diff options
Diffstat (limited to 'zephyr/include/emul/emul_bmi.h')
| -rw-r--r-- | zephyr/include/emul/emul_bmi.h | 123 |
1 files changed, 68 insertions, 55 deletions
diff --git a/zephyr/include/emul/emul_bmi.h b/zephyr/include/emul/emul_bmi.h index b04278bd5e..c7a07ba4bf 100644 --- a/zephyr/include/emul/emul_bmi.h +++ b/zephyr/include/emul/emul_bmi.h @@ -1,4 +1,4 @@ -/* Copyright 2021 The Chromium OS Authors. All rights reserved. +/* Copyright 2021 The ChromiumOS Authors * Use of this source code is governed by a BSD-style license that can be * found in the LICENSE file. */ @@ -60,49 +60,49 @@ enum bmi_emul_axis { }; /** BMI emulator models */ -#define BMI_EMUL_160 1 -#define BMI_EMUL_260 2 +#define BMI_EMUL_160 1 +#define BMI_EMUL_260 2 /** Last register supported by emulator */ -#define BMI_EMUL_MAX_REG 0x80 +#define BMI_EMUL_MAX_REG 0x80 /** Maximum number of registers that can be backed in NVM */ -#define BMI_EMUL_MAX_NVM_REGS 10 +#define BMI_EMUL_MAX_NVM_REGS 10 /** Headers used in FIFO frames */ -#define BMI_EMUL_FIFO_HEAD_SKIP 0x40 -#define BMI_EMUL_FIFO_HEAD_TIME 0x44 -#define BMI_EMUL_FIFO_HEAD_CONFIG 0x48 -#define BMI_EMUL_FIFO_HEAD_EMPTY 0x80 -#define BMI_EMUL_FIFO_HEAD_DATA 0x80 -#define BMI_EMUL_FIFO_HEAD_DATA_MAG BIT(4) -#define BMI_EMUL_FIFO_HEAD_DATA_GYR BIT(3) -#define BMI_EMUL_FIFO_HEAD_DATA_ACC BIT(2) -#define BMI_EMUL_FIFO_HEAD_DATA_TAG_MASK 0x03 +#define BMI_EMUL_FIFO_HEAD_SKIP 0x40 +#define BMI_EMUL_FIFO_HEAD_TIME 0x44 +#define BMI_EMUL_FIFO_HEAD_CONFIG 0x48 +#define BMI_EMUL_FIFO_HEAD_EMPTY 0x80 +#define BMI_EMUL_FIFO_HEAD_DATA 0x80 +#define BMI_EMUL_FIFO_HEAD_DATA_MAG BIT(4) +#define BMI_EMUL_FIFO_HEAD_DATA_GYR BIT(3) +#define BMI_EMUL_FIFO_HEAD_DATA_ACC BIT(2) +#define BMI_EMUL_FIFO_HEAD_DATA_TAG_MASK 0x03 /** * Acceleration 1g in internal emulator units. It is helpful for using * functions @ref bmi_emul_set_value @ref bmi_emul_get_value * @ref bmi_emul_set_off and @ref bmi_emul_get_off */ -#define BMI_EMUL_1G BIT(14) +#define BMI_EMUL_1G BIT(14) /** * Gyroscope 125°/s in internal emulator units. It is helpful for using * functions @ref bmi_emul_set_value @ref bmi_emul_get_value * @ref bmi_emul_set_off and @ref bmi_emul_get_off */ -#define BMI_EMUL_125_DEG_S BIT(15) +#define BMI_EMUL_125_DEG_S BIT(15) /** Type of frames that can be added to the emulator frames list */ -#define BMI_EMUL_FRAME_CONFIG BIT(0) -#define BMI_EMUL_FRAME_ACC BIT(1) -#define BMI_EMUL_FRAME_MAG BIT(2) -#define BMI_EMUL_FRAME_GYR BIT(3) +#define BMI_EMUL_FRAME_CONFIG BIT(0) +#define BMI_EMUL_FRAME_ACC BIT(1) +#define BMI_EMUL_FRAME_MAG BIT(2) +#define BMI_EMUL_FRAME_GYR BIT(3) /** * Code returned by model specific handle_read and handle_write functions, when * RO register is accessed on write or WO register is accessed on read */ -#define BMI_EMUL_ACCESS_E 1 +#define BMI_EMUL_ACCESS_E 1 /** Structure used to describe single FIFO frame */ struct bmi_emul_frame { @@ -147,7 +147,8 @@ struct bmi_emul_type_data { * * @return Register address that will be accessed */ - int (*access_reg)(struct i2c_emul *emul, int reg, int byte, bool read); + int (*access_reg)(const struct emul *emul, int reg, int byte, + bool read); /** * @brief Model specific write function. It should modify state of @@ -163,7 +164,7 @@ struct bmi_emul_type_data { * @return BMI_EMUL_ACCESS_E on RO register access * @return other on error */ - int (*handle_write)(uint8_t *regs, struct i2c_emul *emul, int reg, + int (*handle_write)(uint8_t *regs, const struct emul *emul, int reg, int byte, uint8_t val); /** * @brief Model specific read function. It should modify state of @@ -179,16 +180,29 @@ struct bmi_emul_type_data { * @return BMI_EMUL_ACCESS_E on WO register access * @return other on error */ - int (*handle_read)(uint8_t *regs, struct i2c_emul *emul, int reg, + int (*handle_read)(uint8_t *regs, const struct emul *emul, int reg, int byte, char *buf); /** + * @brief Model specific finish read function. It should modify state of + * emulator if required. + * + * @param regs Pointer to array of emulator's registers + * @param emul Pointer to BMI emulator + * @param reg Selected register + * @param bytes Number of bytes read + * + * @return 0 on success + */ + int (*finish_read)(uint8_t *regs, const struct emul *emul, int reg, + int bytes); + /** * @brief Model specific reset function. It should modify state of * emulator to imitate after reset conditions. * * @param regs Pointer to array of emulator's registers * @param emul Pointer to BMI emulator */ - void (*reset)(uint8_t *regs, struct i2c_emul *emul); + void (*reset)(uint8_t *regs, const struct emul *emul); /** Array of reserved bits mask for each register */ const uint8_t *rsvd_mask; @@ -220,22 +234,13 @@ const struct bmi_emul_type_data *get_bmi160_emul_type_data(void); const struct bmi_emul_type_data *get_bmi260_emul_type_data(void); /** - * @brief Get pointer to BMI emulator using device tree order number. - * - * @param ord Device tree order number obtained from DT_DEP_ORD macro - * - * @return Pointer to BMI emulator - */ -struct i2c_emul *bmi_emul_get(int ord); - -/** * @brief Set value of given register of BMI * * @param emul Pointer to BMI emulator * @param reg Register address which value will be changed * @param val New value of the register */ -void bmi_emul_set_reg(struct i2c_emul *emul, int reg, uint8_t val); +void bmi_emul_set_reg(const struct emul *emul, int reg, uint8_t val); /** * @brief Get value of given register of BMI @@ -245,7 +250,7 @@ void bmi_emul_set_reg(struct i2c_emul *emul, int reg, uint8_t val); * * @return Value of the register */ -uint8_t bmi_emul_get_reg(struct i2c_emul *emul, int reg); +uint8_t bmi_emul_get_reg(const struct emul *emul, int reg); /** * @brief Get internal value of offset for given axis and sensor @@ -256,7 +261,7 @@ uint8_t bmi_emul_get_reg(struct i2c_emul *emul, int reg); * @return Offset of given axis. LSB for accelerometer is 0.061mg and for * gyroscope is 0.0037°/s. */ -int16_t bmi_emul_get_off(struct i2c_emul *emul, enum bmi_emul_axis axis); +int16_t bmi_emul_get_off(const struct emul *emul, enum bmi_emul_axis axis); /** * @brief Set internal value of offset for given axis and sensor @@ -266,7 +271,7 @@ int16_t bmi_emul_get_off(struct i2c_emul *emul, enum bmi_emul_axis axis); * @param val New value of given axis. LSB for accelerometer is 0.061mg and for * gyroscope is 0.0037°/s. */ -void bmi_emul_set_off(struct i2c_emul *emul, enum bmi_emul_axis axis, +void bmi_emul_set_off(const struct emul *emul, enum bmi_emul_axis axis, int16_t val); /** @@ -278,7 +283,7 @@ void bmi_emul_set_off(struct i2c_emul *emul, enum bmi_emul_axis axis, * @return Sensor value of given axis. LSB for accelerometer is 0.061mg and for * gyroscope is 0.0037°/s. */ -int32_t bmi_emul_get_value(struct i2c_emul *emul, enum bmi_emul_axis axis); +int32_t bmi_emul_get_value(const struct emul *emul, enum bmi_emul_axis axis); /** * @brief Set internal value of sensor for given axis @@ -288,7 +293,7 @@ int32_t bmi_emul_get_value(struct i2c_emul *emul, enum bmi_emul_axis axis); * @param val New value of given axis. LSB for accelerometer is 0.061mg and for * gyroscope is 0.0037°/s. */ -void bmi_emul_set_value(struct i2c_emul *emul, enum bmi_emul_axis axis, +void bmi_emul_set_value(const struct emul *emul, enum bmi_emul_axis axis, int32_t val); /** @@ -298,7 +303,7 @@ void bmi_emul_set_value(struct i2c_emul *emul, enum bmi_emul_axis axis, * @param emul Pointer to BMI emulator * @param set Check for this error */ -void bmi_emul_set_err_on_ro_write(struct i2c_emul *emul, bool set); +void bmi_emul_set_err_on_ro_write(const struct emul *emul, bool set); /** * @brief Set if error should be generated when reserved bits of register are @@ -307,7 +312,7 @@ void bmi_emul_set_err_on_ro_write(struct i2c_emul *emul, bool set); * @param emul Pointer to BMI emulator * @param set Check for this error */ -void bmi_emul_set_err_on_rsvd_write(struct i2c_emul *emul, bool set); +void bmi_emul_set_err_on_rsvd_write(const struct emul *emul, bool set); /** * @brief Set if error should be generated when write only register is read @@ -315,7 +320,7 @@ void bmi_emul_set_err_on_rsvd_write(struct i2c_emul *emul, bool set); * @param emul Pointer to BMI emulator * @param set Check for this error */ -void bmi_emul_set_err_on_wo_read(struct i2c_emul *emul, bool set); +void bmi_emul_set_err_on_wo_read(const struct emul *emul, bool set); /** * @brief Set if effect of simulated command should take place after simulated @@ -324,7 +329,7 @@ void bmi_emul_set_err_on_wo_read(struct i2c_emul *emul, bool set); * @param emul Pointer to BMI emulator * @param set Simulate command execution time */ -void bmi_emul_simulate_cmd_exec_time(struct i2c_emul *emul, bool set); +void bmi_emul_simulate_cmd_exec_time(const struct emul *emul, bool set); /** * @brief Set number of skipped frames. It will generate skip frame on next @@ -333,7 +338,7 @@ void bmi_emul_simulate_cmd_exec_time(struct i2c_emul *emul, bool set); * @param emul Pointer to BMI emulator * @param skip Number of skipped frames */ -void bmi_emul_set_skipped_frames(struct i2c_emul *emul, uint8_t skip); +void bmi_emul_set_skipped_frames(const struct emul *emul, uint8_t skip); /** * @brief Clear all FIFO frames, set current frame to empty and reset fifo_skip @@ -343,14 +348,14 @@ void bmi_emul_set_skipped_frames(struct i2c_emul *emul, uint8_t skip); * @param tag_time Indicate if sensor time should be included in empty frame * @param header Indicate if header should be included in frame */ -void bmi_emul_flush_fifo(struct i2c_emul *emul, bool tag_time, bool header); +void bmi_emul_flush_fifo(const struct emul *emul, bool tag_time, bool header); /** * @brief Restore registers backed by NVM, reset sensor time and flush FIFO * * @param emul Pointer to BMI emulator */ -void bmi_emul_reset_common(struct i2c_emul *emul, bool tag_time, bool header); +void bmi_emul_reset_common(const struct emul *emul, bool tag_time, bool header); /** * @brief Set command end time to @p time ms from now @@ -358,14 +363,14 @@ void bmi_emul_reset_common(struct i2c_emul *emul, bool tag_time, bool header); * @param emul Pointer to BMI emulator * @param time After this amount of ms command should end */ -void bmi_emul_set_cmd_end_time(struct i2c_emul *emul, int time); +void bmi_emul_set_cmd_end_time(const struct emul *emul, int time); /** * @brief Check if command should end * * @param emul Pointer to BMI emulator */ -bool bmi_emul_is_cmd_end(struct i2c_emul *emul); +bool bmi_emul_is_cmd_end(const struct emul *emul); /** * @brief Append FIFO @p frame to the emulator list of frames. It can be read @@ -376,7 +381,8 @@ bool bmi_emul_is_cmd_end(struct i2c_emul *emul); * emulator may use this frame (until flush of FIFO or reading * it out through I2C) */ -void bmi_emul_append_frame(struct i2c_emul *emul, struct bmi_emul_frame *frame); +void bmi_emul_append_frame(const struct emul *emul, + struct bmi_emul_frame *frame); /** * @brief Get length of all frames that are on the emulator list of frames. @@ -385,7 +391,7 @@ void bmi_emul_append_frame(struct i2c_emul *emul, struct bmi_emul_frame *frame); * @param tag_time Indicate if sensor time should be included in empty frame * @param header Indicate if header should be included in frame */ -uint16_t bmi_emul_fifo_len(struct i2c_emul *emul, bool tag_time, bool header); +uint16_t bmi_emul_fifo_len(const struct emul *emul, bool tag_time, bool header); /** * @brief Get next byte that should be returned on FIFO data access. @@ -400,9 +406,8 @@ uint16_t bmi_emul_fifo_len(struct i2c_emul *emul, bool tag_time, bool header); * * @return FIFO data byte */ -uint8_t bmi_emul_get_fifo_data(struct i2c_emul *emul, int byte, - bool tag_time, bool header, int acc_shift, - int gyr_shift); +uint8_t bmi_emul_get_fifo_data(const struct emul *emul, int byte, bool tag_time, + bool header, int acc_shift, int gyr_shift); /** * @brief Saves current internal state of sensors to emulator's registers. @@ -419,10 +424,18 @@ uint8_t bmi_emul_get_fifo_data(struct i2c_emul *emul, int byte, * @param gyr_off_en Indicate if gyroscope offset should be included to * sensor data value */ -void bmi_emul_state_to_reg(struct i2c_emul *emul, int acc_shift, +void bmi_emul_state_to_reg(const struct emul *emul, int acc_shift, int gyr_shift, int acc_reg, int gyr_reg, int sensortime_reg, bool acc_off_en, bool gyr_off_en); +/** + * @brief Returns pointer to i2c_common_emul_data for given emul + * + * @param emul Pointer to BMI emulator + * @return Pointer to i2c_common_emul_data for emul argument + */ +struct i2c_common_emul_data * +emul_bmi_get_i2c_common_data(const struct emul *emul); /** * @} |