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-rw-r--r--common/motion_calibrate.c1
-rw-r--r--common/motion_sense.c149
-rw-r--r--driver/accel_kxcj9.c219
-rw-r--r--driver/accel_kxcj9.h27
-rw-r--r--driver/accelgyro_lsm6ds0.c139
-rw-r--r--driver/accelgyro_lsm6ds0.h14
-rw-r--r--driver/build.mk1
-rw-r--r--include/accelerometer.h87
-rw-r--r--include/accelgyro.h111
-rw-r--r--include/ec_commands.h1
-rw-r--r--include/motion_sense.h16
-rw-r--r--test/math_util.c39
-rw-r--r--test/motion_sense.c79
13 files changed, 496 insertions, 387 deletions
diff --git a/common/motion_calibrate.c b/common/motion_calibrate.c
index 9819f12d28..f0b7d5ade3 100644
--- a/common/motion_calibrate.c
+++ b/common/motion_calibrate.c
@@ -5,7 +5,6 @@
/* Motion sensor calibration code. */
-#include "accelerometer.h"
#include "common.h"
#include "console.h"
#include "math_util.h"
diff --git a/common/motion_sense.c b/common/motion_sense.c
index 3564c06d4e..0dd0b7e07a 100644
--- a/common/motion_sense.c
+++ b/common/motion_sense.c
@@ -5,7 +5,7 @@
/* Motion sense module to read from various motion sensors. */
-#include "accelerometer.h"
+#include "accelgyro.h"
#include "common.h"
#include "console.h"
#include "hooks.h"
@@ -24,6 +24,9 @@
/* Minimum time in between running motion sense task loop. */
#define MIN_MOTION_SENSE_WAIT_TIME (1 * MSEC)
+static const struct motion_sensor_t *base;
+static const struct motion_sensor_t *lid;
+
/* Current acceleration vectors and current lid angle. */
static vector_3_t acc_lid_raw, acc_lid, acc_base;
static vector_3_t acc_lid_host, acc_base_host;
@@ -186,6 +189,7 @@ void motion_sense_task(void)
uint8_t *lpc_status;
uint16_t *lpc_data;
int sample_id = 0;
+ int i;
lpc_status = host_get_memmap(EC_MEMMAP_ACC_STATUS);
lpc_data = (uint16_t *)host_get_memmap(EC_MEMMAP_ACC_DATA);
@@ -193,14 +197,25 @@ void motion_sense_task(void)
/*
* TODO(crosbug.com/p/27320): The motion_sense task currently assumes
* one configuration of motion sensors. Namely, it assumes there is
- * one accel in the base, one in the lid, and they both use the same
- * driver. Eventually, all of these assumptions will have to be removed
- * when we have other configurations of motion sensors.
+ * one accel in the base, one in the lid. Eventually, these
+ * assumptions will have to be removed when we have other
+ * configurations of motion sensors.
*/
+ for (i = 0; i < motion_sensor_count; ++i) {
+ if (motion_sensors[i].location == LOCATION_LID)
+ lid = &motion_sensors[i];
+ else if (motion_sensors[i].location == LOCATION_BASE)
+ base = &motion_sensors[i];
+ }
+
+ if (lid == NULL || base == NULL) {
+ CPRINTS("Invalid motion_sensors list, lid and base required");
+ return;
+ }
/* Initialize accelerometers. */
- ret = accel_init(ACCEL_LID);
- ret |= accel_init(ACCEL_BASE);
+ ret = lid->drv->init(lid->drv_data, lid->i2c_addr);
+ ret |= base->drv->init(base->drv_data, base->i2c_addr);
/* If accelerometers do not initialize, then end task. */
if (ret != EC_SUCCESS) {
@@ -212,12 +227,12 @@ void motion_sense_task(void)
accel_interval_ms = accel_interval_ap_suspend_ms;
/* Set default accelerometer parameters. */
- accel_set_range(ACCEL_LID, 2, 1);
- accel_set_range(ACCEL_BASE, 2, 1);
- accel_set_resolution(ACCEL_LID, 12, 1);
- accel_set_resolution(ACCEL_BASE, 12, 1);
- accel_set_datarate(ACCEL_LID, 100000, 1);
- accel_set_datarate(ACCEL_BASE, 100000, 1);
+ lid->drv->set_range(lid->drv_data, 2, 1);
+ lid->drv->set_resolution(lid->drv_data, 12, 1);
+ lid->drv->set_datarate(lid->drv_data, 100000, 1);
+ base->drv->set_range(base->drv_data, 2, 1);
+ base->drv->set_resolution(base->drv_data, 12, 1);
+ base->drv->set_datarate(base->drv_data, 100000, 1);
/* Write to status byte to represent that accelerometers are present. */
*lpc_status |= EC_MEMMAP_ACC_STATUS_PRESENCE_BIT;
@@ -226,9 +241,9 @@ void motion_sense_task(void)
ts0 = get_time();
/* Read all accelerations. */
- accel_read(ACCEL_LID, &acc_lid_raw[X], &acc_lid_raw[Y],
+ lid->drv->read(lid->drv_data, &acc_lid_raw[X], &acc_lid_raw[Y],
&acc_lid_raw[Z]);
- accel_read(ACCEL_BASE, &acc_base[X], &acc_base[Y],
+ base->drv->read(base->drv_data, &acc_base[X], &acc_base[Y],
&acc_base[Z]);
/*
@@ -333,32 +348,27 @@ void accel_int_base(enum gpio_signal signal)
/*****************************************************************************/
/* Host commands */
-/**
- * Temporary function to map host sensor IDs to EC sensor IDs.
- *
- * TODO(crosbug.com/p/27320): Eventually we need a board specific table
- * specifying which motion sensors are attached and which driver to use to
- * access that sensor. Once we have this, this function should be able to go
- * away.
- */
-static int host_sensor_id_to_ec_sensor_id(int host_id)
+/* Function to map host sensor IDs to motion sensor. */
+static const struct motion_sensor_t
+ *host_sensor_id_to_motion_sensor(int host_id)
{
switch (host_id) {
case EC_MOTION_SENSOR_ACCEL_BASE:
- return ACCEL_BASE;
+ return base;
case EC_MOTION_SENSOR_ACCEL_LID:
- return ACCEL_LID;
+ return lid;
}
/* If no match then the EC currently doesn't support ID received. */
- return -1;
+ return NULL;
}
static int host_cmd_motion_sense(struct host_cmd_handler_args *args)
{
const struct ec_params_motion_sense *in = args->params;
struct ec_response_motion_sense *out = args->response;
- int id, data;
+ const struct motion_sensor_t *sensor;
+ int data;
switch (in->cmd) {
case MOTIONSENSE_CMD_DUMP:
@@ -390,24 +400,25 @@ static int host_cmd_motion_sense(struct host_cmd_handler_args *args)
* use some motion_sense data structure from the board file to
* help fill in this response.
*/
- id = host_sensor_id_to_ec_sensor_id(in->sensor_odr.sensor_num);
- if (id < 0)
+ sensor = host_sensor_id_to_motion_sensor(
+ in->sensor_odr.sensor_num);
+ if (sensor == NULL)
return EC_RES_INVALID_PARAM;
- switch (id) {
- case ACCEL_BASE:
+ if (sensor->drv->sensor_type == SENSOR_ACCELEROMETER)
out->info.type = MOTIONSENSE_TYPE_ACCEL;
+ else if (sensor->drv->sensor_type == SENSOR_GYRO)
+ out->info.type = MOTIONSENSE_TYPE_GYRO;
+
+ if (sensor->location == LOCATION_BASE)
out->info.location = MOTIONSENSE_LOC_BASE;
- out->info.chip = MOTIONSENSE_CHIP_KXCJ9;
- break;
- case ACCEL_LID:
- out->info.type = MOTIONSENSE_TYPE_ACCEL;
+ else if (sensor->location == LOCATION_LID)
out->info.location = MOTIONSENSE_LOC_LID;
+
+ if (sensor->drv->chip_type == CHIP_KXCJ9)
out->info.chip = MOTIONSENSE_CHIP_KXCJ9;
- break;
- default:
- return EC_RES_INVALID_PARAM;
- }
+ else if (sensor->drv->chip_type == CHIP_LSM6DS0)
+ out->info.chip = MOTIONSENSE_CHIP_LSM6DS0;
args->response_size = sizeof(out->info);
break;
@@ -436,21 +447,24 @@ static int host_cmd_motion_sense(struct host_cmd_handler_args *args)
case MOTIONSENSE_CMD_SENSOR_ODR:
/* Verify sensor number is valid. */
- id = host_sensor_id_to_ec_sensor_id(in->sensor_odr.sensor_num);
- if (id < 0)
+ sensor = host_sensor_id_to_motion_sensor(
+ in->sensor_odr.sensor_num);
+ if (sensor == NULL)
return EC_RES_INVALID_PARAM;
/* Set new datarate if the data arg has a value. */
if (in->sensor_odr.data != EC_MOTION_SENSE_NO_VALUE) {
- if (accel_set_datarate(id, in->sensor_odr.data,
- in->sensor_odr.roundup) != EC_SUCCESS) {
+ if (sensor->drv->set_datarate(sensor->drv_data,
+ in->sensor_odr.data,
+ in->sensor_odr.roundup)
+ != EC_SUCCESS) {
CPRINTS("MS bad sensor rate %d",
in->sensor_odr.data);
return EC_RES_INVALID_PARAM;
}
}
- accel_get_datarate(id, &data);
+ sensor->drv->get_datarate(sensor->drv_data, &data);
out->sensor_odr.ret = data;
args->response_size = sizeof(out->sensor_odr);
@@ -458,21 +472,24 @@ static int host_cmd_motion_sense(struct host_cmd_handler_args *args)
case MOTIONSENSE_CMD_SENSOR_RANGE:
/* Verify sensor number is valid. */
- id = host_sensor_id_to_ec_sensor_id(in->sensor_odr.sensor_num);
- if (id < 0)
+ sensor = host_sensor_id_to_motion_sensor(
+ in->sensor_odr.sensor_num);
+ if (sensor == NULL)
return EC_RES_INVALID_PARAM;
/* Set new datarate if the data arg has a value. */
if (in->sensor_range.data != EC_MOTION_SENSE_NO_VALUE) {
- if (accel_set_range(id, in->sensor_range.data,
- in->sensor_range.roundup) != EC_SUCCESS) {
+ if (sensor->drv->set_range(sensor->drv_data,
+ in->sensor_range.data,
+ in->sensor_range.roundup)
+ != EC_SUCCESS) {
CPRINTS("MS bad sensor range %d",
in->sensor_range.data);
return EC_RES_INVALID_PARAM;
}
}
- accel_get_range(id, &data);
+ sensor->drv->get_range(sensor->drv_data, &data);
out->sensor_range.ret = data;
args->response_size = sizeof(out->sensor_range);
@@ -548,14 +565,16 @@ static int command_accelrange(int argc, char **argv)
{
char *e;
int id, data, round = 1;
+ struct motion_sensor_t *sensor;
if (argc < 2 || argc > 4)
return EC_ERROR_PARAM_COUNT;
/* First argument is sensor id. */
id = strtoi(argv[1], &e, 0);
- if (*e || id < 0 || id > ACCEL_COUNT)
+ if (*e || id < 0 || id > motion_sensor_count)
return EC_ERROR_PARAM1;
+ sensor = motion_sensors[id];
if (argc >= 3) {
/* Second argument is data to write. */
@@ -574,10 +593,12 @@ static int command_accelrange(int argc, char **argv)
* Write new range, if it returns invalid arg, then return
* a parameter error.
*/
- if (accel_set_range(id, data, round) == EC_ERROR_INVAL)
+ if (sensor->drv->set_range(sensor->drv_data,
+ data,
+ round) == EC_ERROR_INVAL)
return EC_ERROR_PARAM2;
} else {
- accel_get_range(id, &data);
+ sensor->drv->get_range(sensor->drv_data, &data);
ccprintf("Range for sensor %d: %d\n", id, data);
}
@@ -591,14 +612,16 @@ static int command_accelresolution(int argc, char **argv)
{
char *e;
int id, data, round = 1;
+ struct motion_sensor_t *sensor;
if (argc < 2 || argc > 4)
return EC_ERROR_PARAM_COUNT;
/* First argument is sensor id. */
id = strtoi(argv[1], &e, 0);
- if (*e || id < 0 || id > ACCEL_COUNT)
+ if (*e || id < 0 || id > motion_sensor_count)
return EC_ERROR_PARAM1;
+ sensor = motion_sensors[id];
if (argc >= 3) {
/* Second argument is data to write. */
@@ -617,10 +640,11 @@ static int command_accelresolution(int argc, char **argv)
* Write new resolution, if it returns invalid arg, then
* return a parameter error.
*/
- if (accel_set_resolution(id, data, round) == EC_ERROR_INVAL)
+ if (sensor->drv->set_resolution(sensor->drv_data, data, round)
+ == EC_ERROR_INVAL)
return EC_ERROR_PARAM2;
} else {
- accel_get_resolution(id, &data);
+ sensor->drv->get_resolution(sensor->drv_data, &data);
ccprintf("Resolution for sensor %d: %d\n", id, data);
}
@@ -634,14 +658,16 @@ static int command_acceldatarate(int argc, char **argv)
{
char *e;
int id, data, round = 1;
+ struct motion_sensor_t *sensor;
if (argc < 2 || argc > 4)
return EC_ERROR_PARAM_COUNT;
/* First argument is sensor id. */
id = strtoi(argv[1], &e, 0);
- if (*e || id < 0 || id > ACCEL_COUNT)
+ if (*e || id < 0 || id > motion_sensor_count)
return EC_ERROR_PARAM1;
+ sensor = motion_sensors[id];
if (argc >= 3) {
/* Second argument is data to write. */
@@ -660,10 +686,11 @@ static int command_acceldatarate(int argc, char **argv)
* Write new data rate, if it returns invalid arg, then
* return a parameter error.
*/
- if (accel_set_datarate(id, data, round) == EC_ERROR_INVAL)
+ if (sensor->drv->set_datarate(sensor->drv_data, data, round)
+ == EC_ERROR_INVAL)
return EC_ERROR_PARAM2;
} else {
- accel_get_datarate(id, &data);
+ sensor->drv->get_datarate(sensor->drv_data, &data);
ccprintf("Data rate for sensor %d: %d\n", id, data);
}
@@ -678,21 +705,23 @@ static int command_accelerometer_interrupt(int argc, char **argv)
{
char *e;
int id, thresh;
+ struct motion_sensor_t *sensor;
if (argc != 3)
return EC_ERROR_PARAM_COUNT;
/* First argument is id. */
id = strtoi(argv[1], &e, 0);
- if (*e || id < 0 || id >= ACCEL_COUNT)
+ if (*e || id < 0 || id >= motion_sensor_count)
return EC_ERROR_PARAM1;
+ sensor = motion_sensors[id];
/* Second argument is interrupt threshold. */
thresh = strtoi(argv[2], &e, 0);
if (*e)
return EC_ERROR_PARAM2;
- accel_set_interrupt(id, thresh);
+ sensor->drv->set_interrupt(drv_data, thresh);
return EC_SUCCESS;
}
diff --git a/driver/accel_kxcj9.c b/driver/accel_kxcj9.c
index 1dc491151b..de05f85559 100644
--- a/driver/accel_kxcj9.c
+++ b/driver/accel_kxcj9.c
@@ -5,7 +5,7 @@
/* KXCJ9 gsensor module for Chrome EC */
-#include "accelerometer.h"
+#include "accelgyro.h"
#include "common.h"
#include "console.h"
#include "driver/accel_kxcj9.h"
@@ -31,20 +31,20 @@ struct accel_param_pair {
};
/* List of range values in +/-G's and their associated register values. */
-const struct accel_param_pair ranges[] = {
+static const struct accel_param_pair ranges[] = {
{2, KXCJ9_GSEL_2G},
{4, KXCJ9_GSEL_4G},
{8, KXCJ9_GSEL_8G_14BIT}
};
/* List of resolution values in bits and their associated register values. */
-const struct accel_param_pair resolutions[] = {
+static const struct accel_param_pair resolutions[] = {
{8, KXCJ9_RES_8BIT},
{12, KXCJ9_RES_12BIT}
};
/* List of ODR values in mHz and their associated register values. */
-const struct accel_param_pair datarates[] = {
+static const struct accel_param_pair datarates[] = {
{781, KXCJ9_OSA_0_781HZ},
{1563, KXCJ9_OSA_1_563HZ},
{3125, KXCJ9_OSA_3_125HZ},
@@ -59,24 +59,6 @@ const struct accel_param_pair datarates[] = {
{1600000, KXCJ9_OSA_1600_HZ}
};
-/* Current range of each accelerometer. The value is an index into ranges[]. */
-static int sensor_range[ACCEL_COUNT] = {0, 0};
-
-/*
- * Current resolution of each accelerometer. The value is an index into
- * resolutions[].
- */
-static int sensor_resolution[ACCEL_COUNT] = {1, 1};
-
-/*
- * Current output data rate of each accelerometer. The value is an index into
- * datarates[].
- */
-static int sensor_datarate[ACCEL_COUNT] = {6, 6};
-
-
-static struct mutex accel_mutex[ACCEL_COUNT];
-
/**
* Find index into a accel_param_pair that matches the given engineering value
* passed in. The round_up flag is used to specify whether to round up or down.
@@ -126,12 +108,12 @@ static int raw_write8(const int addr, const int reg, int data)
*
* Note: This is intended to be called in a pair with enable_sensor().
*
- * @id Sensor index
+ * @data Pointer to motion sensor data
* @ctrl1 Pointer to location to store KXCJ9_CTRL1 register after disabling
*
* @return EC_SUCCESS if successful, EC_ERROR_* otherwise
*/
-static int disable_sensor(const enum accel_id id, int *ctrl1)
+static int disable_sensor(struct kxcj9_data *data, int *ctrl1)
{
int ret;
@@ -139,7 +121,7 @@ static int disable_sensor(const enum accel_id id, int *ctrl1)
* Read the current state of the ctrl1 register so that we can restore
* it later.
*/
- ret = raw_read8(accel_addr[id], KXCJ9_CTRL1, ctrl1);
+ ret = raw_read8(data->accel_addr, KXCJ9_CTRL1, ctrl1);
if (ret != EC_SUCCESS)
return ret;
@@ -147,13 +129,13 @@ static int disable_sensor(const enum accel_id id, int *ctrl1)
* 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]);
+ mutex_lock(&data->accel_mutex);
/* Disable sensor. */
*ctrl1 &= ~KXCJ9_CTRL1_PC1;
- ret = raw_write8(accel_addr[id], KXCJ9_CTRL1, *ctrl1);
+ ret = raw_write8(data->accel_addr, KXCJ9_CTRL1, *ctrl1);
if (ret != EC_SUCCESS) {
- mutex_unlock(&accel_mutex[id]);
+ mutex_unlock(&data->accel_mutex);
return ret;
}
@@ -165,178 +147,166 @@ static int disable_sensor(const enum accel_id id, int *ctrl1)
*
* Note: This is intended to be called in a pair with disable_sensor().
*
- * @id Sensor index
+ * @data Pointer to motion sensor data
* @ctrl1 Value of KXCJ9_CTRL1 register to write to sensor
*
* @return EC_SUCCESS if successful, EC_ERROR_* otherwise
*/
-static int enable_sensor(const enum accel_id id, const int ctrl1)
+static int enable_sensor(struct kxcj9_data *data, const int ctrl1)
{
int i, ret;
for (i = 0; i < SENSOR_ENABLE_ATTEMPTS; i++) {
/* Enable accelerometer based on ctrl1 value. */
- ret = raw_write8(accel_addr[id], KXCJ9_CTRL1,
+ ret = raw_write8(data->accel_addr, KXCJ9_CTRL1,
ctrl1 | KXCJ9_CTRL1_PC1);
/* On first success, we are done. */
if (ret == EC_SUCCESS) {
- mutex_unlock(&accel_mutex[id]);
+ mutex_unlock(&data->accel_mutex);
return EC_SUCCESS;
}
-
}
/* Release mutex. */
- mutex_unlock(&accel_mutex[id]);
+ mutex_unlock(&data->accel_mutex);
/* Cannot enable accel, print warning and return an error. */
- CPRINTF("Error trying to enable accelerometer %d\n", id);
+ CPRINTF("Error trying to enable accelerometer\n");
return ret;
}
-int accel_set_range(const enum accel_id id, const int range, const int rnd)
+static int accel_set_range(void *drv_data,
+ const int range,
+ const int rnd)
{
int ret, ctrl1, ctrl1_new, index;
-
- /* Check for valid id. */
- if (id < 0 || id >= ACCEL_COUNT)
- return EC_ERROR_INVAL;
+ struct kxcj9_data *data = (struct kxcj9_data *)drv_data;
/* Find index for interface pair matching the specified range. */
index = find_param_index(range, rnd, ranges, ARRAY_SIZE(ranges));
/* Disable the sensor to allow for changing of critical parameters. */
- ret = disable_sensor(id, &ctrl1);
+ ret = disable_sensor(data, &ctrl1);
if (ret != EC_SUCCESS)
return ret;
/* Determine new value of CTRL1 reg and attempt to write it. */
ctrl1_new = (ctrl1 & ~KXCJ9_GSEL_ALL) | ranges[index].reg;
- ret = raw_write8(accel_addr[id], KXCJ9_CTRL1, ctrl1_new);
+ ret = raw_write8(data->accel_addr, KXCJ9_CTRL1, ctrl1_new);
/* If successfully written, then save the range. */
if (ret == EC_SUCCESS) {
- sensor_range[id] = index;
+ data->sensor_range = index;
ctrl1 = ctrl1_new;
}
/* Re-enable the sensor. */
- if (enable_sensor(id, ctrl1) != EC_SUCCESS)
+ if (enable_sensor(data, ctrl1) != EC_SUCCESS)
return EC_ERROR_UNKNOWN;
return ret;
}
-int accel_get_range(const enum accel_id id, int * const range)
+static int accel_get_range(void *drv_data, int * const range)
{
- /* Check for valid id. */
- if (id < 0 || id >= ACCEL_COUNT)
- return EC_ERROR_INVAL;
-
- *range = ranges[sensor_range[id]].val;
+ struct kxcj9_data *data = (struct kxcj9_data *)drv_data;
+ *range = ranges[data->sensor_range].val;
return EC_SUCCESS;
}
-int accel_set_resolution(const enum accel_id id, const int res, const int rnd)
+static int accel_set_resolution(void *drv_data,
+ const int res,
+ const int rnd)
{
int ret, ctrl1, ctrl1_new, index;
-
- /* Check for valid id. */
- if (id < 0 || id >= ACCEL_COUNT)
- return EC_ERROR_INVAL;
+ struct kxcj9_data *data = (struct kxcj9_data *)drv_data;
/* Find index for interface pair matching the specified resolution. */
index = find_param_index(res, rnd, resolutions,
ARRAY_SIZE(resolutions));
/* Disable the sensor to allow for changing of critical parameters. */
- ret = disable_sensor(id, &ctrl1);
+ ret = disable_sensor(data, &ctrl1);
if (ret != EC_SUCCESS)
return ret;
/* Determine new value of CTRL1 reg and attempt to write it. */
ctrl1_new = (ctrl1 & ~KXCJ9_RES_12BIT) | resolutions[index].reg;
- ret = raw_write8(accel_addr[id], KXCJ9_CTRL1, ctrl1_new);
+ ret = raw_write8(data->accel_addr, KXCJ9_CTRL1, ctrl1_new);
/* If successfully written, then save the range. */
if (ret == EC_SUCCESS) {
- sensor_resolution[id] = index;
+ data->sensor_resolution = index;
ctrl1 = ctrl1_new;
}
/* Re-enable the sensor. */
- if (enable_sensor(id, ctrl1) != EC_SUCCESS)
+ if (enable_sensor(data, ctrl1) != EC_SUCCESS)
return EC_ERROR_UNKNOWN;
return ret;
}
-int accel_get_resolution(const enum accel_id id, int * const res)
+static int accel_get_resolution(void *drv_data, int * const res)
{
- /* Check for valid id. */
- if (id < 0 || id >= ACCEL_COUNT)
- return EC_ERROR_INVAL;
-
- *res = resolutions[sensor_resolution[id]].val;
+ struct kxcj9_data *data = (struct kxcj9_data *)drv_data;
+ *res = resolutions[data->sensor_resolution].val;
return EC_SUCCESS;
}
-int accel_set_datarate(const enum accel_id id, const int rate, const int rnd)
+static int accel_set_datarate(void *drv_data,
+ const int rate,
+ const int rnd)
{
int ret, ctrl1, index;
-
- /* Check for valid id. */
- if (id < 0 || id >= ACCEL_COUNT)
- return EC_ERROR_INVAL;
+ struct kxcj9_data *data = (struct kxcj9_data *)drv_data;
/* Find index for interface pair matching the specified rate. */
index = find_param_index(rate, rnd, datarates, ARRAY_SIZE(datarates));
/* Disable the sensor to allow for changing of critical parameters. */
- ret = disable_sensor(id, &ctrl1);
+ ret = disable_sensor(data, &ctrl1);
if (ret != EC_SUCCESS)
return ret;
/* Set output data rate. */
- ret = raw_write8(accel_addr[id], KXCJ9_DATA_CTRL,
+ ret = raw_write8(data->accel_addr, KXCJ9_DATA_CTRL,
datarates[index].reg);
/* If successfully written, then save the range. */
if (ret == EC_SUCCESS)
- sensor_datarate[id] = index;
+ data->sensor_datarate = index;
/* Re-enable the sensor. */
- if (enable_sensor(id, ctrl1) != EC_SUCCESS)
+ if (enable_sensor(data, ctrl1) != EC_SUCCESS)
return EC_ERROR_UNKNOWN;
return ret;
}
-int accel_get_datarate(const enum accel_id id, int * const rate)
+static int accel_get_datarate(void *drv_data, int * const rate)
{
- /* Check for valid id. */
- if (id < 0 || id >= ACCEL_COUNT)
- return EC_ERROR_INVAL;
-
- *rate = datarates[sensor_datarate[id]].val;
+ struct kxcj9_data *data = (struct kxcj9_data *)drv_data;
+ *rate = datarates[data->sensor_datarate].val;
return EC_SUCCESS;
}
#ifdef CONFIG_ACCEL_INTERRUPTS
-int accel_set_interrupt(const enum accel_id id, unsigned int threshold)
+static int accel_set_interrupt(void *drv_data, unsigned int threshold)
{
int ctrl1, tmp, ret;
+ struct kxcj9_data *data = (struct kxcj9_data *)drv_data;
/* Disable the sensor to allow for changing of critical parameters. */
- ret = disable_sensor(id, &ctrl1);
+ ret = disable_sensor(data, &ctrl1);
if (ret != EC_SUCCESS)
return ret;
/* Set interrupt timer to 1 so it wakes up immediately. */
- ret = raw_write8(accel_addr[id], KXCJ9_WAKEUP_TIMER, 1);
+ ret = raw_write8(data->accel_addr, KXCJ9_WAKEUP_TIMER, 1);
if (ret != EC_SUCCESS)
goto error_enable_sensor;
@@ -345,7 +315,7 @@ int accel_set_interrupt(const enum accel_id id, unsigned int threshold)
* first we need to divide by 16 to get the value to send.
*/
threshold >>= 4;
- ret = raw_write8(accel_addr[id], KXCJ9_WAKEUP_THRESHOLD, threshold);
+ ret = raw_write8(data->accel_addr, KXCJ9_WAKEUP_THRESHOLD, threshold);
if (ret != EC_SUCCESS)
goto error_enable_sensor;
@@ -354,11 +324,11 @@ int accel_set_interrupt(const enum accel_id id, unsigned int threshold)
* function is called once, the interrupt stays enabled and it is
* only necessary to clear KXCJ9_INT_REL to allow the next interrupt.
*/
- ret = raw_read8(accel_addr[id], KXCJ9_INT_CTRL1, &tmp);
+ ret = raw_read8(data->accel_addr, KXCJ9_INT_CTRL1, &tmp);
if (ret != EC_SUCCESS)
goto error_enable_sensor;
if (!(tmp & KXCJ9_INT_CTRL1_IEN)) {
- ret = raw_write8(accel_addr[id], KXCJ9_INT_CTRL1,
+ ret = raw_write8(data->accel_addr, KXCJ9_INT_CTRL1,
tmp | KXCJ9_INT_CTRL1_IEN);
if (ret != EC_SUCCESS)
goto error_enable_sensor;
@@ -369,41 +339,40 @@ int accel_set_interrupt(const enum accel_id id, unsigned int threshold)
* Note: this register latches motion detected above threshold. Once
* latched, no interrupt can occur until this register is cleared.
*/
- ret = raw_read8(accel_addr[id], KXCJ9_INT_REL, &tmp);
+ ret = raw_read8(data->accel_addr, KXCJ9_INT_REL, &tmp);
error_enable_sensor:
/* Re-enable the sensor. */
- if (enable_sensor(id, ctrl1) != EC_SUCCESS)
+ if (enable_sensor(data, ctrl1) != EC_SUCCESS)
return EC_ERROR_UNKNOWN;
return ret;
}
#endif
-int accel_read(const enum accel_id id, int * const x_acc, int * const y_acc,
- int * const z_acc)
+static int accel_read(void *drv_data,
+ int * const x_acc,
+ int * const y_acc,
+ int * const z_acc)
{
uint8_t acc[6];
uint8_t reg = KXCJ9_XOUT_L;
int ret, multiplier;
-
- /* Check for valid id. */
- if (id < 0 || id >= ACCEL_COUNT)
- return EC_ERROR_INVAL;
+ struct kxcj9_data *data = (struct kxcj9_data *)drv_data;
/* Read 6 bytes starting at KXCJ9_XOUT_L. */
- mutex_lock(&accel_mutex[id]);
+ mutex_lock(&data->accel_mutex);
i2c_lock(I2C_PORT_ACCEL, 1);
- ret = i2c_xfer(I2C_PORT_ACCEL, accel_addr[id], &reg, 1, acc, 6,
+ ret = i2c_xfer(I2C_PORT_ACCEL, data->accel_addr, &reg, 1, acc, 6,
I2C_XFER_SINGLE);
i2c_lock(I2C_PORT_ACCEL, 0);
- mutex_unlock(&accel_mutex[id]);
+ mutex_unlock(&data->accel_mutex);
if (ret != EC_SUCCESS)
return ret;
/* Determine multiplier based on stored range. */
- switch (ranges[sensor_range[id]].reg) {
+ switch (ranges[data->sensor_range].reg) {
case KXCJ9_GSEL_2G:
multiplier = 1;
break;
@@ -436,17 +405,23 @@ int accel_read(const enum accel_id id, int * const x_acc, int * const y_acc,
return EC_SUCCESS;
}
-int accel_init(const enum accel_id id)
+static int accel_init(void *drv_data, int i2c_addr)
{
int ret = EC_SUCCESS;
int cnt = 0, ctrl1, ctrl2;
+ struct kxcj9_data *data = (struct kxcj9_data *)drv_data;
- /* Check for valid id. */
- if (id < 0 || id >= ACCEL_COUNT)
+ if (data == NULL)
return EC_ERROR_INVAL;
+ memset(&data->accel_mutex, sizeof(struct mutex), 0);
+ data->sensor_range = 0;
+ data->sensor_datarate = 6;
+ data->sensor_resolution = 1;
+ data->accel_addr = i2c_addr;
+
/* Disable the sensor to allow for changing of critical parameters. */
- ret = disable_sensor(id, &ctrl1);
+ ret = disable_sensor(data, &ctrl1);
if (ret != EC_SUCCESS)
return ret;
@@ -455,13 +430,13 @@ int accel_init(const enum accel_id id)
* the sensor is unknown here. Initiate software reset to restore
* sensor to default.
*/
- ret = raw_write8(accel_addr[id], KXCJ9_CTRL2, KXCJ9_CTRL2_SRST);
+ ret = raw_write8(data->accel_addr, KXCJ9_CTRL2, KXCJ9_CTRL2_SRST);
if (ret != EC_SUCCESS)
return ret;
/* Wait until software reset is complete or timeout. */
while (1) {
- ret = raw_read8(accel_addr[id], KXCJ9_CTRL2, &ctrl2);
+ ret = raw_read8(data->accel_addr, KXCJ9_CTRL2, &ctrl2);
/* Reset complete. */
if (ret == EC_SUCCESS && !(ctrl2 & KXCJ9_CTRL2_SRST))
@@ -476,23 +451,25 @@ int accel_init(const enum accel_id id)
}
/* Set resolution and range. */
- ctrl1 = resolutions[sensor_resolution[id]].reg |
- ranges[sensor_range[id]].reg;
+ ctrl1 = resolutions[data->sensor_resolution].reg |
+ ranges[data->sensor_range].reg;
#ifdef CONFIG_ACCEL_INTERRUPTS
/* Enable wake up (motion detect) functionality. */
ctrl1 |= KXCJ9_CTRL1_WUFE;
#endif
- ret = raw_write8(accel_addr[id], KXCJ9_CTRL1, ctrl1);
+ ret = raw_write8(data->accel_addr, KXCJ9_CTRL1, ctrl1);
#ifdef CONFIG_ACCEL_INTERRUPTS
/* Set interrupt polarity to rising edge and keep interrupt disabled. */
- ret |= raw_write8(accel_addr[id], KXCJ9_INT_CTRL1, KXCJ9_INT_CTRL1_IEA);
+ ret |= raw_write8(data->accel_addr,
+ KXCJ9_INT_CTRL1,
+ KXCJ9_INT_CTRL1_IEA);
/* Set output data rate for wake-up interrupt function. */
- ret |= raw_write8(accel_addr[id], KXCJ9_CTRL2, KXCJ9_OWUF_100_0HZ);
+ ret |= raw_write8(data->accel_addr, KXCJ9_CTRL2, KXCJ9_OWUF_100_0HZ);
/* Set interrupt to trigger on motion on any axis. */
- ret |= raw_write8(accel_addr[id], KXCJ9_INT_CTRL2,
+ ret |= raw_write8(data->accel_addr, KXCJ9_INT_CTRL2,
KXCJ9_INT_SRC2_XNWU | KXCJ9_INT_SRC2_XPWU |
KXCJ9_INT_SRC2_YNWU | KXCJ9_INT_SRC2_YPWU |
KXCJ9_INT_SRC2_ZNWU | KXCJ9_INT_SRC2_ZPWU);
@@ -506,11 +483,27 @@ int accel_init(const enum accel_id id)
#endif
/* Set output data rate. */
- ret |= raw_write8(accel_addr[id], KXCJ9_DATA_CTRL,
- datarates[sensor_datarate[id]].reg);
+ ret |= raw_write8(data->accel_addr, KXCJ9_DATA_CTRL,
+ datarates[data->sensor_datarate].reg);
/* Enable the sensor. */
- ret |= enable_sensor(id, ctrl1);
+ ret |= enable_sensor(data, ctrl1);
return ret;
}
+
+const struct accelgyro_info accel_kxcj9 = {
+ .chip_type = CHIP_KXCJ9,
+ .sensor_type = SENSOR_ACCELEROMETER,
+ .init = accel_init,
+ .read = accel_read,
+ .set_range = accel_set_range,
+ .get_range = accel_get_range,
+ .set_resolution = accel_set_resolution,
+ .get_resolution = accel_get_resolution,
+ .set_datarate = accel_set_datarate,
+ .get_datarate = accel_get_datarate,
+#ifdef CONFIG_ACCEL_INTERRUPTS
+ .set_interrupt = accel_set_interrupt,
+#endif
+};
diff --git a/driver/accel_kxcj9.h b/driver/accel_kxcj9.h
index ea15b6ec17..30bea0e737 100644
--- a/driver/accel_kxcj9.h
+++ b/driver/accel_kxcj9.h
@@ -8,6 +8,8 @@
#ifndef __CROS_EC_ACCEL_KXCJ9_H
#define __CROS_EC_ACCEL_KXCJ9_H
+#include "task.h"
+
/*
* 7-bit address is 000111Xb. Where 'X' is determined
* by the voltage on the ADDR pin.
@@ -99,17 +101,18 @@
#define KXCJ9_OSA_800_0HZ 6
#define KXCJ9_OSA_1600_HZ 7
-
-#ifdef CONFIG_ACCEL_INTERRUPTS
-/**
- * Setup a one-time accel interrupt. If the threshold is low enough, the
- * interrupt may trigger due simply to noise and not any real motion. If the
- * threshold is 0, the interrupt will fire immediately.
- *
- * @param id Target accelerometer
- * @param threshold Threshold for interrupt in units of counts.
- */
-int accel_set_interrupt(const enum accel_id id, unsigned int threshold);
-#endif
+struct kxcj9_data {
+ struct mutex accel_mutex;
+ /* Current range of accelerometer. */
+ int sensor_range;
+ /* Current output data rate of accelerometer. */
+ int sensor_datarate;
+ /* Current resolution of accelerometer. */
+ int sensor_resolution;
+ /* Device address. */
+ int accel_addr;
+};
+
+extern const struct accelgyro_info accel_kxcj9;
#endif /* __CROS_EC_ACCEL_KXCJ9_H */
diff --git a/driver/accelgyro_lsm6ds0.c b/driver/accelgyro_lsm6ds0.c
index 8c8bd76b49..313ec9a312 100644
--- a/driver/accelgyro_lsm6ds0.c
+++ b/driver/accelgyro_lsm6ds0.c
@@ -5,7 +5,7 @@
/* LSM6DS0 accelerometer and gyro module for Chrome EC */
-#include "accelerometer.h"
+#include "accelgyro.h"
#include "common.h"
#include "console.h"
#include "driver/accelgyro_lsm6ds0.h"
@@ -24,14 +24,14 @@ struct accel_param_pair {
};
/* List of range values in +/-G's and their associated register values. */
-const struct accel_param_pair ranges[] = {
+static const struct accel_param_pair ranges[] = {
{2, LSM6DS0_GSEL_2G},
{4, LSM6DS0_GSEL_4G},
{8, LSM6DS0_GSEL_8G}
};
/* List of ODR values in mHz and their associated register values. */
-const struct accel_param_pair datarates[] = {
+static const struct accel_param_pair datarates[] = {
{10000, LSM6DS0_ODR_10HZ},
{50000, LSM6DS0_ODR_50HZ},
{119000, LSM6DS0_ODR_119HZ},
@@ -40,17 +40,6 @@ const struct accel_param_pair datarates[] = {
{952000, LSM6DS0_ODR_982HZ}
};
-/* Current range of each accelerometer. The value is an index into ranges[]. */
-static int sensor_range[ACCEL_COUNT] = {0, 0};
-
-/*
- * Current output data rate of each accelerometer. The value is an index into
- * datarates[].
- */
-static int sensor_datarate[ACCEL_COUNT] = {1, 1};
-
-static struct mutex accel_mutex[ACCEL_COUNT];
-
/**
* Find index into a accel_param_pair that matches the given engineering value
* passed in. The round_up flag is used to specify whether to round up or down.
@@ -94,9 +83,12 @@ static int raw_write8(const int addr, const int reg, int data)
return i2c_write8(I2C_PORT_ACCEL, addr, reg, data);
}
-int accel_set_range(const enum accel_id id, const int range, const int rnd)
+static int accel_set_range(void *drv_data,
+ const int range,
+ const int rnd)
{
int ret, index, ctrl_reg6;
+ struct lsm6ds0_data *data = (struct lsm6ds0_data *)drv_data;
/* Find index for interface pair matching the specified range. */
index = find_param_index(range, rnd, ranges, ARRAY_SIZE(ranges));
@@ -105,61 +97,52 @@ int accel_set_range(const enum accel_id id, const int range, const int rnd)
* Lock accel resource to prevent another task from attempting
* to write accel parameters until we are done.
*/
- mutex_lock(&accel_mutex[id]);
+ mutex_lock(&data->accel_mutex);
- ret = raw_read8(accel_addr[id], LSM6DS0_CTRL_REG6_XL, &ctrl_reg6);
+ ret = raw_read8(data->accel_addr, LSM6DS0_CTRL_REG6_XL, &ctrl_reg6);
if (ret != EC_SUCCESS)
goto accel_cleanup;
ctrl_reg6 = (ctrl_reg6 & ~LSM6DS0_GSEL_ALL) | ranges[index].reg;
- ret = raw_write8(accel_addr[id], LSM6DS0_CTRL_REG6_XL, ctrl_reg6);
+ ret = raw_write8(data->accel_addr, LSM6DS0_CTRL_REG6_XL, ctrl_reg6);
accel_cleanup:
/* Unlock accel resource and save new range if written successfully. */
- mutex_unlock(&accel_mutex[id]);
+ mutex_unlock(&data->accel_mutex);
if (ret == EC_SUCCESS)
- sensor_range[id] = index;
+ data->sensor_range = index;
return EC_SUCCESS;
}
-int accel_get_range(const enum accel_id id, int * const range)
+static int accel_get_range(void *drv_data, int * const range)
{
- /* Check for valid id. */
- if (id < 0 || id >= ACCEL_COUNT)
- return EC_ERROR_INVAL;
-
- *range = ranges[sensor_range[id]].val;
+ struct lsm6ds0_data *data = (struct lsm6ds0_data *)drv_data;
+ *range = ranges[data->sensor_range].val;
return EC_SUCCESS;
}
-int accel_set_resolution(const enum accel_id id, const int res, const int rnd)
+static int accel_set_resolution(void *drv_data,
+ const int res,
+ const int rnd)
{
- /* Check for valid id. */
- if (id < 0 || id >= ACCEL_COUNT)
- return EC_ERROR_INVAL;
-
/* Only one resolution, LSM6DS0_RESOLUTION, so nothing to do. */
return EC_SUCCESS;
}
-int accel_get_resolution(const enum accel_id id, int * const res)
+static int accel_get_resolution(void *drv_data,
+ int * const res)
{
- /* Check for valid id. */
- if (id < 0 || id >= ACCEL_COUNT)
- return EC_ERROR_INVAL;
-
*res = LSM6DS0_RESOLUTION;
return EC_SUCCESS;
}
-int accel_set_datarate(const enum accel_id id, const int rate, const int rnd)
+static int accel_set_datarate(void *drv_data,
+ const int rate,
+ const int rnd)
{
int ret, index, ctrl_reg6;
-
- /* Check for valid id. */
- if (id < 0 || id >= ACCEL_COUNT)
- return EC_ERROR_INVAL;
+ struct lsm6ds0_data *data = (struct lsm6ds0_data *)drv_data;
/* Find index for interface pair matching the specified range. */
index = find_param_index(rate, rnd, datarates, ARRAY_SIZE(datarates));
@@ -168,62 +151,64 @@ int accel_set_datarate(const enum accel_id id, const int rate, const int rnd)
* Lock accel resource to prevent another task from attempting
* to write accel parameters until we are done.
*/
- mutex_lock(&accel_mutex[id]);
+ mutex_lock(&data->accel_mutex);
- ret = raw_read8(accel_addr[id], LSM6DS0_CTRL_REG6_XL, &ctrl_reg6);
+ ret = raw_read8(data->accel_addr, LSM6DS0_CTRL_REG6_XL, &ctrl_reg6);
if (ret != EC_SUCCESS)
goto accel_cleanup;
ctrl_reg6 = (ctrl_reg6 & ~LSM6DS0_ODR_ALL) | datarates[index].reg;
- ret = raw_write8(accel_addr[id], LSM6DS0_CTRL_REG6_XL, ctrl_reg6);
+ ret = raw_write8(data->accel_addr, LSM6DS0_CTRL_REG6_XL, ctrl_reg6);
accel_cleanup:
/* Unlock accel resource and save new ODR if written successfully. */
- mutex_unlock(&accel_mutex[id]);
+ mutex_unlock(&data->accel_mutex);
if (ret == EC_SUCCESS)
- sensor_datarate[id] = index;
+ data->sensor_datarate = index;
return EC_SUCCESS;
}
-int accel_get_datarate(const enum accel_id id, int * const rate)
+static int accel_get_datarate(void *drv_data,
+ int * const rate)
{
- /* Check for valid id. */
- if (id < 0 || id >= ACCEL_COUNT)
- return EC_ERROR_INVAL;
-
- *rate = datarates[sensor_datarate[id]].val;
+ struct lsm6ds0_data *data = (struct lsm6ds0_data *)drv_data;
+ *rate = datarates[data->sensor_datarate].val;
return EC_SUCCESS;
}
#ifdef CONFIG_ACCEL_INTERRUPTS
-int accel_set_interrupt(const enum accel_id id, unsigned int threshold)
+static int accel_set_interrupt(void *drv_data,
+ unsigned int threshold)
{
/* Currently unsupported. */
return EC_ERROR_UNKNOWN;
}
#endif
-int accel_read(const enum accel_id id, int * const x_acc, int * const y_acc,
- int * const z_acc)
+static int accel_read(void *drv_data,
+ int * const x_acc,
+ int * const y_acc,
+ int * const z_acc)
{
uint8_t acc[6];
uint8_t reg = LSM6DS0_OUT_X_L_XL;
int ret, multiplier;
+ struct lsm6ds0_data *data = (struct lsm6ds0_data *)drv_data;
/* Read 6 bytes starting at LSM6DS0_OUT_X_L_XL. */
- mutex_lock(&accel_mutex[id]);
+ mutex_lock(&data->accel_mutex);
i2c_lock(I2C_PORT_ACCEL, 1);
- ret = i2c_xfer(I2C_PORT_ACCEL, accel_addr[id], &reg, 1, acc, 6,
+ ret = i2c_xfer(I2C_PORT_ACCEL, data->accel_addr, &reg, 1, acc, 6,
I2C_XFER_SINGLE);
i2c_lock(I2C_PORT_ACCEL, 0);
- mutex_unlock(&accel_mutex[id]);
+ mutex_unlock(&data->accel_mutex);
if (ret != EC_SUCCESS)
return ret;
/* Determine multiplier based on stored range. */
- switch (ranges[sensor_range[id]].reg) {
+ switch (ranges[data->sensor_range].reg) {
case LSM6DS0_GSEL_2G:
multiplier = 1;
break;
@@ -254,32 +239,50 @@ int accel_read(const enum accel_id id, int * const x_acc, int * const y_acc,
return EC_SUCCESS;
}
-int accel_init(const enum accel_id id)
+static int accel_init(void *drv_data, int i2c_addr)
{
int ret, ctrl_reg6;
+ struct lsm6ds0_data *data = (struct lsm6ds0_data *)drv_data;
- /* Check for valid id. */
- if (id < 0 || id >= ACCEL_COUNT)
+ if (data == NULL)
return EC_ERROR_INVAL;
- mutex_lock(&accel_mutex[id]);
+ memset(&data->accel_mutex, sizeof(struct mutex), 0);
+ data->sensor_range = 0;
+ data->sensor_datarate = 1;
+ data->accel_addr = i2c_addr;
/*
* This sensor can be powered through an EC reboot, so the state of
* the sensor is unknown here. Initiate software reset to restore
* sensor to default.
*/
- ret = raw_write8(accel_addr[id], LSM6DS0_CTRL_REG8, 1);
+ ret = raw_write8(data->accel_addr, LSM6DS0_CTRL_REG8, 1);
if (ret != EC_SUCCESS)
goto accel_cleanup;
/* Set ODR and range. */
- ctrl_reg6 = datarates[sensor_datarate[id]].reg |
- ranges[sensor_range[id]].reg;
+ ctrl_reg6 = datarates[data->sensor_datarate].reg |
+ ranges[data->sensor_range].reg;
- ret = raw_write8(accel_addr[id], LSM6DS0_CTRL_REG6_XL, ctrl_reg6);
+ ret = raw_write8(data->accel_addr, LSM6DS0_CTRL_REG6_XL, ctrl_reg6);
accel_cleanup:
- mutex_unlock(&accel_mutex[id]);
return ret;
}
+
+const struct accelgyro_info accel_lsm6ds0 = {
+ .chip_type = CHIP_LSM6DS0,
+ .sensor_type = SENSOR_ACCELEROMETER,
+ .init = accel_init,
+ .read = accel_read,
+ .set_range = accel_set_range,
+ .get_range = accel_get_range,
+ .set_resolution = accel_set_resolution,
+ .get_resolution = accel_get_resolution,
+ .set_datarate = accel_set_datarate,
+ .get_datarate = accel_get_datarate,
+#ifdef CONFIG_ACCEL_INTERRUPTS
+ .set_interrupt = accel_set_interrupt,
+#endif
+};
diff --git a/driver/accelgyro_lsm6ds0.h b/driver/accelgyro_lsm6ds0.h
index 6c34570b15..5f1b64ca31 100644
--- a/driver/accelgyro_lsm6ds0.h
+++ b/driver/accelgyro_lsm6ds0.h
@@ -8,6 +8,8 @@
#ifndef __CROS_EC_ACCEL_LSM6DS0_H
#define __CROS_EC_ACCEL_LSM6DS0_H
+#include "task.h"
+
/*
* 7-bit address is 110101Xb. Where 'X' is determined
* by the voltage on the ADDR pin.
@@ -42,4 +44,16 @@
/* Sensor resolution in number of bits. This sensor has fixed resolution. */
#define LSM6DS0_RESOLUTION 16
+struct lsm6ds0_data {
+ struct mutex accel_mutex;
+ /* Current range of accelerometer. */
+ int sensor_range;
+ /* Current output data rate of accelerometer. */
+ int sensor_datarate;
+ /* Device address. */
+ int accel_addr;
+};
+
+extern const struct accelgyro_info accel_lsm6ds0;
+
#endif /* __CROS_EC_ACCEL_LSM6DS0_H */
diff --git a/driver/build.mk b/driver/build.mk
index d3872acf6e..a18deb2657 100644
--- a/driver/build.mk
+++ b/driver/build.mk
@@ -8,6 +8,7 @@
# Accelerometers
driver-$(CONFIG_ACCEL_KXCJ9)+=accel_kxcj9.o
+driver-$(CONFIG_ACCELGYRO_LSM6DS0)+=accelgyro_lsm6ds0.o
# ALS drivers
driver-$(CONFIG_ALS_ISL29035)+=als_isl29035.o
diff --git a/include/accelerometer.h b/include/accelerometer.h
deleted file mode 100644
index 0c8703f3ae..0000000000
--- a/include/accelerometer.h
+++ /dev/null
@@ -1,87 +0,0 @@
-/* Copyright (c) 2014 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.
- */
-
-#ifndef __CROS_EC_ACCELEROMETER_H
-#define __CROS_EC_ACCELEROMETER_H
-
-/* Header file for accelerometer drivers. */
-
-/* This array must be defined in board.c. */
-extern const int accel_addr[];
-
-/* This enum must be defined in board.h. */
-enum accel_id;
-
-/* Number of counts from accelerometer that represents 1G acceleration. */
-#define ACCEL_G 1024
-
-/**
- * Read all three accelerations of an accelerometer. Note that all three
- * accelerations come back in counts, where ACCEL_G can be used to convert
- * counts to engineering units.
- *
- * @param id Target accelerometer
- * @param x_acc Pointer to store X-axis acceleration (in counts).
- * @param y_acc Pointer to store Y-axis acceleration (in counts).
- * @param z_acc Pointer to store Z-axis acceleration (in counts).
- *
- * @return EC_SUCCESS if successful, non-zero if error.
- */
-int accel_read(const enum accel_id id, int * const x_acc, int * const y_acc,
- int * const z_acc);
-
-/**
- * Initialize accelerometers.
- *
- * @param id Target accelerometer
- *
- * @return EC_SUCCESS if successful, non-zero if error.
- */
-int accel_init(const enum accel_id id);
-
-/**
- * Setter and getter methods for the sensor range. The sensor range defines
- * the maximum value that can be returned from accel_read(). As the range
- * increases, the resolution gets worse.
- *
- * @param id Target accelerometer
- * @param range Range (Units are +/- G's for accel, +/- deg/s for gyro)
- * @param rnd Rounding flag. If true, it rounds up to nearest valid value.
- * Otherwise, it rounds down.
- *
- * @return EC_SUCCESS if successful, non-zero if error.
- */
-int accel_set_range(const enum accel_id id, const int range, const int rnd);
-int accel_get_range(const enum accel_id id, int * const range);
-
-
-/**
- * Setter and getter methods for the sensor resolution.
- *
- * @param id Target accelerometer
- * @param range Resolution (Units are number of bits)
- * param rnd Rounding flag. If true, it rounds up to nearest valid value.
- * Otherwise, it rounds down.
- *
- * @return EC_SUCCESS if successful, non-zero if error.
- */
-int accel_set_resolution(const enum accel_id id, const int res, const int rnd);
-int accel_get_resolution(const enum accel_id id, int * const res);
-
-/**
- * Setter and getter methods for the sensor output data range. As the ODR
- * increases, the LPF roll-off frequency also increases.
- *
- * @param id Target accelerometer
- * @param rate Output data rate (units are mHz)
- * @param rnd Rounding flag. If true, it rounds up to nearest valid value.
- * Otherwise, it rounds down.
- *
- * @return EC_SUCCESS if successful, non-zero if error.
- */
-int accel_set_datarate(const enum accel_id id, const int rate, const int rnd);
-int accel_get_datarate(const enum accel_id id, int * const rate);
-
-#endif /* __CROS_EC_ACCELEROMETER_H */
diff --git a/include/accelgyro.h b/include/accelgyro.h
new file mode 100644
index 0000000000..2a4a458cfa
--- /dev/null
+++ b/include/accelgyro.h
@@ -0,0 +1,111 @@
+/* Copyright (c) 2014 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.
+ */
+
+#ifndef __CROS_EC_ACCELGYRO_H
+#define __CROS_EC_ACCELGYRO_H
+
+/* Header file for accelerometer / gyro drivers. */
+
+/* Number of counts from accelerometer that represents 1G acceleration. */
+#define ACCEL_G 1024
+
+enum accelgyro_chip_t {
+ CHIP_TEST,
+ CHIP_KXCJ9,
+ CHIP_LSM6DS0,
+};
+
+enum accelgyro_sensor_t {
+ SENSOR_ACCELEROMETER,
+ SENSOR_GYRO,
+};
+
+struct accelgyro_info {
+ enum accelgyro_chip_t chip_type;
+ enum accelgyro_sensor_t sensor_type;
+
+ /**
+ * Initialize accelerometers.
+ * @param drv_data Pointer to sensor data.
+ * @i2c_addr i2c slave device address
+ * @return EC_SUCCESS if successful, non-zero if error.
+ */
+ int (*init)(void *drv_data,
+ int i2c_addr);
+
+ /**
+ * Read all three accelerations of an accelerometer. Note that all
+ * three accelerations come back in counts, where ACCEL_G can be used
+ * to convert counts to engineering units.
+ * @param drv_data Pointer to sensor data.
+ * @param x_acc Pointer to store X-axis acceleration (in counts).
+ * @param y_acc Pointer to store Y-axis acceleration (in counts).
+ * @param z_acc Pointer to store Z-axis acceleration (in counts).
+ * @return EC_SUCCESS if successful, non-zero if error.
+ */
+ int (*read)(void *drv_data,
+ int * const x_acc,
+ int * const y_acc,
+ int * const z_acc);
+
+ /**
+ * Setter and getter methods for the sensor range. The sensor range
+ * defines the maximum value that can be returned from read(). As the
+ * range increases, the resolution gets worse.
+ * @param drv_data Pointer to sensor data.
+ * @param range Range (Units are +/- G's for accel, +/- deg/s for gyro)
+ * @param rnd Rounding flag. If true, it rounds up to nearest valid
+ * value. Otherwise, it rounds down.
+ * @return EC_SUCCESS if successful, non-zero if error.
+ */
+ int (*set_range)(void *drv_data,
+ const int range,
+ const int rnd);
+ int (*get_range)(void *drv_data,
+ int * const range);
+
+ /**
+ * Setter and getter methods for the sensor resolution.
+ * @param drv_data Pointer to sensor data.
+ * @param range Resolution (Units are number of bits)
+ * param rnd Rounding flag. If true, it rounds up to nearest valid
+ * value. Otherwise, it rounds down.
+ * @return EC_SUCCESS if successful, non-zero if error.
+ */
+ int (*set_resolution)(void *drv_data,
+ const int res,
+ const int rnd);
+ int (*get_resolution)(void *drv_data,
+ int * const res);
+
+ /**
+ * Setter and getter methods for the sensor output data range. As the
+ * ODR increases, the LPF roll-off frequency also increases.
+ * @param drv_data Pointer to sensor data.
+ * @param rate Output data rate (units are mHz)
+ * @param rnd Rounding flag. If true, it rounds up to nearest valid
+ * value. Otherwise, it rounds down.
+ * @return EC_SUCCESS if successful, non-zero if error.
+ */
+ int (*set_datarate)(void *drv_data,
+ const int rate,
+ const int rnd);
+ int (*get_datarate)(void *drv_data,
+ int * const rate);
+
+#ifdef CONFIG_ACCEL_INTERRUPTS
+ /**
+ * Setup a one-time accel interrupt. If the threshold is low enough, the
+ * interrupt may trigger due simply to noise and not any real motion.
+ * If the threshold is 0, the interrupt will fire immediately.
+ * @param drv_data Pointer to sensor data.
+ * @param threshold Threshold for interrupt in units of counts.
+ */
+ int (*set_interrupt)(void *drv_data,
+ unsigned int threshold);
+#endif
+};
+
+#endif /* __CROS_EC_ACCELGYRO_H */
diff --git a/include/ec_commands.h b/include/ec_commands.h
index d5d5590269..a8c9ab450b 100644
--- a/include/ec_commands.h
+++ b/include/ec_commands.h
@@ -1300,6 +1300,7 @@ enum motionsensor_location {
/* List of motion sensor chips. */
enum motionsensor_chip {
MOTIONSENSE_CHIP_KXCJ9 = 0,
+ MOTIONSENSE_CHIP_LSM6DS0 = 1,
};
/* Module flag masks used for the dump sub-command. */
diff --git a/include/motion_sense.h b/include/motion_sense.h
index 3a3b9b5121..0319514fd7 100644
--- a/include/motion_sense.h
+++ b/include/motion_sense.h
@@ -92,5 +92,21 @@ void accel_int_lid(enum gpio_signal signal);
*/
void accel_int_base(enum gpio_signal signal);
+enum sensor_location_t {
+ LOCATION_BASE,
+ LOCATION_LID,
+};
+
+struct motion_sensor_t {
+ char *name;
+ enum sensor_location_t location;
+ const struct accelgyro_info *drv;
+ void *drv_data;
+ uint8_t i2c_addr;
+};
+
+/* Defined at board level. */
+extern const struct motion_sensor_t motion_sensors[];
+extern const unsigned int motion_sensor_count;
#endif /* __CROS_EC_MOTION_SENSE_H */
diff --git a/test/math_util.c b/test/math_util.c
index 5ace8d2a83..e69005fcbc 100644
--- a/test/math_util.c
+++ b/test/math_util.c
@@ -10,43 +10,12 @@
#include "math_util.h"
#include "motion_sense.h"
#include "test_util.h"
+#include "util.h"
/*****************************************************************************/
-/* Mock functions */
-
-/* Need to define accelerometer functions just to compile. */
-int accel_init(enum accel_id id)
-{
- return EC_SUCCESS;
-}
-int accel_read(enum accel_id id, int *x_acc, int *y_acc, int *z_acc)
-{
- return EC_SUCCESS;
-}
-int accel_set_range(const enum accel_id id, const int range, const int rnd)
-{
- return EC_SUCCESS;
-}
-int accel_get_range(const enum accel_id id, int * const range)
-{
- return EC_SUCCESS;
-}
-int accel_set_resolution(const enum accel_id id, const int res, const int rnd)
-{
- return EC_SUCCESS;
-}
-int accel_get_resolution(const enum accel_id id, int * const res)
-{
- return EC_SUCCESS;
-}
-int accel_set_datarate(const enum accel_id id, const int rate, const int rnd)
-{
- return EC_SUCCESS;
-}
-int accel_get_datarate(const enum accel_id id, int * const rate)
-{
- return EC_SUCCESS;
-}
+/* Need to define motion sensor globals just to compile. */
+const struct motion_sensor_t motion_sensors[] = {};
+const unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
/*****************************************************************************/
/* Test utilities */
diff --git a/test/motion_sense.c b/test/motion_sense.c
index 1836a524fe..941b6cc9e7 100644
--- a/test/motion_sense.c
+++ b/test/motion_sense.c
@@ -7,12 +7,14 @@
#include <math.h>
+#include "accelgyro.h"
#include "common.h"
#include "host_command.h"
#include "motion_sense.h"
#include "task.h"
#include "test_util.h"
#include "timer.h"
+#include "util.h"
/* Mock acceleration values for motion sense task to read in. */
int mock_x_acc[ACCEL_COUNT], mock_y_acc[ACCEL_COUNT], mock_z_acc[ACCEL_COUNT];
@@ -20,46 +22,101 @@ int mock_x_acc[ACCEL_COUNT], mock_y_acc[ACCEL_COUNT], mock_z_acc[ACCEL_COUNT];
/*****************************************************************************/
/* Mock functions */
-int accel_init(enum accel_id id)
+static int accel_init(void *drv_data, int i2c_addr)
{
return EC_SUCCESS;
}
-int accel_read(enum accel_id id, int *x_acc, int *y_acc, int *z_acc)
+static int accel_read_base(void *drv_data, int *x_acc, int *y_acc, int *z_acc)
{
/* Return the mock values. */
- *x_acc = mock_x_acc[id];
- *y_acc = mock_y_acc[id];
- *z_acc = mock_z_acc[id];
+ *x_acc = mock_x_acc[ACCEL_BASE];
+ *y_acc = mock_y_acc[ACCEL_BASE];
+ *z_acc = mock_z_acc[ACCEL_BASE];
return EC_SUCCESS;
}
-int accel_set_range(const enum accel_id id, const int range, const int rnd)
+static int accel_read_lid(void *drv_data, int *x_acc, int *y_acc, int *z_acc)
{
+ /* Return the mock values. */
+ *x_acc = mock_x_acc[ACCEL_LID];
+ *y_acc = mock_y_acc[ACCEL_LID];
+ *z_acc = mock_z_acc[ACCEL_LID];
+
return EC_SUCCESS;
}
-int accel_get_range(const enum accel_id id, int * const range)
+
+static int accel_set_range(void *drv_data,
+ const int range,
+ const int rnd)
{
return EC_SUCCESS;
}
-int accel_set_resolution(const enum accel_id id, const int res, const int rnd)
+
+static int accel_get_range(void *drv_data,
+ int * const range)
{
return EC_SUCCESS;
}
-int accel_get_resolution(const enum accel_id id, int * const res)
+
+static int accel_set_resolution(void *drv_data,
+ const int res,
+ const int rnd)
{
return EC_SUCCESS;
}
-int accel_set_datarate(const enum accel_id id, const int rate, const int rnd)
+
+static int accel_get_resolution(void *drv_data,
+ int * const res)
{
return EC_SUCCESS;
}
-int accel_get_datarate(const enum accel_id id, int * const rate)
+
+static int accel_set_datarate(void *drv_data,
+ const int rate,
+ const int rnd)
+{
+ return EC_SUCCESS;
+}
+
+static int accel_get_datarate(void *drv_data,
+ int * const rate)
{
return EC_SUCCESS;
}
+const struct accelgyro_info test_motion_sense_base = {
+ .chip_type = CHIP_TEST,
+ .sensor_type = SENSOR_ACCELEROMETER,
+ .init = accel_init,
+ .read = accel_read_base,
+ .set_range = accel_set_range,
+ .get_range = accel_get_range,
+ .set_resolution = accel_set_resolution,
+ .get_resolution = accel_get_resolution,
+ .set_datarate = accel_set_datarate,
+ .get_datarate = accel_get_datarate,
+};
+
+const struct accelgyro_info test_motion_sense_lid = {
+ .chip_type = CHIP_TEST,
+ .sensor_type = SENSOR_ACCELEROMETER,
+ .init = accel_init,
+ .read = accel_read_lid,
+ .set_range = accel_set_range,
+ .get_range = accel_get_range,
+ .set_resolution = accel_set_resolution,
+ .get_resolution = accel_get_resolution,
+ .set_datarate = accel_set_datarate,
+ .get_datarate = accel_get_datarate,
+};
+
+const struct motion_sensor_t motion_sensors[] = {
+ {"test base sensor", LOCATION_BASE, &test_motion_sense_base, NULL, 0},
+ {"test lid sensor", LOCATION_LID, &test_motion_sense_lid, NULL, 0},
+};
+const unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
/*****************************************************************************/
/* Test utilities */