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Refactor accel / gyro driver to accomodate various configurations

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Previously our accel / gyro drivers assumed that we had exactly two of
each identical part in the system. Some systems may have different
configurations, so allow this to be specified at the board-level.

Note that our motion_sense algorithm currently assumes that we have one
accelerometer in the lid and one in the base -- we'll need to fix that
in another CL.

BUG=chrome-os-partner:27320
TEST=Compile-only. Tested in future Samus commit.
BRANCH=None.

Change-Id: I1fae1f6c578fedebe78b473a5d66a5794ccaae00
Signed-off-by: Shawn Nematbakhsh <shawnn@chromium.org>
Reviewed-on: https://chromium-review.googlesource.com/212321
Reviewed-by: Alec Berg <alecaberg@chromium.org>
This commit is contained in:
Shawn Nematbakhsh
2014-07-31 13:44:30 -07:00
committed by chrome-internal-fetch
parent be060242e3
commit a048d76e0d
13 changed files with 507 additions and 398 deletions
Download Patch File Download Diff File Expand all files Collapse all files

1
common/motion_calibrate.c
View File

@@ -5,7 +5,6 @@
/* Motion sensor calibration code. */
#include "accelerometer.h"
#include "common.h"
#include "console.h"
#include "math_util.h"

149
common/motion_sense.c
View File

@@ -5,7 +5,7 @@
/* Motion sense module to read from various motion sensors. */
#include "accelerometer.h"
#include "accelgyro.h"
#include "common.h"
#include "console.h"
#include "hooks.h"
@@ -24,6 +24,9 @@
/* Minimum time in between running motion sense task loop. */
#define MIN_MOTION_SENSE_WAIT_TIME (1 * MSEC)
static const struct motion_sensor_t *base;
static const struct motion_sensor_t *lid;
/* Current acceleration vectors and current lid angle. */
static vector_3_t acc_lid_raw, acc_lid, acc_base;
static vector_3_t acc_lid_host, acc_base_host;
@@ -186,6 +189,7 @@ void motion_sense_task(void)
uint8_t *lpc_status;
uint16_t *lpc_data;
int sample_id = 0;
int i;
lpc_status = host_get_memmap(EC_MEMMAP_ACC_STATUS);
lpc_data = (uint16_t *)host_get_memmap(EC_MEMMAP_ACC_DATA);
@@ -193,14 +197,25 @@ void motion_sense_task(void)
/*
* TODO(crosbug.com/p/27320): The motion_sense task currently assumes
* one configuration of motion sensors. Namely, it assumes there is
* one accel in the base, one in the lid, and they both use the same
* driver. Eventually, all of these assumptions will have to be removed
* when we have other configurations of motion sensors.
* one accel in the base, one in the lid. Eventually, these
* assumptions will have to be removed when we have other
* configurations of motion sensors.
*/
for (i = 0; i < motion_sensor_count; ++i) {
if (motion_sensors[i].location == LOCATION_LID)
lid = &motion_sensors[i];
else if (motion_sensors[i].location == LOCATION_BASE)
base = &motion_sensors[i];
}
if (lid == NULL || base == NULL) {
CPRINTS("Invalid motion_sensors list, lid and base required");
return;
}
/* Initialize accelerometers. */
ret = accel_init(ACCEL_LID);
ret |= accel_init(ACCEL_BASE);
ret = lid->drv->init(lid->drv_data, lid->i2c_addr);
ret |= base->drv->init(base->drv_data, base->i2c_addr);
/* If accelerometers do not initialize, then end task. */
if (ret != EC_SUCCESS) {
@@ -212,12 +227,12 @@ void motion_sense_task(void)
accel_interval_ms = accel_interval_ap_suspend_ms;
/* Set default accelerometer parameters. */
accel_set_range(ACCEL_LID, 2, 1);
accel_set_range(ACCEL_BASE, 2, 1);
accel_set_resolution(ACCEL_LID, 12, 1);
accel_set_resolution(ACCEL_BASE, 12, 1);
accel_set_datarate(ACCEL_LID, 100000, 1);
accel_set_datarate(ACCEL_BASE, 100000, 1);
lid->drv->set_range(lid->drv_data, 2, 1);
lid->drv->set_resolution(lid->drv_data, 12, 1);
lid->drv->set_datarate(lid->drv_data, 100000, 1);
base->drv->set_range(base->drv_data, 2, 1);
base->drv->set_resolution(base->drv_data, 12, 1);
base->drv->set_datarate(base->drv_data, 100000, 1);
/* Write to status byte to represent that accelerometers are present. */
*lpc_status |= EC_MEMMAP_ACC_STATUS_PRESENCE_BIT;
@@ -226,9 +241,9 @@ void motion_sense_task(void)
ts0 = get_time();
/* Read all accelerations. */
accel_read(ACCEL_LID, &acc_lid_raw[X], &acc_lid_raw[Y],
lid->drv->read(lid->drv_data, &acc_lid_raw[X], &acc_lid_raw[Y],
&acc_lid_raw[Z]);
accel_read(ACCEL_BASE, &acc_base[X], &acc_base[Y],
base->drv->read(base->drv_data, &acc_base[X], &acc_base[Y],
&acc_base[Z]);
/*
@@ -333,32 +348,27 @@ void accel_int_base(enum gpio_signal signal)
/*****************************************************************************/
/* Host commands */
/**
* Temporary function to map host sensor IDs to EC sensor IDs.
*
* TODO(crosbug.com/p/27320): Eventually we need a board specific table
* specifying which motion sensors are attached and which driver to use to
* access that sensor. Once we have this, this function should be able to go
* away.
*/
static int host_sensor_id_to_ec_sensor_id(int host_id)
/* Function to map host sensor IDs to motion sensor. */
static const struct motion_sensor_t
*host_sensor_id_to_motion_sensor(int host_id)
{
switch (host_id) {
case EC_MOTION_SENSOR_ACCEL_BASE:
return ACCEL_BASE;
return base;
case EC_MOTION_SENSOR_ACCEL_LID:
return ACCEL_LID;
return lid;
}
/* If no match then the EC currently doesn't support ID received. */
return -1;
return NULL;
}
static int host_cmd_motion_sense(struct host_cmd_handler_args *args)
{
const struct ec_params_motion_sense *in = args->params;
struct ec_response_motion_sense *out = args->response;
int id, data;
const struct motion_sensor_t *sensor;
int data;
switch (in->cmd) {
case MOTIONSENSE_CMD_DUMP:
@@ -390,24 +400,25 @@ static int host_cmd_motion_sense(struct host_cmd_handler_args *args)
* use some motion_sense data structure from the board file to
* help fill in this response.
*/
id = host_sensor_id_to_ec_sensor_id(in->sensor_odr.sensor_num);
if (id < 0)
sensor = host_sensor_id_to_motion_sensor(
in->sensor_odr.sensor_num);
if (sensor == NULL)
return EC_RES_INVALID_PARAM;
switch (id) {
case ACCEL_BASE:
if (sensor->drv->sensor_type == SENSOR_ACCELEROMETER)
out->info.type = MOTIONSENSE_TYPE_ACCEL;
else if (sensor->drv->sensor_type == SENSOR_GYRO)
out->info.type = MOTIONSENSE_TYPE_GYRO;
if (sensor->location == LOCATION_BASE)
out->info.location = MOTIONSENSE_LOC_BASE;
out->info.chip = MOTIONSENSE_CHIP_KXCJ9;
break;
case ACCEL_LID:
out->info.type = MOTIONSENSE_TYPE_ACCEL;
else if (sensor->location == LOCATION_LID)
out->info.location = MOTIONSENSE_LOC_LID;
if (sensor->drv->chip_type == CHIP_KXCJ9)
out->info.chip = MOTIONSENSE_CHIP_KXCJ9;
break;
default:
return EC_RES_INVALID_PARAM;
}
else if (sensor->drv->chip_type == CHIP_LSM6DS0)
out->info.chip = MOTIONSENSE_CHIP_LSM6DS0;
args->response_size = sizeof(out->info);
break;
@@ -436,21 +447,24 @@ static int host_cmd_motion_sense(struct host_cmd_handler_args *args)
case MOTIONSENSE_CMD_SENSOR_ODR:
/* Verify sensor number is valid. */
id = host_sensor_id_to_ec_sensor_id(in->sensor_odr.sensor_num);
if (id < 0)
sensor = host_sensor_id_to_motion_sensor(
in->sensor_odr.sensor_num);
if (sensor == NULL)
return EC_RES_INVALID_PARAM;
/* Set new datarate if the data arg has a value. */
if (in->sensor_odr.data != EC_MOTION_SENSE_NO_VALUE) {
if (accel_set_datarate(id, in->sensor_odr.data,
in->sensor_odr.roundup) != EC_SUCCESS) {
if (sensor->drv->set_datarate(sensor->drv_data,
in->sensor_odr.data,
in->sensor_odr.roundup)
!= EC_SUCCESS) {
CPRINTS("MS bad sensor rate %d",
in->sensor_odr.data);
return EC_RES_INVALID_PARAM;
}
}
accel_get_datarate(id, &data);
sensor->drv->get_datarate(sensor->drv_data, &data);
out->sensor_odr.ret = data;
args->response_size = sizeof(out->sensor_odr);
@@ -458,21 +472,24 @@ static int host_cmd_motion_sense(struct host_cmd_handler_args *args)
case MOTIONSENSE_CMD_SENSOR_RANGE:
/* Verify sensor number is valid. */
id = host_sensor_id_to_ec_sensor_id(in->sensor_odr.sensor_num);
if (id < 0)
sensor = host_sensor_id_to_motion_sensor(
in->sensor_odr.sensor_num);
if (sensor == NULL)
return EC_RES_INVALID_PARAM;
/* Set new datarate if the data arg has a value. */
if (in->sensor_range.data != EC_MOTION_SENSE_NO_VALUE) {
if (accel_set_range(id, in->sensor_range.data,
in->sensor_range.roundup) != EC_SUCCESS) {
if (sensor->drv->set_range(sensor->drv_data,
in->sensor_range.data,
in->sensor_range.roundup)
!= EC_SUCCESS) {
CPRINTS("MS bad sensor range %d",
in->sensor_range.data);
return EC_RES_INVALID_PARAM;
}
}
accel_get_range(id, &data);
sensor->drv->get_range(sensor->drv_data, &data);
out->sensor_range.ret = data;
args->response_size = sizeof(out->sensor_range);
@@ -548,14 +565,16 @@ static int command_accelrange(int argc, char **argv)
{
char *e;
int id, data, round = 1;
struct motion_sensor_t *sensor;
if (argc < 2 || argc > 4)
return EC_ERROR_PARAM_COUNT;
/* First argument is sensor id. */
id = strtoi(argv[1], &e, 0);
if (*e || id < 0 || id > ACCEL_COUNT)
if (*e || id < 0 || id > motion_sensor_count)
return EC_ERROR_PARAM1;
sensor = motion_sensors[id];
if (argc >= 3) {
/* Second argument is data to write. */
@@ -574,10 +593,12 @@ static int command_accelrange(int argc, char **argv)
* Write new range, if it returns invalid arg, then return
* a parameter error.
*/
if (accel_set_range(id, data, round) == EC_ERROR_INVAL)
if (sensor->drv->set_range(sensor->drv_data,
data,
round) == EC_ERROR_INVAL)
return EC_ERROR_PARAM2;
} else {
accel_get_range(id, &data);
sensor->drv->get_range(sensor->drv_data, &data);
ccprintf("Range for sensor %d: %d\n", id, data);
}
@@ -591,14 +612,16 @@ static int command_accelresolution(int argc, char **argv)
{
char *e;
int id, data, round = 1;
struct motion_sensor_t *sensor;
if (argc < 2 || argc > 4)
return EC_ERROR_PARAM_COUNT;
/* First argument is sensor id. */
id = strtoi(argv[1], &e, 0);
if (*e || id < 0 || id > ACCEL_COUNT)
if (*e || id < 0 || id > motion_sensor_count)
return EC_ERROR_PARAM1;
sensor = motion_sensors[id];
if (argc >= 3) {
/* Second argument is data to write. */
@@ -617,10 +640,11 @@ static int command_accelresolution(int argc, char **argv)
* Write new resolution, if it returns invalid arg, then
* return a parameter error.
*/
if (accel_set_resolution(id, data, round) == EC_ERROR_INVAL)
if (sensor->drv->set_resolution(sensor->drv_data, data, round)
== EC_ERROR_INVAL)
return EC_ERROR_PARAM2;
} else {
accel_get_resolution(id, &data);
sensor->drv->get_resolution(sensor->drv_data, &data);
ccprintf("Resolution for sensor %d: %d\n", id, data);
}
@@ -634,14 +658,16 @@ static int command_acceldatarate(int argc, char **argv)
{
char *e;
int id, data, round = 1;
struct motion_sensor_t *sensor;
if (argc < 2 || argc > 4)
return EC_ERROR_PARAM_COUNT;
/* First argument is sensor id. */
id = strtoi(argv[1], &e, 0);
if (*e || id < 0 || id > ACCEL_COUNT)
if (*e || id < 0 || id > motion_sensor_count)
return EC_ERROR_PARAM1;
sensor = motion_sensors[id];
if (argc >= 3) {
/* Second argument is data to write. */
@@ -660,10 +686,11 @@ static int command_acceldatarate(int argc, char **argv)
* Write new data rate, if it returns invalid arg, then
* return a parameter error.
*/
if (accel_set_datarate(id, data, round) == EC_ERROR_INVAL)
if (sensor->drv->set_datarate(sensor->drv_data, data, round)
== EC_ERROR_INVAL)
return EC_ERROR_PARAM2;
} else {
accel_get_datarate(id, &data);
sensor->drv->get_datarate(sensor->drv_data, &data);
ccprintf("Data rate for sensor %d: %d\n", id, data);
}
@@ -678,21 +705,23 @@ static int command_accelerometer_interrupt(int argc, char **argv)
{
char *e;
int id, thresh;
struct motion_sensor_t *sensor;
if (argc != 3)
return EC_ERROR_PARAM_COUNT;
/* First argument is id. */
id = strtoi(argv[1], &e, 0);
if (*e || id < 0 || id >= ACCEL_COUNT)
if (*e || id < 0 || id >= motion_sensor_count)
return EC_ERROR_PARAM1;
sensor = motion_sensors[id];
/* Second argument is interrupt threshold. */
thresh = strtoi(argv[2], &e, 0);
if (*e)
return EC_ERROR_PARAM2;
accel_set_interrupt(id, thresh);
sensor->drv->set_interrupt(drv_data, thresh);
return EC_SUCCESS;
}

219
driver/accel_kxcj9.c
View File

@@ -5,7 +5,7 @@
/* KXCJ9 gsensor module for Chrome EC */
#include "accelerometer.h"
#include "accelgyro.h"
#include "common.h"
#include "console.h"
#include "driver/accel_kxcj9.h"
@@ -31,20 +31,20 @@ struct accel_param_pair {
};
/* List of range values in +/-G's and their associated register values. */
const struct accel_param_pair ranges[] = {
static const struct accel_param_pair ranges[] = {
{2, KXCJ9_GSEL_2G},
{4, KXCJ9_GSEL_4G},
{8, KXCJ9_GSEL_8G_14BIT}
};
/* List of resolution values in bits and their associated register values. */
const struct accel_param_pair resolutions[] = {
static const struct accel_param_pair resolutions[] = {
{8, KXCJ9_RES_8BIT},
{12, KXCJ9_RES_12BIT}
};
/* List of ODR values in mHz and their associated register values. */
const struct accel_param_pair datarates[] = {
static const struct accel_param_pair datarates[] = {
{781, KXCJ9_OSA_0_781HZ},
{1563, KXCJ9_OSA_1_563HZ},
{3125, KXCJ9_OSA_3_125HZ},
@@ -59,24 +59,6 @@ const struct accel_param_pair datarates[] = {
{1600000, KXCJ9_OSA_1600_HZ}
};
/* Current range of each accelerometer. The value is an index into ranges[]. */
static int sensor_range[ACCEL_COUNT] = {0, 0};
/*
* Current resolution of each accelerometer. The value is an index into
* resolutions[].
*/
static int sensor_resolution[ACCEL_COUNT] = {1, 1};
/*
* Current output data rate of each accelerometer. The value is an index into
* datarates[].
*/
static int sensor_datarate[ACCEL_COUNT] = {6, 6};
static struct mutex accel_mutex[ACCEL_COUNT];
/**
* Find index into a accel_param_pair that matches the given engineering value
* passed in. The round_up flag is used to specify whether to round up or down.
@@ -126,12 +108,12 @@ static int raw_write8(const int addr, const int reg, int data)
*
* Note: This is intended to be called in a pair with enable_sensor().
*
* @id Sensor index
* @data Pointer to motion sensor data
* @ctrl1 Pointer to location to store KXCJ9_CTRL1 register after disabling
*
* @return EC_SUCCESS if successful, EC_ERROR_* otherwise
*/
static int disable_sensor(const enum accel_id id, int *ctrl1)
static int disable_sensor(struct kxcj9_data *data, int *ctrl1)
{
int ret;
@@ -139,7 +121,7 @@ static int disable_sensor(const enum accel_id id, int *ctrl1)
* Read the current state of the ctrl1 register so that we can restore
* it later.
*/
ret = raw_read8(accel_addr[id], KXCJ9_CTRL1, ctrl1);
ret = raw_read8(data->accel_addr, KXCJ9_CTRL1, ctrl1);
if (ret != EC_SUCCESS)
return ret;
@@ -147,13 +129,13 @@ static int disable_sensor(const enum accel_id id, int *ctrl1)
* Before disabling the sensor, acquire mutex to prevent another task
* from attempting to access accel parameters until we enable sensor.
*/
mutex_lock(&accel_mutex[id]);
mutex_lock(&data->accel_mutex);
/* Disable sensor. */
*ctrl1 &= ~KXCJ9_CTRL1_PC1;
ret = raw_write8(accel_addr[id], KXCJ9_CTRL1, *ctrl1);
ret = raw_write8(data->accel_addr, KXCJ9_CTRL1, *ctrl1);
if (ret != EC_SUCCESS) {
mutex_unlock(&accel_mutex[id]);
mutex_unlock(&data->accel_mutex);
return ret;
}
@@ -165,178 +147,166 @@ static int disable_sensor(const enum accel_id id, int *ctrl1)
*
* Note: This is intended to be called in a pair with disable_sensor().
*
* @id Sensor index
* @data Pointer to motion sensor data
* @ctrl1 Value of KXCJ9_CTRL1 register to write to sensor
*
* @return EC_SUCCESS if successful, EC_ERROR_* otherwise
*/
static int enable_sensor(const enum accel_id id, const int ctrl1)
static int enable_sensor(struct kxcj9_data *data, const int ctrl1)
{
int i, ret;
for (i = 0; i < SENSOR_ENABLE_ATTEMPTS; i++) {
/* Enable accelerometer based on ctrl1 value. */
ret = raw_write8(accel_addr[id], KXCJ9_CTRL1,
ret = raw_write8(data->accel_addr, KXCJ9_CTRL1,
ctrl1 | KXCJ9_CTRL1_PC1);
/* On first success, we are done. */
if (ret == EC_SUCCESS) {
mutex_unlock(&accel_mutex[id]);
mutex_unlock(&data->accel_mutex);
return EC_SUCCESS;
}
}
/* Release mutex. */
mutex_unlock(&accel_mutex[id]);
mutex_unlock(&data->accel_mutex);
/* Cannot enable accel, print warning and return an error. */
CPRINTF("Error trying to enable accelerometer %d\n", id);
CPRINTF("Error trying to enable accelerometer\n");
return ret;
}
int accel_set_range(const enum accel_id id, const int range, const int rnd)
static int accel_set_range(void *drv_data,
const int range,
const int rnd)
{
int ret, ctrl1, ctrl1_new, index;
/* Check for valid id. */
if (id < 0 || id >= ACCEL_COUNT)
return EC_ERROR_INVAL;
struct kxcj9_data *data = (struct kxcj9_data *)drv_data;
/* Find index for interface pair matching the specified range. */
index = find_param_index(range, rnd, ranges, ARRAY_SIZE(ranges));
/* Disable the sensor to allow for changing of critical parameters. */
ret = disable_sensor(id, &ctrl1);
ret = disable_sensor(data, &ctrl1);
if (ret != EC_SUCCESS)
return ret;
/* Determine new value of CTRL1 reg and attempt to write it. */
ctrl1_new = (ctrl1 & ~KXCJ9_GSEL_ALL) | ranges[index].reg;
ret = raw_write8(accel_addr[id], KXCJ9_CTRL1, ctrl1_new);
ret = raw_write8(data->accel_addr, KXCJ9_CTRL1, ctrl1_new);
/* If successfully written, then save the range. */
if (ret == EC_SUCCESS) {
sensor_range[id] = index;
data->sensor_range = index;
ctrl1 = ctrl1_new;
}
/* Re-enable the sensor. */
if (enable_sensor(id, ctrl1) != EC_SUCCESS)
if (enable_sensor(data, ctrl1) != EC_SUCCESS)
return EC_ERROR_UNKNOWN;
return ret;
}
int accel_get_range(const enum accel_id id, int * const range)
static int accel_get_range(void *drv_data, int * const range)
{
/* Check for valid id. */
if (id < 0 || id >= ACCEL_COUNT)
return EC_ERROR_INVAL;
*range = ranges[sensor_range[id]].val;
struct kxcj9_data *data = (struct kxcj9_data *)drv_data;
*range = ranges[data->sensor_range].val;
return EC_SUCCESS;
}
int accel_set_resolution(const enum accel_id id, const int res, const int rnd)
static int accel_set_resolution(void *drv_data,
const int res,
const int rnd)
{
int ret, ctrl1, ctrl1_new, index;
/* Check for valid id. */
if (id < 0 || id >= ACCEL_COUNT)
return EC_ERROR_INVAL;
struct kxcj9_data *data = (struct kxcj9_data *)drv_data;
/* Find index for interface pair matching the specified resolution. */
index = find_param_index(res, rnd, resolutions,
ARRAY_SIZE(resolutions));
/* Disable the sensor to allow for changing of critical parameters. */
ret = disable_sensor(id, &ctrl1);
ret = disable_sensor(data, &ctrl1);
if (ret != EC_SUCCESS)
return ret;
/* Determine new value of CTRL1 reg and attempt to write it. */
ctrl1_new = (ctrl1 & ~KXCJ9_RES_12BIT) | resolutions[index].reg;
ret = raw_write8(accel_addr[id], KXCJ9_CTRL1, ctrl1_new);
ret = raw_write8(data->accel_addr, KXCJ9_CTRL1, ctrl1_new);
/* If successfully written, then save the range. */
if (ret == EC_SUCCESS) {
sensor_resolution[id] = index;
data->sensor_resolution = index;
ctrl1 = ctrl1_new;
}
/* Re-enable the sensor. */
if (enable_sensor(id, ctrl1) != EC_SUCCESS)
if (enable_sensor(data, ctrl1) != EC_SUCCESS)
return EC_ERROR_UNKNOWN;
return ret;
}
int accel_get_resolution(const enum accel_id id, int * const res)
static int accel_get_resolution(void *drv_data, int * const res)
{
/* Check for valid id. */
if (id < 0 || id >= ACCEL_COUNT)
return EC_ERROR_INVAL;
*res = resolutions[sensor_resolution[id]].val;
struct kxcj9_data *data = (struct kxcj9_data *)drv_data;
*res = resolutions[data->sensor_resolution].val;
return EC_SUCCESS;
}
int accel_set_datarate(const enum accel_id id, const int rate, const int rnd)
static int accel_set_datarate(void *drv_data,
const int rate,
const int rnd)
{
int ret, ctrl1, index;
/* Check for valid id. */
if (id < 0 || id >= ACCEL_COUNT)
return EC_ERROR_INVAL;
struct kxcj9_data *data = (struct kxcj9_data *)drv_data;
/* Find index for interface pair matching the specified rate. */
index = find_param_index(rate, rnd, datarates, ARRAY_SIZE(datarates));
/* Disable the sensor to allow for changing of critical parameters. */
ret = disable_sensor(id, &ctrl1);
ret = disable_sensor(data, &ctrl1);
if (ret != EC_SUCCESS)
return ret;
/* Set output data rate. */
ret = raw_write8(accel_addr[id], KXCJ9_DATA_CTRL,
ret = raw_write8(data->accel_addr, KXCJ9_DATA_CTRL,
datarates[index].reg);
/* If successfully written, then save the range. */
if (ret == EC_SUCCESS)
sensor_datarate[id] = index;
data->sensor_datarate = index;
/* Re-enable the sensor. */
if (enable_sensor(id, ctrl1) != EC_SUCCESS)
if (enable_sensor(data, ctrl1) != EC_SUCCESS)
return EC_ERROR_UNKNOWN;
return ret;
}
int accel_get_datarate(const enum accel_id id, int * const rate)
static int accel_get_datarate(void *drv_data, int * const rate)
{
/* Check for valid id. */
if (id < 0 || id >= ACCEL_COUNT)
return EC_ERROR_INVAL;
*rate = datarates[sensor_datarate[id]].val;
struct kxcj9_data *data = (struct kxcj9_data *)drv_data;
*rate = datarates[data->sensor_datarate].val;
return EC_SUCCESS;
}
#ifdef CONFIG_ACCEL_INTERRUPTS
int accel_set_interrupt(const enum accel_id id, unsigned int threshold)
static int accel_set_interrupt(void *drv_data, unsigned int threshold)
{
int ctrl1, tmp, ret;
struct kxcj9_data *data = (struct kxcj9_data *)drv_data;
/* Disable the sensor to allow for changing of critical parameters. */
ret = disable_sensor(id, &ctrl1);
ret = disable_sensor(data, &ctrl1);
if (ret != EC_SUCCESS)
return ret;
/* Set interrupt timer to 1 so it wakes up immediately. */
ret = raw_write8(accel_addr[id], KXCJ9_WAKEUP_TIMER, 1);
ret = raw_write8(data->accel_addr, KXCJ9_WAKEUP_TIMER, 1);
if (ret != EC_SUCCESS)
goto error_enable_sensor;
@@ -345,7 +315,7 @@ int accel_set_interrupt(const enum accel_id id, unsigned int threshold)
* first we need to divide by 16 to get the value to send.
*/
threshold >>= 4;
ret = raw_write8(accel_addr[id], KXCJ9_WAKEUP_THRESHOLD, threshold);
ret = raw_write8(data->accel_addr, KXCJ9_WAKEUP_THRESHOLD, threshold);
if (ret != EC_SUCCESS)
goto error_enable_sensor;
@@ -354,11 +324,11 @@ int accel_set_interrupt(const enum accel_id id, unsigned int threshold)
* function is called once, the interrupt stays enabled and it is
* only necessary to clear KXCJ9_INT_REL to allow the next interrupt.
*/
ret = raw_read8(accel_addr[id], KXCJ9_INT_CTRL1, &tmp);
ret = raw_read8(data->accel_addr, KXCJ9_INT_CTRL1, &tmp);
if (ret != EC_SUCCESS)
goto error_enable_sensor;
if (!(tmp & KXCJ9_INT_CTRL1_IEN)) {
ret = raw_write8(accel_addr[id], KXCJ9_INT_CTRL1,
ret = raw_write8(data->accel_addr, KXCJ9_INT_CTRL1,
tmp | KXCJ9_INT_CTRL1_IEN);
if (ret != EC_SUCCESS)
goto error_enable_sensor;
@@ -369,41 +339,40 @@ int accel_set_interrupt(const enum accel_id id, unsigned int threshold)
* Note: this register latches motion detected above threshold. Once
* latched, no interrupt can occur until this register is cleared.
*/
ret = raw_read8(accel_addr[id], KXCJ9_INT_REL, &tmp);
ret = raw_read8(data->accel_addr, KXCJ9_INT_REL, &tmp);
error_enable_sensor:
/* Re-enable the sensor. */
if (enable_sensor(id, ctrl1) != EC_SUCCESS)
if (enable_sensor(data, ctrl1) != EC_SUCCESS)
return EC_ERROR_UNKNOWN;
return ret;
}
#endif
int accel_read(const enum accel_id id, int * const x_acc, int * const y_acc,
int * const z_acc)
static int accel_read(void *drv_data,
int * const x_acc,
int * const y_acc,
int * const z_acc)
{
uint8_t acc[6];
uint8_t reg = KXCJ9_XOUT_L;
int ret, multiplier;
/* Check for valid id. */
if (id < 0 || id >= ACCEL_COUNT)
return EC_ERROR_INVAL;
struct kxcj9_data *data = (struct kxcj9_data *)drv_data;
/* Read 6 bytes starting at KXCJ9_XOUT_L. */
mutex_lock(&accel_mutex[id]);
mutex_lock(&data->accel_mutex);
i2c_lock(I2C_PORT_ACCEL, 1);
ret = i2c_xfer(I2C_PORT_ACCEL, accel_addr[id], &reg, 1, acc, 6,
ret = i2c_xfer(I2C_PORT_ACCEL, data->accel_addr, &reg, 1, acc, 6,
I2C_XFER_SINGLE);
i2c_lock(I2C_PORT_ACCEL, 0);
mutex_unlock(&accel_mutex[id]);
mutex_unlock(&data->accel_mutex);
if (ret != EC_SUCCESS)
return ret;
/* Determine multiplier based on stored range. */
switch (ranges[sensor_range[id]].reg) {
switch (ranges[data->sensor_range].reg) {
case KXCJ9_GSEL_2G:
multiplier = 1;
break;
@@ -436,17 +405,23 @@ int accel_read(const enum accel_id id, int * const x_acc, int * const y_acc,
return EC_SUCCESS;
}
int accel_init(const enum accel_id id)
static int accel_init(void *drv_data, int i2c_addr)
{
int ret = EC_SUCCESS;
int cnt = 0, ctrl1, ctrl2;
struct kxcj9_data *data = (struct kxcj9_data *)drv_data;
/* Check for valid id. */
if (id < 0 || id >= ACCEL_COUNT)
if (data == NULL)
return EC_ERROR_INVAL;
memset(&data->accel_mutex, sizeof(struct mutex), 0);
data->sensor_range = 0;
data->sensor_datarate = 6;
data->sensor_resolution = 1;
data->accel_addr = i2c_addr;
/* Disable the sensor to allow for changing of critical parameters. */
ret = disable_sensor(id, &ctrl1);
ret = disable_sensor(data, &ctrl1);
if (ret != EC_SUCCESS)
return ret;
@@ -455,13 +430,13 @@ int accel_init(const enum accel_id id)
* the sensor is unknown here. Initiate software reset to restore
* sensor to default.
*/
ret = raw_write8(accel_addr[id], KXCJ9_CTRL2, KXCJ9_CTRL2_SRST);
ret = raw_write8(data->accel_addr, KXCJ9_CTRL2, KXCJ9_CTRL2_SRST);
if (ret != EC_SUCCESS)
return ret;
/* Wait until software reset is complete or timeout. */
while (1) {
ret = raw_read8(accel_addr[id], KXCJ9_CTRL2, &ctrl2);
ret = raw_read8(data->accel_addr, KXCJ9_CTRL2, &ctrl2);
/* Reset complete. */
if (ret == EC_SUCCESS && !(ctrl2 & KXCJ9_CTRL2_SRST))
@@ -476,23 +451,25 @@ int accel_init(const enum accel_id id)
}
/* Set resolution and range. */
ctrl1 = resolutions[sensor_resolution[id]].reg |
ranges[sensor_range[id]].reg;
ctrl1 = resolutions[data->sensor_resolution].reg |
ranges[data->sensor_range].reg;
#ifdef CONFIG_ACCEL_INTERRUPTS
/* Enable wake up (motion detect) functionality. */
ctrl1 |= KXCJ9_CTRL1_WUFE;
#endif
ret = raw_write8(accel_addr[id], KXCJ9_CTRL1, ctrl1);
ret = raw_write8(data->accel_addr, KXCJ9_CTRL1, ctrl1);
#ifdef CONFIG_ACCEL_INTERRUPTS
/* Set interrupt polarity to rising edge and keep interrupt disabled. */
ret |= raw_write8(accel_addr[id], KXCJ9_INT_CTRL1, KXCJ9_INT_CTRL1_IEA);
ret |= raw_write8(data->accel_addr,
KXCJ9_INT_CTRL1,
KXCJ9_INT_CTRL1_IEA);
/* Set output data rate for wake-up interrupt function. */
ret |= raw_write8(accel_addr[id], KXCJ9_CTRL2, KXCJ9_OWUF_100_0HZ);
ret |= raw_write8(data->accel_addr, KXCJ9_CTRL2, KXCJ9_OWUF_100_0HZ);
/* Set interrupt to trigger on motion on any axis. */
ret |= raw_write8(accel_addr[id], KXCJ9_INT_CTRL2,
ret |= raw_write8(data->accel_addr, KXCJ9_INT_CTRL2,
KXCJ9_INT_SRC2_XNWU | KXCJ9_INT_SRC2_XPWU |
KXCJ9_INT_SRC2_YNWU | KXCJ9_INT_SRC2_YPWU |
KXCJ9_INT_SRC2_ZNWU | KXCJ9_INT_SRC2_ZPWU);
@@ -506,11 +483,27 @@ int accel_init(const enum accel_id id)
#endif
/* Set output data rate. */
ret |= raw_write8(accel_addr[id], KXCJ9_DATA_CTRL,
datarates[sensor_datarate[id]].reg);
ret |= raw_write8(data->accel_addr, KXCJ9_DATA_CTRL,
datarates[data->sensor_datarate].reg);
/* Enable the sensor. */
ret |= enable_sensor(id, ctrl1);
ret |= enable_sensor(data, ctrl1);
return ret;
}
const struct accelgyro_info accel_kxcj9 = {
.chip_type = CHIP_KXCJ9,
.sensor_type = SENSOR_ACCELEROMETER,
.init = accel_init,
.read = accel_read,
.set_range = accel_set_range,
.get_range = accel_get_range,
.set_resolution = accel_set_resolution,
.get_resolution = accel_get_resolution,
.set_datarate = accel_set_datarate,
.get_datarate = accel_get_datarate,
#ifdef CONFIG_ACCEL_INTERRUPTS
.set_interrupt = accel_set_interrupt,
#endif
};

25
driver/accel_kxcj9.h
View File

@@ -8,6 +8,8 @@
#ifndef __CROS_EC_ACCEL_KXCJ9_H
#define __CROS_EC_ACCEL_KXCJ9_H
#include "task.h"
/*
* 7-bit address is 000111Xb. Where 'X' is determined
* by the voltage on the ADDR pin.
@@ -99,17 +101,18 @@
#define KXCJ9_OSA_800_0HZ 6
#define KXCJ9_OSA_1600_HZ 7
struct kxcj9_data {
struct mutex accel_mutex;
/* Current range of accelerometer. */
int sensor_range;
/* Current output data rate of accelerometer. */
int sensor_datarate;
/* Current resolution of accelerometer. */
int sensor_resolution;
/* Device address. */
int accel_addr;
};
#ifdef CONFIG_ACCEL_INTERRUPTS
/**
* Setup a one-time accel interrupt. If the threshold is low enough, the
* interrupt may trigger due simply to noise and not any real motion. If the
* threshold is 0, the interrupt will fire immediately.
*
* @param id Target accelerometer
* @param threshold Threshold for interrupt in units of counts.
*/
int accel_set_interrupt(const enum accel_id id, unsigned int threshold);
#endif
extern const struct accelgyro_info accel_kxcj9;
#endif /* __CROS_EC_ACCEL_KXCJ9_H */

139
driver/accelgyro_lsm6ds0.c
View File

@@ -5,7 +5,7 @@
/* LSM6DS0 accelerometer and gyro module for Chrome EC */
#include "accelerometer.h"
#include "accelgyro.h"
#include "common.h"
#include "console.h"
#include "driver/accelgyro_lsm6ds0.h"
@@ -24,14 +24,14 @@ struct accel_param_pair {
};
/* List of range values in +/-G's and their associated register values. */
const struct accel_param_pair ranges[] = {
static const struct accel_param_pair ranges[] = {
{2, LSM6DS0_GSEL_2G},
{4, LSM6DS0_GSEL_4G},
{8, LSM6DS0_GSEL_8G}
};
/* List of ODR values in mHz and their associated register values. */
const struct accel_param_pair datarates[] = {
static const struct accel_param_pair datarates[] = {
{10000, LSM6DS0_ODR_10HZ},
{50000, LSM6DS0_ODR_50HZ},
{119000, LSM6DS0_ODR_119HZ},
@@ -40,17 +40,6 @@ const struct accel_param_pair datarates[] = {
{952000, LSM6DS0_ODR_982HZ}
};
/* Current range of each accelerometer. The value is an index into ranges[]. */
static int sensor_range[ACCEL_COUNT] = {0, 0};
/*
* Current output data rate of each accelerometer. The value is an index into
* datarates[].
*/
static int sensor_datarate[ACCEL_COUNT] = {1, 1};
static struct mutex accel_mutex[ACCEL_COUNT];
/**
* Find index into a accel_param_pair that matches the given engineering value
* passed in. The round_up flag is used to specify whether to round up or down.
@@ -94,9 +83,12 @@ static int raw_write8(const int addr, const int reg, int data)
return i2c_write8(I2C_PORT_ACCEL, addr, reg, data);
}
int accel_set_range(const enum accel_id id, const int range, const int rnd)
static int accel_set_range(void *drv_data,
const int range,
const int rnd)
{
int ret, index, ctrl_reg6;
struct lsm6ds0_data *data = (struct lsm6ds0_data *)drv_data;
/* Find index for interface pair matching the specified range. */
index = find_param_index(range, rnd, ranges, ARRAY_SIZE(ranges));
@@ -105,61 +97,52 @@ int accel_set_range(const enum accel_id id, const int range, const int rnd)
* Lock accel resource to prevent another task from attempting
* to write accel parameters until we are done.
*/
mutex_lock(&accel_mutex[id]);
mutex_lock(&data->accel_mutex);
ret = raw_read8(accel_addr[id], LSM6DS0_CTRL_REG6_XL, &ctrl_reg6);
ret = raw_read8(data->accel_addr, LSM6DS0_CTRL_REG6_XL, &ctrl_reg6);
if (ret != EC_SUCCESS)
goto accel_cleanup;
ctrl_reg6 = (ctrl_reg6 & ~LSM6DS0_GSEL_ALL) | ranges[index].reg;
ret = raw_write8(accel_addr[id], LSM6DS0_CTRL_REG6_XL, ctrl_reg6);
ret = raw_write8(data->accel_addr, LSM6DS0_CTRL_REG6_XL, ctrl_reg6);
accel_cleanup:
/* Unlock accel resource and save new range if written successfully. */
mutex_unlock(&accel_mutex[id]);
mutex_unlock(&data->accel_mutex);
if (ret == EC_SUCCESS)
sensor_range[id] = index;
data->sensor_range = index;
return EC_SUCCESS;
}
int accel_get_range(const enum accel_id id, int * const range)
static int accel_get_range(void *drv_data, int * const range)
{
/* Check for valid id. */
if (id < 0 || id >= ACCEL_COUNT)
return EC_ERROR_INVAL;
*range = ranges[sensor_range[id]].val;
struct lsm6ds0_data *data = (struct lsm6ds0_data *)drv_data;
*range = ranges[data->sensor_range].val;
return EC_SUCCESS;
}
int accel_set_resolution(const enum accel_id id, const int res, const int rnd)
static int accel_set_resolution(void *drv_data,
const int res,
const int rnd)
{
/* Check for valid id. */
if (id < 0 || id >= ACCEL_COUNT)
return EC_ERROR_INVAL;
/* Only one resolution, LSM6DS0_RESOLUTION, so nothing to do. */
return EC_SUCCESS;
}
int accel_get_resolution(const enum accel_id id, int * const res)
static int accel_get_resolution(void *drv_data,
int * const res)
{
/* Check for valid id. */
if (id < 0 || id >= ACCEL_COUNT)
return EC_ERROR_INVAL;
*res = LSM6DS0_RESOLUTION;
return EC_SUCCESS;
}
int accel_set_datarate(const enum accel_id id, const int rate, const int rnd)
static int accel_set_datarate(void *drv_data,
const int rate,
const int rnd)
{
int ret, index, ctrl_reg6;
/* Check for valid id. */
if (id < 0 || id >= ACCEL_COUNT)
return EC_ERROR_INVAL;
struct lsm6ds0_data *data = (struct lsm6ds0_data *)drv_data;
/* Find index for interface pair matching the specified range. */
index = find_param_index(rate, rnd, datarates, ARRAY_SIZE(datarates));
@@ -168,62 +151,64 @@ int accel_set_datarate(const enum accel_id id, const int rate, const int rnd)
* Lock accel resource to prevent another task from attempting
* to write accel parameters until we are done.
*/
mutex_lock(&accel_mutex[id]);
mutex_lock(&data->accel_mutex);
ret = raw_read8(accel_addr[id], LSM6DS0_CTRL_REG6_XL, &ctrl_reg6);
ret = raw_read8(data->accel_addr, LSM6DS0_CTRL_REG6_XL, &ctrl_reg6);
if (ret != EC_SUCCESS)
goto accel_cleanup;
ctrl_reg6 = (ctrl_reg6 & ~LSM6DS0_ODR_ALL) | datarates[index].reg;
ret = raw_write8(accel_addr[id], LSM6DS0_CTRL_REG6_XL, ctrl_reg6);
ret = raw_write8(data->accel_addr, LSM6DS0_CTRL_REG6_XL, ctrl_reg6);
accel_cleanup:
/* Unlock accel resource and save new ODR if written successfully. */
mutex_unlock(&accel_mutex[id]);
mutex_unlock(&data->accel_mutex);
if (ret == EC_SUCCESS)
sensor_datarate[id] = index;
data->sensor_datarate = index;
return EC_SUCCESS;
}
int accel_get_datarate(const enum accel_id id, int * const rate)
static int accel_get_datarate(void *drv_data,
int * const rate)
{
/* Check for valid id. */
if (id < 0 || id >= ACCEL_COUNT)
return EC_ERROR_INVAL;
*rate = datarates[sensor_datarate[id]].val;
struct lsm6ds0_data *data = (struct lsm6ds0_data *)drv_data;
*rate = datarates[data->sensor_datarate].val;
return EC_SUCCESS;
}
#ifdef CONFIG_ACCEL_INTERRUPTS
int accel_set_interrupt(const enum accel_id id, unsigned int threshold)
static int accel_set_interrupt(void *drv_data,
unsigned int threshold)
{
/* Currently unsupported. */
return EC_ERROR_UNKNOWN;
}
#endif
int accel_read(const enum accel_id id, int * const x_acc, int * const y_acc,
int * const z_acc)
static int accel_read(void *drv_data,
int * const x_acc,
int * const y_acc,
int * const z_acc)
{
uint8_t acc[6];
uint8_t reg = LSM6DS0_OUT_X_L_XL;
int ret, multiplier;
struct lsm6ds0_data *data = (struct lsm6ds0_data *)drv_data;
/* Read 6 bytes starting at LSM6DS0_OUT_X_L_XL. */
mutex_lock(&accel_mutex[id]);
mutex_lock(&data->accel_mutex);
i2c_lock(I2C_PORT_ACCEL, 1);
ret = i2c_xfer(I2C_PORT_ACCEL, accel_addr[id], &reg, 1, acc, 6,
ret = i2c_xfer(I2C_PORT_ACCEL, data->accel_addr, &reg, 1, acc, 6,
I2C_XFER_SINGLE);
i2c_lock(I2C_PORT_ACCEL, 0);
mutex_unlock(&accel_mutex[id]);
mutex_unlock(&data->accel_mutex);
if (ret != EC_SUCCESS)
return ret;
/* Determine multiplier based on stored range. */
switch (ranges[sensor_range[id]].reg) {
switch (ranges[data->sensor_range].reg) {
case LSM6DS0_GSEL_2G:
multiplier = 1;
break;
@@ -254,32 +239,50 @@ int accel_read(const enum accel_id id, int * const x_acc, int * const y_acc,
return EC_SUCCESS;
}
int accel_init(const enum accel_id id)
static int accel_init(void *drv_data, int i2c_addr)
{
int ret, ctrl_reg6;
struct lsm6ds0_data *data = (struct lsm6ds0_data *)drv_data;
/* Check for valid id. */
if (id < 0 || id >= ACCEL_COUNT)
if (data == NULL)
return EC_ERROR_INVAL;
mutex_lock(&accel_mutex[id]);
memset(&data->accel_mutex, sizeof(struct mutex), 0);
data->sensor_range = 0;
data->sensor_datarate = 1;
data->accel_addr = i2c_addr;
/*
* This sensor can be powered through an EC reboot, so the state of
* the sensor is unknown here. Initiate software reset to restore
* sensor to default.
*/
ret = raw_write8(accel_addr[id], LSM6DS0_CTRL_REG8, 1);
ret = raw_write8(data->accel_addr, LSM6DS0_CTRL_REG8, 1);
if (ret != EC_SUCCESS)
goto accel_cleanup;
/* Set ODR and range. */
ctrl_reg6 = datarates[sensor_datarate[id]].reg |
ranges[sensor_range[id]].reg;
ctrl_reg6 = datarates[data->sensor_datarate].reg |
ranges[data->sensor_range].reg;
ret = raw_write8(accel_addr[id], LSM6DS0_CTRL_REG6_XL, ctrl_reg6);
ret = raw_write8(data->accel_addr, LSM6DS0_CTRL_REG6_XL, ctrl_reg6);
accel_cleanup:
mutex_unlock(&accel_mutex[id]);
return ret;
}
const struct accelgyro_info accel_lsm6ds0 = {
.chip_type = CHIP_LSM6DS0,
.sensor_type = SENSOR_ACCELEROMETER,
.init = accel_init,
.read = accel_read,
.set_range = accel_set_range,
.get_range = accel_get_range,
.set_resolution = accel_set_resolution,
.get_resolution = accel_get_resolution,
.set_datarate = accel_set_datarate,
.get_datarate = accel_get_datarate,
#ifdef CONFIG_ACCEL_INTERRUPTS
.set_interrupt = accel_set_interrupt,
#endif
};

14
driver/accelgyro_lsm6ds0.h
View File

@@ -8,6 +8,8 @@
#ifndef __CROS_EC_ACCEL_LSM6DS0_H
#define __CROS_EC_ACCEL_LSM6DS0_H
#include "task.h"
/*
* 7-bit address is 110101Xb. Where 'X' is determined
* by the voltage on the ADDR pin.
@@ -42,4 +44,16 @@
/* Sensor resolution in number of bits. This sensor has fixed resolution. */
#define LSM6DS0_RESOLUTION 16
struct lsm6ds0_data {
struct mutex accel_mutex;
/* Current range of accelerometer. */
int sensor_range;
/* Current output data rate of accelerometer. */
int sensor_datarate;
/* Device address. */
int accel_addr;
};
extern const struct accelgyro_info accel_lsm6ds0;
#endif /* __CROS_EC_ACCEL_LSM6DS0_H */

1
driver/build.mk
View File

@@ -8,6 +8,7 @@
# Accelerometers
driver-$(CONFIG_ACCEL_KXCJ9)+=accel_kxcj9.o
driver-$(CONFIG_ACCELGYRO_LSM6DS0)+=accelgyro_lsm6ds0.o
# ALS drivers
driver-$(CONFIG_ALS_ISL29035)+=als_isl29035.o

87
include/accelerometer.h
View File

@@ -1,87 +0,0 @@
/* Copyright (c) 2014 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.
*/
#ifndef __CROS_EC_ACCELEROMETER_H
#define __CROS_EC_ACCELEROMETER_H
/* Header file for accelerometer drivers. */
/* This array must be defined in board.c. */
extern const int accel_addr[];
/* This enum must be defined in board.h. */
enum accel_id;
/* Number of counts from accelerometer that represents 1G acceleration. */
#define ACCEL_G 1024
/**
* Read all three accelerations of an accelerometer. Note that all three
* accelerations come back in counts, where ACCEL_G can be used to convert
* counts to engineering units.
*
* @param id Target accelerometer
* @param x_acc Pointer to store X-axis acceleration (in counts).
* @param y_acc Pointer to store Y-axis acceleration (in counts).
* @param z_acc Pointer to store Z-axis acceleration (in counts).
*
* @return EC_SUCCESS if successful, non-zero if error.
*/
int accel_read(const enum accel_id id, int * const x_acc, int * const y_acc,
int * const z_acc);
/**
* Initialize accelerometers.
*
* @param id Target accelerometer
*
* @return EC_SUCCESS if successful, non-zero if error.
*/
int accel_init(const enum accel_id id);
/**
* Setter and getter methods for the sensor range. The sensor range defines
* the maximum value that can be returned from accel_read(). As the range
* increases, the resolution gets worse.
*
* @param id Target accelerometer
* @param range Range (Units are +/- G's for accel, +/- deg/s for gyro)
* @param rnd Rounding flag. If true, it rounds up to nearest valid value.
* Otherwise, it rounds down.
*
* @return EC_SUCCESS if successful, non-zero if error.
*/
int accel_set_range(const enum accel_id id, const int range, const int rnd);
int accel_get_range(const enum accel_id id, int * const range);
/**
* Setter and getter methods for the sensor resolution.
*
* @param id Target accelerometer
* @param range Resolution (Units are number of bits)
* param rnd Rounding flag. If true, it rounds up to nearest valid value.
* Otherwise, it rounds down.
*
* @return EC_SUCCESS if successful, non-zero if error.
*/
int accel_set_resolution(const enum accel_id id, const int res, const int rnd);
int accel_get_resolution(const enum accel_id id, int * const res);
/**
* Setter and getter methods for the sensor output data range. As the ODR
* increases, the LPF roll-off frequency also increases.
*
* @param id Target accelerometer
* @param rate Output data rate (units are mHz)
* @param rnd Rounding flag. If true, it rounds up to nearest valid value.
* Otherwise, it rounds down.
*
* @return EC_SUCCESS if successful, non-zero if error.
*/
int accel_set_datarate(const enum accel_id id, const int rate, const int rnd);
int accel_get_datarate(const enum accel_id id, int * const rate);
#endif /* __CROS_EC_ACCELEROMETER_H */

111
include/accelgyro.h Normal file
View File

@@ -0,0 +1,111 @@
/* Copyright (c) 2014 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.
*/
#ifndef __CROS_EC_ACCELGYRO_H
#define __CROS_EC_ACCELGYRO_H
/* Header file for accelerometer / gyro drivers. */
/* Number of counts from accelerometer that represents 1G acceleration. */
#define ACCEL_G 1024
enum accelgyro_chip_t {
CHIP_TEST,
CHIP_KXCJ9,
CHIP_LSM6DS0,
};
enum accelgyro_sensor_t {
SENSOR_ACCELEROMETER,
SENSOR_GYRO,
};
struct accelgyro_info {
enum accelgyro_chip_t chip_type;
enum accelgyro_sensor_t sensor_type;
/**
* Initialize accelerometers.
* @param drv_data Pointer to sensor data.
* @i2c_addr i2c slave device address
* @return EC_SUCCESS if successful, non-zero if error.
*/
int (*init)(void *drv_data,
int i2c_addr);
/**
* Read all three accelerations of an accelerometer. Note that all
* three accelerations come back in counts, where ACCEL_G can be used
* to convert counts to engineering units.
* @param drv_data Pointer to sensor data.
* @param x_acc Pointer to store X-axis acceleration (in counts).
* @param y_acc Pointer to store Y-axis acceleration (in counts).
* @param z_acc Pointer to store Z-axis acceleration (in counts).
* @return EC_SUCCESS if successful, non-zero if error.
*/
int (*read)(void *drv_data,
int * const x_acc,
int * const y_acc,
int * const z_acc);
/**
* Setter and getter methods for the sensor range. The sensor range
* defines the maximum value that can be returned from read(). As the
* range increases, the resolution gets worse.
* @param drv_data Pointer to sensor data.
* @param range Range (Units are +/- G's for accel, +/- deg/s for gyro)
* @param rnd Rounding flag. If true, it rounds up to nearest valid
* value. Otherwise, it rounds down.
* @return EC_SUCCESS if successful, non-zero if error.
*/
int (*set_range)(void *drv_data,
const int range,
const int rnd);
int (*get_range)(void *drv_data,
int * const range);
/**
* Setter and getter methods for the sensor resolution.
* @param drv_data Pointer to sensor data.
* @param range Resolution (Units are number of bits)
* param rnd Rounding flag. If true, it rounds up to nearest valid
* value. Otherwise, it rounds down.
* @return EC_SUCCESS if successful, non-zero if error.
*/
int (*set_resolution)(void *drv_data,
const int res,
const int rnd);
int (*get_resolution)(void *drv_data,
int * const res);
/**
* Setter and getter methods for the sensor output data range. As the
* ODR increases, the LPF roll-off frequency also increases.
* @param drv_data Pointer to sensor data.
* @param rate Output data rate (units are mHz)
* @param rnd Rounding flag. If true, it rounds up to nearest valid
* value. Otherwise, it rounds down.
* @return EC_SUCCESS if successful, non-zero if error.
*/
int (*set_datarate)(void *drv_data,
const int rate,
const int rnd);
int (*get_datarate)(void *drv_data,
int * const rate);
#ifdef CONFIG_ACCEL_INTERRUPTS
/**
* Setup a one-time accel interrupt. If the threshold is low enough, the
* interrupt may trigger due simply to noise and not any real motion.
* If the threshold is 0, the interrupt will fire immediately.
* @param drv_data Pointer to sensor data.
* @param threshold Threshold for interrupt in units of counts.
*/
int (*set_interrupt)(void *drv_data,
unsigned int threshold);
#endif
};
#endif /* __CROS_EC_ACCELGYRO_H */

1
include/ec_commands.h
View File

@@ -1300,6 +1300,7 @@ enum motionsensor_location {
/* List of motion sensor chips. */
enum motionsensor_chip {
MOTIONSENSE_CHIP_KXCJ9 = 0,
MOTIONSENSE_CHIP_LSM6DS0 = 1,
};
/* Module flag masks used for the dump sub-command. */

16
include/motion_sense.h
View File

@@ -92,5 +92,21 @@ void accel_int_lid(enum gpio_signal signal);
*/
void accel_int_base(enum gpio_signal signal);
enum sensor_location_t {
LOCATION_BASE,
LOCATION_LID,
};
struct motion_sensor_t {
char *name;
enum sensor_location_t location;
const struct accelgyro_info *drv;
void *drv_data;
uint8_t i2c_addr;
};
/* Defined at board level. */
extern const struct motion_sensor_t motion_sensors[];
extern const unsigned int motion_sensor_count;
#endif /* __CROS_EC_MOTION_SENSE_H */

39
test/math_util.c
View File

@@ -10,43 +10,12 @@
#include "math_util.h"
#include "motion_sense.h"
#include "test_util.h"
#include "util.h"
/*****************************************************************************/
/* Mock functions */
/* Need to define accelerometer functions just to compile. */
int accel_init(enum accel_id id)
{
return EC_SUCCESS;
}
int accel_read(enum accel_id id, int *x_acc, int *y_acc, int *z_acc)
{
return EC_SUCCESS;
}
int accel_set_range(const enum accel_id id, const int range, const int rnd)
{
return EC_SUCCESS;
}
int accel_get_range(const enum accel_id id, int * const range)
{
return EC_SUCCESS;
}
int accel_set_resolution(const enum accel_id id, const int res, const int rnd)
{
return EC_SUCCESS;
}
int accel_get_resolution(const enum accel_id id, int * const res)
{
return EC_SUCCESS;
}
int accel_set_datarate(const enum accel_id id, const int rate, const int rnd)
{
return EC_SUCCESS;
}
int accel_get_datarate(const enum accel_id id, int * const rate)
{
return EC_SUCCESS;
}
/* Need to define motion sensor globals just to compile. */
const struct motion_sensor_t motion_sensors[] = {};
const unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
/*****************************************************************************/
/* Test utilities */

103
test/motion_sense.c
View File

@@ -7,12 +7,14 @@
#include <math.h>
#include "accelgyro.h"
#include "common.h"
#include "host_command.h"
#include "motion_sense.h"
#include "task.h"
#include "test_util.h"
#include "timer.h"
#include "util.h"
/* Mock acceleration values for motion sense task to read in. */
int mock_x_acc[ACCEL_COUNT], mock_y_acc[ACCEL_COUNT], mock_z_acc[ACCEL_COUNT];
@@ -20,46 +22,101 @@ int mock_x_acc[ACCEL_COUNT], mock_y_acc[ACCEL_COUNT], mock_z_acc[ACCEL_COUNT];
/*****************************************************************************/
/* Mock functions */
int accel_init(enum accel_id id)
static int accel_init(void *drv_data, int i2c_addr)
{
return EC_SUCCESS;
}
int accel_read(enum accel_id id, int *x_acc, int *y_acc, int *z_acc)
static int accel_read_base(void *drv_data, int *x_acc, int *y_acc, int *z_acc)
{
/* Return the mock values. */
*x_acc = mock_x_acc[id];
*y_acc = mock_y_acc[id];
*z_acc = mock_z_acc[id];
*x_acc = mock_x_acc[ACCEL_BASE];
*y_acc = mock_y_acc[ACCEL_BASE];
*z_acc = mock_z_acc[ACCEL_BASE];
return EC_SUCCESS;
}
int accel_set_range(const enum accel_id id, const int range, const int rnd)
static int accel_read_lid(void *drv_data, int *x_acc, int *y_acc, int *z_acc)
{
/* Return the mock values. */
*x_acc = mock_x_acc[ACCEL_LID];
*y_acc = mock_y_acc[ACCEL_LID];
*z_acc = mock_z_acc[ACCEL_LID];
return EC_SUCCESS;
}
int accel_get_range(const enum accel_id id, int * const range)
{
return EC_SUCCESS;
}
int accel_set_resolution(const enum accel_id id, const int res, const int rnd)
{
return EC_SUCCESS;
}
int accel_get_resolution(const enum accel_id id, int * const res)
{
return EC_SUCCESS;
}
int accel_set_datarate(const enum accel_id id, const int rate, const int rnd)
{
return EC_SUCCESS;
}
int accel_get_datarate(const enum accel_id id, int * const rate)
static int accel_set_range(void *drv_data,
const int range,
const int rnd)
{
return EC_SUCCESS;
}
static int accel_get_range(void *drv_data,
int * const range)
{
return EC_SUCCESS;
}
static int accel_set_resolution(void *drv_data,
const int res,
const int rnd)
{
return EC_SUCCESS;
}
static int accel_get_resolution(void *drv_data,
int * const res)
{
return EC_SUCCESS;
}
static int accel_set_datarate(void *drv_data,
const int rate,
const int rnd)
{
return EC_SUCCESS;
}
static int accel_get_datarate(void *drv_data,
int * const rate)
{
return EC_SUCCESS;
}
const struct accelgyro_info test_motion_sense_base = {
.chip_type = CHIP_TEST,
.sensor_type = SENSOR_ACCELEROMETER,
.init = accel_init,
.read = accel_read_base,
.set_range = accel_set_range,
.get_range = accel_get_range,
.set_resolution = accel_set_resolution,
.get_resolution = accel_get_resolution,
.set_datarate = accel_set_datarate,
.get_datarate = accel_get_datarate,
};
const struct accelgyro_info test_motion_sense_lid = {
.chip_type = CHIP_TEST,
.sensor_type = SENSOR_ACCELEROMETER,
.init = accel_init,
.read = accel_read_lid,
.set_range = accel_set_range,
.get_range = accel_get_range,
.set_resolution = accel_set_resolution,
.get_resolution = accel_get_resolution,
.set_datarate = accel_set_datarate,
.get_datarate = accel_get_datarate,
};
const struct motion_sensor_t motion_sensors[] = {
{"test base sensor", LOCATION_BASE, &test_motion_sense_base, NULL, 0},
{"test lid sensor", LOCATION_LID, &test_motion_sense_lid, NULL, 0},
};
const unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
/*****************************************************************************/
/* Test utilities */