diff options
author | Ting Shen <phoenixshen@google.com> | 2020-04-22 18:20:57 +0800 |
---|---|---|
committer | Commit Bot <commit-bot@chromium.org> | 2020-05-29 05:11:22 +0000 |
commit | fad8f404df3e1b2278326c08247a62edce434f32 (patch) | |
tree | 2af7b231777c6bf271abbd17770503e0d3ab2f9c /board | |
parent | 7808773254b3c4b910eef167319b49e6acec738a (diff) | |
download | chrome-ec-fad8f404df3e1b2278326c08247a62edce434f32.tar.gz |
asurada: enable bmi160/bmm150
Enable bmi160/bmi150 accel/gyro/mag sensor on base.
BUG=b:150341271
TEST=1) `accelrate 1 25000` to start gyro
2) Verify `accelread 0` (accel), `accelread 1` (gyro) outputs some
reasonable number.
BRANCH=none
Change-Id: I8475ea18f0df507cd8e437d2a055217fddcad0b7
Signed-off-by: Ting Shen <phoenixshen@google.com>
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/2160335
Reviewed-by: Eric Yilun Lin <yllin@chromium.org>
Commit-Queue: Ting Shen <phoenixshen@chromium.org>
Tested-by: Ting Shen <phoenixshen@chromium.org>
Diffstat (limited to 'board')
-rw-r--r-- | board/asurada/board.c | 93 | ||||
-rw-r--r-- | board/asurada/board.h | 23 | ||||
-rw-r--r-- | board/asurada/ec.tasklist | 4 |
3 files changed, 117 insertions, 3 deletions
diff --git a/board/asurada/board.c b/board/asurada/board.c index b7b407f9d0..512e3e2612 100644 --- a/board/asurada/board.c +++ b/board/asurada/board.c @@ -12,6 +12,7 @@ #include "chipset.h" #include "common.h" #include "console.h" +#include "driver/accelgyro_bmi_common.h" #include "driver/charger/isl923x.h" #include "driver/ppc/syv682x.h" #include "driver/tcpm/it83xx_pd.h" @@ -21,12 +22,14 @@ #include "i2c.h" #include "keyboard_scan.h" #include "lid_switch.h" +#include "motion_sense.h" #include "power.h" #include "power_button.h" #include "pwm.h" #include "pwm_chip.h" #include "switch.h" #include "tablet_mode.h" +#include "task.h" #include "timer.h" #include "uart.h" #include "usb_mux.h" @@ -367,3 +370,93 @@ __override uint8_t board_get_usb_pd_port_count(void) return CONFIG_USB_PD_PORT_MAX_COUNT - 1; } +/* Sensor */ + +static struct mutex g_base_mutex; + +static struct bmi_drv_data_t g_bmi160_data; + +/* Matrix to rotate accelerometer into standard reference frame */ +/* TODO: update the matrix after we have assembled unit */ +static const mat33_fp_t base_standard_ref = { + {FLOAT_TO_FP(-1), 0, 0}, + {0, FLOAT_TO_FP(-1), 0}, + {0, 0, FLOAT_TO_FP(1)}, +}; + +/* Matrix to rotate accelrator into standard reference frame */ +/* TODO: update the matrix after we have assembled unit */ +static const mat33_fp_t mag_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[] = { + /* + * Note: bmi160: supports accelerometer and gyro sensor + * Requirement: accelerometer sensor must init before gyro sensor + * DO NOT change the order of the following table. + */ + [BASE_ACCEL] = { + .name = "Base Accel", + .active_mask = SENSOR_ACTIVE_S0_S3, + .chip = MOTIONSENSE_CHIP_BMI160, + .type = MOTIONSENSE_TYPE_ACCEL, + .location = MOTIONSENSE_LOC_BASE, + .drv = &bmi160_drv, + .mutex = &g_base_mutex, + .drv_data = &g_bmi160_data, + .port = I2C_PORT_ACCEL, + .i2c_spi_addr_flags = BMI160_ADDR0_FLAGS, + .rot_standard_ref = &base_standard_ref, + .default_range = 4, /* g, to meet CDD 7.3.1/C-1-4 reqs */ + .min_frequency = BMI_ACCEL_MIN_FREQ, + .max_frequency = BMI_ACCEL_MAX_FREQ, + .config = { + /* Sensor on for angle detection */ + [SENSOR_CONFIG_EC_S0] = { + .odr = 10000 | ROUND_UP_FLAG, + .ec_rate = 100 * MSEC, + }, + /* Sensor on for angle detection */ + [SENSOR_CONFIG_EC_S3] = { + .odr = 10000 | ROUND_UP_FLAG, + .ec_rate = 100 * MSEC, + }, + }, + }, + [BASE_GYRO] = { + .name = "Gyro", + .active_mask = SENSOR_ACTIVE_S0_S3, + .chip = MOTIONSENSE_CHIP_BMI160, + .type = MOTIONSENSE_TYPE_GYRO, + .location = MOTIONSENSE_LOC_BASE, + .drv = &bmi160_drv, + .mutex = &g_base_mutex, + .drv_data = &g_bmi160_data, + .port = I2C_PORT_ACCEL, + .i2c_spi_addr_flags = BMI160_ADDR0_FLAGS, + .default_range = 1000, /* dps */ + .rot_standard_ref = &base_standard_ref, + .min_frequency = BMI_GYRO_MIN_FREQ, + .max_frequency = BMI_GYRO_MAX_FREQ, + }, + [BASE_MAG] = { + .name = "Lid Mag", + .active_mask = SENSOR_ACTIVE_S0_S3, + .chip = MOTIONSENSE_CHIP_BMI160, + .type = MOTIONSENSE_TYPE_MAG, + .location = MOTIONSENSE_LOC_BASE, + .drv = &bmi160_drv, + .mutex = &g_base_mutex, + .drv_data = &g_bmi160_data, + .port = I2C_PORT_ACCEL, + .i2c_spi_addr_flags = BMI160_ADDR0_FLAGS, + .default_range = BIT(11), /* 16LSB / uT, fixed */ + .rot_standard_ref = &mag_standard_ref, + .min_frequency = BMM150_MAG_MIN_FREQ, + .max_frequency = BMM150_MAG_MAX_FREQ(SPECIAL), + }, +}; +const unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors); diff --git a/board/asurada/board.h b/board/asurada/board.h index deb7ec17c6..e472b3d979 100644 --- a/board/asurada/board.h +++ b/board/asurada/board.h @@ -54,6 +54,7 @@ #define CONFIG_I2C_MASTER #define I2C_PORT_CHARGER IT83XX_I2C_CH_A #define I2C_PORT_BATTERY IT83XX_I2C_CH_A +#define I2C_PORT_ACCEL IT83XX_I2C_CH_B #define I2C_PORT_PPC0 IT83XX_I2C_CH_C #define I2C_PORT_PPC1 IT83XX_I2C_CH_E @@ -104,6 +105,21 @@ #define CONFIG_TABLET_MODE #define GMR_TABLET_MODE_GPIO_L GPIO_TABLET_MODE_L +#define CONFIG_ACCEL_FIFO +#define CONFIG_ACCEL_FIFO_SIZE 256 +#define CONFIG_ACCEL_FIFO_THRES (CONFIG_ACCEL_FIFO_SIZE / 3) +#define CONFIG_ACCEL_INTERRUPTS +#define CONFIG_ACCELGYRO_BMI160 /* Base accel */ +#define CONFIG_ACCELGYRO_BMI160_INT_EVENT \ + TASK_EVENT_MOTION_SENSOR_INTERRUPT(BASE_ACCEL) +#define CONFIG_ACCELGYRO_SEC_ADDR_FLAGS BMM150_ADDR0_FLAGS + +#define CONFIG_CMD_ACCEL_INFO +#define CONFIG_CMD_ACCELS + +#define CONFIG_MAG_BMI_BMM150 +#define CONFIG_MAG_CALIBRATE + /* UART */ #undef CONFIG_UART_TX_BUF_SIZE #define CONFIG_UART_TX_BUF_SIZE 4096 @@ -159,6 +175,13 @@ enum board_sub_board { SUB_BOARD_COUNT, }; +enum sensor_id { + BASE_ACCEL = 0, + BASE_GYRO, + BASE_MAG, + SENSOR_COUNT, +}; + void board_reset_pd_mcu(void); int board_get_version(void); diff --git a/board/asurada/ec.tasklist b/board/asurada/ec.tasklist index d46081d494..f670dc958d 100644 --- a/board/asurada/ec.tasklist +++ b/board/asurada/ec.tasklist @@ -6,13 +6,11 @@ /** * See CONFIG_TASK_LIST in config.h for details. */ -/** - TODO: missing MOTIONSENSE task - */ #define CONFIG_TASK_LIST \ TASK_ALWAYS(HOOKS, hook_task, NULL, VENTI_TASK_STACK_SIZE) \ TASK_NOTEST(CHIPSET, chipset_task, NULL, VENTI_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(PDCMD, pd_command_task, NULL, 1024) \ TASK_ALWAYS(HOSTCMD, host_command_task, NULL, 1024) \ TASK_ALWAYS(CONSOLE, console_task, NULL, LARGER_TASK_STACK_SIZE) \ |