diff options
| -rw-r--r-- | driver/accel_kxcj9.c | 182 | ||||
| -rw-r--r-- | driver/accel_kxcj9.h | 1 |
2 files changed, 143 insertions, 40 deletions
diff --git a/driver/accel_kxcj9.c b/driver/accel_kxcj9.c index fcc7df35b9..78405a039f 100644 --- a/driver/accel_kxcj9.c +++ b/driver/accel_kxcj9.c @@ -11,6 +11,7 @@ #include "driver/accel_kxcj9.h" #include "gpio.h" #include "i2c.h" +#include "task.h" #include "timer.h" #include "util.h" @@ -30,6 +31,8 @@ static int sensor_resolution[ACCEL_COUNT] = {KXCJ9_RES_12BIT, KXCJ9_RES_12BIT}; static int sensor_datarate[ACCEL_COUNT] = {KXCJ9_OSA_100_0HZ, KXCJ9_OSA_100_0HZ}; +static struct mutex accel_mutex[ACCEL_COUNT]; + /** * Read register from accelerometer. */ @@ -69,11 +72,19 @@ static int disable_sensor(const enum accel_id id, int *ctrl1) if (ret != EC_SUCCESS) return ret; + /* + * Before disabling the sensor, acquire mutex to prevent another task + * from attempting to access accel parameters until we enable sensor. + */ + mutex_lock(&accel_mutex[id]); + /* Disable sensor. */ *ctrl1 &= ~KXCJ9_CTRL1_PC1; ret = raw_write8(accel_addr[id], KXCJ9_CTRL1, *ctrl1); - if (ret != EC_SUCCESS) + if (ret != EC_SUCCESS) { + mutex_unlock(&accel_mutex[id]); return ret; + } return EC_SUCCESS; } @@ -98,10 +109,16 @@ static int enable_sensor(const enum accel_id id, const int ctrl1) ctrl1 | KXCJ9_CTRL1_PC1); /* On first success, we are done. */ - if (ret == EC_SUCCESS) + if (ret == EC_SUCCESS) { + mutex_unlock(&accel_mutex[id]); return EC_SUCCESS; + } + } + /* Release mutex. */ + mutex_unlock(&accel_mutex[id]); + /* Cannot enable accel, print warning and return an error. */ CPRINTF("[%T Error trying to enable accelerometer %d]\n", id); @@ -111,7 +128,7 @@ static int enable_sensor(const enum accel_id id, const int ctrl1) int accel_write_range(const enum accel_id id, const int range) { - int ret, ctrl1; + int ret, ctrl1, ctrl1_new; /* Check for valid id. */ if (id < 0 || id >= ACCEL_COUNT) @@ -125,23 +142,20 @@ int accel_write_range(const enum accel_id id, const int range) range != KXCJ9_GSEL_8G) return EC_ERROR_INVAL; - /* - * TODO(crosbug.com/p/26884): This driver currently assumes only one - * task can call this function. If this isn't true anymore, need to - * protect with a mutex. - */ - /* Disable the sensor to allow for changing of critical parameters. */ ret = disable_sensor(id, &ctrl1); if (ret != EC_SUCCESS) return ret; - ret = raw_write8(accel_addr[id], KXCJ9_CTRL1, - KXCJ9_CTRL1_PC1 | sensor_resolution[id] | range); + /* Determine new value of CTRL1 reg and attempt to write it. */ + ctrl1_new = (ctrl1 & ~KXCJ9_GSEL_ALL) | range; + ret = raw_write8(accel_addr[id], KXCJ9_CTRL1, ctrl1_new); /* If successfully written, then save the range. */ - if (ret == EC_SUCCESS) + if (ret == EC_SUCCESS) { sensor_range[id] = range; + ctrl1 = ctrl1_new; + } /* Re-enable the sensor. */ if (enable_sensor(id, ctrl1) != EC_SUCCESS) @@ -152,7 +166,7 @@ int accel_write_range(const enum accel_id id, const int range) int accel_write_resolution(const enum accel_id id, const int res) { - int ret, ctrl1; + int ret, ctrl1, ctrl1_new; /* Check for valid id. */ if (id < 0 || id >= ACCEL_COUNT) @@ -162,23 +176,20 @@ int accel_write_resolution(const enum accel_id id, const int res) if (res != KXCJ9_RES_12BIT && res != KXCJ9_RES_8BIT) return EC_ERROR_INVAL; - /* - * TODO(crosbug.com/p/26884): This driver currently assumes only one - * task can call this function. If this isn't true anymore, need to - * protect with a mutex. - */ - /* Disable the sensor to allow for changing of critical parameters. */ ret = disable_sensor(id, &ctrl1); if (ret != EC_SUCCESS) return ret; - ret = raw_write8(accel_addr[id], KXCJ9_CTRL1, - KXCJ9_CTRL1_PC1 | res | sensor_range[id]); + /* Determine new value of CTRL1 reg and attempt to write it. */ + ctrl1_new = (ctrl1 & ~KXCJ9_RES_12BIT) | res; + ret = raw_write8(accel_addr[id], KXCJ9_CTRL1, ctrl1_new); /* If successfully written, then save the range. */ - if (ret == EC_SUCCESS) + if (ret == EC_SUCCESS) { sensor_resolution[id] = res; + ctrl1 = ctrl1_new; + } /* Re-enable the sensor. */ if (enable_sensor(id, ctrl1) != EC_SUCCESS) @@ -199,12 +210,6 @@ int accel_write_datarate(const enum accel_id id, const int rate) if (rate < KXCJ9_OSA_12_50HZ || rate > KXCJ9_OSA_6_250HZ) return EC_ERROR_INVAL; - /* - * TODO(crosbug.com/p/26884): This driver currently assumes only one - * task can call this function. If this isn't true anymore, need to - * protect with a mutex. - */ - /* Disable the sensor to allow for changing of critical parameters. */ ret = disable_sensor(id, &ctrl1); if (ret != EC_SUCCESS) @@ -229,12 +234,6 @@ int accel_set_interrupt(const enum accel_id id, unsigned int threshold) { int ctrl1, tmp, ret; - /* - * TODO(crosbug.com/p/26884): This driver currently assumes only one - * task can call this function. If this isn't true anymore, need to - * protect with a mutex. - */ - /* Disable the sensor to allow for changing of critical parameters. */ ret = disable_sensor(id, &ctrl1); if (ret != EC_SUCCESS) @@ -296,10 +295,12 @@ int accel_read(enum accel_id id, int *x_acc, int *y_acc, int *z_acc) return EC_ERROR_INVAL; /* Read 6 bytes starting at KXCJ9_XOUT_L. */ + mutex_lock(&accel_mutex[id]); i2c_lock(I2C_PORT_ACCEL, 1); ret = i2c_xfer(I2C_PORT_ACCEL, accel_addr[id], ®, 1, acc, 6, I2C_XFER_SINGLE); i2c_lock(I2C_PORT_ACCEL, 0); + mutex_unlock(&accel_mutex[id]); if (ret != EC_SUCCESS) return ret; @@ -346,12 +347,6 @@ int accel_init(enum accel_id id) if (id < 0 || id >= ACCEL_COUNT) return EC_ERROR_INVAL; - /* - * TODO(crosbug.com/p/26884): This driver currently assumes only one - * task can call this function. If this isn't true anymore, need to - * protect with a mutex. - */ - /* Disable the sensor to allow for changing of critical parameters. */ ret = disable_sensor(id, &ctrl1); if (ret != EC_SUCCESS) @@ -484,6 +479,113 @@ DECLARE_CONSOLE_COMMAND(accelwrite, command_write_accelerometer, "addr reg data", "Write to accelerometer at slave address addr", NULL); +static int command_accelrange(int argc, char **argv) +{ + char *e; + int id, data; + + if (argc < 2 || argc > 3) + return EC_ERROR_PARAM_COUNT; + + /* First argument is sensor id. */ + id = strtoi(argv[1], &e, 0); + if (*e || id < 0 || id > ACCEL_COUNT) + return EC_ERROR_PARAM1; + + if (argc == 3) { + /* Second argument is data to write. */ + data = strtoi(argv[2], &e, 0); + if (*e) + return EC_ERROR_PARAM2; + + /* + * Write new range, if it returns invalid arg, then return + * a parameter error. + */ + if (accel_write_range(id, data) == EC_ERROR_INVAL) + return EC_ERROR_PARAM2; + } else { + ccprintf("Range for sensor %d: 0x%02x\n", id, sensor_range[id]); + } + + return EC_SUCCESS; +} +DECLARE_CONSOLE_COMMAND(accelrange, command_accelrange, + "id [data]", + "Read or write accelerometer range", NULL); + +static int command_accelresolution(int argc, char **argv) +{ + char *e; + int id, data; + + if (argc < 2 || argc > 3) + return EC_ERROR_PARAM_COUNT; + + /* First argument is sensor id. */ + id = strtoi(argv[1], &e, 0); + if (*e || id < 0 || id > ACCEL_COUNT) + return EC_ERROR_PARAM1; + + if (argc == 3) { + /* Second argument is data to write. */ + data = strtoi(argv[2], &e, 0); + if (*e) + return EC_ERROR_PARAM2; + + /* + * Write new resolution, if it returns invalid arg, then + * return a parameter error. + */ + if (accel_write_resolution(id, data) == EC_ERROR_INVAL) + return EC_ERROR_PARAM2; + } else { + ccprintf("Resolution for sensor %d: 0x%02x\n", id, + sensor_resolution[id]); + } + + return EC_SUCCESS; +} +DECLARE_CONSOLE_COMMAND(accelres, command_accelresolution, + "id [data]", + "Read or write accelerometer resolution", NULL); + +static int command_acceldatarate(int argc, char **argv) +{ + char *e; + int id, data; + + if (argc < 2 || argc > 3) + return EC_ERROR_PARAM_COUNT; + + /* First argument is sensor id. */ + id = strtoi(argv[1], &e, 0); + if (*e || id < 0 || id > ACCEL_COUNT) + return EC_ERROR_PARAM1; + + if (argc == 3) { + /* Second argument is data to write. */ + data = strtoi(argv[2], &e, 0); + if (*e) + return EC_ERROR_PARAM2; + + /* + * Write new data rate, if it returns invalid arg, then + * return a parameter error. + */ + if (accel_write_datarate(id, data) == EC_ERROR_INVAL) + return EC_ERROR_PARAM2; + } else { + ccprintf("Data rate for sensor %d: 0x%02x\n", id, + sensor_datarate[id]); + } + + return EC_SUCCESS; +} +DECLARE_CONSOLE_COMMAND(accelrate, command_acceldatarate, + "id [data]", + "Read or write accelerometer range", NULL); + #ifdef CONFIG_ACCEL_INTERRUPTS static int command_accelerometer_interrupt(int argc, char **argv) { diff --git a/driver/accel_kxcj9.h b/driver/accel_kxcj9.h index e35386d330..a7137326d9 100644 --- a/driver/accel_kxcj9.h +++ b/driver/accel_kxcj9.h @@ -57,6 +57,7 @@ #define KXCJ9_GSEL_4G (1 << 3) #define KXCJ9_GSEL_8G (2 << 3) #define KXCJ9_GSEL_8G_14BIT (3 << 3) +#define KXCJ9_GSEL_ALL (3 << 3) #define KXCJ9_RES_8BIT (0 << 6) #define KXCJ9_RES_12BIT (1 << 6) |