diff options
| -rw-r--r-- | driver/accelgyro_bmi_common.c | 232 | ||||
| -rw-r--r-- | driver/accelgyro_bmi_common.h | 5 | ||||
| -rw-r--r-- | include/config.h | 19 | ||||
| -rw-r--r-- | zephyr/CMakeLists.txt | 5 | ||||
| -rw-r--r-- | zephyr/Kconfig.accelgyro_bmi | 33 | ||||
| -rw-r--r-- | zephyr/Kconfig.sensor_devices | 9 | ||||
| -rw-r--r-- | zephyr/projects/volteer/volteer/prj.conf | 1 | ||||
| -rw-r--r-- | zephyr/shim/include/config_chip.h | 10 |
8 files changed, 169 insertions, 145 deletions
diff --git a/driver/accelgyro_bmi_common.c b/driver/accelgyro_bmi_common.c index b23e4521f5..87746454b1 100644 --- a/driver/accelgyro_bmi_common.c +++ b/driver/accelgyro_bmi_common.c @@ -142,7 +142,7 @@ int bmi_get_engineering_val(const int reg_val, return pairs[i].val; } -#ifdef CONFIG_SPI_ACCEL_PORT +#ifdef CONFIG_ACCELGYRO_BMI_COMM_SPI static int bmi_spi_raw_read(const int addr, const uint8_t reg, uint8_t *data, const int len) { @@ -158,23 +158,20 @@ static int bmi_spi_raw_read(const int addr, const uint8_t reg, int bmi_read8(const int port, const uint16_t i2c_spi_addr_flags, const int reg, int *data_ptr) { - int rv = -EC_ERROR_PARAM1; + int rv; - if (SLAVE_IS_SPI(i2c_spi_addr_flags)) { -#ifdef CONFIG_SPI_ACCEL_PORT +#ifdef CONFIG_ACCELGYRO_BMI_COMM_SPI + { uint8_t val; rv = bmi_spi_raw_read(SLAVE_GET_SPI_ADDR(i2c_spi_addr_flags), - reg, &val, 1); + reg, &val, 1); if (rv == EC_SUCCESS) *data_ptr = val; -#endif - } else { -#ifdef I2C_PORT_ACCEL - rv = i2c_read8(port, i2c_spi_addr_flags, - reg, data_ptr); -#endif } +#else + rv = i2c_read8(port, i2c_spi_addr_flags, reg, data_ptr); +#endif return rv; } @@ -184,22 +181,19 @@ int bmi_read8(const int port, const uint16_t i2c_spi_addr_flags, int bmi_write8(const int port, const uint16_t i2c_spi_addr_flags, const int reg, int data) { - int rv = -EC_ERROR_PARAM1; + int rv; - if (SLAVE_IS_SPI(i2c_spi_addr_flags)) { -#ifdef CONFIG_SPI_ACCEL_PORT +#ifdef CONFIG_ACCELGYRO_BMI_COMM_SPI + { uint8_t cmd[2] = { reg, data }; rv = spi_transaction( &spi_devices[SLAVE_GET_SPI_ADDR(i2c_spi_addr_flags)], cmd, 2, NULL, 0); -#endif - } else { -#ifdef I2C_PORT_ACCEL - rv = i2c_write8(port, i2c_spi_addr_flags, - reg, data); -#endif } +#else + rv = i2c_write8(port, i2c_spi_addr_flags, reg, data); +#endif /* * From Bosch: BMI needs a delay of 450us after each write if it * is in suspend mode, otherwise the operation may be ignored by @@ -217,20 +211,12 @@ int bmi_write8(const int port, const uint16_t i2c_spi_addr_flags, int bmi_read16(const int port, const uint16_t i2c_spi_addr_flags, const uint8_t reg, int *data_ptr) { - int rv = -EC_ERROR_PARAM1; - - if (SLAVE_IS_SPI(i2c_spi_addr_flags)) { -#ifdef CONFIG_SPI_ACCEL_PORT - rv = bmi_spi_raw_read(SLAVE_GET_SPI_ADDR(i2c_spi_addr_flags), - reg, (uint8_t *)data_ptr, 2); -#endif - } else { -#ifdef I2C_PORT_ACCEL - rv = i2c_read16(port, i2c_spi_addr_flags, - reg, data_ptr); +#ifdef CONFIG_ACCELGYRO_BMI_COMM_SPI + return bmi_spi_raw_read(SLAVE_GET_SPI_ADDR(i2c_spi_addr_flags), reg, + (uint8_t *)data_ptr, 2); +#else + return i2c_read16(port, i2c_spi_addr_flags, reg, data_ptr); #endif - } - return rv; } /** @@ -241,16 +227,11 @@ int bmi_write16(const int port, const uint16_t i2c_spi_addr_flags, { int rv = -EC_ERROR_PARAM1; - if (SLAVE_IS_SPI(i2c_spi_addr_flags)) { -#ifdef CONFIG_SPI_ACCEL_PORT - CPRINTS("%s() spi part is not implemented", __func__); -#endif - } else { -#ifdef I2C_PORT_ACCEL - rv = i2c_write16(port, i2c_spi_addr_flags, - reg, data); +#ifdef CONFIG_ACCELGYRO_BMI_COMM_SPI + CPRINTS("%s() spi part is not implemented", __func__); +#else + rv = i2c_write16(port, i2c_spi_addr_flags, reg, data); #endif - } /* * From Bosch: BMI needs a delay of 450us after each write if it * is in suspend mode, otherwise the operation may be ignored by @@ -267,20 +248,12 @@ int bmi_write16(const int port, const uint16_t i2c_spi_addr_flags, int bmi_read32(const int port, const uint16_t i2c_spi_addr_flags, const uint8_t reg, int *data_ptr) { - int rv = -EC_ERROR_PARAM1; - - if (SLAVE_IS_SPI(i2c_spi_addr_flags)) { -#ifdef CONFIG_SPI_ACCEL_PORT - rv = bmi_spi_raw_read(SLAVE_GET_SPI_ADDR(i2c_spi_addr_flags), - reg, (uint8_t *)data_ptr, 4); -#endif - } else { -#ifdef I2C_PORT_ACCEL - rv = i2c_read32(port, i2c_spi_addr_flags, - reg, data_ptr); +#ifdef CONFIG_ACCELGYRO_BMI_COMM_SPI + return bmi_spi_raw_read(SLAVE_GET_SPI_ADDR(i2c_spi_addr_flags), reg, + (uint8_t *)data_ptr, 4); +#else + return i2c_read32(port, i2c_spi_addr_flags, reg, data_ptr); #endif - } - return rv; } /** @@ -289,20 +262,12 @@ int bmi_read32(const int port, const uint16_t i2c_spi_addr_flags, int bmi_read_n(const int port, const uint16_t i2c_spi_addr_flags, const uint8_t reg, uint8_t *data_ptr, const int len) { - int rv = -EC_ERROR_PARAM1; - - if (SLAVE_IS_SPI(i2c_spi_addr_flags)) { -#ifdef CONFIG_SPI_ACCEL_PORT - rv = bmi_spi_raw_read(SLAVE_GET_SPI_ADDR(i2c_spi_addr_flags), - reg, data_ptr, len); -#endif - } else { -#ifdef I2C_PORT_ACCEL - rv = i2c_read_block(port, i2c_spi_addr_flags, - reg, data_ptr, len); +#ifdef CONFIG_ACCELGYRO_BMI_COMM_SPI + return bmi_spi_raw_read(SLAVE_GET_SPI_ADDR(i2c_spi_addr_flags), reg, + data_ptr, len); +#else + return i2c_read_block(port, i2c_spi_addr_flags, reg, data_ptr, len); #endif - } - return rv; } /** @@ -313,16 +278,11 @@ int bmi_write_n(const int port, const uint16_t i2c_spi_addr_flags, { int rv = -EC_ERROR_PARAM1; - if (SLAVE_IS_SPI(i2c_spi_addr_flags)) { -#ifdef CONFIG_SPI_ACCEL_PORT - CPRINTS("%s() spi part is not implemented", __func__); -#endif - } else { -#ifdef I2C_PORT_ACCEL - rv = i2c_write_block(port, i2c_spi_addr_flags, - reg, data_ptr, len); +#ifdef CONFIG_ACCELGYRO_BMI_COMM_SPI + CPRINTS("%s() spi part is not implemented", __func__); +#else + rv = i2c_write_block(port, i2c_spi_addr_flags, reg, data_ptr, len); #endif - } /* * From Bosch: BMI needs a delay of 450us after each write if it * is in suspend mode, otherwise the operation may be ignored by @@ -336,8 +296,8 @@ int bmi_write_n(const int port, const uint16_t i2c_spi_addr_flags, /* * Enable/Disable specific bit set of a 8-bit reg. */ -int bmi_enable_reg8(const struct motion_sensor_t *s, - int reg, uint8_t bits, int enable) +int bmi_enable_reg8(const struct motion_sensor_t *s, int reg, uint8_t bits, + int enable) { if (enable) return bmi_set_reg8(s, reg, bits, 0); @@ -347,8 +307,8 @@ int bmi_enable_reg8(const struct motion_sensor_t *s, /* * Set specific bit set to certain value of a 8-bit reg. */ -int bmi_set_reg8(const struct motion_sensor_t *s, - int reg, uint8_t bits, int mask) +int bmi_set_reg8(const struct motion_sensor_t *s, int reg, uint8_t bits, + int mask) { int ret, val; @@ -381,12 +341,11 @@ void bmi_normalize(const struct motion_sensor_t *s, intv3_t v, uint8_t *input) v[i] = SENSOR_APPLY_SCALE(v[i], data->scale[i]); } -int bmi_decode_header(struct motion_sensor_t *accel, - enum fifo_header hdr, uint32_t last_ts, - uint8_t **bp, uint8_t *ep) +int bmi_decode_header(struct motion_sensor_t *accel, enum fifo_header hdr, + uint32_t last_ts, uint8_t **bp, uint8_t *ep) { if ((hdr & BMI_FH_MODE_MASK) == BMI_FH_EMPTY && - (hdr & BMI_FH_PARM_MASK) != 0) { + (hdr & BMI_FH_PARM_MASK) != 0) { int i, size = 0; /* Check if there is enough space for the data frame */ for (i = MOTIONSENSE_TYPE_MAG; i >= MOTIONSENSE_TYPE_ACCEL; @@ -410,15 +369,14 @@ int bmi_decode_header(struct motion_sensor_t *accel, vector.flags = 0; bmi_normalize(s, v, *bp); if (IS_ENABLED(CONFIG_ACCEL_SPOOF_MODE) && - s->flags & - MOTIONSENSE_FLAG_IN_SPOOF_MODE) + s->flags & MOTIONSENSE_FLAG_IN_SPOOF_MODE) v = s->spoof_xyz; vector.data[X] = v[X]; vector.data[Y] = v[Y]; vector.data[Z] = v[Z]; vector.sensor_num = s - motion_sensors; motion_sense_fifo_stage_data(&vector, s, 3, - last_ts); + last_ts); *bp += (i == MOTIONSENSE_TYPE_MAG ? 8 : 6); } } @@ -448,25 +406,22 @@ int bmi_load_fifo(struct motion_sensor_t *s, uint32_t last_ts) uint8_t *ep; uint32_t beginning; - if (s->type != MOTIONSENSE_TYPE_ACCEL) return EC_SUCCESS; - if (!(data->flags & - (BMI_FIFO_ALL_MASK << BMI_FIFO_FLAG_OFFSET))) { + if (!(data->flags & (BMI_FIFO_ALL_MASK << BMI_FIFO_FLAG_OFFSET))) { /* * The FIFO was disabled while we were processing it. * * Flush potential left over: * When sensor is resumed, we won't read old data. */ - bmi_write8(s->port, s->i2c_spi_addr_flags, - BMI_CMD_REG(V(s)), BMI_CMD_FIFO_FLUSH); + bmi_write8(s->port, s->i2c_spi_addr_flags, BMI_CMD_REG(V(s)), + BMI_CMD_FIFO_FLUSH); return EC_SUCCESS; } - bmi_read_n(s->port, s->i2c_spi_addr_flags, - BMI_FIFO_LENGTH_0(V(s)), + bmi_read_n(s->port, s->i2c_spi_addr_flags, BMI_FIFO_LENGTH_0(V(s)), (uint8_t *)&length, sizeof(length)); length &= BMI_FIFO_LENGTH_MASK(V(s)); @@ -492,8 +447,8 @@ int bmi_load_fifo(struct motion_sensor_t *s, uint32_t last_ts) CPRINTS("unexpected large FIFO: %d", length); length = MIN(length, sizeof(bmi_buffer)); - bmi_read_n(s->port, s->i2c_spi_addr_flags, - BMI_FIFO_DATA(V(s)), bmi_buffer, length); + bmi_read_n(s->port, s->i2c_spi_addr_flags, BMI_FIFO_DATA(V(s)), + bmi_buffer, length); beginning = *(uint32_t *)bmi_buffer; ep = bmi_buffer + length; /* @@ -504,16 +459,13 @@ int bmi_load_fifo(struct motion_sensor_t *s, uint32_t last_ts) * If we see those, assume the sensors have been disabled * while this thread was running. */ - if (beginning == 0x84848484 || - (beginning & 0xdcdcdcdc) == 0x40404040) { + if (beginning == 0x84848484 || (beginning & 0xdcdcdcdc) == 0x40404040) { CPRINTS("Suspended FIFO: accel ODR/rate: %d/%d: 0x%08x", - BASE_ODR(s->config[SENSOR_CONFIG_AP].odr), - BMI_GET_SAVED_DATA(s)->odr, - beginning); + BASE_ODR(s->config[SENSOR_CONFIG_AP].odr), + BMI_GET_SAVED_DATA(s)->odr, beginning); return EC_SUCCESS; } - while (bp < ep) { switch (state) { case FIFO_HEADER: { @@ -536,24 +488,24 @@ int bmi_load_fifo(struct motion_sensor_t *s, uint32_t last_ts) state = FIFO_DATA_CONFIG; break; default: - CPRINTS("Unknown header: 0x%02x @ %zd", - hdr, bp - bmi_buffer); + CPRINTS("Unknown header: 0x%02x @ %zd", hdr, + bp - bmi_buffer); bmi_write8(s->port, s->i2c_spi_addr_flags, - BMI_CMD_REG(V(s)), - BMI_CMD_FIFO_FLUSH); + BMI_CMD_REG(V(s)), + BMI_CMD_FIFO_FLUSH); return EC_ERROR_NOT_HANDLED; } break; } case FIFO_DATA_SKIP: CPRINTS("@ %zd - %d, skipped %d frames", - bp - bmi_buffer, length, *bp); + bp - bmi_buffer, length, *bp); bp++; state = FIFO_HEADER; break; case FIFO_DATA_CONFIG: CPRINTS("@ %zd - %d, config change: 0x%02x", - bp - bmi_buffer, length, *bp); + bp - bmi_buffer, length, *bp); bp++; if (V(s)) state = FIFO_DATA_TIME; @@ -566,8 +518,8 @@ int bmi_load_fifo(struct motion_sensor_t *s, uint32_t last_ts) continue; } /* We are not requesting timestamp */ - CPRINTS("timestamp %d", (bp[2] << 16) | - (bp[1] << 8) | bp[0]); + CPRINTS("timestamp %d", + (bp[2] << 16) | (bp[1] << 8) | bp[0]); state = FIFO_HEADER; bp += 3; break; @@ -595,8 +547,7 @@ int bmi_set_range(struct motion_sensor_t *s, int range, int rnd) ranges = bmi_get_range_table(s, &range_tbl_size); reg_val = bmi_get_reg_val(range, rnd, ranges, range_tbl_size); - ret = bmi_write8(s->port, s->i2c_spi_addr_flags, - ctrl_reg, reg_val); + ret = bmi_write8(s->port, s->i2c_spi_addr_flags, ctrl_reg, reg_val); /* Now that we have set the range, update the driver's value. */ if (ret == EC_SUCCESS) s->current_range = bmi_get_engineering_val(reg_val, ranges, @@ -611,8 +562,8 @@ int bmi_get_data_rate(const struct motion_sensor_t *s) return data->odr; } -int bmi_get_offset(const struct motion_sensor_t *s, - int16_t *offset, int16_t *temp) +int bmi_get_offset(const struct motion_sensor_t *s, int16_t *offset, + int16_t *temp) { int i; intv3_t v; @@ -669,8 +620,8 @@ int bmi_get_rms_noise(const struct motion_sensor_t *s) * of ODR to 100Hz) to get current noise. */ noise_100hz = INT_TO_FP(BMI_ACCEL_RMS_NOISE_100HZ(V(s))); - sqrt_rate_ratio = fp_sqrtf(fp_div(rate, - INT_TO_FP(BMI_ACCEL_100HZ))); + sqrt_rate_ratio = + fp_sqrtf(fp_div(rate, INT_TO_FP(BMI_ACCEL_100HZ))); ret = FP_TO_INT(fp_mul(noise_100hz, sqrt_rate_ratio)); break; default: @@ -686,8 +637,8 @@ int bmi_get_resolution(const struct motion_sensor_t *s) return BMI_RESOLUTION; } -int bmi_set_scale(const struct motion_sensor_t *s, - const uint16_t *scale, int16_t temp) +int bmi_set_scale(const struct motion_sensor_t *s, const uint16_t *scale, + int16_t temp) { struct accelgyro_saved_data_t *data = BMI_GET_SAVED_DATA(s); @@ -697,8 +648,8 @@ int bmi_set_scale(const struct motion_sensor_t *s, return EC_SUCCESS; } -int bmi_get_scale(const struct motion_sensor_t *s, - uint16_t *scale, int16_t *temp) +int bmi_get_scale(const struct motion_sensor_t *s, uint16_t *scale, + int16_t *temp) { struct accelgyro_saved_data_t *data = BMI_GET_SAVED_DATA(s); @@ -733,8 +684,8 @@ int bmi_read(const struct motion_sensor_t *s, intv3_t v) uint8_t data[6]; int ret, status = 0; - ret = bmi_read8(s->port, s->i2c_spi_addr_flags, - BMI_STATUS(V(s)), &status); + ret = bmi_read8(s->port, s->i2c_spi_addr_flags, BMI_STATUS(V(s)), + &status); if (ret != EC_SUCCESS) return ret; @@ -750,8 +701,8 @@ int bmi_read(const struct motion_sensor_t *s, intv3_t v) } /* Read 6 bytes starting at xyz_reg */ - ret = bmi_read_n(s->port, s->i2c_spi_addr_flags, - bmi_get_xyz_reg(s), data, 6); + ret = bmi_read_n(s->port, s->i2c_spi_addr_flags, bmi_get_xyz_reg(s), + data, 6); if (ret != EC_SUCCESS) { CPRINTS("%s: type:0x%X RD XYZ Error %d", s->name, s->type, ret); @@ -773,8 +724,8 @@ int bmi_get_sensor_temp(int idx, int *temp_ptr) int ret; ret = bmi_read_n(s->port, s->i2c_spi_addr_flags, - BMI_TEMPERATURE_0(V(s)), - (uint8_t *)&temp, sizeof(temp)); + BMI_TEMPERATURE_0(V(s)), (uint8_t *)&temp, + sizeof(temp)); if (ret || temp == BMI_INVALID_TEMP) return EC_ERROR_NOT_POWERED; @@ -828,10 +779,8 @@ void bmi_accel_get_offset(const struct motion_sensor_t *accel, intv3_t v) BMI_OFFSET_ACC70(V(accel)) + i, &val); if (val > 0x7f) val = -256 + val; - v[i] = round_divide( - (int64_t)val * BMI_OFFSET_ACC_MULTI_MG, - BMI_OFFSET_ACC_DIV_MG); - + v[i] = round_divide((int64_t)val * BMI_OFFSET_ACC_MULTI_MG, + BMI_OFFSET_ACC_DIV_MG); } } @@ -848,9 +797,8 @@ void bmi_gyro_get_offset(const struct motion_sensor_t *gyro, intv3_t v) val |= ((val98 >> (2 * i)) & 0x3) << 8; if (val > 0x1ff) val = -1024 + val; - v[i] = round_divide( - (int64_t)val * BMI_OFFSET_GYRO_MULTI_MDS, - BMI_OFFSET_GYRO_DIV_MDS); + v[i] = round_divide((int64_t)val * BMI_OFFSET_GYRO_MULTI_MDS, + BMI_OFFSET_GYRO_DIV_MDS); } } @@ -859,9 +807,8 @@ void bmi_set_accel_offset(const struct motion_sensor_t *accel, intv3_t v) int i, val; for (i = X; i <= Z; ++i) { - val = round_divide( - (int64_t)v[i] * BMI_OFFSET_ACC_DIV_MG, - BMI_OFFSET_ACC_MULTI_MG); + val = round_divide((int64_t)v[i] * BMI_OFFSET_ACC_DIV_MG, + BMI_OFFSET_ACC_MULTI_MG); if (val > 127) val = 127; if (val < -128) @@ -879,9 +826,8 @@ void bmi_set_gyro_offset(const struct motion_sensor_t *gyro, intv3_t v, int i, val; for (i = X; i <= Z; i++) { - val = round_divide( - (int64_t)v[i] * BMI_OFFSET_GYRO_DIV_MDS, - BMI_OFFSET_GYRO_MULTI_MDS); + val = round_divide((int64_t)v[i] * BMI_OFFSET_GYRO_DIV_MDS, + BMI_OFFSET_GYRO_MULTI_MDS); if (val > 511) val = 511; if (val < -512) @@ -899,11 +845,11 @@ void bmi_set_gyro_offset(const struct motion_sensor_t *gyro, intv3_t v, bool motion_orientation_changed(const struct motion_sensor_t *s) { return BMI_GET_DATA(s)->orientation != - BMI_GET_DATA(s)->last_orientation; + BMI_GET_DATA(s)->last_orientation; } -enum motionsensor_orientation *motion_orientation_ptr( - const struct motion_sensor_t *s) +enum motionsensor_orientation * +motion_orientation_ptr(const struct motion_sensor_t *s) { return &BMI_GET_DATA(s)->orientation; } diff --git a/driver/accelgyro_bmi_common.h b/driver/accelgyro_bmi_common.h index 95294f8539..398f04dc42 100644 --- a/driver/accelgyro_bmi_common.h +++ b/driver/accelgyro_bmi_common.h @@ -13,6 +13,11 @@ #include "mag_bmm150.h" #include "accelgyro_bmi_common_public.h" +#if !defined(CONFIG_ACCELGYRO_BMI_COMM_SPI) && \ + !defined(CONFIG_ACCELGYRO_BMI_COMM_I2C) +#error "BMI must use either SPI or I2C communication" +#endif + #define BMI_CONF_REG(_sensor) (0x40 + 2 * (_sensor)) #define BMI_RANGE_REG(_sensor) (0x41 + 2 * (_sensor)) diff --git a/include/config.h b/include/config.h index be61317550..71a5724cf7 100644 --- a/include/config.h +++ b/include/config.h @@ -132,6 +132,14 @@ #undef CONFIG_ACCELGYRO_ICM_COMM_SPI #undef CONFIG_ACCELGYRO_ICM_COMM_I2C +/* Select the communication mode for the accelgyro BMI. Only one of these should + * be set. To set the value manually, simply define one or the other. If neither + * is defined, but I2C_PORT_ACCEL is defined, then CONFIG_ACCELGYRO_BMI_I2C will + * automatically be set. + */ +#undef CONFIG_ACCELGYRO_BMI_COMM_SPI +#undef CONFIG_ACCELGYRO_BMI_COMM_I2C + /* * Some chips have a portion of memory which will remain powered even * during a reset. This is called Always-On, or AON memory, and @@ -6296,4 +6304,15 @@ * !CONFIG_ACCELGYRO_ICM_COMM_I2C */ +#if !defined(CONFIG_ZEPHYR) && !defined(CONFIG_ACCELGYRO_BMI_COMM_SPI) && \ + !defined(CONFIG_ACCELGYRO_BMI_COMM_I2C) +#ifdef I2C_PORT_ACCEL +#define CONFIG_ACCELGYRO_BMI_COMM_I2C +#else +#define CONFIG_ACCELGYRO_BMI_COMM_SPI +#endif +#endif /* !CONFIG_ZEPHYR && !CONFIG_ACCELGYRO_BMI_SPI && \ + * !CONFIG_ACCELGYRO_BMI_I2C + */ + #endif /* __CROS_EC_CONFIG_H */ diff --git a/zephyr/CMakeLists.txt b/zephyr/CMakeLists.txt index ce47548d3b..883031ef7e 100644 --- a/zephyr/CMakeLists.txt +++ b/zephyr/CMakeLists.txt @@ -201,10 +201,11 @@ zephyr_library_sources_ifdef(CONFIG_PLATFORM_EC "${PLATFORM_EC}/common/base32.c" zephyr_library_sources_ifdef(CONFIG_PLATFORM_EC_ACCEL_BMA255 "${PLATFORM_EC}/driver/accel_bma2x2.c" "${PLATFORM_EC}/common/math_util.c") -zephyr_library_sources_ifdef(CONFIG_PLATFORM_EC_ACCELGYRO_BMI260 +zephyr_library_sources_ifdef(CONFIG_PLATFORM_EC_ACCELGYRO_BMI "${PLATFORM_EC}/driver/accelgyro_bmi_common.c" - "${PLATFORM_EC}/driver/accelgyro_bmi260.c" "${PLATFORM_EC}/common/math_util.c") +zephyr_library_sources_ifdef(CONFIG_PLATFORM_EC_ACCELGYRO_BMI260 + "${PLATFORM_EC}/driver/accelgyro_bmi260.c") zephyr_library_sources_ifdef(CONFIG_PLATFORM_EC_ACCELGYRO_ICM "${PLATFORM_EC}/driver/accelgyro_icm_common.c") zephyr_library_sources_ifdef(CONFIG_PLATFORM_EC_ACCELGYRO_ICM426XX diff --git a/zephyr/Kconfig.accelgyro_bmi b/zephyr/Kconfig.accelgyro_bmi new file mode 100644 index 0000000000..bb8239f6d8 --- /dev/null +++ b/zephyr/Kconfig.accelgyro_bmi @@ -0,0 +1,33 @@ +# Copyright 2021 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. + + +if PLATFORM_EC_ACCELGYRO_BMI +menu "BMI Sensor Common" + +choice PLATFORM_EC_ACCELGYRO_BMI_COMM + prompt "Accelgyro BMI's communication mode" + help + When using the BMI drivers, there's the option to communicate with the + chip via several methods. This choice helps improve code size by only + compiling the needed communication channels. + +config PLATFORM_EC_ACCELGYRO_BMI_COMM_SPI + bool "Use SPI communication" + help + The BMI chip is using SPI communication. This config value is used to + save on code size as only the SPI communication code will be included + for the BMI chip. + +config PLATFORM_EC_ACCELGYRO_BMI_COMM_I2C + bool "Use I2C communication" + help + The BMI chip is using I2C communication. This config value is used to + save on code size as only the I2C communication code will be included + for the BMI chip. + +endchoice + +endmenu # BMI Sensor +endif # PLATFORM_EC_ACCELGYRO_BMI
\ No newline at end of file diff --git a/zephyr/Kconfig.sensor_devices b/zephyr/Kconfig.sensor_devices index a62a43d6c2..3cfa41220d 100644 --- a/zephyr/Kconfig.sensor_devices +++ b/zephyr/Kconfig.sensor_devices @@ -4,6 +4,13 @@ menu "Sensor Devices" +config PLATFORM_EC_ACCELGYRO_BMI + bool "Config used to include common accelgyro BMI features" + help + Do not set this directly in a .conf file. This value should be set + using an `select` statement in other BMI family of drivers such as + BMI260. + config PLATFORM_EC_ACCELGYRO_ICM bool "Config used to include common accelgyro ICM features" help @@ -21,6 +28,7 @@ config PLATFORM_EC_ACCEL_BMA255 config PLATFORM_EC_ACCELGYRO_BMI260 bool "BMI260 Accelgyrometer Driver" + select PLATFORM_EC_ACCELGYRO_BMI help The driver supports Bosch's BMI260 which is an IMU consisting of a 16-bit tri-axial gyroscope and a 16-bit tri-axial accelerometer. @@ -38,6 +46,7 @@ config PLATFORM_EC_ACCELGYRO_ICM426XX The driver supports ICM425XX which provides both accelerometer and gyroscope readings. +rsource "Kconfig.accelgyro_bmi" rsource "Kconfig.accelgyro_icm" endmenu # Sensor devices diff --git a/zephyr/projects/volteer/volteer/prj.conf b/zephyr/projects/volteer/volteer/prj.conf index 32a2ac8118..ed3255049d 100644 --- a/zephyr/projects/volteer/volteer/prj.conf +++ b/zephyr/projects/volteer/volteer/prj.conf @@ -86,6 +86,7 @@ CONFIG_PLATFORM_EC_TABLET_MODE=y # Sensor Drivers CONFIG_PLATFORM_EC_ACCEL_BMA255=y CONFIG_PLATFORM_EC_ACCELGYRO_BMI260=y +CONFIG_PLATFORM_EC_ACCELGYRO_BMI_COMM_I2C=y CONFIG_PLATFORM_EC_ALS_TCS3400=y # Temperature sensors diff --git a/zephyr/shim/include/config_chip.h b/zephyr/shim/include/config_chip.h index 923937688b..e0ca82c1c9 100644 --- a/zephyr/shim/include/config_chip.h +++ b/zephyr/shim/include/config_chip.h @@ -1447,4 +1447,14 @@ #define CONFIG_ACCELGYRO_ICM_COMM_I2C #endif +#undef CONFIG_ACCELGYRO_BMI_COMM_SPI +#ifdef CONFIG_PLATFORM_EC_ACCELGYRO_BMI_COMM_SPI +#define CONFIG_ACCELGYRO_BMI_COMM_SPI +#endif + +#undef CONFIG_ACCELGYRO_BMI_COMM_I2C +#ifdef CONFIG_PLATFORM_EC_ACCELGYRO_BMI_COMM_I2C +#define CONFIG_ACCELGYRO_BMI_COMM_I2C +#endif + #endif /* __CROS_EC_CONFIG_CHIP_H */ |