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Diffstat (limited to 'include/driver/accelgyro_bmi160.h')
| -rw-r--r-- | include/driver/accelgyro_bmi160.h | 394 |
1 files changed, 0 insertions, 394 deletions
diff --git a/include/driver/accelgyro_bmi160.h b/include/driver/accelgyro_bmi160.h deleted file mode 100644 index c916576130..0000000000 --- a/include/driver/accelgyro_bmi160.h +++ /dev/null @@ -1,394 +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. - */ - -/* BMI160 accelerometer and gyro and BMM150 compass module for Chrome EC */ - -#ifndef __CROS_EC_ACCELGYRO_BMI160_H -#define __CROS_EC_ACCELGYRO_BMI160_H - -#include "accelgyro.h" -#include "driver/accelgyro_bmi160_public.h" -#include "mag_bmm150.h" - -#define BMI160_CHIP_ID 0x00 -#define BMI160_CHIP_ID_MAJOR 0xd1 -#define BMI168_CHIP_ID_MAJOR 0xd2 - -#define BMI160_SPEC_ACC_STARTUP_TIME_MS 10 -#define BMI160_SPEC_GYR_STARTUP_TIME_MS 80 -#define BMI160_SPEC_MAG_STARTUP_TIME_MS 60 - - -#define BMI160_ERR_REG 0x02 -#define BMI160_PMU_STATUS 0x03 -#define BMI160_PMU_MAG_OFFSET 0 -#define BMI160_PMU_GYR_OFFSET 2 -#define BMI160_PMU_ACC_OFFSET 4 -#define BMI160_PMU_SENSOR_STATUS(_sensor_type, _val) \ - (((_val) >> (4 - 2 * (_sensor_type))) & 0x3) -#define BMI160_PMU_SUSPEND 0 -#define BMI160_PMU_NORMAL 1 -#define BMI160_PMU_LOW_POWER 2 -#define BMI160_PMU_FAST_STARTUP 3 - -#define BMI160_MAG_X_L_G 0x04 -#define BMI160_MAG_X_H_G 0x05 -#define BMI160_MAG_Y_L_G 0x06 -#define BMI160_MAG_Y_H_G 0x07 -#define BMI160_MAG_Z_L_G 0x08 -#define BMI160_MAG_Z_H_G 0x09 -#define BMI160_RHALL_L_G 0x0a -#define BMI160_RHALL_H_G 0x0b -#define BMI160_GYR_X_L_G 0x0c -#define BMI160_GYR_X_H_G 0x0d -#define BMI160_GYR_Y_L_G 0x0e -#define BMI160_GYR_Y_H_G 0x0f -#define BMI160_GYR_Z_L_G 0x10 -#define BMI160_GYR_Z_H_G 0x11 -#define BMI160_ACC_X_L_G 0x12 -#define BMI160_ACC_X_H_G 0x13 -#define BMI160_ACC_Y_L_G 0x14 -#define BMI160_ACC_Y_H_G 0x15 -#define BMI160_ACC_Z_L_G 0x16 -#define BMI160_ACC_Z_H_G 0x17 - -#define BMI160_SENSORTIME_0 0x18 -#define BMI160_SENSORTIME_1 0x19 -#define BMI160_SENSORTIME_2 0x1a - -#define BMI160_STATUS 0x1b -#define BMI160_POR_DETECTED BIT(0) -#define BMI160_GYR_SLF_TST BIT(1) -#define BMI160_MAG_MAN_OP BIT(2) -#define BMI160_FOC_RDY BIT(3) -#define BMI160_NVM_RDY BIT(4) -#define BMI160_DRDY_MAG BIT(5) -#define BMI160_DRDY_GYR BIT(6) -#define BMI160_DRDY_ACC BIT(7) -#define BMI160_DRDY_OFF(_sensor) (7 - (_sensor)) -#define BMI160_DRDY_MASK(_sensor) (1 << BMI160_DRDY_OFF(_sensor)) - -/* first 2 bytes are the interrupt reasons, next 2 some qualifier */ -#define BMI160_INT_STATUS_0 0x1c -#define BMI160_STEP_INT BIT(0) -#define BMI160_SIGMOT_INT BIT(1) -#define BMI160_ANYM_INT BIT(2) -#define BMI160_PMU_TRIGGER_INT BIT(3) -#define BMI160_D_TAP_INT BIT(4) -#define BMI160_S_TAP_INT BIT(5) -#define BMI160_ORIENT_INT BIT(6) -#define BMI160_FLAT_INT BIT(7) -#define BMI160_ORIENT_XY_MASK 0x30 -#define BMI160_ORIENT_PORTRAIT (0 << 4) -#define BMI160_ORIENT_PORTRAIT_INVERT BIT(4) -#define BMI160_ORIENT_LANDSCAPE (2 << 4) -#define BMI160_ORIENT_LANDSCAPE_INVERT (3 << 4) - - -#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 (BIT(11) - 1) -#define BMI160_FIFO_DATA 0x24 - -#define BMI160_ACC_CONF 0x40 -#define BMI160_ACC_BW_OFFSET 4 -#define BMI160_ACC_BW_MASK (0x7 << BMI160_ACC_BW_OFFSET) - -#define BMI160_ACC_RANGE 0x41 -#define BMI160_GSEL_2G 0x03 -#define BMI160_GSEL_4G 0x05 -#define BMI160_GSEL_8G 0x08 -#define BMI160_GSEL_16G 0x0c - -#define BMI160_GYR_CONF 0x42 -#define BMI160_GYR_BW_OFFSET 4 -#define BMI160_GYR_BW_MASK (0x3 << BMI160_GYR_BW_OFFSET) - -#define BMI160_GYR_RANGE 0x43 -#define BMI160_DPS_SEL_2000 0x00 -#define BMI160_DPS_SEL_1000 0x01 -#define BMI160_DPS_SEL_500 0x02 -#define BMI160_DPS_SEL_250 0x03 -#define BMI160_DPS_SEL_125 0x04 - -#define BMI160_MAG_CONF 0x44 - -#define BMI160_FIFO_DOWNS 0x45 -#define BMI160_FIFO_CONFIG_0 0x46 -#define BMI160_FIFO_CONFIG_1 0x47 -#define BMI160_FIFO_TAG_TIME_EN BIT(1) -#define BMI160_FIFO_TAG_INT2_EN BIT(2) -#define BMI160_FIFO_TAG_INT1_EN BIT(3) -#define BMI160_FIFO_HEADER_EN BIT(4) -#define BMI160_FIFO_MAG_EN BIT(5) -#define BMI160_FIFO_ACC_EN BIT(6) -#define BMI160_FIFO_GYR_EN BIT(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 -#define BMI160_MAG_IF_1 0x4c -#define BMI160_MAG_I2C_CONTROL BMI160_MAG_IF_1 -#define BMI160_MAG_READ_BURST_MASK 3 -#define BMI160_MAG_READ_BURST_1 0 -#define BMI160_MAG_READ_BURST_2 1 -#define BMI160_MAG_READ_BURST_6 2 -#define BMI160_MAG_READ_BURST_8 3 -#define BMI160_MAG_OFFSET_OFF 3 -#define BMI160_MAG_OFFSET_MASK (0xf << BMI160_MAG_OFFSET_OFF) -#define BMI160_MAG_MANUAL_EN BIT(7) - -#define BMI160_MAG_IF_2 0x4d -#define BMI160_MAG_I2C_READ_ADDR BMI160_MAG_IF_2 -#define BMI160_MAG_IF_3 0x4e -#define BMI160_MAG_I2C_WRITE_ADDR BMI160_MAG_IF_3 -#define BMI160_MAG_IF_4 0x4f -#define BMI160_MAG_I2C_WRITE_DATA BMI160_MAG_IF_4 -#define BMI160_MAG_I2C_READ_DATA BMI160_MAG_X_L_G - -#define BMI160_INT_EN_0 0x50 -#define BMI160_INT_ANYMO_X_EN BIT(0) -#define BMI160_INT_ANYMO_Y_EN BIT(1) -#define BMI160_INT_ANYMO_Z_EN BIT(2) -#define BMI160_INT_D_TAP_EN BIT(4) -#define BMI160_INT_S_TAP_EN BIT(5) -#define BMI160_INT_ORIENT_EN BIT(6) -#define BMI160_INT_FLAT_EN BIT(7) -#define BMI160_INT_EN_1 0x51 -#define BMI160_INT_HIGHG_X_EN BIT(0) -#define BMI160_INT_HIGHG_Y_EN BIT(1) -#define BMI160_INT_HIGHG_Z_EN BIT(2) -#define BMI160_INT_LOW_EN BIT(3) -#define BMI160_INT_DRDY_EN BIT(4) -#define BMI160_INT_FFUL_EN BIT(5) -#define BMI160_INT_FWM_EN BIT(6) -#define BMI160_INT_EN_2 0x52 -#define BMI160_INT_NOMOX_EN BIT(0) -#define BMI160_INT_NOMOY_EN BIT(1) -#define BMI160_INT_NOMOZ_EN BIT(2) -#define BMI160_INT_STEP_DET_EN BIT(3) - -#define BMI160_INT_OUT_CTRL 0x53 -#define BMI160_INT_EDGE_CTRL BIT(0) -#define BMI160_INT_LVL_CTRL BIT(1) -#define BMI160_INT_OD BIT(2) -#define BMI160_INT_OUTPUT_EN BIT(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 BIT(4) -#define BMI160_INT2_INPUT_EN BIT(5) -#define BMI160_LATCH_MASK 0xf -#define BMI160_LATCH_NONE 0 -#define BMI160_LATCH_5MS 5 -#define BMI160_LATCH_FOREVER 0xf - -#define BMI160_INT_MAP_0 0x55 -#define BMI160_INT_LOWG_STEP BIT(0) -#define BMI160_INT_HIGHG BIT(1) -#define BMI160_INT_ANYMOTION BIT(2) -#define BMI160_INT_NOMOTION BIT(3) -#define BMI160_INT_D_TAP BIT(4) -#define BMI160_INT_S_TAP BIT(5) -#define BMI160_INT_ORIENT BIT(6) -#define BMI160_INT_FLAT BIT(7) - -#define BMI160_INT_MAP_1 0x56 -#define BMI160_INT_PMU_TRIG BIT(0) -#define BMI160_INT_FFULL BIT(1) -#define BMI160_INT_FWM BIT(2) -#define BMI160_INT_DRDY BIT(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 - -#define BMI160_INT_LOW_HIGH_0 0x5a -#define BMI160_INT_LOW_HIGH_1 0x5b -#define BMI160_INT_LOW_HIGH_2 0x5c -#define BMI160_INT_LOW_HIGH_3 0x5d -#define BMI160_INT_LOW_HIGH_4 0x5e - -#define BMI160_INT_MOTION_0 0x5f -#define BMI160_INT_MOTION_1 0x60 -/* - * The formula is defined in 2.11.25 (any motion interrupt [1]). - * - * if we want threshold at a (in mg), the register should be x, where - * x * 7.81mg = a, assuming a range of 4G, which is - * x * 4 * 1.953 = a so - * x = a * 1000 / range * 1953 - */ -#define BMI160_MOTION_TH(_s, _mg) \ - (MIN(((_mg) * 1000) / ((_s)->current_range * 1953), 0xff)) -#define BMI160_INT_MOTION_2 0x61 -#define BMI160_INT_MOTION_3 0x62 -#define BMI160_MOTION_NO_MOT_SEL BIT(0) -#define BMI160_MOTION_SIG_MOT_SEL BIT(1) -#define BMI160_MOTION_SKIP_OFF 2 -#define BMI160_MOTION_SKIP_MASK 0x3 -#define BMI160_MOTION_SKIP_TIME(_ms) \ - (MIN(__fls((_ms) / 1500), BMI160_MOTION_SKIP_MASK)) -#define BMI160_MOTION_PROOF_OFF 4 -#define BMI160_MOTION_PROOF_MASK 0x3 -#define BMI160_MOTION_PROOF_TIME(_ms) \ - (MIN(__fls((_ms) / 250), BMI160_MOTION_PROOF_MASK)) - -#define BMI160_INT_TAP_0 0x63 -#define BMI160_TAP_DUR(_s, _ms) \ - ((_ms) <= 250 ? MAX((_ms), 50) / 50 - 1 : \ - (_ms) <= 500 ? 4 + ((_ms) - 250) / 125 : \ - (_ms) < 700 ? 6 : 7) - -#define BMI160_INT_TAP_1 0x64 -#define BMI160_TAP_TH(_s, _mg) \ - (MIN(((_mg) * 1000) / ((_s)->current_range * 31250), 0x1f)) - -#define BMI160_INT_ORIENT_0 0x65 - -/* No hysterisis, theta block, int on slope > 0.2 or axis > 1.5, symmetrical */ -#define BMI160_INT_ORIENT_0_INIT_VAL 0x48 - -#define BMI160_INT_ORIENT_1 0x66 - -/* no axes remap, no int on up/down, no blocking angle */ -#define BMI160_INT_ORIENT_1_INIT_VAL 0x00 - -#define BMI160_INT_FLAT_0 0x67 -#define BMI160_INT_FLAT_1 0x68 - -#define BMI160_FOC_CONF 0x69 -#define BMI160_FOC_GYRO_EN BIT(6) -#define BMI160_FOC_ACC_PLUS_1G 1 -#define BMI160_FOC_ACC_MINUS_1G 2 -#define BMI160_FOC_ACC_0G 3 -#define BMI160_FOC_ACC_Z_OFFSET 0 -#define BMI160_FOC_ACC_Y_OFFSET 2 -#define BMI160_FOC_ACC_X_OFFSET 4 - -#define BMI160_CONF 0x6a -#define BMI160_IF_CONF 0x6b -#define BMI160_IF_MODE_OFF 4 -#define BMI160_IF_MODE_MASK 3 -#define BMI160_IF_MODE_AUTO_OFF 0 -#define BMI160_IF_MODE_I2C_IOS 1 -#define BMI160_IF_MODE_AUTO_I2C 2 - -#define BMI160_PMU_TRIGGER 0x6c -#define BMI160_SELF_TEST 0x6d - -#define BMI160_NV_CONF 0x70 - -#define BMI160_OFFSET_ACC70 0x71 -#define BMI160_OFFSET_GYR70 0x74 -#define BMI160_OFFSET_EN_GYR98 0x77 -#define BMI160_OFFSET_ACC_EN BIT(6) -#define BMI160_OFFSET_GYRO_EN BIT(7) - -#define BMI160_STEP_CNT_0 0x78 -#define BMI160_STEP_CNT_1 0x79 -#define BMI160_STEP_CONF_0 0x7a -#define BMI160_STEP_CONF_1 0x7b - -#define BMI160_CMD_REG 0x7e -#define BMI160_CMD_SOFT_RESET 0xb6 -#define BMI160_CMD_NOOP 0x00 -#define BMI160_CMD_START_FOC 0x03 -#define BMI160_CMD_ACC_MODE_OFFSET 0x10 -#define BMI160_CMD_ACC_MODE_SUSP 0x10 -#define BMI160_CMD_ACC_MODE_NORMAL 0x11 -#define BMI160_CMD_ACC_MODE_LOWPOWER 0x12 -#define BMI160_CMD_GYR_MODE_SUSP 0x14 -#define BMI160_CMD_GYR_MODE_NORMAL 0x15 -#define BMI160_CMD_GYR_MODE_FAST_STARTUP 0x17 -#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_SUSPEND(_sensor_type) \ - (BMI160_CMD_ACC_MODE_OFFSET | (_sensor_type) << 2 | BMI160_PMU_SUSPEND) -#define BMI160_CMD_MODE_NORMAL(_sensor_type) \ - (BMI160_CMD_ACC_MODE_OFFSET | (_sensor_type) << 2 | BMI160_PMU_NORMAL) - -#define BMI160_CMD_FIFO_FLUSH 0xb0 -#define BMI160_CMD_INT_RESET 0xb1 -#define BMI160_CMD_SOFT_RESET 0xb6 -#define BMI160_CMD_EXT_MODE_EN_B0 0x37 -#define BMI160_CMD_EXT_MODE_EN_B1 0x9a -#define BMI160_CMD_EXT_MODE_EN_B2 0xc0 - -#define BMI160_CMD_EXT_MODE_ADDR 0x7f -#define BMI160_CMD_PAGING_EN BIT(7) -#define BMI160_CMD_TARGET_PAGE BIT(4) -#define BMI160_COM_C_TRIM_ADDR 0x85 -#define BMI160_COM_C_TRIM (3 << 4) - -#define BMI160_CMD_TGT_PAGE 0 -#define BMI160_CMD_TGT_PAGE_COM 1 -#define BMI160_CMD_TGT_PAGE_ACC 2 -#define BMI160_CMD_TGT_PAGE_GYR 3 - -#define BMI160_FF_FRAME_LEN_TS 4 -#define BMI160_FF_DATA_LEN_ACC 6 -#define BMI160_FF_DATA_LEN_GYR 6 -#define BMI160_FF_DATA_LEN_MAG 8 - -/* Root mean square noise of 100 Hz accelerometer, units: ug */ -#define BMI160_ACCEL_RMS_NOISE_100HZ 1300 - -#ifdef CONFIG_BMI_SEC_I2C -/* Functions to access the secondary device through the accel/gyro. */ -int bmi160_sec_raw_read8(const int port, const uint16_t addr_flags, - const uint8_t reg, int *data_ptr); -int bmi160_sec_raw_write8(const int port, const uint16_t addr_flags, - const uint8_t reg, int data); -#endif - -#endif /* __CROS_EC_ACCELGYRO_BMI160_H */ |