1 files changed, 129 insertions, 0 deletions
diff --git a/driver/accelgyro_icm_common.h b/driver/accelgyro_icm_common.h
new file mode 100644
index 0000000000..5f2db67df1
--- /dev/null
+++ b/driver/accelgyro_icm_common.h
@@ -0,0 +1,129 @@
+/* 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.
+ */
+
+/* ICM accelerometer and gyroscope common definitions for Chrome EC */
+
+#ifndef __CROS_EC_ACCELGYRO_ICM_COMMON_H
+#define __CROS_EC_ACCELGYRO_ICM_COMMON_H
+
+#include "accelgyro.h"
+#include "hwtimer.h"
+#include "timer.h"
+
+#ifdef CONFIG_ACCEL_FIFO
+/* reserve maximum 4 samples of 16 bytes */
+#define ICM_FIFO_BUFFER	64
+#else
+#define ICM_FIFO_BUFFER	0
+#endif
+
+struct icm_drv_data_t {
+	struct accelgyro_saved_data_t saved_data[2];
+	struct motion_sensor_t *accel;
+	struct motion_sensor_t *gyro;
+	uint32_t stabilize_ts[2];
+	uint8_t bank;
+	uint8_t fifo_en;
+	uint8_t fifo_buffer[ICM_FIFO_BUFFER] __aligned(sizeof(long));
+};
+
+#define ICM_GET_DATA(_s) \
+	((struct icm_drv_data_t *)(_s)->drv_data)
+#define ICM_GET_SAVED_DATA(_s) \
+	(&ICM_GET_DATA(_s)->saved_data[(_s)->type])
+
+/*
+ * Virtual register address is 16 bits:
+ * - 8 bits MSB coding bank number
+ * - 8 bits LSB coding physical address
+ */
+#define ICM426XX_REG_GET_BANK(_r)	(((_r) & 0xFF00) >> 8)
+#define ICM426XX_REG_GET_ADDR(_r)	((_r) & 0x00FF)
+
+/* Sensor resolution in number of bits */
+#define ICM_RESOLUTION		16
+
+/**
+ * sign_extend - sign extend a standard int value using the given sign-bit
+ * @value: value to sign extend
+ * @index: 0 based bit index to sign bit
+ */
+static inline int sign_extend(int value, int index)
+{
+	int shift = (sizeof(int) * 8) - index - 1;
+
+	return (int)(value << shift) >> shift;
+}
+
+/**
+ * Read 8 bits register
+ */
+int icm_read8(const struct motion_sensor_t *s, const int reg, int *data_ptr);
+
+/**
+ * Write 8 bits register
+ */
+int icm_write8(const struct motion_sensor_t *s, const int reg, int data);
+
+/**
+ * Read 16 bits register
+ */
+int icm_read16(const struct motion_sensor_t *s, const int reg, int *data_ptr);
+
+/**
+ * Write 16 bits register
+ */
+int icm_write16(const struct motion_sensor_t *s, const int reg, int data);
+
+/**
+ * Read n bytes
+ */
+int icm_read_n(const struct motion_sensor_t *s, const int reg,
+	       uint8_t *data_ptr, const int len);
+
+int icm_field_update8(const struct motion_sensor_t *s, const int reg,
+		      const uint8_t field_mask, const uint8_t set_value);
+
+int icm_get_resolution(const struct motion_sensor_t *s);
+
+int icm_get_range(const struct motion_sensor_t *s);
+
+int icm_get_data_rate(const struct motion_sensor_t *s);
+
+ssize_t icm_fifo_decode_packet(const void *packet, const uint8_t **accel,
+		const uint8_t **gyro);
+
+static inline void icm_set_stabilize_ts(const struct motion_sensor_t *s,
+					uint32_t delay)
+{
+	struct icm_drv_data_t *st = ICM_GET_DATA(s);
+	uint32_t stabilize_ts;
+
+	stabilize_ts = __hw_clock_source_read() + delay;
+	/* prevent 0 value used for disabling time checking */
+	st->stabilize_ts[s->type] = stabilize_ts | 1;
+}
+
+static inline void icm_reset_stabilize_ts(const struct motion_sensor_t *s)
+{
+	struct icm_drv_data_t *st = ICM_GET_DATA(s);
+
+	st->stabilize_ts[s->type] = 0;
+}
+
+static inline
+int32_t icm_get_sensor_stabilized(const struct motion_sensor_t *s,
+				  uint32_t ts)
+{
+	struct icm_drv_data_t *st = ICM_GET_DATA(s);
+	uint32_t stabilize_ts = st->stabilize_ts[s->type];
+
+	if (stabilize_ts == 0)
+		return 0;
+
+	return time_until(ts, stabilize_ts);
+}
+
+#endif	/* __CROS_EC_ACCELGYRO_ICM_COMMON_H */