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-rw-r--r--board/malefor/board.c128
-rw-r--r--board/malefor/board.h31
-rw-r--r--board/malefor/build.mk1
-rw-r--r--board/malefor/gpio.inc2
-rw-r--r--board/malefor/sensors.c184
5 files changed, 144 insertions, 202 deletions
diff --git a/board/malefor/board.c b/board/malefor/board.c
index c0466dec76..d439533a70 100644
--- a/board/malefor/board.c
+++ b/board/malefor/board.c
@@ -7,9 +7,8 @@
#include "button.h"
#include "common.h"
-#include "accelgyro.h"
-#include "driver/accel_bma2x2.h"
-#include "driver/als_tcs3400.h"
+#include "driver/accel_lis2dh.h"
+#include "driver/accelgyro_lsm6dsm.h"
#include "driver/sync.h"
#include "extpower.h"
#include "gpio.h"
@@ -29,7 +28,11 @@
static void board_init(void)
{
- /* TODO */
+ /* Enable gpio interrupt for base accelgyro sensor */
+ gpio_enable_interrupt(GPIO_EC_IMU_INT_L);
+
+ /* Enable gpio interrupt for camera vsync */
+ gpio_enable_interrupt(GPIO_EC_CAM_VSYN_SLP_S0IX);
}
DECLARE_HOOK(HOOK_INIT, board_init, HOOK_PRIO_DEFAULT);
@@ -58,3 +61,120 @@ __override bool board_is_tbt_usb4_port(int port)
*/
return port == USBC_PORT_C1;
}
+
+/******************************************************************************/
+/* Sensors */
+/* Lid and base Sensor mutex */
+static struct mutex g_lid_accel_mutex;
+static struct mutex g_base_mutex;
+
+/* Lid and base accel private data */
+static struct stprivate_data g_lis2dh_data;
+static struct lsm6dsm_data lsm6dsm_data = LSM6DSM_DATA;
+
+/* Matrix to rotate lid and base sensor into standard reference frame */
+static const mat33_fp_t lid_standard_ref = {
+ { 0, FLOAT_TO_FP(-1), 0},
+ { FLOAT_TO_FP(-1), 0, 0},
+ { 0, 0, FLOAT_TO_FP(-1)}
+};
+
+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)}
+};
+
+struct motion_sensor_t motion_sensors[] = {
+ [LID_ACCEL] = {
+ .name = "Lid Accel",
+ .active_mask = SENSOR_ACTIVE_S0_S3,
+ .chip = MOTIONSENSE_CHIP_LIS2DE,
+ .type = MOTIONSENSE_TYPE_ACCEL,
+ .location = MOTIONSENSE_LOC_LID,
+ .drv = &lis2dh_drv,
+ .mutex = &g_lid_accel_mutex,
+ .drv_data = &g_lis2dh_data,
+ .port = I2C_PORT_SENSOR,
+ .i2c_spi_addr_flags = LIS2DH_ADDR1_FLAGS,
+ .rot_standard_ref = &lid_standard_ref,
+ .min_frequency = LIS2DH_ODR_MIN_VAL,
+ .max_frequency = LIS2DH_ODR_MAX_VAL,
+ .default_range = 2, /* g, to support tablet mode */
+ .config = {
+ /* EC use accel for angle detection */
+ [SENSOR_CONFIG_EC_S0] = {
+ .odr = 10000 | ROUND_UP_FLAG,
+ },
+ /* Sensor on in S3 */
+ [SENSOR_CONFIG_EC_S3] = {
+ .odr = 10000 | ROUND_UP_FLAG,
+ },
+ },
+ },
+
+ [BASE_ACCEL] = {
+ .name = "Base Accel",
+ .active_mask = SENSOR_ACTIVE_S0_S3,
+ .chip = MOTIONSENSE_CHIP_LSM6DSM,
+ .type = MOTIONSENSE_TYPE_ACCEL,
+ .location = MOTIONSENSE_LOC_BASE,
+ .drv = &lsm6dsm_drv,
+ .mutex = &g_base_mutex,
+ .drv_data = LSM6DSM_ST_DATA(lsm6dsm_data,
+ MOTIONSENSE_TYPE_ACCEL),
+ .int_signal = GPIO_EC_IMU_INT_L,
+ .flags = MOTIONSENSE_FLAG_INT_SIGNAL,
+ .port = I2C_PORT_SENSOR,
+ .i2c_spi_addr_flags = LSM6DSM_ADDR0_FLAGS,
+ .rot_standard_ref = &base_standard_ref,
+ .default_range = 4, /* g, to meet CDD 7.3.1/C-1-4 reqs */
+ .min_frequency = LSM6DSM_ODR_MIN_VAL,
+ .max_frequency = LSM6DSM_ODR_MAX_VAL,
+ .config = {
+ /* EC use accel for angle detection */
+ [SENSOR_CONFIG_EC_S0] = {
+ .odr = 13000 | 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 = "Base Gyro",
+ .active_mask = SENSOR_ACTIVE_S0_S3,
+ .chip = MOTIONSENSE_CHIP_LSM6DSM,
+ .type = MOTIONSENSE_TYPE_GYRO,
+ .location = MOTIONSENSE_LOC_BASE,
+ .drv = &lsm6dsm_drv,
+ .mutex = &g_base_mutex,
+ .drv_data = LSM6DSM_ST_DATA(lsm6dsm_data,
+ MOTIONSENSE_TYPE_GYRO),
+ .int_signal = GPIO_EC_IMU_INT_L,
+ .flags = MOTIONSENSE_FLAG_INT_SIGNAL,
+ .port = I2C_PORT_SENSOR,
+ .i2c_spi_addr_flags = LSM6DSM_ADDR0_FLAGS,
+ .default_range = 1000 | ROUND_UP_FLAG, /* dps */
+ .rot_standard_ref = &base_standard_ref,
+ .min_frequency = LSM6DSM_ODR_MIN_VAL,
+ .max_frequency = LSM6DSM_ODR_MAX_VAL,
+ },
+
+ [VSYNC] = {
+ .name = "Camera VSYNC",
+ .active_mask = SENSOR_ACTIVE_S0,
+ .chip = MOTIONSENSE_CHIP_GPIO,
+ .type = MOTIONSENSE_TYPE_SYNC,
+ .location = MOTIONSENSE_LOC_CAMERA,
+ .drv = &sync_drv,
+ .default_range = 0,
+ .min_frequency = 0,
+ .max_frequency = 1,
+ },
+};
+unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
diff --git a/board/malefor/board.h b/board/malefor/board.h
index af82faaf28..49082742ab 100644
--- a/board/malefor/board.h
+++ b/board/malefor/board.h
@@ -22,19 +22,26 @@
/* Keyboard features */
/* Sensors */
-/* BMA253 accelerometer in base */
-#define CONFIG_ACCEL_BMA255
-
-/* TCS3400 ALS */
-#define CONFIG_ALS
-#define ALS_COUNT 1
-#define CONFIG_ALS_TCS3400
-#define CONFIG_ALS_TCS3400_INT_EVENT \
- TASK_EVENT_MOTION_SENSOR_INTERRUPT(CLEAR_ALS)
+#define CONFIG_ACCEL_LIS2DE /* Lid accel */
+#define CONFIG_ACCELGYRO_LSM6DSM /* Base accel */
/* Sensors without hardware FIFO are in forced mode */
#define CONFIG_ACCEL_FORCE_MODE_MASK \
- (BIT(LID_ACCEL) | BIT(CLEAR_ALS))
+ BIT(LID_ACCEL)
+
+/*
+ * TODO: b/152434719 - Malefor will support 360-degree rotation of the
+ * lid on some SKUs, these macros will be enabled once covers are ready.
+ */
+#if 0
+#define CONFIG_LID_ANGLE
+#define CONFIG_LID_ANGLE_UPDATE
+#define CONFIG_LID_ANGLE_SENSOR_BASE BASE_ACCEL
+#define CONFIG_LID_ANGLE_SENSOR_LID LID_ACCEL
+#endif
+
+#define CONFIG_ACCEL_LSM6DSM_INT_EVENT \
+ TASK_EVENT_MOTION_SENSOR_INTERRUPT(BASE_ACCEL)
/* USB Type C and USB PD defines */
/*
@@ -98,8 +105,8 @@ enum battery_type {
enum sensor_id {
LID_ACCEL = 0,
- CLEAR_ALS,
- RGB_ALS,
+ BASE_ACCEL,
+ BASE_GYRO,
VSYNC,
SENSOR_COUNT,
};
diff --git a/board/malefor/build.mk b/board/malefor/build.mk
index d9d20ff7c7..5a2ccd3d79 100644
--- a/board/malefor/build.mk
+++ b/board/malefor/build.mk
@@ -30,4 +30,3 @@ ENV_VARS := VOLTEER_POWER_SEQUENCE
board-y=board.o
board-y+=battery.o
board-$(VOLTEER_POWER_SEQUENCE)+=power_sequence.o
-board-y+=sensors.o
diff --git a/board/malefor/gpio.inc b/board/malefor/gpio.inc
index 93f48572e1..b80350e97f 100644
--- a/board/malefor/gpio.inc
+++ b/board/malefor/gpio.inc
@@ -31,7 +31,7 @@ GPIO_INT(PG_EC_ALL_SYS_PWRGD, PIN(F, 4), GPIO_INT_BOTH, power_signal_interrupt
/* Sensor Interrupts */
GPIO_INT(EC_CAM_VSYN_SLP_S0IX, PIN(7, 2), GPIO_INT_RISING, sync_interrupt)
-GPIO_INT(EC_ALS_RGB_INT_L, PIN(D, 4), GPIO_INT_FALLING, tcs3400_interrupt)
+GPIO_INT(EC_IMU_INT_L, PIN(5, 6), GPIO_INT_FALLING | GPIO_SEL_1P8V, lsm6dsm_interrupt)
GPIO_INT(TABLET_MODE_L, PIN(9, 5), GPIO_INT_BOTH, gmr_tablet_switch_isr)
/* USB-C interrupts */
diff --git a/board/malefor/sensors.c b/board/malefor/sensors.c
deleted file mode 100644
index e13d7fd57e..0000000000
--- a/board/malefor/sensors.c
+++ /dev/null
@@ -1,184 +0,0 @@
-/* Copyright 2020 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.
- */
-
-/* Volteer family-specific sensor configuration */
-#include "common.h"
-#include "accelgyro.h"
-#include "driver/accel_bma2x2.h"
-#include "driver/als_tcs3400.h"
-#include "driver/sync.h"
-#include "keyboard_scan.h"
-#include "hooks.h"
-#include "task.h"
-#include "util.h"
-
-/******************************************************************************/
-/* Sensors */
-static struct mutex g_lid_accel_mutex;
-
-/* BMA253 private data */
-static struct accelgyro_saved_data_t g_bma253_data;
-
-/* TCS3400 private data */
-static struct als_drv_data_t g_tcs3400_data = {
- .als_cal.scale = 1,
- .als_cal.uscale = 0,
- .als_cal.offset = 0,
- .als_cal.channel_scale = {
- .k_channel_scale = ALS_CHANNEL_SCALE(1.0), /* kc from VPD */
- .cover_scale = ALS_CHANNEL_SCALE(1.0), /* CT */
- },
-};
-
-/*
- * TODO: b/146166425 need to calibrate ALS/RGB sensor. At default settings,
- * shining phone flashlight on sensor pegs all readings at 0xFFFF.
- */
-static struct tcs3400_rgb_drv_data_t g_tcs3400_rgb_data = {
- .calibration.rgb_cal[X] = {
- .offset = 0,
- .coeff[TCS_RED_COEFF_IDX] = FLOAT_TO_FP(0),
- .coeff[TCS_GREEN_COEFF_IDX] = FLOAT_TO_FP(0),
- .coeff[TCS_BLUE_COEFF_IDX] = FLOAT_TO_FP(0),
- .coeff[TCS_CLEAR_COEFF_IDX] = FLOAT_TO_FP(0),
- .scale = {
- .k_channel_scale = ALS_CHANNEL_SCALE(1.0), /* kr */
- .cover_scale = ALS_CHANNEL_SCALE(1.0)
- }
- },
- .calibration.rgb_cal[Y] = {
- .offset = 0,
- .coeff[TCS_RED_COEFF_IDX] = FLOAT_TO_FP(0),
- .coeff[TCS_GREEN_COEFF_IDX] = FLOAT_TO_FP(0),
- .coeff[TCS_BLUE_COEFF_IDX] = FLOAT_TO_FP(0),
- .coeff[TCS_CLEAR_COEFF_IDX] = FLOAT_TO_FP(0),
- .scale = {
- .k_channel_scale = ALS_CHANNEL_SCALE(1.0), /* kg */
- .cover_scale = ALS_CHANNEL_SCALE(1.0)
- },
- },
- .calibration.rgb_cal[Z] = {
- .offset = 0,
- .coeff[TCS_RED_COEFF_IDX] = FLOAT_TO_FP(0),
- .coeff[TCS_GREEN_COEFF_IDX] = FLOAT_TO_FP(0),
- .coeff[TCS_BLUE_COEFF_IDX] = FLOAT_TO_FP(0),
- .coeff[TCS_CLEAR_COEFF_IDX] = FLOAT_TO_FP(0),
- .scale = {
- .k_channel_scale = ALS_CHANNEL_SCALE(1.0), /* kb */
- .cover_scale = ALS_CHANNEL_SCALE(1.0)
- }
- },
- .calibration.irt = INT_TO_FP(1),
- .saturation.again = TCS_DEFAULT_AGAIN,
- .saturation.atime = TCS_DEFAULT_ATIME,
-};
-
-/* Rotation matrix for the lid accelerometer */
-/* TODO: b/146144170 - the accelerometer is on the motherboard for proto1
- * for testing. Once the sensor moves to the lid, the rotation matrix needs
- * to be updated for correct behavior.
- */
-static const mat33_fp_t lid_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[] = {
- [LID_ACCEL] = {
- .name = "Lid Accel",
- .active_mask = SENSOR_ACTIVE_S0_S3,
- .chip = MOTIONSENSE_CHIP_BMA255,
- .type = MOTIONSENSE_TYPE_ACCEL,
- .location = MOTIONSENSE_LOC_LID,
- .drv = &bma2x2_accel_drv,
- .mutex = &g_lid_accel_mutex,
- .drv_data = &g_bma253_data,
- .port = I2C_PORT_SENSOR,
- .i2c_spi_addr_flags = BMA2x2_I2C_ADDR1_FLAGS,
- .rot_standard_ref = &lid_standard_ref,
- .min_frequency = BMA255_ACCEL_MIN_FREQ,
- .max_frequency = BMA255_ACCEL_MAX_FREQ,
- .default_range = 2, /* g, to support tablet mode */
- .config = {
- /* EC use accel for angle detection */
- [SENSOR_CONFIG_EC_S0] = {
- .odr = 10000 | ROUND_UP_FLAG,
- },
- /* Sensor on in S3 */
- [SENSOR_CONFIG_EC_S3] = {
- .odr = 10000 | ROUND_UP_FLAG,
- },
- },
- },
-
- [CLEAR_ALS] = {
- .name = "Clear Light",
- .active_mask = SENSOR_ACTIVE_S0_S3,
- .chip = MOTIONSENSE_CHIP_TCS3400,
- .type = MOTIONSENSE_TYPE_LIGHT,
- .location = MOTIONSENSE_LOC_BASE,
- .drv = &tcs3400_drv,
- .drv_data = &g_tcs3400_data,
- .port = I2C_PORT_SENSOR,
- .i2c_spi_addr_flags = TCS3400_I2C_ADDR_FLAGS,
- .rot_standard_ref = NULL,
- .default_range = 0x10000, /* scale = 1x, uscale = 0 */
- .min_frequency = TCS3400_LIGHT_MIN_FREQ,
- .max_frequency = TCS3400_LIGHT_MAX_FREQ,
- .config = {
- /* Run ALS sensor in S0 */
- [SENSOR_CONFIG_EC_S0] = {
- .odr = 1000,
- },
- },
- },
-
- [RGB_ALS] = {
- /*
- * RGB channels read by CLEAR_ALS and so the i2c port and
- * address do not need to be defined for RGB_ALS.
- */
- .name = "RGB Light",
- .active_mask = SENSOR_ACTIVE_S0_S3,
- .chip = MOTIONSENSE_CHIP_TCS3400,
- .type = MOTIONSENSE_TYPE_LIGHT_RGB,
- .location = MOTIONSENSE_LOC_BASE,
- .drv = &tcs3400_rgb_drv,
- .drv_data = &g_tcs3400_rgb_data,
- .rot_standard_ref = NULL,
- .default_range = 0x10000, /* scale = 1x, uscale = 0 */
- },
-
- [VSYNC] = {
- .name = "Camera VSYNC",
- .active_mask = SENSOR_ACTIVE_S0,
- .chip = MOTIONSENSE_CHIP_GPIO,
- .type = MOTIONSENSE_TYPE_SYNC,
- .location = MOTIONSENSE_LOC_CAMERA,
- .drv = &sync_drv,
- .default_range = 0,
- .min_frequency = 0,
- .max_frequency = 1,
- },
-};
-unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
-
-/* ALS instances when LPC mapping is needed. Each entry directs to a sensor. */
-const struct motion_sensor_t *motion_als_sensors[] = {
- &motion_sensors[CLEAR_ALS],
-};
-BUILD_ASSERT(ARRAY_SIZE(motion_als_sensors) == ALS_COUNT);
-
-static void baseboard_sensors_init(void)
-{
- /* Note - BMA253 interrupt unused by EC */
-
- /* Enable gpio interrupt for camera vsync */
- gpio_enable_interrupt(GPIO_EC_CAM_VSYN_SLP_S0IX);
- /* Enable interrupt for the TCS3400 color light sensor */
- gpio_enable_interrupt(GPIO_EC_ALS_RGB_INT_L);
-}
-DECLARE_HOOK(HOOK_INIT, baseboard_sensors_init, HOOK_PRIO_DEFAULT);
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