/* Copyright 2016 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. */ /* LSM6DSM (also LSM6DSL) Accel and Gyro driver for Chrome EC */ #ifndef __CROS_EC_ACCELGYRO_LSM6DSM_H #define __CROS_EC_ACCELGYRO_LSM6DSM_H #include "stm_mems_common.h" #include "mag_cal.h" #include "mag_bmm150.h" #include "mag_lis2mdl.h" /* * 7-bit address is 110101xb. Where 'x' is determined * by the voltage on the ADDR pin */ #define LSM6DSM_ADDR0_FLAGS 0x6a #define LSM6DSM_ADDR1_FLAGS 0x6b /* COMMON DEFINE FOR ACCEL-GYRO SENSORS */ #define LSM6DSM_EN_BIT 0x01 #define LSM6DSM_DIS_BIT 0x00 /* Access to embedded sensor hub register bank */ #define LSM6DSM_FUNC_CFG_ACC_ADDR 0x01 #define LSM6DSM_FUNC_CFG_EN 0x80 #define LSM6DSM_FUNC_CFG_EN_B 0x20 /* FIFO decimator registers and bitmask */ #define LSM6DSM_FIFO_CTRL1_ADDR 0x06 /* Output data rate registers and masks */ #define LSM6DSM_ODR_REG(_sensor) \ (LSM6DSM_CTRL1_ADDR + _sensor) #define LSM6DSM_ODR_MASK 0xf0 #define LSM6DSM_FIFO_CTRL2_ADDR 0x07 #define LSM6DSM_FIFO_CTRL3_ADDR 0x08 #define LSM6DSM_FIFO_DEC_XL_OFF 0 #define LSM6DSM_FIFO_DEC_G_OFF 3 #define LSM6DSM_FIFO_CTRL4_ADDR 0x09 #define LSM6DSM_FIFO_DECIMATOR(_dec) \ (_dec < 8 ? _dec : (2 + __builtin_ctz(_dec))) /* Hardware FIFO size in byte */ #define LSM6DSM_MAX_FIFO_SIZE 4096 #define LSM6DSM_MAX_FIFO_LENGTH (LSM6DSM_MAX_FIFO_SIZE / OUT_XYZ_SIZE) #define LSM6DSM_FIFO_CTRL5_ADDR 0x0a #define LSM6DSM_FIFO_CTRL5_ODR_OFF 3 #define LSM6DSM_FIFO_CTRL5_ODR_MASK \ (0xf << LSM6DSM_FIFO_CTRL5_ODR_OFF) #define LSM6DSM_FIFO_CTRL5_MODE_MASK 0x07 #define LSM6DSM_INT1_CTRL 0x0d #define LSM6DSM_INT_FIFO_TH 0x08 #define LSM6DSM_INT_FIFO_OVR 0x10 #define LSM6DSM_INT_FIFO_FULL 0x20 #define LSM6DSM_INT_SIGMO 0x40 /* Who Am I */ #define LSM6DSM_WHO_AM_I_REG 0x0f /* LSM6DSM/LSM6DSL/LSM6DS3TR-C */ #define LSM6DSM_WHO_AM_I 0x6a /* LSM6DS3 */ #define LSM6DS3_WHO_AM_I 0x69 #define LSM6DSM_CTRL1_ADDR 0x10 #define LSM6DSM_XL_ODR_MASK 0xf0 #define LSM6DSM_CTRL2_ADDR 0x11 #define LSM6DSM_CTRL3_ADDR 0x12 #define LSM6DSM_SW_RESET 0x01 #define LSM6DSM_IF_INC 0x04 #define LSM6DSM_PP_OD 0x10 #define LSM6DSM_H_L_ACTIVE 0x20 #define LSM6DSM_BDU 0x40 #define LSM6DSM_BOOT 0x80 #define LSM6DSM_CTRL4_ADDR 0x13 #define LSM6DSM_INT2_ON_INT1_MASK 0x20 #define LSM6DSM_CTRL6_ADDR 0x15 #define LSM6DSM_CTRL7_ADDR 0x16 #define LSM6DSM_CTRL10_ADDR 0x19 #define LSM6DSM_FUNC_EN_MASK 0x04 #define LSM6DSM_SIG_MOT_MASK 0x01 #define LSM6DSM_EMBED_FUNC_EN 0x04 #define LSM6DSM_SIG_MOT_EN 0x01 /* Master mode configuration register */ #define LSM6DSM_MASTER_CFG_ADDR 0x1a #define LSM6DSM_PASSTROUGH_MASK 0x1f #define LSM6DSM_EXT_TRIGGER_EN 0x10 #define LSM6DSM_PULLUP_EN 0x08 #define LSM6DSM_I2C_PASS_THRU_MODE 0x04 #define LSM6DSM_I2C_MASTER_ON 0x01 #define LSM6DSM_TAP_SRC_ADDR 0x1c #define LSM6DSM_STAP_DETECT 0x20 #define LSM6DSM_DTAP_DETECT 0x10 #define LSM6DSM_STATUS_REG 0x1e #define LSM6DSM_GYRO_OUT_X_L_ADDR 0x22 #define LSM6DSM_ACCEL_OUT_X_L_ADDR 0x28 #define LSM6DSM_SENSORHUB1_REG 0x2e #define LSM6DSM_FIFO_STS1_ADDR 0x3a #define LSM6DSM_FIFO_STS2_ADDR 0x3b #define LSM6DSM_FIFO_DIFF_MASK 0x0fff #define LSM6DSM_FIFO_EMPTY 0x1000 #define LSM6DSM_FIFO_FULL 0x2000 #define LSM6DSM_FIFO_DATA_OVR 0x4000 #define LSM6DSM_FIFO_WATERMARK 0x8000 #define LSM6DSM_FIFO_NODECIM 0x01 /* Out data register */ #define LSM6DSM_FIFO_DATA_ADDR 0x3e /* Registers value for supported FIFO mode */ #define LSM6DSM_FIFO_MODE_BYPASS_VAL 0x00 #define LSM6DSM_FIFO_MODE_CONTINUOUS_VAL 0x06 #define LSM6DSM_FUNC_SRC1_ADDR 0x53 #define LSM6DSM_SENSORHUB_END_OP 0x01 #define LSM6DSM_SIGN_MOTION_IA 0x40 #define LSM6DSM_LIR_ADDR 0x58 #define LSM6DSM_LIR_MASK 0x01 #define LSM6DSM_EN_INT 0x80 #define LSM6DSM_EN_TAP 0x0e #define LSM6DSM_TAP_MASK 0x8e #define LSM6DSM_TAP_THS_6D 0x59 #define LSM6DSM_D4D_EN_MASK 0x80 #define LSM6DSM_TAP_TH_MASK 0x1f #define LSM6DSM_INT_DUR2_ADDR 0x5a #define LSM6DSM_TAP_DUR_MASK 0xf0 #define LSM6DSM_TAP_QUIET_MASK 0x0c #define LSM6DSM_WUP_THS_ADDR 0x5b #define LSM6DSM_S_D_TAP_MASK 0x80 #define LSM6DSM_STAP_EN 0 #define LSM6DSM_DTAP_EN 1 #define LSM6DSM_MD1_CFG_ADDR 0x5e #define LSM6DSM_INT1_STAP 0x40 #define LSM6DSM_INT1_DTAP 0x08 /* Register values for Sensor Hub Slave 0 / Bank A */ #define LSM6DSM_SLV0_ADD_ADDR 0x02 #define LSM6DSM_SLV0_ADDR_SHFT 1 #define LSM6DSM_SLV0_ADDR_MASK 0xfe #define LSM6DSM_SLV0_RD_BIT 0x01 #define LSM6DSM_SLV0_SUBADD_ADDR 0x03 #define LSM6DSM_SLV0_CONFIG_ADDR 0x04 #define LSM6DSM_SLV0_SLV_RATE_SHFT 6 #define LSM6DSM_SLV0_SLV_RATE_MASK 0xc0 #define LSM6DSM_SLV0_AUX_SENS_SHFT 4 #define LSM6DSM_SLV0_AUX_SENS_MASK 0x30 #define LSM6DSM_SLV0_NUM_OPS_MASK 0x07 #define LSM6DSM_SLV1_CONFIG_ADDR 0x07 #define LSM6DSM_SLV0_WR_ONCE_MASK 0x20 #define LSM6DSM_DATA_WRITE_SUB_SLV0_ADDR 0x0e /* Define device available in FIFO pattern */ enum dev_fifo { FIFO_DEV_INVALID = -1, FIFO_DEV_GYRO = 0, FIFO_DEV_ACCEL, #ifdef CONFIG_LSM6DSM_SEC_I2C FIFO_DEV_MAG, #endif FIFO_DEV_NUM, }; struct fstatus { uint16_t len; uint16_t pattern; }; /* Absolute maximum rate for acc and gyro sensors */ #define LSM6DSM_ODR_MIN_VAL 13000 #define LSM6DSM_ODR_MAX_VAL \ MOTION_MAX_SENSOR_FREQUENCY(416000, LSM6DSM_ODR_MIN_VAL) /* ODR reg value from selected data rate in mHz */ #define LSM6DSM_ODR_TO_REG(_odr) (__fls(_odr / LSM6DSM_ODR_MIN_VAL) + 1) /* normalized ODR value from selected data rate in mHz */ #define LSM6DSM_REG_TO_ODR(_reg) (LSM6DSM_ODR_MIN_VAL << (_reg - 1)) /* Full Scale range value and gain for Acc */ #define LSM6DSM_FS_LIST_NUM 4 #define LSM6DSM_ACCEL_FS_ADDR 0x10 #define LSM6DSM_ACCEL_FS_MASK 0x0c #define LSM6DSM_ACCEL_FS_2G_VAL 0x00 #define LSM6DSM_ACCEL_FS_4G_VAL 0x02 #define LSM6DSM_ACCEL_FS_8G_VAL 0x03 #define LSM6DSM_ACCEL_FS_16G_VAL 0x01 #define LSM6DSM_ACCEL_FS_MAX_VAL 16 /* Accel Reg value from Full Scale */ #define LSM6DSM_ACCEL_FS_REG(_fs) \ (_fs == 2 ? LSM6DSM_ACCEL_FS_2G_VAL : \ _fs == 16 ? LSM6DSM_ACCEL_FS_16G_VAL : \ __fls(_fs)) /* Accel normalized FS value from Full Scale */ #define LSM6DSM_ACCEL_NORMALIZE_FS(_fs) (1 << __fls(_fs)) /* Full Scale range value and gain for Gyro */ #define LSM6DSM_GYRO_FS_ADDR 0x11 #define LSM6DSM_GYRO_FS_MASK 0x0c /* Supported gyroscope ranges: * name(dps) | register | gain(udps/LSB) | actual value(dps) * 250 | 0 | 8750 | 286.72 * 500 | 1 | 17500 | 573.44 * 1000 | 2 | 35000 | 1146.88 * 2000 | 3 | 70000 | 2293.76 */ #define LSM6DSM_GYRO_FS_MIN_VAL_MDPS ((8750 << 15) / 1000) #define LSM6DSM_GYRO_FS_MAX_REG_VAL 3 /* Gyro Reg value for Full Scale selection */ #define LSM6DSM_GYRO_FS_REG(_fs) \ __fls(MAX(1, (_fs * 1000) / LSM6DSM_GYRO_FS_MIN_VAL_MDPS)) /* Gyro normalized FS value from Full Scale register */ #define LSM6DSM_GYRO_NORMALIZE_FS(_reg) \ ((LSM6DSM_GYRO_FS_MIN_VAL_MDPS << (_reg)) / 1000) /* FS register address/mask for Acc/Gyro sensors */ #define LSM6DSM_RANGE_REG(_sensor) (LSM6DSM_ACCEL_FS_ADDR + (_sensor)) #define LSM6DSM_RANGE_MASK 0x0c /* Status register bitmask for Acc/Gyro data ready */ enum lsm6dsm_status { LSM6DSM_STS_DOWN = 0x00, LSM6DSM_STS_XLDA_UP = 0x01, LSM6DSM_STS_GDA_UP = 0x02 }; #define LSM6DSM_STS_XLDA_MASK 0x01 #define LSM6DSM_STS_GDA_MASK 0x02 /* Sensor resolution in number of bits: fixed 16 bit */ #define LSM6DSM_RESOLUTION 16 extern const struct accelgyro_drv lsm6dsm_drv; void lsm6dsm_interrupt(enum gpio_signal signal); struct lsm6dsm_fifo_data { /* * FIFO data order is based on the ODR of each sensors. * For example Acc @ 52 Hz, Gyro @ 26 Hz Mag @ 13 Hz in FIFO we have * for each pattern this data samples: * ________ _______ _______ _______ ________ _______ _______ * | Gyro_0 | Acc_0 | Mag_0 | Acc_1 | Gyro_1 | Acc_2 | Acc_3 | * |________|_______|_______|_______|________|_______|_______| * * Total samples for each pattern: 2 Gyro, 4 Acc, 1 Mag */ /* Calculated samples in a pattern, based on ODR. */ int samples_in_pattern[FIFO_DEV_NUM]; /* Sum of all samples_in_pattern. */ int total_samples_in_pattern; }; /* * Structure used to maintain the load state per sensor. This will be used to * properly spread values in case we have more than one reading for a given * sensor in a single fifo read pass. */ struct load_fifo_sensor_state_t { uint32_t int_timestamp; uint8_t sample_count; int sample_rate; }; /* * lsm6dsm_data is used for accel gyro and the sensor connect to a LSM6DSM. * * +---- lsm6dsm_data ------------------------------------------------+ * | +--- stprivate_data ---+ | * | | | ST common data for accelerometer | * | +----------------------+ | * | +--- stprivate_data ---+ | * | | | ST common data for gyroscope | * | +----------------------+ | * | +--- stprivate_data ---+ | * | | | ST common data for LIS2MDL magnetomer | * | +----------------------+ (optional) | * | | * | Fifo Information | * | | * | +----- Magnetometer information -----------------------------+ | * | | +--- mag_cal_t ------+ | | * | | | | Data for online calibration | | * | | +--------------------+ | | * | | Other privata data | | * | +------------------------------------------------------------+ | * +------------------------------------------------------------------+ * * In motion_sensors array, use LSM6DSM_ST_DATA to point drv_data * to the right st_data structure. */ struct lsm6dsm_data { #ifdef CONFIG_MAG_LSM6DSM_LIS2MDL /* LIS2MDL uses st_mems_common and needs stprivate_data */ struct stprivate_data st_data[3]; #else /* BMM150 doesn't use st_mems_common; no stprivate_data */ struct stprivate_data st_data[2]; #endif #ifdef CONFIG_ACCEL_FIFO struct lsm6dsm_fifo_data config; struct lsm6dsm_fifo_data current; int next_in_patten; /* * After an ODR change, the sensor filters need settling time; discard * initial samples with incorrect values */ unsigned int samples_to_discard[FIFO_DEV_NUM]; struct load_fifo_sensor_state_t load_fifo_sensor_state[FIFO_DEV_NUM]; #endif /* CONFIG_ACCEL_FIFO */ #if defined(CONFIG_LSM6DSM_SEC_I2C) && defined(CONFIG_MAG_CALIBRATE) union { #ifdef CONFIG_MAG_LSM6DSM_BMM150 struct bmm150_private_data compass; #endif #ifdef CONFIG_MAG_LSM6DSM_LIS2MDL struct lis2mdl_private_data compass; #endif struct mag_cal_t cal; }; #endif /* CONFIG_MAG_CALIBRATE */ }; /* * Note: The specific number of samples to discard depends on the filters * configured for the chip, as well as the ODR being set. For most of our * allowed ODRs, 5 should suffice. * See: ST's LSM6DSM application notes (AN4987) Tables 17 and 19 for details */ #define LSM6DSM_DISCARD_SAMPLES 5 #define LSM6DSM_ST_DATA(g, type) (&(&(g))->st_data[(type)]) #define LSM6DSM_MAIN_SENSOR(_s) ((_s) - (_s)->type) #define LSM6DSM_GET_DATA(_s) \ ((struct lsm6dsm_data *)(LSM6DSM_MAIN_SENSOR(_s))->drv_data) #if defined(CONFIG_LSM6DSM_SEC_I2C) && defined(CONFIG_MAG_CALIBRATE) #define LIS2MDL_CAL(_s) (&LSM6DSM_GET_DATA(_s)->cal) #endif int lsm6dsm_set_data_rate(const struct motion_sensor_t *s, int rate, int rnd); #endif /* __CROS_EC_ACCELGYRO_LSM6DSM_H */