diff options
Diffstat (limited to 'zephyr/emul/emul_bmi260.c')
| -rw-r--r-- | zephyr/emul/emul_bmi260.c | 571 |
1 files changed, 0 insertions, 571 deletions
diff --git a/zephyr/emul/emul_bmi260.c b/zephyr/emul/emul_bmi260.c deleted file mode 100644 index 235b1e219e..0000000000 --- a/zephyr/emul/emul_bmi260.c +++ /dev/null @@ -1,571 +0,0 @@ -/* Copyright 2021 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. - */ - -#define DT_DRV_COMPAT zephyr_bmi - -#define LOG_LEVEL CONFIG_I2C_LOG_LEVEL -#include <logging/log.h> -LOG_MODULE_REGISTER(emul_bmi260); - -#include <device.h> -#include <emul.h> -#include <drivers/i2c.h> -#include <drivers/i2c_emul.h> - -#include "emul/emul_bmi.h" - -#include "driver/accelgyro_bmi260.h" -#include "driver/accelgyro_bmi_common.h" - -/** Mask reserved bits in each register of BMI260 */ -static const uint8_t bmi_emul_260_rsvd_mask[] = { - [BMI260_CHIP_ID] = 0x00, - [0x01] = 0xff, /* Reserved */ - [BMI260_ERR_REG] = 0x20, - [BMI260_STATUS] = 0x0b, - [BMI260_AUX_X_L_G] = 0x00, - [BMI260_AUX_X_H_G] = 0x00, - [BMI260_AUX_Y_L_G] = 0x00, - [BMI260_AUX_Y_H_G] = 0x00, - [BMI260_AUX_Z_L_G] = 0x00, - [BMI260_AUX_Z_H_G] = 0x00, - [BMI260_AUX_R_L_G] = 0x00, - [BMI260_AUX_R_H_G] = 0x00, - [BMI260_ACC_X_L_G] = 0x00, - [BMI260_ACC_X_H_G] = 0x00, - [BMI260_ACC_Y_L_G] = 0x00, - [BMI260_ACC_Y_H_G] = 0x00, - [BMI260_ACC_Z_L_G] = 0x00, - [BMI260_ACC_Z_H_G] = 0x00, - [BMI260_GYR_X_L_G] = 0x00, - [BMI260_GYR_X_H_G] = 0x00, - [BMI260_GYR_Y_L_G] = 0x00, - [BMI260_GYR_Y_H_G] = 0x00, - [BMI260_GYR_Z_L_G] = 0x00, - [BMI260_GYR_Z_H_G] = 0x00, - [BMI260_SENSORTIME_0] = 0x00, - [BMI260_SENSORTIME_1] = 0x00, - [BMI260_SENSORTIME_2] = 0x00, - [BMI260_EVENT] = 0xe2, - [BMI260_INT_STATUS_0] = 0x00, - [BMI260_INT_STATUS_1] = 0x18, - [BMI260_SC_OUT_0] = 0x00, - [BMI260_SC_OUT_1] = 0x00, - [BMI260_ORIENT_ACT] = 0xe0, - [BMI260_INTERNAL_STATUS] = 0x00, - [BMI260_TEMPERATURE_0] = 0x00, - [BMI260_TEMPERATURE_1] = 0x00, - [BMI260_FIFO_LENGTH_0] = 0x00, - [BMI260_FIFO_LENGTH_1] = 0xc0, - [BMI160_FIFO_DATA] = 0x00, - [0x27 ... 0x2e] = 0xff, /* Reserved */ - [BMI260_FEAT_PAGE] = 0xf8, - [0x30 ... 0x3f] = 0x00, /* Features */ - [BMI260_ACC_CONF] = 0x00, - [BMI260_ACC_RANGE] = 0xfc, - [BMI260_GYR_CONF] = 0x00, - [BMI260_GYR_RANGE] = 0xf0, - [BMI260_AUX_CONF] = 0x00, - [BMI260_FIFO_DOWNS] = 0x00, - [BMI260_FIFO_WTM_0] = 0x00, - [BMI260_FIFO_WTM_1] = 0xe0, - [BMI260_FIFO_CONFIG_0] = 0xfc, - [BMI260_FIFO_CONFIG_1] = 0x00, - [BMI260_SATURATION] = 0xc0, - [BMI260_AUX_DEV_ID] = 0x01, - [BMI260_AUX_IF_CONF] = 0x30, - [BMI260_AUX_RD_ADDR] = 0x00, - [BMI260_AUX_WR_ADDR] = 0x00, - [BMI260_AUX_WR_DATA] = 0x00, - [0x50 ... 0x51] = 0xff, /* Reserved */ - [BMI260_ERR_REG_MSK] = 0x20, - [BMI260_INT1_IO_CTRL] = 0xe1, - [BMI260_INT2_IO_CTRL] = 0xe1, - [BMI260_INT_LATCH] = 0xfe, - [BMI260_INT1_MAP_FEAT] = 0x00, - [BMI260_INT2_MAP_FEAT] = 0x00, - [BMI260_INT_MAP_DATA] = 0x00, - [BMI260_INIT_CTRL] = 0x00, - [0x5a] = 0xff, /* Reserved */ - [BMI260_INIT_ADDR_0] = 0xf0, - [BMI260_INIT_ADDR_1] = 0x00, - [0x5d] = 0xff, /* Reserved */ - [BMI260_INIT_DATA] = 0x00, - [BMI260_INTERNAL_ERROR] = 0xe9, - [0x60 ... 0x67] = 0xff, /* Reserved */ - [BMI260_AUX_IF_TRIM] = 0xf8, - [BMI260_GYR_CRT_CONF] = 0xf2, - [BMI260_NVM_CONF] = 0xfd, - [BMI260_IF_CONF] = 0xcc, - [BMI260_DRV] = 0x00, - [BMI260_ACC_SELF_TEST] = 0xf2, - [BMI260_GYR_SELF_TEST_AXES] = 0xf0, - [0x6f] = 0xff, /* Reserved */ - [BMI260_NV_CONF] = 0xf0, - [BMI260_OFFSET_ACC70] = 0x00, - [BMI260_OFFSET_ACC70 + 1] = 0x00, - [BMI260_OFFSET_ACC70 + 2] = 0x00, - [BMI260_OFFSET_GYR70] = 0x00, - [BMI260_OFFSET_GYR70 + 1] = 0x00, - [BMI260_OFFSET_GYR70 + 2] = 0x00, - [BMI160_OFFSET_EN_GYR98] = 0x00, - [0x78 ... 0x7b] = 0xff, /* Reserved */ - [BMI260_PWR_CONF] = 0xf8, - [BMI260_PWR_CTRL] = 0xf0, - [BMI260_CMD_REG] = 0x00, -}; - -/** - * @brief Reset registers to default values and restore registers backed by NVM - * - * @param regs Pointer to array of emulator's registers - * @param emul Pointer to BMI emulator - */ -static void bmi260_emul_reset(uint8_t *regs, struct i2c_emul *emul) -{ - bool tag_time; - bool header; - - regs[BMI260_CHIP_ID] = 0x27; - regs[BMI260_ERR_REG] = 0x00; - regs[BMI260_STATUS] = 0x10; - regs[BMI260_AUX_X_L_G] = 0x00; - regs[BMI260_AUX_X_H_G] = 0x00; - regs[BMI260_AUX_Y_L_G] = 0x00; - regs[BMI260_AUX_Y_H_G] = 0x00; - regs[BMI260_AUX_Z_L_G] = 0x00; - regs[BMI260_AUX_Z_H_G] = 0x00; - regs[BMI260_AUX_R_L_G] = 0x00; - regs[BMI260_AUX_R_H_G] = 0x00; - regs[BMI260_ACC_X_L_G] = 0x00; - regs[BMI260_ACC_X_H_G] = 0x00; - regs[BMI260_ACC_Y_L_G] = 0x00; - regs[BMI260_ACC_Y_H_G] = 0x00; - regs[BMI260_ACC_Z_L_G] = 0x00; - regs[BMI260_ACC_Z_H_G] = 0x00; - regs[BMI260_GYR_X_L_G] = 0x00; - regs[BMI260_GYR_X_H_G] = 0x00; - regs[BMI260_GYR_Y_L_G] = 0x00; - regs[BMI260_GYR_Y_H_G] = 0x00; - regs[BMI260_GYR_Z_L_G] = 0x00; - regs[BMI260_GYR_Z_H_G] = 0x00; - regs[BMI260_SENSORTIME_0] = 0x00; - regs[BMI260_SENSORTIME_1] = 0x00; - regs[BMI260_SENSORTIME_2] = 0x00; - regs[BMI260_EVENT] = 0x01; - regs[BMI260_INT_STATUS_0] = 0x00; - regs[BMI260_INT_STATUS_1] = 0x00; - regs[BMI260_SC_OUT_0] = 0x00; - regs[BMI260_SC_OUT_1] = 0x00; - regs[BMI260_ORIENT_ACT] = 0x00; - regs[BMI260_INTERNAL_STATUS] = 0x00; - regs[BMI260_TEMPERATURE_0] = 0x00; - regs[BMI260_TEMPERATURE_1] = 0x80; - regs[BMI260_FIFO_LENGTH_0] = 0x00; - regs[BMI260_FIFO_LENGTH_1] = 0x00; - regs[BMI160_FIFO_DATA] = 0x00; - regs[BMI260_FEAT_PAGE] = 0x00; - regs[BMI260_ACC_CONF] = 0xa8; - regs[BMI260_ACC_RANGE] = 0x02; - regs[BMI260_GYR_CONF] = 0xa9; - regs[BMI260_GYR_RANGE] = 0x00; - regs[BMI260_AUX_CONF] = 0x46; - regs[BMI260_FIFO_DOWNS] = 0x88; - regs[BMI260_FIFO_WTM_0] = 0x00; - regs[BMI260_FIFO_WTM_1] = 0x02; - regs[BMI260_FIFO_CONFIG_0] = 0x02; - regs[BMI260_FIFO_CONFIG_1] = 0x10; - regs[BMI260_SATURATION] = 0x00; - regs[BMI260_AUX_DEV_ID] = 0x20; - regs[BMI260_AUX_IF_CONF] = 0x83; - regs[BMI260_AUX_RD_ADDR] = 0x42; - regs[BMI260_AUX_WR_ADDR] = 0x4c; - regs[BMI260_AUX_WR_DATA] = 0x02; - regs[BMI260_ERR_REG_MSK] = 0x00; - regs[BMI260_INT1_IO_CTRL] = 0x00; - regs[BMI260_INT2_IO_CTRL] = 0x00; - regs[BMI260_INT_LATCH] = 0x00; - regs[BMI260_INT1_MAP_FEAT] = 0x00; - regs[BMI260_INT2_MAP_FEAT] = 0x00; - regs[BMI260_INT_MAP_DATA] = 0x00; - regs[BMI260_INIT_CTRL] = 0x00; - regs[BMI260_INIT_ADDR_0] = 0x00; - regs[BMI260_INIT_ADDR_1] = 0x00; - regs[BMI260_INIT_DATA] = 0x00; - regs[BMI260_INTERNAL_ERROR] = 0x00; - regs[BMI260_AUX_IF_TRIM] = 0x01; - regs[BMI260_GYR_CRT_CONF] = 0x00; - regs[BMI260_NVM_CONF] = 0x00; - regs[BMI260_IF_CONF] = 0x00; - regs[BMI260_DRV] = 0xff; - regs[BMI260_ACC_SELF_TEST] = 0x00; - regs[BMI260_GYR_SELF_TEST_AXES] = 0x00; - regs[BMI260_PWR_CONF] = 0x03; - regs[BMI260_PWR_CTRL] = 0x00; - regs[BMI260_CMD_REG] = 0x00; - - /* Call generic reset */ - tag_time = regs[BMI260_FIFO_CONFIG_0] & BMI260_FIFO_TIME_EN; - header = regs[BMI260_FIFO_CONFIG_1] & BMI260_FIFO_HEADER_EN; - bmi_emul_reset_common(emul, tag_time, header); -} - -/** - * @brief Convert range in format of ACC_RANGE register to number of bits - * that should be shifted right to obtain 16 bit reported accelerometer - * value from internal 32 bit value - * - * @param range Value of ACC_RANGE register - * - * @return shift Number of LSB that should be ignored from internal - * accelerometer value - */ -static int bmi260_emul_acc_range_to_shift(uint8_t range) -{ - switch (range & 0xf) { - case BMI260_GSEL_2G: - return 0; - case BMI260_GSEL_4G: - return 1; - case BMI260_GSEL_8G: - return 2; - case BMI260_GSEL_16G: - return 3; - default: - return 0; - } -} - -/** - * @brief Convert range in format of GYR_RANGE register to number of bits - * that should be shifted right to obtain 16 bit reported gyroscope - * value from internal 32 bit value - * - * @param range Value of GYR_RANGE register - * - * @return shift Number of LSB that should be ignored from internal - * gyroscope value - */ -static int bmi260_emul_gyr_range_to_shift(uint8_t range) -{ - switch (range & 0x7) { - case BMI260_DPS_SEL_2000: - return 4; - case BMI260_DPS_SEL_1000: - return 3; - case BMI260_DPS_SEL_500: - return 2; - case BMI260_DPS_SEL_250: - return 1; - case BMI260_DPS_SEL_125: - return 0; - default: - return 0; - } -} - -/** - * @brief Execute first part of command. Emulate state of device which is - * during handling command (status bits etc). This function save time - * on which command should end. - * - * @param regs Pointer to array of emulator's registers - * @param emul Pointer to BMI emulator - * @param cmd Command that is starting - * - * @return 0 on success - * @return -EIO on failure - */ -static int bmi260_emul_start_cmd(uint8_t *regs, struct i2c_emul *emul, int cmd) -{ - int time; - - switch (cmd) { - case BMI260_CMD_SOFT_RESET: - time = 1; - break; - case BMI260_CMD_FIFO_FLUSH: - time = 0; - break; - default: - LOG_ERR("Unknown command 0x%x", cmd); - return -EIO; - } - - regs[BMI260_CMD_REG] = cmd; - bmi_emul_set_cmd_end_time(emul, time); - - return 0; -} - -/** - * @brief Emulate end of ongoing command. - * - * @param regs Pointer to array of emulator's registers - * @param emul Pointer to BMI emulator - */ -static void bmi260_emul_end_cmd(uint8_t *regs, struct i2c_emul *emul) -{ - bool tag_time; - bool header; - int cmd; - - cmd = regs[BMI260_CMD_REG]; - regs[BMI260_CMD_REG] = 0; - tag_time = regs[BMI260_FIFO_CONFIG_0] & BMI260_FIFO_TIME_EN; - header = regs[BMI260_FIFO_CONFIG_1] & BMI260_FIFO_HEADER_EN; - - switch (cmd) { - case BMI160_CMD_SOFT_RESET: - bmi260_emul_reset(regs, emul); - break; - case BMI160_CMD_FIFO_FLUSH: - bmi_emul_flush_fifo(emul, tag_time, header); - break; - } -} - -/** - * @brief Get currently accessed register. It is first register plus number of - * handled bytes for all registers except BMI260_FIFO_DATA and - * BMI260_INIT_DATA for which address incrementation is disabled. - * - * @param emul Pointer to BMI emulator - * @param reg First byte of last write message - * @param bytes Number of bytes already handled from current message - * @param read If currently handled is read message - * - * @return Currently accessed register - */ -static int bmi260_emul_access_reg(struct i2c_emul *emul, int reg, int byte, - bool read) -{ - /* Ignore first byte which sets starting register */ - if (!read) { - byte -= 1; - } - - /* - * If register is FIFO data, then read data from FIFO. - * Init data is also block, but it is not implemented in emulator. - * Else block read access subsequent registers. - */ - if (reg <= BMI260_FIFO_DATA && reg + byte >= BMI260_FIFO_DATA) { - return BMI260_FIFO_DATA; - } else if (reg <= BMI260_INIT_DATA && - reg + byte >= BMI260_INIT_DATA) { - return BMI260_INIT_DATA; - } - - return reg + byte; -} - -/** - * @brief BMI260 specific write function. It handle block writes. Init data - * register is trap register, so after reaching it, register address - * is not increased on block writes. Check if read only register is not - * accessed. Before writing value, ongoing command is finished if - * possible. Write to CMD register is handled by BMI260 specific - * function. On changing of FIFO header/headerless mode or - * enabling/disabling sensor in headerless mode FIFO is flushed. - * - * @param regs Pointer to array of emulator's registers - * @param emul Pointer to BMI emulator - * @param reg Register address that is accessed - * @param byte Number of handled bytes in this write command - * @param val Value that is being written - * - * @return 0 on success - * @return BMI_EMUL_ACCESS_E on RO register access - * @return -EIO on error - */ -static int bmi260_emul_handle_write(uint8_t *regs, struct i2c_emul *emul, - int reg, int byte, uint8_t val) -{ - uint8_t mask; - bool tag_time; - bool header; - - reg = bmi260_emul_access_reg(emul, reg, byte, false /* = read */); - - if (reg <= BMI260_FIFO_DATA || reg == BMI260_GYR_SELF_TEST_AXES || - reg == BMI260_INTERNAL_ERROR || reg == BMI260_SATURATION) { - return BMI_EMUL_ACCESS_E; - } - - - /* Stop on going command if required */ - if (regs[BMI260_CMD_REG] != 0 && bmi_emul_is_cmd_end(emul)) { - bmi260_emul_end_cmd(regs, emul); - } - - tag_time = regs[BMI260_FIFO_CONFIG_0] & BMI260_FIFO_TIME_EN; - header = regs[BMI260_FIFO_CONFIG_1] & BMI260_FIFO_HEADER_EN; - - switch (reg) { - case BMI260_CMD_REG: - if (regs[BMI260_CMD_REG] != 0) { - LOG_ERR("Issued command before previous end"); - return -EIO; - } - - return bmi260_emul_start_cmd(regs, emul, val); - case BMI260_FIFO_CONFIG_1: - /* - * Clear FIFO on transition between headerless and - * header mode - */ - if (!!(val & BMI260_FIFO_HEADER_EN) != header) { - bmi_emul_flush_fifo(emul, tag_time, header); - } - break; - case BMI260_PWR_CTRL: - /* - * Clear FIFO on enabling/disabling sensors in headerless - * mode - */ - mask = BMI260_AUX_EN & BMI260_GYR_EN & BMI260_ACC_EN; - if ((val & mask) != (regs[BMI260_PWR_CTRL] & mask) && !header) { - bmi_emul_flush_fifo(emul, tag_time, header); - } - break; - } - - return 0; -} - -/** - * @brief BMI260 specific read function. It handle block reads. FIFO data - * register and init data register are trap registers, so - * after reaching it, register address is not increased on block reads. - * Before reading value, ongoing command is finished if possible. - * Read of sensor data traps current emulator state in registers. - * Read of FIFO length and FIFO data triggers default BMI functions. - * - * @param regs Pointer to array of emulator's registers - * @param emul Pointer to BMI emulator - * @param reg Register address that is accessed - * @param byte Byte which is accessed during block read - * @param buf Pointer where read byte should be stored - * - * @return 0 on success - * @return BMI_EMUL_ACCESS_E on WO register access - * @return -EIO on other error - */ -static int bmi260_emul_handle_read(uint8_t *regs, struct i2c_emul *emul, - int reg, int byte, char *buf) -{ - uint16_t fifo_len; - bool acc_off_en; - bool gyr_off_en; - bool tag_time; - bool header; - int gyr_shift; - int acc_shift; - int fifo_byte; - - /* Get number of bytes readed from FIFO */ - fifo_byte = byte - (reg - BMI260_FIFO_DATA); - - reg = bmi260_emul_access_reg(emul, reg, byte, true /* = read */); - - if (reg == BMI260_CMD_REG) { - *buf = 0; - - return BMI_EMUL_ACCESS_E; - } - - /* Stop on going command if required */ - if (regs[BMI260_CMD_REG] != 0 && bmi_emul_is_cmd_end(emul)) { - bmi260_emul_end_cmd(regs, emul); - } - - tag_time = regs[BMI260_FIFO_CONFIG_0] & BMI260_FIFO_TIME_EN; - header = regs[BMI260_FIFO_CONFIG_1] & BMI260_FIFO_HEADER_EN; - acc_off_en = regs[BMI260_NV_CONF] & BMI260_ACC_OFFSET_EN; - gyr_off_en = regs[BMI260_OFFSET_EN_GYR98] & BMI260_OFFSET_GYRO_EN; - gyr_shift = bmi260_emul_gyr_range_to_shift(regs[BMI260_GYR_RANGE]); - acc_shift = bmi260_emul_acc_range_to_shift(regs[BMI260_ACC_RANGE]); - - switch (reg) { - case BMI260_GYR_X_L_G: - case BMI260_GYR_X_H_G: - case BMI260_GYR_Y_L_G: - case BMI260_GYR_Y_H_G: - case BMI260_GYR_Z_L_G: - case BMI260_GYR_Z_H_G: - case BMI260_ACC_X_L_G: - case BMI260_ACC_X_H_G: - case BMI260_ACC_Y_L_G: - case BMI260_ACC_Y_H_G: - case BMI260_ACC_Z_L_G: - case BMI260_ACC_Z_H_G: - case BMI260_SENSORTIME_0: - case BMI260_SENSORTIME_1: - case BMI260_SENSORTIME_2: - /* - * Snapshot of current emulator state is created on data read - * and shouldn't be changed until next I2C operation - */ - if (byte == 0) { - bmi_emul_state_to_reg(emul, acc_shift, gyr_shift, - BMI260_ACC_X_L_G, - BMI260_GYR_X_L_G, - BMI260_SENSORTIME_0, - acc_off_en, gyr_off_en); - } - break; - case BMI260_FIFO_LENGTH_0: - case BMI260_FIFO_LENGTH_1: - if (byte == 0) { - fifo_len = bmi_emul_fifo_len(emul, tag_time, header); - regs[BMI260_FIFO_LENGTH_0] = fifo_len & 0xff; - regs[BMI260_FIFO_LENGTH_1] = (fifo_len >> 8) & 0x7; - } - break; - case BMI260_FIFO_DATA: - regs[reg] = bmi_emul_get_fifo_data(emul, fifo_byte, tag_time, - header, acc_shift, - gyr_shift); - break; - } - - *buf = regs[reg]; - - return 0; -} - -/** Registers backed in NVM by BMI260 */ -const int bmi260_nvm_reg[] = {BMI260_AUX_IF_TRIM, - BMI260_NV_CONF, - BMI260_DRV, - BMI260_OFFSET_ACC70, - BMI260_OFFSET_ACC70 + 1, - BMI260_OFFSET_ACC70 + 2, - BMI260_OFFSET_GYR70, - BMI260_OFFSET_GYR70 + 1, - BMI260_OFFSET_GYR70 + 2, - BMI260_OFFSET_EN_GYR98}; - -/** Confguration of BMI260 */ -struct bmi_emul_type_data bmi260_emul = { - .sensortime_follow_config_frame = true, - .handle_write = bmi260_emul_handle_write, - .handle_read = bmi260_emul_handle_read, - .access_reg = bmi260_emul_access_reg, - .reset = bmi260_emul_reset, - .rsvd_mask = bmi_emul_260_rsvd_mask, - .nvm_reg = bmi260_nvm_reg, - .nvm_len = ARRAY_SIZE(bmi260_nvm_reg), - .gyr_off_reg = BMI260_OFFSET_GYR70, - .acc_off_reg = BMI260_OFFSET_ACC70, - .gyr98_off_reg = BMI260_OFFSET_EN_GYR98, -}; - -/** Check description in emul_bmi.h */ -const struct bmi_emul_type_data *get_bmi260_emul_type_data(void) -{ - return &bmi260_emul; -} |