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/* Copyright (c) 2016 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.
*/
/* LSM6DSM Accel and Gyro driver for Chrome EC */
#ifndef __CROS_EC_ACCELGYRO_LSM6DSM_H
#define __CROS_EC_ACCELGYRO_LSM6DSM_H
#include "accelgyro.h"
#define LSM6DSM_I2C_ADDR(__x) (__x << 1)
/*
* 7-bit address is 110101Xb. Where 'X' is determined
* by the voltage on the ADDR pin.
*/
#define LSM6DSM_ADDR0 LSM6DSM_I2C_ADDR(0x6a)
#define LSM6DSM_ADDR1 LSM6DSM_I2C_ADDR(0x6b)
/* Who Am I */
#define LSM6DSM_WHO_AM_I_REG 0x0f
#define LSM6DSM_WHO_AM_I 0x6a
#define LSM6DSM_OUT_XYZ_SIZE 6
/* Sensor Software Reset Bit */
#define LSM6DSM_RESET_ADDR 0x12
#define LSM6DSM_RESET_MASK 0x01
/* COMMON DEFINE FOR ACCEL-GYRO SENSORS */
#define LSM6DSM_EN_BIT 0x01
#define LSM6DSM_DIS_BIT 0x00
#define LSM6DSM_LIR_ADDR 0x58
#define LSM6DSM_LIR_MASK 0x01
#define LSM6DSM_BDU_ADDR 0x12
#define LSM6DSM_BDU_MASK 0x40
#define LSM6DSM_INT2_ON_INT1_ADDR 0x13
#define LSM6DSM_INT2_ON_INT1_MASK 0x20
#define LSM6DSM_GYRO_OUT_X_L_ADDR 0x22
#define LSM6DSM_ACCEL_OUT_X_L_ADDR 0x28
#define LSM6DSM_CTRL1_ADDR 0x10
#define LSM6DSM_CTRL2_ADDR 0x11
#define LSM6DSM_CTRL3_ADDR 0x12
#define LSM6DSM_CTRL6_ADDR 0x15
#define LSM6DSM_CTRL7_ADDR 0x16
#define LSM6DSM_STATUS_REG 0x1e
/* Output data rate registers and masks */
#define LSM6DSM_ODR_REG(_sensor) \
(LSM6DSM_CTRL1_ADDR + _sensor)
#define LSM6DSM_ODR_MASK 0xf0
/* Common Acc/Gyro data rate */
enum lsm6dsm_odr {
LSM6DSM_ODR_POWER_OFF_VAL = 0x00,
LSM6DSM_ODR_13HZ_VAL,
LSM6DSM_ODR_26HZ_VAL,
LSM6DSM_ODR_52HZ_VAL,
LSM6DSM_ODR_104HZ_VAL,
LSM6DSM_ODR_208HZ_VAL,
LSM6DSM_ODR_416HZ_VAL,
LSM6DSM_ODR_833HZ_VAL,
LSM6DSM_ODR_LIST_NUM
};
/* Absolute maximum rate for acc and gyro sensors */
#define LSM6DSM_ODR_MIN_VAL 13000
#define LSM6DSM_ODR_MAX_VAL 833000
/* ODR reg value from selected data rate in mHz */
#define LSM6DSM_ODR_TO_REG(_odr) \
(31 - __builtin_clz(_odr / LSM6DSM_ODR_MIN_VAL))
/* normalized ODR value from selected data rate in mHz */
#define LSM6DSM_ODR_TO_NORMALIZE(_odr) \
(LSM6DSM_ODR_MIN_VAL * (_odr / LSM6DSM_ODR_MIN_VAL))
/* Full Scale range value for Accel */
#define LSM6DSM_FS_LIST_NUM 4
#define LSM6DSM_ACCEL_FS_ADDR 0x10
#define LSM6DSM_ACCEL_FS_MASK 0x0c
#define LSM6DSM_ACCEL_FS_2G_VAL 0x00
#define LSM6DSM_ACCEL_FS_4G_VAL 0x02
#define LSM6DSM_ACCEL_FS_8G_VAL 0x03
#define LSM6DSM_ACCEL_FS_16G_VAL 0x01
#define LSM6DSM_ACCEL_FS_2G_GAIN 61
#define LSM6DSM_ACCEL_FS_4G_GAIN 122
#define LSM6DSM_ACCEL_FS_8G_GAIN 244
#define LSM6DSM_ACCEL_FS_16G_GAIN 488
#define LSM6DSM_ACCEL_FS_MAX_VAL 16
/* Accel Gain value from selected Full Scale */
#define LSM6DSM_ACCEL_FS_GAIN(_fs) \
(_fs == 16 ? LSM6DSM_ACCEL_FS_16G_GAIN : \
LSM6DSM_ACCEL_FS_2G_GAIN << (31 - __builtin_clz(_fs / 2)))
/* Accel FS Full Scale value from Gain */
#define LSM6DSM_ACCEL_GAIN_FS(_gain) \
(1 << (32 - __builtin_clz(_gain / LSM6DSM_ACCEL_FS_2G_GAIN)))
/* Accel Reg value from Full Scale */
#define LSM6DSM_ACCEL_FS_REG(_fs) \
(_fs == 2 ? LSM6DSM_ACCEL_FS_2G_VAL : \
_fs == 16 ? LSM6DSM_ACCEL_FS_16G_VAL : \
(32 - __builtin_clz(_fs / 2)))
/* Accel normalized FS value from Full Scale */
#define LSM6DSM_ACCEL_NORMALIZE_FS(_fs) \
(1 << (32 - __builtin_clz(_fs / 2)))
/* Full Scale range value for Gyro */
#define LSM6DSM_GYRO_FS_ADDR 0x11
#define LSM6DSM_GYRO_FS_MASK 0x0c
#define LSM6DSM_GYRO_FS_245_VAL 0x00
#define LSM6DSM_GYRO_FS_500_VAL 0x01
#define LSM6DSM_GYRO_FS_1000_VAL 0x02
#define LSM6DSM_GYRO_FS_2000_VAL 0x03
#define LSM6DSM_GYRO_FS_245_GAIN 8750
#define LSM6DSM_GYRO_FS_500_GAIN 17500
#define LSM6DSM_GYRO_FS_1000_GAIN 35000
#define LSM6DSM_GYRO_FS_2000_GAIN 70000
#define LSM6DSM_GYRO_FS_MAX_VAL 20000
/* Gyro FS Gain value from selected Full Scale */
#define LSM6DSM_GYRO_FS_GAIN(_fs) \
(LSM6DSM_GYRO_FS_245_GAIN << (31 - __builtin_clz(_fs / 245)))
/* Gyro FS Full Scale value from Gain */
#define LSM6DSM_GYRO_GAIN_FS(_gain) \
(_gain == LSM6DSM_GYRO_FS_245_GAIN ? 245 : \
500 << (30 - __builtin_clz(_gain / LSM6DSM_GYRO_FS_245_GAIN)))
/* Gyro Reg value from Full Scale */
#define LSM6DSM_GYRO_FS_REG(_fs) \
((31 - __builtin_clz(_fs / 245)))
/* Gyro normalized FS value from Full Scale: for Gyro Gains are not multiple */
#define LSM6DSM_GYRO_NORMALIZE_FS(_fs) \
(_fs == 245 ? 245 : 500 << (31 - __builtin_clz(_fs / 500)))
/* FS register address/mask for Acc/Gyro sensors */
#define LSM6DSM_RANGE_REG(_sensor) (LSM6DSM_ACCEL_FS_ADDR + (_sensor))
#define LSM6DSM_RANGE_MASK 0x0c
/* Status register bitmask for Acc/Gyro data ready */
enum lsm6dsm_status {
LSM6DSM_STS_DOWN = 0x00,
LSM6DSM_STS_XLDA_UP = 0x01,
LSM6DSM_STS_GDA_UP = 0x02
};
#define LSM6DSM_STS_XLDA_MASK 0x01
#define LSM6DSM_STS_GDA_MASK 0x02
/* Sensor resolution in number of bits. This sensor has fixed resolution. */
#define LSM6DSM_RESOLUTION 16
extern const struct accelgyro_drv lsm6dsm_drv;
struct lsm6dsm_data {
struct accelgyro_saved_data_t base;
int16_t offset[3];
};
#endif /* __CROS_EC_ACCELGYRO_LSM6DSM_H */
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