diff options
Diffstat (limited to 'board/cret/board.c')
| -rw-r--r-- | board/cret/board.c | 55 |
1 files changed, 32 insertions, 23 deletions
diff --git a/board/cret/board.c b/board/cret/board.c index 117ad2fe22..4d0f5168dc 100644 --- a/board/cret/board.c +++ b/board/cret/board.c @@ -14,8 +14,8 @@ #include "chipset.h" #include "common.h" #include "compile_time_macros.h" -#include "driver/accel_bma2x2.h" -#include "driver/accelgyro_bmi_common.h" +#include "driver/accel_lis2dh.h" +#include "driver/accelgyro_lsm6dsm.h" #include "driver/bc12/pi3usb9201.h" #include "driver/charger/isl923x.h" #include "driver/retimer/nb7v904m.h" @@ -202,6 +202,9 @@ void board_init(void) gpio_enable_interrupt(GPIO_SUB_C1_INT_EN_RAILS_ODL); check_c1_line(); } + /* Enable gpio interrupt for base accelgyro sensor */ + gpio_enable_interrupt(GPIO_BASE_SIXAXIS_INT_L); + /* Turn on 5V if the system is on, otherwise turn it off. */ on = chipset_in_state(CHIPSET_STATE_ON | CHIPSET_STATE_ANY_SUSPEND | CHIPSET_STATE_SOFT_OFF); @@ -412,25 +415,25 @@ static const mat33_fp_t base_standard_ref = { { 0, 0, FLOAT_TO_FP(1)} }; -static struct accelgyro_saved_data_t g_bma253_data; -static struct bmi_drv_data_t g_bmi160_data; +static struct stprivate_data g_lis2dh_data; +static struct lsm6dsm_data lsm6dsm_data = LSM6DSM_DATA; struct motion_sensor_t motion_sensors[] = { [LID_ACCEL] = { .name = "Lid Accel", .active_mask = SENSOR_ACTIVE_S0_S3, - .chip = MOTIONSENSE_CHIP_BMA255, + .chip = MOTIONSENSE_CHIP_LIS2DE, .type = MOTIONSENSE_TYPE_ACCEL, .location = MOTIONSENSE_LOC_LID, - .drv = &bma2x2_accel_drv, + .drv = &lis2dh_drv, .mutex = &g_lid_mutex, - .drv_data = &g_bma253_data, + .drv_data = &g_lis2dh_data, .port = I2C_PORT_SENSOR, - .i2c_spi_addr_flags = BMA2x2_I2C_ADDR1_FLAGS, + .i2c_spi_addr_flags = LIS2DH_ADDR1_FLAGS, .rot_standard_ref = &lid_standard_ref, .default_range = 2, - .min_frequency = BMA255_ACCEL_MIN_FREQ, - .max_frequency = BMA255_ACCEL_MAX_FREQ, + .min_frequency = LIS2DH_ODR_MIN_VAL, + .max_frequency = LIS2DH_ODR_MAX_VAL, .config = { [SENSOR_CONFIG_EC_S0] = { .odr = 10000 | ROUND_UP_FLAG, @@ -443,18 +446,21 @@ struct motion_sensor_t motion_sensors[] = { [BASE_ACCEL] = { .name = "Base Accel", .active_mask = SENSOR_ACTIVE_S0_S3, - .chip = MOTIONSENSE_CHIP_BMI160, + .chip = MOTIONSENSE_CHIP_LSM6DSM, .type = MOTIONSENSE_TYPE_ACCEL, .location = MOTIONSENSE_LOC_BASE, - .drv = &bmi160_drv, + .drv = &lsm6dsm_drv, .mutex = &g_base_mutex, - .drv_data = &g_bmi160_data, + .drv_data = LSM6DSM_ST_DATA(lsm6dsm_data, + MOTIONSENSE_TYPE_ACCEL), + .int_signal = GPIO_BASE_SIXAXIS_INT_L, + .flags = MOTIONSENSE_FLAG_INT_SIGNAL, .port = I2C_PORT_SENSOR, - .i2c_spi_addr_flags = BMI160_ADDR0_FLAGS, + .i2c_spi_addr_flags = LSM6DSM_ADDR0_FLAGS, .rot_standard_ref = &base_standard_ref, .default_range = 4, - .min_frequency = BMI_ACCEL_MIN_FREQ, - .max_frequency = BMI_ACCEL_MAX_FREQ, + .min_frequency = LSM6DSM_ODR_MIN_VAL, + .max_frequency = LSM6DSM_ODR_MAX_VAL, .config = { [SENSOR_CONFIG_EC_S0] = { .odr = 13000 | ROUND_UP_FLAG, @@ -469,18 +475,21 @@ struct motion_sensor_t motion_sensors[] = { [BASE_GYRO] = { .name = "Base Gyro", .active_mask = SENSOR_ACTIVE_S0_S3, - .chip = MOTIONSENSE_CHIP_BMI160, + .chip = MOTIONSENSE_CHIP_LSM6DSM, .type = MOTIONSENSE_TYPE_GYRO, .location = MOTIONSENSE_LOC_BASE, - .drv = &bmi160_drv, + .drv = &lsm6dsm_drv, .mutex = &g_base_mutex, - .drv_data = &g_bmi160_data, + .drv_data = LSM6DSM_ST_DATA(lsm6dsm_data, + MOTIONSENSE_TYPE_GYRO), + .int_signal = GPIO_BASE_SIXAXIS_INT_L, + .flags = MOTIONSENSE_FLAG_INT_SIGNAL, .port = I2C_PORT_SENSOR, - .i2c_spi_addr_flags = BMI160_ADDR0_FLAGS, - .default_range = 1000, /* dps */ + .i2c_spi_addr_flags = LSM6DSM_ADDR0_FLAGS, + .default_range = 1000 | ROUND_UP_FLAG, /* dps */ .rot_standard_ref = &base_standard_ref, - .min_frequency = BMI_GYRO_MIN_FREQ, - .max_frequency = BMI_GYRO_MAX_FREQ, + .min_frequency = LSM6DSM_ODR_MIN_VAL, + .max_frequency = LSM6DSM_ODR_MAX_VAL, }, }; |