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GLaDOS: Add base accel & gyro.

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This commit adds the base accelerometer as well as the gyroscope to the
list of motion sensors on the board.  They are currently wrapped behind an
ifdef for HAS_TASK_MOTIONSENSE due to space constraints.

BUG=chrome-os-partner:43494
BRANCH=None
TEST=Build GLaDOS EC with driver enabled and verify that we can calcuate
a valid lid angle.
TEST=Verify that signs of accelerometer conform to those shown in the
Chrome/Android/HTML5 doc/spec. See description in accelerometer_types.h
TEST=Verify that signs of gyroscope conform to those shown in the
"Sysfs interface to EC accelerometers" document.
TEST=make buildall tests

CQ-DEPEND=CL:299504
CQ-DEPEND=CL:300510

Change-Id: I34026813431f0df6211f9c781ab5b8c7b4dd8403
Signed-off-by: Aseda Aboagye <aaboagye@google.com>
Reviewed-on: https://chromium-review.googlesource.com/299886
Commit-Ready: Aseda Aboagye <aaboagye@chromium.org>
Tested-by: Aseda Aboagye <aaboagye@chromium.org>
Reviewed-by: Gwendal Grignou <gwendal@chromium.org>
This commit is contained in:
Aseda Aboagye
2015-09-14 14:14:25 -07:00
committed by chrome-bot
parent f46c115a28
commit d341615383
3 changed files with 89 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files

81
board/glados/board.c
View File

@@ -17,6 +17,7 @@
#include "driver/als_opt3001.h"
#include "driver/accel_kionix.h"
#include "driver/accel_kx022.h"
#include "driver/accelgyro_bmi160.h"
#include "extpower.h"
#include "gpio.h"
#include "hooks.h"
@@ -427,10 +428,11 @@ static void board_handle_reboot(void)
}
DECLARE_HOOK(HOOK_INIT, board_handle_reboot, HOOK_PRIO_FIRST);
/* Motion sensors */
#ifdef HAS_TASK_MOTIONSENSE
/* Lid Sensor mutex */
/* Motion sensors */
/* Mutexes */
static struct mutex g_lid_mutex;
static struct mutex g_base_mutex;
/* KX022 private data */
struct kionix_accel_data g_kx022_data = {
@@ -438,6 +440,81 @@ struct kionix_accel_data g_kx022_data = {
};
struct motion_sensor_t motion_sensors[] = {
/*
* Note: bmi160: supports accelerometer and gyro sensor
* Requirement: accelerometer sensor must init before gyro sensor
* DO NOT change the order of the following table.
*/
{.name = "Base Accel",
.active_mask = SENSOR_ACTIVE_S0,
.chip = MOTIONSENSE_CHIP_BMI160,
.type = MOTIONSENSE_TYPE_ACCEL,
.location = MOTIONSENSE_LOC_BASE,
.drv = &bmi160_drv,
.mutex = &g_base_mutex,
.drv_data = &g_bmi160_data,
.addr = BMI160_ADDR0,
.rot_standard_ref = NULL, /* Identity matrix. */
.default_range = 2, /* g, enough for laptop. */
.config = {
/* AP: by default use EC settings */
[SENSOR_CONFIG_AP] = {
.odr = 0,
.ec_rate = 0,
},
/* EC use accel for angle detection */
[SENSOR_CONFIG_EC_S0] = {
.odr = 10000 | ROUND_UP_FLAG,
.ec_rate = 100,
},
/* Sensor off in S3/S5 */
[SENSOR_CONFIG_EC_S3] = {
.odr = 0,
.ec_rate = 0
},
/* Sensor off in S3/S5 */
[SENSOR_CONFIG_EC_S5] = {
.odr = 0,
.ec_rate = 0
},
},
},
{.name = "Base Gyro",
.active_mask = SENSOR_ACTIVE_S0,
.chip = MOTIONSENSE_CHIP_BMI160,
.type = MOTIONSENSE_TYPE_GYRO,
.location = MOTIONSENSE_LOC_BASE,
.drv = &bmi160_drv,
.mutex = &g_base_mutex,
.drv_data = &g_bmi160_data,
.addr = BMI160_ADDR0,
.default_range = 1000, /* dps */
.rot_standard_ref = NULL, /* Identity Matrix. */
.config = {
/* AP: by default shutdown all sensors */
[SENSOR_CONFIG_AP] = {
.odr = 0,
.ec_rate = 0,
},
/* EC does not need in S0 */
[SENSOR_CONFIG_EC_S0] = {
.odr = 0,
.ec_rate = 0,
},
/* Sensor off in S3/S5 */
[SENSOR_CONFIG_EC_S3] = {
.odr = 0,
.ec_rate = 0,
},
/* Sensor off in S3/S5 */
[SENSOR_CONFIG_EC_S5] = {
.odr = 0,
.ec_rate = 0,
},
},
},
{.name = "Lid Accel",
.active_mask = SENSOR_ACTIVE_S0,
.chip = MOTIONSENSE_CHIP_KX022,

4
board/glados/board.h
View File

@@ -9,6 +9,7 @@
#define __CROS_EC_BOARD_H
/* Optional features */
#define CONFIG_ACCELGYRO_BMI160
#define CONFIG_ACCEL_KX022
#define CONFIG_ADC
#define CONFIG_ALS
@@ -40,6 +41,9 @@
#define CONFIG_I2C
#define CONFIG_KEYBOARD_PROTOCOL_8042
#define CONFIG_LED_COMMON
#define CONFIG_LID_ANGLE
#define CONFIG_LID_ANGLE_SENSOR_BASE 0
#define CONFIG_LID_ANGLE_SENSOR_LID 2
#define CONFIG_LID_SWITCH
#define CONFIG_LOW_POWER_IDLE
#define CONFIG_PORT80_TASK_EN

6
driver/accelgyro_bmi160.c
View File

@@ -182,6 +182,7 @@ static int raw_write8(const int addr, const uint8_t reg, int data)
return rv;
}
#ifdef CONFIG_ACCEL_INTERRUPTS
/**
* Read 32bit register from accelerometer.
*/
@@ -201,6 +202,7 @@ static int raw_read32(const int addr, const uint8_t reg, int *data_ptr)
}
return rv;
}
#endif /* defined(CONFIG_ACCEL_INTERRUPTS) */
/**
* Read n bytes from accelerometer.
@@ -485,9 +487,11 @@ static int get_offset(const struct motion_sensor_t *s,
BMI160_OFFSET_GYRO_DIV_MDS;
}
break;
#ifdef CONFIG_MAG_BMI160_BMM150
case MOTIONSENSE_TYPE_MAG:
bmm150_get_offset(s, v);
break;
#endif /* defined(CONFIG_MAG_BMI160_BMM150) */
default:
for (i = X; i <= Z; i++)
v[i] = 0;
@@ -548,9 +552,11 @@ static int set_offset(const struct motion_sensor_t *s,
ret = raw_write8(s->addr, BMI160_OFFSET_EN_GYR98,
val98 | BMI160_OFFSET_GYRO_EN);
break;
#ifdef CONFIG_MAG_BMI160_BMM150
case MOTIONSENSE_TYPE_MAG:
ret = bmm150_set_offset(s, v);
break;
#endif /* defined(CONFIG_MAG_BMI160) */
default:
ret = EC_RES_INVALID_PARAM;
}