diff options
| author | Ching-Kang Yen <chingkang@chromium.org> | 2020-03-31 19:37:17 +0800 |
|---|---|---|
| committer | Chromeos LUCI <chromeos-scoped@luci-project-accounts.iam.gserviceaccount.com> | 2022-05-16 10:00:14 +0000 |
| commit | 3452fa9ebd9dc90aa259ce50652a3d0f93e97500 (patch) | |
| tree | ff6aaaf5c90c4809f0d480469435961bcd94d3be | |
| parent | 04a3ecd6b770ac01e8019881a413caa6c23940be (diff) | |
| download | chrome-ec-3452fa9ebd9dc90aa259ce50652a3d0f93e97500.tar.gz | |
driver: Add BMI260 basic driver support
Add BMI260 accel/gyro driver code. Be able to do initial configuration,
start up sensor, config interrupt and fifo, perform calibration, and
access the sensor data from AP.
BRANCH=None
BUG=b:146144827
TEST=make -j4 BOARD=volteer \
&& flash_ec --image build/volteer/ec.bin --board volteer
Then, check sensor data is available on DUT by "ectool motionsense".
TEST=make buildall -j
TEST=tast run ${IP} hardware.SensorRing
Conflicts:
common/build.mk:
include/config.h:
include/ec_commands.h: ICM-42607 driver support landed earlier
Cq-Depend: chromium:2148802
Change-Id: I5124ee8359a74f98cfe8d26da640325f5e00cb15
Signed-off-by: Ching-Kang Yen <chingkang@chromium.org>
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/2086534
Reviewed-by: Gwendal Grignou <gwendal@chromium.org>
(cherry picked from commit 00b4226613aa84f9734a22e50acd4d7ede960cc1)
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/3115728
Tested-by: Rong Chang <rongchang@chromium.org>
Tested-by: Gwendal Grignou <gwendal@chromium.org>
Commit-Queue: Gwendal Grignou <gwendal@chromium.org>
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/3631904
Commit-Queue: Henry Sun <henrysun@google.com>
Reviewed-by: Henry Sun <henrysun@google.com>
Tested-by: Zick Wei <zick.wei@quanta.corp-partner.google.com>
| -rw-r--r-- | common/build.mk | 1 | ||||
| -rw-r--r-- | driver/accelgyro_bmi260.c | 508 | ||||
| -rw-r--r-- | driver/accelgyro_bmi260.h | 341 | ||||
| -rw-r--r-- | driver/accelgyro_bmi_common.c | 123 | ||||
| -rw-r--r-- | driver/accelgyro_bmi_common.h | 50 | ||||
| -rw-r--r-- | driver/build.mk | 1 | ||||
| -rw-r--r-- | include/config.h | 3 | ||||
| -rw-r--r-- | include/ec_commands.h | 1 | ||||
| -rw-r--r-- | third_party/bmi260/LICENSE | 32 | ||||
| -rw-r--r-- | third_party/bmi260/METADATA | 15 | ||||
| -rw-r--r-- | third_party/bmi260/accelgyro_bmi260_config_tbin.h | 703 | ||||
| -rw-r--r-- | util/ectool.c | 3 |
12 files changed, 1723 insertions, 58 deletions
diff --git a/common/build.mk b/common/build.mk index 24693118bb..886591e214 100644 --- a/common/build.mk +++ b/common/build.mk @@ -11,6 +11,7 @@ common-y+=version.o printf.o queue.o queue_policies.o common-$(CONFIG_ACCELGYRO_BMA255)+=math_util.o common-$(CONFIG_ACCELGYRO_BMI160)+=math_util.o +common-$(CONFIG_ACCELGYRO_BMI260)+=math_util.o common-$(CONFIG_ACCELGYRO_ICM426XX)+=math_util.o common-$(CONFIG_ACCELGYRO_ICM42607)+=math_util.o common-$(CONFIG_ACCELGYRO_LSM6DS0)+=math_util.o diff --git a/driver/accelgyro_bmi260.c b/driver/accelgyro_bmi260.c new file mode 100644 index 0000000000..78cce521e2 --- /dev/null +++ b/driver/accelgyro_bmi260.c @@ -0,0 +1,508 @@ +/* Copyright 2020 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. + */ + +/** + * BMI260 accelerometer and gyro module for Chrome EC + * 3D digital accelerometer & 3D digital gyroscope + */ + +#include "accelgyro.h" +#include "console.h" +#include "driver/accelgyro_bmi_common.h" +#include "driver/accelgyro_bmi260.h" +#include "hwtimer.h" +#include "i2c.h" +#include "math_util.h" +#include "spi.h" +#include "task.h" +#include "third_party/bmi260/accelgyro_bmi260_config_tbin.h" +#include "timer.h" +#include "util.h" + +#define CPUTS(outstr) cputs(CC_ACCEL, outstr) +#define CPRINTF(format, args...) cprintf(CC_ACCEL, format, ## args) +#define CPRINTS(format, args...) cprints(CC_ACCEL, format, ## args) + +#ifdef CONFIG_ACCEL_FIFO +static volatile uint32_t last_interrupt_timestamp; +#endif + +/* + * The gyro start-up time is 45ms in normal mode + * 2ms in fast start-up mode + */ +static int wakeup_time[] = { + [MOTIONSENSE_TYPE_ACCEL] = 2, + [MOTIONSENSE_TYPE_GYRO] = 45, + [MOTIONSENSE_TYPE_MAG] = 1 +}; + +static int enable_sensor(const struct motion_sensor_t *s, int enable) +{ + int ret; + + ret = bmi_enable_reg8(s, BMI260_PWR_CTRL, + BMI260_PWR_EN(s->type), + enable); + if (ret) + return ret; + + if (s->type == MOTIONSENSE_TYPE_GYRO) { + /* switch to performance mode */ + ret = bmi_enable_reg8(s, BMI_CONF_REG(s->type), + BMI260_FILTER_PERF | + BMI260_GYR_NOISE_PERF, + enable); + } else { + ret = bmi_enable_reg8(s, BMI_CONF_REG(s->type), + BMI260_FILTER_PERF, + enable); + } + return ret; + +} + +static int set_data_rate(const struct motion_sensor_t *s, + int rate, + int rnd) +{ + int ret, normalized_rate; + uint8_t reg_val; + struct accelgyro_saved_data_t *data = BMI_GET_SAVED_DATA(s); + + if (rate == 0) { + /* FIFO stop collecting events */ +#ifdef CONFIG_ACCEL_FIFO + bmi_enable_fifo(s, 0); +#endif + /* disable sensor */ + ret = enable_sensor(s, 0); + msleep(3); + data->odr = 0; + return ret; + } else if (data->odr == 0) { + /* enable sensor */ + ret = enable_sensor(s, 1); + if (ret) + return ret; + /* Wait for accel/gyro to wake up */ + msleep(wakeup_time[s->type]); + } + + ret = bmi_get_normalized_rate(s, rate, rnd, + &normalized_rate, ®_val); + if (ret) + return ret; + + /* + * Lock accel resource to prevent another task from attempting + * to write accel parameters until we are done. + */ + mutex_lock(s->mutex); + + ret = bmi_set_reg8(s, BMI_CONF_REG(s->type), + reg_val, BMI_ODR_MASK); + if (ret != EC_SUCCESS) + goto accel_cleanup; + + /* Wait for the change to become effective */ + if (data->odr != 0) + msleep(1000000 / MIN(data->odr, normalized_rate)); + /* Now that we have set the odr, update the driver's value. */ + data->odr = normalized_rate; + + /* + * FIFO start collecting events. + * They will be discarded if AP does not want them. + */ +#ifdef CONFIG_ACCEL_FIFO + bmi_enable_fifo(s, 1); +#endif +accel_cleanup: + mutex_unlock(s->mutex); + return ret; +} + +static int set_offset(const struct motion_sensor_t *s, + const int16_t *offset, + int16_t temp) +{ + int ret, val98, val_nv_conf; + intv3_t v = { offset[X], offset[Y], offset[Z] }; + + rotate_inv(v, *s->rot_standard_ref, v); + + ret = bmi_read8(s->port, s->addr, + BMI260_OFFSET_EN_GYR98, &val98); + if (ret) + return ret; + ret = bmi_read8(s->port, s->addr, + BMI260_NV_CONF, &val_nv_conf); + if (ret) + return ret; + + switch (s->type) { + case MOTIONSENSE_TYPE_ACCEL: + bmi_set_accel_offset(s, v); + ret = bmi_write8(s->port, s->addr, + BMI260_NV_CONF, + val_nv_conf | BMI260_ACC_OFFSET_EN); + break; + case MOTIONSENSE_TYPE_GYRO: + bmi_set_gyro_offset(s, v, &val98); + ret = bmi_write8(s->port, s->addr, + BMI260_OFFSET_EN_GYR98, + val98 | BMI260_OFFSET_GYRO_EN); + break; + default: + ret = EC_RES_INVALID_PARAM; + } + return ret; +} + +static int wait_and_read_data(const struct motion_sensor_t *s, + intv3_t v, int try_cnt, int msec) +{ + uint8_t data[6]; + int ret, status = 0; + + /* Check if data is ready */ + while (try_cnt && !(status & BMI260_DRDY_ACC)) { + msleep(msec); + ret = bmi_read8(s->port, s->addr, + BMI260_STATUS, &status); + if (ret) + return ret; + try_cnt -= 1; + } + if (!(status & BMI260_DRDY_ACC)) + return EC_ERROR_TIMEOUT; + /* Read 6 bytes starting at xyz_reg */ + ret = bmi_read_n(s->port, s->addr, + bmi_get_xyz_reg(s), data, 6); + bmi_normalize(s, v, data); + return ret; +} + +static int calibrate_offset(const struct motion_sensor_t *s, + int range, intv3_t target, int16_t *offset) +{ + int ret = EC_ERROR_UNKNOWN; + int i, n_sample = 32; + int data_diff[3] = {0}; + + /* Manually offset compensation */ + for (i = 0; i < n_sample; ++i) { + intv3_t v; + /* Wait data for at most 3 * 10 msec */ + ret = wait_and_read_data(s, v, 3, 10); + if (ret) + return ret; + data_diff[X] += v[X] - target[X]; + data_diff[Y] += v[Y] - target[Y]; + data_diff[Z] += v[Z] - target[Z]; + } + + /* The data LSB: 1000 * range / 32768 (mdps | mg)*/ + for (i = X; i <= Z; ++i) + offset[i] -= ((int64_t)(data_diff[i] / n_sample) * + 1000 * range) >> 15; + return ret; +} + +static int perform_calib(const struct motion_sensor_t *s) +{ + int ret, rate; + int16_t temp; + int16_t offset[3]; + intv3_t target = {0, 0, 0}; + /* Get sensor range for calibration*/ + int range = bmi_get_range(s); + + rate = bmi_get_data_rate(s); + ret = set_data_rate(s, 100000, 0); + if (ret) + return ret; + + ret = bmi_get_offset(s, offset, &temp); + if (ret) + goto end_perform_calib; + + switch (s->type) { + case MOTIONSENSE_TYPE_ACCEL: + target[Z] = BMI260_ACC_DATA_PLUS_1G(range); + break; + case MOTIONSENSE_TYPE_GYRO: + break; + default: + /* Not supported on Magnetometer */ + ret = EC_RES_INVALID_PARAM; + goto end_perform_calib; + } + + /* Get the calibrated offset */ + ret = calibrate_offset(s, range, target, offset); + if (ret) + goto end_perform_calib; + + ret = set_offset(s, offset, temp); + if (ret) + goto end_perform_calib; + +end_perform_calib: + if (ret == EC_ERROR_TIMEOUT) + CPRINTS("%s timeout", __func__); + set_data_rate(s, rate, 0); + return ret; +} + +#ifdef CONFIG_ACCEL_INTERRUPTS + +/** + * bmi260_interrupt - called when the sensor activates the interrupt line. + * + * This is a "top half" interrupt handler, it just asks motion sense ask + * to schedule the "bottom half", ->irq_handler(). + */ +void bmi260_interrupt(enum gpio_signal signal) +{ +#ifdef CONFIG_ACCEL_FIFO + last_interrupt_timestamp = __hw_clock_source_read(); +#endif + + task_set_event(TASK_ID_MOTIONSENSE, + CONFIG_ACCELGYRO_BMI260_INT_EVENT, 0); +} + +static int config_interrupt(const struct motion_sensor_t *s) +{ + int ret; + + if (s->type != MOTIONSENSE_TYPE_ACCEL) + return EC_SUCCESS; + + mutex_lock(s->mutex); + bmi_write8(s->port, s->addr, + BMI260_CMD_REG, BMI260_CMD_FIFO_FLUSH); + + /* configure int1 as an interrupt */ + ret = bmi_write8(s->port, s->addr, + BMI260_INT1_IO_CTRL, + BMI260_INT1_OUTPUT_EN); +#ifdef CONFIG_ACCELGYRO_BMI260_INT2_OUTPUT + /* TODO(chingkang): Test it if we want int2 as an interrupt */ + /* configure int2 as an interrupt */ + ret = bmi_write8(s->port, s->addr, + BMI260_INT2_IO_CTRL, + BMI260_INT2_OUTPUT_EN); +#else + /* configure int2 as an external input. */ + ret = bmi_write8(s->port, s->addr, + BMI260_INT2_IO_CTRL, + BMI260_INT2_INPUT_EN); +#endif + +#ifdef CONFIG_ACCEL_FIFO + /* map fifo water mark to int 1 */ + ret = bmi_write8(s->port, s->addr, + BMI260_INT_MAP_DATA, + BMI260_INT_MAP_DATA_REG(1, FWM) | + BMI260_INT_MAP_DATA_REG(1, FFULL)); + + /* + * Configure fifo watermark to int whenever there's any data in + * there + */ + ret = bmi_write8(s->port, s->addr, + BMI260_FIFO_WTM_0, 1); + ret = bmi_write8(s->port, s->addr, + BMI260_FIFO_WTM_1, 0); +#ifdef CONFIG_ACCELGYRO_BMI260_INT2_OUTPUT + ret = bmi_write8(s->port, s->addr, + BMI260_FIFO_CONFIG_1, + BMI260_FIFO_HEADER_EN); +#else + ret = bmi_write8(s->port, s->addr, + BMI260_FIFO_CONFIG_1, + (BMI260_FIFO_TAG_INT_LEVEL << + BMI260_FIFO_TAG_INT2_EN_OFFSET) | + BMI260_FIFO_HEADER_EN); +#endif + /* disable FIFO sensortime frame */ + ret = bmi_write8(s->port, s->addr, + BMI260_FIFO_CONFIG_0, 0); +#endif + mutex_unlock(s->mutex); + return ret; +} + +/** + * irq_handler - bottom half of the interrupt stack. + * Ran from the motion_sense task, finds the events that raised the interrupt. + * + * For now, we just print out. We should set a bitmask motion sense code will + * act upon. + */ +static int irq_handler(struct motion_sensor_t *s, uint32_t *event) +{ + /* use uint16_t interrupt can cause error. */ + uint32_t interrupt = 0; + int rv; + + if ((s->type != MOTIONSENSE_TYPE_ACCEL) || + (!(*event & CONFIG_ACCELGYRO_BMI260_INT_EVENT))) + return EC_ERROR_NOT_HANDLED; + + do { + rv = bmi_read16(s->port, s->addr, + BMI260_INT_STATUS_0, &interrupt); + /* + * Bail out of this loop there was an error reading the register + */ + if (rv) + return rv; +#ifdef CONFIG_ACCEL_FIFO + if (interrupt & (BMI260_FWM_INT | BMI260_FFULL_INT)) { + bmi_load_fifo(s, last_interrupt_timestamp); + } +#endif + } while (interrupt != 0); + + return EC_SUCCESS; +} +#endif /* CONFIG_ACCEL_INTERRUPTS */ + +static int init_config(const struct motion_sensor_t *s) +{ + int init_status, ret; + uint16_t i; + /* + * Due to i2c transaction timeout limit, + * burst_write_len should not be above 2048 to prevent timeout. + */ + const int burst_write_len = 2048; + /* We have to write the config even bytes of data every time */ + BUILD_ASSERT((burst_write_len & 1) == 0); + + /* disable advance power save but remain fifo self wakeup*/ + bmi_write8(s->port, s->addr, BMI260_PWR_CONF, 2); + msleep(1); + /* prepare for config load */ + bmi_write8(s->port, s->addr, BMI260_INIT_CTRL, 0); + + /* load config file to INIT_DATA */ + for (i = 0; i < g_bmi260_config_tbin_len; i += burst_write_len) { + uint8_t addr[2]; + const int len = MIN(burst_write_len, + g_bmi260_config_tbin_len - i); + + addr[0] = (i / 2) & 0xF; + addr[1] = (i / 2) >> 4; + ret = bmi_write_n(s->port, s->addr, + BMI260_INIT_ADDR_0, addr, 2); + if (ret) + break; + ret = bmi_write_n(s->port, s->addr, + BMI260_INIT_DATA, &g_bmi260_config_tbin[i], + len); + if (ret) + break; + } + /* finish config load */ + bmi_write8(s->port, s->addr, BMI260_INIT_CTRL, 1); + /* return error if load config failed */ + if (ret) + return ret; + /* wait INTERNAL_STATUS.message to be 0x1 which take at most 150ms */ + for (i = 0; i < 15; ++i) { + msleep(10); + ret = bmi_read8(s->port, s->addr, + BMI260_INTERNAL_STATUS, &init_status); + if (ret) + break; + init_status &= BMI260_MESSAGE_MASK; + if (init_status == BMI260_INIT_OK) + break; + } + if (ret || init_status != BMI260_INIT_OK) + return EC_ERROR_INVALID_CONFIG; + return EC_SUCCESS; +} + +static int init(const struct motion_sensor_t *s) +{ + int ret = 0, tmp, i; + struct accelgyro_saved_data_t *saved_data = BMI_GET_SAVED_DATA(s); + + ret = bmi_read8(s->port, s->addr, + BMI260_CHIP_ID, &tmp); + if (ret) + return EC_ERROR_UNKNOWN; + + if (tmp != BMI260_CHIP_ID_MAJOR) + return EC_ERROR_ACCESS_DENIED; + + if (s->type == MOTIONSENSE_TYPE_ACCEL) { + struct bmi_drv_data_t *data = BMI_GET_DATA(s); + + /* Reset the chip to be in a good state */ + bmi_write8(s->port, s->addr, + BMI260_CMD_REG, BMI260_CMD_SOFT_RESET); + msleep(2); + if (init_config(s)) + return EC_ERROR_INVALID_CONFIG; + + data->flags &= ~(BMI_FLAG_SEC_I2C_ENABLED | + (BMI_FIFO_ALL_MASK << + BMI_FIFO_FLAG_OFFSET)); + } + + for (i = X; i <= Z; i++) + saved_data->scale[i] = MOTION_SENSE_DEFAULT_SCALE; + /* + * The sensor is in Suspend mode at init, + * so set data rate to 0. + */ + saved_data->odr = 0; + bmi_set_range(s, s->default_range, 0); + + if (s->type == MOTIONSENSE_TYPE_ACCEL) { +#ifdef CONFIG_ACCEL_INTERRUPTS + ret = config_interrupt(s); +#endif + } + + return sensor_init_done(s); +} + +const struct accelgyro_drv bmi260_drv = { + .init = init, + .read = bmi_read, + .set_range = bmi_set_range, + .get_range = bmi_get_range, + .get_resolution = bmi_get_resolution, + .set_data_rate = set_data_rate, + .get_data_rate = bmi_get_data_rate, + .set_offset = set_offset, + .get_scale = bmi_get_scale, + .set_scale = bmi_set_scale, + .get_offset = bmi_get_offset, + .perform_calib = perform_calib, +#ifdef CONFIG_ACCEL_INTERRUPTS + .irq_handler = irq_handler, +#endif +}; + +#ifdef CONFIG_CMD_I2C_STRESS_TEST_ACCEL +struct i2c_stress_test_dev bmi260_i2c_stress_test_dev = { + .reg_info = { + .read_reg = BMI260_CHIP_ID, + .read_val = BMI260_CHIP_ID_MAJOR, + .write_reg = BMI260_PMU_TRIGGER, + }, + .i2c_read = &bmi_read8, + .i2c_write = &bmi_write8, +}; +#endif /* CONFIG_CMD_I2C_STRESS_TEST_ACCEL */ diff --git a/driver/accelgyro_bmi260.h b/driver/accelgyro_bmi260.h new file mode 100644 index 0000000000..7835d5bf42 --- /dev/null +++ b/driver/accelgyro_bmi260.h @@ -0,0 +1,341 @@ +/* Copyright 2020 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. + */ + +/* 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 "driver/mag_bmm150.h" + +/* + * The addr field of motion_sensor support both SPI and I2C: + * This is defined in include/i2c.h and is no longer an 8bit + * address. The 7/10 bit address starts at bit 0 and leaves + * room for a 10 bit address, although we don't currently + * have any 10 bit slaves. I2C or SPI is indicated by a + * more significant bit + */ + +/* I2C addresses */ +#define BMI260_ADDR0_FLAGS 0xD0 + +#define BMI260_CHIP_ID 0x00 +#define BMI260_CHIP_ID_MAJOR 0x27 + +#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_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_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 + +extern const struct accelgyro_drv bmi260_drv; + +void bmi260_interrupt(enum gpio_signal signal); + +#ifdef CONFIG_CMD_I2C_STRESS_TEST_ACCEL +extern struct i2c_stress_test_dev bmi260_i2c_stress_test_dev; +#endif + +#endif /* __CROS_EC_ACCELGYRO_BMI260_H */ diff --git a/driver/accelgyro_bmi_common.c b/driver/accelgyro_bmi_common.c index fa5d4492c1..3d5a57b750 100644 --- a/driver/accelgyro_bmi_common.c +++ b/driver/accelgyro_bmi_common.c @@ -20,35 +20,66 @@ #define CPRINTF(format, args...) cprintf(CC_ACCEL, format, ## args) #define CPRINTS(format, args...) cprints(CC_ACCEL, format, ## args) +#if defined(CONFIG_ACCELGYRO_BMI260) && !defined(CONFIG_ACCELGYRO_BMI160) +#define V(s_) 1 +#elif defined(CONFIG_ACCELGYRO_BMI160) && !defined(CONFIG_ACCELGYRO_BMI260) +#define V(s_) 0 +#else +#define V(s_) ((s_)->chip == MOTIONSENSE_CHIP_BMI260) +#endif +/* Index for which table to use. */ +#if !defined(CONFIG_ACCELGYRO_BMI160) || !defined(CONFIG_ACCELGYRO_BMI260) +#define T(s_) 0 +#else +#define T(s_) V(s_) +#endif + /* List of range values in +/-G's and their associated register values. */ -const struct bmi_accel_param_pair g_ranges[4] = { - {2, BMI160_GSEL_2G}, - {4, BMI160_GSEL_4G}, - {8, BMI160_GSEL_8G}, - {16, BMI160_GSEL_16G} +const struct bmi_accel_param_pair g_ranges[][4] = { +#ifdef CONFIG_ACCELGYRO_BMI160 + { {2, BMI160_GSEL_2G}, + {4, BMI160_GSEL_4G}, + {8, BMI160_GSEL_8G}, + {16, BMI160_GSEL_16G} }, +#endif +#ifdef CONFIG_ACCELGYRO_BMI260 + { {2, BMI260_GSEL_2G}, + {4, BMI260_GSEL_4G}, + {8, BMI260_GSEL_8G}, + {16, BMI260_GSEL_16G} }, +#endif }; /* * List of angular rate range values in +/-dps's * and their associated register values. */ -const struct bmi_accel_param_pair dps_ranges[5] = { - {125, BMI160_DPS_SEL_125}, - {250, BMI160_DPS_SEL_250}, - {500, BMI160_DPS_SEL_500}, - {1000, BMI160_DPS_SEL_1000}, - {2000, BMI160_DPS_SEL_2000} +const struct bmi_accel_param_pair dps_ranges[][5] = { +#ifdef CONFIG_ACCELGYRO_BMI160 + { {125, BMI160_DPS_SEL_125}, + {250, BMI160_DPS_SEL_250}, + {500, BMI160_DPS_SEL_500}, + {1000, BMI160_DPS_SEL_1000}, + {2000, BMI160_DPS_SEL_2000} }, +#endif +#ifdef CONFIG_ACCELGYRO_BMI260 + { {125, BMI260_DPS_SEL_125}, + {250, BMI260_DPS_SEL_250}, + {500, BMI260_DPS_SEL_500}, + {1000, BMI260_DPS_SEL_1000}, + {2000, BMI260_DPS_SEL_2000} }, +#endif }; int bmi_get_xyz_reg(const struct motion_sensor_t *s) { switch (s->type) { case MOTIONSENSE_TYPE_ACCEL: - return BMI_ACC_DATA; + return BMI_ACC_DATA(V(s)); case MOTIONSENSE_TYPE_GYRO: - return BMI_GYR_DATA; + return BMI_GYR_DATA(V(s)); case MOTIONSENSE_TYPE_MAG: - return BMI_AUX_DATA; + return BMI_AUX_DATA(V(s)); default: return -1; } @@ -59,13 +90,12 @@ const struct bmi_accel_param_pair *bmi_get_range_table( { if (s->type == MOTIONSENSE_TYPE_ACCEL) { if (psize) - *psize = ARRAY_SIZE(g_ranges); - return g_ranges; + *psize = ARRAY_SIZE(g_ranges[T(s)]); + return g_ranges[T(s)]; } if (psize) - *psize = ARRAY_SIZE(dps_ranges); - return dps_ranges; - + *psize = ARRAY_SIZE(dps_ranges[T(s)]); + return dps_ranges[T(s)]; } /** @@ -422,21 +452,28 @@ int bmi_load_fifo(struct motion_sensor_t *s, uint32_t last_ts) * Flush potential left over: * When sensor is resumed, we won't read old data. */ - bmi_write8(s->port, s->addr, BMI_CMD_REG, - BMI_CMD_FIFO_FLUSH); + bmi_write8(s->port, s->addr, + BMI_CMD_REG(V(s)), BMI_CMD_FIFO_FLUSH); return EC_SUCCESS; } - bmi_read_n(s->port, s->addr, BMI_FIFO_LENGTH_0, - (uint8_t *)&length, sizeof(length)); - length &= BMI_FIFO_LENGTH_MASK; + bmi_read_n(s->port, s->addr, + BMI_FIFO_LENGTH_0(V(s)), + (uint8_t *)&length, sizeof(length)); + length &= BMI_FIFO_LENGTH_MASK(V(s)); /* * We have not requested timestamp, no extra frame to read. * if we have too much to read, read the whole buffer. */ if (length == 0) { - CPRINTS("unexpected empty FIFO"); + /* + * Disable this message on BMI260, due to this seems to always + * happen after we complete to read the data. + * TODO(chingkang): check why this happen on BMI260. + */ + if (V(s) == 0) + CPRINTS("unexpected empty FIFO"); return EC_SUCCESS; } @@ -447,9 +484,9 @@ int bmi_load_fifo(struct motion_sensor_t *s, uint32_t last_ts) CPRINTS("unexpected large FIFO: %d", length); length = MIN(length, sizeof(bmi_buffer)); + bmi_read_n(s->port, s->addr, + BMI_FIFO_DATA(V(s)), bmi_buffer, length); - bmi_read_n(s->port, s->addr, BMI_FIFO_DATA, bmi_buffer, - length); beginning = *(uint32_t *)bmi_buffer; ep = bmi_buffer + length; /* @@ -494,7 +531,7 @@ int bmi_load_fifo(struct motion_sensor_t *s, uint32_t last_ts) CPRINTS("Unknown header: 0x%02x @ %d", hdr, bp - bmi_buffer); bmi_write8(s->port, s->addr, - BMI_CMD_REG, + BMI_CMD_REG(V(s)), BMI_CMD_FIFO_FLUSH); return EC_ERROR_NOT_HANDLED; } @@ -510,7 +547,10 @@ int bmi_load_fifo(struct motion_sensor_t *s, uint32_t last_ts) CPRINTS("@ %d - %d, config change: 0x%02x", bp - bmi_buffer, length, *bp); bp++; - state = FIFO_HEADER; + if (V(s)) + state = FIFO_DATA_TIME; + else + state = FIFO_HEADER; break; case FIFO_DATA_TIME: if (bp + 3 > ep) { @@ -576,7 +616,7 @@ int bmi_get_offset(const struct motion_sensor_t *s, int16_t *offset, int16_t *temp) { - int i, val98; + int i; intv3_t v; switch (s->type) { @@ -589,8 +629,6 @@ int bmi_get_offset(const struct motion_sensor_t *s, bmi_accel_get_offset(s, v); break; case MOTIONSENSE_TYPE_GYRO: - /* Read the MSB first */ - bmi_read8(s->port, s->addr, BMI_OFFSET_EN_GYR98, &val98); /* * The offset of the gyroscope off_gyr_[xyz] is a 10 bit * two-complement number in units of 0.061 °/s. @@ -651,8 +689,8 @@ int bmi_enable_fifo(const struct motion_sensor_t *s, int enable) int ret; /* FIFO start/stop collecting events */ - ret = bmi_enable_reg8(s, BMI_FIFO_CONFIG_1, - BMI_FIFO_SENSOR_EN(s->type), enable); + ret = bmi_enable_reg8(s, BMI_FIFO_CONFIG_1(V(s)), + BMI_FIFO_SENSOR_EN(V(s), s->type), enable); if (ret) return ret; @@ -669,7 +707,8 @@ int bmi_read(const struct motion_sensor_t *s, intv3_t v) uint8_t data[6]; int ret, status = 0; - ret = bmi_read8(s->port, s->addr, BMI_STATUS, &status); + ret = bmi_read8(s->port, s->addr, + BMI_STATUS(V(s)), &status); if (ret != EC_SUCCESS) return ret; @@ -707,7 +746,7 @@ int bmi_get_sensor_temp(int idx, int *temp_ptr) int ret; ret = bmi_read_n(s->port, s->addr, - BMI_TEMPERATURE_0, + BMI_TEMPERATURE_0(V(s)), (uint8_t *)&temp, sizeof(temp)); if (ret || temp == BMI_INVALID_TEMP) @@ -759,7 +798,7 @@ void bmi_accel_get_offset(const struct motion_sensor_t *accel, intv3_t v) for (i = X; i <= Z; i++) { bmi_read8(accel->port, accel->addr, - BMI_OFFSET_ACC70 + i, &val); + BMI_OFFSET_ACC70(V(accel)) + i, &val); if (val > 0x7f) val = -256 + val; v[i] = round_divide( @@ -775,10 +814,11 @@ void bmi_gyro_get_offset(const struct motion_sensor_t *gyro, intv3_t v) /* Read the MSB first */ bmi_read8(gyro->port, gyro->addr, - BMI_OFFSET_EN_GYR98, &val98); + BMI_OFFSET_EN_GYR98(V(gyro)), &val98); for (i = X; i <= Z; i++) { bmi_read8(gyro->port, gyro->addr, - BMI_OFFSET_GYR70 + i, &val); + BMI_OFFSET_GYR70(V(gyro)) + i, &val); + val |= ((val98 >> (2 * i)) & 0x3) << 8; if (val > 0x1ff) val = -1024 + val; @@ -803,7 +843,7 @@ void bmi_set_accel_offset(const struct motion_sensor_t *accel, intv3_t v) if (val < 0) val = 256 + val; bmi_write8(accel->port, accel->addr, - BMI_OFFSET_ACC70 + i, val); + BMI_OFFSET_ACC70(V(accel)) + i, val); } } @@ -822,8 +862,9 @@ void bmi_set_gyro_offset(const struct motion_sensor_t *gyro, intv3_t v, val = -512; if (val < 0) val = 1024 + val; + bmi_write8(gyro->port, gyro->addr, - BMI_OFFSET_GYR70 + i, val & 0xFF); + BMI_OFFSET_GYR70(V(gyro)) + i, val & 0xFF); *val98_ptr &= ~(0x3 << (2 * i)); *val98_ptr |= (val >> 8) << (2 * i); } diff --git a/driver/accelgyro_bmi_common.h b/driver/accelgyro_bmi_common.h index 27e4978ab5..238bb20947 100644 --- a/driver/accelgyro_bmi_common.h +++ b/driver/accelgyro_bmi_common.h @@ -9,6 +9,7 @@ #include "accelgyro.h" #include "driver/accelgyro_bmi160.h" +#include "driver/accelgyro_bmi260.h" #include "mag_bmm150.h" /* @@ -115,39 +116,54 @@ struct bmi_drv_data_t { BMI_GET_DATA(_sensor)->orientation) #endif -#define BMI_ACC_DATA BMI160_ACC_X_L_G -#define BMI_GYR_DATA BMI160_GYR_X_L_G -#define BMI_AUX_DATA BMI160_MAG_X_L_G - -#define BMI_FIFO_CONFIG_0 BMI160_FIFO_CONFIG_0 -#define BMI_FIFO_CONFIG_1 BMI160_FIFO_CONFIG_1 -#define BMI_FIFO_SENSOR_EN(_sensor) BMI160_FIFO_SENSOR_EN(_sensor) - -#define BMI_TEMPERATURE_0 BMI160_TEMPERATURE_0 +#define BMI_ACC_DATA(v) (BMI160_ACC_X_L_G + \ + (v) * (BMI260_ACC_X_L_G - BMI160_ACC_X_L_G)) +#define BMI_GYR_DATA(v) (BMI160_GYR_X_L_G + \ + (v) * (BMI260_GYR_X_L_G - BMI160_GYR_X_L_G)) +#define BMI_AUX_DATA(v) (BMI160_MAG_X_L_G + \ + (v) * (BMI260_AUX_X_L_G - BMI160_MAG_X_L_G)) + +#define BMI_FIFO_CONFIG_0(v) (BMI160_FIFO_CONFIG_0 + \ + (v) * (BMI260_FIFO_CONFIG_0 - BMI160_FIFO_CONFIG_0)) +#define BMI_FIFO_CONFIG_1(v) (BMI160_FIFO_CONFIG_1 + \ + (v) * (BMI260_FIFO_CONFIG_1 - BMI160_FIFO_CONFIG_1)) +#define BMI_FIFO_SENSOR_EN(v, _sensor) (BMI160_FIFO_SENSOR_EN(_sensor) + \ + (v) * (BMI260_FIFO_SENSOR_EN(_sensor) - BMI160_FIFO_SENSOR_EN(_sensor))) + +#define BMI_TEMPERATURE_0(v) (BMI160_TEMPERATURE_0 + \ + (v) * (BMI260_TEMPERATURE_0 - BMI160_TEMPERATURE_0)) #define BMI_INVALID_TEMP 0x8000 -#define BMI_STATUS BMI160_STATUS +#define BMI_STATUS(v) (BMI160_STATUS + \ + (v) * (BMI260_STATUS - BMI160_STATUS)) #define BMI_DRDY_OFF(_sensor) (7 - (_sensor)) #define BMI_DRDY_MASK(_sensor) (1 << BMI160_DRDY_OFF(_sensor)) -#define BMI_OFFSET_ACC70 BMI160_OFFSET_ACC70 -#define BMI_OFFSET_GYR70 BMI160_OFFSET_GYR70 +#define BMI_OFFSET_ACC70(v) (BMI160_OFFSET_ACC70 + \ + (v) * (BMI260_OFFSET_ACC70 - BMI160_OFFSET_ACC70)) +#define BMI_OFFSET_GYR70(v) (BMI160_OFFSET_GYR70 + \ + (v) * (BMI260_OFFSET_GYR70 - BMI160_OFFSET_GYR70)) /* * There is some bits in this register that differ between BMI160 and BMI260 * Only use this macro for gyro offset 9:8 (BMI_OFFSET_EN_GYR98 5:0). */ -#define BMI_OFFSET_EN_GYR98 BMI160_OFFSET_EN_GYR98 +#define BMI_OFFSET_EN_GYR98(v) (BMI160_OFFSET_EN_GYR98 + \ + (v) * (BMI260_OFFSET_EN_GYR98 - BMI160_OFFSET_EN_GYR98)) #define BMI_OFFSET_GYR98_MASK (BIT(6) - 1) #define BMI_OFFSET_ACC_MULTI_MG (3900 * 1024) #define BMI_OFFSET_ACC_DIV_MG 1000000 #define BMI_OFFSET_GYRO_MULTI_MDS (61 * 1024) #define BMI_OFFSET_GYRO_DIV_MDS 1000 -#define BMI_FIFO_LENGTH_0 BMI160_FIFO_LENGTH_0 -#define BMI_FIFO_LENGTH_MASK BMI160_FIFO_LENGTH_MASK -#define BMI_FIFO_DATA BMI160_FIFO_DATA +#define BMI_FIFO_LENGTH_0(v) (BMI160_FIFO_LENGTH_0 + \ + (v) * (BMI260_FIFO_LENGTH_0 - BMI160_FIFO_LENGTH_0)) +#define BMI_FIFO_LENGTH_MASK(v) (BMI160_FIFO_LENGTH_MASK + \ + (v) * (BMI260_FIFO_LENGTH_MASK - BMI160_FIFO_LENGTH_MASK)) +#define BMI_FIFO_DATA(v) (BMI160_FIFO_DATA + \ + (v) * (BMI260_FIFO_DATA - BMI160_FIFO_DATA)) -#define BMI_CMD_REG BMI160_CMD_REG +#define BMI_CMD_REG(v) (BMI160_CMD_REG + \ + (v) * (BMI260_CMD_REG - BMI160_CMD_REG)) #define BMI_CMD_FIFO_FLUSH 0xb0 diff --git a/driver/build.mk b/driver/build.mk index e121be3237..820ca42db8 100644 --- a/driver/build.mk +++ b/driver/build.mk @@ -12,6 +12,7 @@ driver-$(CONFIG_ACCEL_KXCJ9)+=accel_kionix.o driver-$(CONFIG_ACCEL_KX022)+=accel_kionix.o driver-$(CONFIG_ACCELGYRO_LSM6DS0)+=accelgyro_lsm6ds0.o driver-$(CONFIG_ACCELGYRO_BMI160)+=accelgyro_bmi160.o accelgyro_bmi_common.o +driver-$(CONFIG_ACCELGYRO_BMI260)+=accelgyro_bmi260.o accelgyro_bmi_common.o driver-$(CONFIG_MAG_BMI_BMM150)+=mag_bmm150.o driver-$(CONFIG_ACCELGYRO_LSM6DSM)+=accelgyro_lsm6dsm.o stm_mems_common.o driver-$(CONFIG_ACCEL_LIS2D_COMMON)+=accel_lis2dh.o stm_mems_common.o diff --git a/include/config.h b/include/config.h index c3b3136145..7467a0fe9e 100644 --- a/include/config.h +++ b/include/config.h @@ -76,6 +76,7 @@ #undef CONFIG_ACCEL_LIS2DE #undef CONFIG_ACCEL_LIS2D_COMMON #undef CONFIG_ACCELGYRO_BMI160 +#undef CONFIG_ACCELGYRO_BMI260 #undef CONFIG_ACCELGYRO_ICM426XX #undef CONFIG_ACCELGYRO_LSM6DS0 #undef CONFIG_ACCELGYRO_LSM6DSM @@ -143,6 +144,7 @@ /* Set when INT2 is an ouptut */ #undef CONFIG_ACCELGYRO_BMI160_INT2_OUTPUT +#undef CONFIG_ACCELGYRO_BMI260_INT2_OUTPUT /* Specify type of Gyrometers attached. */ #undef CONFIG_GYRO_L3GD20H @@ -221,6 +223,7 @@ * Must be within TASK_EVENT_MOTION_INTERRUPT_MASK. */ #undef CONFIG_ACCELGYRO_BMI160_INT_EVENT +#undef CONFIG_ACCELGYRO_BMI260_INT_EVENT #undef CONFIG_ACCELGYRO_ICM426XX_INT_EVENT #undef CONFIG_ACCEL_LSM6DSM_INT_EVENT #undef CONFIG_ALS_SI114X_INT_EVENT diff --git a/include/ec_commands.h b/include/ec_commands.h index 8e64a2066a..4e6d95ec68 100644 --- a/include/ec_commands.h +++ b/include/ec_commands.h @@ -2421,6 +2421,7 @@ enum motionsensor_chip { MOTIONSENSE_CHIP_LSM6DSM = 14, MOTIONSENSE_CHIP_LIS2DE = 15, MOTIONSENSE_CHIP_LIS2MDL = 16, + MOTIONSENSE_CHIP_BMI260 = 24, MOTIONSENSE_CHIP_ICM426XX = 25, MOTIONSENSE_CHIP_ICM42607 = 26, MOTIONSENSE_CHIP_MAX, diff --git a/third_party/bmi260/LICENSE b/third_party/bmi260/LICENSE new file mode 100644 index 0000000000..11a00c4a64 --- /dev/null +++ b/third_party/bmi260/LICENSE @@ -0,0 +1,32 @@ +/* + * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved. + * + * BSD-3-Clause + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * 3. Neither the name of the copyright holder nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) + * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, + * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING + * IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ diff --git a/third_party/bmi260/METADATA b/third_party/bmi260/METADATA new file mode 100644 index 0000000000..a2006da904 --- /dev/null +++ b/third_party/bmi260/METADATA @@ -0,0 +1,15 @@ +name: "BMI260 implementation" +description: + "Hex encoded binary for BMI260 driver initial configuration" + +third_party { + url { + type: HOMEPAGE + value: "https://www.bosch-sensortec.com/" + } + version: "v2.46.1" + last_upgrade_date { year: 2020 month: 01 day: 10 } + license_type: NOTICE + local_modifications: "Created LICENSE file." + "Adapted code to work with EC codebase." +} diff --git a/third_party/bmi260/accelgyro_bmi260_config_tbin.h b/third_party/bmi260/accelgyro_bmi260_config_tbin.h new file mode 100644 index 0000000000..f55f399f5c --- /dev/null +++ b/third_party/bmi260/accelgyro_bmi260_config_tbin.h @@ -0,0 +1,703 @@ +/* + * Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved. + * + * Use of this source code is governed by a BSD-style license that can be + * found in the LICENSE file. + * + * @file accelgyro_bmi260_config_tbin.c + * @date 2020-01-10 + * @version v2.46.1 + * + */ + +#include "common.h" + +const unsigned char g_bmi260_config_tbin[] = { + 0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0x63, 0xb3, 0xc8, 0x2e, 0x00, 0x2e, + 0x80, 0x2e, 0x15, 0x03, 0x80, 0x2e, 0xbb, 0xb4, 0x80, 0x2e, 0x91, 0x03, + 0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0xe7, 0xb3, 0x50, 0x30, 0x21, 0x2e, + 0x59, 0xf5, 0x10, 0x30, 0x21, 0x2e, 0x4a, 0xf1, 0x21, 0x2e, 0x6a, 0xf5, + 0x80, 0x2e, 0xe0, 0x01, 0x0d, 0x0d, 0x01, 0x00, 0x22, 0x00, 0x76, 0x00, + 0x00, 0x10, 0x00, 0x10, 0xc8, 0x00, 0x01, 0x1c, 0x80, 0x2e, 0x00, 0xc1, + 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, + 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, + 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, + 0x80, 0x2e, 0x00, 0xc1, 0x80, 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ARRAY_SIZE(g_bmi260_config_tbin); + diff --git a/util/ectool.c b/util/ectool.c index 757ea45fc5..4edc9e92db 100644 --- a/util/ectool.c +++ b/util/ectool.c @@ -4407,6 +4407,9 @@ static int cmd_motionsense(int argc, char **argv) case MOTIONSENSE_CHIP_LIS2MDL: printf("lis2mdl\n"); break; + case MOTIONSENSE_CHIP_BMI260: + printf("bmi260\n"); + break; case MOTIONSENSE_CHIP_ICM426XX: printf("icm426xx\n"); break; |