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Diffstat (limited to 'include/driver/accelgyro_bmi_common.h')
| -rw-r--r-- | include/driver/accelgyro_bmi_common.h | 319 |
1 files changed, 0 insertions, 319 deletions
diff --git a/include/driver/accelgyro_bmi_common.h b/include/driver/accelgyro_bmi_common.h deleted file mode 100644 index 6e1ed122b3..0000000000 --- a/include/driver/accelgyro_bmi_common.h +++ /dev/null @@ -1,319 +0,0 @@ -/* Copyright 2020 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. - */ -/* BMI accelerometer and gyro common definitions for Chrome EC */ - -#ifndef __CROS_EC_ACCELGYRO_BMI_COMMON_H -#define __CROS_EC_ACCELGYRO_BMI_COMMON_H - -#include "accelgyro.h" -#include "accelgyro_bmi160.h" -#include "accelgyro_bmi260.h" -#include "mag_bmm150.h" -#include "accelgyro_bmi_common_public.h" - -#if !defined(CONFIG_ACCELGYRO_BMI_COMM_SPI) && \ - !defined(CONFIG_ACCELGYRO_BMI_COMM_I2C) -#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_ODR_MASK 0x0F -/* odr = 100 / (1 << (8 - reg)) , within limit */ -#define BMI_ODR_0_78HZ 0x01 -#define BMI_ODR_100HZ 0x08 - -#define BMI_REG_TO_ODR(_regval) \ - ((_regval) < BMI_ODR_100HZ ? 100000 / (1 << (8 - (_regval))) : \ - 100000 * (1 << ((_regval) - 8))) -#define BMI_ODR_TO_REG(_odr) \ - ((_odr) < 100000 ? (__builtin_clz(100000 / ((_odr) + 1)) - 24) : \ - (39 - __builtin_clz((_odr) / 100000))) - -enum fifo_header { - BMI_FH_EMPTY = 0x80, - BMI_FH_SKIP = 0x40, - BMI_FH_TIME = 0x44, - 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 - -/* Sensor resolution in number of bits. This sensor has fixed resolution. */ -#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_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, -}; - -#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_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_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 - -/* - * Struct for pairing an engineering value with the register value for a - * parameter. - */ -struct bmi_accel_param_pair { - int val; /* Value in engineering units. */ - int reg_val; /* Corresponding register value. */ -}; - -int bmi_get_xyz_reg(const struct motion_sensor_t *s); - -/** - * @param type Accel/Gyro - * @param psize Size of the table - * - * @return Range table of the type. - */ -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. - * The round_up flag is used to specify whether to round up or down. - * Note, this function always returns a valid reg value. If the request is - * 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); - -/** - * @return engineering value that matches the given reg val - */ -int bmi_get_engineering_val(const int reg_val, - const struct bmi_accel_param_pair *pairs, - const int size); - -/** - * Read 8bit register from accelerometer. - */ -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); - -/** - * Read 16bit register from accelerometer. - */ -int bmi_read16(const int port, const uint16_t i2c_spi_addr_flags, - const uint8_t reg, int *data_ptr); - -/** - * Write 16bit register from accelerometer. - */ -int bmi_write16(const int port, const uint16_t i2c_spi_addr_flags, - const int reg, int data); - -/** - * Read 32bit register from accelerometer. - */ -int bmi_read32(const int port, const uint16_t i2c_spi_addr_flags, - const uint8_t reg, int *data_ptr); - -/** - * Read n bytes from accelerometer. - */ -int bmi_read_n(const int port, const uint16_t i2c_spi_addr_flags, - const uint8_t reg, uint8_t *data_ptr, const int len); - -/** - * Write n bytes from accelerometer. - */ -int bmi_write_n(const int port, const uint16_t i2c_spi_addr_flags, - const uint8_t reg, const uint8_t *data_ptr, const int len); - -/* - * 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); - -/* - * 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); - -/* - * @s: base sensor. - * @v: output vector. - * @input: 6-bits array input. - */ -void bmi_normalize(const struct motion_sensor_t *s, intv3_t v, uint8_t *input); - -/* - * Decode the header from the fifo. - * Return 0 if we need further processing. - * Sensor mutex must be held during processing, to protect the fifos. - * - * @accel: base sensor - * @hdr: the header to decode - * @last_ts: the last timestamp of fifo interrupt. - * @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); -/** - * Retrieve hardware FIFO from sensor, - * - put data in Sensor Hub fifo. - * - update sensor raw_xyz vector with the last information. - * We put raw data in hub fifo and process data from there. - * @s: Pointer to sensor data. - * @last_ts: The last timestamp of fifo interrupt. - * - * Read only up to bmi_buffer. If more reads are needed, we will be called - * again by the interrupt routine. - * - * NOTE: If a new driver supports this function, be sure to add a check - * for spoof_mode in order to load the sensor stack with the spoofed - * data. See accelgyro_bmi260.c::load_fifo for an example. - */ -int bmi_load_fifo(struct motion_sensor_t *s, uint32_t last_ts); - -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_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_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); - -/* Start/Stop the FIFO collecting events */ -int bmi_enable_fifo(const struct motion_sensor_t *s, int enable); - -/* Read the xyz data of accel/gyro */ -int bmi_read(const struct motion_sensor_t *s, intv3_t v); - -/* Read temperature of sensor s */ -int bmi_read_temp(const struct motion_sensor_t *s, int *temp_ptr); - -/* Read temperature of sensor idx */ -int bmi_get_sensor_temp(int idx, int *temp_ptr); - -/* - * Get the normalized rate according to input rate and input rnd - * @rate: input rate - * @rnd: round up - * @normalized_rate_ptr: normalized rate pointer for output - * @reg_val_ptr: pointer to the actual register value of normalized rate for - * output. - */ -int bmi_get_normalized_rate(const struct motion_sensor_t *s, int rate, int rnd, - int *normalized_rate_ptr, uint8_t *reg_val_ptr); - -/* Get the accelerometer offset */ -int bmi_accel_get_offset(const struct motion_sensor_t *accel, intv3_t v); - -/* Get the gyroscope offset */ -int bmi_gyro_get_offset(const struct motion_sensor_t *gyro, intv3_t v); - -/* Set the accelerometer offset */ -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 bmi_list_activities(const struct motion_sensor_t *s, - uint32_t *enabled, - uint32_t *disabled); -#endif /* __CROS_EC_ACCELGYRO_BMI_COMMON_H */ |