/*! * @section LICENSE * (C) Copyright 2011~2015 Bosch Sensortec GmbH All Rights Reserved * * This software program is licensed subject to the GNU General * Public License (GPL).Version 2,June 1991, * available at http://www.fsf.org/copyleft/gpl.html * * @filename bmi160_core.h * @date 2014/11/25 14:40 * @id "128af5d" * @version 1.2 * * @brief * The head file of BMI160 device driver core code */ #ifndef __BMI160_CORE_H__ #define __BMI160_CORE_H__ #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include "bmi160.h" /* sensor specific */ #define SENSOR_NAME "bmi160" #define BMI160_ENABLE_INT1 1 #define BMI160_DEBUG 1 #define SENSOR_CHIP_ID_BMI (0xD0) #define SENSOR_CHIP_ID_BMI_C2 (0xD1) #define SENSOR_CHIP_ID_BMI_C3 (0xD3) #define SENSOR_CHIP_REV_ID_BMI (0x00) #define CHECK_CHIP_ID_TIME_MAX 5 #define BMI_REG_NAME(name) BMI160_##name##__REG #define BMI_VAL_NAME(name) BMI160_##name #define BMI_CALL_API(name) bmi160_##name #define BMI_I2C_WRITE_DELAY_TIME (1) /* generic */ #define BMI_MAX_RETRY_I2C_XFER (10) #define BMI_MAX_RETRY_WAKEUP (5) #define BMI_MAX_RETRY_WAIT_DRDY (100) #define BMI_DELAY_MIN (1) #define BMI_DELAY_DEFAULT (200) #define BMI_VALUE_MAX (32767) #define BMI_VALUE_MIN (-32768) #define BYTES_PER_LINE (16) #define BUF_SIZE_PRINT (16) /*! FIFO 1024 byte, max fifo frame count not over 150 */ #define FIFO_FRAME_CNT 170 #define IIO_AORGBUFFER 16 #define FIFO_DATA_BUFSIZE 1024 #define FRAME_LEN_ACC 6 #define FRAME_LEN_GYRO 6 #define FRAME_LEN_MAG 8 /*! BMI Self test */ #define BMI_SELFTEST_AMP_HIGH 1 /* CMD */ #define CMD_FOC_START 0x03 #define CMD_PMU_ACC_SUSPEND 0x10 #define CMD_PMU_ACC_NORMAL 0x11 #define CMD_PMU_ACC_LP1 0x12 #define CMD_PMU_ACC_LP2 0x13 #define CMD_PMU_GYRO_SUSPEND 0x14 #define CMD_PMU_GYRO_NORMAL 0x15 #define CMD_PMU_GYRO_FASTSTART 0x17 #define CMD_PMU_MAG_SUSPEND 0x18 #define CMD_PMU_MAG_NORMAL 0x19 #define CMD_PMU_MAG_LP1 0x1A #define CMD_PMU_MAG_LP2 0x1B #define CMD_CLR_FIFO_DATA 0xB0 #define CMD_RESET_INT_ENGINE 0xB1 #define CMD_RESET_USER_REG 0xB6 #define USER_DAT_CFG_PAGE 0x00 /*! FIFO Head definition*/ #define FIFO_HEAD_A 0x84 #define FIFO_HEAD_G 0x88 #define FIFO_HEAD_M 0x90 #define FIFO_HEAD_G_A (FIFO_HEAD_G | FIFO_HEAD_A) #define FIFO_HEAD_M_A (FIFO_HEAD_M | FIFO_HEAD_A) #define FIFO_HEAD_M_G (FIFO_HEAD_M | FIFO_HEAD_G) #define FIFO_HEAD_M_G_A (FIFO_HEAD_M | FIFO_HEAD_G | FIFO_HEAD_A) #define FIFO_HEAD_SENSOR_TIME 0x44 #define FIFO_HEAD_SKIP_FRAME 0x40 #define FIFO_HEAD_OVER_READ_LSB 0x80 #define FIFO_HEAD_OVER_READ_MSB 0x00 /*! FIFO head mode Frame bytes number definition */ #define A_BYTES_FRM 6 #define G_BYTES_FRM 6 #define M_BYTES_FRM 8 #define GA_BYTES_FRM 12 #define MG_BYTES_FRM 14 #define MA_BYTES_FRM 14 #define MGA_BYTES_FRM 20 #define ACC_FIFO_HEAD "acc" #define GYRO_FIFO_HEAD "gyro" #define MAG_FIFO_HEAD "mag" /*! Bosch sensor unknown place*/ #define BOSCH_SENSOR_PLACE_UNKNOWN (-1) /*! Bosch sensor remapping table size P0~P7*/ #define MAX_AXIS_REMAP_TAB_SZ 8 #define ENABLE 1 #define DISABLE 0 /* bmi sensor HW interrupt pin number */ #define BMI_INT0 0 #define BMI_INT1 1 #define BMI_INT_LEVEL 0 #define BMI_INT_EDGE 1 /*! BMI mag interface */ /* compensated output value returned if sensor had overflow */ #define BMM050_OVERFLOW_OUTPUT -32768 #define BMM050_OVERFLOW_OUTPUT_S32 ((s32)(-2147483647-1)) /* Trim Extended Registers */ #define BMM050_DIG_X1 0x5D #define BMM050_DIG_Y1 0x5E #define BMM050_DIG_Z4_LSB 0x62 #define BMM050_DIG_Z4_MSB 0x63 #define BMM050_DIG_X2 0x64 #define BMM050_DIG_Y2 0x65 #define BMM050_DIG_Z2_LSB 0x68 #define BMM050_DIG_Z2_MSB 0x69 #define BMM050_DIG_Z1_LSB 0x6A #define BMM050_DIG_Z1_MSB 0x6B #define BMM050_DIG_XYZ1_LSB 0x6C #define BMM050_DIG_XYZ1_MSB 0x6D #define BMM050_DIG_Z3_LSB 0x6E #define BMM050_DIG_Z3_MSB 0x6F #define BMM050_DIG_XY2 0x70 #define BMM050_DIG_XY1 0x71 struct bmi160mag_compensate_t { signed char dig_x1; signed char dig_y1; signed char dig_x2; signed char dig_y2; u16 dig_z1; s16 dig_z2; s16 dig_z3; s16 dig_z4; unsigned char dig_xy1; signed char dig_xy2; u16 dig_xyz1; }; /*bmi fifo sensor type combination*/ enum BMI_FIFO_DATA_SELECT_T { BMI_FIFO_A_SEL = 1, BMI_FIFO_G_SEL, BMI_FIFO_G_A_SEL, BMI_FIFO_M_SEL, BMI_FIFO_M_A_SEL, BMI_FIFO_M_G_SEL, BMI_FIFO_M_G_A_SEL, BMI_FIFO_DATA_SEL_MAX }; /* scan element definition */ enum BMI_AXIS_SCAN { BMI_SCAN_GYRO_X, BMI_SCAN_GYRO_Y, BMI_SCAN_GYRO_Z, BMI_SCAN_ACCL_X, BMI_SCAN_ACCL_Y, BMI_SCAN_ACCL_Z, BMI_SCAN_MAGN_X, BMI_SCAN_MAGN_Y, BMI_SCAN_MAGN_Z, BMI_SCAN_SENSORTM, BMI_SCAN_TIMESTAMP, }; /*extern the iio_dev of three devices*/ extern struct iio_dev *accl_iio_private; extern struct iio_dev *gyro_iio_private; extern struct iio_dev *magn_iio_private; /*! bmi160 sensor spec of power mode */ struct pw_mode { u8 acc_pm; u8 gyro_pm; u8 mag_pm; }; /*! bmi160 sensor spec of odr */ struct odr_t { u8 acc_odr; u8 gyro_odr; u8 mag_odr; }; /*! bmi160 sensor spec of range */ struct range_t { u8 acc_range; u8 gyro_range; }; /*! bmi160 sensor error status */ struct err_status { u8 fatal_err; u8 err_code; u8 i2c_fail; u8 drop_cmd; u8 mag_drdy_err; u8 err_st_all; }; /*! * we use a typedef to hide the detail, * because this type might be changed */ struct bosch_sensor_axis_remap { /* src means which source will be mapped to target x, y, z axis */ /* if an target OS axis is remapped from (-)x, * src is 0, sign_* is (-)1 */ /* if an target OS axis is remapped from (-)y, * src is 1, sign_* is (-)1 */ /* if an target OS axis is remapped from (-)z, * src is 2, sign_* is (-)1 */ int src_x:3; int src_y:3; int src_z:3; int sign_x:2; int sign_y:2; int sign_z:2; }; struct bosch_sensor_data { union { int16_t v[3]; struct { int16_t x; int16_t y; int16_t z; }; }; }; struct pedometer_data_t { /*! Fix step detector misinformation for the first time*/ u8 wkar_step_detector_status; u_int32_t last_step_counter_value; }; #ifdef CONFIG_ENABLE_ACC_GYRO_BUFFERING #define BMI_ACC_MAXSAMPLE 4000 #define BMI_GYRO_MAXSAMPLE 4000 #define G_MAX 23920640 struct bmi_acc_sample { int xyz[3]; unsigned int tsec; unsigned long long tnsec; }; struct bmi_gyro_sample { int xyz[3]; unsigned int tsec; unsigned long long tnsec; }; #endif struct bmi160_t *bmi160_get_ptr(void); struct bmi_client_data { struct bmi160_t device; struct device *dev; u8 chip_id; struct pw_mode pw; struct odr_t odr; struct range_t range; /*TO DO*/ struct err_status err_st; struct pedometer_data_t pedo_data; s8 place; struct iio_trigger *acctrig; struct iio_trigger *gyrotrig; struct iio_trigger *magtrig; u8 selftest; u32 sensor_time; atomic_t delay; atomic_t selftest_result; u8 fifo_data_sel; u16 fifo_bytecount; u8 fifo_head_en; unsigned char fifo_int_tag_en; spinlock_t time_stamp_lock; unsigned char *fifo_data; u64 fifo_time; u64 fifo_time2; u64 alarm_time; u64 del_time; u8 stc_enable; uint16_t gpio_pin; u8 std; u8 sig_flag; u8 sig_value; struct mutex mutex_op_mode; struct mutex mutex_enable; int IRQ; int reg_sel; int reg_len; #ifdef CONFIG_ENABLE_ACC_GYRO_BUFFERING bool read_acc_boot_sample; bool read_gyro_boot_sample; int acc_bufsample_cnt; int gyro_bufsample_cnt; bool acc_buffer_bmi160_samples; bool gyro_buffer_bmi160_samples; struct kmem_cache *bmi_acc_cachepool; struct kmem_cache *bmi_gyro_cachepool; struct bmi_acc_sample *bmi160_acc_samplist[BMI_ACC_MAXSAMPLE]; struct bmi_gyro_sample *bmi160_gyro_samplist[BMI_GYRO_MAXSAMPLE]; ktime_t timestamp; int max_buffer_time; struct input_dev *accbuf_dev; struct input_dev *gyrobuf_dev; int report_evt_cnt; #endif #ifdef CONFIG_HAS_EARLYSUSPEND struct early_suspend early_suspend_handler; #endif }; s8 bmi_i2c_read(u8 dev_addr, u8 reg_addr, u8 *data, u16 len); s8 bmi_i2c_write(u8 dev_addr, u8 reg_addr, u8 *data, u8 len); int bmi_probe(struct iio_dev *accl_iio_private, struct iio_dev *gyro_iio_private, struct iio_dev *magn_iio_private); int bmi_remove(struct device *dev); int bmi_suspend(struct device *dev); int bmi_resume(struct device *dev); int bmi_allocate_ring(struct iio_dev *indio_dev); void bmi_deallocate_ring(struct iio_dev *indio_dev); int bmi_probe_acctrigger(struct iio_dev *indio_dev); int bmi_probe_gyrotrigger(struct iio_dev *indio_dev); int bmi_probe_magtrigger(struct iio_dev *indio_dev); #endif