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/* 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.
*/
/* BMM150 magnetometer definition */
#ifndef __CROS_EC_MAG_BMM150_H
#define __CROS_EC_MAG_BMM150_H
#include "accelgyro.h"
#include "mag_cal.h"
#define BMM150_ADDR0 0x20
#define BMM150_ADDR1 0x22
#define BMM150_ADDR2 0x24
#define BMM150_ADDR3 0x26
#define BMM150_CHIP_ID 0x40
#define BMM150_CHIP_ID_MAJOR 0x32
#define BMM150_BASE_DATA 0x42
#define BMM150_INT_STATUS 0x4a
#define BMM150_PWR_CTRL 0x4b
#define BMM150_SRST ((1 << 7) | (1 << 1))
#define BMM150_PWR_ON (1 << 0)
#define BMM150_OP_CTRL 0x4c
#define BMM150_OP_MODE_OFFSET 1
#define BMM150_OP_MODE_MASK 3
#define BMM150_OP_MODE_NORMAL 0x00
#define BMM150_OP_MODE_FORCED 0x01
#define BMM150_OP_MODE_SLEEP 0x03
#define BMM150_INT_CTRL 0x4d
#define BMM150_REPXY 0x51
#define BMM150_LOW_POWER_nXY 3
#define BMM150_REGULAR_nXY 9
#define BMM150_ENHANCED_nXY 15
#define BMM150_HIGH_ACCURACY_nXY 47
#define BMM150_SPECIAL_nXY 75
#define BMM150_REPZ 0x52
#define BMM150_LOW_POWER_nZ 3
#define BMM150_REGULAR_nZ 15
#define BMM150_ENHANCED_nZ 27
#define BMM150_HIGH_ACCURACY_nZ 83
#define BMM150_SPECIAL_nZ 27
#define BMM150_REP(_preset, _axis) CONCAT4(BMM150_, _preset, _n, _axis)
/* Hidden registers for RHALL calculation */
#define BMM150_REGA_DIG_X1 0x5d
#define BMM150_REGA_DIG_Y1 0x5e
#define BMM150_REGA_DIG_Z4_LSB 0x62
#define BMM150_REGA_DIG_Z4_MSB 0x63
#define BMM150_REGA_DIG_X2 0x64
#define BMM150_REGA_DIG_Y2 0x65
#define BMM150_REGA_DIG_Z2_LSB 0x68
#define BMM150_REGA_DIG_Z2_MSB 0x69
#define BMM150_REGA_DIG_Z1_LSB 0x6a
#define BMM150_REGA_DIG_Z1_MSB 0x6b
#define BMM150_REGA_DIG_XYZ1_LSB 0x6c
#define BMM150_REGA_DIG_XYZ1_MSB 0x6d
#define BMM150_REGA_DIG_Z3_LSB 0x6e
#define BMM150_REGA_DIG_Z3_MSB 0x6f
#define BMM150_REGA_DIG_XY2 0x70
#define BMM150_REGA_DIG_XY1 0x71
/* Overflow */
#define BMM150_FLIP_OVERFLOW_ADCVAL (-4096)
#define BMM150_HALL_OVERFLOW_ADCVAL (-16384)
#define BMM150_OVERFLOW_OUTPUT (0x8000)
/* Min and Max sampling frequency in mHz */
#define BMM150_MAG_MIN_FREQ 781
/*
* From Section 4.2.4, max frequency depends on the preset.
*
* Fmax ~= 1 / (145us * nXY + 500us * nZ + 980us)
*
* To be safe, declare only 75% of the value.
*/
#define BMM150_MAG_MAX_FREQ(_preset) (750000000 / \
(145 * BMM150_REP(_preset, XY) + 500 * BMM150_REP(_preset, Z) + 980))
#if (BMM150_MAG_MAX_FREQ(SPECIAL) > CONFIG_EC_MAX_SENSOR_FREQ_MILLIHZ)
#error "EC too slow for magnetometer"
#endif
struct bmm150_comp_registers {
/* Local copy of the compensation registers. */
int8_t dig1[2];
int8_t dig2[2];
uint16_t dig_z1;
int16_t dig_z2;
int16_t dig_z3;
int16_t dig_z4;
uint8_t dig_xy1;
int8_t dig_xy2;
uint16_t dig_xyz1;
};
struct bmm150_private_data {
struct bmm150_comp_registers comp;
struct mag_cal_t cal;
};
#define BMM150_COMP_REG(_s) \
(&BMI160_GET_DATA(_s)->compass.comp)
#define BMM150_CAL(_s) \
(&BMI160_GET_DATA(_s)->compass.cal)
/* Specific initialization of BMM150 when behing BMI160 */
int bmm150_init(const struct motion_sensor_t *s);
/* Command to normalize and apply temperature compensation */
void bmm150_normalize(const struct motion_sensor_t *s,
vector_3_t v,
uint8_t *data);
int bmm150_set_offset(const struct motion_sensor_t *s,
const vector_3_t offset);
int bmm150_get_offset(const struct motion_sensor_t *s,
vector_3_t offset);
#endif /* __CROS_EC_MAG_BMM150_H */
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