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authorGwendal Grignou <gwendal@chromium.org>2019-01-18 15:24:12 -0800
committerJustin TerAvest <teravest@chromium.org>2019-01-19 02:05:55 +0000
commitccede6a11f3d4287b0e7a49ca1acc25046c45123 (patch)
tree7ae6533522ab8d6889a2a374b00e944d7d0ca2f8
parentdc0744d83b7f1118bbb554e1800944d104dfacbd (diff)
downloadchrome-ec-ccede6a11f3d4287b0e7a49ca1acc25046c45123.tar.gz
drvier: lsm6dsm: Populate Gyroscope scale properly
Range of 250/1000/2000 dps is an approximation. The Gyrscope uses a slighly higher range: range | gain(udps/LSB) | actual value(dps) 250 | 8750 | 286.72 500 | 17500 | 573.44 1000 | 35000 | 1146.88 2000 | 70000 | 2293.76 Returns the actual value for a given range. BUG=b:121279721 BRANCH=octopus TEST=Check scale returns the correct value: cd /sys/bus/iio/devices/... for i in 250 500 1000 2000 ; do echo $i > scale ; V=$(cat scale) ; echo -n "$i: " ; echo -n "$V: " ; echo $V | python -c 'import sys for line in sys.stdin: print float(line) * 32768 * 180 / 3.14159' ; done 250: 0.000152331: 285.996835182 500: 0.000305197: 572.998116648 1000: 0.000610395: 1145.99811077 2000: 0.001221325: 2293.00066781 Check CTS Verifier Gyroscope Measurement Test pass. Change-Id: I76c977140321d01702af16f58a3dfb7036673014 Signed-off-by: Gwendal Grignou <gwendal@chromium.org> Reviewed-on: https://chromium-review.googlesource.com/c/1423597 Reviewed-by: Enrico Granata <egranata@chromium.org>
-rw-r--r--board/fleex/board.c2
-rw-r--r--board/meep/board.c2
-rw-r--r--board/phaser/board.c2
-rw-r--r--board/yorp/board.c2
-rw-r--r--driver/accelgyro_lsm6dsm.c20
-rw-r--r--driver/accelgyro_lsm6dsm.h38
6 files changed, 26 insertions, 40 deletions
diff --git a/board/fleex/board.c b/board/fleex/board.c
index 879c4fc959..eba235f85b 100644
--- a/board/fleex/board.c
+++ b/board/fleex/board.c
@@ -192,7 +192,7 @@ struct motion_sensor_t motion_sensors[] = {
.drv_data = &lsm6dsm_g_data,
.port = I2C_PORT_SENSOR,
.addr = LSM6DSM_ADDR0,
- .default_range = 1000, /* dps */
+ .default_range = 1000 | ROUND_UP_FLAG, /* dps */
.rot_standard_ref = &base_standard_ref,
.min_frequency = LSM6DSM_ODR_MIN_VAL,
.max_frequency = LSM6DSM_ODR_MAX_VAL,
diff --git a/board/meep/board.c b/board/meep/board.c
index 591e8758b9..df754ac8dd 100644
--- a/board/meep/board.c
+++ b/board/meep/board.c
@@ -202,7 +202,7 @@ struct motion_sensor_t motion_sensors[] = {
.drv_data = &lsm6dsm_g_data,
.port = I2C_PORT_SENSOR,
.addr = LSM6DSM_ADDR0,
- .default_range = 1000, /* dps */
+ .default_range = 1000 | ROUND_UP_FLAG, /* dps */
.rot_standard_ref = &base_standard_ref,
.min_frequency = LSM6DSM_ODR_MIN_VAL,
.max_frequency = LSM6DSM_ODR_MAX_VAL,
diff --git a/board/phaser/board.c b/board/phaser/board.c
index ee3c8601cb..1efa2c41cd 100644
--- a/board/phaser/board.c
+++ b/board/phaser/board.c
@@ -179,7 +179,7 @@ struct motion_sensor_t motion_sensors[] = {
.drv_data = &lsm6dsm_g_data,
.port = I2C_PORT_SENSOR,
.addr = LSM6DSM_ADDR0,
- .default_range = 1000, /* dps */
+ .default_range = 1000 | ROUND_UP_FLAG, /* dps */
.rot_standard_ref = &standard_rot_ref,
.min_frequency = LSM6DSM_ODR_MIN_VAL,
.max_frequency = LSM6DSM_ODR_MAX_VAL,
diff --git a/board/yorp/board.c b/board/yorp/board.c
index 0cfeccbd2e..7c3bc7adae 100644
--- a/board/yorp/board.c
+++ b/board/yorp/board.c
@@ -175,7 +175,7 @@ struct motion_sensor_t motion_sensors[] = {
.drv_data = &lsm6dsm_g_data,
.port = I2C_PORT_SENSOR,
.addr = LSM6DSM_ADDR0,
- .default_range = 1000, /* dps */
+ .default_range = 1000 | ROUND_UP_FLAG, /* dps */
.rot_standard_ref = &base_standard_ref,
.min_frequency = LSM6DSM_ODR_MIN_VAL,
.max_frequency = LSM6DSM_ODR_MAX_VAL,
diff --git a/driver/accelgyro_lsm6dsm.c b/driver/accelgyro_lsm6dsm.c
index 7f9ac5b983..30650eebe7 100644
--- a/driver/accelgyro_lsm6dsm.c
+++ b/driver/accelgyro_lsm6dsm.c
@@ -375,22 +375,20 @@ static int set_range(const struct motion_sensor_t *s, int range, int rnd)
reg_val = LSM6DSM_ACCEL_FS_REG(newrange);
} else {
/* Adjust and check rounded value for gyro. */
- if (rnd && (newrange < LSM6DSM_GYRO_NORMALIZE_FS(newrange)))
- newrange *= 2;
-
- if (newrange > LSM6DSM_GYRO_FS_MAX_VAL)
- newrange = LSM6DSM_GYRO_FS_MAX_VAL;
+ reg_val = LSM6DSM_GYRO_FS_REG(range);
+ if (rnd && (range > LSM6DSM_GYRO_NORMALIZE_FS(reg_val)))
+ reg_val++;
- reg_val = LSM6DSM_GYRO_FS_REG(newrange);
+ if (reg_val > LSM6DSM_GYRO_FS_MAX_REG_VAL)
+ reg_val = LSM6DSM_GYRO_FS_MAX_REG_VAL;
+ newrange = LSM6DSM_GYRO_NORMALIZE_FS(reg_val);
}
mutex_lock(s->mutex);
err = st_write_data_with_mask(s, ctrl_reg, LSM6DSM_RANGE_MASK, reg_val);
if (err == EC_SUCCESS)
/* Save internally gain for speed optimization. */
- data->base.range = (s->type == MOTIONSENSE_TYPE_ACCEL ?
- newrange :
- LSM6DSM_GYRO_FS_GAIN(newrange));
+ data->base.range = newrange;
mutex_unlock(s->mutex);
return EC_SUCCESS;
@@ -414,9 +412,7 @@ static int get_range(const struct motion_sensor_t *s)
*/
struct stprivate_data *data = s->drv_data;
- if (s->type == MOTIONSENSE_TYPE_ACCEL)
- return data->base.range;
- return LSM6DSM_GYRO_GAIN_FS(data->base.range);
+ return data->base.range;
}
/**
diff --git a/driver/accelgyro_lsm6dsm.h b/driver/accelgyro_lsm6dsm.h
index 72c21fa5f3..0be055271e 100644
--- a/driver/accelgyro_lsm6dsm.h
+++ b/driver/accelgyro_lsm6dsm.h
@@ -195,34 +195,24 @@ struct fstatus {
#define LSM6DSM_GYRO_FS_ADDR 0x11
#define LSM6DSM_GYRO_FS_MASK 0x0c
-#define LSM6DSM_GYRO_FS_245_VAL 0x00
-#define LSM6DSM_GYRO_FS_500_VAL 0x01
-#define LSM6DSM_GYRO_FS_1000_VAL 0x02
-#define LSM6DSM_GYRO_FS_2000_VAL 0x03
-#define LSM6DSM_GYRO_FS_245_GAIN 8750
-#define LSM6DSM_GYRO_FS_500_GAIN 17500
-#define LSM6DSM_GYRO_FS_1000_GAIN 35000
-#define LSM6DSM_GYRO_FS_2000_GAIN 70000
-
-#define LSM6DSM_GYRO_FS_MAX_VAL 20000
-
-/* Gyro FS Gain value from selected Full Scale */
-#define LSM6DSM_GYRO_FS_GAIN(_fs) \
- (LSM6DSM_GYRO_FS_245_GAIN << __fls(_fs / 245))
-
-/* Gyro FS Full Scale value from Gain */
-#define LSM6DSM_GYRO_GAIN_FS(_gain) \
- (_gain == LSM6DSM_GYRO_FS_245_GAIN ? 245 : \
- 500 << (30 - __builtin_clz(_gain / LSM6DSM_GYRO_FS_245_GAIN)))
+/* Supported gyroscope ranges:
+ * name(dps) | register | gain(udps/LSB) | actual value(dps)
+ * 250 | 0 | 8750 | 286.72
+ * 500 | 1 | 17500 | 573.44
+ * 1000 | 2 | 35000 | 1146.88
+ * 2000 | 3 | 70000 | 2293.76
+ */
+#define LSM6DSM_GYRO_FS_MIN_VAL_MDPS ((8750 << 15) / 1000)
+#define LSM6DSM_GYRO_FS_MAX_REG_VAL 3
-/* Gyro Reg value from Full Scale */
+/* Gyro Reg value for Full Scale selection */
#define LSM6DSM_GYRO_FS_REG(_fs) \
- __fls(_fs / 245)
+ __fls(MAX(1, (_fs * 1000) / LSM6DSM_GYRO_FS_MIN_VAL_MDPS))
-/* Gyro normalized FS value from Full Scale: for Gyro Gains are not multiple */
-#define LSM6DSM_GYRO_NORMALIZE_FS(_fs) \
- (_fs == 245 ? 245 : 500 << __fls(_fs / 500))
+/* Gyro normalized FS value from Full Scale register */
+#define LSM6DSM_GYRO_NORMALIZE_FS(_reg) \
+ ((LSM6DSM_GYRO_FS_MIN_VAL_MDPS << (_reg)) / 1000)
/* FS register address/mask for Acc/Gyro sensors */
#define LSM6DSM_RANGE_REG(_sensor) (LSM6DSM_ACCEL_FS_ADDR + (_sensor))