blob: e0c2f1652d66a6a7596e8afc7049dcca704f0518 (
plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
|
/* Copyright 2018 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.
*/
/* LIS2MSL magnetometer module for Chrome EC */
#ifndef __CROS_EC_MAG_LIS2MDL_H
#define __CROS_EC_MAG_LIS2MDL_H
#include "accelgyro.h"
#include "mag_cal.h"
#include "stm_mems_common.h"
/*
* 8-bit address is 0011110Wb where the last bit represents whether the
* operation is a read or a write.
*/
#define LIS2MDL_ADDR__7bf 0x1e
#define LIS2MDL_STARTUP_MS 10
/* Registers */
#define LIS2MDL_WHO_AM_I_REG 0x4f
#define LIS2MDL_CFG_REG_A_ADDR 0x60
#define LIS2MDL_INT_CTRL_REG 0x63
#define LIS2MDL_STATUS_REG 0x67
#define LIS2MDL_OUT_REG 0x68
#define LIS2MDL_WHO_AM_I 0x40
#define LIS2MDL_FLAG_TEMP_COMPENSATION 0x80
#define LIS2MDL_FLAG_REBOOT 0x40
#define LIS2MDL_FLAG_SW_RESET 0x20
#define LIS2MDL_FLAG_LOW_POWER 0x10
#define LIS2MDL_ODR_50HZ 0x08
#define LIS2MDL_ODR_20HZ 0x04
#define LIS2MDL_ODR_10HZ 0x00
#define LIS2MDL_MODE_IDLE 0x03
#define LIS2MDL_MODE_SINGLE 0x01
#define LIS2MDL_MODE_CONT 0x00
#define LIS2MDL_ODR_MODE_MASK 0x8f
#define LIS2MDL_X_DIRTY 0x01
#define LIS2MDL_Y_DIRTY 0x02
#define LIS2MDL_Z_DIRTY 0x04
#define LIS2MDL_XYZ_DIRTY 0x08
#define LIS2MDL_XYZ_DIRTY_MASK 0x0f
#define LIS2DSL_RESOLUTION 16
/*
* Maximum sensor data range (milligauss):
* Spec is 1.5 mguass / LSB, so 0.15 uT / LSB.
* Calibration code is set to 16LSB/ut, [0.0625 uT/LSB]
* Apply a multiplier to change the unit
*/
#define LIS2MDL_RATIO(_in) (((_in) * 24) / 10)
struct lis2mdl_private_data {
/* lsm6dsm_data union requires cal be first element */
struct mag_cal_t cal;
#ifndef CONFIG_LSM6DSM_SEC_I2C
struct stprivate_data data;
#endif
#ifdef CONFIG_MAG_BMI160_LIS2MDL
intv3_t hn; /* last sample for offset compensation */
int hn_valid;
#endif
};
#ifndef CONFIG_LSM6DSM_SEC_I2C
#define LIS2MDL_ST_DATA(g) (&((g).data))
#ifdef CONFIG_MAG_CALIBRATE
#define LIS2MDL_CAL(_s) \
(&(DOWNCAST(s->drv_data, struct lis2mdl_private_data, data)->cal))
#endif
#endif
#define LIS2MDL_ODR_MIN_VAL 10000
#define LIS2MDL_ODR_MAX_VAL 50000
#if (CONFIG_EC_MAX_SENSOR_FREQ_MILLIHZ <= LIS2MDL_ODR_MAX_VAL)
#error "EC too slow for magnetometer"
#endif
void lis2mdl_normalize(const struct motion_sensor_t *s,
intv3_t v,
uint8_t *data);
extern const struct accelgyro_drv lis2mdl_drv;
#endif /* __CROS_EC_MAG_LIS2MDL_H */
|
