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driver: Add BMM150 behind BMI160 support.

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Add support for Bosh Sensortec BMM160 compass.
We access it through BMI150.

BRANCH=none
BUG=chrome-os-partner:39900
TEST=Test on a nucleo board and smaug.

Change-Id: I5b959cab4f9341ba0fcd3ed9bad815fa92f80a37
Signed-off-by: Gwendal Grignou <gwendal@chromium.org>
Reviewed-on: https://chromium-review.googlesource.com/271525
Reviewed-by: Sheng-liang Song <ssl@chromium.org>
Reviewed-by: Vincent Palatin <vpalatin@chromium.org>
Trybot-Ready: Vincent Palatin <vpalatin@chromium.org>
This commit is contained in:
Gwendal Grignou
2015-05-15 13:07:26 -07:00
committed by ChromeOS Commit Bot
parent 0a71b4418d
commit 628bf15176
7 changed files with 291 additions and 42 deletions
Download Patch File Download Diff File Expand all files Collapse all files

22
board/ryu/board.c
View File

@@ -368,7 +368,7 @@ const unsigned int i2c_ports_used = ARRAY_SIZE(i2c_ports);
static struct mutex g_mutex;
/* local sensor data (per-sensor) */
struct motion_data_t g_saved_data[2];
struct bmi160_drv_data_t g_bmi160_data;
struct motion_sensor_t motion_sensors[] = {
@@ -384,7 +384,7 @@ struct motion_sensor_t motion_sensors[] = {
.location = MOTIONSENSE_LOC_LID,
.drv = &bmi160_drv,
.mutex = &g_mutex,
.drv_data = &g_saved_data[0],
.drv_data = &g_bmi160_data,
.i2c_addr = BMI160_ADDR0,
.rot_standard_ref = NULL,
.default_config = {
@@ -400,7 +400,7 @@ struct motion_sensor_t motion_sensors[] = {
.location = MOTIONSENSE_LOC_LID,
.drv = &bmi160_drv,
.mutex = &g_mutex,
.drv_data = &g_saved_data[1],
.drv_data = &g_bmi160_data,
.i2c_addr = BMI160_ADDR0,
.rot_standard_ref = NULL,
.default_config = {
@@ -408,6 +408,22 @@ struct motion_sensor_t motion_sensors[] = {
.range = 2000
}
},
{.name = "Mag",
.active_mask = SENSOR_ACTIVE_S0_S3,
.chip = MOTIONSENSE_CHIP_BMI160,
.type = MOTIONSENSE_TYPE_MAG,
.location = MOTIONSENSE_LOC_LID,
.drv = &bmi160_drv,
.mutex = &g_mutex,
.drv_data = &g_bmi160_data,
.i2c_addr = BMI160_ADDR0,
.rot_standard_ref = NULL,
.default_config = {
.odr = 25000,
.range = 1
}
},
};
const unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);

2
board/ryu/board.h
View File

@@ -78,6 +78,7 @@
#define I2C_PORT_BATTERY I2C_PORT_MASTER
#define I2C_PORT_LIGHTBAR I2C_PORT_MASTER
#define I2C_PORT_ACCEL I2C_PORT_MASTER
#define BMM150_I2C_ADDRESS BMM150_ADDR0
/* slave address for host commands */
#ifdef HAS_TASK_HOSTCMD
@@ -126,6 +127,7 @@
/* Sensor support */
#define CONFIG_ACCELGYRO_BMI160
#define CONFIG_MAG_BMI160_BMM150
#define CONFIG_CMD_ACCELS
#define CONFIG_CMD_ACCEL_INFO

2
common/motion_sense.c
View File

@@ -694,7 +694,7 @@ static int command_accel_init(int argc, char **argv)
sensor = &motion_sensors[id];
motion_sense_init(sensor);
ccprintf("%s\n", sensor->name);
ccprintf("%s: %d\n", sensor->name, sensor->state);
return EC_SUCCESS;
}
DECLARE_CONSOLE_COMMAND(accelinit, command_accel_init,

224
driver/accelgyro_bmi160.c
View File

@@ -12,6 +12,7 @@
#include "common.h"
#include "console.h"
#include "driver/accelgyro_bmi160.h"
#include "driver/mag_bmm150.h"
#include "hooks.h"
#include "i2c.h"
#include "task.h"
@@ -131,6 +132,51 @@ static inline int raw_write8(const int addr, const int reg, int data)
return i2c_write8(I2C_PORT_ACCEL, addr, reg, data);
}
#ifdef CONFIG_MAG_BMI160_BMM150
/**
* Control access to the compass on the secondary i2c interface:
* enable values are:
* 1: manual access, we can issue i2c to the compass
* 0: data access: BMI160 gather data periodically from the compass.
*/
static int bmm150_mag_access_ctrl(const int addr, const int enable)
{
int mag_if_ctrl;
raw_read8(addr, BMI160_MAG_IF_1, &mag_if_ctrl);
if (enable) {
mag_if_ctrl |= BMI160_MAG_MANUAL_EN;
mag_if_ctrl &= ~BMI160_MAG_READ_BURST_MASK;
mag_if_ctrl |= BMI160_MAG_READ_BURST_1;
} else {
mag_if_ctrl &= ~BMI160_MAG_MANUAL_EN;
mag_if_ctrl &= ~BMI160_MAG_READ_BURST_MASK;
mag_if_ctrl |= BMI160_MAG_READ_BURST_8;
}
return raw_write8(addr, BMI160_MAG_IF_1, mag_if_ctrl);
}
/**
* Read register from compass.
* Assuming we are in manual access mode, read compass i2c register.
*/
static int raw_mag_read8(const int addr, const int reg, int *data_ptr)
{
/* Only read 1 bytes */
raw_write8(addr, BMI160_MAG_I2C_READ_ADDR, reg);
return raw_read8(addr, BMI160_MAG_I2C_READ_DATA, data_ptr);
}
/**
* Write register from compass.
* Assuming we are in manual access mode, write to compass i2c register.
*/
static int raw_mag_write8(const int addr, const int reg, int data)
{
raw_write8(addr, BMI160_MAG_I2C_WRITE_DATA, data);
return raw_write8(addr, BMI160_MAG_I2C_WRITE_ADDR, reg);
}
#endif
static int set_range(const struct motion_sensor_t *s,
int range,
int rnd)
@@ -138,7 +184,13 @@ static int set_range(const struct motion_sensor_t *s,
int ret, range_tbl_size;
uint8_t reg_val, ctrl_reg;
const struct accel_param_pair *ranges;
struct motion_data_t *data = (struct motion_data_t *)s->drv_data;
struct motion_data_t *data =
&((struct bmi160_drv_data_t *)s->drv_data)->saved_data[s->type];
if (s->type == MOTIONSENSE_TYPE_MAG) {
data->range = range;
return EC_SUCCESS;
}
ctrl_reg = BMI160_RANGE_REG(s->type);
ranges = get_range_table(s->type, &range_tbl_size);
@@ -155,7 +207,8 @@ static int set_range(const struct motion_sensor_t *s,
static int get_range(const struct motion_sensor_t *s,
int *range)
{
struct motion_data_t *data = (struct motion_data_t *)s->drv_data;
struct motion_data_t *data =
&((struct bmi160_drv_data_t *)s->drv_data)->saved_data[s->type];
*range = data->range;
return EC_SUCCESS;
@@ -182,12 +235,13 @@ static int set_data_rate(const struct motion_sensor_t *s,
{
int ret, val, normalized_rate;
uint8_t ctrl_reg, reg_val;
struct motion_data_t *data = s->drv_data;
struct motion_data_t *data =
&((struct bmi160_drv_data_t *)s->drv_data)->saved_data[s->type];
if (rate == 0) {
/* suspend */
ret = raw_write8(s->i2c_addr, BMI160_CMD_REG,
BMI150_CMD_MODE_SUSPEND(s->type));
BMI160_CMD_MODE_SUSPEND(s->type));
msleep(30);
return ret;
}
@@ -218,6 +272,16 @@ static int set_data_rate(const struct motion_sensor_t *s,
normalized_rate = 25000;
}
break;
case MOTIONSENSE_TYPE_MAG:
if (reg_val > BMI160_ODR_800HZ) {
reg_val = BMI160_ODR_800HZ;
normalized_rate = 800000;
} else if (reg_val < BMI160_ODR_0_78HZ) {
reg_val = BMI160_ODR_0_78HZ;
normalized_rate = 780;
}
break;
default:
return -1;
}
@@ -247,12 +311,44 @@ accel_cleanup:
static int get_data_rate(const struct motion_sensor_t *s,
int *rate)
{
struct motion_data_t *data = s->drv_data;
struct motion_data_t *data =
&((struct bmi160_drv_data_t *)s->drv_data)->saved_data[s->type];
*rate = data->odr;
return EC_SUCCESS;
}
void normalize(const struct motion_sensor_t *s, vector_3_t v, uint8_t *data)
{
int range;
v[0] = ((int16_t)((data[1] << 8) | data[0]));
v[1] = ((int16_t)((data[3] << 8) | data[2]));
v[2] = ((int16_t)((data[5] << 8) | data[4]));
get_range(s, &range);
v[0] *= range;
v[1] *= range;
v[2] *= range;
switch (s->type) {
case MOTIONSENSE_TYPE_ACCEL:
/* normalize the accel scale: 1G = 1024 */
v[0] >>= 5;
v[1] >>= 5;
v[2] >>= 5;
break;
case MOTIONSENSE_TYPE_GYRO:
v[0] >>= 8;
v[1] >>= 8;
v[2] >>= 8;
break;
default:
break;
}
}
#ifdef CONFIG_ACCEL_INTERRUPTS
static int set_interrupt(const struct motion_sensor_t *s,
unsigned int threshold)
@@ -281,7 +377,7 @@ static int read(const struct motion_sensor_t *s, vector_3_t v)
{
uint8_t data[6];
uint8_t xyz_reg;
int ret, tmp = 0, range = 0;
int ret, tmp = 0;
ret = is_data_ready(s, &tmp);
if (ret != EC_SUCCESS)
@@ -312,30 +408,7 @@ static int read(const struct motion_sensor_t *s, vector_3_t v)
s->name, s->type, ret);
return ret;
}
v[0] = ((int16_t)((data[1] << 8) | data[0]));
v[1] = ((int16_t)((data[3] << 8) | data[2]));
v[2] = ((int16_t)((data[5] << 8) | data[4]));
ret = get_range(s, &range);
if (ret)
return EC_ERROR_UNKNOWN;
v[0] *= range;
v[1] *= range;
v[2] *= range;
/* normalize the accel scale: 1G = 1024 */
if (MOTIONSENSE_TYPE_ACCEL == s->type) {
v[0] >>= 5;
v[1] >>= 5;
v[2] >>= 5;
} else {
v[0] >>= 8;
v[1] >>= 8;
v[2] >>= 8;
}
normalize(s, v, data);
return EC_SUCCESS;
}
@@ -352,23 +425,106 @@ static int init(const struct motion_sensor_t *s)
if (s->type == MOTIONSENSE_TYPE_ACCEL) {
struct bmi160_drv_data_t *data =
(struct bmi160_drv_data_t *)s->drv_data;
/* Reset the chip to be in a good state */
raw_write8(s->i2c_addr, BMI160_CMD_REG,
BMI160_CMD_SOFT_RESET);
msleep(30);
data->flags &= ~BMI160_FLAG_SEC_I2C_ENABLED;
/* To avoid gyro wakeup */
raw_write8(s->i2c_addr, BMI160_PMU_TRIGGER, 0);
}
raw_write8(s->i2c_addr, BMI160_CMD_REG,
BMI150_CMD_MODE_NORMAL(s->type));
BMI160_CMD_MODE_NORMAL(s->type));
msleep(30);
set_range(s, s->runtime_config.range, 0);
msleep(30);
set_data_rate(s, s->runtime_config.odr, 0);
msleep(30);
#ifdef CONFIG_MAG_BMI160_BMM150
if (s->type == MOTIONSENSE_TYPE_MAG) {
struct bmi160_drv_data_t *data =
(struct bmi160_drv_data_t *)s->drv_data;
if ((data->flags & BMI160_FLAG_SEC_I2C_ENABLED) == 0) {
int ext_page_reg;
/* Enable secondary interface */
/*
* This is not part of the normal configuration but from
* code on Bosh github repo:
* https://github.com/BoschSensortec/BMI160_driver
*
* Magic command sequences
*/
raw_write8(s->i2c_addr, BMI160_CMD_REG,
BMI160_CMD_EXT_MODE_EN_B0);
raw_write8(s->i2c_addr, BMI160_CMD_REG,
BMI160_CMD_EXT_MODE_EN_B1);
raw_write8(s->i2c_addr, BMI160_CMD_REG,
BMI160_CMD_EXT_MODE_EN_B2);
/*
* Change the register page to target mode, to change
* the internal pull ups of the secondary interface.
*/
raw_read8(s->i2c_addr, BMI160_CMD_EXT_MODE_ADDR,
&ext_page_reg);
raw_write8(s->i2c_addr, BMI160_CMD_EXT_MODE_ADDR,
ext_page_reg | BMI160_CMD_TARGET_PAGE);
raw_read8(s->i2c_addr, BMI160_CMD_EXT_MODE_ADDR,
&ext_page_reg);
raw_write8(s->i2c_addr, BMI160_CMD_EXT_MODE_ADDR,
ext_page_reg | BMI160_CMD_PAGING_EN);
raw_write8(s->i2c_addr, BMI160_COM_C_TRIM_ADDR,
BMI160_COM_C_TRIM);
raw_read8(s->i2c_addr, BMI160_CMD_EXT_MODE_ADDR,
&ext_page_reg);
raw_write8(s->i2c_addr, BMI160_CMD_EXT_MODE_ADDR,
ext_page_reg & ~BMI160_CMD_TARGET_PAGE);
raw_read8(s->i2c_addr, BMI160_CMD_EXT_MODE_ADDR,
&ext_page_reg);
/* Set the i2c address of the compass */
ret = raw_write8(s->i2c_addr, BMI160_MAG_IF_0,
BMM150_I2C_ADDRESS);
/* Enable the secondary interface as I2C */
ret = raw_write8(s->i2c_addr, BMI160_IF_CONF,
BMI160_IF_MODE_AUTO_I2C << BMI160_IF_MODE_OFF);
data->flags |= BMI160_FLAG_SEC_I2C_ENABLED;
}
bmm150_mag_access_ctrl(s->i2c_addr, 1);
/* Set the compass from Suspend to Sleep */
ret = raw_mag_write8(s->i2c_addr, BMM150_PWR_CTRL,
BMM150_PWR_ON);
/* Now we can read the device id */
ret = raw_mag_read8(s->i2c_addr, BMM150_CHIP_ID, &tmp);
if (ret)
return EC_ERROR_UNKNOWN;
if (tmp != BMM150_CHIP_ID_MAJOR)
return EC_ERROR_ACCESS_DENIED;
/* Leave the address for reading the data */
raw_write8(s->i2c_addr, BMI160_MAG_I2C_READ_ADDR,
BMM150_BASE_DATA);
/*
* Set the compass forced mode, to sleep after each measure.
*/
ret = raw_mag_write8(s->i2c_addr, BMM150_OP_CTRL,
BMM150_OP_MODE_FORCED << BMM150_OP_MODE_OFFSET);
/*
* Put back the secondary interface in normal mode.
* BMI160 will poll based on the configure ODR.
*/
bmm150_mag_access_ctrl(s->i2c_addr, 0);
}
#endif
/* Fifo setup is done elsewhere */
CPRINTF("[%T %s: MS Done Init type:0x%X range:%d odr:%d]\n",

42
driver/accelgyro_bmi160.h
View File

@@ -102,8 +102,9 @@
/* odr = 100 / (1 << (8 - reg)) ,within limit */
#define BMI160_ODR_0_78HZ 0x01
#define BMI160_ODR_25HZ 0x06
#define BMI160_ODR_1600HZ 0x0C
#define BMI160_ODR_3200HZ 0x0D
#define BMI160_ODR_800HZ 0x0b
#define BMI160_ODR_1600HZ 0x0c
#define BMI160_ODR_3200HZ 0x0d
#define BMI160_REG_TO_ODR(_regval) (100000 / (1 << (8 - (_regval))))
#define BMI160_ODR_TO_REG(_odr) (__builtin_clz(100000 / (_odr)) - 23)
@@ -116,10 +117,25 @@
#define BMI160_FIFO_CONFIG_1 0x47
#define BMI160_MAG_IF_0 0x4b
#define BMI160_MAG_I2C_ADDRESS BMI160_MAG_IF_0
#define BMI160_MAG_IF_1 0x4c
#define BMI160_MAG_I2C_CONTROL BMI160_MAG_IF_1
#define BMI160_MAG_READ_BURST_MASK 3
#define BMI160_MAG_READ_BURST_1 0
#define BMI160_MAG_READ_BURST_2 1
#define BMI160_MAG_READ_BURST_6 2
#define BMI160_MAG_READ_BURST_8 3
#define BMI160_MAG_OFFSET_OFF 3
#define BMI160_MAG_OFFSET_MASK (0xf << BMI160_MAG_OFFSET_OFF)
#define BMI160_MAG_MANUAL_EN (1 << 7)
#define BMI160_MAG_IF_2 0x4d
#define BMI160_MAG_I2C_READ_ADDR BMI160_MAG_IF_2
#define BMI160_MAG_IF_3 0x4e
#define BMI160_MAG_I2C_WRITE_ADDR BMI160_MAG_IF_3
#define BMI160_MAG_IF_4 0x4f
#define BMI160_MAG_I2C_WRITE_DATA BMI160_MAG_IF_4
#define BMI160_MAG_I2C_READ_DATA BMI160_MAG_X_L_G
#define BMI160_INT_EN_0 0x50
#define BMI160_INT_EN_1 0x51
@@ -152,6 +168,11 @@
#define BMI160_FOC_CONF 0x69
#define BMI160_CONF 0x6a
#define BMI160_IF_CONF 0x6b
#define BMI160_IF_MODE_OFF 4
#define BMI160_IF_MODE_MASK 3
#define BMI160_IF_MODE_AUTO_OFF 0
#define BMI160_IF_MODE_I2C_IOS 1
#define BMI160_IF_MODE_AUTO_I2C 2
#define BMI160_PMU_TRIGGER 0x6c
#define BMI160_SELF_TEST 0x6d
@@ -168,8 +189,8 @@
#define BMI160_CMD_MAG_MODE_SUSP 0x18
#define BMI160_CMD_MAG_MODE_NORMAL 0x19
#define BMI160_CMD_MAG_MODE_LOWPOWER 0x1a
#define BMI150_CMD_MODE_NORMAL(_sensor) (0x11 + 4 * (_sensor))
#define BMI150_CMD_MODE_SUSPEND(_sensor) (0x10 + 4 * (_sensor))
#define BMI160_CMD_MODE_NORMAL(_sensor) (0x11 + 4 * (_sensor))
#define BMI160_CMD_MODE_SUSPEND(_sensor) (0x10 + 4 * (_sensor))
#define BMI160_CMD_FIFO_FLUSH 0xb0
#define BMI160_CMD_INT_RESET 0xb1
@@ -178,6 +199,14 @@
#define BMI160_CMD_EXT_MODE_EN_B1 0x9a
#define BMI160_CMD_EXT_MODE_EN_B2 0xc0
#define BMI160_CMD_EXT_MODE_ADDR 0x7f
#define BMI160_CMD_PAGING_EN (1 << 7)
#define BMI160_CMD_TARGET_PAGE (1 << 4)
#define BMI160_COM_C_TRIM_ADDR 0x85
#define BMI160_COM_C_TRIM (3 << 4)
#define BMI160_CMD_TGT_PAGE 0
#define BMI160_CMD_TGT_PAGE_COM 1
#define BMI160_CMD_TGT_PAGE_ACC 2
@@ -251,4 +280,9 @@ enum bmi160_running_mode {
APPLICATION_INDOOR_NAVIGATION = 8,
};
#define BMI160_FLAG_SEC_I2C_ENABLED (1 << 0)
struct bmi160_drv_data_t {
struct motion_data_t saved_data[3];
uint8_t flags;
};
#endif /* __CROS_EC_ACCEL_BMI160_H */

37
driver/mag_bmm150.h Normal file
View File

@@ -0,0 +1,37 @@
/* Copyright 2015 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.
*/
/* BMM150 magnetometer definition */
#ifndef __CROS_EC_MAG_BMM150_H
#define __CROS_EC_MAG_BMM150_H
#include "accelgyro.h"
#define BMM150_ADDR0 0x20
#define BMM150_ADDR1 0x22
#define BMM150_ADDR2 0x24
#define BMM150_ADDR3 0x26
#define BMM150_CHIP_ID 0x40
#define BMM150_CHIP_ID_MAJOR 0x32
#define BMM150_BASE_DATA 0x42
#define BMM150_INT_STATUS 0x4a
#define BMM150_PWR_CTRL 0x4b
#define BMM150_SRST ((1 << 7) | (1 << 1))
#define BMM150_PWR_ON (1 << 0)
#define BMM150_OP_CTRL 0x4c
#define BMM150_OP_MODE_OFFSET 1
#define BMM150_OP_MODE_MASK 3
#define BMM150_OP_MODE_NORMAL 0x00
#define BMM150_OP_MODE_FORCED 0x01
#define BMM150_OP_MODE_SLEEP 0x03
#define BMM150_INT_CTRL 0x4d
#endif /* __CROS_EC_MAG_BMM150_H */

4
include/config.h
View File

@@ -42,6 +42,7 @@
/* Specify type of accelerometers attached. */
#undef CONFIG_ACCEL_KXCJ9
#undef CONFIG_ACCELGYRO_LSM6DS0
#undef CONFIG_ACCELGYRO_BMI160
/* Compile chip support for analog-to-digital convertor */
#undef CONFIG_ADC
@@ -969,6 +970,9 @@
/* Support LPC interface */
#undef CONFIG_LPC
/* Presence of a Bosh Sensortec BMM150 magnetometer behind a BMI160. */
#undef CONFIG_MAG_BMI160_BMM150
/* Support MKBP event */
#undef CONFIG_MKBP_EVENT