diff options
author | Boris Mittelberg <bmbm@google.com> | 2021-04-01 03:45:51 +0000 |
---|---|---|
committer | Commit Bot <commit-bot@chromium.org> | 2021-04-08 18:30:23 +0000 |
commit | ed9b4784c53ca03de59d410341d477b43a78537a (patch) | |
tree | 084b5a7fe81c67fa6a64bbca10989a0d37c7d955 | |
parent | 104abee3dd48ac133e16e9691efa8ad6883d92fb (diff) | |
download | chrome-ec-ed9b4784c53ca03de59d410341d477b43a78537a.tar.gz |
brya: add motionsense task and IMU sensors
Add motionsense task with following sensors: lid accel, base accel, base
gyro.
BRANCH=none
BUG=b:179648721
TEST=manual tests were performed
Base accel/gyro test on EC console:
> accelread 1
Current data 1: -65461 65488 8163
> accelread 2
Current data 2: -2 2 65518
Lid accel test from AP console:
$ ectool motionsense
Sensor 0: 392 10548 12708
All the values above changed when I moved the boards
Signed-off-by: Boris Mittelberg <bmbm@google.com>
Change-Id: I03cddcf74611da6d2b5557a3998db6f0314a015a
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/2798977
Reviewed-by: caveh jalali <caveh@chromium.org>
Reviewed-by: Keith Short <keithshort@chromium.org>
-rw-r--r-- | board/brya/board.c | 2 | ||||
-rw-r--r-- | board/brya/board.h | 35 | ||||
-rw-r--r-- | board/brya/ec.tasklist | 1 | ||||
-rw-r--r-- | board/brya/generated-gpio.inc | 3 | ||||
-rw-r--r-- | board/brya/sensors.c | 124 |
5 files changed, 163 insertions, 2 deletions
diff --git a/board/brya/board.c b/board/brya/board.c index 1cd9836be2..beb327739f 100644 --- a/board/brya/board.c +++ b/board/brya/board.c @@ -10,6 +10,8 @@ #include "charge_ramp.h" #include "charger.h" #include "console.h" +#include "driver/accel_lis2dw12.h" +#include "driver/accelgyro_lsm6dso.h" #include "power_button.h" #include "power.h" #include "switch.h" diff --git a/board/brya/board.h b/board/brya/board.h index 80c3fc04a3..7bbd19a6f5 100644 --- a/board/brya/board.h +++ b/board/brya/board.h @@ -33,6 +33,34 @@ #define CONFIG_LED_PWM_SOC_SUSPEND_COLOR EC_LED_COLOR_WHITE #define CONFIG_LED_PWM_LOW_BATT_COLOR EC_LED_COLOR_AMBER +/* Sensors */ +#define CONFIG_ACCELGYRO_LSM6DSO /* Base accel */ +#define CONFIG_ACCEL_LSM6DSO_INT_EVENT \ + TASK_EVENT_MOTION_SENSOR_INTERRUPT(BASE_ACCEL) + +/* Enable sensor fifo, must also define the _SIZE and _THRES */ +#define CONFIG_ACCEL_FIFO +/* FIFO size is in power of 2. */ +#define CONFIG_ACCEL_FIFO_SIZE 256 +/* Depends on how fast the AP boots and typical ODRs */ +#define CONFIG_ACCEL_FIFO_THRES (CONFIG_ACCEL_FIFO_SIZE / 3) + +/* Sensors without hardware FIFO are in forced mode */ +#define CONFIG_ACCEL_FORCE_MODE_MASK \ + (BIT(LID_ACCEL)) + +/* Lid accel */ +#define CONFIG_ACCEL_LIS2DWL +#define CONFIG_ACCEL_LIS2DW_AS_BASE +#define CONFIG_ACCEL_LIS2DW12_INT_EVENT \ + TASK_EVENT_MOTION_SENSOR_INTERRUPT(LID_ACCEL) + +#define CONFIG_ACCEL_INTERRUPTS + +/* Sensor console commands */ +#define CONFIG_CMD_ACCELS +#define CONFIG_CMD_ACCEL_INFO + /* USB Type A Features */ #define USB_PORT_COUNT 1 #define CONFIG_USB_PORT_POWER_DUMB @@ -174,6 +202,13 @@ enum temp_sensor_id { TEMP_SENSOR_COUNT }; +enum sensor_id { + LID_ACCEL = 0, + BASE_ACCEL, + BASE_GYRO, + SENSOR_COUNT +}; + enum ioex_port { IOEX_C0_NCT38XX = 0, IOEX_C2_NCT38XX, diff --git a/board/brya/ec.tasklist b/board/brya/ec.tasklist index dd4f31ffed..470a1fcdde 100644 --- a/board/brya/ec.tasklist +++ b/board/brya/ec.tasklist @@ -17,6 +17,7 @@ TASK_ALWAYS(USB_CHG_P1, usb_charger_task, 0, TASK_STACK_SIZE) \ TASK_ALWAYS(USB_CHG_P2, usb_charger_task, 0, TASK_STACK_SIZE) \ TASK_ALWAYS(CHARGER, charger_task, NULL, VENTI_TASK_STACK_SIZE) \ + TASK_ALWAYS(MOTIONSENSE, motion_sense_task, NULL, VENTI_TASK_STACK_SIZE) \ TASK_NOTEST(KEYPROTO, keyboard_protocol_task, NULL, TASK_STACK_SIZE) \ TASK_NOTEST(CHIPSET, chipset_task, NULL, LARGER_TASK_STACK_SIZE) \ TASK_ALWAYS(HOSTCMD, host_command_task, NULL, LARGER_TASK_STACK_SIZE) \ diff --git a/board/brya/generated-gpio.inc b/board/brya/generated-gpio.inc index 7b03ee89e0..67afb0bb09 100644 --- a/board/brya/generated-gpio.inc +++ b/board/brya/generated-gpio.inc @@ -4,6 +4,8 @@ /* INTERRUPT GPIOs: */ GPIO_INT(ACOK_OD, PIN(0, 0), GPIO_INT_BOTH, extpower_interrupt) +GPIO_INT(EC_ACCEL_INT_R_L, PIN(8, 1), GPIO_SEL_1P8V | GPIO_INT_FALLING, lis2dw12_interrupt) +GPIO_INT(EC_IMU_INT_R_L, PIN(5, 6), GPIO_SEL_1P8V | GPIO_INT_FALLING, lsm6dso_interrupt) GPIO_INT(EC_PROCHOT_IN_L, PIN(F, 0), GPIO_INT_BOTH, throttle_ap_prochot_input_interrupt) GPIO_INT(EC_VOLDN_BTN_ODL, PIN(9, 3), GPIO_INT_BOTH | GPIO_PULL_UP, button_interrupt) GPIO_INT(EC_VOLUP_BTN_ODL, PIN(9, 7), GPIO_INT_BOTH | GPIO_PULL_UP, button_interrupt) @@ -32,7 +34,6 @@ GPIO_INT(USB_C2_RT_INT_ODL, PIN(4, 1), GPIO_INT_BOTH, retimer_inter GPIO(CCD_MODE_ODL, PIN(E, 5), GPIO_INPUT) GPIO(CHARGER_VAP_OTG_EN, PIN(7, 3), GPIO_OUT_LOW) GPIO(CPU_C10_GATE_L, PIN(6, 7), GPIO_INPUT) -GPIO(EC_ACCEL_INT_R_L, PIN(8, 1), GPIO_INPUT | GPIO_SEL_1P8V) GPIO(EC_ALS_RGB_INT_R_L, PIN(D, 4), GPIO_INPUT) GPIO(EC_BATT_PRES_ODL, PIN(E, 1), GPIO_INPUT) GPIO(EC_ENTERING_RW, PIN(0, 3), GPIO_OUT_LOW) diff --git a/board/brya/sensors.c b/board/brya/sensors.c index 4dffe00d7c..0478b308a2 100644 --- a/board/brya/sensors.c +++ b/board/brya/sensors.c @@ -4,8 +4,12 @@ */ #include "common.h" - +#include "accelgyro.h" #include "adc_chip.h" +#include "driver/accel_lis2dw12.h" +#include "driver/accelgyro_lsm6dso.h" +#include "hooks.h" +#include "motion_sense.h" #include "temp_sensor.h" #include "thermal.h" #include "thermistor.h" @@ -29,6 +33,124 @@ const struct adc_t adc_channels[] = { }; BUILD_ASSERT(ARRAY_SIZE(adc_channels) == ADC_CH_COUNT); +K_MUTEX_DEFINE(g_lid_accel_mutex); +K_MUTEX_DEFINE(g_base_accel_mutex); +static struct stprivate_data g_lis2dw12_data; +static struct lsm6dso_data lsm6dso_data; + +/* TODO(b/184779333): calibrate the orientation matrix on later board stage */ +static const mat33_fp_t lid_standard_ref = { + { 0, FLOAT_TO_FP(1), 0}, + { FLOAT_TO_FP(-1), 0, 0}, + { 0, 0, FLOAT_TO_FP(1)} +}; + +/* TODO(b/184779743): verify orientation matrix */ +static const mat33_fp_t base_standard_ref = { + { 0, FLOAT_TO_FP(1), 0}, + { FLOAT_TO_FP(-1), 0, 0}, + { 0, 0, FLOAT_TO_FP(1)} +}; + +struct motion_sensor_t motion_sensors[] = { + [LID_ACCEL] = { + .name = "Lid Accel", + .active_mask = SENSOR_ACTIVE_S0_S3, + .chip = MOTIONSENSE_CHIP_LIS2DW12, + .type = MOTIONSENSE_TYPE_ACCEL, + .location = MOTIONSENSE_LOC_LID, + .drv = &lis2dw12_drv, + .mutex = &g_lid_accel_mutex, + .drv_data = &g_lis2dw12_data, + .int_signal = GPIO_EC_ACCEL_INT_R_L, + .port = I2C_PORT_SENSOR, + .i2c_spi_addr_flags = LIS2DW12_ADDR0, + .flags = MOTIONSENSE_FLAG_INT_SIGNAL, + .rot_standard_ref = &lid_standard_ref, /* identity matrix */ + .default_range = 2, /* g */ + .min_frequency = LIS2DW12_ODR_MIN_VAL, + .max_frequency = LIS2DW12_ODR_MAX_VAL, + .config = { + /* EC use accel for angle detection */ + [SENSOR_CONFIG_EC_S0] = { + .odr = 12500 | ROUND_UP_FLAG, + }, + /* Sensor on for lid angle detection */ + [SENSOR_CONFIG_EC_S3] = { + .odr = 10000 | ROUND_UP_FLAG, + }, + }, + }, + + [BASE_ACCEL] = { + .name = "Base Accel", + .active_mask = SENSOR_ACTIVE_S0_S3, + .chip = MOTIONSENSE_CHIP_LSM6DSO, + .type = MOTIONSENSE_TYPE_ACCEL, + .location = MOTIONSENSE_LOC_BASE, + .drv = &lsm6dso_drv, + .mutex = &g_base_accel_mutex, + .drv_data = &lsm6dso_data, + .int_signal = GPIO_EC_IMU_INT_R_L, + .flags = MOTIONSENSE_FLAG_INT_SIGNAL, + .port = I2C_PORT_SENSOR, + .i2c_spi_addr_flags = LSM6DSO_ADDR0_FLAGS, + .rot_standard_ref = &base_standard_ref, + .default_range = 4, /* g */ + .min_frequency = LSM6DSO_ODR_MIN_VAL, + .max_frequency = LSM6DSO_ODR_MAX_VAL, + .config = { + [SENSOR_CONFIG_EC_S0] = { + .odr = 13000 | ROUND_UP_FLAG, + .ec_rate = 100 * MSEC, + }, + [SENSOR_CONFIG_EC_S3] = { + .odr = 10000 | ROUND_UP_FLAG, + .ec_rate = 100 * MSEC, + }, + }, + }, + + [BASE_GYRO] = { + .name = "Base Gyro", + .active_mask = SENSOR_ACTIVE_S0_S3, + .chip = MOTIONSENSE_CHIP_LSM6DSO, + .type = MOTIONSENSE_TYPE_GYRO, + .location = MOTIONSENSE_LOC_BASE, + .drv = &lsm6dso_drv, + .mutex = &g_base_accel_mutex, + .drv_data = &lsm6dso_data, + .int_signal = GPIO_EC_IMU_INT_R_L, + .flags = MOTIONSENSE_FLAG_INT_SIGNAL, + .port = I2C_PORT_SENSOR, + .i2c_spi_addr_flags = LSM6DSO_ADDR0_FLAGS, + .default_range = 1000 | ROUND_UP_FLAG, /* dps */ + .rot_standard_ref = &base_standard_ref, + .min_frequency = LSM6DSO_ODR_MIN_VAL, + .max_frequency = LSM6DSO_ODR_MAX_VAL, + .config = { + [SENSOR_CONFIG_EC_S0] = { + .odr = 13000 | ROUND_UP_FLAG, + .ec_rate = 100 * MSEC, + }, + [SENSOR_CONFIG_EC_S3] = { + .odr = 10000 | ROUND_UP_FLAG, + .ec_rate = 100 * MSEC, + }, + }, + }, +}; +const unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors); + +static void baseboard_sensors_init(void) +{ + /* Enable gpio interrupt for lid accel sensor */ + gpio_enable_interrupt(GPIO_EC_ACCEL_INT_R_L); + /* Enable gpio interrupt for base accelgyro sensor */ + gpio_enable_interrupt(GPIO_EC_IMU_INT_R_L); +} +DECLARE_HOOK(HOOK_INIT, baseboard_sensors_init, HOOK_PRIO_INIT_I2C + 1); + /* Temperature sensor configuration */ const struct temp_sensor_t temp_sensors[] = { [TEMP_SENSOR_1_DDR_SOC] = { |