path: root/include/driver/accelgyro_bmi260.h

/* 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.
 */

/* BMI260 accelerometer and gyro for Chrome EC */

#ifndef __CROS_EC_ACCELGYRO_BMI260_H
#define __CROS_EC_ACCELGYRO_BMI260_H

#include "accelgyro.h"
#include "common.h"
#include "mag_bmm150.h"
#include "driver/accelgyro_bmi260_public.h"

#define BMI260_CHIP_ID 0x00
/* BMI260 chip identifier */
#define BMI260_CHIP_ID_MAJOR 0x27
/* BMI220 chip identifier */
#define BMI220_CHIP_ID_MAJOR 0x26

#define BMI260_ERR_REG 0x02

#define BMI260_STATUS 0x03
#define BMI260_AUX_BUSY BIT(2)
#define BMI260_CMD_RDY BIT(4)
#define BMI260_DRDY_AUX BIT(5)
#define BMI260_DRDY_GYR BIT(6)
#define BMI260_DRDY_ACC BIT(7)
#define BMI260_DRDY_OFF(_sensor) (7 - (_sensor))
#define BMI260_DRDY_MASK(_sensor) (1 << BMI260_DRDY_OFF(_sensor))

#define BMI260_AUX_X_L_G 0x04
#define BMI260_AUX_X_H_G 0x05
#define BMI260_AUX_Y_L_G 0x06
#define BMI260_AUX_Y_H_G 0x07
#define BMI260_AUX_Z_L_G 0x08
#define BMI260_AUX_Z_H_G 0x09
#define BMI260_AUX_R_L_G 0x0a
#define BMI260_AUX_R_H_G 0x0b
#define BMI260_ACC_X_L_G 0x0c
#define BMI260_ACC_X_H_G 0x0d
#define BMI260_ACC_Y_L_G 0x0e
#define BMI260_ACC_Y_H_G 0x0f
#define BMI260_ACC_Z_L_G 0x10
#define BMI260_ACC_Z_H_G 0x11
#define BMI260_GYR_X_L_G 0x12
#define BMI260_GYR_X_H_G 0x13
#define BMI260_GYR_Y_L_G 0x14
#define BMI260_GYR_Y_H_G 0x15
#define BMI260_GYR_Z_L_G 0x16
#define BMI260_GYR_Z_H_G 0x17

#define BMI260_SENSORTIME_0 0x18
#define BMI260_SENSORTIME_1 0x19
#define BMI260_SENSORTIME_2 0x1a

#define BMI260_EVENT 0x1b

/* 2 bytes interrupt reasons*/
#define BMI260_INT_STATUS_0 0x1c
#define BMI260_SIG_MOTION_OUT BIT(0)
#define BMI260_STEP_COUNTER_OUT BIT(1)
#define BMI260_HIGH_LOW_G_OUT BIT(2)
#define BMI260_TAP_OUT BIT(3)
#define BMI260_FLAT_OUT BIT(4)
#define BMI260_NO_MOTION_OUT BIT(5)
#define BMI260_ANY_MOTION_OUT BIT(6)
#define BMI260_ORIENTATION_OUT BIT(7)

#define BMI260_INT_STATUS_1 0x1d
#define BMI260_FFULL_INT BIT(0 + 8)
#define BMI260_FWM_INT BIT(1 + 8)
#define BMI260_ERR_INT BIT(2 + 8)
#define BMI260_AUX_DRDY_INT BIT(5 + 8)
#define BMI260_GYR_DRDY_INT BIT(6 + 8)
#define BMI260_ACC_DRDY_INT BIT(7 + 8)

#define BMI260_INT_MASK 0xFFFF

#define BMI260_SC_OUT_0 0x1e
#define BMI260_SC_OUT_1 0x1f

#define BMI260_ORIENT_ACT 0x20

#define BMI260_INTERNAL_STATUS 0X21
#define BMI260_MESSAGE_MASK 0xf
#define BMI260_NOT_INIT 0x00
#define BMI260_INIT_OK 0x01
#define BMI260_INIT_ERR 0x02
#define BMI260_DRV_ERR 0x03
#define BMI260_SNS_STOP 0x04
#define BMI260_NVM_ERROR 0x05
#define BMI260_START_UP_ERROR 0x06
#define BMI260_COMPAT_ERROR 0x07

#define BMI260_TEMPERATURE_0 0x22
#define BMI260_TEMPERATURE_1 0x23

#define BMI260_FIFO_LENGTH_0 0x24
#define BMI260_FIFO_LENGTH_1 0x25
#define BMI260_FIFO_LENGTH_MASK (BIT(14) - 1)
#define BMI260_FIFO_DATA 0x26

#define BMI260_FEAT_PAGE 0x2f
/*
 * The register of feature page should be read/write as 16-bit register
 * Otherwise, there can be invalid data
 */
/* Features page 0 */
#define BMI260_ORIENT_OUT 0x36
#define BMI260_ORIENT_OUT_PORTRAIT_LANDSCAPE_MASK 3
#define BMI260_ORIENT_PORTRAIT 0x0
#define BMI260_ORIENT_LANDSCAPE 0x1
#define BMI260_ORIENT_PORTRAIT_INVERT 0x2
#define BMI260_ORIENT_LANDSCAPE_INVERT 0x3

/* Features page 1 */
#define BMI260_GEN_SET_1 0x34
#define BMI260_GYR_SELF_OFF BIT(9)

#define BMI260_TAP_1 0x3e
#define BMI260_TAP_1_EN BIT(0)
#define BMI260_TAP_1_SENSITIVITY_OFFSET 1
#define BMI260_TAP_1_SENSITIVITY_MASK (0x7 << BMI260_TAP_1_SENSITIVITY_OFFSET)

/* Features page 2 */
#define BMI260_ORIENT_1 0x30
#define BMI260_ORIENT_1_EN BIT(0)
#define BMI260_ORIENT_1_UD_EN BIT(1)
#define BMI260_ORIENT_1_MODE_OFFSET 2
#define BMI260_ORIENT_1_MODE_MASK (0x3 << BMI260_ORIENT_1_MODE_OFFSET)
#define BMI260_ORIENT_1_BLOCK_OFFSET 4
#define BMI260_ORIENT_1_BLOCK_MASK (0x3 << BMI260_ORIENT_1_BLOCK_OFFSET)
#define BMI260_ORIENT_1_THETA_OFFSET 6
#define BMI260_ORIENT_1_THETA_MASK \
	((BIT(6) - 1) << BMI260_ORIENT_1_THETA_OFFSET)

#define BMI260_ORIENT_2 0x32
/* hysteresis(10...0) range is 0~1g, default is 128 (0.0625g) */
#define BMI260_ORIENT_2_HYSTERESIS_MASK (BIT(11) - 1)

#define BMI260_ACC_CONF 0x40
#define BMI260_ACC_BW_OFFSET 4
#define BMI260_ACC_BW_MASK (0x7 << BMI260_ACC_BW_OFFSET)
#define BMI260_FILTER_PERF BIT(7)
#define BMI260_ULP 0x0
#define BMI260_HP 0x1

#define BMI260_ACC_RANGE 0x41
#define BMI260_GSEL_2G 0x00
#define BMI260_GSEL_4G 0x01
#define BMI260_GSEL_8G 0x02
#define BMI260_GSEL_16G 0x03

/* The max positvie value of accel data is 0x7FFF, equal to range(g) */
/* So, in order to get +1g, divide the 0x7FFF by range */
#define BMI260_ACC_DATA_PLUS_1G(range) (0x7FFF / (range))
#define BMI260_ACC_DATA_MINUS_1G(range) (-BMI260_ACC_DATA_PLUS_1G(range))

#define BMI260_GYR_CONF 0x42
#define BMI260_GYR_BW_OFFSET 4
#define BMI260_GYR_BW_MASK (0x3 << BMI260_GYR_BW_OFFSET)
#define BMI260_GYR_NOISE_PERF BIT(6)

#define BMI260_GYR_RANGE 0x43
#define BMI260_DPS_SEL_2000 0x00
#define BMI260_DPS_SEL_1000 0x01
#define BMI260_DPS_SEL_500 0x02
#define BMI260_DPS_SEL_250 0x03
#define BMI260_DPS_SEL_125 0x04

#define BMI260_AUX_CONF 0x44

#define BMI260_FIFO_DOWNS 0x45

#define BMI260_FIFO_WTM_0 0x46
#define BMI260_FIFO_WTM_1 0x47

#define BMI260_FIFO_CONFIG_0 0x48
#define BMI260_FIFO_STOP_ON_FULL BIT(0)
#define BMI260_FIFO_TIME_EN BIT(1)

#define BMI260_FIFO_CONFIG_1 0x49
#define BMI260_FIFO_TAG_INT1_EN_OFFSET 0
#define BMI260_FIFO_TAG_INT1_EN_MASK (0x3 << BMI260_FIFO_TAG_INT1_EN_OFFSET)
#define BMI260_FIFO_TAG_INT2_EN_OFFSET 2
#define BMI260_FIFO_TAG_INT2_EN_MASK (0x3 << BMI260_FIFO_TAG_INT2_EN_OFFSET)
#define BMI260_FIFO_TAG_INT_EDGE 0x0
#define BMI260_FIFO_TAG_INT_LEVEL 0x1
#define BMI260_FIFO_TAG_ACC_SAT 0x2
#define BMI260_FIFO_TAG_GYR_SAT 0x3
#define BMI260_FIFO_HEADER_EN BIT(4)
#define BMI260_FIFO_AUX_EN BIT(5)
#define BMI260_FIFO_ACC_EN BIT(6)
#define BMI260_FIFO_GYR_EN BIT(7)
#define BMI260_FIFO_SENSOR_EN(_sensor)                                      \
	((_sensor) == MOTIONSENSE_TYPE_ACCEL ?                              \
		 BMI260_FIFO_ACC_EN :                                       \
		 ((_sensor) == MOTIONSENSE_TYPE_GYRO ? BMI260_FIFO_GYR_EN : \
						       BMI260_FIFO_AUX_EN))

#define BMI260_SATURATION 0x4a

#define BMI260_AUX_DEV_ID 0x4b
#define BMI260_AUX_I2C_ADDRESS BMI260_AUX_DEV_ID

#define BMI260_AUX_IF_CONF 0x4c
#define BMI260_AUX_I2C_CONTROL BMI260_AUX_IF_CONF
#define BMI260_AUX_READ_BURST_MASK 3
#define BMI260_AUX_MAN_READ_BURST_OFF 2
#define BMI260_AUX_MAN_READ_BURST_MASK (0x3 << BMI280_AUX_MAN_READ_BURST_OFF)
#define BMI260_AUX_READ_BURST_1 0
#define BMI260_AUX_READ_BURST_2 1
#define BMI260_AUX_READ_BURST_6 2
#define BMI260_AUX_READ_BURST_8 3
#define BMI260_AUX_FCU_WRITE_EN BIT(6)
#define BMI260_AUX_MANUAL_EN BIT(7)

#define BMI260_AUX_RD_ADDR 0x4d
#define BMI260_AUX_I2C_READ_ADDR BMI260_AUX_RD_ADDR
#define BMI260_AUX_WR_ADDR 0x4e
#define BMI260_AUX_I2C_WRITE_ADDR BMI260_AUX_WR_ADDR
#define BMI260_AUX_WR_DATA 0x4f
#define BMI260_AUX_I2C_WRITE_DATA BMI260_AUX_WR_DATA
#define BMI260_AUX_I2C_READ_DATA BMI260_AUX_X_L_G

#define BMI260_ERR_REG_MSK 0x52
#define BMI260_FATAL_ERR BIT(0)
#define BMI260_INTERNAL_ERR_OFF 1
#define BMI260_INTERNAL_ERR_MASK (0xf << BMI260_INTERNAL_ERR_OFF)
#define BMI260_FIFO_ERR BIT(6)
#define BMI260_AUX_ERR BIT(7)

#define BMI260_INT1_IO_CTRL 0x53
#define BMI260_INT1_LVL BIT(1)
#define BMI260_INT1_OD BIT(2)
#define BMI260_INT1_OUTPUT_EN BIT(3)
#define BMI260_INT1_INPUT_EN BIT(4)

#define BMI260_INT2_IO_CTRL 0x54
#define BMI260_INT2_LVL BIT(1)
#define BMI260_INT2_OD BIT(2)
#define BMI260_INT2_OUTPUT_EN BIT(3)
#define BMI260_INT2_INPUT_EN BIT(4)

#define BMI260_INT_LATCH 0x55
#define BMI260_INT_LATCH_EN BIT(0)

#define BMI260_INT1_MAP_FEAT 0x56
#define BMI260_INT2_MAP_FEAT 0x57
#define BMI260_MAP_SIG_MOTION_OUT BIT(0)
#define BMI260_MAP_STEP_COUNTER_OUT BIT(1)
#define BMI260_MAP_HIGH_LOW_G_OUT BIT(2)
#define BMI260_MAP_TAP_OUT BIT(3)
#define BMI260_MAP_FLAT_OUT BIT(4)
#define BMI260_MAP_NO_MOTION_OUT BIT(5)
#define BMI260_MAP_ANY_MOTION_OUT BIT(6)
#define BMI260_MAP_ORIENTAION_OUT BIT(7)

#define BMI260_INT_MAP_DATA 0x58
#define BMI260_MAP_FFULL_INT BIT(0)
#define BMI260_MAP_FWM_INT BIT(1)
#define BMI260_MAP_DRDY_INT BIT(2)
#define BMI260_MAP_ERR_INT BIT(3)
#define BMI260_INT_MAP_DATA_INT1_OFFSET 0
#define BMI260_INT_MAP_DATA_INT2_OFFSET 4
#define BMI260_INT_MAP_DATA_REG(_i, _bit) \
	(CONCAT3(BMI260_MAP_, _bit, _INT) \
	 << CONCAT3(BMI260_INT_MAP_DATA_INT, _i, _OFFSET))

#define BMI260_INIT_CTRL 0x59
#define BMI260_INIT_ADDR_0 0x5b
#define BMI260_INIT_ADDR_1 0x5c
#define BMI260_INIT_DATA 0x5e
#define BMI260_INTERNAL_ERROR 0x5f
#define BMI260_INT_ERR_1 BIT(1)
#define BMI260_INT_ERR_2 BIT(2)
#define BMI260_FEAT_ENG_DISABLED BIT(4)

#define BMI260_AUX_IF_TRIM 0x68
#define BMI260_GYR_CRT_CONF 0x69

#define BMI260_NVM_CONF 0x6a
#define BMI260_NVM_PROG_EN BIT(1)

#define BMI260_IF_CONF 0x6b
#define BMI260_IF_SPI3 BIT(0)
#define BMI260_IF_SPI3_OIS BIT(1)
#define BMI260_IF_OIS_EN BIT(4)
#define BMI260_IF_AUX_EN BIT(5)

#define BMI260_DRV 0x6c
#define BMI260_ACC_SELF_TEST 0x6d

#define BMI260_GYR_SELF_TEST_AXES 0x6e

#define BMI260_NV_CONF 0x70
#define BMI260_ACC_OFFSET_EN BIT(3)

#define BMI260_OFFSET_ACC70 0x71
#define BMI260_OFFSET_GYR70 0x74
#define BMI260_OFFSET_EN_GYR98 0x77
#define BMI260_OFFSET_GYRO_EN BIT(6)
#define BMI260_GYR_GAIN_EN BIT(7)

#define BMI260_PWR_CONF 0x7c
#define BMI260_ADV_POWER_SAVE BIT(0)
#define BMI260_FIFO_SELF_WAKE_UP BIT(1)
#define BMI260_FUP_EN BIT(2)

#define BMI260_PWR_CTRL 0x7d
#define BMI260_AUX_EN BIT(0)
#define BMI260_GYR_EN BIT(1)
#define BMI260_ACC_EN BIT(2)
#define BMI260_PWR_EN(_sensor_type) BIT(2 - _sensor_type)
#define BMI260_TEMP_EN BIT(3)

#define BMI260_CMD_REG 0x7e
#define BMI260_CMD_FIFO_FLUSH 0xb0
#define BMI260_CMD_SOFT_RESET 0xb6

#define BMI260_FF_FRAME_LEN_TS 4
#define BMI260_FF_DATA_LEN_ACC 6
#define BMI260_FF_DATA_LEN_GYR 6
#define BMI260_FF_DATA_LEN_MAG 8

/* Root mean square noise of 100Hz accelerometer, units: ug */
#define BMI260_ACCEL_RMS_NOISE_100HZ 1060

#if defined(CONFIG_ZEPHYR)
#if DT_NODE_EXISTS(DT_ALIAS(bmi260_int))
/*
 * Get the motion sensor ID of the BMI260 sensor that
 * generates the interrupt.
 * The interrupt is converted to the event and transferred to motion
 * sense task that actually handles the interrupt.
 *
 * Here, we use alias to get the motion sensor ID
 *
 * e.g) base_accel is the label of a child node in /motionsense-sensors
 * aliases {
 *     bmi260-int = &base_accel;
 * };
 */
#define CONFIG_ACCELGYRO_BMI260_INT_EVENT \
	TASK_EVENT_MOTION_SENSOR_INTERRUPT(SENSOR_ID(DT_ALIAS(bmi260_int)))
#endif
#endif /* CONFIG_ZEPHYR */

#endif /* __CROS_EC_ACCELGYRO_BMI260_H */