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/* Copyright 2021 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.
*/
#define DT_DRV_COMPAT zephyr_bmi
#define LOG_LEVEL CONFIG_I2C_LOG_LEVEL
#include <logging/log.h>
LOG_MODULE_REGISTER(emul_bmi160);
#include <device.h>
#include <emul.h>
#include <drivers/i2c.h>
#include <drivers/i2c_emul.h>
#include "emul/emul_bmi.h"
#include "driver/accelgyro_bmi160.h"
#include "driver/accelgyro_bmi_common.h"
/** Mask reserved bits in each register of BMI160 */
static const uint8_t bmi_emul_160_rsvd_mask[] = {
[BMI160_CHIP_ID] = 0x00,
[0x01] = 0xff, /* Reserved */
[BMI160_ERR_REG] = 0x00,
[BMI160_PMU_STATUS] = 0xc0,
[BMI160_MAG_X_L_G] = 0x00,
[BMI160_MAG_X_H_G] = 0x00,
[BMI160_MAG_Y_L_G] = 0x00,
[BMI160_MAG_Y_H_G] = 0x00,
[BMI160_MAG_Z_L_G] = 0x00,
[BMI160_MAG_Z_H_G] = 0x00,
[BMI160_RHALL_L_G] = 0x00,
[BMI160_RHALL_H_G] = 0x00,
[BMI160_GYR_X_L_G] = 0x00,
[BMI160_GYR_X_H_G] = 0x00,
[BMI160_GYR_Y_L_G] = 0x00,
[BMI160_GYR_Y_H_G] = 0x00,
[BMI160_GYR_Z_L_G] = 0x00,
[BMI160_GYR_Z_H_G] = 0x00,
[BMI160_ACC_X_L_G] = 0x00,
[BMI160_ACC_X_H_G] = 0x00,
[BMI160_ACC_Y_L_G] = 0x00,
[BMI160_ACC_Y_H_G] = 0x00,
[BMI160_ACC_Z_L_G] = 0x00,
[BMI160_ACC_Z_H_G] = 0x00,
[BMI160_SENSORTIME_0] = 0x00,
[BMI160_SENSORTIME_1] = 0x00,
[BMI160_SENSORTIME_2] = 0x00,
[BMI160_STATUS] = 0x01,
[BMI160_INT_STATUS_0] = 0x00,
[BMI160_INT_STATUS_1] = 0x03,
[BMI160_INT_STATUS_2] = 0x00,
[BMI160_INT_STATUS_3] = 0x00,
[BMI160_TEMPERATURE_0] = 0x00,
[BMI160_TEMPERATURE_1] = 0x00,
[BMI160_FIFO_LENGTH_0] = 0x00,
[BMI160_FIFO_LENGTH_1] = 0xf8,
[BMI160_FIFO_DATA] = 0x00,
[0x25 ... 0x3f] = 0xff, /* Reserved */
[BMI160_ACC_CONF] = 0x00,
[BMI160_ACC_RANGE] = 0xf0,
[BMI160_GYR_CONF] = 0xc0,
[BMI160_GYR_RANGE] = 0xf8,
[BMI160_MAG_CONF] = 0xf0,
[BMI160_FIFO_DOWNS] = 0x00,
[BMI160_FIFO_CONFIG_0] = 0x00,
[BMI160_FIFO_CONFIG_1] = 0x01,
[0x48 ... 0x4a] = 0xff, /* Reserved */
[BMI160_MAG_IF_0] = 0x01,
[BMI160_MAG_IF_1] = 0x40,
[BMI160_MAG_IF_2] = 0x00,
[BMI160_MAG_IF_3] = 0x00,
[BMI160_MAG_IF_4] = 0x00,
[BMI160_INT_EN_0] = 0x08,
[BMI160_INT_EN_1] = 0x80,
[BMI160_INT_EN_2] = 0xf0,
[BMI160_INT_OUT_CTRL] = 0x00,
[BMI160_INT_LATCH] = 0xc0,
[BMI160_INT_MAP_0] = 0x00,
[BMI160_INT_MAP_1] = 0x00,
[BMI160_INT_MAP_2] = 0x00,
[BMI160_INT_DATA_0] = 0x77,
[BMI160_INT_DATA_1] = 0x7f,
[BMI160_INT_LOW_HIGH_0] = 0x00,
[BMI160_INT_LOW_HIGH_1] = 0x00,
[BMI160_INT_LOW_HIGH_2] = 0x3c,
[BMI160_INT_LOW_HIGH_3] = 0x00,
[BMI160_INT_LOW_HIGH_4] = 0x00,
[BMI160_INT_MOTION_0] = 0x00,
[BMI160_INT_MOTION_1] = 0x00,
[BMI160_INT_MOTION_2] = 0x00,
[BMI160_INT_MOTION_3] = 0xc0,
[BMI160_INT_TAP_0] = 0x38,
[BMI160_INT_TAP_1] = 0xe0,
[BMI160_INT_ORIENT_0] = 0x00,
[BMI160_INT_ORIENT_1] = 0x00,
[BMI160_INT_FLAT_0] = 0xc0,
[BMI160_INT_FLAT_1] = 0xc8,
[BMI160_FOC_CONF] = 0x80,
[BMI160_CONF] = 0xfd,
[BMI160_IF_CONF] = 0xce,
[BMI160_PMU_TRIGGER] = 0x80,
[BMI160_SELF_TEST] = 0xe0,
[0x6e] = 0xff, /* Reserved */
[0x6f] = 0xff, /* Reserved */
[BMI160_NV_CONF] = 0xf0,
[BMI160_OFFSET_ACC70] = 0x00,
[BMI160_OFFSET_ACC70 + 1] = 0x00,
[BMI160_OFFSET_ACC70 + 2] = 0x00,
[BMI160_OFFSET_GYR70] = 0x00,
[BMI160_OFFSET_GYR70 + 1] = 0x00,
[BMI160_OFFSET_GYR70 + 2] = 0x00,
[BMI160_OFFSET_EN_GYR98] = 0x00,
[BMI160_STEP_CNT_0] = 0x00,
[BMI160_STEP_CNT_1] = 0x00,
[BMI160_STEP_CONF_0] = 0x00,
[BMI160_STEP_CONF_1] = 0xf0,
[0x7c] = 0xff, /* Reserved */
[0x7d] = 0xff, /* Reserved */
[BMI160_CMD_REG] = 0x00,
};
/**
* @brief Convert range in format of ACC_RANGE register to number of bits
* that should be shifted right to obtain 16 bit reported accelerometer
* value from internal 32 bit value
*
* @param range Value of ACC_RANGE register
*
* @return shift Number of LSB that should be ignored from internal
* accelerometer value
*/
static int bmi160_emul_acc_range_to_shift(uint8_t range)
{
switch (range & 0xf) {
case BMI160_GSEL_2G:
return 0;
case BMI160_GSEL_4G:
return 1;
case BMI160_GSEL_8G:
return 2;
case BMI160_GSEL_16G:
return 3;
default:
return 0;
}
}
/**
* @brief Convert range in format of GYR_RANGE register to number of bits
* that should be shifted right to obtain 16 bit reported gyroscope
* value from internal 32 bit value
*
* @param range Value of GYR_RANGE register
*
* @return shift Number of LSB that should be ignored from internal
* gyroscope value
*/
static int bmi160_emul_gyr_range_to_shift(uint8_t range)
{
switch (range & 0x7) {
case BMI160_DPS_SEL_2000:
return 4;
case BMI160_DPS_SEL_1000:
return 3;
case BMI160_DPS_SEL_500:
return 2;
case BMI160_DPS_SEL_250:
return 1;
case BMI160_DPS_SEL_125:
return 0;
default:
return 0;
}
}
/**
* @brief Reset registers to default values and restore registers backed by NVM
*
* @param regs Pointer to array of emulator's registers
* @param emul Pointer to BMI emulator
*/
static void bmi160_emul_reset(uint8_t *regs, struct i2c_emul *emul)
{
bool tag_time;
bool header;
regs[BMI160_CHIP_ID] = 0xd1;
regs[BMI160_ERR_REG] = 0x00;
regs[BMI160_PMU_STATUS] = 0x00;
regs[BMI160_MAG_X_L_G] = 0x00;
regs[BMI160_MAG_X_H_G] = 0x00;
regs[BMI160_MAG_Y_L_G] = 0x00;
regs[BMI160_MAG_Y_H_G] = 0x00;
regs[BMI160_MAG_Z_L_G] = 0x00;
regs[BMI160_MAG_Z_H_G] = 0x00;
regs[BMI160_RHALL_L_G] = 0x00;
regs[BMI160_RHALL_H_G] = 0x00;
regs[BMI160_GYR_X_L_G] = 0x00;
regs[BMI160_GYR_X_H_G] = 0x00;
regs[BMI160_GYR_Y_L_G] = 0x00;
regs[BMI160_GYR_Y_H_G] = 0x00;
regs[BMI160_GYR_Z_L_G] = 0x00;
regs[BMI160_GYR_Z_H_G] = 0x00;
regs[BMI160_ACC_X_L_G] = 0x00;
regs[BMI160_ACC_X_H_G] = 0x00;
regs[BMI160_ACC_Y_L_G] = 0x00;
regs[BMI160_ACC_Y_H_G] = 0x00;
regs[BMI160_ACC_Z_L_G] = 0x00;
regs[BMI160_ACC_Z_H_G] = 0x00;
regs[BMI160_SENSORTIME_0] = 0x00;
regs[BMI160_SENSORTIME_1] = 0x00;
regs[BMI160_SENSORTIME_2] = 0x00;
regs[BMI160_STATUS] = 0x01;
regs[BMI160_INT_STATUS_0] = 0x00;
regs[BMI160_INT_STATUS_1] = 0x00;
regs[BMI160_INT_STATUS_2] = 0x00;
regs[BMI160_INT_STATUS_3] = 0x00;
regs[BMI160_TEMPERATURE_0] = 0x00;
regs[BMI160_TEMPERATURE_1] = 0x00;
regs[BMI160_FIFO_LENGTH_0] = 0x00;
regs[BMI160_FIFO_LENGTH_1] = 0x00;
regs[BMI160_FIFO_DATA] = 0x00;
regs[BMI160_ACC_CONF] = 0x28;
regs[BMI160_ACC_RANGE] = 0x03;
regs[BMI160_GYR_CONF] = 0x28;
regs[BMI160_GYR_RANGE] = 0x00;
regs[BMI160_MAG_CONF] = 0x0b;
regs[BMI160_FIFO_DOWNS] = 0x88;
regs[BMI160_FIFO_CONFIG_0] = 0x80;
regs[BMI160_FIFO_CONFIG_1] = 0x10;
regs[BMI160_MAG_IF_0] = 0x20;
regs[BMI160_MAG_IF_1] = 0x80;
regs[BMI160_MAG_IF_2] = 0x42;
regs[BMI160_MAG_IF_3] = 0x4c;
regs[BMI160_MAG_IF_4] = 0x00;
regs[BMI160_INT_EN_0] = 0x00;
regs[BMI160_INT_EN_1] = 0x00;
regs[BMI160_INT_EN_2] = 0x00;
regs[BMI160_INT_OUT_CTRL] = 0x00;
regs[BMI160_INT_LATCH] = 0x00;
regs[BMI160_INT_MAP_0] = 0x00;
regs[BMI160_INT_MAP_1] = 0x00;
regs[BMI160_INT_MAP_2] = 0x00;
regs[BMI160_INT_DATA_0] = 0x00;
regs[BMI160_INT_DATA_1] = 0x00;
regs[BMI160_INT_LOW_HIGH_0] = 0x07;
regs[BMI160_INT_LOW_HIGH_1] = 0x30;
regs[BMI160_INT_LOW_HIGH_2] = 0x81;
regs[BMI160_INT_LOW_HIGH_3] = 0xdb;
regs[BMI160_INT_LOW_HIGH_4] = 0xc0;
regs[BMI160_INT_MOTION_0] = 0x00;
regs[BMI160_INT_MOTION_1] = 0x14;
regs[BMI160_INT_MOTION_2] = 0x14;
regs[BMI160_INT_MOTION_3] = 0x24;
regs[BMI160_INT_TAP_0] = 0x04;
regs[BMI160_INT_TAP_1] = 0xda;
regs[BMI160_INT_ORIENT_0] = 0x18;
regs[BMI160_INT_ORIENT_1] = 0x48;
regs[BMI160_INT_FLAT_0] = 0x08;
regs[BMI160_INT_FLAT_1] = 0x11;
regs[BMI160_FOC_CONF] = 0x00;
regs[BMI160_CONF] = 0x00;
regs[BMI160_IF_CONF] = 0x00;
regs[BMI160_PMU_TRIGGER] = 0x00;
regs[BMI160_SELF_TEST] = 0x00;
regs[BMI160_STEP_CNT_0] = 0x00;
regs[BMI160_STEP_CNT_1] = 0x00;
regs[BMI160_STEP_CONF_0] = 0x00;
regs[BMI160_STEP_CONF_1] = 0x15;
regs[BMI160_CMD_REG] = 0x03;
/* Call generic reset */
tag_time = regs[BMI160_FIFO_CONFIG_1] & BMI160_FIFO_TAG_TIME_EN;
header = regs[BMI160_FIFO_CONFIG_1] & BMI160_FIFO_HEADER_EN;
bmi_emul_reset_common(emul, tag_time, header);
}
/**
* @brief Clear all interrupt registers
*
* @param regs Pointer to array of emulator's registers
*/
static void bmi160_emul_clear_int(uint8_t *regs)
{
regs[BMI160_INT_STATUS_0] = 0x00;
regs[BMI160_INT_STATUS_1] = 0x00;
regs[BMI160_INT_STATUS_2] = 0x00;
regs[BMI160_INT_STATUS_3] = 0x00;
}
/**
* @brief Get offset value for given gyroscope value. If gyroscope value is
* above maximum (belowe minimum), then minimum -31,25°/s
* (maximum 31,25°/s) offset value is returned.
*
* @param gyr Gyroscope value
*/
static int16_t bmi160_emul_get_gyr_target_off(int32_t gyr)
{
if (gyr > (int32_t)BMI_EMUL_125_DEG_S / 4) {
return -((int32_t)BMI_EMUL_125_DEG_S / 4);
}
if (gyr < -((int32_t)BMI_EMUL_125_DEG_S / 4)) {
return BMI_EMUL_125_DEG_S / 4;
}
return -gyr;
}
/**
* @brief Get offset value for given accelerometer value. If accelerometer
* value - target is above maximum (belowe minimum), then minimum -0.5g
* (maximum 0.5g) offset value is returned.
*
* @param acc Accelerometer value
* @param target Target value in FOC configuration register format
*/
static int16_t bmi160_emul_get_acc_target_off(int32_t acc, uint8_t target)
{
switch (target) {
case BMI160_FOC_ACC_PLUS_1G:
acc -= BMI_EMUL_1G;
break;
case BMI160_FOC_ACC_MINUS_1G:
acc += BMI_EMUL_1G;
break;
}
if (acc > (int32_t)BMI_EMUL_1G / 2) {
return -((int32_t)BMI_EMUL_1G / 2);
}
if (acc < -((int32_t)BMI_EMUL_1G / 2)) {
return BMI_EMUL_1G / 2;
}
return -acc;
}
/**
* @brief Handle fast offset compensation. Check FOC configuration register
* and sets gyroscope and/or accelerometer offset using current emulator
* state.
*
* @param regs Pointer to array of emulator's registers
* @param emul Pointer to BMI emulator
*/
static void bmi160_emul_handle_off_comp(uint8_t *regs, struct i2c_emul *emul)
{
uint8_t target;
int16_t off;
int32_t val;
if (regs[BMI160_FOC_CONF] & BMI160_FOC_GYRO_EN) {
val = bmi_emul_get_value(emul, BMI_EMUL_GYR_X);
off = bmi160_emul_get_gyr_target_off(val);
bmi_emul_set_off(emul, BMI_EMUL_GYR_X, off);
val = bmi_emul_get_value(emul, BMI_EMUL_GYR_Y);
off = bmi160_emul_get_gyr_target_off(val);
bmi_emul_set_off(emul, BMI_EMUL_GYR_Y, off);
val = bmi_emul_get_value(emul, BMI_EMUL_GYR_Z);
off = bmi160_emul_get_gyr_target_off(val);
bmi_emul_set_off(emul, BMI_EMUL_GYR_Z, off);
}
target = (regs[BMI160_FOC_CONF] >> BMI160_FOC_ACC_X_OFFSET) & 0x3;
if (target) {
val = bmi_emul_get_value(emul, BMI_EMUL_ACC_X);
off = bmi160_emul_get_acc_target_off(val, target);
bmi_emul_set_off(emul, BMI_EMUL_ACC_X, off);
}
target = (regs[BMI160_FOC_CONF] >> BMI160_FOC_ACC_Y_OFFSET) & 0x3;
if (target) {
val = bmi_emul_get_value(emul, BMI_EMUL_ACC_Y);
off = bmi160_emul_get_acc_target_off(val, target);
bmi_emul_set_off(emul, BMI_EMUL_ACC_Y, off);
}
target = (regs[BMI160_FOC_CONF] >> BMI160_FOC_ACC_Z_OFFSET) & 0x3;
if (target) {
val = bmi_emul_get_value(emul, BMI_EMUL_ACC_Z);
off = bmi160_emul_get_acc_target_off(val, target);
bmi_emul_set_off(emul, BMI_EMUL_ACC_Z, off);
}
}
/**
* @brief Execute first part of command. Emulate state of device which is
* during handling command (status bits etc). This function save time
* on which command should end.
*
* @param regs Pointer to array of emulator's registers
* @param emul Pointer to BMI emulator
* @param cmd Command that is starting
*
* @return 0 on success
* @return -EIO on failure
*/
static int bmi160_emul_start_cmd(uint8_t *regs, struct i2c_emul *emul, int cmd)
{
int time;
switch (cmd) {
case BMI160_CMD_SOFT_RESET:
time = 1;
break;
case BMI160_CMD_START_FOC:
if ((regs[BMI160_FOC_CONF] & BMI160_FOC_GYRO_EN) &&
((regs[BMI160_PMU_STATUS] &
(0x3 << BMI160_PMU_GYR_OFFSET)) !=
BMI160_PMU_NORMAL << BMI160_PMU_GYR_OFFSET)) {
LOG_ERR("Starting gyroscope FOC in low power mode");
return -EIO;
}
if ((regs[BMI160_FOC_CONF] & ~BMI160_FOC_GYRO_EN) &&
((regs[BMI160_PMU_STATUS] &
(0x3 << BMI160_PMU_ACC_OFFSET)) !=
BMI160_PMU_NORMAL << BMI160_PMU_ACC_OFFSET)) {
LOG_ERR("Starting accelerometer FOC in low power mode");
return -EIO;
}
regs[BMI160_STATUS] &= ~BMI160_FOC_RDY;
time = 250;
break;
case BMI160_CMD_ACC_MODE_SUSP:
case BMI160_CMD_GYR_MODE_SUSP:
case BMI160_CMD_MAG_MODE_SUSP:
time = 0;
break;
/* Real hardware probably switch faster if not in suspend mode */
case BMI160_CMD_ACC_MODE_NORMAL:
case BMI160_CMD_ACC_MODE_LOWPOWER:
time = 4;
break;
case BMI160_CMD_GYR_MODE_NORMAL:
case BMI160_CMD_GYR_MODE_FAST_STARTUP:
time = 80;
break;
case BMI160_CMD_MAG_MODE_NORMAL:
case BMI160_CMD_MAG_MODE_LOWPOWER:
time = 1;
break;
case BMI160_CMD_FIFO_FLUSH:
time = 0;
break;
case BMI160_CMD_INT_RESET:
time = 0;
break;
default:
LOG_ERR("Unknown command 0x%x", cmd);
return -EIO;
}
regs[BMI160_CMD_REG] = cmd;
bmi_emul_set_cmd_end_time(emul, time);
return 0;
}
/**
* @brief Emulate end of ongoing command.
*
* @param regs Pointer to array of emulator's registers
* @param emul Pointer to BMI emulator
*/
static void bmi160_emul_end_cmd(uint8_t *regs, struct i2c_emul *emul)
{
uint8_t pmu_status;
bool tag_time;
bool header;
int cmd;
pmu_status = regs[BMI160_PMU_STATUS];
cmd = regs[BMI160_CMD_REG];
regs[BMI160_CMD_REG] = BMI160_CMD_NOOP;
tag_time = regs[BMI160_FIFO_CONFIG_1] & BMI160_FIFO_TAG_TIME_EN;
header = regs[BMI160_FIFO_CONFIG_1] & BMI160_FIFO_HEADER_EN;
switch (cmd) {
case BMI160_CMD_SOFT_RESET:
bmi160_emul_reset(regs, emul);
break;
case BMI160_CMD_START_FOC:
bmi160_emul_handle_off_comp(regs, emul);
regs[BMI160_STATUS] |= BMI160_FOC_RDY;
break;
case BMI160_CMD_ACC_MODE_SUSP:
pmu_status &= ~(0x3 << BMI160_PMU_ACC_OFFSET);
pmu_status |= BMI160_PMU_SUSPEND << BMI160_PMU_ACC_OFFSET;
break;
case BMI160_CMD_ACC_MODE_NORMAL:
pmu_status &= ~(0x3 << BMI160_PMU_ACC_OFFSET);
pmu_status |= BMI160_PMU_NORMAL << BMI160_PMU_ACC_OFFSET;
break;
case BMI160_CMD_ACC_MODE_LOWPOWER:
pmu_status &= ~(0x3 << BMI160_PMU_ACC_OFFSET);
pmu_status |= BMI160_PMU_LOW_POWER << BMI160_PMU_ACC_OFFSET;
break;
case BMI160_CMD_GYR_MODE_SUSP:
pmu_status &= ~(0x3 << BMI160_PMU_GYR_OFFSET);
pmu_status |= BMI160_PMU_SUSPEND << BMI160_PMU_GYR_OFFSET;
break;
case BMI160_CMD_GYR_MODE_NORMAL:
pmu_status &= ~(0x3 << BMI160_PMU_GYR_OFFSET);
pmu_status |= BMI160_PMU_NORMAL << BMI160_PMU_GYR_OFFSET;
break;
case BMI160_CMD_GYR_MODE_FAST_STARTUP:
pmu_status &= ~(0x3 << BMI160_PMU_GYR_OFFSET);
pmu_status |= BMI160_PMU_FAST_STARTUP << BMI160_PMU_GYR_OFFSET;
break;
case BMI160_CMD_MAG_MODE_SUSP:
pmu_status &= ~(0x3 << BMI160_PMU_MAG_OFFSET);
pmu_status |= BMI160_PMU_SUSPEND << BMI160_PMU_MAG_OFFSET;
break;
case BMI160_CMD_MAG_MODE_NORMAL:
pmu_status &= ~(0x3 << BMI160_PMU_MAG_OFFSET);
pmu_status |= BMI160_PMU_NORMAL << BMI160_PMU_MAG_OFFSET;
break;
case BMI160_CMD_MAG_MODE_LOWPOWER:
pmu_status &= ~(0x3 << BMI160_PMU_MAG_OFFSET);
pmu_status |= BMI160_PMU_LOW_POWER << BMI160_PMU_MAG_OFFSET;
break;
case BMI160_CMD_FIFO_FLUSH:
bmi_emul_flush_fifo(emul, tag_time, header);
break;
case BMI160_CMD_INT_RESET:
bmi160_emul_clear_int(regs);
break;
}
/* Clear FIFO on sensor on/off in headerless mode */
if (pmu_status != regs[BMI160_PMU_STATUS] && !header) {
bmi_emul_flush_fifo(emul, tag_time, header);
}
regs[BMI160_PMU_STATUS] = pmu_status;
}
/**
* @brief BMI160 specific write function. It doesn't handle block writes.
* Check if read only register is not accessed. Before writing value,
* ongoing command is finished if possible. Write to CMD register is
* handled by BMI160 specific function. On changing of FIFO
* header/headerless mode, FIFO is flushed.
*
* @param regs Pointer to array of emulator's registers
* @param emul Pointer to BMI emulator
* @param reg Pointer to accessed reg
* @param byte Number of handled bytes in this write command
* @param val Value that is being written
*
* @return 0 on success
* @return BMI_EMUL_ACCESS_E on RO register access
* @return -EIO on error
*/
static int bmi160_emul_handle_write(uint8_t *regs, struct i2c_emul *emul,
int *reg, int byte, uint8_t val)
{
bool tag_time;
bool header;
if (byte > 1) {
LOG_ERR("Block writes are not allowed");
return -EIO;
}
if (*reg <= BMI160_FIFO_DATA ||
(*reg >= BMI160_STEP_CNT_0 && *reg <= BMI160_STEP_CNT_1)) {
return BMI_EMUL_ACCESS_E;
}
/* Stop on going command if required */
if (regs[BMI160_CMD_REG] != BMI160_CMD_NOOP &&
bmi_emul_is_cmd_end(emul)) {
bmi160_emul_end_cmd(regs, emul);
}
switch (*reg) {
case BMI160_CMD_REG:
if (regs[BMI160_CMD_REG] != BMI160_CMD_NOOP) {
LOG_ERR("Issued command before previous end");
return -EIO;
}
return bmi160_emul_start_cmd(regs, emul, val);
case BMI160_FIFO_CONFIG_1:
tag_time = regs[BMI160_FIFO_CONFIG_1] & BMI160_FIFO_TAG_TIME_EN;
header = regs[BMI160_FIFO_CONFIG_1] & BMI160_FIFO_HEADER_EN;
/*
* Clear FIFO on transition between headerless and
* header mode
*/
if (!!(val & BMI160_FIFO_HEADER_EN) != header) {
bmi_emul_flush_fifo(emul, tag_time, header);
}
break;
}
return 0;
}
/**
* @brief BMI160 specific read function. It handle block reads but only if
* device is not suspended. FIFO data register is trap register, so
* after reaching it, register address is not increased on block reads.
* Before reading value, ongoing command is finished if possible.
* Read of sensor data traps current emulator state in registers.
* Read of FIFO length and FIFO data triggers default BMI functions.
*
* @param regs Pointer to array of emulator's registers
* @param emul Pointer to BMI emulator
* @param reg Pointer to accessed reg
* @param byte Byte which is accessed during block read
* @param buf Pointer where read byte should be stored
*
* @return 0 on success
* @return BMI_EMUL_ACCESS_E on WO register access
* @return -EIO on other error
*/
static int bmi160_emul_handle_read(uint8_t *regs, struct i2c_emul *emul,
int *reg, int byte, char *buf)
{
uint16_t fifo_len;
bool acc_off_en;
bool gyr_off_en;
bool tag_time;
bool header;
int gyr_shift;
int acc_shift;
/*
* If register is FIFO data, then read data from FIFO.
* Else block read access subsequent registers.
*/
if (*reg <= BMI160_FIFO_DATA && *reg + byte >= BMI160_FIFO_DATA) {
byte -= *reg - BMI160_FIFO_DATA;
*reg = BMI160_FIFO_DATA;
} else {
*reg += byte;
}
/* Stop on going command if required */
if (regs[BMI160_CMD_REG] != BMI160_CMD_NOOP &&
bmi_emul_is_cmd_end(emul)) {
bmi160_emul_end_cmd(regs, emul);
}
/* Burst reads are not supported if all sensors are in suspend mode */
if ((regs[BMI160_PMU_STATUS] & 0x3f) == 0 && byte > 0) {
LOG_ERR("Block reads are not supported in suspend mode");
return -EIO;
}
tag_time = regs[BMI160_FIFO_CONFIG_1] & BMI160_FIFO_TAG_TIME_EN;
header = regs[BMI160_FIFO_CONFIG_1] & BMI160_FIFO_HEADER_EN;
acc_off_en = regs[BMI160_OFFSET_EN_GYR98] & BMI160_OFFSET_ACC_EN;
gyr_off_en = regs[BMI160_OFFSET_EN_GYR98] & BMI160_OFFSET_GYRO_EN;
gyr_shift = bmi160_emul_gyr_range_to_shift(regs[BMI160_GYR_RANGE]);
acc_shift = bmi160_emul_acc_range_to_shift(regs[BMI160_ACC_RANGE]);
switch (*reg) {
case BMI160_GYR_X_L_G:
case BMI160_GYR_X_H_G:
case BMI160_GYR_Y_L_G:
case BMI160_GYR_Y_H_G:
case BMI160_GYR_Z_L_G:
case BMI160_GYR_Z_H_G:
case BMI160_ACC_X_L_G:
case BMI160_ACC_X_H_G:
case BMI160_ACC_Y_L_G:
case BMI160_ACC_Y_H_G:
case BMI160_ACC_Z_L_G:
case BMI160_ACC_Z_H_G:
case BMI160_SENSORTIME_0:
case BMI160_SENSORTIME_1:
case BMI160_SENSORTIME_2:
/*
* Snapshot of current emulator state is created on data read
* and shouldn't be changed until next I2C operation
*/
if (byte == 0) {
bmi_emul_state_to_reg(emul, acc_shift, gyr_shift,
BMI160_ACC_X_L_G,
BMI160_GYR_X_L_G,
BMI160_SENSORTIME_0,
acc_off_en, gyr_off_en);
}
break;
case BMI160_FIFO_LENGTH_0:
case BMI160_FIFO_LENGTH_1:
if (byte == 0) {
fifo_len = bmi_emul_fifo_len(emul, tag_time, header);
regs[BMI160_FIFO_LENGTH_0] = fifo_len & 0xff;
regs[BMI160_FIFO_LENGTH_1] = (fifo_len >> 8) & 0x7;
}
break;
case BMI160_FIFO_DATA:
regs[*reg] = bmi_emul_get_fifo_data(emul, byte, tag_time,
header, acc_shift,
gyr_shift);
break;
}
*buf = regs[*reg];
return 0;
}
/** Registers backed in NVM by BMI160 */
const int bmi160_nvm_reg[] = {BMI160_NV_CONF,
BMI160_OFFSET_ACC70,
BMI160_OFFSET_ACC70 + 1,
BMI160_OFFSET_ACC70 + 2,
BMI160_OFFSET_GYR70,
BMI160_OFFSET_GYR70 + 1,
BMI160_OFFSET_GYR70 + 2,
BMI160_OFFSET_EN_GYR98};
/** Confguration of BMI160 */
struct bmi_emul_type_data bmi160_emul = {
.sensortime_follow_config_frame = false,
.handle_write = bmi160_emul_handle_write,
.handle_read = bmi160_emul_handle_read,
.reset = bmi160_emul_reset,
.rsvd_mask = bmi_emul_160_rsvd_mask,
.nvm_reg = bmi160_nvm_reg,
.nvm_len = ARRAY_SIZE(bmi160_nvm_reg),
.gyr_off_reg = BMI160_OFFSET_GYR70,
.acc_off_reg = BMI160_OFFSET_ACC70,
.gyr98_off_reg = BMI160_OFFSET_EN_GYR98,
};
/** Check description in emul_bmi.h */
const struct bmi_emul_type_data *get_bmi160_emul_type_data(void)
{
return &bmi160_emul;
}
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