diff options
author | Wonjoon Lee <woojoo.lee@samsung.com> | 2016-05-27 00:31:40 +0900 |
---|---|---|
committer | chrome-bot <chrome-bot@chromium.org> | 2016-05-31 14:14:44 -0700 |
commit | 5564c9fae726b0f5042fb3474763b4da33cc145b (patch) | |
tree | 6ef96e435ab536f0535d3e36a1d4e2c3f13a1809 | |
parent | 8f2c7d7f7670d696479e64daada86a9386bd1a31 (diff) | |
download | chrome-ec-5564c9fae726b0f5042fb3474763b4da33cc145b.tar.gz |
driver: Add support bma255 sensor
BMA255 is one of BMA2x2 accel sensor series.
Adding defines,driver from
https://github.com/BoschSensortec/BMA2x2_driver
BUG=chrome-os-partner:52877
BRANCH=none
TEST="accelread 2" is working on kevin, also check accelrate,
accelrange can set proper value on IC
Change-Id: I99932ff75aae91a744fe18dddc010b802085a2da
Signed-off-by: Wonjoon Lee <woojoo.lee@samsung.com>
Reviewed-on: https://chromium-review.googlesource.com/347722
Reviewed-by: Shawn N <shawnn@chromium.org>
-rw-r--r-- | common/build.mk | 1 | ||||
-rw-r--r-- | driver/accel_bma2x2.c | 340 | ||||
-rw-r--r-- | driver/accel_bma2x2.h | 161 | ||||
-rw-r--r-- | driver/build.mk | 1 | ||||
-rw-r--r-- | include/config.h | 1 | ||||
-rw-r--r-- | include/ec_commands.h | 1 |
6 files changed, 505 insertions, 0 deletions
diff --git a/common/build.mk b/common/build.mk index bfb4e6aef7..54696f4ef9 100644 --- a/common/build.mk +++ b/common/build.mk @@ -9,6 +9,7 @@ common-y=util.o common-y+=version.o printf.o queue.o queue_policies.o +common-$(CONFIG_ACCELGYRO_BMA255)+=math_util.o common-$(CONFIG_ACCELGYRO_BMI160)+=math_util.o common-$(CONFIG_ACCELGYRO_LSM6DS0)+=math_util.o common-$(CONFIG_ACCEL_KXCJ9)+=math_util.o diff --git a/driver/accel_bma2x2.c b/driver/accel_bma2x2.c new file mode 100644 index 0000000000..89c3f9fa66 --- /dev/null +++ b/driver/accel_bma2x2.c @@ -0,0 +1,340 @@ +/* Copyright 2015 The Chromium OS Authors. All rights reserved. + * Use of this source code is governed by a BSD-style license that can be + * found in the LICENSE file. + */ + +/* + * Bosch Accelerometer driver for Chrome EC + * + * Supported: BMA255 + */ + +#include "accelgyro.h" +#include "common.h" +#include "console.h" +#include "driver/accel_bma2x2.h" +#include "i2c.h" +#include "math_util.h" +#include "spi.h" +#include "task.h" +#include "util.h" + +#define CPUTS(outstr) cputs(CC_ACCEL, outstr) +#define CPRINTF(format, args...) cprintf(CC_ACCEL, format, ## args) + +/* Number of times to attempt to enable sensor before giving up. */ +#define SENSOR_ENABLE_ATTEMPTS 5 + +/* + * Struct for pairing an engineering value with the register value for a + * parameter. + */ +struct accel_param_pair { + int val; /* Value in engineering units. */ + int reg; /* Corresponding register value. */ +}; + +/* List of range values in +/-G's and their associated register values. */ +static const struct accel_param_pair ranges[] = { + {2, BMA2x2_RANGE_2G}, + {4, BMA2x2_RANGE_4G}, + {8, BMA2x2_RANGE_8G}, + {16, BMA2x2_RANGE_16G}, +}; + +/* List of ODR values in mHz and their associated register values. */ +static const struct accel_param_pair datarates[] = { + {781, BMA2x2_BW_7_81HZ}, + {1563, BMA2x2_BW_15_63HZ}, + {3125, BMA2x2_BW_31_25HZ}, + {6250, BMA2x2_BW_62_50HZ}, + {12500, BMA2x2_BW_125HZ}, + {25000, BMA2x2_BW_250HZ}, + {50000, BMA2x2_BW_500HZ}, + {100000, BMA2x2_BW_1000HZ}, +}; + +/** + * Find index into a accel_param_pair that matches the given engineering value + * passed in. The round_up flag is used to specify whether to round up or down. + * Note, this function always returns a valid index. If the request is + * outside the range of values, it returns the closest valid index. + */ +static int find_param_index(const int eng_val, const int round_up, + const struct accel_param_pair *pairs, + const int size) +{ + int i = 0; + + /* match first index */ + if (eng_val <= pairs[i].val) + return i; + + /* Linear search for index to match. */ + while (++i < size) { + if (eng_val < pairs[i].val) + return round_up ? i : i - 1; + else if (eng_val == pairs[i].val) + return i; + } + + return i - 1; +} + +/** + * Read register from accelerometer. + */ +static int raw_read8(const int port, const int addr, const int reg, + int *data_ptr) +{ + return i2c_read8(port, addr, reg, data_ptr); +} + +/** + * Write register from accelerometer. + */ +static int raw_write8(const int port, const int addr, const int reg, int data) +{ + return i2c_write8(port, addr, reg, data); +} + +static int raw_read_multi(const int port, int addr, uint8_t reg, + uint8_t *rxdata, int rxlen) +{ + int rv; + + i2c_lock(port, 1); + rv = i2c_xfer(port, addr, ®, 1, rxdata, rxlen, + I2C_XFER_SINGLE); + i2c_lock(port, 0); + + return rv; +} + +static int set_range(const struct motion_sensor_t *s, int range, int rnd) +{ + int ret, index, reg, range_val, reg_val, range_reg_val; + struct bma2x2_accel_data *data = s->drv_data; + + /* Find index for interface pair matching the specified range. */ + index = find_param_index(range, rnd, ranges, ARRAY_SIZE(ranges)); + + reg = BMA2x2_RANGE_SELECT_REG; + range_val = ranges[index].reg; + + mutex_lock(s->mutex); + + /* Determine the new value of control reg and attempt to write it. */ + ret = raw_read8(s->port, s->addr, reg, &range_reg_val); + if (ret != EC_SUCCESS) { + mutex_unlock(s->mutex); + return ret; + } + reg_val = (range_reg_val & ~BMA2x2_RANGE_SELECT_MSK) | range_val; + ret = raw_write8(s->port, s->addr, reg, reg_val); + + /* If successfully written, then save the range. */ + if (ret == EC_SUCCESS) + data->sensor_range = index; + + mutex_unlock(s->mutex); + + return ret; +} + +static int get_range(const struct motion_sensor_t *s) +{ + struct bma2x2_accel_data *data = s->drv_data; + + return ranges[data->sensor_range].val; +} + +static int set_resolution(const struct motion_sensor_t *s, int res, int rnd) +{ + /* Only one resolution, BMA2x2_RESOLUTION, so nothing to do. */ + return EC_SUCCESS; +} + +static int get_resolution(const struct motion_sensor_t *s) +{ + return BMA2x2_RESOLUTION; +} + +static int set_data_rate(const struct motion_sensor_t *s, int rate, int rnd) +{ + int ret, index, odr_val, odr_reg_val, reg_val, reg; + struct bma2x2_accel_data *data = s->drv_data; + + /* Find index for interface pair matching the specified rate. */ + index = find_param_index(rate, rnd, datarates, ARRAY_SIZE(datarates)); + + odr_val = datarates[index].reg; + reg = BMA2x2_BW_REG; + + mutex_lock(s->mutex); + + /* Determine the new value of control reg and attempt to write it. */ + ret = raw_read8(s->port, s->addr, reg, &odr_reg_val); + if (ret != EC_SUCCESS) { + mutex_unlock(s->mutex); + return ret; + } + reg_val = (odr_reg_val & ~BMA2x2_BW_MSK) | odr_val; + /* Set output data rate. */ + ret = raw_write8(s->port, s->addr, reg, reg_val); + + /* If successfully written, then save the new data rate. */ + if (ret == EC_SUCCESS) + data->sensor_datarate = index; + + mutex_unlock(s->mutex); + return ret; +} + +static int get_data_rate(const struct motion_sensor_t *s) +{ + struct bma2x2_accel_data *data = s->drv_data; + + return datarates[data->sensor_datarate].val; +} + +static int set_offset(const struct motion_sensor_t *s, const int16_t *offset, + int16_t temp) +{ + /* temperature is ignored */ + struct bma2x2_accel_data *data = s->drv_data; + + data->offset[X] = offset[X]; + data->offset[Y] = offset[Y]; + data->offset[Z] = offset[Z]; + + return EC_SUCCESS; +} + +static int get_offset(const struct motion_sensor_t *s, int16_t *offset, + int16_t *temp) +{ + struct bma2x2_accel_data *data = s->drv_data; + + offset[X] = data->offset[X]; + offset[Y] = data->offset[Y]; + offset[Z] = data->offset[Z]; + *temp = EC_MOTION_SENSE_INVALID_CALIB_TEMP; + + return EC_SUCCESS; +} + +static int read(const struct motion_sensor_t *s, vector_3_t v) +{ + uint8_t acc[6]; + int ret, i, range; + struct bma2x2_accel_data *data = s->drv_data; + + /* Read 6 bytes starting at X_AXIS_LSB. */ + mutex_lock(s->mutex); + ret = raw_read_multi(s->port, s->addr, BMA2x2_X_AXIS_LSB_ADDR, acc, 6); + mutex_unlock(s->mutex); + + if (ret != EC_SUCCESS) + return ret; + + /* + * Convert acceleration to a signed 16-bit number. Note, based on + * the order of the registers: + * + * acc[0] = X_AXIS_LSB -> bit 7~4 for value, bit 0 for new data bit + * acc[1] = X_AXIS_MSB + * acc[2] = Y_AXIS_LSB -> bit 7~4 for value, bit 0 for new data bit + * acc[3] = Y_AXIS_MSB + * acc[4] = Z_AXIS_LSB -> bit 7~4 for value, bit 0 for new data bit + * acc[5] = Z_AXIS_MSB + * + * Add calibration offset before returning the data. + */ + for (i = X; i <= Z; i++) + v[i] = (((int8_t)acc[i * 2 + 1]) << 8) | (acc[i * 2] & 0xf0); + rotate(v, *s->rot_standard_ref, v); + + /* apply offset in the device coordinates */ + range = get_range(s); + for (i = X; i <= Z; i++) + v[i] += (data->offset[i] << 5) / range; + + return EC_SUCCESS; +} + +static int init(const struct motion_sensor_t *s) +{ + int ret = 0, tries = 0, val, reg, reset_field; + + ret = raw_read8(s->port, s->addr, BMA2x2_CHIP_ID_ADDR, &val); + if (ret) + return EC_ERROR_UNKNOWN; + + if (val != BMA255_CHIP_ID_MAJOR) + return EC_ERROR_ACCESS_DENIED; + + /* Reset the chip to be in a good state */ + reg = BMA2x2_RST_ADDR; + reset_field = BMA2x2_CMD_SOFT_RESET; + + mutex_lock(s->mutex); + + ret = raw_read8(s->port, s->addr, reg, &val); + if (ret != EC_SUCCESS) { + mutex_unlock(s->mutex); + return ret; + } + val |= reset_field; + ret = raw_write8(s->port, s->addr, reg, val); + if (ret != EC_SUCCESS) { + mutex_unlock(s->mutex); + return ret; + } + + /* The SRST will be cleared when reset is complete. */ + do { + ret = raw_read8(s->port, s->addr, reg, &val); + + /* Reset complete. */ + if ((ret == EC_SUCCESS) && !(val & reset_field)) + break; + + /* Check for tires. */ + if (tries++ > SENSOR_ENABLE_ATTEMPTS) { + ret = EC_ERROR_TIMEOUT; + mutex_unlock(s->mutex); + return ret; + } + msleep(1); + } while (1); + mutex_unlock(s->mutex); + + /* Initialize with the desired parameters. */ + ret = set_range(s, s->default_range, 1); + if (ret != EC_SUCCESS) + return ret; + + ret = set_resolution(s, 12, 1); + if (ret != EC_SUCCESS) + return ret; + + CPRINTF("[%T %s: Done Init type:0x%X range:%d]\n", + s->name, s->type, get_range(s)); + + return ret; +} + +const struct accelgyro_drv bma2x2_accel_drv = { + .init = init, + .read = read, + .set_range = set_range, + .get_range = get_range, + .set_resolution = set_resolution, + .get_resolution = get_resolution, + .set_data_rate = set_data_rate, + .get_data_rate = get_data_rate, + .set_offset = set_offset, + .get_offset = get_offset, + .perform_calib = NULL, +}; diff --git a/driver/accel_bma2x2.h b/driver/accel_bma2x2.h new file mode 100644 index 0000000000..f5facc90e9 --- /dev/null +++ b/driver/accel_bma2x2.h @@ -0,0 +1,161 @@ +/* Copyright 2016 The Chromium OS Authors. All rights reserved. + * Use of this source code is governed by a BSD-style license that can be + * found in the LICENSE file. + */ + +/* BMA2x2 gsensor module for Chrome EC */ + +#ifndef __CROS_EC_ACCEL_BMA2x2_H +#define __CROS_EC_ACCEL_BMA2x2_H + +enum bma2x2_accel { + BMA255, + SUPPORTED_BOSCH_ACCELS, +}; + +struct bma2x2_accel_data { + /* Variant of Bosch Accelerometer. */ + uint8_t variant; + /* Note, the following are indicies into their respective tables. */ + /* Current range of accelerometer. */ + int sensor_range; + /* Current output data rate of accelerometer. */ + int sensor_datarate; + /* Current resolution of accelerometer. */ + int sensor_resolution; + /* Device address. */ + int accel_addr; + int16_t offset[3]; +}; + +extern const struct accelgyro_drv bma2x2_accel_drv; + +/* I2C ADDRESS DEFINITIONS */ +/* The following definition of I2C address is used for the following sensors +* BMA255 +* BMA355 +* BMA280 +* BMA282 +* BMA223 +* BMA254 +* BMA284 +* BMA250E +* BMA222E +*/ +#define BMA2x2_I2C_ADDR1 0x30 +#define BMA2x2_I2C_ADDR2 0x19 + +/* The following definition of I2C address is used for the following sensors +* BMC150 +* BMC056 +* BMC156 +*/ +#define BMA2x2_I2C_ADDR3 0x10 +#define BMA2x2_I2C_ADDR4 0x11 + +/*** Chip-specific registers ***/ +/* REGISTER ADDRESS DEFINITIONS */ +#define BMA2x2_EEP_OFFSET 0x16 +#define BMA2x2_IMAGE_BASE 0x38 +#define BMA2x2_IMAGE_LEN 22 +#define BMA2x2_CHIP_ID_ADDR 0x00 +#define BMA255_CHIP_ID_MAJOR 0xfa + +/* DATA ADDRESS DEFINITIONS */ +#define BMA2x2_X_AXIS_LSB_ADDR 0x02 +#define BMA2x2_X_AXIS_MSB_ADDR 0x03 +#define BMA2x2_Y_AXIS_LSB_ADDR 0x04 +#define BMA2x2_Y_AXIS_MSB_ADDR 0x05 +#define BMA2x2_Z_AXIS_LSB_ADDR 0x06 +#define BMA2x2_Z_AXIS_MSB_ADDR 0x07 +#define BMA2x2_TEMP_ADDR 0x08 + +/* STATUS ADDRESS DEFINITIONS */ +#define BMA2x2_STAT1_ADDR 0x09 +#define BMA2x2_STAT2_ADDR 0x0A +#define BMA2x2_STAT_TAP_SLOPE_ADDR 0x0B +#define BMA2x2_STAT_ORIENT_HIGH_ADDR 0x0C +#define BMA2x2_STAT_FIFO_ADDR 0x0E +#define BMA2x2_RANGE_SELECT_ADDR 0x0F +#define BMA2x2_BW_SELECT_ADDR 0x10 +#define BMA2x2_MODE_CTRL_ADDR 0x11 +#define BMA2x2_LOW_NOISE_CTRL_ADDR 0x12 +#define BMA2x2_DATA_CTRL_ADDR 0x13 +#define BMA2x2_RST_ADDR 0x14 +#define BMA2x2_CMD_SOFT_RESET 0xb6 + +/* INTERRUPT ADDRESS DEFINITIONS */ +#define BMA2x2_INTR_ENABLE1_ADDR 0x16 +#define BMA2x2_INTR_ENABLE2_ADDR 0x17 +#define BMA2x2_INTR_SLOW_NO_MOTION_ADDR 0x18 +#define BMA2x2_INTR1_PAD_SELECT_ADDR 0x19 +#define BMA2x2_INTR_DATA_SELECT_ADDR 0x1A +#define BMA2x2_INTR2_PAD_SELECT_ADDR 0x1B +#define BMA2x2_INTR_SOURCE_ADDR 0x1E +#define BMA2x2_INTR_SET_ADDR 0x20 +#define BMA2x2_INTR_CTRL_ADDR 0x21 + +/* FEATURE ADDRESS DEFINITIONS */ +#define BMA2x2_LOW_DURN_ADDR 0x22 +#define BMA2x2_LOW_THRES_ADDR 0x23 +#define BMA2x2_LOW_HIGH_HYST_ADDR 0x24 +#define BMA2x2_HIGH_DURN_ADDR 0x25 +#define BMA2x2_HIGH_THRES_ADDR 0x26 +#define BMA2x2_SLOPE_DURN_ADDR 0x27 +#define BMA2x2_SLOPE_THRES_ADDR 0x28 +#define BMA2x2_SLOW_NO_MOTION_THRES_ADDR 0x29 +#define BMA2x2_TAP_PARAM_ADDR 0x2A +#define BMA2x2_TAP_THRES_ADDR 0x2B +#define BMA2x2_ORIENT_PARAM_ADDR 0x2C +#define BMA2x2_THETA_BLOCK_ADDR 0x2D +#define BMA2x2_THETA_FLAT_ADDR 0x2E +#define BMA2x2_FLAT_HOLD_TIME_ADDR 0x2F +#define BMA2x2_SELFTEST_ADDR 0x32 +#define BMA2x2_EEPROM_CTRL_ADDR 0x33 +#define BMA2x2_SERIAL_CTRL_ADDR 0x34 + +/* OFFSET ADDRESS DEFINITIONS */ +#define BMA2x2_OFFSET_CTRL_ADDR 0x36 +#define BMA2x2_OFFSET_PARAMS_ADDR 0x37 +#define BMA2x2_OFFSET_X_AXIS_ADDR 0x38 +#define BMA2x2_OFFSET_Y_AXIS_ADDR 0x39 +#define BMA2x2_OFFSET_Z_AXIS_ADDR 0x3A + +/* GP ADDRESS DEFINITIONS */ +#define BMA2x2_GP0_ADDR 0x3B +#define BMA2x2_GP1_ADDR 0x3C + +/* FIFO ADDRESS DEFINITIONS */ +#define BMA2x2_FIFO_MODE_ADDR 0x3E +#define BMA2x2_FIFO_DATA_OUTPUT_ADDR 0x3F +#define BMA2x2_FIFO_WML_TRIG 0x30 + +/* RANGE */ +#define BMA2x2_RANGE_SELECT_POS 0 +#define BMA2x2_RANGE_SELECT_LEN 4 +#define BMA2x2_RANGE_SELECT_MSK 0x0F +#define BMA2x2_RANGE_SELECT_REG BMA2x2_RANGE_SELECT_ADDR + +#define BMA2x2_RANGE_2G 3 +#define BMA2x2_RANGE_4G 5 +#define BMA2x2_RANGE_8G 8 +#define BMA2x2_RANGE_16G 12 + +/* Sensor resolution in number of bits. This sensor has fixed resolution. */ +#define BMA2x2_RESOLUTION 12 + +/* BANDWIDTH */ +#define BMA2x2_BW_POS 0 +#define BMA2x2_BW_LEN 5 +#define BMA2x2_BW_MSK 0x1F +#define BMA2x2_BW_REG BMA2x2_BW_SELECT_ADDR + +#define BMA2x2_BW_7_81HZ 0x08 /* LowPass 7.81HZ */ +#define BMA2x2_BW_15_63HZ 0x09 /* LowPass 15.63HZ */ +#define BMA2x2_BW_31_25HZ 0x0A /* LowPass 31.25HZ */ +#define BMA2x2_BW_62_50HZ 0x0B /* LowPass 62.50HZ */ +#define BMA2x2_BW_125HZ 0x0C /* LowPass 125HZ */ +#define BMA2x2_BW_250HZ 0x0D /* LowPass 250HZ */ +#define BMA2x2_BW_500HZ 0x0E /* LowPass 500HZ */ +#define BMA2x2_BW_1000HZ 0x0F /* LowPass 1000HZ */ +#endif /* __CROS_EC_ACCEL_BMA2x2_H */ diff --git a/driver/build.mk b/driver/build.mk index fc571af018..6145bfbd22 100644 --- a/driver/build.mk +++ b/driver/build.mk @@ -7,6 +7,7 @@ # # Accelerometers +driver-$(CONFIG_ACCEL_BMA255)+=accel_bma2x2.o driver-$(CONFIG_ACCEL_KXCJ9)+=accel_kionix.o driver-$(CONFIG_ACCEL_KX022)+=accel_kionix.o driver-$(CONFIG_ACCELGYRO_LSM6DS0)+=accelgyro_lsm6ds0.o diff --git a/include/config.h b/include/config.h index 2c4fa6ccc4..0addbc1a1e 100644 --- a/include/config.h +++ b/include/config.h @@ -51,6 +51,7 @@ #undef CONFIG_ACCEL_FORCE_MODE_MASK /* Specify type of accelerometers attached. */ +#undef CONFIG_ACCEL_BMA255 #undef CONFIG_ACCEL_KXCJ9 #undef CONFIG_ACCEL_KX022 #undef CONFIG_ACCELGYRO_LSM6DS0 diff --git a/include/ec_commands.h b/include/ec_commands.h index 871dbf9662..d58c560d62 100644 --- a/include/ec_commands.h +++ b/include/ec_commands.h @@ -1788,6 +1788,7 @@ enum motionsensor_chip { MOTIONSENSE_CHIP_SI1143 = 5, MOTIONSENSE_CHIP_KX022 = 6, MOTIONSENSE_CHIP_L3GD20H = 7, + MOTIONSENSE_CHIP_BMA255 = 8, }; struct ec_response_motion_sensor_data { |