driver: Use common data structure to store default accel values

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>

10 files changed, 156 insertions, 83 deletions

diff --git a/board/cyan/board.c b/board/cyan/board.c
index 1118e4d5a8..90ffc7333a 100644
--- a/board/cyan/board.c
+++ b/board/cyan/board.c
@@ -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,
diff --git a/board/ryu_sh/board.c b/board/ryu_sh/board.c
index 4e2f68f18a..dd2bb1fed6 100644
--- a/board/ryu_sh/board.c
+++ b/board/ryu_sh/board.c
@@ -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)
 {
diff --git a/board/samus/board.c b/board/samus/board.c
index 1222528959..909ba7eca3 100644
--- a/board/samus/board.c
+++ b/board/samus/board.c
@@ -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
+	 }
 	},
 
 };
diff --git a/board/strago/board.c b/board/strago/board.c
index 2ed9b9c426..a18dd7ed78 100644
--- a/board/strago/board.c
+++ b/board/strago/board.c
@@ -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,
diff --git a/common/motion_sense.c b/common/motion_sense.c
index 0c1841b502..0ae21e5056 100644
--- a/common/motion_sense.c
+++ b/common/motion_sense.c
@@ -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);
diff --git a/driver/accel_kxcj9.c b/driver/accel_kxcj9.c
index aa2a8ed9c5..26a737175c 100644
--- a/driver/accel_kxcj9.c
+++ b/driver/accel_kxcj9.c
@@ -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;
 
diff --git a/driver/accelgyro_lsm6ds0.c b/driver/accelgyro_lsm6ds0.c
index a93166c1de..47f243eb44 100644
--- a/driver/accelgyro_lsm6ds0.c
+++ b/driver/accelgyro_lsm6ds0.c
@@ -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;
 }
 
diff --git a/driver/accelgyro_lsm6ds0.h b/driver/accelgyro_lsm6ds0.h
index 9f8953395d..c71fc37767 100644
--- a/driver/accelgyro_lsm6ds0.h
+++ b/driver/accelgyro_lsm6ds0.h
@@ -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 */
diff --git a/include/motion_sense.h b/include/motion_sense.h
index 9f971bb184..bdbd7b238c 100644
--- a/include/motion_sense.h
+++ b/include/motion_sense.h
@@ -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;
diff --git a/test/motion_lid.c b/test/motion_lid.c
index a358a5056c..78ef019853 100644
--- a/test/motion_lid.c
+++ b/test/motion_lid.c
@@ -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);