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lsm6ds0: Cache ODR and range on EC.

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For the driver functions get_range and get_data_rate, each call would
end up executing an i2c transaction even if the value had not
changed. Therefore, I modified the lsm6ds0 driver to cache the output
data rate as well as the range. This prevents unecessary i2c
transactions from occuring.

BUG=chromium:476226
TEST=Flashed EC on samus and verified that the accelrange and accelrate
commands still worked and that the sensors were functional.
TEST=Verified Double Tap still worked.
TEST=make -j buildall tests
BRANCH=none

Change-Id: Ie432979266dc4e4892978005de5d1df62cc0654f
Signed-off-by: Aseda Aboagye <aaboagye@google.com>
Reviewed-on: https://chromium-review.googlesource.com/265933
Reviewed-by: Alec Berg <alecaberg@chromium.org>
Commit-Queue: Aseda Aboagye <aaboagye@chromium.org>
Tested-by: Aseda Aboagye <aaboagye@chromium.org>
This commit is contained in:
Aseda Aboagye
2015-04-15 17:03:22 -07:00
committed by ChromeOS Commit Bot
parent a97af9a8b2
commit d02620a05d
5 changed files with 106 additions and 44 deletions
Download Patch File Download Diff File Expand all files Collapse all files

45
board/ryu_sh/board.c
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@@ -37,26 +37,53 @@ 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];
struct motion_sensor_t motion_sensors[] = {
/*
* Note: lsm6ds0: supports accelerometer and gyro sensor
* Requriement: accelerometer sensor must init before gyro sensor
* Requirement: accelerometer sensor must init before gyro sensor
* DO NOT change the order of the following table.
*/
{SENSOR_ACTIVE_S0_S3, "Accel", MOTIONSENSE_CHIP_LSM6DS0,
MOTIONSENSE_TYPE_ACCEL, MOTIONSENSE_LOC_LID,
&lsm6ds0_drv, &g_mutex, NULL,
LSM6DS0_ADDR1, NULL, 119000, 2},
{.name = "Accel",
.active_mask = SENSOR_ACTIVE_S0_S3,
.chip = MOTIONSENSE_CHIP_LSM6DS0,
.type = MOTIONSENSE_TYPE_ACCEL,
.location = MOTIONSENSE_LOC_LID,
.drv = &lsm6ds0_drv,
.mutex = &g_mutex,
.drv_data = &g_lsm6ds0_data[0],
.i2c_addr = LSM6DS0_ADDR1,
.rot_standard_ref = NULL,
.default_odr = 119000,
.default_range = 2
},
{SENSOR_ACTIVE_S0_S3, "Gyro", MOTIONSENSE_CHIP_LSM6DS0,
MOTIONSENSE_TYPE_GYRO, MOTIONSENSE_LOC_LID,
&lsm6ds0_drv, &g_mutex, NULL,
LSM6DS0_ADDR1, NULL, 119000, 2000},
{.name = "Gyro",
.active_mask = SENSOR_ACTIVE_S0_S3,
.chip = MOTIONSENSE_CHIP_LSM6DS0,
.type = MOTIONSENSE_TYPE_GYRO,
.location = MOTIONSENSE_LOC_LID,
.drv = &lsm6ds0_drv,
.mutex = &g_mutex,
.drv_data = &g_lsm6ds0_data[1],
.i2c_addr = LSM6DS0_ADDR1,
.rot_standard_ref = NULL,
.default_odr = 119000,
.default_range = 2000
},
};
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));
void board_config_pre_init(void)
{
/*

57
board/samus/board.c
View File

@@ -261,6 +261,9 @@ static struct mutex g_lid_mutex;
/* kxcj9 local/private data */
struct kxcj9_data g_kxcj9_data;
/* lsm6ds0 local sensor data (per-sensor) */
struct lsm6ds0_data g_lsm6ds0_data[2];
/* Four Motion sensors */
/* Matrix to rotate accelrator into standard reference frame */
const matrix_3x3_t base_standard_ref = {
@@ -276,26 +279,52 @@ const matrix_3x3_t lid_standard_ref = {
};
struct motion_sensor_t motion_sensors[] = {
/*
* Note: lsm6ds0: supports accelerometer and gyro sensor
* Requriement: accelerometer sensor must init before gyro sensor
* Requirement: accelerometer sensor must init before gyro sensor
* DO NOT change the order of the following table.
*/
{SENSOR_ACTIVE_S0_S3_S5, "Base", MOTIONSENSE_CHIP_LSM6DS0,
MOTIONSENSE_TYPE_ACCEL, MOTIONSENSE_LOC_BASE,
&lsm6ds0_drv, &g_base_mutex, NULL,
LSM6DS0_ADDR1, &base_standard_ref, 119000, 2},
{.name = "Base",
.active_mask = SENSOR_ACTIVE_S0_S3_S5,
.chip = MOTIONSENSE_CHIP_LSM6DS0,
.type = MOTIONSENSE_TYPE_ACCEL,
.location = MOTIONSENSE_LOC_BASE,
.drv = &lsm6ds0_drv,
.mutex = &g_base_mutex,
.drv_data = &g_lsm6ds0_data[0],
.i2c_addr = LSM6DS0_ADDR1,
.rot_standard_ref = &base_standard_ref,
.default_odr = 119000,
.default_range = 2
},
{SENSOR_ACTIVE_S0, "Lid", MOTIONSENSE_CHIP_KXCJ9,
MOTIONSENSE_TYPE_ACCEL, MOTIONSENSE_LOC_LID,
&kxcj9_drv, &g_lid_mutex, &g_kxcj9_data,
KXCJ9_ADDR0, &lid_standard_ref, 100000, 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_lid_mutex,
.drv_data = &g_kxcj9_data,
.i2c_addr = KXCJ9_ADDR0,
.rot_standard_ref = &lid_standard_ref,
.default_odr = 100000,
.default_range = 2
},
{SENSOR_ACTIVE_S0, "Base Gyro", MOTIONSENSE_CHIP_LSM6DS0,
MOTIONSENSE_TYPE_GYRO, MOTIONSENSE_LOC_BASE,
&lsm6ds0_drv, &g_base_mutex, NULL,
LSM6DS0_ADDR1, NULL, 119000, 2000},
{.name = "Base Gyro",
.active_mask = SENSOR_ACTIVE_S0,
.chip = MOTIONSENSE_CHIP_LSM6DS0,
.type = MOTIONSENSE_TYPE_GYRO,
.location = MOTIONSENSE_LOC_BASE,
.drv = &lsm6ds0_drv,
.mutex = &g_base_mutex,
.drv_data = &g_lsm6ds0_data[1],
.i2c_addr = LSM6DS0_ADDR1,
.rot_standard_ref = NULL,
.default_odr = 119000,
.default_range = 2000
},
};
const unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);

2
common/motion_sense.c
View File

@@ -456,7 +456,7 @@ static int host_cmd_motion_sense(struct host_cmd_handler_args *args)
if (sensor == NULL)
return EC_RES_INVALID_PARAM;
/* Set new data rate if the data arg has a value. */
/* Set new range if the data arg has a value. */
if (in->sensor_range.data != EC_MOTION_SENSE_NO_VALUE) {
if (sensor->drv->set_range(sensor,
in->sensor_range.data,

38
driver/accelgyro_lsm6ds0.c
View File

@@ -169,6 +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;
ctrl_reg = get_ctrl_reg(s->type);
ranges = get_range_table(s->type, &range_tbl_size);
@@ -188,6 +189,11 @@ static int set_range(const struct motion_sensor_t *s,
ctrl_val = (ctrl_val & ~LSM6DS0_RANGE_MASK) | reg_val;
ret = raw_write8(s->i2c_addr, ctrl_reg, ctrl_val);
/* 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);
accel_cleanup:
mutex_unlock(s->mutex);
return EC_SUCCESS;
@@ -196,15 +202,10 @@ accel_cleanup:
static int get_range(const struct motion_sensor_t *s,
int *range)
{
int ret, ctrl_val, range_tbl_size;
uint8_t ctrl_reg;
const struct accel_param_pair *ranges;
ranges = get_range_table(s->type, &range_tbl_size);
ctrl_reg = get_ctrl_reg(s->type);
ret = raw_read8(s->i2c_addr, ctrl_reg, &ctrl_val);
*range = get_engineering_val(ctrl_val & LSM6DS0_RANGE_MASK,
ranges, range_tbl_size);
return ret;
struct lsm6ds0_data *data = (struct lsm6ds0_data *)s->drv_data;
*range = data->sensor_range;
return EC_SUCCESS;
}
static int set_resolution(const struct motion_sensor_t *s,
@@ -229,6 +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;
ctrl_reg = get_ctrl_reg(s->type);
data_rates = get_odr_table(s->type, &odr_tbl_size);
@@ -247,6 +249,11 @@ static int set_data_rate(const struct motion_sensor_t *s,
val = (val & ~LSM6DS0_ODR_MASK) | reg_val;
ret = raw_write8(s->i2c_addr, ctrl_reg, val);
/* 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,
odr_tbl_size);
/* CTRL_REG3_G 12h
* [7] low-power mode = 0;
* [6] high pass filter disabled;
@@ -273,18 +280,9 @@ accel_cleanup:
static int get_data_rate(const struct motion_sensor_t *s,
int *rate)
{
int ret, ctrl_val, odr_tbl_size;
uint8_t ctrl_reg;
const struct accel_param_pair *data_rates;
ctrl_reg = get_ctrl_reg(s->type);
struct lsm6ds0_data *data = s->drv_data;
ret = raw_read8(s->i2c_addr, ctrl_reg, &ctrl_val);
if (ret != EC_SUCCESS)
return EC_ERROR_UNKNOWN;
data_rates = get_odr_table(s->type, &odr_tbl_size);
*rate = get_engineering_val(ctrl_val & LSM6DS0_ODR_MASK,
data_rates, odr_tbl_size);
*rate = data->sensor_odr;
return EC_SUCCESS;
}

8
driver/accelgyro_lsm6ds0.h
View File

@@ -116,6 +116,14 @@ 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 */