diff options
Diffstat (limited to 'include/driver/accelgyro_bmi_common.h')
| -rw-r--r-- | include/driver/accelgyro_bmi_common.h | 212 |
1 files changed, 106 insertions, 106 deletions
diff --git a/include/driver/accelgyro_bmi_common.h b/include/driver/accelgyro_bmi_common.h index 6e1ed122b3..371d3d97ce 100644 --- a/include/driver/accelgyro_bmi_common.h +++ b/include/driver/accelgyro_bmi_common.h @@ -1,4 +1,4 @@ -/* Copyright 2020 The Chromium OS Authors. All rights reserved. +/* Copyright 2020 The ChromiumOS Authors * Use of this source code is governed by a BSD-style license that can be * found in the LICENSE file. */ @@ -18,18 +18,18 @@ #error "BMI must use either SPI or I2C communication" #endif -#define BMI_CONF_REG(_sensor) (0x40 + 2 * (_sensor)) -#define BMI_RANGE_REG(_sensor) (0x41 + 2 * (_sensor)) +#define BMI_CONF_REG(_sensor) (0x40 + 2 * (_sensor)) +#define BMI_RANGE_REG(_sensor) (0x41 + 2 * (_sensor)) -#define BMI_ODR_MASK 0x0F +#define BMI_ODR_MASK 0x0F /* odr = 100 / (1 << (8 - reg)) , within limit */ -#define BMI_ODR_0_78HZ 0x01 -#define BMI_ODR_100HZ 0x08 +#define BMI_ODR_0_78HZ 0x01 +#define BMI_ODR_100HZ 0x08 -#define BMI_REG_TO_ODR(_regval) \ +#define BMI_REG_TO_ODR(_regval) \ ((_regval) < BMI_ODR_100HZ ? 100000 / (1 << (8 - (_regval))) : \ - 100000 * (1 << ((_regval) - 8))) -#define BMI_ODR_TO_REG(_odr) \ + 100000 * (1 << ((_regval)-8))) +#define BMI_ODR_TO_REG(_odr) \ ((_odr) < 100000 ? (__builtin_clz(100000 / ((_odr) + 1)) - 24) : \ (39 - __builtin_clz((_odr) / 100000))) @@ -40,92 +40,97 @@ enum fifo_header { BMI_FH_CONFIG = 0x48 }; -#define BMI_FH_MODE_MASK 0xc0 -#define BMI_FH_PARM_OFFSET 2 -#define BMI_FH_PARM_MASK (0x7 << BMI_FH_PARM_OFFSET) -#define BMI_FH_EXT_MASK 0x03 +#define BMI_FH_MODE_MASK 0xc0 +#define BMI_FH_PARM_OFFSET 2 +#define BMI_FH_PARM_MASK (0x7 << BMI_FH_PARM_OFFSET) +#define BMI_FH_EXT_MASK 0x03 /* Sensor resolution in number of bits. This sensor has fixed resolution. */ -#define BMI_RESOLUTION 16 +#define BMI_RESOLUTION 16 /* Min and Max sampling frequency in mHz */ #define BMI_ACCEL_MIN_FREQ 12500 #define BMI_ACCEL_MAX_FREQ MOTION_MAX_SENSOR_FREQUENCY(1600000, 100000) -#define BMI_GYRO_MIN_FREQ 25000 +#define BMI_GYRO_MIN_FREQ 25000 #define BMI_GYRO_MAX_FREQ MOTION_MAX_SENSOR_FREQUENCY(3200000, 100000) enum bmi_running_mode { - STANDARD_UI_9DOF_FIFO = 0, - STANDARD_UI_IMU_FIFO = 1, - STANDARD_UI_IMU = 2, - STANDARD_UI_ADVANCEPOWERSAVE = 3, - ACCEL_PEDOMETER = 4, - APPLICATION_HEAD_TRACKING = 5, - APPLICATION_NAVIGATION = 6, - APPLICATION_REMOTE_CONTROL = 7, - APPLICATION_INDOOR_NAVIGATION = 8, + STANDARD_UI_9DOF_FIFO = 0, + STANDARD_UI_IMU_FIFO = 1, + STANDARD_UI_IMU = 2, + STANDARD_UI_ADVANCEPOWERSAVE = 3, + ACCEL_PEDOMETER = 4, + APPLICATION_HEAD_TRACKING = 5, + APPLICATION_NAVIGATION = 6, + APPLICATION_REMOTE_CONTROL = 7, + APPLICATION_INDOOR_NAVIGATION = 8, }; -#define BMI_FLAG_SEC_I2C_ENABLED BIT(0) -#define BMI_FIFO_FLAG_OFFSET 4 -#define BMI_FIFO_ALL_MASK 7 - -#define BMI_GET_DATA(_s) \ - ((struct bmi_drv_data_t *)(_s)->drv_data) -#define BMI_GET_SAVED_DATA(_s) \ - (&BMI_GET_DATA(_s)->saved_data[(_s)->type]) - -#define BMI_ACC_DATA(v) (BMI160_ACC_X_L_G + \ - (v) * (BMI260_ACC_X_L_G - BMI160_ACC_X_L_G)) -#define BMI_GYR_DATA(v) (BMI160_GYR_X_L_G + \ - (v) * (BMI260_GYR_X_L_G - BMI160_GYR_X_L_G)) -#define BMI_AUX_DATA(v) (BMI160_MAG_X_L_G + \ - (v) * (BMI260_AUX_X_L_G - BMI160_MAG_X_L_G)) - -#define BMI_FIFO_CONFIG_0(v) (BMI160_FIFO_CONFIG_0 + \ - (v) * (BMI260_FIFO_CONFIG_0 - BMI160_FIFO_CONFIG_0)) -#define BMI_FIFO_CONFIG_1(v) (BMI160_FIFO_CONFIG_1 + \ - (v) * (BMI260_FIFO_CONFIG_1 - BMI160_FIFO_CONFIG_1)) -#define BMI_FIFO_SENSOR_EN(v, _sensor) (BMI160_FIFO_SENSOR_EN(_sensor) + \ - (v) * (BMI260_FIFO_SENSOR_EN(_sensor) - BMI160_FIFO_SENSOR_EN(_sensor))) - -#define BMI_TEMPERATURE_0(v) (BMI160_TEMPERATURE_0 + \ - (v) * (BMI260_TEMPERATURE_0 - BMI160_TEMPERATURE_0)) -#define BMI_INVALID_TEMP 0x8000 - -#define BMI_STATUS(v) (BMI160_STATUS + \ - (v) * (BMI260_STATUS - BMI160_STATUS)) -#define BMI_DRDY_OFF(_sensor) (7 - (_sensor)) -#define BMI_DRDY_MASK(_sensor) (1 << BMI160_DRDY_OFF(_sensor)) - -#define BMI_OFFSET_ACC70(v) (BMI160_OFFSET_ACC70 + \ - (v) * (BMI260_OFFSET_ACC70 - BMI160_OFFSET_ACC70)) -#define BMI_OFFSET_GYR70(v) (BMI160_OFFSET_GYR70 + \ - (v) * (BMI260_OFFSET_GYR70 - BMI160_OFFSET_GYR70)) +#define BMI_FLAG_SEC_I2C_ENABLED BIT(0) +#define BMI_FIFO_FLAG_OFFSET 4 +#define BMI_FIFO_ALL_MASK 7 + +#define BMI_GET_DATA(_s) ((struct bmi_drv_data_t *)(_s)->drv_data) +#define BMI_GET_SAVED_DATA(_s) (&BMI_GET_DATA(_s)->saved_data[(_s)->type]) + +#define BMI_ACC_DATA(v) \ + (BMI160_ACC_X_L_G + (v) * (BMI260_ACC_X_L_G - BMI160_ACC_X_L_G)) +#define BMI_GYR_DATA(v) \ + (BMI160_GYR_X_L_G + (v) * (BMI260_GYR_X_L_G - BMI160_GYR_X_L_G)) +#define BMI_AUX_DATA(v) \ + (BMI160_MAG_X_L_G + (v) * (BMI260_AUX_X_L_G - BMI160_MAG_X_L_G)) + +#define BMI_FIFO_CONFIG_0(v) \ + (BMI160_FIFO_CONFIG_0 + \ + (v) * (BMI260_FIFO_CONFIG_0 - BMI160_FIFO_CONFIG_0)) +#define BMI_FIFO_CONFIG_1(v) \ + (BMI160_FIFO_CONFIG_1 + \ + (v) * (BMI260_FIFO_CONFIG_1 - BMI160_FIFO_CONFIG_1)) +#define BMI_FIFO_SENSOR_EN(v, _sensor) \ + (BMI160_FIFO_SENSOR_EN(_sensor) + \ + (v) * (BMI260_FIFO_SENSOR_EN(_sensor) - \ + BMI160_FIFO_SENSOR_EN(_sensor))) + +#define BMI_TEMPERATURE_0(v) \ + (BMI160_TEMPERATURE_0 + \ + (v) * (BMI260_TEMPERATURE_0 - BMI160_TEMPERATURE_0)) +#define BMI_INVALID_TEMP 0x8000 + +#define BMI_STATUS(v) (BMI160_STATUS + (v) * (BMI260_STATUS - BMI160_STATUS)) +#define BMI_DRDY_OFF(_sensor) (7 - (_sensor)) +#define BMI_DRDY_MASK(_sensor) (1 << BMI160_DRDY_OFF(_sensor)) + +#define BMI_OFFSET_ACC70(v) \ + (BMI160_OFFSET_ACC70 + \ + (v) * (BMI260_OFFSET_ACC70 - BMI160_OFFSET_ACC70)) +#define BMI_OFFSET_GYR70(v) \ + (BMI160_OFFSET_GYR70 + \ + (v) * (BMI260_OFFSET_GYR70 - BMI160_OFFSET_GYR70)) /* * There is some bits in this register that differ between BMI160 and BMI260 * Only use this macro for gyro offset 9:8 (BMI_OFFSET_EN_GYR98 5:0). */ -#define BMI_OFFSET_EN_GYR98(v) (BMI160_OFFSET_EN_GYR98 + \ - (v) * (BMI260_OFFSET_EN_GYR98 - BMI160_OFFSET_EN_GYR98)) -#define BMI_OFFSET_GYR98_MASK (BIT(6) - 1) -#define BMI_OFFSET_ACC_MULTI_MG (3900 * 1024) -#define BMI_OFFSET_ACC_DIV_MG 1000000 +#define BMI_OFFSET_EN_GYR98(v) \ + (BMI160_OFFSET_EN_GYR98 + \ + (v) * (BMI260_OFFSET_EN_GYR98 - BMI160_OFFSET_EN_GYR98)) +#define BMI_OFFSET_GYR98_MASK (BIT(6) - 1) +#define BMI_OFFSET_ACC_MULTI_MG (3900 * 1024) +#define BMI_OFFSET_ACC_DIV_MG 1000000 #define BMI_OFFSET_GYRO_MULTI_MDS (61 * 1024) -#define BMI_OFFSET_GYRO_DIV_MDS 1000 - -#define BMI_FIFO_LENGTH_0(v) (BMI160_FIFO_LENGTH_0 + \ - (v) * (BMI260_FIFO_LENGTH_0 - BMI160_FIFO_LENGTH_0)) -#define BMI_FIFO_LENGTH_MASK(v) (BMI160_FIFO_LENGTH_MASK + \ - (v) * (BMI260_FIFO_LENGTH_MASK - BMI160_FIFO_LENGTH_MASK)) -#define BMI_FIFO_DATA(v) (BMI160_FIFO_DATA + \ - (v) * (BMI260_FIFO_DATA - BMI160_FIFO_DATA)) - -#define BMI_CMD_REG(v) (BMI160_CMD_REG + \ - (v) * (BMI260_CMD_REG - BMI160_CMD_REG)) +#define BMI_OFFSET_GYRO_DIV_MDS 1000 + +#define BMI_FIFO_LENGTH_0(v) \ + (BMI160_FIFO_LENGTH_0 + \ + (v) * (BMI260_FIFO_LENGTH_0 - BMI160_FIFO_LENGTH_0)) +#define BMI_FIFO_LENGTH_MASK(v) \ + (BMI160_FIFO_LENGTH_MASK + \ + (v) * (BMI260_FIFO_LENGTH_MASK - BMI160_FIFO_LENGTH_MASK)) +#define BMI_FIFO_DATA(v) \ + (BMI160_FIFO_DATA + (v) * (BMI260_FIFO_DATA - BMI160_FIFO_DATA)) + +#define BMI_CMD_REG(v) \ + (BMI160_CMD_REG + (v) * (BMI260_CMD_REG - BMI160_CMD_REG)) #define BMI_CMD_FIFO_FLUSH 0xb0 -#define BMI_ACCEL_RMS_NOISE_100HZ(v) (BMI160_ACCEL_RMS_NOISE_100HZ + \ - (v) * (BMI260_ACCEL_RMS_NOISE_100HZ - BMI160_ACCEL_RMS_NOISE_100HZ)) #define BMI_ACCEL_100HZ 100 /* @@ -145,8 +150,8 @@ int bmi_get_xyz_reg(const struct motion_sensor_t *s); * * @return Range table of the type. */ -const struct bmi_accel_param_pair *bmi_get_range_table( - const struct motion_sensor_t *s, int *psize); +const struct bmi_accel_param_pair * +bmi_get_range_table(const struct motion_sensor_t *s, int *psize); /** * @return reg value that matches the given engineering value passed in. @@ -155,8 +160,7 @@ const struct bmi_accel_param_pair *bmi_get_range_table( * outside the range of values, it returns the closest valid reg value. */ int bmi_get_reg_val(const int eng_val, const int round_up, - const struct bmi_accel_param_pair *pairs, - const int size); + const struct bmi_accel_param_pair *pairs, const int size); /** * @return engineering value that matches the given reg val @@ -168,14 +172,14 @@ int bmi_get_engineering_val(const int reg_val, /** * Read 8bit register from accelerometer. */ -int bmi_read8(const int port, const uint16_t i2c_spi_addr_flags, - const int reg, int *data_ptr); +int bmi_read8(const int port, const uint16_t i2c_spi_addr_flags, const int reg, + int *data_ptr); /** * Write 8bit register from accelerometer. */ -int bmi_write8(const int port, const uint16_t i2c_spi_addr_flags, - const int reg, int data); +int bmi_write8(const int port, const uint16_t i2c_spi_addr_flags, const int reg, + int data); /** * Read 16bit register from accelerometer. @@ -210,14 +214,14 @@ int bmi_write_n(const int port, const uint16_t i2c_spi_addr_flags, /* * Enable/Disable specific bit set of a 8-bit reg. */ -int bmi_enable_reg8(const struct motion_sensor_t *s, - int reg, uint8_t bits, int enable); +int bmi_enable_reg8(const struct motion_sensor_t *s, int reg, uint8_t bits, + int enable); /* * Set specific bit set to certain value of a 8-bit reg. */ -int bmi_set_reg8(const struct motion_sensor_t *s, int reg, - uint8_t bits, int mask); +int bmi_set_reg8(const struct motion_sensor_t *s, int reg, uint8_t bits, + int mask); /* * @s: base sensor. @@ -237,9 +241,8 @@ void bmi_normalize(const struct motion_sensor_t *s, intv3_t v, uint8_t *input); * @bp: current pointer in the buffer, updated when processing the header. * @ep: pointer to the end of the valid data in the buffer. */ -int bmi_decode_header(struct motion_sensor_t *accel, - enum fifo_header hdr, uint32_t last_ts, - uint8_t **bp, uint8_t *ep); +int bmi_decode_header(struct motion_sensor_t *accel, enum fifo_header hdr, + uint32_t last_ts, uint8_t **bp, uint8_t *ep); /** * Retrieve hardware FIFO from sensor, * - put data in Sensor Hub fifo. @@ -261,21 +264,19 @@ int bmi_set_range(struct motion_sensor_t *s, int range, int rnd); int bmi_get_data_rate(const struct motion_sensor_t *s); - -int bmi_get_offset(const struct motion_sensor_t *s, - int16_t *offset, int16_t *temp); +int bmi_get_offset(const struct motion_sensor_t *s, int16_t *offset, + int16_t *temp); int bmi_get_resolution(const struct motion_sensor_t *s); -#ifdef CONFIG_BODY_DETECTION -int bmi_get_rms_noise(const struct motion_sensor_t *s); -#endif +int bmi_get_rms_noise(const struct motion_sensor_t *accel, + int rms_noise_100hz_mg); -int bmi_set_scale(const struct motion_sensor_t *s, - const uint16_t *scale, int16_t temp); +int bmi_set_scale(const struct motion_sensor_t *s, const uint16_t *scale, + int16_t temp); -int bmi_get_scale(const struct motion_sensor_t *s, - uint16_t *scale, int16_t *temp); +int bmi_get_scale(const struct motion_sensor_t *s, uint16_t *scale, + int16_t *temp); /* Start/Stop the FIFO collecting events */ int bmi_enable_fifo(const struct motion_sensor_t *s, int enable); @@ -311,9 +312,8 @@ int bmi_set_accel_offset(const struct motion_sensor_t *accel, intv3_t v); /* Set the gyroscope offset */ int bmi_set_gyro_offset(const struct motion_sensor_t *gyro, intv3_t v, - int *val98_ptr); + int *val98_ptr); -int bmi_list_activities(const struct motion_sensor_t *s, - uint32_t *enabled, +int bmi_list_activities(const struct motion_sensor_t *s, uint32_t *enabled, uint32_t *disabled); #endif /* __CROS_EC_ACCELGYRO_BMI_COMMON_H */ |