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author | Zick Wei <zick.wei@quanta.corp-partner.google.com> | 2020-12-17 13:49:15 +0800 |
---|---|---|
committer | Commit Bot <commit-bot@chromium.org> | 2020-12-24 07:34:58 +0000 |
commit | 2902ec30546ca928df034215ff929856de90b90d (patch) | |
tree | 120ac2621af8d778aec292f2ec45a8d4170d8ea0 /board/morphius/board.c | |
parent | 9e5e87fd38953958ef78ae9f07ed9f8fad61169b (diff) | |
download | chrome-ec-2902ec30546ca928df034215ff929856de90b90d.tar.gz |
morphius: add accel sensor ICM406xxx support
This patch add base accelerometer: ICM406xxx for morphius,
ICM406xxx use the same low level driver as ICM426XX,
we will use fw_config to choose different sensor:
BASE_GYRO_ICM426XX = 3
BASE_GYRO_BMI160 = 1
BUG=b:173753906
BRANCH=zork
TEST=verify sensor can work on morphius.
Signed-off-by: Zick Wei <zick.wei@quanta.corp-partner.google.com>
Change-Id: I26fb9b6ec82b7d7f22b6eccb38b986813c4c48f3
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/2596571
Reviewed-by: Denis Brockus <dbrockus@chromium.org>
Diffstat (limited to 'board/morphius/board.c')
-rw-r--r-- | board/morphius/board.c | 81 |
1 files changed, 81 insertions, 0 deletions
diff --git a/board/morphius/board.c b/board/morphius/board.c index 38548b34e2..dfbe54a1da 100644 --- a/board/morphius/board.c +++ b/board/morphius/board.c @@ -12,6 +12,8 @@ #include "charger.h" #include "cros_board_info.h" #include "driver/accelgyro_bmi_common.h" +#include "driver/accelgyro_icm_common.h" +#include "driver/accelgyro_icm426xx.h" #include "driver/accel_kionix.h" #include "driver/accel_kx022.h" #include "driver/ppc/aoz1380.h" @@ -64,6 +66,11 @@ mat33_fp_t base_standard_ref = { { FLOAT_TO_FP(1), 0, 0}, { 0, 0, FLOAT_TO_FP(-1)} }; +const mat33_fp_t base_standard_ref_1 = { + { FLOAT_TO_FP(-1), 0, 0}, + { 0, FLOAT_TO_FP(1), 0}, + { 0, 0, FLOAT_TO_FP(-1)} +}; mat33_fp_t lid_standard_ref = { { 0, FLOAT_TO_FP(1), 0}, { FLOAT_TO_FP(-1), 0, 0}, @@ -73,6 +80,7 @@ mat33_fp_t lid_standard_ref = { /* sensor private data */ static struct kionix_accel_data g_kx022_data; static struct bmi_drv_data_t g_bmi160_data; +static struct icm_drv_data_t g_icm426xx_data; /* TODO(gcc >= 5.0) Remove the casts to const pointer at rot_standard_ref */ struct motion_sensor_t motion_sensors[] = { @@ -152,6 +160,50 @@ struct motion_sensor_t motion_sensors[] = { unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors); +struct motion_sensor_t icm426xx_base_accel = { + .name = "Base Accel", + .active_mask = SENSOR_ACTIVE_S0_S3, + .chip = MOTIONSENSE_CHIP_ICM426XX, + .type = MOTIONSENSE_TYPE_ACCEL, + .location = MOTIONSENSE_LOC_BASE, + .drv = &icm426xx_drv, + .mutex = &g_base_mutex, + .drv_data = &g_icm426xx_data, + .port = I2C_PORT_SENSOR, + .i2c_spi_addr_flags = ICM426XX_ADDR0_FLAGS, + .default_range = 2, /* g, enough for laptop */ + .rot_standard_ref = &base_standard_ref_1, + .min_frequency = ICM426XX_ACCEL_MIN_FREQ, + .max_frequency = ICM426XX_ACCEL_MAX_FREQ, + .config = { + /* EC use accel for angle detection */ + [SENSOR_CONFIG_EC_S0] = { + .odr = 10000 | ROUND_UP_FLAG, + .ec_rate = 100, + }, + /* EC use accel for angle detection */ + [SENSOR_CONFIG_EC_S3] = { + .odr = 10000 | ROUND_UP_FLAG, + }, + }, +}; +struct motion_sensor_t icm426xx_base_gyro = { + .name = "Base Gyro", + .active_mask = SENSOR_ACTIVE_S0_S3, + .chip = MOTIONSENSE_CHIP_ICM426XX, + .type = MOTIONSENSE_TYPE_GYRO, + .location = MOTIONSENSE_LOC_BASE, + .drv = &icm426xx_drv, + .mutex = &g_base_mutex, + .drv_data = &g_icm426xx_data, + .port = I2C_PORT_SENSOR, + .i2c_spi_addr_flags = ICM426XX_ADDR0_FLAGS, + .default_range = 1000, /* dps */ + .rot_standard_ref = &base_standard_ref_1, + .min_frequency = ICM426XX_GYRO_MIN_FREQ, + .max_frequency = ICM426XX_GYRO_MAX_FREQ, +}; + #endif /* HAS_TASK_MOTIONSENSE */ const struct pwm_t pwm_channels[] = { @@ -196,6 +248,33 @@ const struct pi3hdx1204_tuning pi3hdx1204_tuning = { }; /***************************************************************************** + * Base Gyro Sensor dynamic configuration + */ +static int base_gyro_config; +static void setup_base_gyro_config(void) +{ + base_gyro_config = ec_config_has_base_gyro_sensor(); + if (base_gyro_config == BASE_GYRO_ICM426XX) { + motion_sensors[BASE_ACCEL] = icm426xx_base_accel; + motion_sensors[BASE_GYRO] = icm426xx_base_gyro; + ccprints("BASE GYRO is ICM426XX"); + } else if (base_gyro_config == BASE_GYRO_BMI160) + ccprints("BASE GYRO is BMI160"); +} +void motion_interrupt(enum gpio_signal signal) +{ + switch (base_gyro_config) { + case BASE_GYRO_ICM426XX: + icm426xx_interrupt(signal); + break; + case BASE_GYRO_BMI160: + default: + bmi160_interrupt(signal); + break; + } +} + +/***************************************************************************** * USB-C MUX/Retimer dynamic configuration */ static void setup_mux(void) @@ -378,6 +457,8 @@ static void setup_fw_config(void) setup_mux(); board_remap_gpio(); + + setup_base_gyro_config(); } /* Use HOOK_PRIO_INIT_I2C + 2 to be after ioex_init(). */ DECLARE_HOOK(HOOK_INIT, setup_fw_config, HOOK_PRIO_INIT_I2C + 2); |