Refactor accel / gyro driver to accomodate various configurations

Previously our accel / gyro drivers assumed that we had exactly two of
each identical part in the system. Some systems may have different
configurations, so allow this to be specified at the board-level.

Note that our motion_sense algorithm currently assumes that we have one
accelerometer in the lid and one in the base -- we'll need to fix that
in another CL.

BUG=chrome-os-partner:27320
TEST=Compile-only. Tested in future Samus commit.
BRANCH=None.

Change-Id: I1fae1f6c578fedebe78b473a5d66a5794ccaae00
Signed-off-by: Shawn Nematbakhsh <shawnn@chromium.org>
Reviewed-on: https://chromium-review.googlesource.com/212321
Reviewed-by: Alec Berg <alecaberg@chromium.org>

4 files changed, 128 insertions, 87 deletions

diff --git a/include/accelerometer.h b/include/accelerometer.h
deleted file mode 100644
index 0c8703f3ae..0000000000
--- a/include/accelerometer.h
+++ /dev/null
@@ -1,87 +0,0 @@
-/* Copyright (c) 2014 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.
- */
-
-#ifndef __CROS_EC_ACCELEROMETER_H
-#define __CROS_EC_ACCELEROMETER_H
-
-/* Header file for accelerometer drivers. */
-
-/* This array must be defined in board.c. */
-extern const int accel_addr[];
-
-/* This enum must be defined in board.h. */
-enum accel_id;
-
-/* Number of counts from accelerometer that represents 1G acceleration. */
-#define ACCEL_G  1024
-
-/**
- * Read all three accelerations of an accelerometer. Note that all three
- * accelerations come back in counts, where ACCEL_G can be used to convert
- * counts to engineering units.
- *
- * @param id Target accelerometer
- * @param x_acc Pointer to store X-axis acceleration (in counts).
- * @param y_acc Pointer to store Y-axis acceleration (in counts).
- * @param z_acc Pointer to store Z-axis acceleration (in counts).
- *
- * @return EC_SUCCESS if successful, non-zero if error.
- */
-int accel_read(const enum accel_id id, int * const x_acc, int * const y_acc,
-		int * const z_acc);
-
-/**
- * Initialize accelerometers.
- *
- * @param id Target accelerometer
- *
- * @return EC_SUCCESS if successful, non-zero if error.
- */
-int accel_init(const enum accel_id id);
-
-/**
- * Setter and getter methods for the sensor range. The sensor range defines
- * the maximum value that can be returned from accel_read(). As the range
- * increases, the resolution gets worse.
- *
- * @param id Target accelerometer
- * @param range Range (Units are +/- G's for accel, +/- deg/s for gyro)
- * @param rnd Rounding flag. If true, it rounds up to nearest valid value.
- *                Otherwise, it rounds down.
- *
- * @return EC_SUCCESS if successful, non-zero if error.
- */
-int accel_set_range(const enum accel_id id, const int range, const int rnd);
-int accel_get_range(const enum accel_id id, int * const range);
-
-
-/**
- * Setter and getter methods for the sensor resolution.
- *
- * @param id Target accelerometer
- * @param range Resolution (Units are number of bits)
- * param rnd Rounding flag. If true, it rounds up to nearest valid value.
- *                Otherwise, it rounds down.
- *
- * @return EC_SUCCESS if successful, non-zero if error.
- */
-int accel_set_resolution(const enum accel_id id, const int res, const int rnd);
-int accel_get_resolution(const enum accel_id id, int * const res);
-
-/**
- * Setter and getter methods for the sensor output data range. As the ODR
- * increases, the LPF roll-off frequency also increases.
- *
- * @param id Target accelerometer
- * @param rate Output data rate (units are mHz)
- * @param rnd Rounding flag. If true, it rounds up to nearest valid value.
- *                Otherwise, it rounds down.
- *
- * @return EC_SUCCESS if successful, non-zero if error.
- */
-int accel_set_datarate(const enum accel_id id, const int rate, const int rnd);
-int accel_get_datarate(const enum accel_id id, int * const rate);
-
-#endif /* __CROS_EC_ACCELEROMETER_H */
diff --git a/include/accelgyro.h b/include/accelgyro.h
new file mode 100644
index 0000000000..2a4a458cfa
--- /dev/null
+++ b/include/accelgyro.h
@@ -0,0 +1,111 @@
+/* Copyright (c) 2014 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.
+ */
+
+#ifndef __CROS_EC_ACCELGYRO_H
+#define __CROS_EC_ACCELGYRO_H
+
+/* Header file for accelerometer / gyro drivers. */
+
+/* Number of counts from accelerometer that represents 1G acceleration. */
+#define ACCEL_G  1024
+
+enum accelgyro_chip_t {
+	CHIP_TEST,
+	CHIP_KXCJ9,
+	CHIP_LSM6DS0,
+};
+
+enum accelgyro_sensor_t {
+	SENSOR_ACCELEROMETER,
+	SENSOR_GYRO,
+};
+
+struct accelgyro_info {
+	enum accelgyro_chip_t chip_type;
+	enum accelgyro_sensor_t sensor_type;
+
+	/**
+	 * Initialize accelerometers.
+	 * @param drv_data Pointer to sensor data.
+	 * @i2c_addr i2c slave device address
+	 * @return EC_SUCCESS if successful, non-zero if error.
+	 */
+	int (*init)(void *drv_data,
+		    int i2c_addr);
+
+	/**
+	 * Read all three accelerations of an accelerometer. Note that all
+	 * three accelerations come back in counts, where ACCEL_G can be used
+	 * to convert counts to engineering units.
+	 * @param drv_data Pointer to sensor data.
+	 * @param x_acc Pointer to store X-axis acceleration (in counts).
+	 * @param y_acc Pointer to store Y-axis acceleration (in counts).
+	 * @param z_acc Pointer to store Z-axis acceleration (in counts).
+	 * @return EC_SUCCESS if successful, non-zero if error.
+	 */
+	int (*read)(void *drv_data,
+		    int * const x_acc,
+		    int * const y_acc,
+		    int * const z_acc);
+
+	/**
+	 * Setter and getter methods for the sensor range. The sensor range
+	 * defines the maximum value that can be returned from read(). As the
+	 * range increases, the resolution gets worse.
+	 * @param drv_data Pointer to sensor data.
+	 * @param range Range (Units are +/- G's for accel, +/- deg/s for gyro)
+	 * @param rnd Rounding flag. If true, it rounds up to nearest valid
+	 * value. Otherwise, it rounds down.
+	 * @return EC_SUCCESS if successful, non-zero if error.
+	 */
+	int (*set_range)(void *drv_data,
+			 const int range,
+			 const int rnd);
+	int (*get_range)(void *drv_data,
+			 int * const range);
+
+	/**
+	 * Setter and getter methods for the sensor resolution.
+	 * @param drv_data Pointer to sensor data.
+	 * @param range Resolution (Units are number of bits)
+	 * param rnd Rounding flag. If true, it rounds up to nearest valid
+	 * value. Otherwise, it rounds down.
+	 * @return EC_SUCCESS if successful, non-zero if error.
+	 */
+	int (*set_resolution)(void *drv_data,
+			      const int res,
+			      const int rnd);
+	int (*get_resolution)(void *drv_data,
+			      int * const res);
+
+	/**
+	 * Setter and getter methods for the sensor output data range. As the
+	 * ODR increases, the LPF roll-off frequency also increases.
+	 * @param drv_data Pointer to sensor data.
+	 * @param rate Output data rate (units are mHz)
+	 * @param rnd Rounding flag. If true, it rounds up to nearest valid
+	 * value. Otherwise, it rounds down.
+	 * @return EC_SUCCESS if successful, non-zero if error.
+	 */
+	int (*set_datarate)(void *drv_data,
+			    const int rate,
+			    const int rnd);
+	int (*get_datarate)(void *drv_data,
+			    int * const rate);
+
+#ifdef CONFIG_ACCEL_INTERRUPTS
+	/**
+	 * Setup a one-time accel interrupt. If the threshold is low enough, the
+	 * interrupt may trigger due simply to noise and not any real motion.
+	 * If the threshold is 0, the interrupt will fire immediately.
+	 * @param drv_data Pointer to sensor data.
+	 * @param threshold Threshold for interrupt in units of counts.
+	 */
+	int (*set_interrupt)(void *drv_data,
+			     unsigned int threshold);
+#endif
+};
+
+#endif /* __CROS_EC_ACCELGYRO_H */
diff --git a/include/ec_commands.h b/include/ec_commands.h
index d5d5590269..a8c9ab450b 100644
--- a/include/ec_commands.h
+++ b/include/ec_commands.h
@@ -1300,6 +1300,7 @@ enum motionsensor_location {
 /* List of motion sensor chips. */
 enum motionsensor_chip {
 	MOTIONSENSE_CHIP_KXCJ9 = 0,
+	MOTIONSENSE_CHIP_LSM6DS0 = 1,
 };
 
 /* Module flag masks used for the dump sub-command. */
diff --git a/include/motion_sense.h b/include/motion_sense.h
index 3a3b9b5121..0319514fd7 100644
--- a/include/motion_sense.h
+++ b/include/motion_sense.h
@@ -92,5 +92,21 @@ void accel_int_lid(enum gpio_signal signal);
  */
 void accel_int_base(enum gpio_signal signal);
 
+enum sensor_location_t {
+	LOCATION_BASE,
+	LOCATION_LID,
+};
+
+struct motion_sensor_t {
+	char *name;
+	enum sensor_location_t location;
+	const struct accelgyro_info *drv;
+	void *drv_data;
+	uint8_t i2c_addr;
+};
+
+/* Defined at board level. */
+extern const struct motion_sensor_t motion_sensors[];
+extern const unsigned int motion_sensor_count;
 
 #endif /* __CROS_EC_MOTION_SENSE_H */