diff options
Diffstat (limited to 'board/galtic/board.c')
| -rw-r--r-- | board/galtic/board.c | 166 |
1 files changed, 140 insertions, 26 deletions
diff --git a/board/galtic/board.c b/board/galtic/board.c index b15a04aa5a..f8b17c97f2 100644 --- a/board/galtic/board.c +++ b/board/galtic/board.c @@ -8,11 +8,16 @@ #include "adc_chip.h" #include "button.h" #include "cbi_fw_config.h" +#include "cbi_ssfc.h" #include "charge_manager.h" #include "charge_state_v2.h" #include "charger.h" +#include "driver/accel_bma2x2.h" #include "driver/accel_kionix.h" -#include "driver/accelgyro_lsm6dsm.h" +#include "driver/accelgyro_bmi_common.h" +#include "driver/accelgyro_bmi160.h" +#include "driver/accelgyro_icm_common.h" +#include "driver/accelgyro_icm426xx.h" #include "driver/bc12/pi3usb9201.h" #include "driver/charger/isl923x.h" #include "driver/retimer/tusb544.h" @@ -603,8 +608,98 @@ static struct mutex g_lid_mutex; static struct mutex g_base_mutex; /* Sensor Data */ +static struct accelgyro_saved_data_t g_bma253_data; static struct kionix_accel_data g_kx022_data; -static struct lsm6dsm_data lsm6dsm_data = LSM6DSM_DATA; +static struct bmi_drv_data_t g_bmi160_data; +static struct icm_drv_data_t g_icm426xx_data; + +const mat33_fp_t lid_standard_ref = { + { FLOAT_TO_FP(1), 0, 0}, + { 0, FLOAT_TO_FP(-1), 0}, + { 0, 0, FLOAT_TO_FP(-1)} +}; + +const mat33_fp_t base_standard_ref_icm = { + { FLOAT_TO_FP(1), 0, 0}, + { 0, FLOAT_TO_FP(-1), 0}, + { 0, 0, FLOAT_TO_FP(-1)} +}; + +const mat33_fp_t base_standard_ref_bmi = { + { 0, FLOAT_TO_FP(-1), 0}, + { FLOAT_TO_FP(-1), 0, 0}, + { 0, 0, FLOAT_TO_FP(-1)} +}; + +struct motion_sensor_t bma253_lid_accel = { + .name = "Lid Accel", + .active_mask = SENSOR_ACTIVE_S0_S3, + .chip = MOTIONSENSE_CHIP_BMA255, + .type = MOTIONSENSE_TYPE_ACCEL, + .location = MOTIONSENSE_LOC_LID, + .drv = &bma2x2_accel_drv, + .mutex = &g_lid_mutex, + .drv_data = &g_bma253_data, + .port = I2C_PORT_SENSOR, + .i2c_spi_addr_flags = BMA2x2_I2C_ADDR1_FLAGS, + .rot_standard_ref = &lid_standard_ref, + .default_range = 2, /* g */ + /* We only use 2g because its resolution is only 8-bits */ + .min_frequency = BMA255_ACCEL_MIN_FREQ, + .max_frequency = BMA255_ACCEL_MAX_FREQ, + .config = { + [SENSOR_CONFIG_EC_S0] = { + .odr = 10000 | ROUND_UP_FLAG, + }, + [SENSOR_CONFIG_EC_S3] = { + .odr = 10000 | ROUND_UP_FLAG, + }, + }, +}; + +struct motion_sensor_t bmi160_base_accel = { + .name = "Base Accel", + .active_mask = SENSOR_ACTIVE_S0_S3, + .chip = MOTIONSENSE_CHIP_BMI160, + .type = MOTIONSENSE_TYPE_ACCEL, + .location = MOTIONSENSE_LOC_BASE, + .drv = &bmi160_drv, + .mutex = &g_base_mutex, + .drv_data = &g_bmi160_data, + .port = I2C_PORT_SENSOR, + .i2c_spi_addr_flags = BMI160_ADDR0_FLAGS, + .rot_standard_ref = &base_standard_ref_bmi, + .default_range = 4, /* g */ + .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 bmi160_base_gyro = { + .name = "Base Gyro", + .active_mask = SENSOR_ACTIVE_S0_S3, + .chip = MOTIONSENSE_CHIP_BMI160, + .type = MOTIONSENSE_TYPE_GYRO, + .location = MOTIONSENSE_LOC_BASE, + .drv = &bmi160_drv, + .mutex = &g_base_mutex, + .drv_data = &g_bmi160_data, + .port = I2C_PORT_SENSOR, + .i2c_spi_addr_flags = BMI160_ADDR0_FLAGS, + .default_range = 1000, /* dps */ + .rot_standard_ref = &base_standard_ref_bmi, + .min_frequency = BMI_GYRO_MIN_FREQ, + .max_frequency = BMI_GYRO_MAX_FREQ, +}; /* Drivers */ struct motion_sensor_t motion_sensors[] = { @@ -618,8 +713,8 @@ struct motion_sensor_t motion_sensors[] = { .mutex = &g_lid_mutex, .drv_data = &g_kx022_data, .port = I2C_PORT_SENSOR, - .i2c_spi_addr_flags = KX022_ADDR1_FLAGS, - .rot_standard_ref = NULL, + .i2c_spi_addr_flags = KX022_ADDR0_FLAGS, + .rot_standard_ref = &lid_standard_ref, .default_range = 2, /* g */ /* We only use 2g because its resolution is only 8-bits */ .min_frequency = KX022_ACCEL_MIN_FREQ, @@ -636,24 +731,21 @@ struct motion_sensor_t motion_sensors[] = { [BASE_ACCEL] = { .name = "Base Accel", .active_mask = SENSOR_ACTIVE_S0_S3, - .chip = MOTIONSENSE_CHIP_LSM6DSM, + .chip = MOTIONSENSE_CHIP_ICM426XX, .type = MOTIONSENSE_TYPE_ACCEL, .location = MOTIONSENSE_LOC_BASE, - .drv = &lsm6dsm_drv, + .drv = &icm426xx_drv, .mutex = &g_base_mutex, - .drv_data = LSM6DSM_ST_DATA(lsm6dsm_data, - MOTIONSENSE_TYPE_ACCEL), - .int_signal = GPIO_BASE_SIXAXIS_INT_L, - .flags = MOTIONSENSE_FLAG_INT_SIGNAL, + .drv_data = &g_icm426xx_data, .port = I2C_PORT_SENSOR, - .i2c_spi_addr_flags = LSM6DSM_ADDR0_FLAGS, - .rot_standard_ref = NULL, + .i2c_spi_addr_flags = ICM426XX_ADDR0_FLAGS, + .rot_standard_ref = &base_standard_ref_icm, .default_range = 4, /* g */ - .min_frequency = LSM6DSM_ODR_MIN_VAL, - .max_frequency = LSM6DSM_ODR_MAX_VAL, + .min_frequency = ICM426XX_ACCEL_MIN_FREQ, + .max_frequency = ICM426XX_ACCEL_MAX_FREQ, .config = { [SENSOR_CONFIG_EC_S0] = { - .odr = 13000 | ROUND_UP_FLAG, + .odr = 10000 | ROUND_UP_FLAG, .ec_rate = 100 * MSEC, }, [SENSOR_CONFIG_EC_S3] = { @@ -665,26 +757,48 @@ struct motion_sensor_t motion_sensors[] = { [BASE_GYRO] = { .name = "Base Gyro", .active_mask = SENSOR_ACTIVE_S0_S3, - .chip = MOTIONSENSE_CHIP_LSM6DSM, + .chip = MOTIONSENSE_CHIP_ICM426XX, .type = MOTIONSENSE_TYPE_GYRO, .location = MOTIONSENSE_LOC_BASE, - .drv = &lsm6dsm_drv, + .drv = &icm426xx_drv, .mutex = &g_base_mutex, - .drv_data = LSM6DSM_ST_DATA(lsm6dsm_data, - MOTIONSENSE_TYPE_GYRO), - .int_signal = GPIO_BASE_SIXAXIS_INT_L, - .flags = MOTIONSENSE_FLAG_INT_SIGNAL, + .drv_data = &g_icm426xx_data, .port = I2C_PORT_SENSOR, - .i2c_spi_addr_flags = LSM6DSM_ADDR0_FLAGS, - .default_range = 1000 | ROUND_UP_FLAG, /* dps */ - .rot_standard_ref = NULL, - .min_frequency = LSM6DSM_ODR_MIN_VAL, - .max_frequency = LSM6DSM_ODR_MAX_VAL, + .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, }, }; const unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors); +void motion_interrupt(enum gpio_signal signal) +{ + if (get_cbi_ssfc_base_sensor() == SSFC_SENSOR_BMI160) + bmi160_interrupt(signal); + else + icm426xx_interrupt(signal); +} + +static void board_sensors_init(void) +{ + if (get_cbi_ssfc_lid_sensor() == SSFC_SENSOR_BMA255) { + motion_sensors[LID_ACCEL] = bma253_lid_accel; + ccprints("LID_ACCEL is BMA253"); + } else + ccprints("LID_ACCEL is KX022"); + + if (get_cbi_ssfc_base_sensor() == SSFC_SENSOR_BMI160) { + motion_sensors[BASE_ACCEL] = bmi160_base_accel; + motion_sensors[BASE_GYRO] = bmi160_base_gyro; + ccprints("BASE_ACCEL is BMI160"); + } else + ccprints("BASE_ACCEL is ICM426XX"); +} +DECLARE_HOOK(HOOK_INIT, board_sensors_init, HOOK_PRIO_DEFAULT); + /* Thermistors */ const struct temp_sensor_t temp_sensors[] = { [TEMP_SENSOR_1] = {.name = "Charger", |