diff options
author | mario tesi <mario.tesi@st.com> | 2017-05-25 11:06:30 +0200 |
---|---|---|
committer | Commit Bot <commit-bot@chromium.org> | 2019-08-13 16:40:10 +0000 |
commit | 35436903b5bc28e21802c4fe626bdd7f493d8367 (patch) | |
tree | 723d6208fbee54931f6421db303cfacf636868e3 /driver/accel_lis2dw12.c | |
parent | 88d6812b514e21f6e7cba647ceafcbfc606d4b56 (diff) | |
download | chrome-ec-35436903b5bc28e21802c4fe626bdd7f493d8367.tar.gz |
driver: lis2dw12: Add driver support
Added ACC LIS2DW12 driver support.
Features included in this driver are:
- Basic Sensor Read acceleration data
- ODR and FS runtime configuration
- FIFO support with watermark interrupt events
- Shared commons function with ST MEMs devices
- Switch Low Power to High perf. mode in case
of ODR > 200 Hz
- Configure D-TAP event detection in Hardware
BUG=b:73546254
BRANCH=master
TEST=Tested on discovery_stmems target BOARD with
LIS2DW12 connected to EC i2c master bus and motion
sense task running.
To build firmware for discovery_stmems target with
LIS2DW12 sensor connected, simply uncomment
CONFIG_ACCEL_LIS2DW12 define in board.h target file
and make with target BOARD=discovery_stmems.
Commands used to test LIS2DW12 device are:
- accelinit 0 (to configure accel. device)
All basic features tested, including changing
in ODR:
- accelrate 0 10000 (set ODR to 10 Hz)
- accelrate 0 12500 (set ODR to 12.5 Hz)
- accelrate 0 25000 (set ODR to 25 Hz)
- accelrate 0 50000 (set ODR to 50 Hz)
- accelrate 0 100000 (set ODR to 100 Hz)
- accelrate 0 200000 (set ODR to 200 Hz)
- accelrate 0 400000 (set ODR to 400 Hz)
- accelrate 0 800000 (set ODR to 800 Hz)
- accelrate 0 1600000 (set ODR to 1.6 kHz)
Full Scale Range:
- accelrange 0 2 (set Full Scale Range to 2g)
- accelrange 0 4 (set Full Scale Range to 4g)
- accelrange 0 8 (set Full Scale Range to 8g)
- accelrange 0 16 (set Full Scale Range to 16g)
FIFO features and interrupt management:
- accelinfo on 1000 (motion info task with
refresh rate 1 s)
and polling data read:
- accelread 0 (to read data from accelerometer)
Change-Id: I0b9861a71e81052e7ee8eb235a1a5b2a57d4c6f5
Signed-off-by: mario tesi <mario.tesi@st.com>
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/515302
Reviewed-by: Yuval Peress <peress@chromium.org>
Reviewed-by: Paul Ma <magf@bitland.corp-partner.google.com>
Tested-by: Paul Ma <magf@bitland.corp-partner.google.com>
Commit-Queue: Tim Wawrzynczak <twawrzynczak@chromium.org>
Diffstat (limited to 'driver/accel_lis2dw12.c')
-rw-r--r-- | driver/accel_lis2dw12.c | 547 |
1 files changed, 547 insertions, 0 deletions
diff --git a/driver/accel_lis2dw12.c b/driver/accel_lis2dw12.c new file mode 100644 index 0000000000..7faed478c2 --- /dev/null +++ b/driver/accel_lis2dw12.c @@ -0,0 +1,547 @@ +/* Copyright 2019 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. + */ + +/* + * LIS2DW12 accelerometer module for Chrome EC 3D digital accelerometer. + * For more details on LIS2DW12 device please refers to www.st.com. + */ +#include "accelgyro.h" +#include "common.h" +#include "console.h" +#include "driver/accel_lis2dw12.h" +#include "hooks.h" +#include "hwtimer.h" +#include "math_util.h" +#include "task.h" +#include "util.h" + +#define CPRINTF(format, args...) cprintf(CC_ACCEL, format, ## args) + +#ifdef CONFIG_ACCEL_FIFO +static volatile uint32_t last_interrupt_timestamp; + +/** + * lis2dw12_enable_fifo - Enable/Disable FIFO in LIS2DW12 + * @s: Motion sensor pointer + * @mode: fifo_modes + */ +static int lis2dw12_enable_fifo(const struct motion_sensor_t *s, + enum lis2dw12_fmode mode) +{ + return st_write_data_with_mask(s, LIS2DW12_FIFO_CTRL_ADDR, + LIS2DW12_FIFO_MODE_MASK, mode); +} + +/** + * Load data from internal sensor FIFO. + * @s: Motion sensor pointer + */ +static int lis2dw12_load_fifo(struct motion_sensor_t *s, int nsamples, + uint32_t *last_fifo_read_ts) +{ + int ret, left, length, i; + struct ec_response_motion_sensor_data vect; + uint32_t interrupt_timestamp = last_interrupt_timestamp; + int *axis = s->raw_xyz; + uint8_t fifo[FIFO_READ_LEN]; + + /* Each sample are OUT_XYZ_SIZE bytes. */ + left = nsamples * OUT_XYZ_SIZE; + + do { + /* + * Limit FIFO read data to burst of FIFO_READ_LEN size because + * read operatios in under i2c mutex lock. + */ + if (left > FIFO_READ_LEN) + length = FIFO_READ_LEN; + else + length = left; + + ret = st_raw_read_n(s->port, s->i2c_spi_addr_flags, + LIS2DW12_OUT_X_L_ADDR, fifo, length); + *last_fifo_read_ts = __hw_clock_source_read(); + if (ret != EC_SUCCESS) + return ret; + + for (i = 0; i < length; i += OUT_XYZ_SIZE) { + /* Apply precision, sensitivity and rotation vector. */ + st_normalize(s, axis, &fifo[i]); + + /* Fill vector array. */ + vect.data[X] = axis[X]; + vect.data[Y] = axis[Y]; + vect.data[Z] = axis[Z]; + vect.flags = 0; + vect.sensor_num = 0; + motion_sense_fifo_stage_data(&vect, s, 3, + interrupt_timestamp); + } + left -= length; + } while (left > 0); + + motion_sense_fifo_commit_data(); + + return EC_SUCCESS; +} + +/** + * lis2dw12_get_fifo_samples - check for stored FIFO samples. + */ +static int lis2dw12_get_fifo_samples(struct motion_sensor_t *s, int *nsamples) +{ + int ret, tmp; + + ret = st_raw_read8(s->port, s->i2c_spi_addr_flags, + LIS2DW12_FIFO_SAMPLES_ADDR, &tmp); + if (ret != EC_SUCCESS) + return ret; + + *nsamples = tmp & LIS2DW12_FIFO_DIFF_MASK; + + return EC_SUCCESS; +} + +static int fifo_data_avail(struct motion_sensor_t *s) +{ + int ret, nsamples; + + if (s->flags & MOTIONSENSE_FLAG_INT_SIGNAL) + return gpio_get_level(s->int_signal); + + ret = lis2dw12_get_fifo_samples(s, &nsamples); + /* If we failed to read the FIFO size assume empty. */ + if (ret != EC_SUCCESS) + return 0; + return nsamples; +} +#endif /* CONFIG_ACCEL_FIFO */ + +/** + * lis2dw12_config_interrupt- Configure interrupt for supported features. + * @s: Motion sensor pointer + * + * Must works with interface mutex locked + */ +static int lis2dw12_config_interrupt(const struct motion_sensor_t *s) +{ + int ret = EC_SUCCESS; + +#ifdef CONFIG_ACCEL_FIFO_THRES + /* Configure FIFO watermark level. */ + ret = st_write_data_with_mask(s, LIS2DW12_FIFO_CTRL_ADDR, + LIS2DW12_FIFO_THRESHOLD_MASK, 1); + if (ret != EC_SUCCESS) + return ret; + + /* Enable interrupt on FIFO watermask and route to int1. */ + ret = st_write_data_with_mask(s, LIS2DW12_INT1_FTH_ADDR, + LIS2DW12_INT1_FTH_MASK, LIS2DW12_EN_BIT); + if (ret != EC_SUCCESS) + return ret; +#endif /* CONFIG_ACCEL_FIFO */ + +#ifdef CONFIG_GESTURE_SENSOR_BATTERY_TAP + /* + * Configure D-TAP event detection on 3 axis. + * For more details please refer to AN5038. + */ + ret = st_raw_write8(s->port, s->i2c_spi_addr_flags, + LIS2DW12_TAP_THS_X_ADDR, 0x09); + if (ret != EC_SUCCESS) + return ret; + ret = st_raw_write8(s->port, s->i2c_spi_addr_flags, + LIS2DW12_TAP_THS_Y_ADDR, 0x09); + if (ret != EC_SUCCESS) + return ret; + ret = st_raw_write8(s->port, s->i2c_spi_addr_flags, + LIS2DW12_TAP_THS_Z_ADDR, 0xE9); + if (ret != EC_SUCCESS) + return ret; + ret = st_raw_write8(s->port, s->i2c_spi_addr_flags, + LIS2DW12_INT_DUR_ADDR, 0x7F); + if (ret != EC_SUCCESS) + return ret; + + /* Enable D-TAP event detection. */ + ret = st_write_data_with_mask(s, LIS2DW12_WAKE_UP_THS_ADDR, + LIS2DW12_SINGLE_DOUBLE_TAP, + LIS2DW12_EN_BIT); + if (ret != EC_SUCCESS) + return ret; + + /* + * Enable D-TAP detection on int_1 pad. In any case D-TAP event + * can be detected only if ODR is over 200 Hz. + */ + ret = st_write_data_with_mask(s, LIS2DW12_INT1_TAP_ADDR, + LIS2DW12_INT1_DTAP_MASK, + LIS2DW12_EN_BIT); +#endif /* CONFIG_GESTURE_SENSOR_BATTERY_TAP */ + return ret; +} + +static void lis2dw12_handle_interrupt_for_fifo(uint32_t ts) +{ +#ifdef CONFIG_ACCEL_FIFO + if (time_after(ts, last_interrupt_timestamp)) + last_interrupt_timestamp = ts; +#endif + task_set_event(TASK_ID_MOTIONSENSE, + CONFIG_ACCEL_LIS2DW12_INT_EVENT, 0); +} + +/** + * lis2dw12_interrupt - interrupt from int pin of sensor + * Schedule Motion Sense Task to manage Interrupts. + */ +void lis2dw12_interrupt(enum gpio_signal signal) +{ + lis2dw12_handle_interrupt_for_fifo(__hw_clock_source_read()); +} + +/** + * lis2dw12_irq_handler - bottom half of the interrupt stack. + */ +static int lis2dw12_irq_handler(struct motion_sensor_t *s, uint32_t *event) +{ + int ret = EC_SUCCESS; + + if ((s->type != MOTIONSENSE_TYPE_ACCEL) || + (!(*event & CONFIG_ACCEL_LIS2DW12_INT_EVENT))) { + return EC_ERROR_NOT_HANDLED; + } + +#ifdef CONFIG_GESTURE_SENSOR_BATTERY_TAP + { + int status = 0; + + /* Read Status register to check TAP events. */ + st_raw_read8(s->port, s->i2c_spi_addr_flags, + LIS2DW12_STATUS_TAP, &status); + if (status & LIS2DW12_DOUBLE_TAP) + *event |= CONFIG_GESTURE_TAP_EVENT; + } +#endif /* CONFIG_GESTURE_SENSOR_BATTERY_TAP */ + +#ifdef CONFIG_ACCEL_FIFO + { + int nsamples; + uint32_t last_fifo_read_ts; + uint32_t triggering_interrupt_timestamp = + last_interrupt_timestamp; + + ret = lis2dw12_get_fifo_samples(s, &nsamples); + if (ret != EC_SUCCESS) + return ret; + + last_fifo_read_ts = __hw_clock_source_read(); + if (nsamples == 0) + return EC_SUCCESS; + + ret = lis2dw12_load_fifo(s, nsamples, &last_fifo_read_ts); + + /* + * Check if FIFO isn't empty and we never got an interrupt. + * This can happen if new entries were added to the FIFO after + * the count was read, but before the FIFO was cleared out. + * In the long term it might be better to use the last + * spread timestamp instead. + */ + if (fifo_data_avail(s) && + triggering_interrupt_timestamp == last_interrupt_timestamp) + lis2dw12_handle_interrupt_for_fifo(last_fifo_read_ts); + } +#endif /* CONFIG_ACCEL_FIFO */ + + return ret; +} + +/** + * set_power_mode - set sensor power mode + * @s: Motion sensor pointer + * @mode: LIS2DW12_LOW_POWER, LIS2DW12_HIGH_PERF + * @lpmode: LIS2DW12_LOW_POWER_MODE_2, + * LIS2DW12_LOW_POWER_MODE_3, + * LIS2DW12_LOW_POWER_MODE_4 + * + * TODO: LIS2DW12_LOW_POWER_MODE_1 not implemented because output differ + * in resolution + */ +static int set_power_mode(const struct motion_sensor_t *s, + enum lis2sw12_mode mode, + enum lis2sw12_lpmode lpmode) +{ + int ret = EC_SUCCESS; + + if (mode == LIS2DW12_LOW_POWER && + lpmode == LIS2DW12_LOW_POWER_MODE_1) + return EC_ERROR_UNIMPLEMENTED; + + /* Set Mode and Low Power Mode. */ + ret = st_write_data_with_mask(s, LIS2DW12_ACC_MODE_ADDR, + LIS2DW12_ACC_MODE_MASK, mode); + if (ret != EC_SUCCESS) + return ret; + + ret = st_write_data_with_mask(s, LIS2DW12_ACC_LPMODE_ADDR, + LIS2DW12_ACC_LPMODE_MASK, lpmode); + return ret; +} + +/** + * set_range - set full scale range + * @s: Motion sensor pointer + * @range: Range + * @rnd: Round up/down flag + */ +static int set_range(const struct motion_sensor_t *s, int range, int rnd) +{ + int err = EC_SUCCESS; + uint8_t reg_val; + struct stprivate_data *data = s->drv_data; + int newrange = range; + + /* Adjust and check rounded value. */ + if (rnd && (newrange < LIS2DW12_NORMALIZE_FS(newrange))) + newrange <<= 1; + + if (newrange > LIS2DW12_ACCEL_FS_MAX_VAL) + newrange = LIS2DW12_ACCEL_FS_MAX_VAL; + + reg_val = LIS2DW12_FS_REG(newrange); + + mutex_lock(s->mutex); +#ifdef CONFIG_ACCEL_FIFO + /* + * FIFO stop collecting events. Restart FIFO in Bypass mode. + * If Range is changed all samples in FIFO must be discharged because + * with a different sensitivity. + */ + err = lis2dw12_enable_fifo(s, LIS2DW12_FIFO_BYPASS_MODE); + if (err != EC_SUCCESS) + goto unlock_rate; +#endif /* CONFIG_ACCEL_FIFO */ + + err = st_write_data_with_mask(s, LIS2DW12_FS_ADDR, LIS2DW12_FS_MASK, + reg_val); + if (err == EC_SUCCESS) + data->base.range = newrange; +#ifdef CONFIG_ACCEL_FIFO + /* FIFO restart collecting events in Cont. mode. */ + err = lis2dw12_enable_fifo(s, LIS2DW12_FIFO_CONT_MODE); +#endif /* CONFIG_ACCEL_FIFO */ + +unlock_rate: + mutex_unlock(s->mutex); + + return err; +} + +static int get_range(const struct motion_sensor_t *s) +{ + struct stprivate_data *data = s->drv_data; + + return data->base.range; +} + +static int set_data_rate(const struct motion_sensor_t *s, int rate, int rnd) +{ + int ret, normalized_rate; + struct stprivate_data *data = s->drv_data; + uint8_t reg_val; + + mutex_lock(s->mutex); + +#ifdef CONFIG_ACCEL_FIFO + /* FIFO stop collecting events. Restart FIFO in Bypass mode. */ + ret = lis2dw12_enable_fifo(s, LIS2DW12_FIFO_BYPASS_MODE); + if (ret != EC_SUCCESS) + goto unlock_rate; +#endif /* CONFIG_ACCEL_FIFO */ + + if (rate == 0) { + ret = st_write_data_with_mask(s, LIS2DW12_ACC_ODR_ADDR, + LIS2DW12_ACC_ODR_MASK, + LIS2DW12_ODR_POWER_OFF_VAL); + if (ret == EC_SUCCESS) + data->base.odr = LIS2DW12_ODR_POWER_OFF_VAL; + + goto unlock_rate; + } + + reg_val = LIS2DW12_ODR_TO_REG(rate); + normalized_rate = LIS2DW12_ODR_TO_NORMALIZE(rate); + + if (rnd && (normalized_rate < rate)) { + reg_val++; + normalized_rate <<= 1; + } + + if (reg_val > LIS2DW12_ODR_1_6kHZ_VAL) { + reg_val = LIS2DW12_ODR_1_6kHZ_VAL; + normalized_rate = LIS2DW12_ODR_MAX_VAL; + } else if (reg_val < LIS2DW12_ODR_12HZ_VAL) { + reg_val = LIS2DW12_ODR_12HZ_VAL; + normalized_rate = LIS2DW12_ODR_MIN_VAL; + } + if (reg_val > LIS2DW12_ODR_200HZ_VAL) + ret = set_power_mode(s, LIS2DW12_HIGH_PERF, 0); + else + ret = set_power_mode(s, LIS2DW12_LOW_POWER, + LIS2DW12_LOW_POWER_MODE_2); + + ret = st_write_data_with_mask(s, LIS2DW12_ACC_ODR_ADDR, + LIS2DW12_ACC_ODR_MASK, reg_val); + if (ret == EC_SUCCESS) + data->base.odr = normalized_rate; + +#ifdef CONFIG_ACCEL_FIFO + /* FIFO restart collecting events in continuous mode. */ + ret = lis2dw12_enable_fifo(s, LIS2DW12_FIFO_CONT_MODE); +#endif /* CONFIG_ACCEL_FIFO */ + +unlock_rate: + mutex_unlock(s->mutex); + + return ret; +} + +static int is_data_ready(const struct motion_sensor_t *s, int *ready) +{ + int ret, tmp; + + ret = st_raw_read8(s->port, s->i2c_spi_addr_flags, + LIS2DW12_STATUS_REG, &tmp); + if (ret != EC_SUCCESS) + return ret; + + *ready = (LIS2DW12_STS_DRDY_UP == (tmp & LIS2DW12_STS_DRDY_UP)); + + return EC_SUCCESS; +} + +static int read(const struct motion_sensor_t *s, intv3_t v) +{ + uint8_t raw[OUT_XYZ_SIZE]; + int ret, tmp = 0; + + ret = is_data_ready(s, &tmp); + if (ret != EC_SUCCESS) + return ret; + + /* + * If sensor data is not ready, return the previous read data. + * Note: return success so that motion senor task can read again + * to get the latest updated sensor data quickly. + */ + if (!tmp) { + if (v != s->raw_xyz) + memcpy(v, s->raw_xyz, sizeof(s->raw_xyz)); + return EC_SUCCESS; + } + + /* Read 6 bytes starting at xyz_reg. */ + ret = st_raw_read_n_noinc(s->port, s->i2c_spi_addr_flags, + LIS2DW12_OUT_X_L_ADDR, raw, + OUT_XYZ_SIZE); + if (ret != EC_SUCCESS) { + CPRINTF("[%T %s type:0x%X RD XYZ Error]", s->name, s->type); + return ret; + } + + /* Transform from LSB to real data with rotation and gain. */ + st_normalize(s, v, raw); + + return EC_SUCCESS; +} + +static int init(const struct motion_sensor_t *s) +{ + int ret = 0, tmp, timeout = 0, status; + struct stprivate_data *data = s->drv_data; + + ret = st_raw_read8(s->port, s->i2c_spi_addr_flags, + LIS2DW12_WHO_AM_I_REG, &tmp); + if (ret != EC_SUCCESS) + return EC_ERROR_UNKNOWN; + + if (tmp != LIS2DW12_WHO_AM_I) + return EC_ERROR_ACCESS_DENIED; + + /* + * This sensor can be powered through an EC reboot, so the state of + * the sensor is unknown here. Initiate software reset to restore + * sensor to default. + */ + mutex_lock(s->mutex); + ret = st_raw_write8(s->port, s->i2c_spi_addr_flags, + LIS2DW12_SOFT_RESET_ADDR, LIS2DW12_SOFT_RESET_MASK); + if (ret != EC_SUCCESS) + goto err_unlock; + + /* Wait End of Reset. */ + do { + if (timeout > 10) { + ret = EC_RES_TIMEOUT; + goto err_unlock; + } + + msleep(1); + timeout += 1; + ret = st_raw_read8(s->port, s->i2c_spi_addr_flags, + LIS2DW12_SOFT_RESET_ADDR, &status); + if (ret != EC_SUCCESS) + continue; + } while ((status & LIS2DW12_SOFT_RESET_MASK) != 0); + + /* Enable BDU. */ + ret = st_write_data_with_mask(s, LIS2DW12_BDU_ADDR, LIS2DW12_BDU_MASK, + LIS2DW12_EN_BIT); + if (ret != EC_SUCCESS) + goto err_unlock; + + ret = st_write_data_with_mask(s, LIS2DW12_LIR_ADDR, LIS2DW12_LIR_MASK, + LIS2DW12_EN_BIT); + if (ret != EC_SUCCESS) + goto err_unlock; + + /* Set default Mode and Low Power Mode. */ + ret = set_power_mode(s, LIS2DW12_LOW_POWER, LIS2DW12_LOW_POWER_MODE_2); + if (ret != EC_SUCCESS) + goto err_unlock; + + if (IS_ENABLED(CONFIG_ACCEL_INTERRUPTS)) { + ret = lis2dw12_config_interrupt(s); + if (ret != EC_SUCCESS) + goto err_unlock; + } + mutex_unlock(s->mutex); + + /* Set default resolution. */ + data->resol = LIS2DW12_RESOLUTION; + return sensor_init_done(s); + +err_unlock: + mutex_unlock(s->mutex); + CPRINTF("[%T %s: MS Init type:0x%X Error]\n", s->name, s->type); + + return EC_ERROR_UNKNOWN; +} + +const struct accelgyro_drv lis2dw12_drv = { + .init = init, + .read = read, + .set_range = set_range, + .get_range = get_range, + .get_resolution = st_get_resolution, + .set_data_rate = set_data_rate, + .get_data_rate = st_get_data_rate, + .set_offset = st_set_offset, + .get_offset = st_get_offset, +#ifdef CONFIG_ACCEL_INTERRUPTS + .irq_handler = lis2dw12_irq_handler, +#endif /* CONFIG_ACCEL_INTERRUPTS */ +}; |