diff options
| -rw-r--r-- | baseboard/volteer/baseboard.h | 3 | ||||
| -rw-r--r-- | board/eldrid/board.h | 1 | ||||
| -rw-r--r-- | board/volteer/board.h | 8 | ||||
| -rw-r--r-- | driver/accelgyro_bmi260.c | 80 | ||||
| -rw-r--r-- | third_party/bmi260/accelgyro_bmi260_config_tbin.h | 2 |
5 files changed, 75 insertions, 19 deletions
diff --git a/baseboard/volteer/baseboard.h b/baseboard/volteer/baseboard.h index b5b467ed6f..ab1f5bc74a 100644 --- a/baseboard/volteer/baseboard.h +++ b/baseboard/volteer/baseboard.h @@ -21,6 +21,9 @@ #define CONFIG_SPI_FLASH_REGS #define CONFIG_SPI_FLASH_W25Q80 /* Internal SPI flash type. */ +/* Allow objects to be linked into a flash resident section */ +#define CONFIG_CHIP_INIT_ROM_REGION + /* EC Defines */ #define CONFIG_LTO #define CONFIG_BOARD_VERSION_CBI diff --git a/board/eldrid/board.h b/board/eldrid/board.h index 10263e77b4..d2923c440e 100644 --- a/board/eldrid/board.h +++ b/board/eldrid/board.h @@ -45,7 +45,6 @@ /* BMI260 accel/gyro in base */ #define CONFIG_ACCELGYRO_BMI260 -#define CONFIG_ACCELGYRO_BMI160_COMPRESSED_CONFIG #define CONFIG_ACCELGYRO_BMI260_INT_EVENT \ TASK_EVENT_MOTION_SENSOR_INTERRUPT(BASE_ACCEL) diff --git a/board/volteer/board.h b/board/volteer/board.h index cc90e36fd5..be4e10e78f 100644 --- a/board/volteer/board.h +++ b/board/volteer/board.h @@ -17,6 +17,13 @@ /* Enable the required TCPMv1 options */ #define CONFIG_USB_PD_TCPMV1 + +/* + * Because the TPCMv1 stack has considerably smaller flash footprint, disable + * the CONFIG_CHIP_INIT_ROM_REGION for testing of the init_rom API and the + * BMI260 driver. + */ +#undef CONFIG_CHIP_INIT_ROM_REGION #endif /* Optional features */ @@ -45,7 +52,6 @@ /* BMI260 accel/gyro in base */ #define CONFIG_ACCELGYRO_BMI260 -#define CONFIG_ACCELGYRO_BMI160_COMPRESSED_CONFIG #define CONFIG_ACCELGYRO_BMI260_INT_EVENT \ TASK_EVENT_MOTION_SENSOR_INTERRUPT(BASE_ACCEL) diff --git a/driver/accelgyro_bmi260.c b/driver/accelgyro_bmi260.c index 453e316d92..6e5fcda86a 100644 --- a/driver/accelgyro_bmi260.c +++ b/driver/accelgyro_bmi260.c @@ -15,6 +15,7 @@ #include "endian.h" #include "hwtimer.h" #include "i2c.h" +#include "init_rom.h" #include "math_util.h" #include "motion_sense_fifo.h" #include "spi.h" @@ -379,6 +380,15 @@ static int irq_handler(struct motion_sensor_t *s, uint32_t *event) } #endif /* CONFIG_ACCEL_INTERRUPTS */ +#if defined(CONFIG_ACCELGYRO_BMI160_COMPRESSED_CONFIG) || \ + defined(CONFIG_CHIP_INIT_ROM_REGION) +#define BMI_RAM_BUFFER_SIZE 256 +static uint8_t bmi_ram_buffer[BMI_RAM_BUFFER_SIZE]; +#else +#define BMI_RAM_BUFFER_SIZE 0 +static uint8_t *bmi_ram_buffer; +#endif + /* * TODO(b/160330682): Eliminate or reduce size of BMI260 initialization file. * Remove this option once the BMI260 initialization file is moved to the @@ -393,8 +403,6 @@ INCBIN(bmi260_config, "third_party/bmi260/accelgyro_bmi260_config_compressed.bin"); #define COMPRESS_KEY 0xE9EA -#define BMI_BUFFER_SIZE 256 -static uint8_t bmi_buffer[BMI_BUFFER_SIZE]; static int bmi_buffer_bytes; static int bmi_config_offset; @@ -414,7 +422,7 @@ static int write_bmi_data(const struct motion_sensor_t *s) return ret; ret = bmi_write_n(s->port, s->i2c_spi_addr_flags, - BMI260_INIT_DATA, bmi_buffer, + BMI260_INIT_DATA, bmi_ram_buffer, bmi_buffer_bytes); if (ret) return ret; @@ -433,10 +441,10 @@ static int enqueue_bmi_data(const struct motion_sensor_t *s, uint32_t *data) { int ret; - memcpy(&bmi_buffer[bmi_buffer_bytes], data, 4); + memcpy(&bmi_ram_buffer[bmi_buffer_bytes], data, 4); bmi_buffer_bytes += 4; - if (bmi_buffer_bytes >= BMI_BUFFER_SIZE) { + if (bmi_buffer_bytes >= BMI_RAM_BUFFER_SIZE) { ret = write_bmi_data(s); if (ret) return ret; @@ -540,16 +548,33 @@ static int bmi_compressed_config_load(const struct motion_sensor_t *s) static int bmi_config_load(const struct motion_sensor_t *s) { - int ret; + int ret = EC_SUCCESS; uint16_t i; - + const uint8_t *bmi_config = NULL; /* * Due to i2c transaction timeout limit, * burst_write_len should not be above 2048 to prevent timeout. */ - const int burst_write_len = 2048; + int burst_write_len = 2048; + + /* + * The BMI config data may be linked into .rodata or the .init_rom + * section. Get the actual memory mapped address. + */ + bmi_config = init_rom_map(g_bmi260_config_tbin, + g_bmi260_config_tbin_len); + + /* + * init_rom_map() only returns NULL when the CONFIG_CHIP_INIT_ROM_REGION + * option is enabled and flash memory is not memory mapped. In this + * case copy the BMI config data through a RAM buffer and limit the + * I2C burst to the size of the RAM buffer. + */ + if (!bmi_config) + burst_write_len = MIN(BMI_RAM_BUFFER_SIZE, burst_write_len); + /* We have to write the config even bytes of data every time */ - BUILD_ASSERT((burst_write_len & 1) == 0); + ASSERT(((burst_write_len & 1) == 0) && (burst_write_len != 0)); for (i = 0; i < g_bmi260_config_tbin_len; i += burst_write_len) { uint8_t addr[2]; @@ -561,16 +586,39 @@ static int bmi_config_load(const struct motion_sensor_t *s) ret = bmi_write_n(s->port, s->i2c_spi_addr_flags, BMI260_INIT_ADDR_0, addr, 2); if (ret) - return ret; - ret = bmi_write_n(s->port, s->i2c_spi_addr_flags, - BMI260_INIT_DATA, &g_bmi260_config_tbin[i], - len); + break; + + if (!bmi_config) { + /* + * init_rom region isn't memory mapped. Copy the + * data through a RAM buffer. + */ + ret = init_rom_copy((int)&g_bmi260_config_tbin[i], len, + bmi_ram_buffer); + if (ret) + break; + + ret = bmi_write_n(s->port, s->i2c_spi_addr_flags, + BMI260_INIT_DATA, + bmi_ram_buffer, len); + } else { + ret = bmi_write_n(s->port, s->i2c_spi_addr_flags, + BMI260_INIT_DATA, + &bmi_config[i], len); + } + if (ret) - return ret; -; + break; } - return EC_SUCCESS; + /* + * Unmap the BMI config data, required when init_rom_map() returns + * a non NULL value. + */ + if (bmi_config) + init_rom_unmap(g_bmi260_config_tbin, g_bmi260_config_tbin_len); + + return ret; } #endif /* CONFIG_ACCELGYRO_BMI160_COMPRESSED_CONFIG */ diff --git a/third_party/bmi260/accelgyro_bmi260_config_tbin.h b/third_party/bmi260/accelgyro_bmi260_config_tbin.h index f55f399f5c..11a4a90be5 100644 --- a/third_party/bmi260/accelgyro_bmi260_config_tbin.h +++ b/third_party/bmi260/accelgyro_bmi260_config_tbin.h @@ -12,7 +12,7 @@ #include "common.h" -const unsigned char g_bmi260_config_tbin[] = { +const unsigned char __init_rom g_bmi260_config_tbin[] = { 0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0x63, 0xb3, 0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0x15, 0x03, 0x80, 0x2e, 0xbb, 0xb4, 0x80, 0x2e, 0x91, 0x03, 0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0xe7, 0xb3, 0x50, 0x30, 0x21, 0x2e, |