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Diffstat (limited to 'driver/accelgyro_bmi160.h')
| -rw-r--r-- | driver/accelgyro_bmi160.h | 254 |
1 files changed, 254 insertions, 0 deletions
diff --git a/driver/accelgyro_bmi160.h b/driver/accelgyro_bmi160.h new file mode 100644 index 0000000000..7ea98a034f --- /dev/null +++ b/driver/accelgyro_bmi160.h @@ -0,0 +1,254 @@ +/* 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_ACCEL_BMI160_H +#define __CROS_EC_ACCEL_BMI160_H + +#include "accelgyro.h" + +#define BMI160_ADDR0 0xd0 +#define BMI160_ADDR1 0xd2 + +#define BMI160_CHIP_ID 0x00 +#define BMI160_CHIP_ID_MAJOR 0xd1 + +#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_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_DRDY_ACC 0x80 +#define BMI160_DRDY_GYR 0x40 +#define BMI160_DRDY_MAG 0x20 +#define BMI160_DRDY_OFF(_sensor) (7 - (_sensor)) +#define BMI160_DRDY_MASK(_sensor) (1 << BMI160_DRDY_OFF(_sensor)) +#define BMI160_NVM_RDY 0x10 +#define BMI160_FOC_RDY 0x08 +#define BMI160_MAG_MAN_OP 0x04 +#define BMI160_GYR_SLF_TST 0x02 +#define BMI160_POR_DETECTED 0x01 + + +#define BMI160_INT_STATUS_0 0x1c +#define BMI160_INT_STATUS_1 0x1d +#define BMI160_INT_STATUS_2 0x1e +#define BMI160_INT_STATUS_3 0x1f + +#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_DATA 0x24 + +#define BMI160_ACC_CONF 0x40 +#define BMI160_GSEL_2G 0X03 +#define BMI160_GSEL_4G 0X05 +#define BMI160_GSEL_8G 0X08 +#define BMI160_GSEL_16G 0X0C + +#define BMI160_ODR_MASK 0x0F + +#define BMI160_ACC_BW_OFFSET 4 +#define BMI160_ACC_BW_MASK (0x7 << BMI160_ACC_BW_OFFSET) +#define BMI160_ACC_RANGE 0x41 + +#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_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_MAG_CONF 0x44 + +/* odr = 100 / (1 << (8 - reg)) ,within limit */ +#define BMI160_ODR_0_78HZ 0x01 +#define BMI160_ODR_25HZ 0x06 +#define BMI160_ODR_1600HZ 0x0C +#define BMI160_ODR_3200HZ 0x0D + +#define BMI160_REG_TO_ODR(_regval) (100000 / (1 << (8 - (_regval)))) +#define BMI160_ODR_TO_REG(_odr) (__builtin_clz(100000 / (_odr)) - 23) + +#define BMI160_CONF_REG(_sensor) (0x40 + 2 * (_sensor)) +#define BMI160_RANGE_REG(_sensor) (0x41 + 2 * (_sensor)) + +#define BMI160_FIFO_DOWNS 0x45 +#define BMI160_FIFO_CONFIG_0 0x46 +#define BMI160_FIFO_CONFIG_1 0x47 + +#define BMI160_MAG_IF_0 0x4b +#define BMI160_MAG_IF_1 0x4c +#define BMI160_MAG_IF_2 0x4d +#define BMI160_MAG_IF_3 0x4e +#define BMI160_MAG_IF_4 0x4f + +#define BMI160_INT_EN_0 0x50 +#define BMI160_INT_EN_1 0x51 +#define BMI160_INT_EN_2 0x52 + +#define BMI160_INT_OUT_CTRL 0x53 +#define BMI160_INT_LATCH 0x54 + +#define BMI160_INT_MAP_0 0x55 +#define BMI160_INT_MAP_1 0x56 +#define BMI160_INT_MAP_2 0x57 + +#define BMI160_INT_DATA_0 0x58 +#define BMI160_INT_DATA_1 0x59 + +#define BMI160_INT_MOTION_0 0x5f +#define BMI160_INT_MOTION_1 0x60 +#define BMI160_INT_MOTION_2 0x61 +#define BMI160_INT_MOTION_3 0x62 + +#define BMI160_INT_TAP_0 0x63 +#define BMI160_INT_TAP_1 0x64 + +#define BMI160_INT_ORIENT_0 0x65 +#define BMI160_INT_ORIENT_1 0x66 + +#define BMI160_INT_FLAT_0 0x67 +#define BMI160_INT_FLAT_1 0x68 + +#define BMI160_FOC_CONF 0x69 +#define BMI160_CONF 0x6a +#define BMI160_IF_CONF 0x6b + +#define BMI160_PMU_TRIGGER 0x6c +#define BMI160_SELF_TEST 0x6d + +#define BMI160_CMD_REG 0x7e +#define BMI160_CMD_SOFT_RESET 0xb6 +#define BMI160_CMD_NOOP 0x00 +#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 BMI150_CMD_MODE_NORMAL(_sensor) (0x11 + 4 * (_sensor)) +#define BMI150_CMD_MODE_SUSPEND(_sensor) (0x10 + 4 * (_sensor)) + +#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_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 + +#if 0 +#define BMI160_DPS_SEL_245 (0 << 3) +#define BMI160_DPS_SEL_500 (1 << 3) +#define BMI160_DPS_SEL_1000 (2 << 3) +#define BMI160_DPS_SEL_2000 (3 << 3) +#define BMI160_GSEL_2G (0 << 3) +#define BMI160_GSEL_4G (2 << 3) +#define BMI160_GSEL_8G (3 << 3) + +#define BMI160_RANGE_MASK (3 << 3) + +#define BMI160_ODR_PD (0 << 5) +#define BMI160_ODR_10HZ (1 << 5) +#define BMI160_ODR_15HZ (1 << 5) +#define BMI160_ODR_50HZ (2 << 5) +#define BMI160_ODR_59HZ (2 << 5) +#define BMI160_ODR_119HZ (3 << 5) +#define BMI160_ODR_238HZ (4 << 5) +#define BMI160_ODR_476HZ (5 << 5) +#define BMI160_ODR_952HZ (6 << 5) + +#define BMI160_ODR_MASK (7 << 5) + +/* + * Register : STATUS_REG + * Address : 0X27 + */ +enum bmi160_status { + BMI160_STS_DOWN = 0x00, + BMI160_STS_XLDA_UP = 0x01, + BMI160_STS_GDA_UP = 0x02, +}; +#define BMI160_STS_XLDA_MASK 0x01 +#define BMI160_STS_GDA_MASK 0x02 + +/* + * Register : CTRL_REG8 + * Address : 0X22 + * Bit Group Name: BDU + */ +enum bmi160_bdu { + BMI160_BDU_DISABLE = 0x00, + BMI160_BDU_ENABLE = 0x40, +}; +#endif + +/* Sensor resolution in number of bits. This sensor has fixed resolution. */ +#define BMI160_RESOLUTION 16 + +extern const struct accelgyro_drv bmi160_drv; + +enum bmi160_running_mode { + STANDARD_UI_9DOF_FIFO = 0, + STANDARD_UI_IMU_FIFO = 1, + STANDARD_UI_IMU = 2, + STANDARD_UI_ADVANCEPOWERSAVE = 3, + ACCEL_PEDOMETER = 4, + APPLICATION_HEAD_TRACKING = 5, + APPLICATION_NAVIGATION = 6, + APPLICATION_REMOTE_CONTROL = 7, + APPLICATION_INDOOR_NAVIGATION = 8, +}; + +#endif /* __CROS_EC_ACCEL_BMI160_H */ |