diff options
Diffstat (limited to 'driver/accelgyro_bmi160.h')
| -rw-r--r-- | driver/accelgyro_bmi160.h | 201 |
1 files changed, 139 insertions, 62 deletions
diff --git a/driver/accelgyro_bmi160.h b/driver/accelgyro_bmi160.h index b73b28bbb9..d8b12a0bc8 100644 --- a/driver/accelgyro_bmi160.h +++ b/driver/accelgyro_bmi160.h @@ -49,39 +49,82 @@ #define BMI160_SENSORTIME_2 0x1a #define BMI160_STATUS 0x1b -#define BMI160_DRDY_ACC 0x80 -#define BMI160_DRDY_GYR 0x40 -#define BMI160_DRDY_MAG 0x20 +#define BMI160_POR_DETECTED (1 << 0) +#define BMI160_GYR_SLF_TST (1 << 1) +#define BMI160_MAG_MAN_OP (1 << 2) +#define BMI160_FOC_RDY (1 << 3) +#define BMI160_NVM_RDY (1 << 4) +#define BMI160_DRDY_MAG (1 << 5) +#define BMI160_DRDY_GYR (1 << 6) +#define BMI160_DRDY_ACC (1 << 7) #define BMI160_DRDY_OFF(_sensor) (7 - (_sensor)) #define BMI160_DRDY_MASK(_sensor) (1 << BMI160_DRDY_OFF(_sensor)) -#define BMI160_NVM_RDY 0x10 -#define BMI160_FOC_RDY 0x08 -#define BMI160_MAG_MAN_OP 0x04 -#define BMI160_GYR_SLF_TST 0x02 -#define BMI160_POR_DETECTED 0x01 - +/* first 2 bytes are the interrupt reasons, next 2 some qualifier */ #define BMI160_INT_STATUS_0 0x1c +#define BMI160_STEP_INT (1 << 0) +#define BMI160_SIGMOT_INT (1 << 1) +#define BMI160_ANYM_INT (1 << 2) +#define BMI160_PMU_TRIGGER_INT (1 << 3) +#define BMI160_D_TAP_INT (1 << 4) +#define BMI160_S_TAP_INT (1 << 5) +#define BMI160_ORIENT_INT (1 << 6) +#define BMI160_FLAT_INT (1 << 7) + #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_FIFO_LENGTH_0 0x22 #define BMI160_FIFO_LENGTH_1 0x23 +#define BMI160_FIFO_LENGTH_MASK ((1 << 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_GSEL_2G 0X03 -#define BMI160_GSEL_4G 0X05 -#define BMI160_GSEL_8G 0X08 -#define BMI160_GSEL_16G 0X0C +#define BMI160_GSEL_2G 0x03 +#define BMI160_GSEL_4G 0x05 +#define BMI160_GSEL_8G 0x08 +#define BMI160_GSEL_16G 0x0c #define BMI160_ODR_MASK 0x0F -#define BMI160_ACC_BW_OFFSET 4 +#define BMI160_ACC_BW_OFFSET 4 #define BMI160_ACC_BW_MASK (0x7 << BMI160_ACC_BW_OFFSET) #define BMI160_ACC_RANGE 0x41 @@ -119,6 +162,18 @@ #define BMI160_FIFO_DOWNS 0x45 #define BMI160_FIFO_CONFIG_0 0x46 #define BMI160_FIFO_CONFIG_1 0x47 +#define BMI160_FIFO_TAG_TIME_EN (1 << 1) +#define BMI160_FIFO_TAG_INT2_EN (1 << 2) +#define BMI160_FIFO_TAG_INT1_EN (1 << 3) +#define BMI160_FIFO_HEADER_EN (1 << 4) +#define BMI160_FIFO_MAG_EN (1 << 5) +#define BMI160_FIFO_ACC_EN (1 << 6) +#define BMI160_FIFO_GYR_EN (1 << 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 @@ -142,16 +197,71 @@ #define BMI160_MAG_I2C_READ_DATA BMI160_MAG_X_L_G #define BMI160_INT_EN_0 0x50 +#define BMI160_INT_ANYMO_X_EN (1 << 0) +#define BMI160_INT_ANYMO_Y_EN (1 << 1) +#define BMI160_INT_ANYMO_Z_EN (1 << 2) +#define BMI160_INT_D_TAP_EN (1 << 4) +#define BMI160_INT_S_TAP_EN (1 << 5) +#define BMI160_INT_ORIENT_EN (1 << 6) +#define BMI160_INT_FLAT_EN (1 << 7) #define BMI160_INT_EN_1 0x51 +#define BMI160_INT_HIGHG_X_EN (1 << 0) +#define BMI160_INT_HIGHG_Y_EN (1 << 1) +#define BMI160_INT_HIGHG_Z_EN (1 << 2) +#define BMI160_INT_LOW_EN (1 << 3) +#define BMI160_INT_DRDY_EN (1 << 4) +#define BMI160_INT_FFUL_EN (1 << 5) +#define BMI160_INT_FWM_EN (1 << 6) #define BMI160_INT_EN_2 0x52 +#define BMI160_INT_NOMOX_EN (1 << 0) +#define BMI160_INT_NOMOY_EN (1 << 1) +#define BMI160_INT_NOMOZ_EN (1 << 2) +#define BMI160_INT_STEP_DET_EN (1 << 3) #define BMI160_INT_OUT_CTRL 0x53 +#define BMI160_INT_EDGE_CTRL (1 << 0) +#define BMI160_INT_LVL_CTRL (1 << 1) +#define BMI160_INT_OD (1 << 2) +#define BMI160_INT_OUTPUT_EN (1 << 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 (1 << 4) +#define BMI160_INT2_INPUT_EN (1 << 5) +#define BMI160_LATCH_MASK 0xf +#define BMI160_LATCH_NONE 0 +#define BMI160_LATCH_FOREVER 0xf #define BMI160_INT_MAP_0 0x55 +#define BMI160_INT_LOWG_STEP (1 << 0) +#define BMI160_INT_HIGHG (1 << 1) +#define BMI160_INT_ANYMOTION (1 << 2) +#define BMI160_INT_NOMOTION (1 << 3) +#define BMI160_INT_D_TAP (1 << 4) +#define BMI160_INT_S_TAP (1 << 5) +#define BMI160_INT_ORIENT (1 << 6) +#define BMI160_INT_FLAT (1 << 7) + #define BMI160_INT_MAP_1 0x56 +#define BMI160_INT_PMU_TRIG (1 << 0) +#define BMI160_INT_FFULL (1 << 1) +#define BMI160_INT_FWM (1 << 2) +#define BMI160_INT_DRDY (1 << 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 @@ -193,8 +303,10 @@ #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_NORMAL(_sensor) (0x11 + 4 * (_sensor)) -#define BMI160_CMD_MODE_SUSPEND(_sensor) (0x10 + 4 * (_sensor)) +#define BMI160_CMD_MODE_SUSPEND(_sensor) \ + (BMI160_CMD_ACC_MODE_SUSP + 4 * (_sensor)) +#define BMI160_CMD_MODE_NORMAL(_sensor) \ + (BMI160_CMD_ACC_MODE_NORMAL + 4 * (_sensor)) #define BMI160_CMD_FIFO_FLUSH 0xb0 #define BMI160_CMD_INT_RESET 0xb1 @@ -221,52 +333,6 @@ #define BMI160_FF_DATA_LEN_GYR 6 #define BMI160_FF_DATA_LEN_MAG 8 -#if 0 -#define BMI160_DPS_SEL_245 (0 << 3) -#define BMI160_DPS_SEL_500 (1 << 3) -#define BMI160_DPS_SEL_1000 (2 << 3) -#define BMI160_DPS_SEL_2000 (3 << 3) -#define BMI160_GSEL_2G (0 << 3) -#define BMI160_GSEL_4G (2 << 3) -#define BMI160_GSEL_8G (3 << 3) - -#define BMI160_RANGE_MASK (3 << 3) - -#define BMI160_ODR_PD (0 << 5) -#define BMI160_ODR_10HZ (1 << 5) -#define BMI160_ODR_15HZ (1 << 5) -#define BMI160_ODR_50HZ (2 << 5) -#define BMI160_ODR_59HZ (2 << 5) -#define BMI160_ODR_119HZ (3 << 5) -#define BMI160_ODR_238HZ (4 << 5) -#define BMI160_ODR_476HZ (5 << 5) -#define BMI160_ODR_952HZ (6 << 5) - -#define BMI160_ODR_MASK (7 << 5) - -/* - * Register : STATUS_REG - * Address : 0X27 - */ -enum bmi160_status { - BMI160_STS_DOWN = 0x00, - BMI160_STS_XLDA_UP = 0x01, - BMI160_STS_GDA_UP = 0x02, -}; -#define BMI160_STS_XLDA_MASK 0x01 -#define BMI160_STS_GDA_MASK 0x02 - -/* - * Register : CTRL_REG8 - * Address : 0X22 - * Bit Group Name: BDU - */ -enum bmi160_bdu { - BMI160_BDU_DISABLE = 0x00, - BMI160_BDU_ENABLE = 0x40, -}; -#endif - /* Sensor resolution in number of bits. This sensor has fixed resolution. */ #define BMI160_RESOLUTION 16 @@ -285,8 +351,19 @@ enum bmi160_running_mode { }; #define BMI160_FLAG_SEC_I2C_ENABLED (1 << 0) + struct bmi160_drv_data_t { struct motion_data_t saved_data[3]; uint8_t flags; }; + +#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]) + +extern struct bmi160_drv_data_t g_bmi160_data; + +void bmi160_interrupt(enum gpio_signal signal); + #endif /* __CROS_EC_ACCELGYRO_BMI160_H */ |