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driver: Use common data structure to store default accel values

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Move structure used by lms6ds0 to motion_sense.h,
so that bosh driver can use the same mechanism.
Use code to avoid reading chip range when reading data.

BUG=none
BRANCH=none
TEST=Check Bosh driver is working as expected.

Change-Id: Id8b5bb8735e479a122ef32ab9a400fba189d7488
Signed-off-by: Gwendal Grignou <gwendal@chromium.org>
Reviewed-on: https://chromium-review.googlesource.com/270453
Reviewed-by: Vincent Palatin <vpalatin@chromium.org>
This commit is contained in:
Gwendal Grignou
2015-05-12 07:45:33 -07:00
committed by ChromeOS Commit Bot
parent 39bd18b890
commit a9a9ae1abc
10 changed files with 156 additions and 83 deletions
Download Patch File Download Diff File Expand all files Collapse all files

42
board/cyan/board.c
View File

@@ -109,14 +109,36 @@ const matrix_3x3_t lid_standard_ref = {
};
struct motion_sensor_t motion_sensors[] = {
{SENSOR_ACTIVE_S0, "Base", MOTIONSENSE_CHIP_KXCJ9,
MOTIONSENSE_TYPE_ACCEL, MOTIONSENSE_LOC_BASE,
&kxcj9_drv, &g_kxcj9_mutex[0], &g_kxcj9_data[0],
KXCJ9_ADDR1, &base_standard_ref, 100000, 2},
{SENSOR_ACTIVE_S0, "Lid", MOTIONSENSE_CHIP_KXCJ9,
MOTIONSENSE_TYPE_ACCEL, MOTIONSENSE_LOC_LID,
&kxcj9_drv, &g_kxcj9_mutex[1], &g_kxcj9_data[1],
KXCJ9_ADDR0, &lid_standard_ref, 100000, 2},
{.name = "Base",
.active_mask = SENSOR_ACTIVE_S0,
.chip = MOTIONSENSE_CHIP_KXCJ9,
.type = MOTIONSENSE_TYPE_ACCEL,
.location = MOTIONSENSE_LOC_BASE,
.drv = &kxcj9_drv,
.mutex = &g_kxcj9_mutex[0],
.drv_data = &g_kxcj9_data[0],
.i2c_addr = KXCJ9_ADDR1,
.rot_standard_ref = &base_standard_ref,
.default_config = {
.odr = 100000,
.range = 2
}
},
{.name = "Lid",
.active_mask = SENSOR_ACTIVE_S0,
.chip = MOTIONSENSE_CHIP_KXCJ9,
.type = MOTIONSENSE_TYPE_ACCEL,
.location = MOTIONSENSE_LOC_LID,
.drv = &kxcj9_drv,
.mutex = &g_kxcj9_mutex[1],
.drv_data = &g_kxcj9_data[1],
.i2c_addr = KXCJ9_ADDR0,
.rot_standard_ref = &lid_standard_ref,
.default_config = {
.odr = 100000,
.range = 2
}
},
};
const unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
@@ -151,8 +173,8 @@ static void motion_sensors_pre_init(void)
sensor = &motion_sensors[i];
sensor->state = SENSOR_NOT_INITIALIZED;
sensor->odr = sensor->default_odr;
sensor->range = sensor->default_range;
sensor->runtime_config.odr = sensor->default_config.odr;
sensor->runtime_config.range = sensor->default_config.range;
}
}
DECLARE_HOOK(HOOK_CHIPSET_SUSPEND, motion_sensors_pre_init,

22
board/ryu_sh/board.c
View File

@@ -37,8 +37,8 @@ const unsigned int i2c_ports_used = ARRAY_SIZE(i2c_ports);
/* Sensor mutex */
static struct mutex g_mutex;
/* lsm6ds0 local sensor data (per-sensor) */
struct lsm6ds0_data g_lsm6ds0_data[2];
/* local sensor data (per-sensor) */
struct motion_data_t g_saved_data[2];
struct motion_sensor_t motion_sensors[] = {
@@ -54,11 +54,13 @@ struct motion_sensor_t motion_sensors[] = {
.location = MOTIONSENSE_LOC_LID,
.drv = &lsm6ds0_drv,
.mutex = &g_mutex,
.drv_data = &g_lsm6ds0_data[0],
.drv_data = &g_saved_data[0],
.i2c_addr = LSM6DS0_ADDR1,
.rot_standard_ref = NULL,
.default_odr = 119000,
.default_range = 2
.default_config = {
.odr = 119000,
.range = 2
}
},
{.name = "Gyro",
@@ -68,11 +70,13 @@ struct motion_sensor_t motion_sensors[] = {
.location = MOTIONSENSE_LOC_LID,
.drv = &lsm6ds0_drv,
.mutex = &g_mutex,
.drv_data = &g_lsm6ds0_data[1],
.drv_data = &g_saved_data[1],
.i2c_addr = LSM6DS0_ADDR1,
.rot_standard_ref = NULL,
.default_odr = 119000,
.default_range = 2000
.default_config = {
.odr = 119000,
.range = 2000
}
},
};
@@ -82,7 +86,7 @@ const unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
* Note: If a new sensor driver is added, make sure to update the following
* assert.
*/
BUILD_ASSERT(ARRAY_SIZE(motion_sensors) == ARRAY_SIZE(g_lsm6ds0_data));
BUILD_ASSERT(ARRAY_SIZE(motion_sensors) == ARRAY_SIZE(g_saved_data));
void board_config_pre_init(void)
{

24
board/samus/board.c
View File

@@ -262,7 +262,7 @@ static struct mutex g_lid_mutex;
struct kxcj9_data g_kxcj9_data;
/* lsm6ds0 local sensor data (per-sensor) */
struct lsm6ds0_data g_lsm6ds0_data[2];
struct motion_data_t g_saved_data[2];
/* Four Motion sensors */
/* Matrix to rotate accelrator into standard reference frame */
@@ -291,11 +291,13 @@ struct motion_sensor_t motion_sensors[] = {
.location = MOTIONSENSE_LOC_BASE,
.drv = &lsm6ds0_drv,
.mutex = &g_base_mutex,
.drv_data = &g_lsm6ds0_data[0],
.drv_data = &g_saved_data[0],
.i2c_addr = LSM6DS0_ADDR1,
.rot_standard_ref = &base_standard_ref,
.default_odr = 119000,
.default_range = 2
.default_config = {
.odr = 119000,
.range = 2
}
},
{.name = "Lid",
@@ -308,8 +310,10 @@ struct motion_sensor_t motion_sensors[] = {
.drv_data = &g_kxcj9_data,
.i2c_addr = KXCJ9_ADDR0,
.rot_standard_ref = &lid_standard_ref,
.default_odr = 100000,
.default_range = 2
.default_config = {
.odr = 100000,
.range = 2
}
},
{.name = "Base Gyro",
@@ -319,11 +323,13 @@ struct motion_sensor_t motion_sensors[] = {
.location = MOTIONSENSE_LOC_BASE,
.drv = &lsm6ds0_drv,
.mutex = &g_base_mutex,
.drv_data = &g_lsm6ds0_data[1],
.drv_data = &g_saved_data[1],
.i2c_addr = LSM6DS0_ADDR1,
.rot_standard_ref = NULL,
.default_odr = 119000,
.default_range = 2000
.default_config = {
.odr = 119000,
.range = 2000
}
},
};

42
board/strago/board.c
View File

@@ -123,14 +123,36 @@ const matrix_3x3_t lid_standard_ref = {
};
struct motion_sensor_t motion_sensors[] = {
{SENSOR_ACTIVE_S0, "Base Accel", MOTIONSENSE_CHIP_KXCJ9,
MOTIONSENSE_TYPE_ACCEL, MOTIONSENSE_LOC_BASE,
&kxcj9_drv, &g_kxcj9_mutex[0], &g_kxcj9_data[0],
KXCJ9_ADDR1, &base_standard_ref, 100000, 2},
{SENSOR_ACTIVE_S0, "Lid Accel", MOTIONSENSE_CHIP_KXCJ9,
MOTIONSENSE_TYPE_ACCEL, MOTIONSENSE_LOC_LID,
&kxcj9_drv, &g_kxcj9_mutex[1], &g_kxcj9_data[1],
KXCJ9_ADDR0, &lid_standard_ref, 100000, 2},
{.name = "Base Accel",
.active_mask = SENSOR_ACTIVE_S0,
.chip = MOTIONSENSE_CHIP_KXCJ9,
.type = MOTIONSENSE_TYPE_ACCEL,
.location = MOTIONSENSE_LOC_BASE,
.drv = &kxcj9_drv,
.mutex = &g_kxcj9_mutex[0],
.drv_data = &g_kxcj9_data[0],
.i2c_addr = KXCJ9_ADDR1,
.rot_standard_ref = &base_standard_ref,
.default_config = {
.odr = 100000,
.range = 2
}
},
{.name = "Lid Accel",
.active_mask = SENSOR_ACTIVE_S0,
.chip = MOTIONSENSE_CHIP_KXCJ9,
.type = MOTIONSENSE_TYPE_ACCEL,
.location = MOTIONSENSE_LOC_LID,
.drv = &kxcj9_drv,
.mutex = &g_kxcj9_mutex[1],
.drv_data = &g_kxcj9_data[1],
.i2c_addr = KXCJ9_ADDR0,
.rot_standard_ref = &lid_standard_ref,
.default_config = {
.odr = 100000,
.range = 2
}
},
};
const unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
@@ -165,8 +187,8 @@ static void motion_sensors_pre_init(void)
sensor = &motion_sensors[i];
sensor->state = SENSOR_NOT_INITIALIZED;
sensor->odr = sensor->default_odr;
sensor->range = sensor->default_range;
sensor->runtime_config.odr = sensor->default_config.odr;
sensor->runtime_config.range = sensor->default_config.range;
}
}
DECLARE_HOOK(HOOK_CHIPSET_SUSPEND, motion_sensors_pre_init,

15
common/motion_sense.c
View File

@@ -76,8 +76,8 @@ static void motion_sense_shutdown(void)
for (i = 0; i < motion_sensor_count; i++) {
sensor = &motion_sensors[i];
sensor->active = SENSOR_ACTIVE_S5;
sensor->odr = sensor->default_odr;
sensor->range = sensor->default_range;
sensor->runtime_config.odr = sensor->default_config.odr;
sensor->runtime_config.range = sensor->default_config.range;
if ((sensor->state == SENSOR_INITIALIZED) &&
!(sensor->active_mask & sensor->active)) {
sensor->drv->set_data_rate(sensor, 0, 0);
@@ -127,7 +127,8 @@ static void motion_sense_resume(void)
sensor->active = SENSOR_ACTIVE_S0;
if (sensor->state == SENSOR_INITIALIZED) {
/* Put back the odr previously set. */
sensor->drv->set_data_rate(sensor, sensor->odr, 1);
sensor->drv->set_data_rate(sensor,
sensor->runtime_config.odr, 1);
}
}
}
@@ -233,8 +234,8 @@ void motion_sense_task(void)
sensor = &motion_sensors[i];
sensor->state = SENSOR_NOT_INITIALIZED;
sensor->odr = sensor->default_odr;
sensor->range = sensor->default_range;
sensor->runtime_config.odr = sensor->default_config.odr;
sensor->runtime_config.range = sensor->default_config.range;
}
set_present(lpc_status);
@@ -443,7 +444,7 @@ static int host_cmd_motion_sense(struct host_cmd_handler_args *args)
sensor->drv->get_data_rate(sensor, &data);
/* Save configuration parameter: ODR */
sensor->odr = data;
sensor->runtime_config.odr = data;
out->sensor_odr.ret = data;
args->response_size = sizeof(out->sensor_odr);
@@ -471,7 +472,7 @@ static int host_cmd_motion_sense(struct host_cmd_handler_args *args)
sensor->drv->get_range(sensor, &data);
/* Save configuration parameter: range */
sensor->range = data;
sensor->runtime_config.range = data;
out->sensor_range.ret = data;
args->response_size = sizeof(out->sensor_range);

4
driver/accel_kxcj9.c
View File

@@ -504,7 +504,7 @@ static int init(const struct motion_sensor_t *s)
}
} while (1);
ret = set_range(s, s->range, 1);
ret = set_range(s, s->runtime_config.range, 1);
if (ret != EC_SUCCESS)
return ret;
@@ -512,7 +512,7 @@ static int init(const struct motion_sensor_t *s)
if (ret != EC_SUCCESS)
return ret;
ret = set_data_rate(s, s->odr, 1);
ret = set_data_rate(s, s->runtime_config.odr, 1);
if (ret != EC_SUCCESS)
return ret;

33
driver/accelgyro_lsm6ds0.c
View File

@@ -169,7 +169,7 @@ static int set_range(const struct motion_sensor_t *s,
int ret, ctrl_val, range_tbl_size;
uint8_t ctrl_reg, reg_val;
const struct accel_param_pair *ranges;
struct lsm6ds0_data *data = (struct lsm6ds0_data *)s->drv_data;
struct motion_data_t *data = (struct motion_data_t *)s->drv_data;
ctrl_reg = get_ctrl_reg(s->type);
ranges = get_range_table(s->type, &range_tbl_size);
@@ -191,20 +191,20 @@ static int set_range(const struct motion_sensor_t *s,
/* Now that we have set the range, update the driver's value. */
if (ret == EC_SUCCESS)
data->sensor_range = get_engineering_val(reg_val, ranges,
range_tbl_size);
data->range = get_engineering_val(reg_val, ranges,
range_tbl_size);
accel_cleanup:
mutex_unlock(s->mutex);
return EC_SUCCESS;
return ret;
}
static int get_range(const struct motion_sensor_t *s,
int *range)
{
struct lsm6ds0_data *data = (struct lsm6ds0_data *)s->drv_data;
struct motion_data_t *data = (struct motion_data_t *)s->drv_data;
*range = data->sensor_range;
*range = data->range;
return EC_SUCCESS;
}
@@ -230,7 +230,7 @@ static int set_data_rate(const struct motion_sensor_t *s,
int ret, val, odr_tbl_size;
uint8_t ctrl_reg, reg_val;
const struct accel_param_pair *data_rates;
struct lsm6ds0_data *data = s->drv_data;
struct motion_data_t *data = s->drv_data;
ctrl_reg = get_ctrl_reg(s->type);
data_rates = get_odr_table(s->type, &odr_tbl_size);
@@ -251,7 +251,7 @@ static int set_data_rate(const struct motion_sensor_t *s,
/* Now that we have set the odr, update the driver's value. */
if (ret == EC_SUCCESS)
data->sensor_odr = get_engineering_val(reg_val, data_rates,
data->odr = get_engineering_val(reg_val, data_rates,
odr_tbl_size);
/* CTRL_REG3_G 12h
@@ -274,15 +274,15 @@ static int set_data_rate(const struct motion_sensor_t *s,
accel_cleanup:
mutex_unlock(s->mutex);
return EC_SUCCESS;
return ret;
}
static int get_data_rate(const struct motion_sensor_t *s,
int *rate)
{
struct lsm6ds0_data *data = s->drv_data;
struct motion_data_t *data = s->drv_data;
*rate = data->sensor_odr;
*rate = data->odr;
return EC_SUCCESS;
}
@@ -420,29 +420,30 @@ static int init(const struct motion_sensor_t *s)
if (ret)
return EC_ERROR_UNKNOWN;
ret = set_range(s, s->range, 1);
ret = set_range(s, s->runtime_config.range, 1);
if (ret)
return EC_ERROR_UNKNOWN;
ret = set_data_rate(s, s->odr, 1);
ret = set_data_rate(s, s->runtime_config.odr, 1);
if (ret)
return EC_ERROR_UNKNOWN;
}
if (MOTIONSENSE_TYPE_GYRO == s->type) {
/* Config GYRO Range */
ret = set_range(s, s->range, 1);
ret = set_range(s, s->runtime_config.range, 1);
if (ret)
return EC_ERROR_UNKNOWN;
/* Config ACCEL & GYRO ODR */
ret = set_data_rate(s, s->odr, 1);
ret = set_data_rate(s, s->runtime_config.odr, 1);
if (ret)
return EC_ERROR_UNKNOWN;
}
CPRINTF("[%T %s: MS Done Init type:0x%X range:%d odr:%d]\n",
s->name, s->type, s->range, s->odr);
s->name, s->type, s->runtime_config.range,
s->runtime_config.odr);
return ret;
}

8
driver/accelgyro_lsm6ds0.h
View File

@@ -116,14 +116,6 @@ enum lsm6ds0_bdu {
/* Sensor resolution in number of bits. This sensor has fixed resolution. */
#define LSM6DS0_RESOLUTION 16
/* Run-time configurable parameters */
struct lsm6ds0_data {
/* Current range */
int sensor_range;
/* Current output data rate */
int sensor_odr;
};
extern const struct accelgyro_drv lsm6ds0_drv;
#endif /* __CROS_EC_ACCEL_LSM6DS0_H */

11
include/motion_sense.h
View File

@@ -26,6 +26,11 @@ enum sensor_state {
#define SENSOR_ACTIVE_S0_S3 (SENSOR_ACTIVE_S3 | SENSOR_ACTIVE_S0)
#define SENSOR_ACTIVE_S0_S3_S5 (SENSOR_ACTIVE_S0_S3 | SENSOR_ACTIVE_S5)
struct motion_data_t {
int odr;
int range;
};
struct motion_sensor_t {
/* RO fields */
uint32_t active_mask;
@@ -40,12 +45,10 @@ struct motion_sensor_t {
const matrix_3x3_t *rot_standard_ref;
/* Default configuration parameters, RO only */
int default_odr;
int default_range;
struct motion_data_t default_config;
/* Run-Time configuration parameters */
int odr;
int range;
struct motion_data_t runtime_config;
/* state parameters */
enum sensor_state state;

38
test/motion_lid.c
View File

@@ -102,14 +102,36 @@ const matrix_3x3_t lid_standard_ref = {
};
struct motion_sensor_t motion_sensors[] = {
{SENSOR_ACTIVE_S0_S3_S5, "base", MOTIONSENSE_CHIP_LSM6DS0,
MOTIONSENSE_TYPE_ACCEL, MOTIONSENSE_LOC_BASE,
&test_motion_sense, NULL, NULL,
0, &base_standard_ref, 119000, 2},
{SENSOR_ACTIVE_S0, "lid", MOTIONSENSE_CHIP_KXCJ9,
MOTIONSENSE_TYPE_ACCEL, MOTIONSENSE_LOC_LID,
&test_motion_sense, NULL, NULL,
0, &lid_standard_ref, 100000, 2},
{.name = "base",
.active_mask = SENSOR_ACTIVE_S0_S3_S5,
.chip = MOTIONSENSE_CHIP_LSM6DS0,
.type = MOTIONSENSE_TYPE_ACCEL,
.location = MOTIONSENSE_LOC_BASE,
.drv = &test_motion_sense,
.mutex = NULL,
.drv_data = NULL,
.i2c_addr = 0,
.rot_standard_ref = &base_standard_ref,
.default_config = {
.odr = 119000,
.range = 2
}
},
{.name = "base",
.active_mask = SENSOR_ACTIVE_S0,
.chip = MOTIONSENSE_CHIP_KXCJ9,
.type = MOTIONSENSE_TYPE_ACCEL,
.location = MOTIONSENSE_LOC_LID,
.drv = &test_motion_sense,
.mutex = NULL,
.drv_data = NULL,
.i2c_addr = 0,
.rot_standard_ref = &lid_standard_ref,
.default_config = {
.odr = 119000,
.range = 2
}
},
};
const unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);