_data[(type)])
|
||
|
|
|
||
|
|
#define LSM6DSM_MAIN_SENSOR(_s) ((_s) - (_s)->type)
|
||
|
|
|
||
|
|
#define LSM6DSM_GET_DATA(_s) \
|
||
|
|
((struct lsm6dsm_data *)(LSM6DSM_MAIN_SENSOR(_s))->drv_data)
|
||
|
|
|
||
|
|
#if defined(CONFIG_LSM6DSM_SEC_I2C) && defined(CONFIG_MAG_CALIBRATE)
|
||
|
|
#define LIS2MDL_CAL(_s) (&LSM6DSM_GET_DATA(_s)->cal)
|
||
|
|
#endif
|
||
|
|
|
||
|
|
int lsm6dsm_set_data_rate(const struct motion_sensor_t *s, int rate, int rnd);
|
||
|
|
|
||
|
|
|
||
|
|
#endif /* __CROS_EC_ACCELGYRO_LSM6DSM_H */
|