zephyr: Add BMI160 emulator

Add BMI emulator which is emulated device on i2c bus. Emulated
accelerometer and gyroscope properties are defined through device tree,
but they can be changed in runtime through BMI emulator API. It allows
to set custom handlers for write and read messages to emulate more
complex scenarios or malfunctioning device.

BMI emulator is designed to implement support for different BMI models
as an extension to common emulator code.

BUG=b:184856157
BRANCH=none
TEST=none

Signed-off-by: Tomasz Michalec <tm@semihalf.com>
Change-Id: I63e9d3aca98c8923372437f7a66257a4c82817f2
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/2977559
Reviewed-by: Simon Glass <sjg@chromium.org>
Reviewed-by: Jeremy Bettis <jbettis@chromium.org>

1 files changed, 150 insertions, 0 deletions

diff --git a/include/driver/mag_bmm150.h b/include/driver/mag_bmm150.h
new file mode 100644
index 0000000000..9f517f8097
--- /dev/null
+++ b/include/driver/mag_bmm150.h
@@ -0,0 +1,150 @@
+/* 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.
+ */
+
+/* BMM150 magnetometer definition */
+
+#ifndef __CROS_EC_MAG_BMM150_H
+#define __CROS_EC_MAG_BMM150_H
+
+#include "accelgyro.h"
+#include "mag_cal.h"
+
+#define BMM150_ADDR0_FLAGS       0x10
+#define BMM150_ADDR1_FLAGS       0x11
+#define BMM150_ADDR2_FLAGS       0x12
+#define BMM150_ADDR3_FLAGS       0x13
+
+#define BMM150_CHIP_ID           0x40
+#define BMM150_CHIP_ID_MAJOR     0x32
+
+#define BMM150_BASE_DATA         0x42
+
+#define BMM150_INT_STATUS        0x4a
+#define BMM150_PWR_CTRL          0x4b
+#define BMM150_SRST                  (BIT(7) | BIT(1))
+#define BMM150_PWR_ON                BIT(0)
+
+#define BMM150_OP_CTRL           0x4c
+#define BMM150_OP_MODE_OFFSET    1
+#define BMM150_OP_MODE_MASK      3
+#define BMM150_OP_MODE_NORMAL    0x00
+#define BMM150_OP_MODE_FORCED    0x01
+#define BMM150_OP_MODE_SLEEP     0x03
+
+#define BMM150_INT_CTRL          0x4d
+
+#define BMM150_REPXY             0x51
+#define BMM150_LOW_POWER_nXY         3
+#define BMM150_REGULAR_nXY           9
+#define BMM150_ENHANCED_nXY         15
+#define BMM150_HIGH_ACCURACY_nXY    47
+#define BMM150_SPECIAL_nXY          75
+#define BMM150_REPZ              0x52
+#define BMM150_LOW_POWER_nZ          3
+#define BMM150_REGULAR_nZ           15
+#define BMM150_ENHANCED_nZ          27
+#define BMM150_HIGH_ACCURACY_nZ     83
+#define BMM150_SPECIAL_nZ           27
+
+#define BMM150_REP(_preset, _axis) CONCAT4(BMM150_, _preset, _n, _axis)
+
+/* Hidden registers for RHALL calculation */
+#define BMM150_REGA_DIG_X1       0x5d
+#define BMM150_REGA_DIG_Y1       0x5e
+#define BMM150_REGA_DIG_Z4_LSB   0x62
+#define BMM150_REGA_DIG_Z4_MSB   0x63
+#define BMM150_REGA_DIG_X2       0x64
+#define BMM150_REGA_DIG_Y2       0x65
+#define BMM150_REGA_DIG_Z2_LSB   0x68
+#define BMM150_REGA_DIG_Z2_MSB   0x69
+#define BMM150_REGA_DIG_Z1_LSB   0x6a
+#define BMM150_REGA_DIG_Z1_MSB   0x6b
+#define BMM150_REGA_DIG_XYZ1_LSB 0x6c
+#define BMM150_REGA_DIG_XYZ1_MSB 0x6d
+#define BMM150_REGA_DIG_Z3_LSB   0x6e
+#define BMM150_REGA_DIG_Z3_MSB   0x6f
+#define BMM150_REGA_DIG_XY2      0x70
+#define BMM150_REGA_DIG_XY1      0x71
+
+/* Overflow */
+
+#define BMM150_FLIP_OVERFLOW_ADCVAL             (-4096)
+#define BMM150_HALL_OVERFLOW_ADCVAL             (-16384)
+#define BMM150_OVERFLOW_OUTPUT                  (0x8000)
+
+/* Min and Max sampling frequency in mHz */
+#define BMM150_MAG_MIN_FREQ 781
+
+/*
+ * From Section 4.2.4, max frequency depends on the preset.
+ *
+ *  Fmax ~= 1 / (145us * nXY + 500us * nZ + 980us)
+ *
+ *  To be safe, declare only 75% of the value.
+ */
+#define __BMM150_MAG_MAX_FREQ(_preset) (750000000 / \
+	(145 * BMM150_REP(_preset, XY) + 500 *  BMM150_REP(_preset, Z) + 980))
+
+#if (__BMM150_MAG_MAX_FREQ(SPECIAL) > CONFIG_EC_MAX_SENSOR_FREQ_MILLIHZ)
+#error "EC too slow for magnetometer"
+#endif
+
+struct bmm150_comp_registers {
+	/* Local copy of the compensation registers. */
+	int8_t       dig1[2];
+	int8_t       dig2[2];
+
+	uint16_t     dig_z1;
+	int16_t      dig_z2;
+	int16_t      dig_z3;
+	int16_t      dig_z4;
+
+	uint8_t      dig_xy1;
+	int8_t       dig_xy2;
+
+	uint16_t     dig_xyz1;
+};
+
+struct bmm150_private_data {
+	/* lsm6dsm_data union requires cal be first element */
+	struct mag_cal_t             cal;
+	struct bmm150_comp_registers comp;
+};
+
+#ifdef CONFIG_MAG_BMI_BMM150
+#include "accelgyro_bmi_common.h"
+
+#define BMM150_COMP_REG(_s) \
+	(&BMI_GET_DATA(_s)->compass.comp)
+
+#define BMM150_CAL(_s) \
+	(&BMI_GET_DATA(_s)->compass.cal)
+/*
+ * Behind a BMI, the BMM150 is in forced mode. Be sure to choose a frequency
+ * compatible with BMI.
+ */
+#define BMM150_MAG_MAX_FREQ(_preset) \
+	BMI_REG_TO_ODR(BMI_ODR_TO_REG(__BMM150_MAG_MAX_FREQ(_preset)))
+#else
+#define BMM150_COMP_REG(_s) NULL
+#define BMM150_CAL(_s) NULL
+#define BMM150_MAG_MAX_FREQ(_preset) __BMM150_MAG_MAX_FREQ(_preset)
+#endif
+
+/* Specific initialization of BMM150 when behing BMI160 */
+int bmm150_init(struct motion_sensor_t *s);
+
+/* Command to normalize and apply temperature compensation */
+void bmm150_normalize(const struct motion_sensor_t *s,
+		      intv3_t v,
+		      uint8_t *data);
+
+int bmm150_set_offset(const struct motion_sensor_t *s,
+		      const intv3_t offset);
+
+int bmm150_get_offset(const struct motion_sensor_t *s,
+		      intv3_t   offset);
+
+#endif /* __CROS_EC_MAG_BMM150_H */