diff options
Diffstat (limited to 'board/delbin/sensors.c')
-rw-r--r-- | board/delbin/sensors.c | 73 |
1 files changed, 70 insertions, 3 deletions
diff --git a/board/delbin/sensors.c b/board/delbin/sensors.c index fc8e30410b..8000295554 100644 --- a/board/delbin/sensors.c +++ b/board/delbin/sensors.c @@ -12,6 +12,8 @@ #include "driver/accel_kionix.h" #include "driver/accelgyro_bmi_common.h" #include "driver/accelgyro_bmi260.h" +#include "driver/accelgyro_icm_common.h" +#include "driver/accelgyro_icm426xx.h" #include "keyboard_scan.h" #include "hooks.h" #include "i2c.h" @@ -24,12 +26,11 @@ static struct mutex g_lid_accel_mutex; static struct mutex g_base_mutex; -/* BMA253 private data */ +/* sensor private data */ static struct accelgyro_saved_data_t g_bma253_data; static struct kionix_accel_data g_kx022_data; - -/* BMI260 private data */ static struct bmi_drv_data_t g_bmi260_data; +static struct icm_drv_data_t g_icm426xx_data; /* Rotation matrix for the lid accelerometer */ static const mat33_fp_t lid_standard_ref = { @@ -44,6 +45,57 @@ const mat33_fp_t base_standard_ref = { { 0, 0, FLOAT_TO_FP(1)} }; +const mat33_fp_t base_standard_ref_icm = { + { 0, FLOAT_TO_FP(-1), 0}, + { FLOAT_TO_FP(1), 0, 0}, + { 0, 0, FLOAT_TO_FP(1)}, +}; + +struct motion_sensor_t icm426xx_base_accel = { + .name = "Base Accel", + .active_mask = SENSOR_ACTIVE_S0_S3, + .chip = MOTIONSENSE_CHIP_ICM426XX, + .type = MOTIONSENSE_TYPE_ACCEL, + .location = MOTIONSENSE_LOC_BASE, + .drv = &icm426xx_drv, + .mutex = &g_base_mutex, + .drv_data = &g_icm426xx_data, + .port = I2C_PORT_SENSOR, + .i2c_spi_addr_flags = ICM426XX_ADDR0_FLAGS, + .rot_standard_ref = &base_standard_ref_icm, + .min_frequency = ICM426XX_ACCEL_MIN_FREQ, + .max_frequency = ICM426XX_ACCEL_MAX_FREQ, + .default_range = 4, /* g */ + .config = { + /* EC use accel for angle detection */ + [SENSOR_CONFIG_EC_S0] = { + .odr = 10000 | ROUND_UP_FLAG, + .ec_rate = 100 * MSEC, + }, + /* Sensor on in S3 */ + [SENSOR_CONFIG_EC_S3] = { + .odr = 10000 | ROUND_UP_FLAG, + }, + }, +}; + +struct motion_sensor_t icm426xx_base_gyro = { + .name = "Base Gyro", + .active_mask = SENSOR_ACTIVE_S0_S3, + .chip = MOTIONSENSE_CHIP_ICM426XX, + .type = MOTIONSENSE_TYPE_GYRO, + .location = MOTIONSENSE_LOC_BASE, + .drv = &icm426xx_drv, + .mutex = &g_base_mutex, + .drv_data = &g_icm426xx_data, + .port = I2C_PORT_SENSOR, + .i2c_spi_addr_flags = ICM426XX_ADDR0_FLAGS, + .default_range = 1000, /* dps */ + .rot_standard_ref = &base_standard_ref_icm, + .min_frequency = ICM426XX_GYRO_MIN_FREQ, + .max_frequency = ICM426XX_GYRO_MAX_FREQ, +}; + struct motion_sensor_t kx022_lid_accel = { .name = "Lid Accel", .active_mask = SENSOR_ACTIVE_S0_S3, @@ -146,6 +198,14 @@ struct motion_sensor_t motion_sensors[] = { }; unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors); +void motion_interrupt(enum gpio_signal signal) +{ + if (get_cbi_ssfc_base_sensor() == SSFC_SENSOR_BASE_ICM426XX) + icm426xx_interrupt(signal); + else + bmi260_interrupt(signal); +} + static void baseboard_sensors_init(void) { if (get_cbi_ssfc_lid_sensor() == SSFC_SENSOR_LID_KX022) { @@ -154,6 +214,13 @@ static void baseboard_sensors_init(void) } else ccprints("LID_ACCEL is BMA253"); + if (get_cbi_ssfc_base_sensor() == SSFC_SENSOR_BASE_ICM426XX) { + motion_sensors[BASE_ACCEL] = icm426xx_base_accel; + motion_sensors[BASE_GYRO] = icm426xx_base_gyro; + ccprints("BASE ACCEL is ICM426XX"); + } else + ccprints("BASE ACCEL IS BMI260"); + /* Enable interrupt for the accel/gyro sensor */ gpio_enable_interrupt(GPIO_EC_IMU_INT_L); } |