| /* 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. |
| */ |
| |
| /* BMI260 accelerometer and gyro for Chrome EC */ |
| |
| #ifndef __CROS_EC_ACCELGYRO_BMI260_H |
| #define __CROS_EC_ACCELGYRO_BMI260_H |
| |
| #include "accelgyro.h" |
| #include "common.h" |
| #include "driver/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 BMI260_ADDR0_FLAGS 0x68 |
| |
| #define BMI260_CHIP_ID 0x00 |
| #define BMI260_CHIP_ID_MAJOR 0x27 |
| |
| #define BMI260_ERR_REG 0x02 |
| |
| #define BMI260_STATUS 0x03 |
| #define BMI260_AUX_BUSY BIT(2) |
| #define BMI260_CMD_RDY BIT(4) |
| #define BMI260_DRDY_AUX BIT(5) |
| #define BMI260_DRDY_GYR BIT(6) |
| #define BMI260_DRDY_ACC BIT(7) |
| #define BMI260_DRDY_OFF(_sensor) (7 - (_sensor)) |
| #define BMI260_DRDY_MASK(_sensor) (1 << BMI260_DRDY_OFF(_sensor)) |
| |
| #define BMI260_AUX_X_L_G 0x04 |
| #define BMI260_AUX_X_H_G 0x05 |
| #define BMI260_AUX_Y_L_G 0x06 |
| #define BMI260_AUX_Y_H_G 0x07 |
| #define BMI260_AUX_Z_L_G 0x08 |
| #define BMI260_AUX_Z_H_G 0x09 |
| #define BMI260_AUX_R_L_G 0x0a |
| #define BMI260_AUX_R_H_G 0x0b |
| #define BMI260_ACC_X_L_G 0x0c |
| #define BMI260_ACC_X_H_G 0x0d |
| #define BMI260_ACC_Y_L_G 0x0e |
| #define BMI260_ACC_Y_H_G 0x0f |
| #define BMI260_ACC_Z_L_G 0x10 |
| #define BMI260_ACC_Z_H_G 0x11 |
| #define BMI260_GYR_X_L_G 0x12 |
| #define BMI260_GYR_X_H_G 0x13 |
| #define BMI260_GYR_Y_L_G 0x14 |
| #define BMI260_GYR_Y_H_G 0x15 |
| #define BMI260_GYR_Z_L_G 0x16 |
| #define BMI260_GYR_Z_H_G 0x17 |
| |
| #define BMI260_SENSORTIME_0 0x18 |
| #define BMI260_SENSORTIME_1 0x19 |
| #define BMI260_SENSORTIME_2 0x1a |
| |
| #define BMI260_EVENT 0x1b |
| |
| /* 2 bytes interrupt reasons*/ |
| #define BMI260_INT_STATUS_0 0x1c |
| #define BMI260_SIG_MOTION_OUT BIT(0) |
| #define BMI260_STEP_COUNTER_OUT BIT(1) |
| #define BMI260_HIGH_LOW_G_OUT BIT(2) |
| #define BMI260_TAP_OUT BIT(3) |
| #define BMI260_FLAT_OUT BIT(4) |
| #define BMI260_NO_MOTION_OUT BIT(5) |
| #define BMI260_ANY_MOTION_OUT BIT(6) |
| #define BMI260_ORIENTATION_OUT BIT(7) |
| |
| #define BMI260_INT_STATUS_1 0x1d |
| #define BMI260_FFULL_INT BIT(0 + 8) |
| #define BMI260_FWM_INT BIT(1 + 8) |
| #define BMI260_ERR_INT BIT(2 + 8) |
| #define BMI260_AUX_DRDY_INT BIT(5 + 8) |
| #define BMI260_GYR_DRDY_INT BIT(6 + 8) |
| #define BMI260_ACC_DRDY_INT BIT(7 + 8) |
| |
| #define BMI260_INT_MASK 0xFFFF |
| |
| #define BMI260_SC_OUT_0 0x1e |
| #define BMI260_SC_OUT_1 0x1f |
| |
| #define BMI260_ORIENT_ACT 0x20 |
| |
| #define BMI260_INTERNAL_STATUS 0X21 |
| #define BMI260_MESSAGE_MASK 0xf |
| #define BMI260_NOT_INIT 0x00 |
| #define BMI260_INIT_OK 0x01 |
| #define BMI260_INIT_ERR 0x02 |
| #define BMI260_DRV_ERR 0x03 |
| #define BMI260_SNS_STOP 0x04 |
| #define BMI260_NVM_ERROR 0x05 |
| #define BMI260_START_UP_ERROR 0x06 |
| #define BMI260_COMPAT_ERROR 0x07 |
| |
| #define BMI260_TEMPERATURE_0 0x22 |
| #define BMI260_TEMPERATURE_1 0x23 |
| |
| #define BMI260_FIFO_LENGTH_0 0x24 |
| #define BMI260_FIFO_LENGTH_1 0x25 |
| #define BMI260_FIFO_LENGTH_MASK (BIT(14) - 1) |
| #define BMI260_FIFO_DATA 0x26 |
| |
| #define BMI260_FEAT_PAGE 0x2f |
| /* |
| * The register of feature page should be read/write as 16-bit register |
| * Otherwise, there can be invalid data |
| */ |
| /* Features page 0 */ |
| #define BMI260_ORIENT_OUT 0x36 |
| #define BMI260_ORIENT_OUT_PORTRAIT_LANDSCAPE_MASK 3 |
| #define BMI260_ORIENT_PORTRAIT 0x0 |
| #define BMI260_ORIENT_LANDSCAPE 0x1 |
| #define BMI260_ORIENT_PORTRAIT_INVERT 0x2 |
| #define BMI260_ORIENT_LANDSCAPE_INVERT 0x3 |
| |
| /* Features page 1 */ |
| #define BMI260_GEN_SET_1 0x34 |
| #define BMI260_GYR_SELF_OFF BIT(9) |
| |
| #define BMI260_TAP_1 0x3e |
| #define BMI260_TAP_1_EN BIT(0) |
| #define BMI260_TAP_1_SENSITIVITY_OFFSET 1 |
| #define BMI260_TAP_1_SENSITIVITY_MASK \ |
| (0x7 << BMI260_TAP_1_SENSITIVITY_OFFSET) |
| |
| /* Features page 2 */ |
| #define BMI260_ORIENT_1 0x30 |
| #define BMI260_ORIENT_1_EN BIT(0) |
| #define BMI260_ORIENT_1_UD_EN BIT(1) |
| #define BMI260_ORIENT_1_MODE_OFFSET 2 |
| #define BMI260_ORIENT_1_MODE_MASK (0x3 << BMI260_ORIENT_1_MODE_OFFSET) |
| #define BMI260_ORIENT_1_BLOCK_OFFSET 4 |
| #define BMI260_ORIENT_1_BLOCK_MASK (0x3 << BMI260_ORIENT_1_BLOCK_OFFSET) |
| #define BMI260_ORIENT_1_THETA_OFFSET 6 |
| #define BMI260_ORIENT_1_THETA_MASK \ |
| ((BIT(6) - 1) << BMI260_ORIENT_1_THETA_OFFSET) |
| |
| #define BMI260_ORIENT_2 0x32 |
| /* hysteresis(10...0) range is 0~1g, default is 128 (0.0625g) */ |
| #define BMI260_ORIENT_2_HYSTERESIS_MASK (BIT(11) - 1) |
| |
| #define BMI260_ACC_CONF 0x40 |
| #define BMI260_ACC_BW_OFFSET 4 |
| #define BMI260_ACC_BW_MASK (0x7 << BMI260_ACC_BW_OFFSET) |
| #define BMI260_FILTER_PERF BIT(7) |
| #define BMI260_ULP 0x0 |
| #define BMI260_HP 0x1 |
| |
| #define BMI260_ACC_RANGE 0x41 |
| #define BMI260_GSEL_2G 0x00 |
| #define BMI260_GSEL_4G 0x01 |
| #define BMI260_GSEL_8G 0x02 |
| #define BMI260_GSEL_16G 0x03 |
| |
| /* The max positvie value of accel data is 0x7FFF, equal to range(g) */ |
| /* So, in order to get +1g, divide the 0x7FFF by range */ |
| #define BMI260_ACC_DATA_PLUS_1G(range) (0x7FFF / (range)) |
| #define BMI260_ACC_DATA_MINUS_1G(range) (-BMI260_ACC_DATA_PLUS_1G(range)) |
| |
| #define BMI260_GYR_CONF 0x42 |
| #define BMI260_GYR_BW_OFFSET 4 |
| #define BMI260_GYR_BW_MASK (0x3 << BMI260_GYR_BW_OFFSET) |
| #define BMI260_GYR_NOISE_PERF BIT(6) |
| |
| #define BMI260_GYR_RANGE 0x43 |
| #define BMI260_DPS_SEL_2000 0x00 |
| #define BMI260_DPS_SEL_1000 0x01 |
| #define BMI260_DPS_SEL_500 0x02 |
| #define BMI260_DPS_SEL_250 0x03 |
| #define BMI260_DPS_SEL_125 0x04 |
| |
| #define BMI260_AUX_CONF 0x44 |
| |
| #define BMI260_FIFO_DOWNS 0x45 |
| |
| #define BMI260_FIFO_WTM_0 0x46 |
| #define BMI260_FIFO_WTM_1 0x47 |
| |
| #define BMI260_FIFO_CONFIG_0 0x48 |
| #define BMI260_FIFO_STOP_ON_FULL BIT(0) |
| #define BMI260_FIFO_TIME_EN BIT(1) |
| |
| #define BMI260_FIFO_CONFIG_1 0x49 |
| #define BMI260_FIFO_TAG_INT1_EN_OFFSET 0 |
| #define BMI260_FIFO_TAG_INT1_EN_MASK (0x3 << BMI260_FIFO_TAG_INT1_EN_OFFSET) |
| #define BMI260_FIFO_TAG_INT2_EN_OFFSET 2 |
| #define BMI260_FIFO_TAG_INT2_EN_MASK (0x3 << BMI260_FIFO_TAG_INT2_EN_OFFSET) |
| #define BMI260_FIFO_TAG_INT_EDGE 0x0 |
| #define BMI260_FIFO_TAG_INT_LEVEL 0x1 |
| #define BMI260_FIFO_TAG_ACC_SAT 0x2 |
| #define BMI260_FIFO_TAG_GYR_SAT 0x3 |
| #define BMI260_FIFO_HEADER_EN BIT(4) |
| #define BMI260_FIFO_AUX_EN BIT(5) |
| #define BMI260_FIFO_ACC_EN BIT(6) |
| #define BMI260_FIFO_GYR_EN BIT(7) |
| #define BMI260_FIFO_SENSOR_EN(_sensor) \ |
| ((_sensor) == MOTIONSENSE_TYPE_ACCEL ? BMI260_FIFO_ACC_EN : \ |
| ((_sensor) == MOTIONSENSE_TYPE_GYRO ? BMI260_FIFO_GYR_EN : \ |
| BMI260_FIFO_AUX_EN)) |
| |
| #define BMI260_AUX_DEV_ID 0x4b |
| #define BMI260_AUX_I2C_ADDRESS BMI260_AUX_DEV_ID |
| |
| #define BMI260_AUX_IF_CONF 0x4c |
| #define BMI260_AUX_I2C_CONTROL BMI260_AUX_IF_CONF |
| #define BMI260_AUX_READ_BURST_MASK 3 |
| #define BMI260_AUX_MAN_READ_BURST_OFF 2 |
| #define BMI260_AUX_MAN_READ_BURST_MASK (0x3 << BMI280_AUX_MAN_READ_BURST_OFF) |
| #define BMI260_AUX_READ_BURST_1 0 |
| #define BMI260_AUX_READ_BURST_2 1 |
| #define BMI260_AUX_READ_BURST_6 2 |
| #define BMI260_AUX_READ_BURST_8 3 |
| #define BMI260_AUX_FCU_WRITE_EN BIT(6) |
| #define BMI260_AUX_MANUAL_EN BIT(7) |
| |
| #define BMI260_AUX_RD_ADDR 0x4d |
| #define BMI260_AUX_I2C_READ_ADDR BMI260_AUX_RD_ADDR |
| #define BMI260_AUX_WR_ADDR 0x4e |
| #define BMI260_AUX_I2C_WRITE_ADDR BMI260_AUX_WR_ADDR |
| #define BMI260_AUX_WR_DATA 0x4f |
| #define BMI260_AUX_I2C_WRITE_DATA BMI260_AUX_WR_DATA |
| #define BMI260_AUX_I2C_READ_DATA BMI260_AUX_X_L_G |
| |
| #define BMI260_ERR_REG_MSK 0x52 |
| #define BMI260_FATAL_ERR BIT(0) |
| #define BMI260_INTERNAL_ERR_OFF 1 |
| #define BMI260_INTERNAL_ERR_MASK (0xf << BMI260_INTERNAL_ERR_OFF) |
| #define BMI260_FIFO_ERR BIT(6) |
| #define BMI260_AUX_ERR BIT(7) |
| |
| #define BMI260_INT1_IO_CTRL 0x53 |
| #define BMI260_INT1_LVL BIT(1) |
| #define BMI260_INT1_OD BIT(2) |
| #define BMI260_INT1_OUTPUT_EN BIT(3) |
| #define BMI260_INT1_INPUT_EN BIT(4) |
| |
| #define BMI260_INT2_IO_CTRL 0x54 |
| #define BMI260_INT2_LVL BIT(1) |
| #define BMI260_INT2_OD BIT(2) |
| #define BMI260_INT2_OUTPUT_EN BIT(3) |
| #define BMI260_INT2_INPUT_EN BIT(4) |
| |
| #define BMI260_INT_LATCH 0x55 |
| #define BMI260_INT_LATCH_EN BIT(0) |
| |
| #define BMI260_INT1_MAP_FEAT 0x56 |
| #define BMI260_INT2_MAP_FEAT 0x57 |
| #define BMI260_MAP_SIG_MOTION_OUT BIT(0) |
| #define BMI260_MAP_STEP_COUNTER_OUT BIT(1) |
| #define BMI260_MAP_HIGH_LOW_G_OUT BIT(2) |
| #define BMI260_MAP_TAP_OUT BIT(3) |
| #define BMI260_MAP_FLAT_OUT BIT(4) |
| #define BMI260_MAP_NO_MOTION_OUT BIT(5) |
| #define BMI260_MAP_ANY_MOTION_OUT BIT(6) |
| #define BMI260_MAP_ORIENTAION_OUT BIT(7) |
| |
| #define BMI260_INT_MAP_DATA 0x58 |
| #define BMI260_MAP_FFULL_INT BIT(0) |
| #define BMI260_MAP_FWM_INT BIT(1) |
| #define BMI260_MAP_DRDY_INT BIT(2) |
| #define BMI260_MAP_ERR_INT BIT(3) |
| #define BMI260_INT_MAP_DATA_INT1_OFFSET 0 |
| #define BMI260_INT_MAP_DATA_INT2_OFFSET 4 |
| #define BMI260_INT_MAP_DATA_REG(_i, _bit) \ |
| (CONCAT3(BMI260_MAP_, _bit, _INT) << \ |
| CONCAT3(BMI260_INT_MAP_DATA_INT, _i, _OFFSET)) |
| |
| #define BMI260_INIT_CTRL 0x59 |
| #define BMI260_INIT_ADDR_0 0x5b |
| #define BMI260_INIT_ADDR_1 0x5c |
| #define BMI260_INIT_DATA 0x5e |
| #define BMI260_INTERNAL_ERROR 0x5f |
| #define BMI260_INT_ERR_1 BIT(1) |
| #define BMI260_INT_ERR_2 BIT(2) |
| #define BMI260_FEAT_ENG_DISABLED BIT(4) |
| |
| #define BMI260_AUX_IF_TRIM 0x68 |
| #define BMI260_GYR_CRT_CONF 0x69 |
| |
| #define BMI260_NVM_CONF 0x6a |
| #define BMI260_NVM_PROG_EN BIT(1) |
| |
| #define BMI260_IF_CONF 0x6b |
| #define BMI260_IF_SPI3 BIT(0) |
| #define BMI260_IF_SPI3_OIS BIT(1) |
| #define BMI260_IF_OIS_EN BIT(4) |
| #define BMI260_IF_AUX_EN BIT(5) |
| |
| #define BMI260_DRV 0x6c |
| #define BMI260_ACC_SELF_TEST 0x6d |
| |
| #define BMI260_NV_CONF 0x70 |
| #define BMI260_ACC_OFFSET_EN BIT(3) |
| |
| #define BMI260_OFFSET_ACC70 0x71 |
| #define BMI260_OFFSET_GYR70 0x74 |
| #define BMI260_OFFSET_EN_GYR98 0x77 |
| #define BMI260_OFFSET_GYRO_EN BIT(6) |
| #define BMI260_GYR_GAIN_EN BIT(7) |
| |
| #define BMI260_PWR_CONF 0x7c |
| #define BMI260_ADV_POWER_SAVE BIT(0) |
| #define BMI260_FIFO_SELF_WAKE_UP BIT(1) |
| #define BMI260_FUP_EN BIT(2) |
| |
| #define BMI260_PWR_CTRL 0x7d |
| #define BMI260_AUX_EN BIT(0) |
| #define BMI260_GYR_EN BIT(1) |
| #define BMI260_ACC_EN BIT(2) |
| #define BMI260_PWR_EN(_sensor_type) BIT(2 - _sensor_type) |
| #define BMI260_TEMP_EN BIT(3) |
| |
| #define BMI260_CMD_REG 0x7e |
| #define BMI260_CMD_FIFO_FLUSH 0xb0 |
| #define BMI260_CMD_SOFT_RESET 0xb6 |
| |
| #define BMI260_FF_FRAME_LEN_TS 4 |
| #define BMI260_FF_DATA_LEN_ACC 6 |
| #define BMI260_FF_DATA_LEN_GYR 6 |
| #define BMI260_FF_DATA_LEN_MAG 8 |
| |
| /* Root mean square noise of 100Hz accelerometer, units: ug */ |
| #define BMI260_ACCEL_RMS_NOISE_100HZ 1060 |
| |
| extern const struct accelgyro_drv bmi260_drv; |
| |
| void bmi260_interrupt(enum gpio_signal signal); |
| |
| #ifdef CONFIG_CMD_I2C_STRESS_TEST_ACCEL |
| extern struct i2c_stress_test_dev bmi260_i2c_stress_test_dev; |
| #endif |
| |
| #endif /* __CROS_EC_ACCELGYRO_BMI260_H */ |
