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driver: Add support bma255 sensor
BMA255 is one of BMA2x2 accel sensor series. Adding defines,driver from https://github.com/BoschSensortec/BMA2x2_driver BUG=chrome-os-partner:52877 BRANCH=none TEST="accelread 2" is working on kevin, also check accelrate, accelrange can set proper value on IC Change-Id: I99932ff75aae91a744fe18dddc010b802085a2da Signed-off-by: Wonjoon Lee <woojoo.lee@samsung.com> Reviewed-on: https://chromium-review.googlesource.com/347722 Reviewed-by: Shawn N <shawnn@chromium.org>
This commit is contained in:
Wonjoon Lee
@@ -9,6 +9,7 @@
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common-y=util.o
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common-y+=version.o printf.o queue.o queue_policies.o
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common-$(CONFIG_ACCELGYRO_BMA255)+=math_util.o
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common-$(CONFIG_ACCELGYRO_BMI160)+=math_util.o
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common-$(CONFIG_ACCELGYRO_LSM6DS0)+=math_util.o
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common-$(CONFIG_ACCEL_KXCJ9)+=math_util.o
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340
driver/accel_bma2x2.c
Normal file
340
driver/accel_bma2x2.c
Normal file
@@ -0,0 +1,340 @@
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/* Copyright 2015 The Chromium OS Authors. All rights reserved.
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* Use of this source code is governed by a BSD-style license that can be
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* found in the LICENSE file.
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*/
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/*
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* Bosch Accelerometer driver for Chrome EC
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*
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* Supported: BMA255
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*/
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#include "accelgyro.h"
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#include "common.h"
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#include "console.h"
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#include "driver/accel_bma2x2.h"
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#include "i2c.h"
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#include "math_util.h"
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#include "spi.h"
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#include "task.h"
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#include "util.h"
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#define CPUTS(outstr) cputs(CC_ACCEL, outstr)
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#define CPRINTF(format, args...) cprintf(CC_ACCEL, format, ## args)
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/* Number of times to attempt to enable sensor before giving up. */
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#define SENSOR_ENABLE_ATTEMPTS 5
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/*
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* Struct for pairing an engineering value with the register value for a
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* parameter.
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*/
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struct accel_param_pair {
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int val; /* Value in engineering units. */
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int reg; /* Corresponding register value. */
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};
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/* List of range values in +/-G's and their associated register values. */
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static const struct accel_param_pair ranges[] = {
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{2, BMA2x2_RANGE_2G},
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{4, BMA2x2_RANGE_4G},
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{8, BMA2x2_RANGE_8G},
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{16, BMA2x2_RANGE_16G},
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};
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/* List of ODR values in mHz and their associated register values. */
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static const struct accel_param_pair datarates[] = {
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{781, BMA2x2_BW_7_81HZ},
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{1563, BMA2x2_BW_15_63HZ},
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{3125, BMA2x2_BW_31_25HZ},
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{6250, BMA2x2_BW_62_50HZ},
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{12500, BMA2x2_BW_125HZ},
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{25000, BMA2x2_BW_250HZ},
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{50000, BMA2x2_BW_500HZ},
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{100000, BMA2x2_BW_1000HZ},
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};
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/**
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* Find index into a accel_param_pair that matches the given engineering value
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* passed in. The round_up flag is used to specify whether to round up or down.
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* Note, this function always returns a valid index. If the request is
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* outside the range of values, it returns the closest valid index.
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*/
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static int find_param_index(const int eng_val, const int round_up,
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const struct accel_param_pair *pairs,
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const int size)
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{
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int i = 0;
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/* match first index */
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if (eng_val <= pairs[i].val)
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return i;
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/* Linear search for index to match. */
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while (++i < size) {
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if (eng_val < pairs[i].val)
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return round_up ? i : i - 1;
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else if (eng_val == pairs[i].val)
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return i;
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}
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return i - 1;
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}
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/**
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* Read register from accelerometer.
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*/
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static int raw_read8(const int port, const int addr, const int reg,
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int *data_ptr)
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{
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return i2c_read8(port, addr, reg, data_ptr);
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}
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/**
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* Write register from accelerometer.
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*/
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static int raw_write8(const int port, const int addr, const int reg, int data)
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{
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return i2c_write8(port, addr, reg, data);
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}
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static int raw_read_multi(const int port, int addr, uint8_t reg,
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uint8_t *rxdata, int rxlen)
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{
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int rv;
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i2c_lock(port, 1);
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rv = i2c_xfer(port, addr, ®, 1, rxdata, rxlen,
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I2C_XFER_SINGLE);
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i2c_lock(port, 0);
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return rv;
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}
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static int set_range(const struct motion_sensor_t *s, int range, int rnd)
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{
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int ret, index, reg, range_val, reg_val, range_reg_val;
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struct bma2x2_accel_data *data = s->drv_data;
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/* Find index for interface pair matching the specified range. */
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index = find_param_index(range, rnd, ranges, ARRAY_SIZE(ranges));
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reg = BMA2x2_RANGE_SELECT_REG;
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range_val = ranges[index].reg;
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mutex_lock(s->mutex);
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/* Determine the new value of control reg and attempt to write it. */
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ret = raw_read8(s->port, s->addr, reg, &range_reg_val);
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if (ret != EC_SUCCESS) {
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mutex_unlock(s->mutex);
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return ret;
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}
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reg_val = (range_reg_val & ~BMA2x2_RANGE_SELECT_MSK) | range_val;
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ret = raw_write8(s->port, s->addr, reg, reg_val);
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/* If successfully written, then save the range. */
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if (ret == EC_SUCCESS)
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data->sensor_range = index;
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mutex_unlock(s->mutex);
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return ret;
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}
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static int get_range(const struct motion_sensor_t *s)
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{
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struct bma2x2_accel_data *data = s->drv_data;
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return ranges[data->sensor_range].val;
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}
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static int set_resolution(const struct motion_sensor_t *s, int res, int rnd)
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{
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/* Only one resolution, BMA2x2_RESOLUTION, so nothing to do. */
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return EC_SUCCESS;
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}
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static int get_resolution(const struct motion_sensor_t *s)
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{
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return BMA2x2_RESOLUTION;
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}
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static int set_data_rate(const struct motion_sensor_t *s, int rate, int rnd)
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{
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int ret, index, odr_val, odr_reg_val, reg_val, reg;
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struct bma2x2_accel_data *data = s->drv_data;
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/* Find index for interface pair matching the specified rate. */
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index = find_param_index(rate, rnd, datarates, ARRAY_SIZE(datarates));
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odr_val = datarates[index].reg;
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reg = BMA2x2_BW_REG;
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mutex_lock(s->mutex);
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/* Determine the new value of control reg and attempt to write it. */
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ret = raw_read8(s->port, s->addr, reg, &odr_reg_val);
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if (ret != EC_SUCCESS) {
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mutex_unlock(s->mutex);
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return ret;
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}
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reg_val = (odr_reg_val & ~BMA2x2_BW_MSK) | odr_val;
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/* Set output data rate. */
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ret = raw_write8(s->port, s->addr, reg, reg_val);
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/* If successfully written, then save the new data rate. */
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if (ret == EC_SUCCESS)
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data->sensor_datarate = index;
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mutex_unlock(s->mutex);
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return ret;
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}
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static int get_data_rate(const struct motion_sensor_t *s)
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{
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struct bma2x2_accel_data *data = s->drv_data;
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return datarates[data->sensor_datarate].val;
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}
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static int set_offset(const struct motion_sensor_t *s, const int16_t *offset,
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int16_t temp)
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{
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/* temperature is ignored */
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struct bma2x2_accel_data *data = s->drv_data;
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data->offset[X] = offset[X];
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data->offset[Y] = offset[Y];
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data->offset[Z] = offset[Z];
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return EC_SUCCESS;
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}
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static int get_offset(const struct motion_sensor_t *s, int16_t *offset,
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int16_t *temp)
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{
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struct bma2x2_accel_data *data = s->drv_data;
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offset[X] = data->offset[X];
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offset[Y] = data->offset[Y];
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offset[Z] = data->offset[Z];
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*temp = EC_MOTION_SENSE_INVALID_CALIB_TEMP;
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return EC_SUCCESS;
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}
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static int read(const struct motion_sensor_t *s, vector_3_t v)
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{
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uint8_t acc[6];
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int ret, i, range;
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struct bma2x2_accel_data *data = s->drv_data;
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/* Read 6 bytes starting at X_AXIS_LSB. */
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mutex_lock(s->mutex);
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ret = raw_read_multi(s->port, s->addr, BMA2x2_X_AXIS_LSB_ADDR, acc, 6);
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mutex_unlock(s->mutex);
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if (ret != EC_SUCCESS)
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return ret;
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/*
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* Convert acceleration to a signed 16-bit number. Note, based on
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* the order of the registers:
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*
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* acc[0] = X_AXIS_LSB -> bit 7~4 for value, bit 0 for new data bit
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* acc[1] = X_AXIS_MSB
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* acc[2] = Y_AXIS_LSB -> bit 7~4 for value, bit 0 for new data bit
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* acc[3] = Y_AXIS_MSB
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* acc[4] = Z_AXIS_LSB -> bit 7~4 for value, bit 0 for new data bit
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* acc[5] = Z_AXIS_MSB
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*
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* Add calibration offset before returning the data.
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*/
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for (i = X; i <= Z; i++)
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v[i] = (((int8_t)acc[i * 2 + 1]) << 8) | (acc[i * 2] & 0xf0);
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rotate(v, *s->rot_standard_ref, v);
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/* apply offset in the device coordinates */
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range = get_range(s);
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for (i = X; i <= Z; i++)
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v[i] += (data->offset[i] << 5) / range;
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return EC_SUCCESS;
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}
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static int init(const struct motion_sensor_t *s)
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{
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int ret = 0, tries = 0, val, reg, reset_field;
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ret = raw_read8(s->port, s->addr, BMA2x2_CHIP_ID_ADDR, &val);
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if (ret)
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return EC_ERROR_UNKNOWN;
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if (val != BMA255_CHIP_ID_MAJOR)
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return EC_ERROR_ACCESS_DENIED;
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/* Reset the chip to be in a good state */
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reg = BMA2x2_RST_ADDR;
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reset_field = BMA2x2_CMD_SOFT_RESET;
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mutex_lock(s->mutex);
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ret = raw_read8(s->port, s->addr, reg, &val);
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if (ret != EC_SUCCESS) {
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mutex_unlock(s->mutex);
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return ret;
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}
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val |= reset_field;
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ret = raw_write8(s->port, s->addr, reg, val);
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if (ret != EC_SUCCESS) {
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mutex_unlock(s->mutex);
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return ret;
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}
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/* The SRST will be cleared when reset is complete. */
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do {
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ret = raw_read8(s->port, s->addr, reg, &val);
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/* Reset complete. */
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if ((ret == EC_SUCCESS) && !(val & reset_field))
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break;
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/* Check for tires. */
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if (tries++ > SENSOR_ENABLE_ATTEMPTS) {
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ret = EC_ERROR_TIMEOUT;
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mutex_unlock(s->mutex);
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return ret;
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}
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msleep(1);
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} while (1);
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mutex_unlock(s->mutex);
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/* Initialize with the desired parameters. */
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ret = set_range(s, s->default_range, 1);
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if (ret != EC_SUCCESS)
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return ret;
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ret = set_resolution(s, 12, 1);
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if (ret != EC_SUCCESS)
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return ret;
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CPRINTF("[%T %s: Done Init type:0x%X range:%d]\n",
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s->name, s->type, get_range(s));
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return ret;
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}
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const struct accelgyro_drv bma2x2_accel_drv = {
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.init = init,
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.read = read,
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.set_range = set_range,
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.get_range = get_range,
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.set_resolution = set_resolution,
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.get_resolution = get_resolution,
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.set_data_rate = set_data_rate,
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.get_data_rate = get_data_rate,
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.set_offset = set_offset,
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.get_offset = get_offset,
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.perform_calib = NULL,
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};
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161
driver/accel_bma2x2.h
Normal file
161
driver/accel_bma2x2.h
Normal file
@@ -0,0 +1,161 @@
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/* Copyright 2016 The Chromium OS Authors. All rights reserved.
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* Use of this source code is governed by a BSD-style license that can be
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* found in the LICENSE file.
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*/
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/* BMA2x2 gsensor module for Chrome EC */
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#ifndef __CROS_EC_ACCEL_BMA2x2_H
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#define __CROS_EC_ACCEL_BMA2x2_H
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enum bma2x2_accel {
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BMA255,
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SUPPORTED_BOSCH_ACCELS,
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};
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struct bma2x2_accel_data {
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/* Variant of Bosch Accelerometer. */
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uint8_t variant;
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/* Note, the following are indicies into their respective tables. */
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/* Current range of accelerometer. */
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int sensor_range;
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/* Current output data rate of accelerometer. */
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int sensor_datarate;
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/* Current resolution of accelerometer. */
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int sensor_resolution;
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/* Device address. */
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int accel_addr;
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int16_t offset[3];
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};
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extern const struct accelgyro_drv bma2x2_accel_drv;
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/* I2C ADDRESS DEFINITIONS */
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/* The following definition of I2C address is used for the following sensors
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* BMA255
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* BMA355
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* BMA280
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* BMA282
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* BMA223
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* BMA254
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* BMA284
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* BMA250E
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* BMA222E
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*/
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#define BMA2x2_I2C_ADDR1 0x30
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#define BMA2x2_I2C_ADDR2 0x19
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/* The following definition of I2C address is used for the following sensors
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* BMC150
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* BMC056
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* BMC156
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*/
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#define BMA2x2_I2C_ADDR3 0x10
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#define BMA2x2_I2C_ADDR4 0x11
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/*** Chip-specific registers ***/
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/* REGISTER ADDRESS DEFINITIONS */
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#define BMA2x2_EEP_OFFSET 0x16
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#define BMA2x2_IMAGE_BASE 0x38
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#define BMA2x2_IMAGE_LEN 22
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#define BMA2x2_CHIP_ID_ADDR 0x00
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#define BMA255_CHIP_ID_MAJOR 0xfa
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/* DATA ADDRESS DEFINITIONS */
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#define BMA2x2_X_AXIS_LSB_ADDR 0x02
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#define BMA2x2_X_AXIS_MSB_ADDR 0x03
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#define BMA2x2_Y_AXIS_LSB_ADDR 0x04
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#define BMA2x2_Y_AXIS_MSB_ADDR 0x05
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#define BMA2x2_Z_AXIS_LSB_ADDR 0x06
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#define BMA2x2_Z_AXIS_MSB_ADDR 0x07
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#define BMA2x2_TEMP_ADDR 0x08
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/* STATUS ADDRESS DEFINITIONS */
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#define BMA2x2_STAT1_ADDR 0x09
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#define BMA2x2_STAT2_ADDR 0x0A
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#define BMA2x2_STAT_TAP_SLOPE_ADDR 0x0B
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#define BMA2x2_STAT_ORIENT_HIGH_ADDR 0x0C
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#define BMA2x2_STAT_FIFO_ADDR 0x0E
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#define BMA2x2_RANGE_SELECT_ADDR 0x0F
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#define BMA2x2_BW_SELECT_ADDR 0x10
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#define BMA2x2_MODE_CTRL_ADDR 0x11
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#define BMA2x2_LOW_NOISE_CTRL_ADDR 0x12
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#define BMA2x2_DATA_CTRL_ADDR 0x13
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#define BMA2x2_RST_ADDR 0x14
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#define BMA2x2_CMD_SOFT_RESET 0xb6
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/* INTERRUPT ADDRESS DEFINITIONS */
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#define BMA2x2_INTR_ENABLE1_ADDR 0x16
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#define BMA2x2_INTR_ENABLE2_ADDR 0x17
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#define BMA2x2_INTR_SLOW_NO_MOTION_ADDR 0x18
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#define BMA2x2_INTR1_PAD_SELECT_ADDR 0x19
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#define BMA2x2_INTR_DATA_SELECT_ADDR 0x1A
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#define BMA2x2_INTR2_PAD_SELECT_ADDR 0x1B
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#define BMA2x2_INTR_SOURCE_ADDR 0x1E
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#define BMA2x2_INTR_SET_ADDR 0x20
|
||||
#define BMA2x2_INTR_CTRL_ADDR 0x21
|
||||
|
||||
/* FEATURE ADDRESS DEFINITIONS */
|
||||
#define BMA2x2_LOW_DURN_ADDR 0x22
|
||||
#define BMA2x2_LOW_THRES_ADDR 0x23
|
||||
#define BMA2x2_LOW_HIGH_HYST_ADDR 0x24
|
||||
#define BMA2x2_HIGH_DURN_ADDR 0x25
|
||||
#define BMA2x2_HIGH_THRES_ADDR 0x26
|
||||
#define BMA2x2_SLOPE_DURN_ADDR 0x27
|
||||
#define BMA2x2_SLOPE_THRES_ADDR 0x28
|
||||
#define BMA2x2_SLOW_NO_MOTION_THRES_ADDR 0x29
|
||||
#define BMA2x2_TAP_PARAM_ADDR 0x2A
|
||||
#define BMA2x2_TAP_THRES_ADDR 0x2B
|
||||
#define BMA2x2_ORIENT_PARAM_ADDR 0x2C
|
||||
#define BMA2x2_THETA_BLOCK_ADDR 0x2D
|
||||
#define BMA2x2_THETA_FLAT_ADDR 0x2E
|
||||
#define BMA2x2_FLAT_HOLD_TIME_ADDR 0x2F
|
||||
#define BMA2x2_SELFTEST_ADDR 0x32
|
||||
#define BMA2x2_EEPROM_CTRL_ADDR 0x33
|
||||
#define BMA2x2_SERIAL_CTRL_ADDR 0x34
|
||||
|
||||
/* OFFSET ADDRESS DEFINITIONS */
|
||||
#define BMA2x2_OFFSET_CTRL_ADDR 0x36
|
||||
#define BMA2x2_OFFSET_PARAMS_ADDR 0x37
|
||||
#define BMA2x2_OFFSET_X_AXIS_ADDR 0x38
|
||||
#define BMA2x2_OFFSET_Y_AXIS_ADDR 0x39
|
||||
#define BMA2x2_OFFSET_Z_AXIS_ADDR 0x3A
|
||||
|
||||
/* GP ADDRESS DEFINITIONS */
|
||||
#define BMA2x2_GP0_ADDR 0x3B
|
||||
#define BMA2x2_GP1_ADDR 0x3C
|
||||
|
||||
/* FIFO ADDRESS DEFINITIONS */
|
||||
#define BMA2x2_FIFO_MODE_ADDR 0x3E
|
||||
#define BMA2x2_FIFO_DATA_OUTPUT_ADDR 0x3F
|
||||
#define BMA2x2_FIFO_WML_TRIG 0x30
|
||||
|
||||
/* RANGE */
|
||||
#define BMA2x2_RANGE_SELECT_POS 0
|
||||
#define BMA2x2_RANGE_SELECT_LEN 4
|
||||
#define BMA2x2_RANGE_SELECT_MSK 0x0F
|
||||
#define BMA2x2_RANGE_SELECT_REG BMA2x2_RANGE_SELECT_ADDR
|
||||
|
||||
#define BMA2x2_RANGE_2G 3
|
||||
#define BMA2x2_RANGE_4G 5
|
||||
#define BMA2x2_RANGE_8G 8
|
||||
#define BMA2x2_RANGE_16G 12
|
||||
|
||||
/* Sensor resolution in number of bits. This sensor has fixed resolution. */
|
||||
#define BMA2x2_RESOLUTION 12
|
||||
|
||||
/* BANDWIDTH */
|
||||
#define BMA2x2_BW_POS 0
|
||||
#define BMA2x2_BW_LEN 5
|
||||
#define BMA2x2_BW_MSK 0x1F
|
||||
#define BMA2x2_BW_REG BMA2x2_BW_SELECT_ADDR
|
||||
|
||||
#define BMA2x2_BW_7_81HZ 0x08 /* LowPass 7.81HZ */
|
||||
#define BMA2x2_BW_15_63HZ 0x09 /* LowPass 15.63HZ */
|
||||
#define BMA2x2_BW_31_25HZ 0x0A /* LowPass 31.25HZ */
|
||||
#define BMA2x2_BW_62_50HZ 0x0B /* LowPass 62.50HZ */
|
||||
#define BMA2x2_BW_125HZ 0x0C /* LowPass 125HZ */
|
||||
#define BMA2x2_BW_250HZ 0x0D /* LowPass 250HZ */
|
||||
#define BMA2x2_BW_500HZ 0x0E /* LowPass 500HZ */
|
||||
#define BMA2x2_BW_1000HZ 0x0F /* LowPass 1000HZ */
|
||||
#endif /* __CROS_EC_ACCEL_BMA2x2_H */
|
||||
@@ -7,6 +7,7 @@
|
||||
#
|
||||
|
||||
# Accelerometers
|
||||
driver-$(CONFIG_ACCEL_BMA255)+=accel_bma2x2.o
|
||||
driver-$(CONFIG_ACCEL_KXCJ9)+=accel_kionix.o
|
||||
driver-$(CONFIG_ACCEL_KX022)+=accel_kionix.o
|
||||
driver-$(CONFIG_ACCELGYRO_LSM6DS0)+=accelgyro_lsm6ds0.o
|
||||
|
||||
@@ -51,6 +51,7 @@
|
||||
#undef CONFIG_ACCEL_FORCE_MODE_MASK
|
||||
|
||||
/* Specify type of accelerometers attached. */
|
||||
#undef CONFIG_ACCEL_BMA255
|
||||
#undef CONFIG_ACCEL_KXCJ9
|
||||
#undef CONFIG_ACCEL_KX022
|
||||
#undef CONFIG_ACCELGYRO_LSM6DS0
|
||||
|
||||
@@ -1788,6 +1788,7 @@ enum motionsensor_chip {
|
||||
MOTIONSENSE_CHIP_SI1143 = 5,
|
||||
MOTIONSENSE_CHIP_KX022 = 6,
|
||||
MOTIONSENSE_CHIP_L3GD20H = 7,
|
||||
MOTIONSENSE_CHIP_BMA255 = 8,
|
||||
};
|
||||
|
||||
struct ec_response_motion_sensor_data {
|
||||
|
||||
Reference in New Issue
Block a user