accel: add accel driver for LSM6DSM

This add basics for acc and gyro sensor ST lsm6dsm
Still need to add interrupt management for embedded
functions and FIFO

BUG=none
BRANCH=master
TEST=Tested on discovery BOARD with sensor connected on
EC i2c master bus. Added motion sense task on discovery
board task list, added gpio info in board configuration
file and tested with motion sense console commands. Data
for acc/gyro seems ok, can successfully change ODR and
full scale range for acc and gyro.

Change-Id: Ie50c8c0ee366994ed97f7ff3252633893b813ac2
Signed-off-by: Mario Tesi <mario.tesi@st.com>
Reviewed-on: https://chromium-review.googlesource.com/406947
Commit-Ready: mario tesi <mario.tesi@st.com>
Tested-by: mario tesi <mario.tesi@st.com>
Reviewed-by: Gwendal Grignou <gwendal@chromium.org>

1 files changed, 180 insertions, 0 deletions

diff --git a/driver/accelgyro_lsm6dsm.h b/driver/accelgyro_lsm6dsm.h
new file mode 100644
index 0000000000..ba1bf51510
--- /dev/null
+++ b/driver/accelgyro_lsm6dsm.h
@@ -0,0 +1,180 @@
+/* Copyright (c) 2016 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.
+ */
+
+/* LSM6DSM Accel and Gyro driver for Chrome EC */
+
+#ifndef __CROS_EC_ACCELGYRO_LSM6DSM_H
+#define __CROS_EC_ACCELGYRO_LSM6DSM_H
+
+#include "accelgyro.h"
+
+#define LSM6DSM_I2C_ADDR(__x)		(__x << 1)
+
+/*
+ * 7-bit address is 110101Xb. Where 'X' is determined
+ * by the voltage on the ADDR pin.
+ */
+#define LSM6DSM_ADDR0             	LSM6DSM_I2C_ADDR(0x6a)
+#define LSM6DSM_ADDR1             	LSM6DSM_I2C_ADDR(0x6b)
+
+/* Who Am I */
+#define LSM6DSM_WHO_AM_I_REG		0x0f
+#define LSM6DSM_WHO_AM_I          	0x6a
+
+#define LSM6DSM_OUT_XYZ_SIZE 		6
+
+/* Sensor Software Reset Bit */
+#define LSM6DSM_RESET_ADDR		0x12
+#define LSM6DSM_RESET_MASK		0x01
+
+/* COMMON DEFINE FOR ACCEL-GYRO SENSORS */
+#define LSM6DSM_EN_BIT			0x01
+#define LSM6DSM_DIS_BIT			0x00
+
+#define LSM6DSM_LIR_ADDR		0x58
+#define LSM6DSM_LIR_MASK		0x01
+
+#define LSM6DSM_BDU_ADDR		0x12
+#define LSM6DSM_BDU_MASK		0x40
+
+#define LSM6DSM_INT2_ON_INT1_ADDR	0x13
+#define LSM6DSM_INT2_ON_INT1_MASK	0x20
+
+#define LSM6DSM_GYRO_OUT_X_L_ADDR	0x22
+#define LSM6DSM_ACCEL_OUT_X_L_ADDR	0x28
+
+#define LSM6DSM_CTRL1_ADDR		0x10
+#define LSM6DSM_CTRL2_ADDR		0x11
+#define LSM6DSM_CTRL3_ADDR		0x12
+#define LSM6DSM_CTRL6_ADDR		0x15
+#define LSM6DSM_CTRL7_ADDR		0x16
+
+#define LSM6DSM_STATUS_REG		0x1e
+
+/* Output data rate registers and masks */
+#define LSM6DSM_ODR_REG(_sensor) \
+	(LSM6DSM_CTRL1_ADDR + _sensor)
+#define LSM6DSM_ODR_MASK		0xf0
+
+/* Common Acc/Gyro data rate */
+enum lsm6dsm_odr {
+	LSM6DSM_ODR_POWER_OFF_VAL = 0x00,
+	LSM6DSM_ODR_13HZ_VAL,
+	LSM6DSM_ODR_26HZ_VAL,
+	LSM6DSM_ODR_52HZ_VAL,
+	LSM6DSM_ODR_104HZ_VAL,
+	LSM6DSM_ODR_208HZ_VAL,
+	LSM6DSM_ODR_416HZ_VAL,
+	LSM6DSM_ODR_833HZ_VAL,
+	LSM6DSM_ODR_LIST_NUM
+};
+
+/* Absolute maximum rate for acc and gyro sensors */
+#define LSM6DSM_ODR_MIN_VAL		13000
+#define LSM6DSM_ODR_MAX_VAL		833000
+
+/* ODR reg value from selected data rate in mHz */
+#define LSM6DSM_ODR_TO_REG(_odr) \
+	(31 - __builtin_clz(_odr / LSM6DSM_ODR_MIN_VAL))
+
+/* normalized ODR value from selected data rate in mHz */
+#define LSM6DSM_ODR_TO_NORMALIZE(_odr) \
+	(LSM6DSM_ODR_MIN_VAL * (_odr / LSM6DSM_ODR_MIN_VAL))
+
+/* Full Scale range value for Accel */
+#define LSM6DSM_FS_LIST_NUM		4
+
+#define LSM6DSM_ACCEL_FS_ADDR		0x10
+#define LSM6DSM_ACCEL_FS_MASK		0x0c
+
+#define LSM6DSM_ACCEL_FS_2G_VAL		0x00
+#define LSM6DSM_ACCEL_FS_4G_VAL		0x02
+#define LSM6DSM_ACCEL_FS_8G_VAL		0x03
+#define LSM6DSM_ACCEL_FS_16G_VAL	0x01
+
+#define LSM6DSM_ACCEL_FS_2G_GAIN	61
+#define LSM6DSM_ACCEL_FS_4G_GAIN	122
+#define LSM6DSM_ACCEL_FS_8G_GAIN	244
+#define LSM6DSM_ACCEL_FS_16G_GAIN	488
+
+#define LSM6DSM_ACCEL_FS_MAX_VAL	16
+
+/* Accel Gain value from selected Full Scale */
+#define LSM6DSM_ACCEL_FS_GAIN(_fs) \
+	(_fs == 16 ? LSM6DSM_ACCEL_FS_16G_GAIN : \
+	LSM6DSM_ACCEL_FS_2G_GAIN << (31 - __builtin_clz(_fs / 2)))
+
+/* Accel FS Full Scale value from Gain */
+#define LSM6DSM_ACCEL_GAIN_FS(_gain) \
+	(1 << (32 - __builtin_clz(_gain / LSM6DSM_ACCEL_FS_2G_GAIN)))
+
+/* Accel Reg value from Full Scale */
+#define LSM6DSM_ACCEL_FS_REG(_fs) \
+	(_fs == 2 ? LSM6DSM_ACCEL_FS_2G_VAL : \
+	_fs == 16 ? LSM6DSM_ACCEL_FS_16G_VAL : \
+	(32 - __builtin_clz(_fs / 2)))
+
+/* Accel normalized FS value from Full Scale */
+#define LSM6DSM_ACCEL_NORMALIZE_FS(_fs) \
+	(1 << (32 - __builtin_clz(_fs / 2)))
+
+/* Full Scale range value for Gyro */
+#define LSM6DSM_GYRO_FS_ADDR		0x11
+#define LSM6DSM_GYRO_FS_MASK		0x0c
+
+#define LSM6DSM_GYRO_FS_245_VAL		0x00
+#define LSM6DSM_GYRO_FS_500_VAL		0x01
+#define LSM6DSM_GYRO_FS_1000_VAL	0x02
+#define LSM6DSM_GYRO_FS_2000_VAL	0x03
+
+#define LSM6DSM_GYRO_FS_245_GAIN	8750
+#define LSM6DSM_GYRO_FS_500_GAIN	17500
+#define LSM6DSM_GYRO_FS_1000_GAIN	35000
+#define LSM6DSM_GYRO_FS_2000_GAIN	70000
+
+#define LSM6DSM_GYRO_FS_MAX_VAL		20000
+
+/* Gyro FS Gain value from selected Full Scale */
+#define LSM6DSM_GYRO_FS_GAIN(_fs) \
+	(LSM6DSM_GYRO_FS_245_GAIN << (31 - __builtin_clz(_fs / 245)))
+
+/* Gyro FS Full Scale value from Gain */
+#define LSM6DSM_GYRO_GAIN_FS(_gain) \
+	(_gain == LSM6DSM_GYRO_FS_245_GAIN ? 245 : \
+	500 << (30 - __builtin_clz(_gain / LSM6DSM_GYRO_FS_245_GAIN)))
+
+/* Gyro Reg value from Full Scale */
+#define LSM6DSM_GYRO_FS_REG(_fs) \
+	((31 - __builtin_clz(_fs / 245)))
+
+/* Gyro normalized FS value from Full Scale: for Gyro Gains are not multiple */
+#define LSM6DSM_GYRO_NORMALIZE_FS(_fs) \
+	(_fs == 245 ? 245 : 500 << (31 - __builtin_clz(_fs / 500)))
+
+/* FS register address/mask for Acc/Gyro sensors */
+#define LSM6DSM_RANGE_REG(_sensor)  	(LSM6DSM_ACCEL_FS_ADDR + (_sensor))
+#define LSM6DSM_RANGE_MASK  		0x0c
+
+/* Status register bitmask for Acc/Gyro data ready */
+enum lsm6dsm_status {
+	LSM6DSM_STS_DOWN = 0x00,
+	LSM6DSM_STS_XLDA_UP = 0x01,
+	LSM6DSM_STS_GDA_UP = 0x02
+};
+
+#define LSM6DSM_STS_XLDA_MASK		0x01
+#define LSM6DSM_STS_GDA_MASK		0x02
+
+/* Sensor resolution in number of bits. This sensor has fixed resolution. */
+#define LSM6DSM_RESOLUTION      	16
+
+extern const struct accelgyro_drv lsm6dsm_drv;
+
+struct lsm6dsm_data {
+	struct accelgyro_saved_data_t base;
+	int16_t offset[3];
+};
+
+#endif /* __CROS_EC_ACCELGYRO_LSM6DSM_H */