/* 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_ACCELGYRO_BMI160_H #define __CROS_EC_ACCELGYRO_BMI160_H #include "accelgyro.h" #include "mag_bmm150.h" /* * The addr field of motion_sensor support both SPI and I2C: * * +-------------------------------+---+ * | 7 bit i2c address | 0 | * +-------------------------------+---+ * Or * +-------------------------------+---+ * | SPI device ID | 1 | * +-------------------------------+---+ */ #define BMI160_SET_SPI_ADDRESS(_addr) (((_addr) << 1) | 1) #define BMI160_IS_SPI(_addr) ((_addr) & 1) #define BMI160_SPI_ADDRESS(_addr) ((_addr) >> 1) #define BMI160_I2C_ADDRESS(_addr) (_addr) /* I2C addresses */ #define BMI160_ADDR0 0xd0 #define BMI160_ADDR1 0xd2 #define BMI160_CHIP_ID 0x00 #define BMI160_CHIP_ID_MAJOR 0xd1 #define BMI168_CHIP_ID_MAJOR 0xd2 #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_PMU_MAG_OFFSET 0 #define BMI160_PMU_GYR_OFFSET 2 #define BMI160_PMU_ACC_OFFSET 4 #define BMI160_PMU_SENSOR_STATUS(_sensor_type, _val) \ (((_val) >> (4 - 2 * (_sensor_type))) & 0x3) #define BMI160_PMU_SUSPEND 0 #define BMI160_PMU_NORMAL 1 #define BMI160_PMU_LOW_POWER 2 #define BMI160_PMU_FAST_STARTUP 3 #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_POR_DETECTED (1 << 0) #define BMI160_GYR_SLF_TST (1 << 1) #define BMI160_MAG_MAN_OP (1 << 2) #define BMI160_FOC_RDY (1 << 3) #define BMI160_NVM_RDY (1 << 4) #define BMI160_DRDY_MAG (1 << 5) #define BMI160_DRDY_GYR (1 << 6) #define BMI160_DRDY_ACC (1 << 7) #define BMI160_DRDY_OFF(_sensor) (7 - (_sensor)) #define BMI160_DRDY_MASK(_sensor) (1 << BMI160_DRDY_OFF(_sensor)) /* first 2 bytes are the interrupt reasons, next 2 some qualifier */ #define BMI160_INT_STATUS_0 0x1c #define BMI160_STEP_INT (1 << 0) #define BMI160_SIGMOT_INT (1 << 1) #define BMI160_ANYM_INT (1 << 2) #define BMI160_PMU_TRIGGER_INT (1 << 3) #define BMI160_D_TAP_INT (1 << 4) #define BMI160_S_TAP_INT (1 << 5) #define BMI160_ORIENT_INT (1 << 6) #define BMI160_FLAT_INT (1 << 7) #define BMI160_ORIENT_XY_MASK 0x30 #define BMI160_ORIENT_PORTRAIT (0 << 4) #define BMI160_ORIENT_PORTRAIT_INVERT (1 << 4) #define BMI160_ORIENT_LANDSCAPE (2 << 4) #define BMI160_ORIENT_LANDSCAPE_INVERT (3 << 4) #define BMI160_INT_STATUS_1 0x1d #define BMI160_HIGHG_INT (1 << (2 + 8)) #define BMI160_LOWG_INT (1 << (3 + 8)) #define BMI160_DRDY_INT (1 << (4 + 8)) #define BMI160_FFULL_INT (1 << (5 + 8)) #define BMI160_FWM_INT (1 << (6 + 8)) #define BMI160_NOMO_INT (1 << (7 + 8)) #define BMI160_INT_MASK 0xFFFF #define BMI160_INT_STATUS_2 0x1e #define BMI160_INT_STATUS_3 0x1f #define BMI160_FIRST_X (1 << (0 + 16)) #define BMI160_FIRST_Y (1 << (1 + 16)) #define BMI160_FIRST_Z (1 << (2 + 16)) #define BMI160_SIGN (1 << (3 + 16)) #define BMI160_ANYM_OFFSET 0 #define BMI160_TAP_OFFSET 4 #define BMI160_HIGH_OFFSET 8 #define BMI160_INT_INFO(_type, _data) \ (CONCAT2(BMI160_, _data) << CONCAT3(BMI160_, _type, _OFFSET)) #define BMI160_ORIENT_Z (1 << (6 + 24)) #define BMI160_FLAT (1 << (7 + 24)) #define BMI160_TEMPERATURE_0 0x20 #define BMI160_TEMPERATURE_1 0x21 #define BMI160_INVALID_TEMP 0x8000 #define BMI160_FIFO_LENGTH_0 0x22 #define BMI160_FIFO_LENGTH_1 0x23 #define BMI160_FIFO_LENGTH_MASK ((1 << 11) - 1) #define BMI160_FIFO_DATA 0x24 enum fifo_header { BMI160_EMPTY = 0x80, BMI160_SKIP = 0x40, BMI160_TIME = 0x44, BMI160_CONFIG = 0x48 }; #define BMI160_FH_MODE_MASK 0xc0 #define BMI160_FH_PARM_OFFSET 2 #define BMI160_FH_PARM_MASK (0x7 << BMI160_FH_PARM_OFFSET) #define BMI160_FH_EXT_MASK 0x03 #define BMI160_ACC_CONF 0x40 #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_GSEL_2G 0x03 #define BMI160_GSEL_4G 0x05 #define BMI160_GSEL_8G 0x08 #define BMI160_GSEL_16G 0x0c #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_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_MAG_CONF 0x44 /* odr = 100 / (1 << (8 - reg)) ,within limit */ #define BMI160_ODR_0_78HZ 0x01 #define BMI160_ODR_25HZ 0x06 #define BMI160_ODR_50HZ 0x07 #define BMI160_ODR_100HZ 0x08 #define BMI160_ODR_800HZ 0x0b #define BMI160_ODR_1600HZ 0x0c #define BMI160_ODR_3200HZ 0x0d #define BMI160_REG_TO_ODR(_regval) \ ((_regval) < 8 ? 100000 / (1 << (8 - (_regval))) : \ 100000 * (1 << ((_regval) - 8))) #define BMI160_ODR_TO_REG(_odr) \ ((_odr) < 100000 ? (__builtin_clz(100000 / (_odr)) - 23) : \ (39 - __builtin_clz((_odr) / 100000))) #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_FIFO_TAG_TIME_EN (1 << 1) #define BMI160_FIFO_TAG_INT2_EN (1 << 2) #define BMI160_FIFO_TAG_INT1_EN (1 << 3) #define BMI160_FIFO_HEADER_EN (1 << 4) #define BMI160_FIFO_MAG_EN (1 << 5) #define BMI160_FIFO_ACC_EN (1 << 6) #define BMI160_FIFO_GYR_EN (1 << 7) #define BMI160_FIFO_TARG_INT(_i) CONCAT3(BMI160_FIFO_TAG_INT, _i, _EN) #define BMI160_FIFO_SENSOR_EN(_sensor) \ ((_sensor) == MOTIONSENSE_TYPE_ACCEL ? BMI160_FIFO_ACC_EN : \ ((_sensor) == MOTIONSENSE_TYPE_GYRO ? BMI160_FIFO_GYR_EN : \ BMI160_FIFO_MAG_EN)) #define BMI160_MAG_IF_0 0x4b #define BMI160_MAG_I2C_ADDRESS BMI160_MAG_IF_0 #define BMI160_MAG_IF_1 0x4c #define BMI160_MAG_I2C_CONTROL BMI160_MAG_IF_1 #define BMI160_MAG_READ_BURST_MASK 3 #define BMI160_MAG_READ_BURST_1 0 #define BMI160_MAG_READ_BURST_2 1 #define BMI160_MAG_READ_BURST_6 2 #define BMI160_MAG_READ_BURST_8 3 #define BMI160_MAG_OFFSET_OFF 3 #define BMI160_MAG_OFFSET_MASK (0xf << BMI160_MAG_OFFSET_OFF) #define BMI160_MAG_MANUAL_EN (1 << 7) #define BMI160_MAG_IF_2 0x4d #define BMI160_MAG_I2C_READ_ADDR BMI160_MAG_IF_2 #define BMI160_MAG_IF_3 0x4e #define BMI160_MAG_I2C_WRITE_ADDR BMI160_MAG_IF_3 #define BMI160_MAG_IF_4 0x4f #define BMI160_MAG_I2C_WRITE_DATA BMI160_MAG_IF_4 #define BMI160_MAG_I2C_READ_DATA BMI160_MAG_X_L_G #define BMI160_INT_EN_0 0x50 #define BMI160_INT_ANYMO_X_EN (1 << 0) #define BMI160_INT_ANYMO_Y_EN (1 << 1) #define BMI160_INT_ANYMO_Z_EN (1 << 2) #define BMI160_INT_D_TAP_EN (1 << 4) #define BMI160_INT_S_TAP_EN (1 << 5) #define BMI160_INT_ORIENT_EN (1 << 6) #define BMI160_INT_FLAT_EN (1 << 7) #define BMI160_INT_EN_1 0x51 #define BMI160_INT_HIGHG_X_EN (1 << 0) #define BMI160_INT_HIGHG_Y_EN (1 << 1) #define BMI160_INT_HIGHG_Z_EN (1 << 2) #define BMI160_INT_LOW_EN (1 << 3) #define BMI160_INT_DRDY_EN (1 << 4) #define BMI160_INT_FFUL_EN (1 << 5) #define BMI160_INT_FWM_EN (1 << 6) #define BMI160_INT_EN_2 0x52 #define BMI160_INT_NOMOX_EN (1 << 0) #define BMI160_INT_NOMOY_EN (1 << 1) #define BMI160_INT_NOMOZ_EN (1 << 2) #define BMI160_INT_STEP_DET_EN (1 << 3) #define BMI160_INT_OUT_CTRL 0x53 #define BMI160_INT_EDGE_CTRL (1 << 0) #define BMI160_INT_LVL_CTRL (1 << 1) #define BMI160_INT_OD (1 << 2) #define BMI160_INT_OUTPUT_EN (1 << 3) #define BMI160_INT1_CTRL_OFFSET 0 #define BMI160_INT2_CTRL_OFFSET 4 #define BMI160_INT_CTRL(_i, _bit) \ (CONCAT2(BMI160_INT_, _bit) << CONCAT3(BMI160_INT, _i, _CTRL_OFFSET)) #define BMI160_INT_LATCH 0x54 #define BMI160_INT1_INPUT_EN (1 << 4) #define BMI160_INT2_INPUT_EN (1 << 5) #define BMI160_LATCH_MASK 0xf #define BMI160_LATCH_NONE 0 #define BMI160_LATCH_5MS 5 #define BMI160_LATCH_FOREVER 0xf #define BMI160_INT_MAP_0 0x55 #define BMI160_INT_LOWG_STEP (1 << 0) #define BMI160_INT_HIGHG (1 << 1) #define BMI160_INT_ANYMOTION (1 << 2) #define BMI160_INT_NOMOTION (1 << 3) #define BMI160_INT_D_TAP (1 << 4) #define BMI160_INT_S_TAP (1 << 5) #define BMI160_INT_ORIENT (1 << 6) #define BMI160_INT_FLAT (1 << 7) #define BMI160_INT_MAP_1 0x56 #define BMI160_INT_PMU_TRIG (1 << 0) #define BMI160_INT_FFULL (1 << 1) #define BMI160_INT_FWM (1 << 2) #define BMI160_INT_DRDY (1 << 3) #define BMI160_INT1_MAP_OFFSET 4 #define BMI160_INT2_MAP_OFFSET 0 #define BMI160_INT_MAP(_i, _bit) \ (CONCAT2(BMI160_INT_, _bit) << CONCAT3(BMI160_INT, _i, _MAP_OFFSET)) #define BMI160_INT_FIFO_MAP BMI160_INT_MAP_1 #define BMI160_INT_MAP_2 0x57 #define BMI160_INT_MAP_INT_1 BMI160_INT_MAP_0 #define BMI160_INT_MAP_INT_2 BMI160_INT_MAP_2 #define BMI160_INT_MAP_REG(_i) CONCAT2(BMI160_INT_MAP_INT_, _i) #define BMI160_INT_DATA_0 0x58 #define BMI160_INT_DATA_1 0x59 #define BMI160_INT_MOTION_0 0x5f #define BMI160_INT_MOTION_1 0x60 /* * The formula is defined in 2.11.25 (any motion interrupt [1]). * * if we want threshold at a (in mg), the register should be x, where * x * 7.81mg = a, assuming a range of 4G, which is * x * 4 * 1.953 = a so * x = a * 1000 / range * 1953 */ #define BMI160_MOTION_TH(_s, _mg) \ (MIN(((_mg) * 1000) / ((_s)->drv->get_range(_s) * 1953), 0xff)) #define BMI160_INT_MOTION_2 0x61 #define BMI160_INT_MOTION_3 0x62 #define BMI160_MOTION_NO_MOT_SEL (1 << 0) #define BMI160_MOTION_SIG_MOT_SEL (1 << 1) #define BMI160_MOTION_SKIP_OFF 2 #define BMI160_MOTION_SKIP_MASK 0x3 #define BMI160_MOTION_SKIP_TIME(_ms) \ (MIN(__fls((_ms) / 1500), BMI160_MOTION_SKIP_MASK)) #define BMI160_MOTION_PROOF_OFF 4 #define BMI160_MOTION_PROOF_MASK 0x3 #define BMI160_MOTION_PROOF_TIME(_ms) \ (MIN(__fls((_ms) / 250), BMI160_MOTION_PROOF_MASK)) #define BMI160_INT_TAP_0 0x63 #define BMI160_TAP_DUR(_s, _ms) \ ((_ms) <= 250 ? MAX((_ms), 50) / 50 - 1 : \ (_ms) <= 500 ? 4 + ((_ms) - 250) / 125 : \ (_ms) < 700 ? 6 : 7) #define BMI160_INT_TAP_1 0x64 #define BMI160_TAP_TH(_s, _mg) \ (MIN(((_mg) * 1000) / ((_s)->drv->get_range(_s) * 31250), 0x1f)) #define BMI160_INT_ORIENT_0 0x65 /* No hysterisis, theta block, int on slope > 0.2 or axis > 1.5, symmetrical */ #define BMI160_INT_ORIENT_0_INIT_VAL 0x48 #define BMI160_INT_ORIENT_1 0x66 /* no axes remap, no int on up/down, no blocking angle */ #define BMI160_INT_ORIENT_1_INIT_VAL 0x00 #define BMI160_INT_FLAT_0 0x67 #define BMI160_INT_FLAT_1 0x68 #define BMI160_FOC_CONF 0x69 #define BMI160_FOC_GYRO_EN (1 << 6) #define BMI160_FOC_ACC_PLUS_1G 1 #define BMI160_FOC_ACC_MINUS_1G 2 #define BMI160_FOC_ACC_0G 3 #define BMI160_FOC_ACC_Z_OFFSET 0 #define BMI160_FOC_ACC_Y_OFFSET 2 #define BMI160_FOC_ACC_X_OFFSET 4 #define BMI160_CONF 0x6a #define BMI160_IF_CONF 0x6b #define BMI160_IF_MODE_OFF 4 #define BMI160_IF_MODE_MASK 3 #define BMI160_IF_MODE_AUTO_OFF 0 #define BMI160_IF_MODE_I2C_IOS 1 #define BMI160_IF_MODE_AUTO_I2C 2 #define BMI160_PMU_TRIGGER 0x6c #define BMI160_SELF_TEST 0x6d #define BMI160_OFFSET_ACC70 0x71 #define BMI160_OFFSET_ACC_MULTI_MG (3900 * 1024) #define BMI160_OFFSET_ACC_DIV_MG 1000000 #define BMI160_OFFSET_GYR70 0x74 #define BMI160_OFFSET_GYRO_MULTI_MDS (61 * 1024) #define BMI160_OFFSET_GYRO_DIV_MDS 1000 #define BMI160_OFFSET_EN_GYR98 0x77 #define BMI160_OFFSET_ACC_EN (1 << 6) #define BMI160_OFFSET_GYRO_EN (1 << 7) #define BMI160_CMD_REG 0x7e #define BMI160_CMD_SOFT_RESET 0xb6 #define BMI160_CMD_NOOP 0x00 #define BMI160_CMD_START_FOC 0x03 #define BMI160_CMD_ACC_MODE_OFFSET 0x10 #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 BMI160_CMD_MODE_SUSPEND(_sensor_type) \ (BMI160_CMD_ACC_MODE_OFFSET | (_sensor_type) << 2 | BMI160_PMU_SUSPEND) #define BMI160_CMD_MODE_NORMAL(_sensor_type) \ (BMI160_CMD_ACC_MODE_OFFSET | (_sensor_type) << 2 | BMI160_PMU_NORMAL) #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_EXT_MODE_ADDR 0x7f #define BMI160_CMD_PAGING_EN (1 << 7) #define BMI160_CMD_TARGET_PAGE (1 << 4) #define BMI160_COM_C_TRIM_ADDR 0x85 #define BMI160_COM_C_TRIM (3 << 4) #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 /* Sensor resolution in number of bits. This sensor has fixed resolution. */ #define BMI160_RESOLUTION 16 /* Min and Max sampling frequency in mHz */ #define BMI160_ACCEL_MIN_FREQ 12500 #define BMI160_ACCEL_MAX_FREQ 1600000 #define BMI160_GYRO_MIN_FREQ 25000 #define BMI160_GYRO_MAX_FREQ 3200000 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, }; #define BMI160_FLAG_SEC_I2C_ENABLED (1 << 0) #define BMI160_FIFO_FLAG_OFFSET 4 #define BMI160_FIFO_ALL_MASK 7 struct bmi160_drv_data_t { struct accelgyro_saved_data_t saved_data[3]; uint8_t flags; uint8_t enabled_activities; uint8_t disabled_activities; #ifdef CONFIG_MAG_BMI160_BMM150 struct bmm150_private_data compass; #endif #ifdef CONFIG_BMI160_ORIENTATION_SENSOR uint8_t raw_orientation; enum motionsensor_orientation orientation; enum motionsensor_orientation last_orientation; #endif }; #define BMI160_GET_DATA(_s) \ ((struct bmi160_drv_data_t *)(_s)->drv_data) #define BMI160_GET_SAVED_DATA(_s) \ (&BMI160_GET_DATA(_s)->saved_data[(_s)->type]) #ifdef CONFIG_BMI160_ORIENTATION_SENSOR #define ORIENTATION_CHANGED(_sensor) \ (BMI160_GET_DATA(_sensor)->orientation != \ BMI160_GET_DATA(_sensor)->last_orientation) #define GET_ORIENTATION(_sensor) \ (BMI160_GET_DATA(_sensor)->orientation) #define SET_ORIENTATION(_sensor, _val) \ (BMI160_GET_DATA(_sensor)->orientation = _val) #define SET_ORIENTATION_UPDATED(_sensor) \ (BMI160_GET_DATA(_sensor)->last_orientation = \ BMI160_GET_DATA(_sensor)->orientation) #endif void bmi160_interrupt(enum gpio_signal signal); #ifdef CONFIG_MAG_BMI160_BMM150 /* Functions to access the compass through the accel/gyro. */ int raw_mag_read8(const int port, const int addr, const uint8_t reg, int *data_ptr); int raw_mag_write8(const int port, const int addr, const uint8_t reg, int data); #endif #ifdef CONFIG_CMD_I2C_STRESS_TEST_ACCEL extern struct i2c_stress_test_dev bmi160_i2c_stress_test_dev; #endif int bmi160_get_sensor_temp(int idx, int *temp_ptr); #endif /* __CROS_EC_ACCELGYRO_BMI160_H */