driver: Add BMI260 basic driver support

Add BMI260 accel/gyro driver code. Be able to do initial configuration,
start up sensor, config interrupt and fifo, perform calibration, and
access the sensor data from AP.

BRANCH=None
BUG=b:146144827
TEST=make -j4 BOARD=volteer \
     && flash_ec --image build/volteer/ec.bin --board volteer
     Then, check sensor data is available on DUT by "ectool motionsense".
TEST=make buildall -j
TEST=tast run ${IP} hardware.SensorRing

Cq-Depend: chromium:2148802
Change-Id: I5124ee8359a74f98cfe8d26da640325f5e00cb15
Signed-off-by: Ching-Kang Yen <chingkang@chromium.org>
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/2086534
Reviewed-by: Gwendal Grignou <gwendal@chromium.org>

1 files changed, 33 insertions, 17 deletions

diff --git a/driver/accelgyro_bmi_common.h b/driver/accelgyro_bmi_common.h
index cf7f0d06cb..583d43b04d 100644
--- a/driver/accelgyro_bmi_common.h
+++ b/driver/accelgyro_bmi_common.h
@@ -9,6 +9,7 @@
 
 #include "accelgyro.h"
 #include "driver/accelgyro_bmi160.h"
+#include "driver/accelgyro_bmi260.h"
 #include "mag_bmm150.h"
 
 #define BMI_CONF_REG(_sensor)      (0x40 + 2 * (_sensor))
@@ -99,39 +100,54 @@ struct bmi_drv_data_t {
 	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_ACC_DATA(v) (BMI160_ACC_X_L_G + \
+	(v) * (BMI260_ACC_X_L_G - BMI160_ACC_X_L_G))
+#define BMI_GYR_DATA(v) (BMI160_GYR_X_L_G + \
+	(v) * (BMI260_GYR_X_L_G - BMI160_GYR_X_L_G))
+#define BMI_AUX_DATA(v) (BMI160_MAG_X_L_G + \
+	(v) * (BMI260_AUX_X_L_G - BMI160_MAG_X_L_G))
+
+#define BMI_FIFO_CONFIG_0(v) (BMI160_FIFO_CONFIG_0 + \
+	(v) * (BMI260_FIFO_CONFIG_0 - BMI160_FIFO_CONFIG_0))
+#define BMI_FIFO_CONFIG_1(v) (BMI160_FIFO_CONFIG_1 + \
+	(v) * (BMI260_FIFO_CONFIG_1 - BMI160_FIFO_CONFIG_1))
+#define BMI_FIFO_SENSOR_EN(v, _sensor) (BMI160_FIFO_SENSOR_EN(_sensor) + \
+	(v) * (BMI260_FIFO_SENSOR_EN(_sensor) - BMI160_FIFO_SENSOR_EN(_sensor)))
+
+#define BMI_TEMPERATURE_0(v) (BMI160_TEMPERATURE_0 + \
+	(v) * (BMI260_TEMPERATURE_0 - BMI160_TEMPERATURE_0))
 #define BMI_INVALID_TEMP     0x8000
 
-#define BMI_STATUS BMI160_STATUS
+#define BMI_STATUS(v) (BMI160_STATUS + \
+	(v) * (BMI260_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
+#define BMI_OFFSET_ACC70(v) (BMI160_OFFSET_ACC70 + \
+	(v) * (BMI260_OFFSET_ACC70 - BMI160_OFFSET_ACC70))
+#define BMI_OFFSET_GYR70(v) (BMI160_OFFSET_GYR70 + \
+	(v) * (BMI260_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_EN_GYR98(v) (BMI160_OFFSET_EN_GYR98 + \
+	(v) * (BMI260_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_FIFO_LENGTH_0(v) (BMI160_FIFO_LENGTH_0 + \
+	(v) * (BMI260_FIFO_LENGTH_0 - BMI160_FIFO_LENGTH_0))
+#define BMI_FIFO_LENGTH_MASK(v) (BMI160_FIFO_LENGTH_MASK + \
+	(v) * (BMI260_FIFO_LENGTH_MASK - BMI160_FIFO_LENGTH_MASK))
+#define BMI_FIFO_DATA(v) (BMI160_FIFO_DATA + \
+	(v) * (BMI260_FIFO_DATA - BMI160_FIFO_DATA))
 
-#define BMI_CMD_REG BMI160_CMD_REG
+#define BMI_CMD_REG(v) (BMI160_CMD_REG + \
+	(v) * (BMI260_CMD_REG - BMI160_CMD_REG))
 #define BMI_CMD_FIFO_FLUSH 0xb0