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

 /* 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.
  */
 /* BMI accelerometer and gyro common definitions for Chrome EC */

 #ifndef __CROS_EC_ACCELGYRO_BMI_COMMON_H
 #define __CROS_EC_ACCELGYRO_BMI_COMMON_H

 #include "accelgyro.h"
 #include "driver/accelgyro_bmi160.h"
 #include "driver/accelgyro_bmi260.h"
 #include "mag_bmm150.h"

 #define BMI_CONF_REG(_sensor)      (0x40 + 2 * (_sensor))
 #define BMI_RANGE_REG(_sensor)     (0x41 + 2 * (_sensor))

 #define BMI_ODR_MASK         0x0F
 /* odr = 100 / (1 << (8 - reg)) , within limit */
 #define BMI_ODR_0_78HZ       0x01
 #define BMI_ODR_100HZ        0x08

 #define BMI_REG_TO_ODR(_regval) \
 	((_regval) < BMI_ODR_100HZ ? 100000 / (1 << (8 - (_regval))) : \
 					100000 * (1 << ((_regval) - 8)))
 #define BMI_ODR_TO_REG(_odr) \
 	((_odr) < 100000 ? (__builtin_clz(100000 / ((_odr) + 1)) - 24) : \
 			   (39 - __builtin_clz((_odr) / 100000)))

 enum fifo_header {
 	BMI_FH_EMPTY = 0x80,
 	BMI_FH_SKIP = 0x40,
 	BMI_FH_TIME = 0x44,
 	BMI_FH_CONFIG = 0x48
 };

 #define BMI_FH_MODE_MASK     0xc0
 #define BMI_FH_PARM_OFFSET       2
 #define BMI_FH_PARM_MASK         (0x7 << BMI_FH_PARM_OFFSET)
 #define BMI_FH_EXT_MASK      0x03

 /* Sensor resolution in number of bits. This sensor has fixed resolution. */
 #define BMI_RESOLUTION      16
 /* Min and Max sampling frequency in mHz */
 #define BMI_ACCEL_MIN_FREQ 12500
 #define BMI_ACCEL_MAX_FREQ MOTION_MAX_SENSOR_FREQUENCY(1600000, 100000)
 #define BMI_GYRO_MIN_FREQ  25000
 #define BMI_GYRO_MAX_FREQ MOTION_MAX_SENSOR_FREQUENCY(3200000, 100000)

 enum bmi_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 BMI_FLAG_SEC_I2C_ENABLED    BIT(0)
 #define BMI_FIFO_FLAG_OFFSET        4
 #define BMI_FIFO_ALL_MASK           7

 struct bmi_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_BMI_BMM150
 	struct bmm150_private_data compass;
 #endif
 #ifdef CONFIG_BMI_ORIENTATION_SENSOR
 	uint8_t raw_orientation;
 	enum motionsensor_orientation orientation;
 	enum motionsensor_orientation last_orientation;
 #endif

 };

 #define BMI_GET_DATA(_s) \
 	((struct bmi_drv_data_t *)(_s)->drv_data)
 #define BMI_GET_SAVED_DATA(_s) \
 	(&BMI_GET_DATA(_s)->saved_data[(_s)->type])

 #ifdef CONFIG_BMI_ORIENTATION_SENSOR
 #define ORIENTATION_CHANGED(_sensor) \
 	(BMI_GET_DATA(_sensor)->orientation != \
 	BMI_GET_DATA(_sensor)->last_orientation)

 #define GET_ORIENTATION(_sensor) \
 	(BMI_GET_DATA(_sensor)->orientation)

 #define SET_ORIENTATION(_sensor, _val) \
 	(BMI_GET_DATA(_sensor)->orientation = _val)

 #define SET_ORIENTATION_UPDATED(_sensor) \
 	(BMI_GET_DATA(_sensor)->last_orientation = \
 	BMI_GET_DATA(_sensor)->orientation)
 #endif

 #define BMI_ACC_DATA(v) (BMI160_ACC_X_L_G + \
 	(v) * (BMI260_ACC_X_L_G - BMI160_ACC_X_L_G))
 #define BMI_GYR_DATA(v) (BMI160_GYR_X_L_G + \
 	(v) * (BMI260_GYR_X_L_G - BMI160_GYR_X_L_G))
 #define BMI_AUX_DATA(v) (BMI160_MAG_X_L_G + \
 	(v) * (BMI260_AUX_X_L_G - BMI160_MAG_X_L_G))

 #define BMI_FIFO_CONFIG_0(v) (BMI160_FIFO_CONFIG_0 + \
 	(v) * (BMI260_FIFO_CONFIG_0 - BMI160_FIFO_CONFIG_0))
 #define BMI_FIFO_CONFIG_1(v) (BMI160_FIFO_CONFIG_1 + \
 	(v) * (BMI260_FIFO_CONFIG_1 - BMI160_FIFO_CONFIG_1))
 #define BMI_FIFO_SENSOR_EN(v, _sensor) (BMI160_FIFO_SENSOR_EN(_sensor) + \
 	(v) * (BMI260_FIFO_SENSOR_EN(_sensor) - BMI160_FIFO_SENSOR_EN(_sensor)))

 #define BMI_TEMPERATURE_0(v) (BMI160_TEMPERATURE_0 + \
 	(v) * (BMI260_TEMPERATURE_0 - BMI160_TEMPERATURE_0))
 #define BMI_INVALID_TEMP     0x8000

 #define BMI_STATUS(v) (BMI160_STATUS + \
 	(v) * (BMI260_STATUS - BMI160_STATUS))
 #define BMI_DRDY_OFF(_sensor)   (7 - (_sensor))
 #define BMI_DRDY_MASK(_sensor)  (1 << BMI160_DRDY_OFF(_sensor))

 #define BMI_OFFSET_ACC70(v) (BMI160_OFFSET_ACC70 + \
 	(v) * (BMI260_OFFSET_ACC70 - BMI160_OFFSET_ACC70))
 #define BMI_OFFSET_GYR70(v) (BMI160_OFFSET_GYR70 + \
 	(v) * (BMI260_OFFSET_GYR70 - BMI160_OFFSET_GYR70))
 /*
  * There is some bits in this register that differ between BMI160 and BMI260
  * Only use this macro for gyro offset 9:8 (BMI_OFFSET_EN_GYR98 5:0).
  */
 #define BMI_OFFSET_EN_GYR98(v) (BMI160_OFFSET_EN_GYR98 + \
 	(v) * (BMI260_OFFSET_EN_GYR98 - BMI160_OFFSET_EN_GYR98))
 #define BMI_OFFSET_GYR98_MASK     (BIT(6) - 1)
 #define BMI_OFFSET_ACC_MULTI_MG   (3900 * 1024)
 #define BMI_OFFSET_ACC_DIV_MG     1000000
 #define BMI_OFFSET_GYRO_MULTI_MDS (61 * 1024)
 #define BMI_OFFSET_GYRO_DIV_MDS   1000

 #define BMI_FIFO_LENGTH_0(v) (BMI160_FIFO_LENGTH_0 + \
 	(v) * (BMI260_FIFO_LENGTH_0 - BMI160_FIFO_LENGTH_0))
 #define BMI_FIFO_LENGTH_MASK(v) (BMI160_FIFO_LENGTH_MASK + \
 	(v) * (BMI260_FIFO_LENGTH_MASK - BMI160_FIFO_LENGTH_MASK))
 #define BMI_FIFO_DATA(v) (BMI160_FIFO_DATA + \
 	(v) * (BMI260_FIFO_DATA - BMI160_FIFO_DATA))

 #define BMI_CMD_REG(v) (BMI160_CMD_REG + \
 	(v) * (BMI260_CMD_REG - BMI160_CMD_REG))
 #define BMI_CMD_FIFO_FLUSH 0xb0

 #define BMI_ACCEL_RMS_NOISE_100HZ(v) (BMI160_ACCEL_RMS_NOISE_100HZ + \
 	(v) * (BMI260_ACCEL_RMS_NOISE_100HZ - BMI160_ACCEL_RMS_NOISE_100HZ))
 #define BMI_ACCEL_100HZ 100

 /*
  * Struct for pairing an engineering value with the register value for a
  * parameter.
  */
 struct bmi_accel_param_pair {
 	int val; /* Value in engineering units. */
 	int reg_val; /* Corresponding register value. */
 };

 int bmi_get_xyz_reg(const struct motion_sensor_t *s);

 /**
  * @param type   Accel/Gyro
  * @param psize  Size of the table
  *
  * @return       Range table of the type.
  */
 const struct bmi_accel_param_pair *bmi_get_range_table(
 		const struct motion_sensor_t *s, int *psize);

 /**
  * @return reg value that matches the given engineering value passed in.
  * The round_up flag is used to specify whether to round up or down.
  * Note, this function always returns a valid reg value. If the request is
  * outside the range of values, it returns the closest valid reg value.
  */
 int bmi_get_reg_val(const int eng_val, const int round_up,
 		    const struct bmi_accel_param_pair *pairs,
 		    const int size);

 /**
  * @return engineering value that matches the given reg val
  */
 int bmi_get_engineering_val(const int reg_val,
 			    const struct bmi_accel_param_pair *pairs,
 			    const int size);

 #ifdef CONFIG_SPI_ACCEL_PORT
 int bmi_spi_raw_read(const int addr, const uint8_t reg,
 		     uint8_t *data, const int len);
 #endif

 /**
  * Read 8bit register from accelerometer.
  */
 int bmi_read8(const int port, const uint16_t i2c_spi_addr_flags,
 	      const int reg, int *data_ptr);

 /**
  * Write 8bit register from accelerometer.
  */
 int bmi_write8(const int port, const uint16_t i2c_spi_addr_flags,
 	       const int reg, int data);

 /**
  * Read 16bit register from accelerometer.
  */
 int bmi_read16(const int port, const uint16_t i2c_spi_addr_flags,
 	       const uint8_t reg, int *data_ptr);

 /**
  * Write 16bit register from accelerometer.
  */
 int bmi_write16(const int port, const uint16_t i2c_spi_addr_flags,
 		const int reg, int data);

 /**
  * Read 32bit register from accelerometer.
  */
 int bmi_read32(const int port, const uint16_t i2c_spi_addr_flags,
 	       const uint8_t reg, int *data_ptr);

 /**
  * Read n bytes from accelerometer.
  */
 int bmi_read_n(const int port, const uint16_t i2c_spi_addr_flags,
 	       const uint8_t reg, uint8_t *data_ptr, const int len);

 /**
  * Write n bytes from accelerometer.
  */
 int bmi_write_n(const int port, const uint16_t i2c_spi_addr_flags,
 		const uint8_t reg, const uint8_t *data_ptr, const int len);

 /*
  * Enable/Disable specific bit set of a 8-bit reg.
  */
 int bmi_enable_reg8(const struct motion_sensor_t *s,
 		    int reg, uint8_t bits, int enable);

 /*
  * Set specific bit set to certain value of a 8-bit reg.
  */
 int bmi_set_reg8(const struct motion_sensor_t *s, int reg,
 		 uint8_t bits, int mask);

 /*
  * @s: base sensor.
  * @v: output vector.
  * @input: 6-bits array input.
  */
 void bmi_normalize(const struct motion_sensor_t *s, intv3_t v, uint8_t *input);

 /*
  * Decode the header from the fifo.
  * Return 0 if we need further processing.
  * Sensor mutex must be held during processing, to protect the fifos.
  *
  * @accel: base sensor
  * @hdr: the header to decode
  * @last_ts: the last timestamp of fifo interrupt.
  * @bp: current pointer in the buffer, updated when processing the header.
  * @ep: pointer to the end of the valid data in the buffer.
  */
 int bmi_decode_header(struct motion_sensor_t *accel,
 		      enum fifo_header hdr, uint32_t last_ts,
 		      uint8_t **bp, uint8_t *ep);
 /**
  * Retrieve hardware FIFO from sensor,
  * - put data in Sensor Hub fifo.
  * - update sensor raw_xyz vector with the last information.
  * We put raw data in hub fifo and process data from there.
  * @s: Pointer to sensor data.
  * @last_ts: The last timestamp of fifo interrupt.
  *
  * Read only up to  bmi_buffer. If more reads are needed, we will be called
  * again by the interrupt routine.
  *
  * NOTE: If a new driver supports this function, be sure to add a check
  * for spoof_mode in order to load the sensor stack with the spoofed
  * data.  See accelgyro_bmi260.c::load_fifo for an example.
  */
 int bmi_load_fifo(struct motion_sensor_t *s, uint32_t last_ts);

 int bmi_set_range(const struct motion_sensor_t *s, int range, int rnd);

 int bmi_get_range(const struct motion_sensor_t *s);

 int bmi_get_data_rate(const struct motion_sensor_t *s);


 int bmi_get_offset(const struct motion_sensor_t *s,
 		   int16_t *offset, int16_t *temp);

 int bmi_get_resolution(const struct motion_sensor_t *s);

 #ifdef CONFIG_BODY_DETECTION
 int bmi_get_rms_noise(const struct motion_sensor_t *s);
 #endif

 int bmi_set_scale(const struct motion_sensor_t *s,
 		  const uint16_t *scale, int16_t temp);

 int bmi_get_scale(const struct motion_sensor_t *s,
 		  uint16_t *scale, int16_t *temp);

 /* Start/Stop the FIFO collecting events */
 int bmi_enable_fifo(const struct motion_sensor_t *s, int enable);

 /* Read the xyz data of accel/gyro */
 int bmi_read(const struct motion_sensor_t *s, intv3_t v);

 /* Read temperature of sensor s */
 int bmi_read_temp(const struct motion_sensor_t *s, int *temp_ptr);

 /* Read temperature of sensor idx */
 int bmi_get_sensor_temp(int idx, int *temp_ptr);

 /*
  * Get the normalized rate according to input rate and input rnd
  * @rate: input rate
  * @rnd: round up
  * @normalized_rate_ptr: normalized rate pointer for output
  * @reg_val_ptr: pointer to the actual register value of normalized rate for
  *               output.
  */
 int bmi_get_normalized_rate(const struct motion_sensor_t *s, int rate, int rnd,
 			    int *normalized_rate_ptr, uint8_t *reg_val_ptr);

 /* Get the accelerometer offset */
 void bmi_accel_get_offset(const struct motion_sensor_t *accel, intv3_t v);

 /* Get the gyroscope offset */
 void bmi_gyro_get_offset(const struct motion_sensor_t *gyro, intv3_t v);

 /* Set the accelerometer offset */
 void bmi_set_accel_offset(const struct motion_sensor_t *accel, intv3_t v);

 /* Set the gyroscope offset */
 void bmi_set_gyro_offset(const struct motion_sensor_t *gyro, intv3_t v,
 			 int *val98_ptr);

 #endif /* __CROS_EC_ACCELGYRO_BMI_COMMON_H */
	/* 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.
	*/
	/* BMI accelerometer and gyro common definitions for Chrome EC */

	#ifndef __CROS_EC_ACCELGYRO_BMI_COMMON_H
	#define __CROS_EC_ACCELGYRO_BMI_COMMON_H

	#include "accelgyro.h"
	#include "driver/accelgyro_bmi160.h"
	#include "driver/accelgyro_bmi260.h"
	#include "mag_bmm150.h"

	#define BMI_CONF_REG(_sensor) (0x40 + 2 * (_sensor))
	#define BMI_RANGE_REG(_sensor) (0x41 + 2 * (_sensor))

	#define BMI_ODR_MASK 0x0F
	/* odr = 100 / (1 << (8 - reg)) , within limit */
	#define BMI_ODR_0_78HZ 0x01
	#define BMI_ODR_100HZ 0x08

	#define BMI_REG_TO_ODR(_regval) \
	((_regval) < BMI_ODR_100HZ ? 100000 / (1 << (8 - (_regval))) : \
	100000 * (1 << ((_regval) - 8)))
	#define BMI_ODR_TO_REG(_odr) \
	((_odr) < 100000 ? (__builtin_clz(100000 / ((_odr) + 1)) - 24) : \
	(39 - __builtin_clz((_odr) / 100000)))

	enum fifo_header {
	BMI_FH_EMPTY = 0x80,
	BMI_FH_SKIP = 0x40,
	BMI_FH_TIME = 0x44,
	BMI_FH_CONFIG = 0x48
	};

	#define BMI_FH_MODE_MASK 0xc0
	#define BMI_FH_PARM_OFFSET 2
	#define BMI_FH_PARM_MASK (0x7 << BMI_FH_PARM_OFFSET)
	#define BMI_FH_EXT_MASK 0x03

	/* Sensor resolution in number of bits. This sensor has fixed resolution. */
	#define BMI_RESOLUTION 16
	/* Min and Max sampling frequency in mHz */
	#define BMI_ACCEL_MIN_FREQ 12500
	#define BMI_ACCEL_MAX_FREQ MOTION_MAX_SENSOR_FREQUENCY(1600000, 100000)
	#define BMI_GYRO_MIN_FREQ 25000
	#define BMI_GYRO_MAX_FREQ MOTION_MAX_SENSOR_FREQUENCY(3200000, 100000)

	enum bmi_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 BMI_FLAG_SEC_I2C_ENABLED BIT(0)
	#define BMI_FIFO_FLAG_OFFSET 4
	#define BMI_FIFO_ALL_MASK 7

	struct bmi_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_BMI_BMM150
	struct bmm150_private_data compass;
	#endif
	#ifdef CONFIG_BMI_ORIENTATION_SENSOR
	uint8_t raw_orientation;
	enum motionsensor_orientation orientation;
	enum motionsensor_orientation last_orientation;
	#endif

	};

	#define BMI_GET_DATA(_s) \
	((struct bmi_drv_data_t *)(_s)->drv_data)
	#define BMI_GET_SAVED_DATA(_s) \
	(&BMI_GET_DATA(_s)->saved_data[(_s)->type])

	#ifdef CONFIG_BMI_ORIENTATION_SENSOR
	#define ORIENTATION_CHANGED(_sensor) \
	(BMI_GET_DATA(_sensor)->orientation != \
	BMI_GET_DATA(_sensor)->last_orientation)

	#define GET_ORIENTATION(_sensor) \
	(BMI_GET_DATA(_sensor)->orientation)

	#define SET_ORIENTATION(_sensor, _val) \
	(BMI_GET_DATA(_sensor)->orientation = _val)

	#define SET_ORIENTATION_UPDATED(_sensor) \
	(BMI_GET_DATA(_sensor)->last_orientation = \
	BMI_GET_DATA(_sensor)->orientation)
	#endif

	#define BMI_ACC_DATA(v) (BMI160_ACC_X_L_G + \
	(v) * (BMI260_ACC_X_L_G - BMI160_ACC_X_L_G))
	#define BMI_GYR_DATA(v) (BMI160_GYR_X_L_G + \
	(v) * (BMI260_GYR_X_L_G - BMI160_GYR_X_L_G))
	#define BMI_AUX_DATA(v) (BMI160_MAG_X_L_G + \
	(v) * (BMI260_AUX_X_L_G - BMI160_MAG_X_L_G))

	#define BMI_FIFO_CONFIG_0(v) (BMI160_FIFO_CONFIG_0 + \
	(v) * (BMI260_FIFO_CONFIG_0 - BMI160_FIFO_CONFIG_0))
	#define BMI_FIFO_CONFIG_1(v) (BMI160_FIFO_CONFIG_1 + \
	(v) * (BMI260_FIFO_CONFIG_1 - BMI160_FIFO_CONFIG_1))
	#define BMI_FIFO_SENSOR_EN(v, _sensor) (BMI160_FIFO_SENSOR_EN(_sensor) + \
	(v) * (BMI260_FIFO_SENSOR_EN(_sensor) - BMI160_FIFO_SENSOR_EN(_sensor)))

	#define BMI_TEMPERATURE_0(v) (BMI160_TEMPERATURE_0 + \
	(v) * (BMI260_TEMPERATURE_0 - BMI160_TEMPERATURE_0))
	#define BMI_INVALID_TEMP 0x8000

	#define BMI_STATUS(v) (BMI160_STATUS + \
	(v) * (BMI260_STATUS - BMI160_STATUS))
	#define BMI_DRDY_OFF(_sensor) (7 - (_sensor))
	#define BMI_DRDY_MASK(_sensor) (1 << BMI160_DRDY_OFF(_sensor))

	#define BMI_OFFSET_ACC70(v) (BMI160_OFFSET_ACC70 + \
	(v) * (BMI260_OFFSET_ACC70 - BMI160_OFFSET_ACC70))
	#define BMI_OFFSET_GYR70(v) (BMI160_OFFSET_GYR70 + \
	(v) * (BMI260_OFFSET_GYR70 - BMI160_OFFSET_GYR70))
	/*
	* There is some bits in this register that differ between BMI160 and BMI260
	* Only use this macro for gyro offset 9:8 (BMI_OFFSET_EN_GYR98 5:0).
	*/
	#define BMI_OFFSET_EN_GYR98(v) (BMI160_OFFSET_EN_GYR98 + \
	(v) * (BMI260_OFFSET_EN_GYR98 - BMI160_OFFSET_EN_GYR98))
	#define BMI_OFFSET_GYR98_MASK (BIT(6) - 1)
	#define BMI_OFFSET_ACC_MULTI_MG (3900 * 1024)
	#define BMI_OFFSET_ACC_DIV_MG 1000000
	#define BMI_OFFSET_GYRO_MULTI_MDS (61 * 1024)
	#define BMI_OFFSET_GYRO_DIV_MDS 1000

	#define BMI_FIFO_LENGTH_0(v) (BMI160_FIFO_LENGTH_0 + \
	(v) * (BMI260_FIFO_LENGTH_0 - BMI160_FIFO_LENGTH_0))
	#define BMI_FIFO_LENGTH_MASK(v) (BMI160_FIFO_LENGTH_MASK + \
	(v) * (BMI260_FIFO_LENGTH_MASK - BMI160_FIFO_LENGTH_MASK))
	#define BMI_FIFO_DATA(v) (BMI160_FIFO_DATA + \
	(v) * (BMI260_FIFO_DATA - BMI160_FIFO_DATA))

	#define BMI_CMD_REG(v) (BMI160_CMD_REG + \
	(v) * (BMI260_CMD_REG - BMI160_CMD_REG))
	#define BMI_CMD_FIFO_FLUSH 0xb0

	#define BMI_ACCEL_RMS_NOISE_100HZ(v) (BMI160_ACCEL_RMS_NOISE_100HZ + \
	(v) * (BMI260_ACCEL_RMS_NOISE_100HZ - BMI160_ACCEL_RMS_NOISE_100HZ))
	#define BMI_ACCEL_100HZ 100

	/*
	* Struct for pairing an engineering value with the register value for a
	* parameter.
	*/
	struct bmi_accel_param_pair {
	int val; /* Value in engineering units. */
	int reg_val; /* Corresponding register value. */
	};

	int bmi_get_xyz_reg(const struct motion_sensor_t *s);

	/**
	* @param type Accel/Gyro
	* @param psize Size of the table
	*
	* @return Range table of the type.
	*/
	const struct bmi_accel_param_pair *bmi_get_range_table(
	const struct motion_sensor_t s, int psize);

	/**
	* @return reg value that matches the given engineering value passed in.
	* The round_up flag is used to specify whether to round up or down.
	* Note, this function always returns a valid reg value. If the request is
	* outside the range of values, it returns the closest valid reg value.
	*/
	int bmi_get_reg_val(const int eng_val, const int round_up,
	const struct bmi_accel_param_pair *pairs,
	const int size);

	/**
	* @return engineering value that matches the given reg val
	*/
	int bmi_get_engineering_val(const int reg_val,
	const struct bmi_accel_param_pair *pairs,
	const int size);

	#ifdef CONFIG_SPI_ACCEL_PORT
	int bmi_spi_raw_read(const int addr, const uint8_t reg,
	uint8_t *data, const int len);
	#endif

	/**
	* Read 8bit register from accelerometer.
	*/
	int bmi_read8(const int port, const uint16_t i2c_spi_addr_flags,
	const int reg, int *data_ptr);

	/**
	* Write 8bit register from accelerometer.
	*/
	int bmi_write8(const int port, const uint16_t i2c_spi_addr_flags,
	const int reg, int data);

	/**
	* Read 16bit register from accelerometer.
	*/
	int bmi_read16(const int port, const uint16_t i2c_spi_addr_flags,
	const uint8_t reg, int *data_ptr);

	/**
	* Write 16bit register from accelerometer.
	*/
	int bmi_write16(const int port, const uint16_t i2c_spi_addr_flags,
	const int reg, int data);

	/**
	* Read 32bit register from accelerometer.
	*/
	int bmi_read32(const int port, const uint16_t i2c_spi_addr_flags,
	const uint8_t reg, int *data_ptr);

	/**
	* Read n bytes from accelerometer.
	*/
	int bmi_read_n(const int port, const uint16_t i2c_spi_addr_flags,
	const uint8_t reg, uint8_t *data_ptr, const int len);

	/**
	* Write n bytes from accelerometer.
	*/
	int bmi_write_n(const int port, const uint16_t i2c_spi_addr_flags,
	const uint8_t reg, const uint8_t *data_ptr, const int len);

	/*
	* Enable/Disable specific bit set of a 8-bit reg.
	*/
	int bmi_enable_reg8(const struct motion_sensor_t *s,
	int reg, uint8_t bits, int enable);

	/*
	* Set specific bit set to certain value of a 8-bit reg.
	*/
	int bmi_set_reg8(const struct motion_sensor_t *s, int reg,
	uint8_t bits, int mask);

	/*
	* @s: base sensor.
	* @v: output vector.
	* @input: 6-bits array input.
	*/
	void bmi_normalize(const struct motion_sensor_t s, intv3_t v, uint8_t input);

	/*
	* Decode the header from the fifo.
	* Return 0 if we need further processing.
	* Sensor mutex must be held during processing, to protect the fifos.
	*
	* @accel: base sensor
	* @hdr: the header to decode
	* @last_ts: the last timestamp of fifo interrupt.
	* @bp: current pointer in the buffer, updated when processing the header.
	* @ep: pointer to the end of the valid data in the buffer.
	*/
	int bmi_decode_header(struct motion_sensor_t *accel,
	enum fifo_header hdr, uint32_t last_ts,
	uint8_t *bp, uint8_t ep);
	/**
	* Retrieve hardware FIFO from sensor,
	* - put data in Sensor Hub fifo.
	* - update sensor raw_xyz vector with the last information.
	* We put raw data in hub fifo and process data from there.
	* @s: Pointer to sensor data.
	* @last_ts: The last timestamp of fifo interrupt.
	*
	* Read only up to bmi_buffer. If more reads are needed, we will be called
	* again by the interrupt routine.
	*
	* NOTE: If a new driver supports this function, be sure to add a check
	* for spoof_mode in order to load the sensor stack with the spoofed
	* data. See accelgyro_bmi260.c::load_fifo for an example.
	*/
	int bmi_load_fifo(struct motion_sensor_t *s, uint32_t last_ts);

	int bmi_set_range(const struct motion_sensor_t *s, int range, int rnd);

	int bmi_get_range(const struct motion_sensor_t *s);

	int bmi_get_data_rate(const struct motion_sensor_t *s);


	int bmi_get_offset(const struct motion_sensor_t *s,
	int16_t offset, int16_t temp);

	int bmi_get_resolution(const struct motion_sensor_t *s);

	#ifdef CONFIG_BODY_DETECTION
	int bmi_get_rms_noise(const struct motion_sensor_t *s);
	#endif

	int bmi_set_scale(const struct motion_sensor_t *s,
	const uint16_t *scale, int16_t temp);

	int bmi_get_scale(const struct motion_sensor_t *s,
	uint16_t scale, int16_t temp);

	/* Start/Stop the FIFO collecting events */
	int bmi_enable_fifo(const struct motion_sensor_t *s, int enable);

	/* Read the xyz data of accel/gyro */
	int bmi_read(const struct motion_sensor_t *s, intv3_t v);

	/* Read temperature of sensor s */
	int bmi_read_temp(const struct motion_sensor_t s, int temp_ptr);

	/* Read temperature of sensor idx */
	int bmi_get_sensor_temp(int idx, int *temp_ptr);

	/*
	* Get the normalized rate according to input rate and input rnd
	* @rate: input rate
	* @rnd: round up
	* @normalized_rate_ptr: normalized rate pointer for output
	* @reg_val_ptr: pointer to the actual register value of normalized rate for
	* output.
	*/
	int bmi_get_normalized_rate(const struct motion_sensor_t *s, int rate, int rnd,
	int normalized_rate_ptr, uint8_t reg_val_ptr);

	/* Get the accelerometer offset */
	void bmi_accel_get_offset(const struct motion_sensor_t *accel, intv3_t v);

	/* Get the gyroscope offset */
	void bmi_gyro_get_offset(const struct motion_sensor_t *gyro, intv3_t v);

	/* Set the accelerometer offset */
	void bmi_set_accel_offset(const struct motion_sensor_t *accel, intv3_t v);

	/* Set the gyroscope offset */
	void bmi_set_gyro_offset(const struct motion_sensor_t *gyro, intv3_t v,
	int *val98_ptr);

	#endif /* __CROS_EC_ACCELGYRO_BMI_COMMON_H */