diff options
Diffstat (limited to 'board/brya/sensors.c')
| -rw-r--r-- | board/brya/sensors.c | 124 |
1 files changed, 123 insertions, 1 deletions
diff --git a/board/brya/sensors.c b/board/brya/sensors.c index 4dffe00d7c..0478b308a2 100644 --- a/board/brya/sensors.c +++ b/board/brya/sensors.c @@ -4,8 +4,12 @@ */ #include "common.h" - +#include "accelgyro.h" #include "adc_chip.h" +#include "driver/accel_lis2dw12.h" +#include "driver/accelgyro_lsm6dso.h" +#include "hooks.h" +#include "motion_sense.h" #include "temp_sensor.h" #include "thermal.h" #include "thermistor.h" @@ -29,6 +33,124 @@ const struct adc_t adc_channels[] = { }; BUILD_ASSERT(ARRAY_SIZE(adc_channels) == ADC_CH_COUNT); +K_MUTEX_DEFINE(g_lid_accel_mutex); +K_MUTEX_DEFINE(g_base_accel_mutex); +static struct stprivate_data g_lis2dw12_data; +static struct lsm6dso_data lsm6dso_data; + +/* TODO(b/184779333): calibrate the orientation matrix on later board stage */ +static const mat33_fp_t lid_standard_ref = { + { 0, FLOAT_TO_FP(1), 0}, + { FLOAT_TO_FP(-1), 0, 0}, + { 0, 0, FLOAT_TO_FP(1)} +}; + +/* TODO(b/184779743): verify orientation matrix */ +static const mat33_fp_t base_standard_ref = { + { 0, FLOAT_TO_FP(1), 0}, + { FLOAT_TO_FP(-1), 0, 0}, + { 0, 0, FLOAT_TO_FP(1)} +}; + +struct motion_sensor_t motion_sensors[] = { + [LID_ACCEL] = { + .name = "Lid Accel", + .active_mask = SENSOR_ACTIVE_S0_S3, + .chip = MOTIONSENSE_CHIP_LIS2DW12, + .type = MOTIONSENSE_TYPE_ACCEL, + .location = MOTIONSENSE_LOC_LID, + .drv = &lis2dw12_drv, + .mutex = &g_lid_accel_mutex, + .drv_data = &g_lis2dw12_data, + .int_signal = GPIO_EC_ACCEL_INT_R_L, + .port = I2C_PORT_SENSOR, + .i2c_spi_addr_flags = LIS2DW12_ADDR0, + .flags = MOTIONSENSE_FLAG_INT_SIGNAL, + .rot_standard_ref = &lid_standard_ref, /* identity matrix */ + .default_range = 2, /* g */ + .min_frequency = LIS2DW12_ODR_MIN_VAL, + .max_frequency = LIS2DW12_ODR_MAX_VAL, + .config = { + /* EC use accel for angle detection */ + [SENSOR_CONFIG_EC_S0] = { + .odr = 12500 | ROUND_UP_FLAG, + }, + /* Sensor on for lid angle detection */ + [SENSOR_CONFIG_EC_S3] = { + .odr = 10000 | ROUND_UP_FLAG, + }, + }, + }, + + [BASE_ACCEL] = { + .name = "Base Accel", + .active_mask = SENSOR_ACTIVE_S0_S3, + .chip = MOTIONSENSE_CHIP_LSM6DSO, + .type = MOTIONSENSE_TYPE_ACCEL, + .location = MOTIONSENSE_LOC_BASE, + .drv = &lsm6dso_drv, + .mutex = &g_base_accel_mutex, + .drv_data = &lsm6dso_data, + .int_signal = GPIO_EC_IMU_INT_R_L, + .flags = MOTIONSENSE_FLAG_INT_SIGNAL, + .port = I2C_PORT_SENSOR, + .i2c_spi_addr_flags = LSM6DSO_ADDR0_FLAGS, + .rot_standard_ref = &base_standard_ref, + .default_range = 4, /* g */ + .min_frequency = LSM6DSO_ODR_MIN_VAL, + .max_frequency = LSM6DSO_ODR_MAX_VAL, + .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, + }, + }, + }, + + [BASE_GYRO] = { + .name = "Base Gyro", + .active_mask = SENSOR_ACTIVE_S0_S3, + .chip = MOTIONSENSE_CHIP_LSM6DSO, + .type = MOTIONSENSE_TYPE_GYRO, + .location = MOTIONSENSE_LOC_BASE, + .drv = &lsm6dso_drv, + .mutex = &g_base_accel_mutex, + .drv_data = &lsm6dso_data, + .int_signal = GPIO_EC_IMU_INT_R_L, + .flags = MOTIONSENSE_FLAG_INT_SIGNAL, + .port = I2C_PORT_SENSOR, + .i2c_spi_addr_flags = LSM6DSO_ADDR0_FLAGS, + .default_range = 1000 | ROUND_UP_FLAG, /* dps */ + .rot_standard_ref = &base_standard_ref, + .min_frequency = LSM6DSO_ODR_MIN_VAL, + .max_frequency = LSM6DSO_ODR_MAX_VAL, + .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, + }, + }, + }, +}; +const unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors); + +static void baseboard_sensors_init(void) +{ + /* Enable gpio interrupt for lid accel sensor */ + gpio_enable_interrupt(GPIO_EC_ACCEL_INT_R_L); + /* Enable gpio interrupt for base accelgyro sensor */ + gpio_enable_interrupt(GPIO_EC_IMU_INT_R_L); +} +DECLARE_HOOK(HOOK_INIT, baseboard_sensors_init, HOOK_PRIO_INIT_I2C + 1); + /* Temperature sensor configuration */ const struct temp_sensor_t temp_sensors[] = { [TEMP_SENSOR_1_DDR_SOC] = { |