driver: Add BMI common code

Add accelgyro_bmi_common.(c/h) for the code shared among the BMI.

BRANCH=None
BUG=b:146144827
TEST=make -j4 BOARD=ampton
     Then, flash the ec.bin into DUT, check sensor data is available on DUT
     by "ectool motionsense".
TEST=make buildall -j

Change-Id: Ia56ffb0896943b08640b3d6ca96324ac5e7d93a0
Signed-off-by: Ching-Kang Yen <chingkang@chromium.org>
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/2130146
Reviewed-by: Gwendal Grignou <gwendal@chromium.org>

1 files changed, 327 insertions, 0 deletions

diff --git a/driver/accelgyro_bmi_common.h b/driver/accelgyro_bmi_common.h
new file mode 100644
index 0000000000..cf7f0d06cb
--- /dev/null
+++ b/driver/accelgyro_bmi_common.h
@@ -0,0 +1,327 @@
+/* Copyright 2020 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.
+ */
+/* BMI accelerometer and gyro common definitions for Chrome EC */
+
+#ifndef __CROS_EC_ACCELGYRO_BMI_COMMON_H
+#define __CROS_EC_ACCELGYRO_BMI_COMMON_H
+
+#include "accelgyro.h"
+#include "driver/accelgyro_bmi160.h"
+#include "mag_bmm150.h"
+
+#define BMI_CONF_REG(_sensor)      (0x40 + 2 * (_sensor))
+#define BMI_RANGE_REG(_sensor)     (0x41 + 2 * (_sensor))
+
+#define BMI_ODR_MASK         0x0F
+/* odr = 100 / (1 << (8 - reg)) , within limit */
+#define BMI_ODR_0_78HZ       0x01
+#define BMI_ODR_100HZ        0x08
+
+#define BMI_REG_TO_ODR(_regval) \
+	((_regval) < BMI_ODR_100HZ ? 100000 / (1 << (8 - (_regval))) : \
+					100000 * (1 << ((_regval) - 8)))
+#define BMI_ODR_TO_REG(_odr) \
+	((_odr) < 100000 ? (__builtin_clz(100000 / ((_odr) + 1)) - 24) : \
+			   (39 - __builtin_clz((_odr) / 100000)))
+
+enum fifo_header {
+	BMI_FH_EMPTY = 0x80,
+	BMI_FH_SKIP = 0x40,
+	BMI_FH_TIME = 0x44,
+	BMI_FH_CONFIG = 0x48
+};
+
+#define BMI_FH_MODE_MASK     0xc0
+#define BMI_FH_PARM_OFFSET       2
+#define BMI_FH_PARM_MASK         (0x7 << BMI_FH_PARM_OFFSET)
+#define BMI_FH_EXT_MASK      0x03
+
+/* Sensor resolution in number of bits. This sensor has fixed resolution. */
+#define BMI_RESOLUTION      16
+/* Min and Max sampling frequency in mHz */
+#define BMI_ACCEL_MIN_FREQ 12500
+#define BMI_ACCEL_MAX_FREQ MOTION_MAX_SENSOR_FREQUENCY(1600000, 100000)
+#define BMI_GYRO_MIN_FREQ  25000
+#define BMI_GYRO_MAX_FREQ MOTION_MAX_SENSOR_FREQUENCY(3200000, 100000)
+
+enum bmi_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 BMI_FLAG_SEC_I2C_ENABLED    BIT(0)
+#define BMI_FIFO_FLAG_OFFSET        4
+#define BMI_FIFO_ALL_MASK           7
+
+struct bmi_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_BMI_BMM150
+	struct bmm150_private_data compass;
+#endif
+#ifdef CONFIG_BMI_ORIENTATION_SENSOR
+	uint8_t raw_orientation;
+	enum motionsensor_orientation orientation;
+	enum motionsensor_orientation last_orientation;
+#endif
+
+};
+
+#define BMI_GET_DATA(_s) \
+	((struct bmi_drv_data_t *)(_s)->drv_data)
+#define BMI_GET_SAVED_DATA(_s) \
+	(&BMI_GET_DATA(_s)->saved_data[(_s)->type])
+
+#ifdef CONFIG_BMI_ORIENTATION_SENSOR
+#define ORIENTATION_CHANGED(_sensor) \
+	(BMI_GET_DATA(_sensor)->orientation != \
+	BMI_GET_DATA(_sensor)->last_orientation)
+
+#define GET_ORIENTATION(_sensor) \
+	(BMI_GET_DATA(_sensor)->orientation)
+
+#define SET_ORIENTATION(_sensor, _val) \
+	(BMI_GET_DATA(_sensor)->orientation = _val)
+
+#define SET_ORIENTATION_UPDATED(_sensor) \
+	(BMI_GET_DATA(_sensor)->last_orientation = \
+	BMI_GET_DATA(_sensor)->orientation)
+#endif
+
+#define BMI_ACC_DATA BMI160_ACC_X_L_G
+#define BMI_GYR_DATA BMI160_GYR_X_L_G
+#define BMI_AUX_DATA BMI160_MAG_X_L_G
+
+#define BMI_FIFO_CONFIG_0 BMI160_FIFO_CONFIG_0
+#define BMI_FIFO_CONFIG_1 BMI160_FIFO_CONFIG_1
+#define BMI_FIFO_SENSOR_EN(_sensor) BMI160_FIFO_SENSOR_EN(_sensor)
+
+#define BMI_TEMPERATURE_0 BMI160_TEMPERATURE_0
+#define BMI_INVALID_TEMP     0x8000
+
+#define BMI_STATUS BMI160_STATUS
+#define BMI_DRDY_OFF(_sensor)   (7 - (_sensor))
+#define BMI_DRDY_MASK(_sensor)  (1 << BMI160_DRDY_OFF(_sensor))
+
+#define BMI_OFFSET_ACC70 BMI160_OFFSET_ACC70
+#define BMI_OFFSET_GYR70 BMI160_OFFSET_GYR70
+/*
+ * There is some bits in this register that differ between BMI160 and BMI260
+ * Only use this macro for gyro offset 9:8 (BMI_OFFSET_EN_GYR98 5:0).
+ */
+#define BMI_OFFSET_EN_GYR98 BMI160_OFFSET_EN_GYR98
+#define BMI_OFFSET_GYR98_MASK     (BIT(6) - 1)
+#define BMI_OFFSET_ACC_MULTI_MG   (3900 * 1024)
+#define BMI_OFFSET_ACC_DIV_MG     1000000
+#define BMI_OFFSET_GYRO_MULTI_MDS (61 * 1024)
+#define BMI_OFFSET_GYRO_DIV_MDS   1000
+
+#define BMI_FIFO_LENGTH_0 BMI160_FIFO_LENGTH_0
+#define BMI_FIFO_LENGTH_MASK BMI160_FIFO_LENGTH_MASK
+#define BMI_FIFO_DATA BMI160_FIFO_DATA
+
+#define BMI_CMD_REG BMI160_CMD_REG
+#define BMI_CMD_FIFO_FLUSH 0xb0
+
+
+
+/*
+ * Struct for pairing an engineering value with the register value for a
+ * parameter.
+ */
+struct bmi_accel_param_pair {
+	int val; /* Value in engineering units. */
+	int reg_val; /* Corresponding register value. */
+};
+
+int bmi_get_xyz_reg(const struct motion_sensor_t *s);
+
+/**
+ * @param type   Accel/Gyro
+ * @param psize  Size of the table
+ *
+ * @return       Range table of the type.
+ */
+const struct bmi_accel_param_pair *bmi_get_range_table(
+		const struct motion_sensor_t *s, int *psize);
+
+/**
+ * @return reg value that matches the given engineering value passed in.
+ * The round_up flag is used to specify whether to round up or down.
+ * Note, this function always returns a valid reg value. If the request is
+ * outside the range of values, it returns the closest valid reg value.
+ */
+int bmi_get_reg_val(const int eng_val, const int round_up,
+		    const struct bmi_accel_param_pair *pairs,
+		    const int size);
+
+/**
+ * @return engineering value that matches the given reg val
+ */
+int bmi_get_engineering_val(const int reg_val,
+			    const struct bmi_accel_param_pair *pairs,
+			    const int size);
+
+#ifdef CONFIG_SPI_ACCEL_PORT
+int bmi_spi_raw_read(const int addr, const uint8_t reg,
+		     uint8_t *data, const int len);
+#endif
+
+/**
+ * Read 8bit register from accelerometer.
+ */
+int bmi_read8(const int port, const uint16_t i2c_spi_addr_flags,
+	      const int reg, int *data_ptr);
+
+/**
+ * Write 8bit register from accelerometer.
+ */
+int bmi_write8(const int port, const uint16_t i2c_spi_addr_flags,
+	       const int reg, int data);
+
+/**
+ * Read 16bit register from accelerometer.
+ */
+int bmi_read16(const int port, const uint16_t i2c_spi_addr_flags,
+	       const uint8_t reg, int *data_ptr);
+
+/**
+ * Write 16bit register from accelerometer.
+ */
+int bmi_write16(const int port, const uint16_t i2c_spi_addr_flags,
+		const int reg, int data);
+
+/**
+ * Read 32bit register from accelerometer.
+ */
+int bmi_read32(const int port, const uint16_t i2c_spi_addr_flags,
+	       const uint8_t reg, int *data_ptr);
+
+/**
+ * Read n bytes from accelerometer.
+ */
+int bmi_read_n(const int port, const uint16_t i2c_spi_addr_flags,
+	       const uint8_t reg, uint8_t *data_ptr, const int len);
+
+/**
+ * Write n bytes from accelerometer.
+ */
+int bmi_write_n(const int port, const uint16_t i2c_spi_addr_flags,
+		const uint8_t reg, const uint8_t *data_ptr, const int len);
+
+/*
+ * Enable/Disable specific bit set of a 8-bit reg.
+ */
+int bmi_enable_reg8(const struct motion_sensor_t *s,
+		    int reg, uint8_t bits, int enable);
+
+/*
+ * Set specific bit set to certain value of a 8-bit reg.
+ */
+int bmi_set_reg8(const struct motion_sensor_t *s, int reg,
+		 uint8_t bits, int mask);
+
+/*
+ * @s: base sensor.
+ * @v: output vector.
+ * @input: 6-bits array input.
+ */
+void bmi_normalize(const struct motion_sensor_t *s, intv3_t v, uint8_t *input);
+
+/*
+ * Decode the header from the fifo.
+ * Return 0 if we need further processing.
+ * Sensor mutex must be held during processing, to protect the fifos.
+ *
+ * @accel: base sensor
+ * @hdr: the header to decode
+ * @last_ts: the last timestamp of fifo interrupt.
+ * @bp: current pointer in the buffer, updated when processing the header.
+ * @ep: pointer to the end of the valid data in the buffer.
+ */
+int bmi_decode_header(struct motion_sensor_t *accel,
+		      enum fifo_header hdr, uint32_t last_ts,
+		      uint8_t **bp, uint8_t *ep);
+/**
+ * Retrieve hardware FIFO from sensor,
+ * - put data in Sensor Hub fifo.
+ * - update sensor raw_xyz vector with the last information.
+ * We put raw data in hub fifo and process data from there.
+ * @s: Pointer to sensor data.
+ * @last_ts: The last timestamp of fifo interrupt.
+ *
+ * Read only up to  bmi_buffer. If more reads are needed, we will be called
+ * again by the interrupt routine.
+ *
+ * NOTE: If a new driver supports this function, be sure to add a check
+ * for spoof_mode in order to load the sensor stack with the spoofed
+ * data.  See accelgyro_bmi260.c::load_fifo for an example.
+ */
+int bmi_load_fifo(struct motion_sensor_t *s, uint32_t last_ts);
+
+int bmi_set_range(const struct motion_sensor_t *s, int range, int rnd);
+
+int bmi_get_range(const struct motion_sensor_t *s);
+
+int bmi_get_data_rate(const struct motion_sensor_t *s);
+
+
+int bmi_get_offset(const struct motion_sensor_t *s,
+		   int16_t *offset, int16_t *temp);
+
+int bmi_get_resolution(const struct motion_sensor_t *s);
+
+int bmi_set_scale(const struct motion_sensor_t *s,
+		  const uint16_t *scale, int16_t temp);
+
+int bmi_get_scale(const struct motion_sensor_t *s,
+		  uint16_t *scale, int16_t *temp);
+
+/* Start/Stop the FIFO collecting events */
+int bmi_enable_fifo(const struct motion_sensor_t *s, int enable);
+
+/* Read the xyz data of accel/gyro */
+int bmi_read(const struct motion_sensor_t *s, intv3_t v);
+
+/* Read temperature of sensor s */
+int bmi_read_temp(const struct motion_sensor_t *s, int *temp_ptr);
+
+/* Read temperature of sensor idx */
+int bmi_get_sensor_temp(int idx, int *temp_ptr);
+
+/*
+ * Get the normalized rate according to input rate and input rnd
+ * @rate: input rate
+ * @rnd: round up
+ * @normalized_rate_ptr: normalized rate pointer for output
+ * @reg_val_ptr: pointer to the actual register value of normalized rate for
+ *               output.
+ */
+int bmi_get_normalized_rate(const struct motion_sensor_t *s, int rate, int rnd,
+			    int *normalized_rate_ptr, uint8_t *reg_val_ptr);
+
+/* Get the accelerometer offset */
+void bmi_accel_get_offset(const struct motion_sensor_t *accel, intv3_t v);
+
+/* Get the gyroscope offset */
+void bmi_gyro_get_offset(const struct motion_sensor_t *gyro, intv3_t v);
+
+/* Set the accelerometer offset */
+void bmi_set_accel_offset(const struct motion_sensor_t *accel, intv3_t v);
+
+/* Set the gyroscope offset */
+void bmi_set_gyro_offset(const struct motion_sensor_t *gyro, intv3_t v,
+			 int *val98_ptr);
+
+#endif /* __CROS_EC_ACCELGYRO_BMI_COMMON_H */