diff options
Diffstat (limited to 'board/blipper/board.c')
| -rw-r--r-- | board/blipper/board.c | 133 |
1 files changed, 131 insertions, 2 deletions
diff --git a/board/blipper/board.c b/board/blipper/board.c index 2ca56a1b51..0f19763ebd 100644 --- a/board/blipper/board.c +++ b/board/blipper/board.c @@ -21,6 +21,10 @@ #include "driver/tcpm/raa489000.h" #include "driver/tcpm/tcpci.h" #include "driver/usb_mux/it5205.h" +#include "driver/accelgyro_bmi_common.h" +#include "driver/accelgyro_bmi260.h" +#include "driver/accelgyro_icm42607.h" +#include "driver/accelgyro_icm_common.h" #include "gpio.h" #include "hooks.h" #include "intc.h" @@ -43,6 +47,7 @@ #include "usb_pd.h" #include "usb_pd_tcpm.h" +#define CPRINTF(format, args...) cprints(CC_SYSTEM, format, ## args) #define CPRINTUSB(format, args...) cprints(CC_USBCHARGE, format, ## args) #define INT_RECHECK_US 5000 @@ -308,6 +313,104 @@ struct motion_sensor_t motion_sensors[] = { }, }; +static struct icm_drv_data_t g_icm42607_data; +const mat33_fp_t based_ref_icm42607 = { + { FLOAT_TO_FP(1), 0, 0}, + { 0, FLOAT_TO_FP(1), 0}, + { 0, 0, FLOAT_TO_FP(1)} +}; +struct motion_sensor_t icm42607_base_accel = { + .name = "Base Accel", + .active_mask = SENSOR_ACTIVE_S0_S3, + .chip = MOTIONSENSE_CHIP_ICM42607, + .type = MOTIONSENSE_TYPE_ACCEL, + .location = MOTIONSENSE_LOC_BASE, + .drv = &icm42607_drv, + .mutex = &g_base_mutex, + .drv_data = &g_icm42607_data, + .port = I2C_PORT_ACCEL, + .i2c_spi_addr_flags = ICM42607_ADDR0_FLAGS, + .default_range = 4, /* g, to meet CDD 7.3.1/C-1-4 reqs.*/ + .rot_standard_ref = &based_ref_icm42607, + .min_frequency = ICM42607_ACCEL_MIN_FREQ, + .max_frequency = ICM42607_ACCEL_MAX_FREQ, + .config = { + /* EC use accel for angle detection */ + [SENSOR_CONFIG_EC_S0] = { + .odr = 10000 | ROUND_UP_FLAG, + }, + /* EC use accel for angle detection */ + [SENSOR_CONFIG_EC_S3] = { + .odr = 10000 | ROUND_UP_FLAG, + }, + }, +}; +struct motion_sensor_t icm42607_base_gyro = { + .name = "Base Gyro", + .active_mask = SENSOR_ACTIVE_S0_S3, + .chip = MOTIONSENSE_CHIP_ICM42607, + .type = MOTIONSENSE_TYPE_GYRO, + .location = MOTIONSENSE_LOC_BASE, + .drv = &icm42607_drv, + .mutex = &g_base_mutex, + .drv_data = &g_icm42607_data, + .port = I2C_PORT_ACCEL, + .i2c_spi_addr_flags = ICM42607_ADDR0_FLAGS, + .default_range = 1000, /* dps */ + .rot_standard_ref = &based_ref_icm42607, + .min_frequency = ICM42607_GYRO_MIN_FREQ, + .max_frequency = ICM42607_GYRO_MAX_FREQ, +}; + +static struct bmi_drv_data_t g_bmi220_data; +const mat33_fp_t based_ref_bmi220 = { + { 0, FLOAT_TO_FP(1), 0}, + { FLOAT_TO_FP(-1), 0, 0}, + { 0, 0, FLOAT_TO_FP(1)} +}; +struct motion_sensor_t bmi220_base_accel = { + .name = "Base Accel", + .active_mask = SENSOR_ACTIVE_S0_S3, + .chip = MOTIONSENSE_CHIP_BMI220, + .type = MOTIONSENSE_TYPE_ACCEL, + .location = MOTIONSENSE_LOC_BASE, + .drv = &bmi260_drv, + .mutex = &g_base_mutex, + .drv_data = &g_bmi220_data, + .port = I2C_PORT_ACCEL, + .i2c_spi_addr_flags = BMI260_ADDR0_FLAGS, + .default_range = 4, /* g, to meet CDD 7.3.1/C-1-4 reqs.*/ + .rot_standard_ref = &based_ref_bmi220, + .min_frequency = BMI_ACCEL_MIN_FREQ, + .max_frequency = BMI_ACCEL_MAX_FREQ, + .config = { + [SENSOR_CONFIG_EC_S0] = { + .odr = 13000 | ROUND_UP_FLAG, + .ec_rate = 100 * MSEC, + }, + [SENSOR_CONFIG_EC_S3] = { + .odr = 10000 | ROUND_UP_FLAG, + .ec_rate = 100 * MSEC, + }, + }, +}; +struct motion_sensor_t bmi220_base_gyro = { + .name = "Base Gyro", + .active_mask = SENSOR_ACTIVE_S0_S3, + .chip = MOTIONSENSE_CHIP_BMI220, + .type = MOTIONSENSE_TYPE_GYRO, + .location = MOTIONSENSE_LOC_BASE, + .drv = &bmi260_drv, + .mutex = &g_base_mutex, + .drv_data = &g_bmi220_data, + .port = I2C_PORT_ACCEL, + .i2c_spi_addr_flags = BMI260_ADDR0_FLAGS, + .default_range = 1000, /* dps */ + .rot_standard_ref = &based_ref_bmi220, + .min_frequency = BMI_GYRO_MIN_FREQ, + .max_frequency = BMI_GYRO_MAX_FREQ, +}; + unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors); void board_init(void) @@ -356,12 +459,38 @@ void board_init(void) gpio_set_flags(GPIO_VOLUP_BTN_ODL, GPIO_INPUT | GPIO_PULL_DOWN); - + } else { + if (get_cbi_ssfc_base_sensor() == SSFC_SENSOR_ICM42607) { + motion_sensors[BASE_ACCEL] = icm42607_base_accel; + motion_sensors[BASE_GYRO] = icm42607_base_gyro; + CPRINTF("BASE GYRO is ICM42607"); + } else if (get_cbi_ssfc_base_sensor() == SSFC_SENSOR_BMI220) { + motion_sensors[BASE_ACCEL] = bmi220_base_accel; + motion_sensors[BASE_GYRO] = bmi220_base_gyro; + CPRINTF("BASE GYRO is BMI220"); + } else { + CPRINTF("BASE GYRO is LSM6DSM"); + } } - } DECLARE_HOOK(HOOK_INIT, board_init, HOOK_PRIO_DEFAULT); +void motion_interrupt(enum gpio_signal signal) +{ + switch (get_cbi_ssfc_base_sensor()) { + case SSFC_SENSOR_ICM42607: + icm42607_interrupt(signal); + break; + case SSFC_SENSOR_BMI220: + bmi260_interrupt(signal); + break; + case SSFC_SENSOR_LSM6DSM: + default: + lsm6dsm_interrupt(signal); + break; + } +} + void board_hibernate(void) { /* |