driver/accelgyro_lsm6dsm.h - chromiumos/platform/ec - Git at Google

 /* Copyright 2016 The ChromiumOS Authors
  * 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 "mag_bmm150.h"
 #include "mag_cal.h"
 #include "mag_lis2mdl.h"
 #include "stm_mems_common.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

 /* Controller mode configuration register */
 #define LSM6DSM_CONTROLLER_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_CONTROLLER_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_OUT_TEMP_L_ADDR 0x20

 #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,
 	FIFO_DEV_MAG,
 };

 #ifdef CONFIG_LSM6DSM_SEC_I2C
 #define FIFO_DEV_NUM (FIFO_DEV_MAG + 1)
 #else
 #define FIFO_DEV_NUM (FIFO_DEV_ACCEL + 1)
 #endif

 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 hold fifo state. This struct should only be used if
  * CONFIG_ACCEL_FIFO is defined.
  */
 struct lsm6dsm_accel_fifo_state {
 	struct lsm6dsm_fifo_data config;
 	struct lsm6dsm_fifo_data current;
 	int next_in_pattern;
 	/*
 	 * After an ODR change, the sensor filters need settling time; discard
 	 * initial samples with incorrect values
 	 */
 	unsigned int samples_to_discard[FIFO_DEV_NUM];
 };

 /*
  * 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
 	struct lsm6dsm_accel_fifo_state *accel_fifo_state;
 #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 */
 };

 #ifdef CONFIG_ACCEL_FIFO
 #define LSM6DSM_ACCEL_FIFO_STATE (&((struct lsm6dsm_accel_fifo_state){}))
 #else
 #define LSM6DSM_ACCEL_FIFO_STATE NULL
 #endif

 #define LSM6DSM_DATA                                          \
 	((struct lsm6dsm_data){                               \
 		.accel_fifo_state = LSM6DSM_ACCEL_FIFO_STATE, \
 	})

 /*
  * 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);

 #if defined(CONFIG_ZEPHYR)
 /* Get the motion sensor ID of the LSM6DSM sensor that generates the
  * interrupt. The interrupt is converted to the event and transferred to
  * motion sense task that actually handles the interrupt.
  *
  * Here we use an alias (lsm6dsm_int) to get the motion sensor ID. This alias
  * MUST be defined for this driver to work.
  * aliases {
  *   lsm6dsm-int = &lid_accel;
  * };
  */
 #if DT_NODE_EXISTS(DT_ALIAS(lsm6dsm_int))
 #define CONFIG_ACCEL_LSM6DSM_INT_EVENT \
 	TASK_EVENT_MOTION_SENSOR_INTERRUPT(SENSOR_ID(DT_ALIAS(lsm6dsm_int)))
 #endif
 #endif

 #endif /* __CROS_EC_ACCELGYRO_LSM6DSM_H */
	/* Copyright 2016 The ChromiumOS Authors
	* 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 "mag_bmm150.h"
	#include "mag_cal.h"
	#include "mag_lis2mdl.h"
	#include "stm_mems_common.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

	/* Controller mode configuration register */
	#define LSM6DSM_CONTROLLER_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_CONTROLLER_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_OUT_TEMP_L_ADDR 0x20

	#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,
	FIFO_DEV_MAG,
	};

	#ifdef CONFIG_LSM6DSM_SEC_I2C
	#define FIFO_DEV_NUM (FIFO_DEV_MAG + 1)
	#else
	#define FIFO_DEV_NUM (FIFO_DEV_ACCEL + 1)
	#endif

	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 hold fifo state. This struct should only be used if
	* CONFIG_ACCEL_FIFO is defined.
	*/
	struct lsm6dsm_accel_fifo_state {
	struct lsm6dsm_fifo_data config;
	struct lsm6dsm_fifo_data current;
	int next_in_pattern;
	/*
	* After an ODR change, the sensor filters need settling time; discard
	* initial samples with incorrect values
	*/
	unsigned int samples_to_discard[FIFO_DEV_NUM];
	};

	/*
	* 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
	struct lsm6dsm_accel_fifo_state *accel_fifo_state;
	#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 */
	};

	#ifdef CONFIG_ACCEL_FIFO
	#define LSM6DSM_ACCEL_FIFO_STATE (&((struct lsm6dsm_accel_fifo_state){}))
	#else
	#define LSM6DSM_ACCEL_FIFO_STATE NULL
	#endif

	#define LSM6DSM_DATA \
	((struct lsm6dsm_data){ \
	.accel_fifo_state = LSM6DSM_ACCEL_FIFO_STATE, \
	})

	/*
	* 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);

	#if defined(CONFIG_ZEPHYR)
	/* Get the motion sensor ID of the LSM6DSM sensor that generates the
	* interrupt. The interrupt is converted to the event and transferred to
	* motion sense task that actually handles the interrupt.
	*
	* Here we use an alias (lsm6dsm_int) to get the motion sensor ID. This alias
	* MUST be defined for this driver to work.
	* aliases {
	* lsm6dsm-int = &lid_accel;
	* };
	*/
	#if DT_NODE_EXISTS(DT_ALIAS(lsm6dsm_int))
	#define CONFIG_ACCEL_LSM6DSM_INT_EVENT \
	TASK_EVENT_MOTION_SENSOR_INTERRUPT(SENSOR_ID(DT_ALIAS(lsm6dsm_int)))
	#endif
	#endif

	#endif /* __CROS_EC_ACCELGYRO_LSM6DSM_H */