driver/accelgyro_lsm6ds0.h

/* Copyright 2014 The ChromiumOS Authors
 * Use of this source code is governed by a BSD-style license that can be
 * found in the LICENSE file.
 */

/* LSM6DS0 accelerometer and gyro module for Chrome EC */

#ifndef __CROS_EC_ACCELGYRO_LSM6DS0_H
#define __CROS_EC_ACCELGYRO_LSM6DS0_H

#include "accelgyro.h"
#include "task.h"

/*
 * 7-bit address is 110101Xb. Where 'X' is determined
 * by the voltage on the ADDR pin.
 */
#define LSM6DS0_ADDR0_FLAGS 0x6a
#define LSM6DS0_ADDR1_FLAGS 0x6b

/* who am I  */
#define LSM6DS0_WHO_AM_I 0x68

/* Chip specific registers. */
#define LSM6DS0_ACT_THS 0x04
#define LSM6DS0_ACT_DUR 0x05
#define LSM6DS0_INT_GEN_CFG_XL 0x06
#define LSM6DS0_INT_GEN_THS_X_XL 0x07
#define LSM6DS0_INT_GEN_THS_Y_XL 0x08
#define LSM6DS0_INT_GEN_THS_Z_XL 0x09
#define LSM6DS0_INT_GEN_DUR_XL 0x0a
#define LSM6DS0_REFERENCE_G 0x0b
#define LSM6DS0_INT_CTRL 0x0c
#define LSM6DS0_WHO_AM_I_REG 0x0f
#define LSM6DS0_CTRL_REG1_G 0x10
#define LSM6DS0_CTRL_REG2_G 0x11
#define LSM6DS0_CTRL_REG3_G 0x12
#define LSM6DS0_ORIENT_CFG_G 0x13
#define LSM6DS0_INT_GEN_SRC_G 0x14
#define LSM6DS0_OUT_TEMP_L 0x15
#define LSM6DS0_OUT_TEMP_H 0x16
#define LSM6DS0_OUT_X_L_G 0x18
#define LSM6DS0_OUT_X_H_G 0x19
#define LSM6DS0_OUT_Y_L_G 0x1a
#define LSM6DS0_OUT_Y_H_G 0x1b
#define LSM6DS0_OUT_Z_L_G 0x1c
#define LSM6DS0_OUT_Z_H_G 0x1d
#define LSM6DS0_CTRL_REG4 0x1e
#define LSM6DS0_CTRL_REG5_XL 0x1f
#define LSM6DS0_CTRL_REG6_XL 0x20
#define LSM6DS0_CTRL_REG7_XL 0x21
#define LSM6DS0_CTRL_REG8 0x22
#define LSM6DS0_CTRL_REG9 0x23
#define LSM6DS0_CTRL_REG10 0x24
#define LSM6DS0_INT_GEN_SRC_XL 0x26
#define LSM6DS0_STATUS_REG 0x27
#define LSM6DS0_OUT_X_L_XL 0x28
#define LSM6DS0_OUT_X_H_XL 0x29
#define LSM6DS0_OUT_Y_L_XL 0x2a
#define LSM6DS0_OUT_Y_H_XL 0x2b
#define LSM6DS0_OUT_Z_L_XL 0x2c
#define LSM6DS0_OUT_Z_H_XL 0x2d
#define LSM6DS0_FIFO_CTRL 0x2e
#define LSM6DS0_FIFO_SRC 0x2f
#define LSM6DS0_INT_GEN_CFG_G 0x30
#define LSM6DS0_INT_GEN_THS_XH_G 0x31
#define LSM6DS0_INT_GEN_THS_XL_G 0x32
#define LSM6DS0_INT_GEN_THS_YH_G 0x33
#define LSM6DS0_INT_GEN_THS_YL_G 0x34
#define LSM6DS0_INT_GEN_THS_ZH_G 0x35
#define LSM6DS0_INT_GEN_THS_ZL_G 0x36
#define LSM6DS0_INT_GEN_DUR_G 0x37

#define LSM6DS0_DPS_SEL_245 (0 << 3)
#define LSM6DS0_DPS_SEL_500 BIT(3)
#define LSM6DS0_DPS_SEL_1000 (2 << 3)
#define LSM6DS0_DPS_SEL_2000 (3 << 3)
#define LSM6DS0_GSEL_2G (0 << 3)
#define LSM6DS0_GSEL_4G (2 << 3)
#define LSM6DS0_GSEL_8G (3 << 3)

#define LSM6DS0_RANGE_MASK (3 << 3)

#define LSM6DS0_ODR_PD (0 << 5)
#define LSM6DS0_ODR_10HZ BIT(5)
#define LSM6DS0_ODR_15HZ BIT(5)
#define LSM6DS0_ODR_50HZ (2 << 5)
#define LSM6DS0_ODR_59HZ (2 << 5)
#define LSM6DS0_ODR_119HZ (3 << 5)
#define LSM6DS0_ODR_238HZ (4 << 5)
#define LSM6DS0_ODR_476HZ (5 << 5)
#define LSM6DS0_ODR_952HZ (6 << 5)

#define LSM6DS0_ODR_MASK (7 << 5)

/*
 * Register      : STATUS_REG
 * Address       : 0X27
 */
enum lsm6ds0_status {
	LSM6DS0_STS_DOWN = 0x00,
	LSM6DS0_STS_XLDA_UP = 0x01,
	LSM6DS0_STS_GDA_UP = 0x02,
};
#define LSM6DS0_STS_XLDA_MASK 0x01
#define LSM6DS0_STS_GDA_MASK 0x02

/*
 * Register      : CTRL_REG8
 * Address       : 0X22
 * Bit Group Name: BDU
 */
enum lsm6ds0_bdu {
	LSM6DS0_BDU_DISABLE = 0x00,
	LSM6DS0_BDU_ENABLE = 0x40,
};
/* Sensor resolution in number of bits. This sensor has fixed resolution. */
#define LSM6DS0_RESOLUTION 16

/* Min and Max sampling frequency in mHz */
#define LSM6DS0_ACCEL_MIN_FREQ 14900
#define LSM6DS0_ACCEL_MAX_FREQ MOTION_MAX_SENSOR_FREQUENCY(952000, 119000)

#define LSM6DS0_GYRO_MIN_FREQ 14900
#define LSM6DS0_GYRO_MAX_FREQ MOTION_MAX_SENSOR_FREQUENCY(952000, 119000)

extern const struct accelgyro_drv lsm6ds0_drv;
struct lsm6ds0_data {
	struct accelgyro_saved_data_t base;
	int16_t offset[3];
};

#endif /* __CROS_EC_ACCELGYRO_LSM6DS0_H */