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Diffstat (limited to 'driver/accelgyro_lsm6dsm.h')
| -rw-r--r-- | driver/accelgyro_lsm6dsm.h | 180 |
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 */ |