mirror of
https://github.com/Telecominfraproject/OpenCellular.git
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7d40063d46
Changed motion_sense task to assume sensors are unpowered in G3 and re-initialize sensors every time coming out of G3. Added EC command line test utils as well. Fixed some bug during unit tests. BUG=chrome-os-partner:27313,27320 BRANCH=ToT TEST=Verified on Samus. Tested with accel EC CLIs accelread, accelrange, accelrate, accelres Tested accelcalib, a ACCEL calibration util, and it succeeded. Tested sysfs interface: cd /sys/bus/iio/devices/iio:device1 cat in_accel_*_gyro_raw Signed-off-by: Sheng-Liang Song <ssl@chromium.org> Change-Id: I5752b00c03e1942c790ea4f28610fda83fa2dcbc Reviewed-on: https://chromium-review.googlesource.com/211484 Reviewed-by: Alec Berg <alecaberg@chromium.org>
144 lines
3.1 KiB
C
144 lines
3.1 KiB
C
/* Copyright (c) 2014 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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/* Header for motion_sense.c */
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#ifndef __CROS_EC_MOTION_SENSE_H
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#define __CROS_EC_MOTION_SENSE_H
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#include "gpio.h"
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#include "math_util.h"
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/* Anything outside of lid angle range [-180, 180] should work. */
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#define LID_ANGLE_UNRELIABLE 500.0F
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/**
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* This structure defines all of the data needed to specify the orientation
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* of the base and lid accelerometers in order to calculate the lid angle.
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*/
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struct accel_orientation {
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/*
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* Rotation matrix to rotate the lid sensor into the same reference
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* frame as the base sensor.
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*/
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matrix_3x3_t rot_align;
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/* Rotation matrix to rotate positive 90 degrees around the hinge. */
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matrix_3x3_t rot_hinge_90;
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/*
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* Rotation matrix to rotate 180 degrees around the hinge. The value
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* here should be rot_hinge_90 ^ 2.
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*/
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matrix_3x3_t rot_hinge_180;
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/*
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* Rotation matrix to rotate base sensor into the standard reference
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* frame.
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*/
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matrix_3x3_t rot_standard_ref;
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/* Vector pointing along hinge axis. */
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vector_3_t hinge_axis;
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};
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/* Link global structure for orientation. This must be defined in board.c. */
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extern
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#ifndef CONFIG_ACCEL_CALIBRATE
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const
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#endif
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struct accel_orientation acc_orient;
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/**
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* Get last calculated lid angle. Note, the lid angle calculated by the EC
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* is un-calibrated and is an approximate angle.
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*
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* @return lid angle in degrees in range [0, 360].
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*/
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int motion_get_lid_angle(void);
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#ifdef CONFIG_ACCEL_CALIBRATE
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/**
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* Get the last measured lid acceleration vector.
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*
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* @param v Pointer to location to store vector.
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* @param adjusted If false use the raw vector, if true use the adjusted vector.
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*/
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void motion_get_accel_lid(vector_3_t *v, int adjusted);
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/**
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* Get the last measured base acceleration vector.
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*
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* @param v Pointer to location to store vector.
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*/
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void motion_get_accel_base(vector_3_t *v);
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#endif
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/**
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* Interrupt function for lid accelerometer.
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*
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* @param signal GPIO signal that caused interrupt
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*/
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void accel_int_lid(enum gpio_signal signal);
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/**
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* Interrupt function for base accelerometer.
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*
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* @param signal GPIO signal that caused interrupt
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*/
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void accel_int_base(enum gpio_signal signal);
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enum sensor_location_t {
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LOCATION_BASE = 0,
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LOCATION_LID = 1,
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};
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enum sensor_type_t {
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SENSOR_ACCELEROMETER = 0x1,
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SENSOR_GYRO = 0x2,
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};
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enum sensor_chip_t {
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SENSOR_CHIP_KXCJ9 = 0,
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SENSOR_CHIP_LSM6DS0 = 1,
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};
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enum sensor_state {
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SENSOR_NOT_INITIALIZED = 0,
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SENSOR_INITIALIZED = 1,
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SENSOR_INIT_ERROR = 2
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};
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enum sensor_power {
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SENSOR_POWER_OFF = 0,
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SENSOR_POWER_ON = 1
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};
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struct motion_sensor_t {
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/* RO fields */
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char *name;
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enum sensor_chip_t chip;
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enum sensor_type_t type;
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enum sensor_location_t location;
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const struct accelgyro_drv *drv;
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struct mutex *mutex;
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void *drv_data;
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uint8_t i2c_addr;
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/* RW fields */
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enum sensor_state state;
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enum sensor_power power;
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vector_3_t raw_xyz;
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vector_3_t xyz;
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};
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/* Defined at board level. */
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extern struct motion_sensor_t motion_sensors[];
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extern const unsigned int motion_sensor_count;
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#endif /* __CROS_EC_MOTION_SENSE_H */
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