summaryrefslogtreecommitdiff
diff options
context:
space:
mode:
Diffstat
-rw-r--r--board/cyan/board.c42
-rw-r--r--board/ryu_sh/board.c22
-rw-r--r--board/samus/board.c24
-rw-r--r--board/strago/board.c42
-rw-r--r--common/motion_sense.c15
-rw-r--r--driver/accel_kxcj9.c4
-rw-r--r--driver/accelgyro_lsm6ds0.c33
-rw-r--r--driver/accelgyro_lsm6ds0.h8
-rw-r--r--include/motion_sense.h11
-rw-r--r--test/motion_lid.c38
10 files changed, 156 insertions, 83 deletions
diff --git a/board/cyan/board.c b/board/cyan/board.c
index 1118e4d5a8..90ffc7333a 100644
--- a/board/cyan/board.c
+++ b/board/cyan/board.c
@@ -109,14 +109,36 @@ const matrix_3x3_t lid_standard_ref = {
};
struct motion_sensor_t motion_sensors[] = {
- {SENSOR_ACTIVE_S0, "Base", MOTIONSENSE_CHIP_KXCJ9,
- MOTIONSENSE_TYPE_ACCEL, MOTIONSENSE_LOC_BASE,
- &kxcj9_drv, &g_kxcj9_mutex[0], &g_kxcj9_data[0],
- KXCJ9_ADDR1, &base_standard_ref, 100000, 2},
- {SENSOR_ACTIVE_S0, "Lid", MOTIONSENSE_CHIP_KXCJ9,
- MOTIONSENSE_TYPE_ACCEL, MOTIONSENSE_LOC_LID,
- &kxcj9_drv, &g_kxcj9_mutex[1], &g_kxcj9_data[1],
- KXCJ9_ADDR0, &lid_standard_ref, 100000, 2},
+ {.name = "Base",
+ .active_mask = SENSOR_ACTIVE_S0,
+ .chip = MOTIONSENSE_CHIP_KXCJ9,
+ .type = MOTIONSENSE_TYPE_ACCEL,
+ .location = MOTIONSENSE_LOC_BASE,
+ .drv = &kxcj9_drv,
+ .mutex = &g_kxcj9_mutex[0],
+ .drv_data = &g_kxcj9_data[0],
+ .i2c_addr = KXCJ9_ADDR1,
+ .rot_standard_ref = &base_standard_ref,
+ .default_config = {
+ .odr = 100000,
+ .range = 2
+ }
+ },
+ {.name = "Lid",
+ .active_mask = SENSOR_ACTIVE_S0,
+ .chip = MOTIONSENSE_CHIP_KXCJ9,
+ .type = MOTIONSENSE_TYPE_ACCEL,
+ .location = MOTIONSENSE_LOC_LID,
+ .drv = &kxcj9_drv,
+ .mutex = &g_kxcj9_mutex[1],
+ .drv_data = &g_kxcj9_data[1],
+ .i2c_addr = KXCJ9_ADDR0,
+ .rot_standard_ref = &lid_standard_ref,
+ .default_config = {
+ .odr = 100000,
+ .range = 2
+ }
+ },
};
const unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
@@ -151,8 +173,8 @@ static void motion_sensors_pre_init(void)
sensor = &motion_sensors[i];
sensor->state = SENSOR_NOT_INITIALIZED;
- sensor->odr = sensor->default_odr;
- sensor->range = sensor->default_range;
+ sensor->runtime_config.odr = sensor->default_config.odr;
+ sensor->runtime_config.range = sensor->default_config.range;
}
}
DECLARE_HOOK(HOOK_CHIPSET_SUSPEND, motion_sensors_pre_init,
diff --git a/board/ryu_sh/board.c b/board/ryu_sh/board.c
index 4e2f68f18a..dd2bb1fed6 100644
--- a/board/ryu_sh/board.c
+++ b/board/ryu_sh/board.c
@@ -37,8 +37,8 @@ const unsigned int i2c_ports_used = ARRAY_SIZE(i2c_ports);
/* Sensor mutex */
static struct mutex g_mutex;
-/* lsm6ds0 local sensor data (per-sensor) */
-struct lsm6ds0_data g_lsm6ds0_data[2];
+/* local sensor data (per-sensor) */
+struct motion_data_t g_saved_data[2];
struct motion_sensor_t motion_sensors[] = {
@@ -54,11 +54,13 @@ struct motion_sensor_t motion_sensors[] = {
.location = MOTIONSENSE_LOC_LID,
.drv = &lsm6ds0_drv,
.mutex = &g_mutex,
- .drv_data = &g_lsm6ds0_data[0],
+ .drv_data = &g_saved_data[0],
.i2c_addr = LSM6DS0_ADDR1,
.rot_standard_ref = NULL,
- .default_odr = 119000,
- .default_range = 2
+ .default_config = {
+ .odr = 119000,
+ .range = 2
+ }
},
{.name = "Gyro",
@@ -68,11 +70,13 @@ struct motion_sensor_t motion_sensors[] = {
.location = MOTIONSENSE_LOC_LID,
.drv = &lsm6ds0_drv,
.mutex = &g_mutex,
- .drv_data = &g_lsm6ds0_data[1],
+ .drv_data = &g_saved_data[1],
.i2c_addr = LSM6DS0_ADDR1,
.rot_standard_ref = NULL,
- .default_odr = 119000,
- .default_range = 2000
+ .default_config = {
+ .odr = 119000,
+ .range = 2000
+ }
},
};
@@ -82,7 +86,7 @@ const unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
* Note: If a new sensor driver is added, make sure to update the following
* assert.
*/
-BUILD_ASSERT(ARRAY_SIZE(motion_sensors) == ARRAY_SIZE(g_lsm6ds0_data));
+BUILD_ASSERT(ARRAY_SIZE(motion_sensors) == ARRAY_SIZE(g_saved_data));
void board_config_pre_init(void)
{
diff --git a/board/samus/board.c b/board/samus/board.c
index 1222528959..909ba7eca3 100644
--- a/board/samus/board.c
+++ b/board/samus/board.c
@@ -262,7 +262,7 @@ static struct mutex g_lid_mutex;
struct kxcj9_data g_kxcj9_data;
/* lsm6ds0 local sensor data (per-sensor) */
-struct lsm6ds0_data g_lsm6ds0_data[2];
+struct motion_data_t g_saved_data[2];
/* Four Motion sensors */
/* Matrix to rotate accelrator into standard reference frame */
@@ -291,11 +291,13 @@ struct motion_sensor_t motion_sensors[] = {
.location = MOTIONSENSE_LOC_BASE,
.drv = &lsm6ds0_drv,
.mutex = &g_base_mutex,
- .drv_data = &g_lsm6ds0_data[0],
+ .drv_data = &g_saved_data[0],
.i2c_addr = LSM6DS0_ADDR1,
.rot_standard_ref = &base_standard_ref,
- .default_odr = 119000,
- .default_range = 2
+ .default_config = {
+ .odr = 119000,
+ .range = 2
+ }
},
{.name = "Lid",
@@ -308,8 +310,10 @@ struct motion_sensor_t motion_sensors[] = {
.drv_data = &g_kxcj9_data,
.i2c_addr = KXCJ9_ADDR0,
.rot_standard_ref = &lid_standard_ref,
- .default_odr = 100000,
- .default_range = 2
+ .default_config = {
+ .odr = 100000,
+ .range = 2
+ }
},
{.name = "Base Gyro",
@@ -319,11 +323,13 @@ struct motion_sensor_t motion_sensors[] = {
.location = MOTIONSENSE_LOC_BASE,
.drv = &lsm6ds0_drv,
.mutex = &g_base_mutex,
- .drv_data = &g_lsm6ds0_data[1],
+ .drv_data = &g_saved_data[1],
.i2c_addr = LSM6DS0_ADDR1,
.rot_standard_ref = NULL,
- .default_odr = 119000,
- .default_range = 2000
+ .default_config = {
+ .odr = 119000,
+ .range = 2000
+ }
},
};
diff --git a/board/strago/board.c b/board/strago/board.c
index 2ed9b9c426..a18dd7ed78 100644
--- a/board/strago/board.c
+++ b/board/strago/board.c
@@ -123,14 +123,36 @@ const matrix_3x3_t lid_standard_ref = {
};
struct motion_sensor_t motion_sensors[] = {
- {SENSOR_ACTIVE_S0, "Base Accel", MOTIONSENSE_CHIP_KXCJ9,
- MOTIONSENSE_TYPE_ACCEL, MOTIONSENSE_LOC_BASE,
- &kxcj9_drv, &g_kxcj9_mutex[0], &g_kxcj9_data[0],
- KXCJ9_ADDR1, &base_standard_ref, 100000, 2},
- {SENSOR_ACTIVE_S0, "Lid Accel", MOTIONSENSE_CHIP_KXCJ9,
- MOTIONSENSE_TYPE_ACCEL, MOTIONSENSE_LOC_LID,
- &kxcj9_drv, &g_kxcj9_mutex[1], &g_kxcj9_data[1],
- KXCJ9_ADDR0, &lid_standard_ref, 100000, 2},
+ {.name = "Base Accel",
+ .active_mask = SENSOR_ACTIVE_S0,
+ .chip = MOTIONSENSE_CHIP_KXCJ9,
+ .type = MOTIONSENSE_TYPE_ACCEL,
+ .location = MOTIONSENSE_LOC_BASE,
+ .drv = &kxcj9_drv,
+ .mutex = &g_kxcj9_mutex[0],
+ .drv_data = &g_kxcj9_data[0],
+ .i2c_addr = KXCJ9_ADDR1,
+ .rot_standard_ref = &base_standard_ref,
+ .default_config = {
+ .odr = 100000,
+ .range = 2
+ }
+ },
+ {.name = "Lid Accel",
+ .active_mask = SENSOR_ACTIVE_S0,
+ .chip = MOTIONSENSE_CHIP_KXCJ9,
+ .type = MOTIONSENSE_TYPE_ACCEL,
+ .location = MOTIONSENSE_LOC_LID,
+ .drv = &kxcj9_drv,
+ .mutex = &g_kxcj9_mutex[1],
+ .drv_data = &g_kxcj9_data[1],
+ .i2c_addr = KXCJ9_ADDR0,
+ .rot_standard_ref = &lid_standard_ref,
+ .default_config = {
+ .odr = 100000,
+ .range = 2
+ }
+ },
};
const unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
@@ -165,8 +187,8 @@ static void motion_sensors_pre_init(void)
sensor = &motion_sensors[i];
sensor->state = SENSOR_NOT_INITIALIZED;
- sensor->odr = sensor->default_odr;
- sensor->range = sensor->default_range;
+ sensor->runtime_config.odr = sensor->default_config.odr;
+ sensor->runtime_config.range = sensor->default_config.range;
}
}
DECLARE_HOOK(HOOK_CHIPSET_SUSPEND, motion_sensors_pre_init,
diff --git a/common/motion_sense.c b/common/motion_sense.c
index 0c1841b502..0ae21e5056 100644
--- a/common/motion_sense.c
+++ b/common/motion_sense.c
@@ -76,8 +76,8 @@ static void motion_sense_shutdown(void)
for (i = 0; i < motion_sensor_count; i++) {
sensor = &motion_sensors[i];
sensor->active = SENSOR_ACTIVE_S5;
- sensor->odr = sensor->default_odr;
- sensor->range = sensor->default_range;
+ sensor->runtime_config.odr = sensor->default_config.odr;
+ sensor->runtime_config.range = sensor->default_config.range;
if ((sensor->state == SENSOR_INITIALIZED) &&
!(sensor->active_mask & sensor->active)) {
sensor->drv->set_data_rate(sensor, 0, 0);
@@ -127,7 +127,8 @@ static void motion_sense_resume(void)
sensor->active = SENSOR_ACTIVE_S0;
if (sensor->state == SENSOR_INITIALIZED) {
/* Put back the odr previously set. */
- sensor->drv->set_data_rate(sensor, sensor->odr, 1);
+ sensor->drv->set_data_rate(sensor,
+ sensor->runtime_config.odr, 1);
}
}
}
@@ -233,8 +234,8 @@ void motion_sense_task(void)
sensor = &motion_sensors[i];
sensor->state = SENSOR_NOT_INITIALIZED;
- sensor->odr = sensor->default_odr;
- sensor->range = sensor->default_range;
+ sensor->runtime_config.odr = sensor->default_config.odr;
+ sensor->runtime_config.range = sensor->default_config.range;
}
set_present(lpc_status);
@@ -443,7 +444,7 @@ static int host_cmd_motion_sense(struct host_cmd_handler_args *args)
sensor->drv->get_data_rate(sensor, &data);
/* Save configuration parameter: ODR */
- sensor->odr = data;
+ sensor->runtime_config.odr = data;
out->sensor_odr.ret = data;
args->response_size = sizeof(out->sensor_odr);
@@ -471,7 +472,7 @@ static int host_cmd_motion_sense(struct host_cmd_handler_args *args)
sensor->drv->get_range(sensor, &data);
/* Save configuration parameter: range */
- sensor->range = data;
+ sensor->runtime_config.range = data;
out->sensor_range.ret = data;
args->response_size = sizeof(out->sensor_range);
diff --git a/driver/accel_kxcj9.c b/driver/accel_kxcj9.c
index aa2a8ed9c5..26a737175c 100644
--- a/driver/accel_kxcj9.c
+++ b/driver/accel_kxcj9.c
@@ -504,7 +504,7 @@ static int init(const struct motion_sensor_t *s)
}
} while (1);
- ret = set_range(s, s->range, 1);
+ ret = set_range(s, s->runtime_config.range, 1);
if (ret != EC_SUCCESS)
return ret;
@@ -512,7 +512,7 @@ static int init(const struct motion_sensor_t *s)
if (ret != EC_SUCCESS)
return ret;
- ret = set_data_rate(s, s->odr, 1);
+ ret = set_data_rate(s, s->runtime_config.odr, 1);
if (ret != EC_SUCCESS)
return ret;
diff --git a/driver/accelgyro_lsm6ds0.c b/driver/accelgyro_lsm6ds0.c
index a93166c1de..47f243eb44 100644
--- a/driver/accelgyro_lsm6ds0.c
+++ b/driver/accelgyro_lsm6ds0.c
@@ -169,7 +169,7 @@ static int set_range(const struct motion_sensor_t *s,
int ret, ctrl_val, range_tbl_size;
uint8_t ctrl_reg, reg_val;
const struct accel_param_pair *ranges;
- struct lsm6ds0_data *data = (struct lsm6ds0_data *)s->drv_data;
+ struct motion_data_t *data = (struct motion_data_t *)s->drv_data;
ctrl_reg = get_ctrl_reg(s->type);
ranges = get_range_table(s->type, &range_tbl_size);
@@ -191,20 +191,20 @@ static int set_range(const struct motion_sensor_t *s,
/* Now that we have set the range, update the driver's value. */
if (ret == EC_SUCCESS)
- data->sensor_range = get_engineering_val(reg_val, ranges,
- range_tbl_size);
+ data->range = get_engineering_val(reg_val, ranges,
+ range_tbl_size);
accel_cleanup:
mutex_unlock(s->mutex);
- return EC_SUCCESS;
+ return ret;
}
static int get_range(const struct motion_sensor_t *s,
int *range)
{
- struct lsm6ds0_data *data = (struct lsm6ds0_data *)s->drv_data;
+ struct motion_data_t *data = (struct motion_data_t *)s->drv_data;
- *range = data->sensor_range;
+ *range = data->range;
return EC_SUCCESS;
}
@@ -230,7 +230,7 @@ static int set_data_rate(const struct motion_sensor_t *s,
int ret, val, odr_tbl_size;
uint8_t ctrl_reg, reg_val;
const struct accel_param_pair *data_rates;
- struct lsm6ds0_data *data = s->drv_data;
+ struct motion_data_t *data = s->drv_data;
ctrl_reg = get_ctrl_reg(s->type);
data_rates = get_odr_table(s->type, &odr_tbl_size);
@@ -251,7 +251,7 @@ static int set_data_rate(const struct motion_sensor_t *s,
/* Now that we have set the odr, update the driver's value. */
if (ret == EC_SUCCESS)
- data->sensor_odr = get_engineering_val(reg_val, data_rates,
+ data->odr = get_engineering_val(reg_val, data_rates,
odr_tbl_size);
/* CTRL_REG3_G 12h
@@ -274,15 +274,15 @@ static int set_data_rate(const struct motion_sensor_t *s,
accel_cleanup:
mutex_unlock(s->mutex);
- return EC_SUCCESS;
+ return ret;
}
static int get_data_rate(const struct motion_sensor_t *s,
int *rate)
{
- struct lsm6ds0_data *data = s->drv_data;
+ struct motion_data_t *data = s->drv_data;
- *rate = data->sensor_odr;
+ *rate = data->odr;
return EC_SUCCESS;
}
@@ -420,29 +420,30 @@ static int init(const struct motion_sensor_t *s)
if (ret)
return EC_ERROR_UNKNOWN;
- ret = set_range(s, s->range, 1);
+ ret = set_range(s, s->runtime_config.range, 1);
if (ret)
return EC_ERROR_UNKNOWN;
- ret = set_data_rate(s, s->odr, 1);
+ ret = set_data_rate(s, s->runtime_config.odr, 1);
if (ret)
return EC_ERROR_UNKNOWN;
}
if (MOTIONSENSE_TYPE_GYRO == s->type) {
/* Config GYRO Range */
- ret = set_range(s, s->range, 1);
+ ret = set_range(s, s->runtime_config.range, 1);
if (ret)
return EC_ERROR_UNKNOWN;
/* Config ACCEL & GYRO ODR */
- ret = set_data_rate(s, s->odr, 1);
+ ret = set_data_rate(s, s->runtime_config.odr, 1);
if (ret)
return EC_ERROR_UNKNOWN;
}
CPRINTF("[%T %s: MS Done Init type:0x%X range:%d odr:%d]\n",
- s->name, s->type, s->range, s->odr);
+ s->name, s->type, s->runtime_config.range,
+ s->runtime_config.odr);
return ret;
}
diff --git a/driver/accelgyro_lsm6ds0.h b/driver/accelgyro_lsm6ds0.h
index 9f8953395d..c71fc37767 100644
--- a/driver/accelgyro_lsm6ds0.h
+++ b/driver/accelgyro_lsm6ds0.h
@@ -116,14 +116,6 @@ enum lsm6ds0_bdu {
/* Sensor resolution in number of bits. This sensor has fixed resolution. */
#define LSM6DS0_RESOLUTION 16
-/* Run-time configurable parameters */
-struct lsm6ds0_data {
- /* Current range */
- int sensor_range;
- /* Current output data rate */
- int sensor_odr;
-};
-
extern const struct accelgyro_drv lsm6ds0_drv;
#endif /* __CROS_EC_ACCEL_LSM6DS0_H */
diff --git a/include/motion_sense.h b/include/motion_sense.h
index 9f971bb184..bdbd7b238c 100644
--- a/include/motion_sense.h
+++ b/include/motion_sense.h
@@ -26,6 +26,11 @@ enum sensor_state {
#define SENSOR_ACTIVE_S0_S3 (SENSOR_ACTIVE_S3 | SENSOR_ACTIVE_S0)
#define SENSOR_ACTIVE_S0_S3_S5 (SENSOR_ACTIVE_S0_S3 | SENSOR_ACTIVE_S5)
+struct motion_data_t {
+ int odr;
+ int range;
+};
+
struct motion_sensor_t {
/* RO fields */
uint32_t active_mask;
@@ -40,12 +45,10 @@ struct motion_sensor_t {
const matrix_3x3_t *rot_standard_ref;
/* Default configuration parameters, RO only */
- int default_odr;
- int default_range;
+ struct motion_data_t default_config;
/* Run-Time configuration parameters */
- int odr;
- int range;
+ struct motion_data_t runtime_config;
/* state parameters */
enum sensor_state state;
diff --git a/test/motion_lid.c b/test/motion_lid.c
index a358a5056c..78ef019853 100644
--- a/test/motion_lid.c
+++ b/test/motion_lid.c
@@ -102,14 +102,36 @@ const matrix_3x3_t lid_standard_ref = {
};
struct motion_sensor_t motion_sensors[] = {
- {SENSOR_ACTIVE_S0_S3_S5, "base", MOTIONSENSE_CHIP_LSM6DS0,
- MOTIONSENSE_TYPE_ACCEL, MOTIONSENSE_LOC_BASE,
- &test_motion_sense, NULL, NULL,
- 0, &base_standard_ref, 119000, 2},
- {SENSOR_ACTIVE_S0, "lid", MOTIONSENSE_CHIP_KXCJ9,
- MOTIONSENSE_TYPE_ACCEL, MOTIONSENSE_LOC_LID,
- &test_motion_sense, NULL, NULL,
- 0, &lid_standard_ref, 100000, 2},
+ {.name = "base",
+ .active_mask = SENSOR_ACTIVE_S0_S3_S5,
+ .chip = MOTIONSENSE_CHIP_LSM6DS0,
+ .type = MOTIONSENSE_TYPE_ACCEL,
+ .location = MOTIONSENSE_LOC_BASE,
+ .drv = &test_motion_sense,
+ .mutex = NULL,
+ .drv_data = NULL,
+ .i2c_addr = 0,
+ .rot_standard_ref = &base_standard_ref,
+ .default_config = {
+ .odr = 119000,
+ .range = 2
+ }
+ },
+ {.name = "base",
+ .active_mask = SENSOR_ACTIVE_S0,
+ .chip = MOTIONSENSE_CHIP_KXCJ9,
+ .type = MOTIONSENSE_TYPE_ACCEL,
+ .location = MOTIONSENSE_LOC_LID,
+ .drv = &test_motion_sense,
+ .mutex = NULL,
+ .drv_data = NULL,
+ .i2c_addr = 0,
+ .rot_standard_ref = &lid_standard_ref,
+ .default_config = {
+ .odr = 119000,
+ .range = 2
+ }
+ },
};
const unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
View Lorry Controller Status