path: root/include/driver/accelgyro_bmi160.h

/* 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 "driver/accelgyro_bmi160_public.h"
#include "mag_bmm150.h"

#define BMI160_CHIP_ID           0x00
#define BMI160_CHIP_ID_MAJOR     0xd1
#define BMI168_CHIP_ID_MAJOR     0xd2

#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_PMU_MAG_OFFSET               0
#define BMI160_PMU_GYR_OFFSET               2
#define BMI160_PMU_ACC_OFFSET               4
#define BMI160_PMU_SENSOR_STATUS(_sensor_type, _val) \
	(((_val) >> (4 - 2 * (_sensor_type))) & 0x3)
#define BMI160_PMU_SUSPEND                  0
#define BMI160_PMU_NORMAL                   1
#define BMI160_PMU_LOW_POWER                2
#define BMI160_PMU_FAST_STARTUP             3

#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        BIT(0)
#define BMI160_GYR_SLF_TST         BIT(1)
#define BMI160_MAG_MAN_OP          BIT(2)
#define BMI160_FOC_RDY             BIT(3)
#define BMI160_NVM_RDY             BIT(4)
#define BMI160_DRDY_MAG            BIT(5)
#define BMI160_DRDY_GYR            BIT(6)
#define BMI160_DRDY_ACC            BIT(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            BIT(0)
#define BMI160_SIGMOT_INT          BIT(1)
#define BMI160_ANYM_INT            BIT(2)
#define BMI160_PMU_TRIGGER_INT     BIT(3)
#define BMI160_D_TAP_INT           BIT(4)
#define BMI160_S_TAP_INT           BIT(5)
#define BMI160_ORIENT_INT          BIT(6)
#define BMI160_FLAT_INT            BIT(7)
#define BMI160_ORIENT_XY_MASK	   0x30
#define BMI160_ORIENT_PORTRAIT		(0 << 4)
#define BMI160_ORIENT_PORTRAIT_INVERT	BIT(4)
#define BMI160_ORIENT_LANDSCAPE		(2 << 4)
#define BMI160_ORIENT_LANDSCAPE_INVERT	(3 << 4)


#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    (BIT(11) - 1)
#define BMI160_FIFO_DATA       0x24

#define BMI160_ACC_CONF        0x40
#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

#define BMI160_FIFO_DOWNS      0x45
#define BMI160_FIFO_CONFIG_0   0x46
#define BMI160_FIFO_CONFIG_1   0x47
#define BMI160_FIFO_TAG_TIME_EN    BIT(1)
#define BMI160_FIFO_TAG_INT2_EN    BIT(2)
#define BMI160_FIFO_TAG_INT1_EN    BIT(3)
#define BMI160_FIFO_HEADER_EN      BIT(4)
#define BMI160_FIFO_MAG_EN         BIT(5)
#define BMI160_FIFO_ACC_EN         BIT(6)
#define BMI160_FIFO_GYR_EN         BIT(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       BIT(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      BIT(0)
#define BMI160_INT_ANYMO_Y_EN      BIT(1)
#define BMI160_INT_ANYMO_Z_EN      BIT(2)
#define BMI160_INT_D_TAP_EN        BIT(4)
#define BMI160_INT_S_TAP_EN        BIT(5)
#define BMI160_INT_ORIENT_EN       BIT(6)
#define BMI160_INT_FLAT_EN         BIT(7)
#define BMI160_INT_EN_1        0x51
#define BMI160_INT_HIGHG_X_EN      BIT(0)
#define BMI160_INT_HIGHG_Y_EN      BIT(1)
#define BMI160_INT_HIGHG_Z_EN      BIT(2)
#define BMI160_INT_LOW_EN          BIT(3)
#define BMI160_INT_DRDY_EN         BIT(4)
#define BMI160_INT_FFUL_EN         BIT(5)
#define BMI160_INT_FWM_EN          BIT(6)
#define BMI160_INT_EN_2        0x52
#define BMI160_INT_NOMOX_EN        BIT(0)
#define BMI160_INT_NOMOY_EN        BIT(1)
#define BMI160_INT_NOMOZ_EN        BIT(2)
#define BMI160_INT_STEP_DET_EN     BIT(3)

#define BMI160_INT_OUT_CTRL    0x53
#define BMI160_INT_EDGE_CTRL       BIT(0)
#define BMI160_INT_LVL_CTRL        BIT(1)
#define BMI160_INT_OD              BIT(2)
#define BMI160_INT_OUTPUT_EN       BIT(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       BIT(4)
#define BMI160_INT2_INPUT_EN       BIT(5)
#define BMI160_LATCH_MASK          0xf
#define BMI160_LATCH_NONE          0
#define BMI160_LATCH_5MS           5
#define BMI160_LATCH_FOREVER       0xf

#define BMI160_INT_MAP_0       0x55
#define BMI160_INT_LOWG_STEP       BIT(0)
#define BMI160_INT_HIGHG           BIT(1)
#define BMI160_INT_ANYMOTION       BIT(2)
#define BMI160_INT_NOMOTION        BIT(3)
#define BMI160_INT_D_TAP           BIT(4)
#define BMI160_INT_S_TAP           BIT(5)
#define BMI160_INT_ORIENT          BIT(6)
#define BMI160_INT_FLAT            BIT(7)

#define BMI160_INT_MAP_1       0x56
#define BMI160_INT_PMU_TRIG        BIT(0)
#define BMI160_INT_FFULL           BIT(1)
#define BMI160_INT_FWM             BIT(2)
#define BMI160_INT_DRDY            BIT(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_LOW_HIGH_0  0x5a
#define BMI160_INT_LOW_HIGH_1  0x5b
#define BMI160_INT_LOW_HIGH_2  0x5c
#define BMI160_INT_LOW_HIGH_3  0x5d
#define BMI160_INT_LOW_HIGH_4  0x5e

#define BMI160_INT_MOTION_0    0x5f
#define BMI160_INT_MOTION_1    0x60
/*
 * The formula is defined in 2.11.25 (any motion interrupt [1]).
 *
 * if we want threshold at a (in mg), the register should be x, where
 * x * 7.81mg = a, assuming a range of 4G, which is
 * x * 4 * 1.953 = a so
 * x = a * 1000 / range * 1953
 */
#define BMI160_MOTION_TH(_s, _mg) \
	 (MIN(((_mg) * 1000) / ((_s)->current_range * 1953), 0xff))
#define BMI160_INT_MOTION_2    0x61
#define BMI160_INT_MOTION_3    0x62
#define BMI160_MOTION_NO_MOT_SEL   BIT(0)
#define BMI160_MOTION_SIG_MOT_SEL  BIT(1)
#define BMI160_MOTION_SKIP_OFF 2
#define BMI160_MOTION_SKIP_MASK 0x3
#define BMI160_MOTION_SKIP_TIME(_ms) \
	(MIN(__fls((_ms) / 1500), BMI160_MOTION_SKIP_MASK))
#define BMI160_MOTION_PROOF_OFF 4
#define BMI160_MOTION_PROOF_MASK 0x3
#define BMI160_MOTION_PROOF_TIME(_ms) \
	(MIN(__fls((_ms) / 250), BMI160_MOTION_PROOF_MASK))

#define BMI160_INT_TAP_0       0x63
#define BMI160_TAP_DUR(_s, _ms) \
	((_ms) <= 250 ? MAX((_ms), 50) / 50 - 1 : \
	 (_ms) <= 500 ? 4 + ((_ms) - 250) / 125 : \
	 (_ms) < 700 ? 6 : 7)

#define BMI160_INT_TAP_1       0x64
#define BMI160_TAP_TH(_s, _mg) \
	 (MIN(((_mg) * 1000) / ((_s)->current_range * 31250), 0x1f))

#define BMI160_INT_ORIENT_0				0x65

/* No hysterisis, theta block, int on slope > 0.2 or axis > 1.5, symmetrical */
#define BMI160_INT_ORIENT_0_INIT_VAL			0x48

#define BMI160_INT_ORIENT_1				0x66

/* no axes remap, no int on up/down, no blocking angle */
#define BMI160_INT_ORIENT_1_INIT_VAL			0x00

#define BMI160_INT_FLAT_0      0x67
#define BMI160_INT_FLAT_1      0x68

#define BMI160_FOC_CONF        0x69
#define BMI160_FOC_GYRO_EN              BIT(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_NV_CONF         0x70

#define BMI160_OFFSET_ACC70        0x71
#define BMI160_OFFSET_GYR70        0x74
#define BMI160_OFFSET_EN_GYR98     0x77
#define BMI160_OFFSET_ACC_EN            BIT(6)
#define BMI160_OFFSET_GYRO_EN           BIT(7)

#define BMI160_STEP_CNT_0          0x78
#define BMI160_STEP_CNT_1          0x79
#define BMI160_STEP_CONF_0         0x7a
#define BMI160_STEP_CONF_1         0x7b

#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_OFFSET 0x10
#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_type) \
	(BMI160_CMD_ACC_MODE_OFFSET | (_sensor_type) << 2 | BMI160_PMU_SUSPEND)
#define BMI160_CMD_MODE_NORMAL(_sensor_type) \
	(BMI160_CMD_ACC_MODE_OFFSET | (_sensor_type) << 2 | BMI160_PMU_NORMAL)

#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           BIT(7)
#define BMI160_CMD_TARGET_PAGE         BIT(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

/* Root mean square noise of 100 Hz accelerometer, units: ug */
#define BMI160_ACCEL_RMS_NOISE_100HZ    1300

#ifdef CONFIG_BMI_SEC_I2C
/* Functions to access the secondary device through the accel/gyro. */
int bmi160_sec_raw_read8(const int port, const uint16_t addr_flags,
			 const uint8_t reg, int *data_ptr);
int bmi160_sec_raw_write8(const int port, const uint16_t addr_flags,
			  const uint8_t reg, int data);
#endif

#endif /* __CROS_EC_ACCELGYRO_BMI160_H */