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409 lines
9.3 KiB
409 lines
9.3 KiB
/*!
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* @section LICENSE
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* (C) Copyright 2011~2016 Bosch Sensortec GmbH All Rights Reserved
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*
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* This software program is licensed subject to the GNU General
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* Public License (GPL).Version 2,June 1991,
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* available at http://www.fsf.org/copyleft/gpl.html
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*
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* @filename bmi160_driver.h
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* @date 2015/08/17 14:40
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* @id "e90a329"
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* @version 1.3
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*
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* @brief
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* The head file of BMI160 device driver core code
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*/
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#ifndef _BMI160_DRIVER_H
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#define _BMI160_DRIVER_H
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#ifdef __KERNEL__
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#include <linux/kernel.h>
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#include <linux/unistd.h>
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#include <linux/types.h>
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#include <linux/string.h>
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#else
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#include <unistd.h>
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#include <sys/types.h>
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#include <string.h>
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#endif
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#include <linux/version.h>
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#include <linux/module.h>
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#include <linux/init.h>
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#include <linux/i2c.h>
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#include <linux/interrupt.h>
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#include <linux/input.h>
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#include <linux/workqueue.h>
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#include <linux/mutex.h>
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#include <linux/slab.h>
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#include <linux/delay.h>
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#include <linux/time.h>
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#include <linux/ktime.h>
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#ifdef CONFIG_HAS_EARLYSUSPEND
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#include <linux/earlysuspend.h>
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#endif
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#include "bmi160.h"
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#if defined(CONFIG_USE_QUALCOMM_HAL)
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#include <linux/sensors.h>
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#endif
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/* sensor specific */
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#define SENSOR_NAME "bmi160"
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#define BMI160_ENABLE_INT1 1
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//#define BMI160_ENABLE_INT2 1
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/*#define BMI160_MAG_INTERFACE_SUPPORT 1*/
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/*#define BMI160_AKM09912_SUPPORT 1*/
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#define BMI_USE_BASIC_I2C_FUNC 1
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#define SENSOR_CHIP_ID_BMI (0xD0)
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#define SENSOR_CHIP_ID_BMI_C2 (0xD1)
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#define SENSOR_CHIP_ID_BMI_C3 (0xD3)
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#define SENSOR_CHIP_REV_ID_BMI (0x00)
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#define CHECK_CHIP_ID_TIME_MAX 5
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#define BMI_REG_NAME(name) BMI160_##name##__REG
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#define BMI_VAL_NAME(name) BMI160_##name
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#define BMI_CALL_API(name) bmi160_##name
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#define BMI_I2C_WRITE_DELAY_TIME (1)
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/* generic */
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#define BMI_MAX_RETRY_I2C_XFER (10)
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#define BMI_MAX_RETRY_WAKEUP (5)
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#define BMI_MAX_RETRY_WAIT_DRDY (100)
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#define BMI_DELAY_MIN (1)
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#define BMI_DELAY_DEFAULT (200)
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#define BMI_VALUE_MAX (32767)
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#define BMI_VALUE_MIN (-32768)
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#define BYTES_PER_LINE (16)
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#define BUF_SIZE_PRINT (16)
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#define BMI_FAST_CALI_TRUE (1)
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#define BMI_FAST_CALI_ALL_RDY (7)
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/*! FIFO 1024 byte, max fifo frame count not over 150 */
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#define FIFO_FRAME_CNT 170
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#define FIFO_DATA_BUFSIZE 1024
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#define FRAME_LEN_ACC 6
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#define FRAME_LEN_GYRO 6
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#define FRAME_LEN_MAG 8
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/*! BMI Self test */
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#define BMI_SELFTEST_AMP_HIGH 1
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/* CMD */
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#define CMD_FOC_START 0x03
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#define CMD_PMU_ACC_SUSPEND 0x10
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#define CMD_PMU_ACC_NORMAL 0x11
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#define CMD_PMU_ACC_LP1 0x12
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#define CMD_PMU_ACC_LP2 0x13
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#define CMD_PMU_GYRO_SUSPEND 0x14
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#define CMD_PMU_GYRO_NORMAL 0x15
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#define CMD_PMU_GYRO_FASTSTART 0x17
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#define CMD_PMU_MAG_SUSPEND 0x18
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#define CMD_PMU_MAG_NORMAL 0x19
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#define CMD_PMU_MAG_LP1 0x1A
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#define CMD_PMU_MAG_LP2 0x1B
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#define CMD_CLR_FIFO_DATA 0xB0
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#define CMD_RESET_INT_ENGINE 0xB1
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#define CMD_RESET_USER_REG 0xB6
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#define USER_DAT_CFG_PAGE 0x00
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/*! FIFO Head definition*/
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#define FIFO_HEAD_A 0x84
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#define FIFO_HEAD_G 0x88
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#define FIFO_HEAD_M 0x90
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#define FIFO_HEAD_G_A (FIFO_HEAD_G | FIFO_HEAD_A)
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#define FIFO_HEAD_M_A (FIFO_HEAD_M | FIFO_HEAD_A)
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#define FIFO_HEAD_M_G (FIFO_HEAD_M | FIFO_HEAD_G)
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#define FIFO_HEAD_M_G_A (FIFO_HEAD_M | FIFO_HEAD_G | FIFO_HEAD_A)
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#define FIFO_HEAD_SENSOR_TIME 0x44
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#define FIFO_HEAD_SKIP_FRAME 0x40
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#define FIFO_HEAD_OVER_READ_LSB 0x80
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#define FIFO_HEAD_OVER_READ_MSB 0x00
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/*! FIFO head mode Frame bytes number definition */
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#define A_BYTES_FRM 6
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#define G_BYTES_FRM 6
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#define M_BYTES_FRM 8
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#define GA_BYTES_FRM 12
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#define MG_BYTES_FRM 14
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#define MA_BYTES_FRM 14
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#define MGA_BYTES_FRM 20
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#define ACC_FIFO_HEAD "acc"
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#define GYRO_FIFO_HEAD "gyro"
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#define MAG_FIFO_HEAD "mag"
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/*! Bosch sensor unknown place*/
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#define BOSCH_SENSOR_PLACE_UNKNOWN (-1)
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/*! Bosch sensor remapping table size P0~P7*/
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#define MAX_AXIS_REMAP_TAB_SZ 8
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#define ENABLE 1
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#define DISABLE 0
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/* bmi sensor HW interrupt pin number */
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#define BMI_INT0 0
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#define BMI_INT1 1
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#define BMI_INT_LEVEL 0
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#define BMI_INT_EDGE 1
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/*! BMI mag interface */
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/* compensated output value returned if sensor had overflow */
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#define BMM050_OVERFLOW_OUTPUT -32768
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#define BMM050_OVERFLOW_OUTPUT_S32 ((s32)(-2147483647-1))
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/* Trim Extended Registers */
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#define BMM050_DIG_X1 0x5D
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#define BMM050_DIG_Y1 0x5E
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#define BMM050_DIG_Z4_LSB 0x62
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#define BMM050_DIG_Z4_MSB 0x63
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#define BMM050_DIG_X2 0x64
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#define BMM050_DIG_Y2 0x65
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#define BMM050_DIG_Z2_LSB 0x68
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#define BMM050_DIG_Z2_MSB 0x69
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#define BMM050_DIG_Z1_LSB 0x6A
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#define BMM050_DIG_Z1_MSB 0x6B
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#define BMM050_DIG_XYZ1_LSB 0x6C
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#define BMM050_DIG_XYZ1_MSB 0x6D
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#define BMM050_DIG_Z3_LSB 0x6E
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#define BMM050_DIG_Z3_MSB 0x6F
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#define BMM050_DIG_XY2 0x70
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#define BMM050_DIG_XY1 0x71
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struct bmi160mag_compensate_t {
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signed char dig_x1;
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signed char dig_y1;
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signed char dig_x2;
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signed char dig_y2;
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u16 dig_z1;
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s16 dig_z2;
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s16 dig_z3;
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s16 dig_z4;
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unsigned char dig_xy1;
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signed char dig_xy2;
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u16 dig_xyz1;
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};
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/*bmi fifo sensor type combination*/
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enum BMI_FIFO_DATA_SELECT_T {
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BMI_FIFO_A_SEL = 1,
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BMI_FIFO_G_SEL,
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BMI_FIFO_G_A_SEL,
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BMI_FIFO_M_SEL,
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BMI_FIFO_M_A_SEL,
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BMI_FIFO_M_G_SEL,
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BMI_FIFO_M_G_A_SEL,
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BMI_FIFO_DATA_SEL_MAX
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};
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/*bmi interrupt about step_detector and sgm*/
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#define INPUT_EVENT_STEP_DETECTOR 5
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#define INPUT_EVENT_SGM 3/*7*/
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#define INPUT_EVENT_FAST_ACC_CALIB_DONE 6
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#define INPUT_EVENT_FAST_GYRO_CALIB_DONE 4
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/*!
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* Bst sensor common definition,
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* please give parameters in BSP file.
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*/
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struct bosch_sensor_specific {
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char *name;
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/* 0 to 7 */
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unsigned int place:3;
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int irq;
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int (*irq_gpio_cfg)(void);
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};
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/*! bmi160 sensor spec of power mode */
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struct pw_mode {
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u8 acc_pm;
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u8 gyro_pm;
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u8 mag_pm;
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};
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/*! bmi160 sensor spec of odr */
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struct odr_t {
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u8 acc_odr;
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u8 gyro_odr;
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u8 mag_odr;
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};
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/*! bmi160 sensor spec of range */
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struct range_t {
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u8 acc_range;
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u8 gyro_range;
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};
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/*! bmi160 sensor error status */
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struct err_status {
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u8 fatal_err;
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u8 err_code;
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u8 i2c_fail;
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u8 drop_cmd;
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u8 mag_drdy_err;
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u8 err_st_all;
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};
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/*! bmi160 fifo frame for all sensors */
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struct fifo_frame_t {
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struct bmi160_accel_t *acc_farr;
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struct bmi160_gyro_t *gyro_farr;
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struct bmi160_mag_xyz_s32_t *mag_farr;
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unsigned char acc_frame_cnt;
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unsigned char gyro_frame_cnt;
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unsigned char mag_frame_cnt;
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u32 acc_lastf_ts;
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u32 gyro_lastf_ts;
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u32 mag_lastf_ts;
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};
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/*! bmi160 fifo sensor time */
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struct fifo_sensor_time_t {
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u32 acc_ts;
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u32 gyro_ts;
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u32 mag_ts;
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};
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struct pedometer_data_t {
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/*! Fix step detector misinformation for the first time*/
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u8 wkar_step_detector_status;
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u_int32_t last_step_counter_value;
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};
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struct bmi_client_data {
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struct bmi160_t device;
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struct device *dev;
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struct input_dev *input;/*acc_device*/
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struct input_dev *gyro_input;
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#if defined(CONFIG_USE_QUALCOMM_HAL)
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struct input_dev *gyro_input;
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struct sensors_classdev accel_cdev;
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struct sensors_classdev gyro_cdev;
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struct delayed_work accel_poll_work;
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struct delayed_work gyro_poll_work;
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u32 accel_poll_ms;
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u32 gyro_poll_ms;
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u32 accel_latency_ms;
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u32 gyro_latency_ms;
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atomic_t accel_en;
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atomic_t gyro_en;
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struct workqueue_struct *data_wq;
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#endif
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struct delayed_work work;
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struct work_struct irq_work;
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u8 chip_id;
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struct pw_mode pw;
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struct odr_t odr;
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struct range_t range; /*TO DO*/
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struct err_status err_st;
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struct pedometer_data_t pedo_data;
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s8 place;
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u8 selftest;
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/*struct wake_lock wakelock;*/
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struct delayed_work delay_work_sig;
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atomic_t in_suspend;
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atomic_t wkqueue_en; /*TO DO acc gyro mag*/
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atomic_t delay;
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atomic_t selftest_result;
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u8 fifo_data_sel;
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u16 fifo_bytecount;
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u8 fifo_head_en;
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unsigned char fifo_int_tag_en;
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struct fifo_frame_t fifo_frame;
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unsigned char *fifo_data;
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u64 fifo_time;
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u8 stc_enable;
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uint16_t gpio_pin;
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u8 std;
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u8 sig_flag;
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unsigned char calib_status;
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struct mutex mutex_op_mode;
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struct mutex mutex_enable;
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struct bosch_sensor_specific *bst_pd;
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int IRQ;
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int reg_sel;
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int reg_len;
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uint64_t timestamp;
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#ifdef CONFIG_HAS_EARLYSUSPEND
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struct early_suspend early_suspend_handler;
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#endif
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};
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/*!
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* we use a typedef to hide the detail,
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* because this type might be changed
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*/
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struct bosch_sensor_axis_remap {
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/* src means which source will be mapped to target x, y, z axis */
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/* if an target OS axis is remapped from (-)x,
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* src is 0, sign_* is (-)1 */
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/* if an target OS axis is remapped from (-)y,
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* src is 1, sign_* is (-)1 */
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/* if an target OS axis is remapped from (-)z,
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* src is 2, sign_* is (-)1 */
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int src_x:3;
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int src_y:3;
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int src_z:3;
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int sign_x:2;
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int sign_y:2;
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int sign_z:2;
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};
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struct bosch_sensor_data {
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union {
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int16_t v[3];
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struct {
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int16_t x;
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int16_t y;
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int16_t z;
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};
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};
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};
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s8 bmi_burst_read_wrapper(u8 dev_addr, u8 reg_addr, u8 *data, u16 len);
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int bmi_probe(struct bmi_client_data *client_data, struct device *dev);
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int bmi_remove(struct device *dev);
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int bmi_suspend(struct device *dev);
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int bmi_resume(struct device *dev);
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#endif/*_BMI160_DRIVER_H*/
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/*@}*/
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