/* 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_ACCEL_BMI160_H #define __CROS_EC_ACCEL_BMI160_H #include "accelgyro.h" #define BMI160_ADDR0 0xd0 #define BMI160_ADDR1 0xd2 #define BMI160_CHIP_ID 0x00 #define BMI160_CHIP_ID_MAJOR 0xd1 #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_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_DRDY_ACC 0x80 #define BMI160_DRDY_GYR 0x40 #define BMI160_DRDY_MAG 0x20 #define BMI160_DRDY_OFF(_sensor) (7 - (_sensor)) #define BMI160_DRDY_MASK(_sensor) (1 << BMI160_DRDY_OFF(_sensor)) #define BMI160_NVM_RDY 0x10 #define BMI160_FOC_RDY 0x08 #define BMI160_MAG_MAN_OP 0x04 #define BMI160_GYR_SLF_TST 0x02 #define BMI160_POR_DETECTED 0x01 #define BMI160_INT_STATUS_0 0x1c #define BMI160_INT_STATUS_1 0x1d #define BMI160_INT_STATUS_2 0x1e #define BMI160_INT_STATUS_3 0x1f #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_DATA 0x24 #define BMI160_ACC_CONF 0x40 #define BMI160_GSEL_2G 0X03 #define BMI160_GSEL_4G 0X05 #define BMI160_GSEL_8G 0X08 #define BMI160_GSEL_16G 0X0C #define BMI160_ODR_MASK 0x0F #define BMI160_ACC_BW_OFFSET 4 #define BMI160_ACC_BW_MASK (0x7 << BMI160_ACC_BW_OFFSET) #define BMI160_ACC_RANGE 0x41 #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_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_MAG_CONF 0x44 /* odr = 100 / (1 << (8 - reg)) ,within limit */ #define BMI160_ODR_0_78HZ 0x01 #define BMI160_ODR_25HZ 0x06 #define BMI160_ODR_800HZ 0x0b #define BMI160_ODR_1600HZ 0x0c #define BMI160_ODR_3200HZ 0x0d #define BMI160_REG_TO_ODR(_regval) (100000 / (1 << (8 - (_regval)))) #define BMI160_ODR_TO_REG(_odr) (__builtin_clz(100000 / (_odr)) - 23) #define BMI160_CONF_REG(_sensor) (0x40 + 2 * (_sensor)) #define BMI160_RANGE_REG(_sensor) (0x41 + 2 * (_sensor)) #define BMI160_FIFO_DOWNS 0x45 #define BMI160_FIFO_CONFIG_0 0x46 #define BMI160_FIFO_CONFIG_1 0x47 #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 (1 << 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_EN_1 0x51 #define BMI160_INT_EN_2 0x52 #define BMI160_INT_OUT_CTRL 0x53 #define BMI160_INT_LATCH 0x54 #define BMI160_INT_MAP_0 0x55 #define BMI160_INT_MAP_1 0x56 #define BMI160_INT_MAP_2 0x57 #define BMI160_INT_DATA_0 0x58 #define BMI160_INT_DATA_1 0x59 #define BMI160_INT_MOTION_0 0x5f #define BMI160_INT_MOTION_1 0x60 #define BMI160_INT_MOTION_2 0x61 #define BMI160_INT_MOTION_3 0x62 #define BMI160_INT_TAP_0 0x63 #define BMI160_INT_TAP_1 0x64 #define BMI160_INT_ORIENT_0 0x65 #define BMI160_INT_ORIENT_1 0x66 #define BMI160_INT_FLAT_0 0x67 #define BMI160_INT_FLAT_1 0x68 #define BMI160_FOC_CONF 0x69 #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_CMD_REG 0x7e #define BMI160_CMD_SOFT_RESET 0xb6 #define BMI160_CMD_NOOP 0x00 #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_NORMAL(_sensor) (0x11 + 4 * (_sensor)) #define BMI160_CMD_MODE_SUSPEND(_sensor) (0x10 + 4 * (_sensor)) #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 (1 << 7) #define BMI160_CMD_TARGET_PAGE (1 << 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 #if 0 #define BMI160_DPS_SEL_245 (0 << 3) #define BMI160_DPS_SEL_500 (1 << 3) #define BMI160_DPS_SEL_1000 (2 << 3) #define BMI160_DPS_SEL_2000 (3 << 3) #define BMI160_GSEL_2G (0 << 3) #define BMI160_GSEL_4G (2 << 3) #define BMI160_GSEL_8G (3 << 3) #define BMI160_RANGE_MASK (3 << 3) #define BMI160_ODR_PD (0 << 5) #define BMI160_ODR_10HZ (1 << 5) #define BMI160_ODR_15HZ (1 << 5) #define BMI160_ODR_50HZ (2 << 5) #define BMI160_ODR_59HZ (2 << 5) #define BMI160_ODR_119HZ (3 << 5) #define BMI160_ODR_238HZ (4 << 5) #define BMI160_ODR_476HZ (5 << 5) #define BMI160_ODR_952HZ (6 << 5) #define BMI160_ODR_MASK (7 << 5) /* * Register : STATUS_REG * Address : 0X27 */ enum bmi160_status { BMI160_STS_DOWN = 0x00, BMI160_STS_XLDA_UP = 0x01, BMI160_STS_GDA_UP = 0x02, }; #define BMI160_STS_XLDA_MASK 0x01 #define BMI160_STS_GDA_MASK 0x02 /* * Register : CTRL_REG8 * Address : 0X22 * Bit Group Name: BDU */ enum bmi160_bdu { BMI160_BDU_DISABLE = 0x00, BMI160_BDU_ENABLE = 0x40, }; #endif /* Sensor resolution in number of bits. This sensor has fixed resolution. */ #define BMI160_RESOLUTION 16 extern const struct accelgyro_drv bmi160_drv; enum bmi160_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 BMI160_FLAG_SEC_I2C_ENABLED (1 << 0) struct bmi160_drv_data_t { struct motion_data_t saved_data[3]; uint8_t flags; }; #endif /* __CROS_EC_ACCEL_BMI160_H */