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author | wen zhang <zhangwen6@huaqin.corp-partner.google.com> | 2021-05-25 10:14:46 +0800 |
---|---|---|
committer | Commit Bot <commit-bot@chromium.org> | 2021-05-25 04:35:57 +0000 |
commit | edc2839d0d6315c8f00280fd4fe523910c1bd939 (patch) | |
tree | c8f78442a8174c661e68deca4ac1f29ba0ff7ac0 /board/kakadu | |
parent | 127233d26369b0565ef3839fd4560e97b4703f96 (diff) | |
download | chrome-ec-edc2839d0d6315c8f00280fd4fe523910c1bd939.tar.gz |
Kakadu: add the support for ICM42607
Bosh notice that BMI160 are going EOL,
so we intend to import ICM42607 for Kakadu
BUG=b:189077747
BRANCH=kukui
TEST=1.make BOARD=kakadu
2.ectool motionsense can get the sensor data
Change-Id: If73306784e276c21f158c6977e02b532087b2b22
Signed-off-by: wen zhang <zhangwen6@huaqin.corp-partner.google.com>
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/2910568
Reviewed-by: Ting Shen <phoenixshen@chromium.org>
Diffstat (limited to 'board/kakadu')
-rw-r--r-- | board/kakadu/board.c | 98 | ||||
-rw-r--r-- | board/kakadu/board.h | 5 | ||||
-rw-r--r-- | board/kakadu/gpio.inc | 2 |
3 files changed, 103 insertions, 2 deletions
diff --git a/board/kakadu/board.c b/board/kakadu/board.c index 5be3420e56..592f7548c2 100644 --- a/board/kakadu/board.c +++ b/board/kakadu/board.c @@ -15,6 +15,8 @@ #include "common.h" #include "console.h" #include "driver/accelgyro_bmi_common.h" +#include "driver/accelgyro_icm_common.h" +#include "driver/accelgyro_icm42607.h" #include "driver/charger/rt946x.h" #include "driver/sync.h" #include "driver/tcpm/mt6370.h" @@ -306,6 +308,15 @@ void sensor_board_proc_double_tap(void) static struct mutex g_lid_mutex; static struct bmi_drv_data_t g_bmi160_data; +static struct icm_drv_data_t g_icm42607_data; + +enum lid_accelgyro_type { + LID_GYRO_NONE = 0, + LID_GYRO_BMI160 = 1, + LID_GYRO_ICM426XX = 2, +}; + +static enum lid_accelgyro_type lid_accelgyro_config; /* Matrix to rotate accelerometer into standard reference frame */ static const mat33_fp_t lid_standard_ref = { @@ -314,6 +325,52 @@ static const mat33_fp_t lid_standard_ref = { {0, 0, FLOAT_TO_FP(1)} }; +const mat33_fp_t lid_standard_ref_icm42607 = { + { 0, FLOAT_TO_FP(1), 0}, + { FLOAT_TO_FP(-1), 0, 0}, + { 0, 0, FLOAT_TO_FP(1)} +}; +struct motion_sensor_t icm42607_lid_accel = { + .name = "Accel", + .active_mask = SENSOR_ACTIVE_S0_S3, + .chip = MOTIONSENSE_CHIP_ICM42607, + .type = MOTIONSENSE_TYPE_ACCEL, + .location = MOTIONSENSE_LOC_LID, + .drv = &icm42607_drv, + .mutex = &g_lid_mutex, + .drv_data = &g_icm42607_data, + .port = I2C_PORT_ACCEL, + .i2c_spi_addr_flags = ICM42607_ADDR0_FLAGS, + .default_range = 4, /* g, to meet CDD 7.3.1/C-1-4 reqs.*/ + .rot_standard_ref = &lid_standard_ref_icm42607, + .min_frequency = ICM42607_ACCEL_MIN_FREQ, + .max_frequency = ICM42607_ACCEL_MAX_FREQ, + .config = { + /* Enable accel in S0 */ + [SENSOR_CONFIG_EC_S0] = { + .odr = 10000 | ROUND_UP_FLAG, + .ec_rate = 100 * MSEC, + }, + }, +}; + +struct motion_sensor_t icm42607_lid_gyro = { + .name = "Gyro", + .active_mask = SENSOR_ACTIVE_S0_S3, + .chip = MOTIONSENSE_CHIP_ICM42607, + .type = MOTIONSENSE_TYPE_GYRO, + .location = MOTIONSENSE_LOC_LID, + .drv = &icm42607_drv, + .mutex = &g_lid_mutex, + .drv_data = &g_icm42607_data, + .port = I2C_PORT_ACCEL, + .i2c_spi_addr_flags = ICM42607_ADDR0_FLAGS, + .default_range = 1000, /* dps */ + .rot_standard_ref = &lid_standard_ref_icm42607, + .min_frequency = ICM42607_GYRO_MIN_FREQ, + .max_frequency = ICM42607_GYRO_MAX_FREQ, +}; + struct motion_sensor_t motion_sensors[] = { /* * Note: bmi160: supports accelerometer and gyro sensor @@ -377,6 +434,47 @@ struct motion_sensor_t motion_sensors[] = { }, }; const unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors); + +static void board_detect_motionsensor(void) +{ + int ret; + int val; + + if (chipset_in_state(CHIPSET_STATE_ANY_OFF)) + return; + if (lid_accelgyro_config != LID_GYRO_NONE) + return; + /* Check base accelgyro chip */ + ret = icm_read8(&icm42607_lid_accel, + ICM42607_REG_WHO_AM_I, &val); + if (ret) + ccprints("Get ICM fail."); + if (val == ICM42607_CHIP_ICM42607P) { + motion_sensors[LID_ACCEL] = icm42607_lid_accel; + motion_sensors[LID_GYRO] = icm42607_lid_gyro; + } + lid_accelgyro_config = (val == ICM42607_CHIP_ICM42607P) + ? LID_GYRO_ICM426XX : LID_GYRO_BMI160; + ccprints("LID Accelgyro: %s", (val == ICM42607_CHIP_ICM42607P) + ? "ICM42607" : "BMI160"); +} +DECLARE_HOOK(HOOK_CHIPSET_STARTUP, board_detect_motionsensor, + HOOK_PRIO_DEFAULT); +DECLARE_HOOK(HOOK_INIT, board_detect_motionsensor, HOOK_PRIO_INIT_ADC + 2); + +void motion_interrupt(enum gpio_signal signal) +{ + switch (lid_accelgyro_config) { + case LID_GYRO_ICM426XX: + icm42607_interrupt(signal); + break; + case LID_GYRO_BMI160: + default: + bmi160_interrupt(signal); + break; + } +} + #endif /* VARIANT_KUKUI_NO_SENSORS */ /* diff --git a/board/kakadu/board.h b/board/kakadu/board.h index 6cecfaed2b..1a7d8c3507 100644 --- a/board/kakadu/board.h +++ b/board/kakadu/board.h @@ -38,6 +38,9 @@ #define CONFIG_ACCEL_INTERRUPTS #define CONFIG_ACCELGYRO_BMI160_INT_EVENT \ TASK_EVENT_MOTION_SENSOR_INTERRUPT(LID_ACCEL) +#define CONFIG_ACCELGYRO_ICM42607 /* Base accel second source*/ +#define CONFIG_ACCELGYRO_ICM42607_INT_EVENT \ + TASK_EVENT_MOTION_SENSOR_INTERRUPT(LID_ACCEL) /* Camera VSYNC */ #define CONFIG_SYNC @@ -116,10 +119,10 @@ void board_reset_pd_mcu(void); int board_get_version(void); void pogo_adc_interrupt(enum gpio_signal signal); int board_discharge_on_ac(int enable); +void motion_interrupt(enum gpio_signal signal); /* Enable double tap detection */ #define CONFIG_GESTURE_DETECTION -#define CONFIG_GESTURE_HOST_DETECTION #define CONFIG_GESTURE_SENSOR_DOUBLE_TAP #define CONFIG_GESTURE_TAP_SENSOR 0 #define CONFIG_GESTURE_SENSOR_DOUBLE_TAP_FOR_HOST diff --git a/board/kakadu/gpio.inc b/board/kakadu/gpio.inc index 1a3e8e539c..f52f2b7f2f 100644 --- a/board/kakadu/gpio.inc +++ b/board/kakadu/gpio.inc @@ -30,7 +30,7 @@ GPIO_INT(AP_EC_WATCHDOG_L, PIN(C, 2), GPIO_INT_FALLING, chipset_watchdog_interrupt) GPIO_INT_RW(ACCEL_INT_ODL, PIN(A, 4), GPIO_INT_FALLING | GPIO_SEL_1P8V | GPIO_PULL_UP, - bmi160_interrupt) + motion_interrupt) GPIO_INT(CHARGER_INT_ODL, PIN(C, 13), GPIO_INT_FALLING | GPIO_PULL_UP, rt946x_interrupt) GPIO_INT_RO(EMMC_CMD, PIN(B, 15), GPIO_INT_FALLING, |