| /* 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: |
| * This is defined in include/i2c.h and is no longer an 8bit |
| * address. The 7/10 bit address starts at bit 0 and leaves |
| * room for a 10 bit address, although we don't currently |
| * have any 10 bit slaves. I2C or SPI is indicated by a |
| * more significant bit |
| */ |
| |
| /* I2C addresses */ |
| #define BMI160_ADDR0_FLAGS 0x68 |
| #define BMI160_ADDR1_FLAGS 0x69 |
| |
| #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 BIT(0) |
| #define BMI160_GYR_SLF_TST BIT(1) |
| #define BMI160_MAG_MAN_OP BIT(2) |
| #define BMI160_FOC_RDY BIT(3) |
| #define BMI160_NVM_RDY BIT(4) |
| #define BMI160_DRDY_MAG BIT(5) |
| #define BMI160_DRDY_GYR BIT(6) |
| #define BMI160_DRDY_ACC BIT(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 BIT(0) |
| #define BMI160_SIGMOT_INT BIT(1) |
| #define BMI160_ANYM_INT BIT(2) |
| #define BMI160_PMU_TRIGGER_INT BIT(3) |
| #define BMI160_D_TAP_INT BIT(4) |
| #define BMI160_S_TAP_INT BIT(5) |
| #define BMI160_ORIENT_INT BIT(6) |
| #define BMI160_FLAT_INT BIT(7) |
| #define BMI160_ORIENT_XY_MASK 0x30 |
| #define BMI160_ORIENT_PORTRAIT (0 << 4) |
| #define BMI160_ORIENT_PORTRAIT_INVERT BIT(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 (BIT(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_100HZ 0x08 |
| |
| #define BMI160_REG_TO_ODR(_regval) \ |
| ((_regval) < BMI160_ODR_100HZ ? 100000 / (1 << (8 - (_regval))) : \ |
| 100000 * (1 << ((_regval) - 8))) |
| #define BMI160_ODR_TO_REG(_odr) \ |
| ((_odr) < 100000 ? (__builtin_clz(100000 / (_odr)) - 24) : \ |
| (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 BIT(1) |
| #define BMI160_FIFO_TAG_INT2_EN BIT(2) |
| #define BMI160_FIFO_TAG_INT1_EN BIT(3) |
| #define BMI160_FIFO_HEADER_EN BIT(4) |
| #define BMI160_FIFO_MAG_EN BIT(5) |
| #define BMI160_FIFO_ACC_EN BIT(6) |
| #define BMI160_FIFO_GYR_EN BIT(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 BIT(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 BIT(0) |
| #define BMI160_INT_ANYMO_Y_EN BIT(1) |
| #define BMI160_INT_ANYMO_Z_EN BIT(2) |
| #define BMI160_INT_D_TAP_EN BIT(4) |
| #define BMI160_INT_S_TAP_EN BIT(5) |
| #define BMI160_INT_ORIENT_EN BIT(6) |
| #define BMI160_INT_FLAT_EN BIT(7) |
| #define BMI160_INT_EN_1 0x51 |
| #define BMI160_INT_HIGHG_X_EN BIT(0) |
| #define BMI160_INT_HIGHG_Y_EN BIT(1) |
| #define BMI160_INT_HIGHG_Z_EN BIT(2) |
| #define BMI160_INT_LOW_EN BIT(3) |
| #define BMI160_INT_DRDY_EN BIT(4) |
| #define BMI160_INT_FFUL_EN BIT(5) |
| #define BMI160_INT_FWM_EN BIT(6) |
| #define BMI160_INT_EN_2 0x52 |
| #define BMI160_INT_NOMOX_EN BIT(0) |
| #define BMI160_INT_NOMOY_EN BIT(1) |
| #define BMI160_INT_NOMOZ_EN BIT(2) |
| #define BMI160_INT_STEP_DET_EN BIT(3) |
| |
| #define BMI160_INT_OUT_CTRL 0x53 |
| #define BMI160_INT_EDGE_CTRL BIT(0) |
| #define BMI160_INT_LVL_CTRL BIT(1) |
| #define BMI160_INT_OD BIT(2) |
| #define BMI160_INT_OUTPUT_EN BIT(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 BIT(4) |
| #define BMI160_INT2_INPUT_EN BIT(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 BIT(0) |
| #define BMI160_INT_HIGHG BIT(1) |
| #define BMI160_INT_ANYMOTION BIT(2) |
| #define BMI160_INT_NOMOTION BIT(3) |
| #define BMI160_INT_D_TAP BIT(4) |
| #define BMI160_INT_S_TAP BIT(5) |
| #define BMI160_INT_ORIENT BIT(6) |
| #define BMI160_INT_FLAT BIT(7) |
| |
| #define BMI160_INT_MAP_1 0x56 |
| #define BMI160_INT_PMU_TRIG BIT(0) |
| #define BMI160_INT_FFULL BIT(1) |
| #define BMI160_INT_FWM BIT(2) |
| #define BMI160_INT_DRDY BIT(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 BIT(0) |
| #define BMI160_MOTION_SIG_MOT_SEL BIT(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 BIT(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 BIT(6) |
| #define BMI160_OFFSET_GYRO_EN BIT(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 BIT(7) |
| #define BMI160_CMD_TARGET_PAGE BIT(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 MOTION_MAX_SENSOR_FREQUENCY(1600000, 100000) |
| #define BMI160_GYRO_MIN_FREQ 25000 |
| #define BMI160_GYRO_MAX_FREQ MOTION_MAX_SENSOR_FREQUENCY(3200000, 100000) |
| |
| 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 BIT(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_BMI160_SEC_I2C |
| /* Functions to access the secondary device through the accel/gyro. */ |
| int bmi160_sec_raw_read8(const int port, const uint16_t addr_flags, |
| const uint8_t reg, int *data_ptr); |
| int bmi160_sec_raw_write8(const int port, const uint16_t addr_flags, |
| 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 */ |
