diff options
| -rw-r--r-- | board/madoo/board.c | 47 | ||||
| -rw-r--r-- | board/madoo/board.h | 4 | ||||
| -rw-r--r-- | board/madoo/gpio.inc | 2 |
3 files changed, 26 insertions, 27 deletions
diff --git a/board/madoo/board.c b/board/madoo/board.c index 9e1766bc97..d39e6de7dd 100644 --- a/board/madoo/board.c +++ b/board/madoo/board.c @@ -16,6 +16,7 @@ #include "compile_time_macros.h" #include "driver/accel_bma2x2.h" #include "driver/accelgyro_bmi_common.h" +#include "driver/accelgyro_lsm6dsm.h" #include "driver/bc12/pi3usb9201.h" #include "driver/charger/isl923x.h" #include "driver/retimer/nb7v904m.h" @@ -360,14 +361,8 @@ static const mat33_fp_t lid_standard_ref = { { 0, 0, FLOAT_TO_FP(1)} }; -static const mat33_fp_t base_standard_ref = { - { 0, FLOAT_TO_FP(1), 0}, - { FLOAT_TO_FP(-1), 0, 0}, - { 0, 0, FLOAT_TO_FP(1)} -}; - static struct accelgyro_saved_data_t g_bma253_data; -static struct bmi_drv_data_t g_bmi160_data; +static struct lsm6dsm_data lsm6dsm_data = LSM6DSM_DATA; struct motion_sensor_t motion_sensors[] = { [LID_ACCEL] = { @@ -397,18 +392,21 @@ struct motion_sensor_t motion_sensors[] = { [BASE_ACCEL] = { .name = "Base Accel", .active_mask = SENSOR_ACTIVE_S0_S3, - .chip = MOTIONSENSE_CHIP_BMI160, + .chip = MOTIONSENSE_CHIP_LSM6DSM, .type = MOTIONSENSE_TYPE_ACCEL, .location = MOTIONSENSE_LOC_BASE, - .drv = &bmi160_drv, + .drv = &lsm6dsm_drv, .mutex = &g_base_mutex, - .drv_data = &g_bmi160_data, + .drv_data = LSM6DSM_ST_DATA(lsm6dsm_data, + MOTIONSENSE_TYPE_ACCEL), + .int_signal = GPIO_BASE_SIXAXIS_INT_L, + .flags = MOTIONSENSE_FLAG_INT_SIGNAL, .port = I2C_PORT_SENSOR, - .i2c_spi_addr_flags = BMI160_ADDR0_FLAGS, - .rot_standard_ref = &base_standard_ref, - .default_range = 4, - .min_frequency = BMI_ACCEL_MIN_FREQ, - .max_frequency = BMI_ACCEL_MAX_FREQ, + .i2c_spi_addr_flags = LSM6DSM_ADDR0_FLAGS, + .rot_standard_ref = NULL, + .default_range = 4, /* g */ + .min_frequency = LSM6DSM_ODR_MIN_VAL, + .max_frequency = LSM6DSM_ODR_MAX_VAL, .config = { [SENSOR_CONFIG_EC_S0] = { .odr = 13000 | ROUND_UP_FLAG, @@ -423,18 +421,21 @@ struct motion_sensor_t motion_sensors[] = { [BASE_GYRO] = { .name = "Base Gyro", .active_mask = SENSOR_ACTIVE_S0_S3, - .chip = MOTIONSENSE_CHIP_BMI160, + .chip = MOTIONSENSE_CHIP_LSM6DSM, .type = MOTIONSENSE_TYPE_GYRO, .location = MOTIONSENSE_LOC_BASE, - .drv = &bmi160_drv, + .drv = &lsm6dsm_drv, .mutex = &g_base_mutex, - .drv_data = &g_bmi160_data, + .drv_data = LSM6DSM_ST_DATA(lsm6dsm_data, + MOTIONSENSE_TYPE_GYRO), + .int_signal = GPIO_BASE_SIXAXIS_INT_L, + .flags = MOTIONSENSE_FLAG_INT_SIGNAL, .port = I2C_PORT_SENSOR, - .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, + .i2c_spi_addr_flags = LSM6DSM_ADDR0_FLAGS, + .default_range = 1000 | ROUND_UP_FLAG, /* dps */ + .rot_standard_ref = NULL, + .min_frequency = LSM6DSM_ODR_MIN_VAL, + .max_frequency = LSM6DSM_ODR_MAX_VAL, }, [VSYNC] = { .name = "Camera VSYNC", diff --git a/board/madoo/board.h b/board/madoo/board.h index 374f53a11c..7eb7e0af30 100644 --- a/board/madoo/board.h +++ b/board/madoo/board.h @@ -90,7 +90,7 @@ #define CONFIG_CMD_ACCEL_INFO #define CONFIG_ACCEL_BMA255 /* Lid accel */ -#define CONFIG_ACCELGYRO_BMI160 /* Base accel */ +#define CONFIG_ACCELGYRO_LSM6DSM /* Base accel */ #define CONFIG_SYNC /* Camera VSYNC */ /* Lid operates in forced mode, base in FIFO */ @@ -100,8 +100,6 @@ #define CONFIG_ACCEL_FIFO_THRES (CONFIG_ACCEL_FIFO_SIZE / 3) #define CONFIG_ACCEL_INTERRUPTS -#define CONFIG_ACCELGYRO_BMI160_INT_EVENT \ - TASK_EVENT_MOTION_SENSOR_INTERRUPT(BASE_ACCEL) #define CONFIG_SYNC_INT_EVENT TASK_EVENT_MOTION_SENSOR_INTERRUPT(VSYNC) #define CONFIG_LID_ANGLE diff --git a/board/madoo/gpio.inc b/board/madoo/gpio.inc index df752c3466..14f4342c5e 100644 --- a/board/madoo/gpio.inc +++ b/board/madoo/gpio.inc @@ -38,7 +38,7 @@ GPIO_INT(VOLUP_BTN_ODL, PIN(7, 3), GPIO_INT_BOTH | GPIO_PULL_UP, button_interr /* Other interrupts */ GPIO_INT(LID_OPEN, PIN(D, 2), GPIO_INT_BOTH, lid_interrupt) GPIO_INT(EC_WP_OD, PIN(A, 1), GPIO_INT_BOTH, switch_interrupt) -GPIO_INT(BASE_SIXAXIS_INT_L, PIN(5, 6), GPIO_INT_FALLING | GPIO_SEL_1P8V, bmi160_interrupt) +GPIO_INT(BASE_SIXAXIS_INT_L, PIN(5, 6), GPIO_INT_FALLING | GPIO_SEL_1P8V, lsm6dsm_interrupt) GPIO_INT(CAM_EC_VSYNC, PIN(0, 0), GPIO_INT_FALLING | GPIO_SEL_1P8V, sync_interrupt) GPIO_INT(LID_360_L, PIN(9, 5), GPIO_INT_BOTH, gmr_tablet_switch_isr) |