diff options
Diffstat (limited to 'driver/accelgyro_lsm6dsm.h')
| -rw-r--r-- | driver/accelgyro_lsm6dsm.h | 293 |
1 files changed, 153 insertions, 140 deletions
diff --git a/driver/accelgyro_lsm6dsm.h b/driver/accelgyro_lsm6dsm.h index 907429257a..51da2a42fb 100644 --- a/driver/accelgyro_lsm6dsm.h +++ b/driver/accelgyro_lsm6dsm.h @@ -1,4 +1,4 @@ -/* Copyright 2016 The Chromium OS Authors. All rights reserved. +/* Copyright 2016 The ChromiumOS Authors * Use of this source code is governed by a BSD-style license that can be * found in the LICENSE file. */ @@ -17,165 +17,163 @@ * 7-bit address is 110101xb. Where 'x' is determined * by the voltage on the ADDR pin */ -#define LSM6DSM_ADDR0_FLAGS 0x6a -#define LSM6DSM_ADDR1_FLAGS 0x6b +#define LSM6DSM_ADDR0_FLAGS 0x6a +#define LSM6DSM_ADDR1_FLAGS 0x6b /* COMMON DEFINE FOR ACCEL-GYRO SENSORS */ -#define LSM6DSM_EN_BIT 0x01 -#define LSM6DSM_DIS_BIT 0x00 +#define LSM6DSM_EN_BIT 0x01 +#define LSM6DSM_DIS_BIT 0x00 /* Access to embedded sensor hub register bank */ -#define LSM6DSM_FUNC_CFG_ACC_ADDR 0x01 -#define LSM6DSM_FUNC_CFG_EN 0x80 -#define LSM6DSM_FUNC_CFG_EN_B 0x20 +#define LSM6DSM_FUNC_CFG_ACC_ADDR 0x01 +#define LSM6DSM_FUNC_CFG_EN 0x80 +#define LSM6DSM_FUNC_CFG_EN_B 0x20 /* FIFO decimator registers and bitmask */ -#define LSM6DSM_FIFO_CTRL1_ADDR 0x06 +#define LSM6DSM_FIFO_CTRL1_ADDR 0x06 /* Output data rate registers and masks */ -#define LSM6DSM_ODR_REG(_sensor) \ - (LSM6DSM_CTRL1_ADDR + _sensor) -#define LSM6DSM_ODR_MASK 0xf0 +#define LSM6DSM_ODR_REG(_sensor) (LSM6DSM_CTRL1_ADDR + _sensor) +#define LSM6DSM_ODR_MASK 0xf0 -#define LSM6DSM_FIFO_CTRL2_ADDR 0x07 +#define LSM6DSM_FIFO_CTRL2_ADDR 0x07 -#define LSM6DSM_FIFO_CTRL3_ADDR 0x08 -#define LSM6DSM_FIFO_DEC_XL_OFF 0 -#define LSM6DSM_FIFO_DEC_G_OFF 3 +#define LSM6DSM_FIFO_CTRL3_ADDR 0x08 +#define LSM6DSM_FIFO_DEC_XL_OFF 0 +#define LSM6DSM_FIFO_DEC_G_OFF 3 -#define LSM6DSM_FIFO_CTRL4_ADDR 0x09 +#define LSM6DSM_FIFO_CTRL4_ADDR 0x09 #define LSM6DSM_FIFO_DECIMATOR(_dec) \ (_dec < 8 ? _dec : (2 + __builtin_ctz(_dec))) /* Hardware FIFO size in byte */ -#define LSM6DSM_MAX_FIFO_SIZE 4096 -#define LSM6DSM_MAX_FIFO_LENGTH (LSM6DSM_MAX_FIFO_SIZE / OUT_XYZ_SIZE) +#define LSM6DSM_MAX_FIFO_SIZE 4096 +#define LSM6DSM_MAX_FIFO_LENGTH (LSM6DSM_MAX_FIFO_SIZE / OUT_XYZ_SIZE) -#define LSM6DSM_FIFO_CTRL5_ADDR 0x0a -#define LSM6DSM_FIFO_CTRL5_ODR_OFF 3 -#define LSM6DSM_FIFO_CTRL5_ODR_MASK \ - (0xf << LSM6DSM_FIFO_CTRL5_ODR_OFF) -#define LSM6DSM_FIFO_CTRL5_MODE_MASK 0x07 +#define LSM6DSM_FIFO_CTRL5_ADDR 0x0a +#define LSM6DSM_FIFO_CTRL5_ODR_OFF 3 +#define LSM6DSM_FIFO_CTRL5_ODR_MASK (0xf << LSM6DSM_FIFO_CTRL5_ODR_OFF) +#define LSM6DSM_FIFO_CTRL5_MODE_MASK 0x07 -#define LSM6DSM_INT1_CTRL 0x0d -#define LSM6DSM_INT_FIFO_TH 0x08 -#define LSM6DSM_INT_FIFO_OVR 0x10 -#define LSM6DSM_INT_FIFO_FULL 0x20 -#define LSM6DSM_INT_SIGMO 0x40 +#define LSM6DSM_INT1_CTRL 0x0d +#define LSM6DSM_INT_FIFO_TH 0x08 +#define LSM6DSM_INT_FIFO_OVR 0x10 +#define LSM6DSM_INT_FIFO_FULL 0x20 +#define LSM6DSM_INT_SIGMO 0x40 /* Who Am I */ -#define LSM6DSM_WHO_AM_I_REG 0x0f +#define LSM6DSM_WHO_AM_I_REG 0x0f /* LSM6DSM/LSM6DSL/LSM6DS3TR-C */ -#define LSM6DSM_WHO_AM_I 0x6a +#define LSM6DSM_WHO_AM_I 0x6a /* LSM6DS3 */ -#define LSM6DS3_WHO_AM_I 0x69 +#define LSM6DS3_WHO_AM_I 0x69 -#define LSM6DSM_CTRL1_ADDR 0x10 -#define LSM6DSM_XL_ODR_MASK 0xf0 +#define LSM6DSM_CTRL1_ADDR 0x10 +#define LSM6DSM_XL_ODR_MASK 0xf0 -#define LSM6DSM_CTRL2_ADDR 0x11 -#define LSM6DSM_CTRL3_ADDR 0x12 -#define LSM6DSM_SW_RESET 0x01 -#define LSM6DSM_IF_INC 0x04 -#define LSM6DSM_PP_OD 0x10 -#define LSM6DSM_H_L_ACTIVE 0x20 -#define LSM6DSM_BDU 0x40 -#define LSM6DSM_BOOT 0x80 +#define LSM6DSM_CTRL2_ADDR 0x11 +#define LSM6DSM_CTRL3_ADDR 0x12 +#define LSM6DSM_SW_RESET 0x01 +#define LSM6DSM_IF_INC 0x04 +#define LSM6DSM_PP_OD 0x10 +#define LSM6DSM_H_L_ACTIVE 0x20 +#define LSM6DSM_BDU 0x40 +#define LSM6DSM_BOOT 0x80 -#define LSM6DSM_CTRL4_ADDR 0x13 -#define LSM6DSM_INT2_ON_INT1_MASK 0x20 +#define LSM6DSM_CTRL4_ADDR 0x13 +#define LSM6DSM_INT2_ON_INT1_MASK 0x20 -#define LSM6DSM_CTRL6_ADDR 0x15 -#define LSM6DSM_CTRL7_ADDR 0x16 +#define LSM6DSM_CTRL6_ADDR 0x15 +#define LSM6DSM_CTRL7_ADDR 0x16 -#define LSM6DSM_CTRL10_ADDR 0x19 -#define LSM6DSM_FUNC_EN_MASK 0x04 -#define LSM6DSM_SIG_MOT_MASK 0x01 -#define LSM6DSM_EMBED_FUNC_EN 0x04 -#define LSM6DSM_SIG_MOT_EN 0x01 +#define LSM6DSM_CTRL10_ADDR 0x19 +#define LSM6DSM_FUNC_EN_MASK 0x04 +#define LSM6DSM_SIG_MOT_MASK 0x01 +#define LSM6DSM_EMBED_FUNC_EN 0x04 +#define LSM6DSM_SIG_MOT_EN 0x01 /* Controller mode configuration register */ -#define LSM6DSM_CONTROLLER_CFG_ADDR 0x1a -#define LSM6DSM_PASSTROUGH_MASK 0x1f -#define LSM6DSM_EXT_TRIGGER_EN 0x10 -#define LSM6DSM_PULLUP_EN 0x08 -#define LSM6DSM_I2C_PASS_THRU_MODE 0x04 -#define LSM6DSM_I2C_CONTROLLER_ON 0x01 +#define LSM6DSM_CONTROLLER_CFG_ADDR 0x1a +#define LSM6DSM_PASSTROUGH_MASK 0x1f +#define LSM6DSM_EXT_TRIGGER_EN 0x10 +#define LSM6DSM_PULLUP_EN 0x08 +#define LSM6DSM_I2C_PASS_THRU_MODE 0x04 +#define LSM6DSM_I2C_CONTROLLER_ON 0x01 -#define LSM6DSM_TAP_SRC_ADDR 0x1c -#define LSM6DSM_STAP_DETECT 0x20 -#define LSM6DSM_DTAP_DETECT 0x10 +#define LSM6DSM_TAP_SRC_ADDR 0x1c +#define LSM6DSM_STAP_DETECT 0x20 +#define LSM6DSM_DTAP_DETECT 0x10 -#define LSM6DSM_STATUS_REG 0x1e +#define LSM6DSM_STATUS_REG 0x1e -#define LSM6DSM_OUT_TEMP_L_ADDR 0x20 +#define LSM6DSM_OUT_TEMP_L_ADDR 0x20 -#define LSM6DSM_GYRO_OUT_X_L_ADDR 0x22 -#define LSM6DSM_ACCEL_OUT_X_L_ADDR 0x28 +#define LSM6DSM_GYRO_OUT_X_L_ADDR 0x22 +#define LSM6DSM_ACCEL_OUT_X_L_ADDR 0x28 -#define LSM6DSM_SENSORHUB1_REG 0x2e +#define LSM6DSM_SENSORHUB1_REG 0x2e -#define LSM6DSM_FIFO_STS1_ADDR 0x3a -#define LSM6DSM_FIFO_STS2_ADDR 0x3b -#define LSM6DSM_FIFO_DIFF_MASK 0x0fff -#define LSM6DSM_FIFO_EMPTY 0x1000 -#define LSM6DSM_FIFO_FULL 0x2000 -#define LSM6DSM_FIFO_DATA_OVR 0x4000 -#define LSM6DSM_FIFO_WATERMARK 0x8000 -#define LSM6DSM_FIFO_NODECIM 0x01 +#define LSM6DSM_FIFO_STS1_ADDR 0x3a +#define LSM6DSM_FIFO_STS2_ADDR 0x3b +#define LSM6DSM_FIFO_DIFF_MASK 0x0fff +#define LSM6DSM_FIFO_EMPTY 0x1000 +#define LSM6DSM_FIFO_FULL 0x2000 +#define LSM6DSM_FIFO_DATA_OVR 0x4000 +#define LSM6DSM_FIFO_WATERMARK 0x8000 +#define LSM6DSM_FIFO_NODECIM 0x01 /* Out data register */ -#define LSM6DSM_FIFO_DATA_ADDR 0x3e +#define LSM6DSM_FIFO_DATA_ADDR 0x3e /* Registers value for supported FIFO mode */ -#define LSM6DSM_FIFO_MODE_BYPASS_VAL 0x00 -#define LSM6DSM_FIFO_MODE_CONTINUOUS_VAL 0x06 +#define LSM6DSM_FIFO_MODE_BYPASS_VAL 0x00 +#define LSM6DSM_FIFO_MODE_CONTINUOUS_VAL 0x06 -#define LSM6DSM_FUNC_SRC1_ADDR 0x53 -#define LSM6DSM_SENSORHUB_END_OP 0x01 -#define LSM6DSM_SIGN_MOTION_IA 0x40 +#define LSM6DSM_FUNC_SRC1_ADDR 0x53 +#define LSM6DSM_SENSORHUB_END_OP 0x01 +#define LSM6DSM_SIGN_MOTION_IA 0x40 -#define LSM6DSM_LIR_ADDR 0x58 -#define LSM6DSM_LIR_MASK 0x01 -#define LSM6DSM_EN_INT 0x80 -#define LSM6DSM_EN_TAP 0x0e -#define LSM6DSM_TAP_MASK 0x8e +#define LSM6DSM_LIR_ADDR 0x58 +#define LSM6DSM_LIR_MASK 0x01 +#define LSM6DSM_EN_INT 0x80 +#define LSM6DSM_EN_TAP 0x0e +#define LSM6DSM_TAP_MASK 0x8e -#define LSM6DSM_TAP_THS_6D 0x59 -#define LSM6DSM_D4D_EN_MASK 0x80 -#define LSM6DSM_TAP_TH_MASK 0x1f +#define LSM6DSM_TAP_THS_6D 0x59 +#define LSM6DSM_D4D_EN_MASK 0x80 +#define LSM6DSM_TAP_TH_MASK 0x1f -#define LSM6DSM_INT_DUR2_ADDR 0x5a -#define LSM6DSM_TAP_DUR_MASK 0xf0 -#define LSM6DSM_TAP_QUIET_MASK 0x0c +#define LSM6DSM_INT_DUR2_ADDR 0x5a +#define LSM6DSM_TAP_DUR_MASK 0xf0 +#define LSM6DSM_TAP_QUIET_MASK 0x0c -#define LSM6DSM_WUP_THS_ADDR 0x5b -#define LSM6DSM_S_D_TAP_MASK 0x80 -#define LSM6DSM_STAP_EN 0 -#define LSM6DSM_DTAP_EN 1 +#define LSM6DSM_WUP_THS_ADDR 0x5b +#define LSM6DSM_S_D_TAP_MASK 0x80 +#define LSM6DSM_STAP_EN 0 +#define LSM6DSM_DTAP_EN 1 -#define LSM6DSM_MD1_CFG_ADDR 0x5e -#define LSM6DSM_INT1_STAP 0x40 -#define LSM6DSM_INT1_DTAP 0x08 +#define LSM6DSM_MD1_CFG_ADDR 0x5e +#define LSM6DSM_INT1_STAP 0x40 +#define LSM6DSM_INT1_DTAP 0x08 /* Register values for Sensor Hub Slave 0 / Bank A */ -#define LSM6DSM_SLV0_ADD_ADDR 0x02 -#define LSM6DSM_SLV0_ADDR_SHFT 1 -#define LSM6DSM_SLV0_ADDR_MASK 0xfe -#define LSM6DSM_SLV0_RD_BIT 0x01 +#define LSM6DSM_SLV0_ADD_ADDR 0x02 +#define LSM6DSM_SLV0_ADDR_SHFT 1 +#define LSM6DSM_SLV0_ADDR_MASK 0xfe +#define LSM6DSM_SLV0_RD_BIT 0x01 -#define LSM6DSM_SLV0_SUBADD_ADDR 0x03 +#define LSM6DSM_SLV0_SUBADD_ADDR 0x03 -#define LSM6DSM_SLV0_CONFIG_ADDR 0x04 -#define LSM6DSM_SLV0_SLV_RATE_SHFT 6 -#define LSM6DSM_SLV0_SLV_RATE_MASK 0xc0 -#define LSM6DSM_SLV0_AUX_SENS_SHFT 4 -#define LSM6DSM_SLV0_AUX_SENS_MASK 0x30 -#define LSM6DSM_SLV0_NUM_OPS_MASK 0x07 +#define LSM6DSM_SLV0_CONFIG_ADDR 0x04 +#define LSM6DSM_SLV0_SLV_RATE_SHFT 6 +#define LSM6DSM_SLV0_SLV_RATE_MASK 0xc0 +#define LSM6DSM_SLV0_AUX_SENS_SHFT 4 +#define LSM6DSM_SLV0_AUX_SENS_MASK 0x30 +#define LSM6DSM_SLV0_NUM_OPS_MASK 0x07 -#define LSM6DSM_SLV1_CONFIG_ADDR 0x07 -#define LSM6DSM_SLV0_WR_ONCE_MASK 0x20 +#define LSM6DSM_SLV1_CONFIG_ADDR 0x07 +#define LSM6DSM_SLV0_WR_ONCE_MASK 0x20 #define LSM6DSM_DATA_WRITE_SUB_SLV0_ADDR 0x0e @@ -188,9 +186,9 @@ enum dev_fifo { }; #ifdef CONFIG_LSM6DSM_SEC_I2C -#define FIFO_DEV_NUM (FIFO_DEV_MAG + 1) +#define FIFO_DEV_NUM (FIFO_DEV_MAG + 1) #else -#define FIFO_DEV_NUM (FIFO_DEV_ACCEL + 1) +#define FIFO_DEV_NUM (FIFO_DEV_ACCEL + 1) #endif struct fstatus { @@ -199,7 +197,7 @@ struct fstatus { }; /* Absolute maximum rate for acc and gyro sensors */ -#define LSM6DSM_ODR_MIN_VAL 13000 +#define LSM6DSM_ODR_MIN_VAL 13000 #define LSM6DSM_ODR_MAX_VAL \ MOTION_MAX_SENSOR_FREQUENCY(416000, LSM6DSM_ODR_MIN_VAL) @@ -210,31 +208,30 @@ struct fstatus { #define LSM6DSM_REG_TO_ODR(_reg) (LSM6DSM_ODR_MIN_VAL << (_reg - 1)) /* Full Scale range value and gain for Acc */ -#define LSM6DSM_FS_LIST_NUM 4 +#define LSM6DSM_FS_LIST_NUM 4 -#define LSM6DSM_ACCEL_FS_ADDR 0x10 -#define LSM6DSM_ACCEL_FS_MASK 0x0c +#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_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_MAX_VAL 16 +#define LSM6DSM_ACCEL_FS_MAX_VAL 16 /* 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 : \ - __fls(_fs)) +#define LSM6DSM_ACCEL_FS_REG(_fs) \ + (_fs == 2 ? LSM6DSM_ACCEL_FS_2G_VAL : \ + _fs == 16 ? LSM6DSM_ACCEL_FS_16G_VAL : \ + __fls(_fs)) /* Accel normalized FS value from Full Scale */ #define LSM6DSM_ACCEL_NORMALIZE_FS(_fs) (1 << __fls(_fs)) /* Full Scale range value and gain for Gyro */ -#define LSM6DSM_GYRO_FS_ADDR 0x11 -#define LSM6DSM_GYRO_FS_MASK 0x0c - +#define LSM6DSM_GYRO_FS_ADDR 0x11 +#define LSM6DSM_GYRO_FS_MASK 0x0c /* Supported gyroscope ranges: * name(dps) | register | gain(udps/LSB) | actual value(dps) @@ -255,8 +252,8 @@ struct fstatus { ((LSM6DSM_GYRO_FS_MIN_VAL_MDPS << (_reg)) / 1000) /* FS register address/mask for Acc/Gyro sensors */ -#define LSM6DSM_RANGE_REG(_sensor) (LSM6DSM_ACCEL_FS_ADDR + (_sensor)) -#define LSM6DSM_RANGE_MASK 0x0c +#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 { @@ -265,11 +262,11 @@ enum lsm6dsm_status { LSM6DSM_STS_GDA_UP = 0x02 }; -#define LSM6DSM_STS_XLDA_MASK 0x01 -#define LSM6DSM_STS_GDA_MASK 0x02 +#define LSM6DSM_STS_XLDA_MASK 0x01 +#define LSM6DSM_STS_GDA_MASK 0x02 /* Sensor resolution in number of bits: fixed 16 bit */ -#define LSM6DSM_RESOLUTION 16 +#define LSM6DSM_RESOLUTION 16 extern const struct accelgyro_drv lsm6dsm_drv; @@ -347,24 +344,24 @@ struct lsm6dsm_data { #if defined(CONFIG_LSM6DSM_SEC_I2C) && defined(CONFIG_MAG_CALIBRATE) union { #ifdef CONFIG_MAG_LSM6DSM_BMM150 - struct bmm150_private_data compass; + struct bmm150_private_data compass; #endif #ifdef CONFIG_MAG_LSM6DSM_LIS2MDL - struct lis2mdl_private_data compass; + struct lis2mdl_private_data compass; #endif - struct mag_cal_t cal; + struct mag_cal_t cal; }; -#endif /* CONFIG_MAG_CALIBRATE */ +#endif /* CONFIG_MAG_CALIBRATE */ }; #ifdef CONFIG_ACCEL_FIFO -#define LSM6DSM_ACCEL_FIFO_STATE (&((struct lsm6dsm_accel_fifo_state) {})) +#define LSM6DSM_ACCEL_FIFO_STATE (&((struct lsm6dsm_accel_fifo_state){})) #else #define LSM6DSM_ACCEL_FIFO_STATE NULL #endif -#define LSM6DSM_DATA \ - ((struct lsm6dsm_data) { \ +#define LSM6DSM_DATA \ + ((struct lsm6dsm_data){ \ .accel_fifo_state = LSM6DSM_ACCEL_FIFO_STATE, \ }) @@ -389,5 +386,21 @@ struct lsm6dsm_data { int lsm6dsm_set_data_rate(const struct motion_sensor_t *s, int rate, int rnd); +#if defined(CONFIG_ZEPHYR) +/* Get the motion sensor ID of the LSM6DSM sensor that generates the + * interrupt. The interrupt is converted to the event and transferred to + * motion sense task that actually handles the interrupt. + * + * Here we use an alias (lsm6dsm_int) to get the motion sensor ID. This alias + * MUST be defined for this driver to work. + * aliases { + * lsm6dsm-int = &lid_accel; + * }; + */ +#if DT_NODE_EXISTS(DT_ALIAS(lsm6dsm_int)) +#define CONFIG_ACCEL_LSM6DSM_INT_EVENT \ + TASK_EVENT_MOTION_SENSOR_INTERRUPT(SENSOR_ID(DT_ALIAS(lsm6dsm_int))) +#endif +#endif #endif /* __CROS_EC_ACCELGYRO_LSM6DSM_H */ |