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/* Copyright 2020 The ChromiumOS Authors
* Use of this source code is governed by a BSD-style license that can be
* found in the LICENSE file.
*/
/* ICM accelerometer and gyroscope common definitions for Chrome EC */
#ifndef __CROS_EC_ACCELGYRO_ICM_COMMON_H
#define __CROS_EC_ACCELGYRO_ICM_COMMON_H
#include "accelgyro.h"
#include "builtin/stddef.h"
#include "hwtimer.h"
#include "timer.h"
#include <sys/types.h>
#if !defined(CONFIG_ACCELGYRO_ICM_COMM_SPI) && \
!defined(CONFIG_ACCELGYRO_ICM_COMM_I2C)
#error "ICM must use either SPI or I2C communication"
#endif
#ifdef CONFIG_ACCEL_FIFO
/* reserve maximum 4 samples of 16 bytes */
#define ICM_FIFO_BUFFER 64
#else
#define ICM_FIFO_BUFFER 0
#endif
struct icm_drv_data_t {
struct accelgyro_saved_data_t saved_data[2];
struct motion_sensor_t *accel;
struct motion_sensor_t *gyro;
uint32_t stabilize_ts[2];
uint8_t bank;
uint8_t fifo_en;
uint8_t fifo_buffer[ICM_FIFO_BUFFER] __aligned(sizeof(long));
};
#define ICM_GET_DATA(_s) ((struct icm_drv_data_t *)(_s)->drv_data)
#define ICM_GET_SAVED_DATA(_s) (&ICM_GET_DATA(_s)->saved_data[(_s)->type])
/*
* Virtual register address is 16 bits:
* - 8 bits MSB coding bank number
* - 8 bits LSB coding physical address
*/
#define ICM426XX_REG_GET_BANK(_r) (((_r)&0xFF00) >> 8)
#define ICM426XX_REG_GET_ADDR(_r) ((_r)&0x00FF)
/* Sensor resolution in number of bits */
#define ICM_RESOLUTION 16
/**
* sign_extend - sign extend a standard int value using the given sign-bit
* @value: value to sign extend
* @index: 0 based bit index to sign bit
*/
static inline int sign_extend(int value, int index)
{
int shift = (sizeof(int) * 8) - index - 1;
return (int)(value << shift) >> shift;
}
/**
* Read 8 bits register
*/
int icm_read8(const struct motion_sensor_t *s, const int reg, int *data_ptr);
/**
* Write 8 bits register
*/
int icm_write8(const struct motion_sensor_t *s, const int reg, int data);
/**
* Read 16 bits register
*/
int icm_read16(const struct motion_sensor_t *s, const int reg, int *data_ptr);
/**
* Write 16 bits register
*/
int icm_write16(const struct motion_sensor_t *s, const int reg, int data);
/**
* Read n bytes
*/
int icm_read_n(const struct motion_sensor_t *s, const int reg,
uint8_t *data_ptr, const int len);
int icm_field_update8(const struct motion_sensor_t *s, const int reg,
const uint8_t field_mask, const uint8_t set_value);
int icm_get_resolution(const struct motion_sensor_t *s);
int icm_get_range(const struct motion_sensor_t *s);
int icm_get_data_rate(const struct motion_sensor_t *s);
int icm_set_scale(const struct motion_sensor_t *s, const uint16_t *scale,
int16_t temp);
int icm_get_scale(const struct motion_sensor_t *s, uint16_t *scale,
int16_t *temp);
ssize_t icm_fifo_decode_packet(const void *packet, const uint8_t **accel,
const uint8_t **gyro);
static inline void icm_set_stabilize_ts(const struct motion_sensor_t *s,
uint32_t delay)
{
struct icm_drv_data_t *st = ICM_GET_DATA(s);
uint32_t stabilize_ts;
stabilize_ts = __hw_clock_source_read() + delay;
/* prevent 0 value used for disabling time checking */
st->stabilize_ts[s->type] = stabilize_ts | 1;
}
static inline void icm_reset_stabilize_ts(const struct motion_sensor_t *s)
{
struct icm_drv_data_t *st = ICM_GET_DATA(s);
st->stabilize_ts[s->type] = 0;
}
static inline int32_t icm_get_sensor_stabilized(const struct motion_sensor_t *s,
uint32_t ts)
{
struct icm_drv_data_t *st = ICM_GET_DATA(s);
uint32_t stabilize_ts = st->stabilize_ts[s->type];
if (stabilize_ts == 0)
return 0;
return time_until(ts, stabilize_ts);
}
#endif /* __CROS_EC_ACCELGYRO_ICM_COMMON_H */
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