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/* 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_ACCELGYRO_BMI160_H
#define __CROS_EC_ACCELGYRO_BMI160_H
#include "accelgyro.h"
#include "mag_bmm150.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_POR_DETECTED (1 << 0)
#define BMI160_GYR_SLF_TST (1 << 1)
#define BMI160_MAG_MAN_OP (1 << 2)
#define BMI160_FOC_RDY (1 << 3)
#define BMI160_NVM_RDY (1 << 4)
#define BMI160_DRDY_MAG (1 << 5)
#define BMI160_DRDY_GYR (1 << 6)
#define BMI160_DRDY_ACC (1 << 7)
#define BMI160_DRDY_OFF(_sensor) (7 - (_sensor))
#define BMI160_DRDY_MASK(_sensor) (1 << BMI160_DRDY_OFF(_sensor))
/* first 2 bytes are the interrupt reasons, next 2 some qualifier */
#define BMI160_INT_STATUS_0 0x1c
#define BMI160_STEP_INT (1 << 0)
#define BMI160_SIGMOT_INT (1 << 1)
#define BMI160_ANYM_INT (1 << 2)
#define BMI160_PMU_TRIGGER_INT (1 << 3)
#define BMI160_D_TAP_INT (1 << 4)
#define BMI160_S_TAP_INT (1 << 5)
#define BMI160_ORIENT_INT (1 << 6)
#define BMI160_FLAT_INT (1 << 7)
#define BMI160_INT_STATUS_1 0x1d
#define BMI160_HIGHG_INT (1 << (2 + 8))
#define BMI160_LOWG_INT (1 << (3 + 8))
#define BMI160_DRDY_INT (1 << (4 + 8))
#define BMI160_FFULL_INT (1 << (5 + 8))
#define BMI160_FWM_INT (1 << (6 + 8))
#define BMI160_NOMO_INT (1 << (7 + 8))
#define BMI160_INT_MASK 0xFFFF
#define BMI160_INT_STATUS_2 0x1e
#define BMI160_INT_STATUS_3 0x1f
#define BMI160_FIRST_X (1 << (0 + 16))
#define BMI160_FIRST_Y (1 << (1 + 16))
#define BMI160_FIRST_Z (1 << (2 + 16))
#define BMI160_SIGN (1 << (3 + 16))
#define BMI160_ANYM_OFFSET 0
#define BMI160_TAP_OFFSET 4
#define BMI160_HIGH_OFFSET 8
#define BMI160_INT_INFO(_type, _data) \
(CONCAT2(BMI160_, _data) << CONCAT3(BMI160_, _type, _OFFSET))
#define BMI160_ORIENT_Z (1 << (6 + 24))
#define BMI160_FLAT (1 << (7 + 24))
#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_LENGTH_MASK ((1 << 11) - 1)
#define BMI160_FIFO_DATA 0x24
enum fifo_header {
BMI160_EMPTY = 0x80,
BMI160_SKIP = 0x40,
BMI160_TIME = 0x44,
BMI160_CONFIG = 0x48
};
#define BMI160_FH_MODE_MASK 0xc0
#define BMI160_FH_PARM_OFFSET 2
#define BMI160_FH_PARM_MASK (0x7 << BMI160_FH_PARM_OFFSET)
#define BMI160_FH_EXT_MASK 0x03
#define BMI160_ACC_CONF 0x40
#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_GSEL_2G 0x03
#define BMI160_GSEL_4G 0x05
#define BMI160_GSEL_8G 0x08
#define BMI160_GSEL_16G 0x0c
#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_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_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) \
((_regval) < 8 ? 100000 / (1 << (8 - (_regval))) : \
100000 * (1 << ((_regval) - 8)))
#define BMI160_ODR_TO_REG(_odr) \
((_odr) < 100000 ? (__builtin_clz(100000 / (_odr)) - 23) : \
(39 - __builtin_clz((_odr) / 100000)))
#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_FIFO_TAG_TIME_EN (1 << 1)
#define BMI160_FIFO_TAG_INT2_EN (1 << 2)
#define BMI160_FIFO_TAG_INT1_EN (1 << 3)
#define BMI160_FIFO_HEADER_EN (1 << 4)
#define BMI160_FIFO_MAG_EN (1 << 5)
#define BMI160_FIFO_ACC_EN (1 << 6)
#define BMI160_FIFO_GYR_EN (1 << 7)
#define BMI160_FIFO_TARG_INT(_i) CONCAT3(BMI160_FIFO_TAG_INT, _i, _EN)
#define BMI160_FIFO_SENSOR_EN(_sensor) \
((_sensor) == MOTIONSENSE_TYPE_ACCEL ? BMI160_FIFO_ACC_EN : \
((_sensor) == MOTIONSENSE_TYPE_GYRO ? BMI160_FIFO_GYR_EN : \
BMI160_FIFO_MAG_EN))
#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_ANYMO_X_EN (1 << 0)
#define BMI160_INT_ANYMO_Y_EN (1 << 1)
#define BMI160_INT_ANYMO_Z_EN (1 << 2)
#define BMI160_INT_D_TAP_EN (1 << 4)
#define BMI160_INT_S_TAP_EN (1 << 5)
#define BMI160_INT_ORIENT_EN (1 << 6)
#define BMI160_INT_FLAT_EN (1 << 7)
#define BMI160_INT_EN_1 0x51
#define BMI160_INT_HIGHG_X_EN (1 << 0)
#define BMI160_INT_HIGHG_Y_EN (1 << 1)
#define BMI160_INT_HIGHG_Z_EN (1 << 2)
#define BMI160_INT_LOW_EN (1 << 3)
#define BMI160_INT_DRDY_EN (1 << 4)
#define BMI160_INT_FFUL_EN (1 << 5)
#define BMI160_INT_FWM_EN (1 << 6)
#define BMI160_INT_EN_2 0x52
#define BMI160_INT_NOMOX_EN (1 << 0)
#define BMI160_INT_NOMOY_EN (1 << 1)
#define BMI160_INT_NOMOZ_EN (1 << 2)
#define BMI160_INT_STEP_DET_EN (1 << 3)
#define BMI160_INT_OUT_CTRL 0x53
#define BMI160_INT_EDGE_CTRL (1 << 0)
#define BMI160_INT_LVL_CTRL (1 << 1)
#define BMI160_INT_OD (1 << 2)
#define BMI160_INT_OUTPUT_EN (1 << 3)
#define BMI160_INT1_CTRL_OFFSET 0
#define BMI160_INT2_CTRL_OFFSET 4
#define BMI160_INT_CTRL(_i, _bit) \
(CONCAT2(BMI160_INT_, _bit) << CONCAT3(BMI160_INT, _i, _CTRL_OFFSET))
#define BMI160_INT_LATCH 0x54
#define BMI160_INT1_INPUT_EN (1 << 4)
#define BMI160_INT2_INPUT_EN (1 << 5)
#define BMI160_LATCH_MASK 0xf
#define BMI160_LATCH_NONE 0
#define BMI160_LATCH_FOREVER 0xf
#define BMI160_INT_MAP_0 0x55
#define BMI160_INT_LOWG_STEP (1 << 0)
#define BMI160_INT_HIGHG (1 << 1)
#define BMI160_INT_ANYMOTION (1 << 2)
#define BMI160_INT_NOMOTION (1 << 3)
#define BMI160_INT_D_TAP (1 << 4)
#define BMI160_INT_S_TAP (1 << 5)
#define BMI160_INT_ORIENT (1 << 6)
#define BMI160_INT_FLAT (1 << 7)
#define BMI160_INT_MAP_1 0x56
#define BMI160_INT_PMU_TRIG (1 << 0)
#define BMI160_INT_FFULL (1 << 1)
#define BMI160_INT_FWM (1 << 2)
#define BMI160_INT_DRDY (1 << 3)
#define BMI160_INT1_MAP_OFFSET 4
#define BMI160_INT2_MAP_OFFSET 0
#define BMI160_INT_MAP(_i, _bit) \
(CONCAT2(BMI160_INT_, _bit) << CONCAT3(BMI160_INT, _i, _MAP_OFFSET))
#define BMI160_INT_FIFO_MAP BMI160_INT_MAP_1
#define BMI160_INT_MAP_2 0x57
#define BMI160_INT_MAP_INT_1 BMI160_INT_MAP_0
#define BMI160_INT_MAP_INT_2 BMI160_INT_MAP_2
#define BMI160_INT_MAP_REG(_i) CONCAT2(BMI160_INT_MAP_INT_, _i)
#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_FOC_GYRO_EN (1 << 6)
#define BMI160_FOC_ACC_PLUS_1G 1
#define BMI160_FOC_ACC_MINUS_1G 2
#define BMI160_FOC_ACC_0G 3
#define BMI160_FOC_ACC_Z_OFFSET 0
#define BMI160_FOC_ACC_Y_OFFSET 2
#define BMI160_FOC_ACC_X_OFFSET 4
#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_OFFSET_ACC70 0x71
#define BMI160_OFFSET_ACC_MULTI_MG (3900 * 1024)
#define BMI160_OFFSET_ACC_DIV_MG 1000000
#define BMI160_OFFSET_GYR70 0x74
#define BMI160_OFFSET_GYRO_MULTI_MDS (61 * 1024)
#define BMI160_OFFSET_GYRO_DIV_MDS 1000
#define BMI160_OFFSET_EN_GYR98 0x77
#define BMI160_OFFSET_ACC_EN (1 << 6)
#define BMI160_OFFSET_GYRO_EN (1 << 7)
#define BMI160_CMD_REG 0x7e
#define BMI160_CMD_SOFT_RESET 0xb6
#define BMI160_CMD_NOOP 0x00
#define BMI160_CMD_START_FOC 0x03
#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_SUSPEND(_sensor) \
(BMI160_CMD_ACC_MODE_SUSP + 4 * (_sensor))
#define BMI160_CMD_MODE_NORMAL(_sensor) \
(BMI160_CMD_ACC_MODE_NORMAL + 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
/* 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;
#ifdef CONFIG_MAG_BMI160_BMM150
struct bmm150_comp_registers comp_regs;
#endif
};
#define BMI160_GET_DATA(_s) \
((struct bmi160_drv_data_t *)(_s)->drv_data)
#define BMI160_GET_SAVED_DATA(_s) \
(&BMI160_GET_DATA(_s)->saved_data[(_s)->type])
extern struct bmi160_drv_data_t g_bmi160_data;
void bmi160_interrupt(enum gpio_signal signal);
#ifdef CONFIG_MAG_BMI160_BMM150
/* Functions to access the compass through the accel/gyro. */
int raw_mag_read8(const int addr, const int reg, int *data_ptr);
int raw_mag_write8(const int addr, const int reg, int data);
#endif
#endif /* __CROS_EC_ACCELGYRO_BMI160_H */
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