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-rw-r--r--driver/mag_bmm150.c268
1 files changed, 0 insertions, 268 deletions
diff --git a/driver/mag_bmm150.c b/driver/mag_bmm150.c
deleted file mode 100644
index ad1eba7ad0..0000000000
--- a/driver/mag_bmm150.c
+++ /dev/null
@@ -1,268 +0,0 @@
-/* Copyright 2015 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.
- */
-
-/**
- * BMM150 compass behind a BMI160
- */
-
-#include "accelgyro.h"
-#include "common.h"
-#include "console.h"
-#include "driver/mag_bmm150.h"
-#include "hooks.h"
-#include "i2c.h"
-#include "task.h"
-#include "timer.h"
-#include "util.h"
-
-#ifdef CONFIG_MAG_BMI_BMM150
-#include "driver/accelgyro_bmi_common.h"
-#define raw_mag_read8 bmi160_sec_raw_read8
-#define raw_mag_write8 bmi160_sec_raw_write8
-#else
-#error "Not implemented"
-#endif
-
-
-#define CPUTS(outstr) cputs(CC_ACCEL, outstr)
-#define CPRINTF(format, args...) cprintf(CC_ACCEL, format, ## args)
-#define CPRINTS(format, args...) cprints(CC_ACCEL, format, ## args)
-
-
-/****************************************************************************
-* Copyright (C) 2011 - 2014 Bosch Sensortec GmbH
-*
-****************************************************************************/
-/***************************************************************************
-* License:
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following conditions are met:
-*
-* Redistributions of source code must retain the above copyright
-* notice, this list of conditions and the following disclaimer.
-*
-* Redistributions in binary form must reproduce the above copyright
-* notice, this list of conditions and the following disclaimer in the
-* documentation and/or other materials provided with the distribution.
-*
-* Neither the name of the copyright holder nor the names of the
-* contributors may be used to endorse or promote products derived from
-* this software without specific prior written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
-* DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
-* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
-* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
-* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE
-*
-* The information provided is believed to be accurate and reliable.
-* The copyright holder assumes no responsibility for the consequences of use
-* of such information nor for any infringement of patents or
-* other rights of third parties which may result from its use.
-* No license is granted by implication or otherwise under any patent or
-* patent rights of the copyright holder.
-*/
-
-#define BMI150_READ_16BIT_COM_REG(store_, addr_) do { \
- int val; \
- raw_mag_read8(s->port, s->i2c_spi_addr_flags, (addr_), &val); \
- store_ = val; \
- raw_mag_read8(s->port, s->i2c_spi_addr_flags, (addr_) + 1, &val); \
- store_ |= (val << 8); \
-} while (0)
-
-
-int bmm150_init(struct motion_sensor_t *s)
-{
- int ret;
- int val;
- struct bmm150_comp_registers *regs = BMM150_COMP_REG(s);
- struct mag_cal_t *moc = BMM150_CAL(s);
-
- /* Set the compass from Suspend to Sleep */
- ret = raw_mag_write8(s->port, s->i2c_spi_addr_flags,
- BMM150_PWR_CTRL, BMM150_PWR_ON);
- msleep(4);
- /* Now we can read the device id */
- ret = raw_mag_read8(s->port, s->i2c_spi_addr_flags,
- BMM150_CHIP_ID, &val);
- if (ret)
- return EC_ERROR_UNKNOWN;
-
- if (val != BMM150_CHIP_ID_MAJOR)
- return EC_ERROR_ACCESS_DENIED;
-
- /* Read the private registers for compensation */
- ret = raw_mag_read8(s->port, s->i2c_spi_addr_flags,
- BMM150_REGA_DIG_X1, &val);
- if (ret)
- return EC_ERROR_UNKNOWN;
- regs->dig1[X] = val;
- raw_mag_read8(s->port, s->i2c_spi_addr_flags,
- BMM150_REGA_DIG_Y1, &val);
- regs->dig1[Y] = val;
- raw_mag_read8(s->port, s->i2c_spi_addr_flags,
- BMM150_REGA_DIG_X2, &val);
- regs->dig2[X] = val;
- raw_mag_read8(s->port, s->i2c_spi_addr_flags,
- BMM150_REGA_DIG_Y2, &val);
- regs->dig2[Y] = val;
-
- raw_mag_read8(s->port, s->i2c_spi_addr_flags,
- BMM150_REGA_DIG_XY1, &val);
- regs->dig_xy1 = val;
-
- raw_mag_read8(s->port, s->i2c_spi_addr_flags,
- BMM150_REGA_DIG_XY2, &val);
- regs->dig_xy2 = val;
-
- BMI150_READ_16BIT_COM_REG(regs->dig_z1, BMM150_REGA_DIG_Z1_LSB);
- BMI150_READ_16BIT_COM_REG(regs->dig_z2, BMM150_REGA_DIG_Z2_LSB);
- BMI150_READ_16BIT_COM_REG(regs->dig_z3, BMM150_REGA_DIG_Z3_LSB);
- BMI150_READ_16BIT_COM_REG(regs->dig_z4, BMM150_REGA_DIG_Z4_LSB);
- BMI150_READ_16BIT_COM_REG(regs->dig_xyz1, BMM150_REGA_DIG_XYZ1_LSB);
-
-
- /* Set the repetition in "Regular Preset" */
- raw_mag_write8(s->port, s->i2c_spi_addr_flags,
- BMM150_REPXY, BMM150_REP(SPECIAL, XY));
- raw_mag_write8(s->port, s->i2c_spi_addr_flags,
- BMM150_REPZ, BMM150_REP(SPECIAL, Z));
- ret = raw_mag_read8(s->port, s->i2c_spi_addr_flags,
- BMM150_REPXY, &val);
- ret = raw_mag_read8(s->port, s->i2c_spi_addr_flags,
- BMM150_REPZ, &val);
- /*
- * Set the compass forced mode, to sleep after each measure.
- */
- ret = raw_mag_write8(s->port, s->i2c_spi_addr_flags,
- BMM150_OP_CTRL,
- BMM150_OP_MODE_FORCED << BMM150_OP_MODE_OFFSET);
-
- init_mag_cal(moc);
- moc->radius = 0.0f;
- return ret;
-}
-
-void bmm150_temp_compensate_xy(const struct motion_sensor_t *s,
- intv3_t raw,
- intv3_t comp,
- int r)
-{
- int inter, axis;
- struct bmm150_comp_registers *regs = BMM150_COMP_REG(s);
- if (r == 0)
- inter = 0;
- else
- inter = ((int)regs->dig_xyz1 << 14) / r - BIT(14);
-
- for (axis = X; axis <= Y; axis++) {
- if (raw[axis] == BMM150_FLIP_OVERFLOW_ADCVAL) {
- comp[axis] = BMM150_OVERFLOW_OUTPUT;
- continue;
- }
- /*
- * The formula is, using 4 LSB for precision:
- * (mdata_x * ((((dig_xy2 * i^2 / 268435456) +
- * i * dig_xy1) / 16384) + 256) *
- * (dig2 + 160)) / 8192 + dig1 * 8.0f
- * To prevent precision loss, we calculate at << 12:
- * 1 / 268435456 = 1 >> 28 = 1 >> (7 + 9 + 12)
- * 1 / 16384 = 1 >> (-7 + 9 + 12)
- * 256 = 1 << (20 - 12)
- */
- comp[axis] = (int)regs->dig_xy2 * ((inter * inter) >> 7);
- comp[axis] += inter * ((int)regs->dig_xy1 << 7);
- comp[axis] >>= 9;
- comp[axis] += 1 << (8 + 12);
- comp[axis] *= (int)regs->dig2[axis] + 160;
- comp[axis] >>= 12;
- comp[axis] *= raw[axis];
- comp[axis] >>= 13;
- comp[axis] += (int)regs->dig1[axis] << 3;
- }
-}
-
-void bmm150_temp_compensate_z(const struct motion_sensor_t *s,
- intv3_t raw,
- intv3_t comp,
- int r)
-{
- int dividend, divisor;
- struct bmm150_comp_registers *regs = BMM150_COMP_REG(s);
-
- if (raw[Z] == BMM150_HALL_OVERFLOW_ADCVAL) {
- comp[Z] = BMM150_OVERFLOW_OUTPUT;
- return;
- }
- /*
- * The formula is
- * ((z - dig_z4) * 131072 - dig_z3 * (r - dig_xyz1)) /
- * ((dig_z2 + dig_z1 * r / 32768) * 4);
- *
- * We spread 4 so we multiply by 131072 / 4 == BIT(15) only.
- */
- dividend = (raw[Z] - (int)regs->dig_z4) << 15;
- dividend -= (regs->dig_z3 * (r - (int)regs->dig_xyz1)) >> 2;
- /* add BIT(15) to round to next integer. */
- divisor = (int)regs->dig_z1 * (r << 1) + BIT(15);
- divisor >>= 16;
- divisor += (int)regs->dig_z2;
- comp[Z] = dividend / divisor;
- if (comp[Z] > BIT(15) || comp[Z] < -(BIT(15)))
- comp[Z] = BMM150_OVERFLOW_OUTPUT;
-}
-
-void bmm150_normalize(const struct motion_sensor_t *s,
- intv3_t v,
- uint8_t *data)
-{
- uint16_t r;
- intv3_t raw;
- struct mag_cal_t *cal = BMM150_CAL(s);
-
- /* X and Y are two's complement 13 bits vectors */
- raw[X] = ((int16_t)(data[0] | (data[1] << 8))) >> 3;
- raw[Y] = ((int16_t)(data[2] | (data[3] << 8))) >> 3;
- /* Z are two's complement 15 bits vectors */
- raw[Z] = ((int16_t)(data[4] | (data[5] << 8))) >> 1;
-
- /* RHALL value to compensate with - unsigned 14 bits */
- r = (data[6] | (data[7] << 8)) >> 2;
-
- bmm150_temp_compensate_xy(s, raw, v, r);
- bmm150_temp_compensate_z(s, raw, v, r);
- mag_cal_update(cal, v);
-
- v[X] += cal->bias[X];
- v[Y] += cal->bias[Y];
- v[Z] += cal->bias[Z];
-}
-
-int bmm150_set_offset(const struct motion_sensor_t *s,
- const intv3_t offset)
-{
- struct mag_cal_t *cal = BMM150_CAL(s);
- cal->bias[X] = offset[X];
- cal->bias[Y] = offset[Y];
- cal->bias[Z] = offset[Z];
- return EC_SUCCESS;
-}
-
-int bmm150_get_offset(const struct motion_sensor_t *s,
- intv3_t offset)
-{
- struct mag_cal_t *cal = BMM150_CAL(s);
- offset[X] = cal->bias[X];
- offset[Y] = cal->bias[Y];
- offset[Z] = cal->bias[Z];
- return EC_SUCCESS;
-}
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