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/* 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 module for Chrome EC
* 3D digital accelerometer & 3D digital gyroscope
*/
#include "accelgyro.h"
#include "console.h"
#include "i2c.h"
#include "spi.h"
#include "driver/accelgyro_icm_common.h"
#include "driver/accelgyro_icm426xx.h"
#define CPUTS(outstr) cputs(CC_ACCEL, outstr)
#define CPRINTF(format, args...) cprintf(CC_ACCEL, format, ## args)
#define CPRINTS(format, args...) cprints(CC_ACCEL, format, ## args)
#ifdef CONFIG_SPI_ACCEL_PORT
static int icm_spi_raw_read(const int addr, const uint8_t reg,
uint8_t *data, const int len)
{
uint8_t cmd = 0x80 | reg;
return spi_transaction(&spi_devices[addr], &cmd, 1, data, len);
}
static int icm_spi_raw_write(const int addr, const uint8_t reg,
const uint8_t *data, const int len)
{
uint8_t cmd[3];
int i;
if (len > 2)
return EC_ERROR_UNIMPLEMENTED;
cmd[0] = reg;
for (i = 0; i < len; ++i)
cmd[i + 1] = data[i];
return spi_transaction(&spi_devices[addr], cmd, len + 1, NULL, 0);
}
#endif
static int icm_bank_sel(const struct motion_sensor_t *s, const int reg)
{
struct icm_drv_data_t *st = ICM_GET_DATA(s);
uint8_t bank = ICM426XX_REG_GET_BANK(reg);
int ret;
if (bank == st->bank)
return EC_SUCCESS;
ret = EC_ERROR_UNIMPLEMENTED;
#ifdef I2C_PORT_ACCEL
ret = i2c_write8(s->port, s->addr,
ICM426XX_REG_BANK_SEL, bank);
#endif
if (ret == EC_SUCCESS)
st->bank = bank;
return ret;
}
/**
* Read 8 bits register
*/
int icm_read8(const struct motion_sensor_t *s, const int reg, int *data_ptr)
{
const uint8_t addr = ICM426XX_REG_GET_ADDR(reg);
int ret;
ret = icm_bank_sel(s, reg);
if (ret != EC_SUCCESS)
return ret;
ret = EC_ERROR_UNIMPLEMENTED;
#ifdef I2C_PORT_ACCEL
ret = i2c_read8(s->port, s->addr, addr, data_ptr);
#endif
return ret;
}
/**
* Write 8 bits register
*/
int icm_write8(const struct motion_sensor_t *s, const int reg, int data)
{
const uint8_t addr = ICM426XX_REG_GET_ADDR(reg);
int ret;
ret = icm_bank_sel(s, reg);
if (ret != EC_SUCCESS)
return ret;
ret = EC_ERROR_UNIMPLEMENTED;
#ifdef I2C_PORT_ACCEL
ret = i2c_write8(s->port, s->addr, addr, data);
#endif
return ret;
}
/**
* Read 16 bits register
*/
int icm_read16(const struct motion_sensor_t *s, const int reg, int *data_ptr)
{
const uint8_t addr = ICM426XX_REG_GET_ADDR(reg);
int ret;
ret = icm_bank_sel(s, reg);
if (ret != EC_SUCCESS)
return ret;
ret = EC_ERROR_UNIMPLEMENTED;
#ifdef I2C_PORT_ACCEL
ret = i2c_read16(s->port, s->addr,
addr, data_ptr);
#endif
return ret;
}
/**
* Write 16 bits register
*/
int icm_write16(const struct motion_sensor_t *s, const int reg, int data)
{
const uint8_t addr = ICM426XX_REG_GET_ADDR(reg);
int ret;
ret = icm_bank_sel(s, reg);
if (ret != EC_SUCCESS)
return ret;
ret = EC_ERROR_UNIMPLEMENTED;
#ifdef I2C_PORT_ACCEL
ret = i2c_write16(s->port, s->addr, addr, data);
#endif
return ret;
}
/**
* Read n bytes
*/
int icm_read_n(const struct motion_sensor_t *s, const int reg,
uint8_t *data_ptr, const int len)
{
const uint8_t addr = ICM426XX_REG_GET_ADDR(reg);
int ret;
ret = icm_bank_sel(s, reg);
if (ret != EC_SUCCESS)
return ret;
ret = EC_ERROR_UNIMPLEMENTED;
#ifdef I2C_PORT_ACCEL
ret = i2c_read_block(s->port, s->addr, addr,
data_ptr, len);
#endif
return ret;
}
int icm_field_update8(const struct motion_sensor_t *s, const int reg,
const uint8_t field_mask, const uint8_t set_value)
{
const uint8_t addr = ICM426XX_REG_GET_ADDR(reg);
int ret;
ret = icm_bank_sel(s, reg);
if (ret != EC_SUCCESS)
return ret;
ret = EC_ERROR_UNIMPLEMENTED;
#ifdef I2C_PORT_ACCEL
ret = i2c_field_update8(s->port, s->addr, addr,
field_mask, set_value);
#endif
return ret;
}
int icm_get_resolution(const struct motion_sensor_t *s)
{
return ICM_RESOLUTION;
}
int icm_get_range(const struct motion_sensor_t *s)
{
struct accelgyro_saved_data_t *data = ICM_GET_SAVED_DATA(s);
return data->range;
}
int icm_get_data_rate(const struct motion_sensor_t *s)
{
struct accelgyro_saved_data_t *data = ICM_GET_SAVED_DATA(s);
return data->odr;
}
/* FIFO header: 1 byte */
#define ICM_FIFO_HEADER_MSG BIT(7)
#define ICM_FIFO_HEADER_ACCEL BIT(6)
#define ICM_FIFO_HEADER_GYRO BIT(5)
#define ICM_FIFO_HEADER_TMST_FSYNC GENMASK(3, 2)
#define ICM_FIFO_HEADER_ODR_ACCEL BIT(1)
#define ICM_FIFO_HEADER_ODR_GYRO BIT(0)
/* FIFO data packet */
struct icm_fifo_sensor_data {
int16_t x;
int16_t y;
int16_t z;
} __packed;
struct icm_fifo_1sensor_packet {
uint8_t header;
struct icm_fifo_sensor_data data;
int8_t temp;
} __packed;
#define ICM_FIFO_1SENSOR_PACKET_SIZE 8
struct icm_fifo_2sensors_packet {
uint8_t header;
struct icm_fifo_sensor_data accel;
struct icm_fifo_sensor_data gyro;
int8_t temp;
uint16_t timestamp;
} __packed;
#define ICM_FIFO_2SENSORS_PACKET_SIZE 16
ssize_t icm_fifo_decode_packet(const void *packet, const uint8_t **accel,
const uint8_t **gyro)
{
const struct icm_fifo_1sensor_packet *pack1 = packet;
const struct icm_fifo_2sensors_packet *pack2 = packet;
uint8_t header = *((const uint8_t *)packet);
/* FIFO empty */
if (header & ICM_FIFO_HEADER_MSG) {
if (accel != NULL)
*accel = NULL;
if (gyro != NULL)
*gyro = NULL;
return 0;
}
/* accel + gyro */
if ((header & ICM_FIFO_HEADER_ACCEL) &&
(header & ICM_FIFO_HEADER_GYRO)) {
if (accel != NULL)
*accel = (uint8_t *)&pack2->accel;
if (gyro != NULL)
*gyro = (uint8_t *)&pack2->gyro;
return ICM_FIFO_2SENSORS_PACKET_SIZE;
}
/* accel only */
if (header & ICM_FIFO_HEADER_ACCEL) {
if (accel != NULL)
*accel = (uint8_t *)&pack1->data;
if (gyro != NULL)
*gyro = NULL;
return ICM_FIFO_1SENSOR_PACKET_SIZE;
}
/* gyro only */
if (header & ICM_FIFO_HEADER_GYRO) {
if (accel != NULL)
*accel = NULL;
if (gyro != NULL)
*gyro = (uint8_t *)&pack1->data;
return ICM_FIFO_1SENSOR_PACKET_SIZE;
}
/* invalid packet if here */
return -EC_ERROR_INVAL;
}
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