diff options
Diffstat (limited to 'board/kano/sensors.c')
| -rw-r--r-- | board/kano/sensors.c | 142 |
1 files changed, 138 insertions, 4 deletions
diff --git a/board/kano/sensors.c b/board/kano/sensors.c index 9ad2ff8108..9a5812a9be 100644 --- a/board/kano/sensors.c +++ b/board/kano/sensors.c @@ -6,6 +6,9 @@ #include "common.h" #include "accelgyro.h" #include "adc_chip.h" +#include "driver/accelgyro_bmi_common.h" +#include "driver/accelgyro_bmi260.h" +#include "driver/accel_bma422.h" #include "driver/accelgyro_icm426xx.h" #include "driver/accelgyro_icm_common.h" #include "driver/accel_kionix.h" @@ -45,6 +48,16 @@ K_MUTEX_DEFINE(g_lid_accel_mutex); K_MUTEX_DEFINE(g_base_accel_mutex); static struct kionix_accel_data g_kx022_data; static struct icm_drv_data_t g_icm426xx_data; +static struct bmi_drv_data_t g_bmi260_data; +static struct accelgyro_saved_data_t g_bma422_data; + +enum base_accelgyro_type { + BASE_GYRO_NONE = 0, + BASE_GYRO_BMI260 = 1, + BASE_GYRO_ICM426XX = 2, +}; + +static enum base_accelgyro_type base_accelgyro_config; /* * TODO:(b/197200940): Verify lid and base orientation @@ -61,6 +74,92 @@ static const mat33_fp_t base_standard_ref = { { 0, 0, FLOAT_TO_FP(1)} }; +static const mat33_fp_t lid_bma422_standard_ref = { + { 0, FLOAT_TO_FP(-1), 0}, + { FLOAT_TO_FP(-1), 0, 0}, + { 0, 0, FLOAT_TO_FP(-1)} +}; +static const mat33_fp_t base_bmi260_standard_ref = { + { 0, FLOAT_TO_FP(-1), 0}, + { FLOAT_TO_FP(1), 0, 0}, + { 0, 0, FLOAT_TO_FP(1)} +}; + +static struct motion_sensor_t bmi260_base_accel = { + .name = "Base Accel", + .active_mask = SENSOR_ACTIVE_S0_S3, + .chip = MOTIONSENSE_CHIP_BMI260, + .type = MOTIONSENSE_TYPE_ACCEL, + .location = MOTIONSENSE_LOC_BASE, + .drv = &bmi260_drv, + .mutex = &g_base_accel_mutex, + .drv_data = &g_bmi260_data, + .port = I2C_PORT_ACCEL, + .i2c_spi_addr_flags = BMI260_ADDR0_FLAGS, + .rot_standard_ref = &base_bmi260_standard_ref, + .min_frequency = BMI_ACCEL_MIN_FREQ, + .max_frequency = BMI_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, + .ec_rate = 100 * MSEC, + }, + }, +}; + +static struct motion_sensor_t bmi260_base_gyro = { + .name = "Base Gyro", + .active_mask = SENSOR_ACTIVE_S0_S3, + .chip = MOTIONSENSE_CHIP_BMI260, + .type = MOTIONSENSE_TYPE_GYRO, + .location = MOTIONSENSE_LOC_BASE, + .drv = &bmi260_drv, + .mutex = &g_base_accel_mutex, + .drv_data = &g_bmi260_data, + .port = I2C_PORT_ACCEL, + .i2c_spi_addr_flags = BMI260_ADDR0_FLAGS, + .default_range = 1000, /* dps */ + .rot_standard_ref = &base_bmi260_standard_ref, + .min_frequency = BMI_GYRO_MIN_FREQ, + .max_frequency = BMI_GYRO_MAX_FREQ, +}; + +static struct motion_sensor_t bma422_lid_accel = { + .name = "Lid Accel", + .active_mask = SENSOR_ACTIVE_S0_S3, + .chip = MOTIONSENSE_CHIP_BMA422, + .type = MOTIONSENSE_TYPE_ACCEL, + .location = MOTIONSENSE_LOC_LID, + .drv = &bma4_accel_drv, + .mutex = &g_lid_accel_mutex, + .drv_data = &g_bma422_data, + .port = I2C_PORT_ACCEL, + .i2c_spi_addr_flags = BMA4_I2C_ADDR_SECONDARY, + .rot_standard_ref = &lid_bma422_standard_ref, + .min_frequency = BMA4_ACCEL_MIN_FREQ, + .max_frequency = BMA4_ACCEL_MAX_FREQ, + .default_range = 2, /* g, enough for laptop. */ + .config = { + /* EC use accel for angle detection */ + [SENSOR_CONFIG_EC_S0] = { + .odr = 12500 | ROUND_UP_FLAG, + .ec_rate = 100 * MSEC, + }, + /* Sensor on in S3 */ + [SENSOR_CONFIG_EC_S3] = { + .odr = 12500 | ROUND_UP_FLAG, + .ec_rate = 0, + }, + }, +}; + struct motion_sensor_t motion_sensors[] = { [LID_ACCEL] = { .name = "Lid Accel", @@ -71,7 +170,7 @@ struct motion_sensor_t motion_sensors[] = { .drv = &kionix_accel_drv, .mutex = &g_lid_accel_mutex, .drv_data = &g_kx022_data, - .port = I2C_PORT_SENSOR, + .port = I2C_PORT_ACCEL, .i2c_spi_addr_flags = KX022_ADDR1_FLAGS, .flags = MOTIONSENSE_FLAG_INT_SIGNAL, .rot_standard_ref = &lid_standard_ref, /* identity matrix */ @@ -101,7 +200,7 @@ struct motion_sensor_t motion_sensors[] = { .drv_data = &g_icm426xx_data, .int_signal = GPIO_EC_IMU_INT_R_L, .flags = MOTIONSENSE_FLAG_INT_SIGNAL, - .port = I2C_PORT_SENSOR, + .port = I2C_PORT_ACCEL, .i2c_spi_addr_flags = ICM426XX_ADDR0_FLAGS, .rot_standard_ref = &base_standard_ref, .default_range = 4, /* g */ @@ -130,7 +229,7 @@ struct motion_sensor_t motion_sensors[] = { .drv_data = &g_icm426xx_data, .int_signal = GPIO_EC_IMU_INT_R_L, .flags = MOTIONSENSE_FLAG_INT_SIGNAL, - .port = I2C_PORT_SENSOR, + .port = I2C_PORT_ACCEL, .i2c_spi_addr_flags = ICM426XX_ADDR0_FLAGS, .default_range = 1000 | ROUND_UP_FLAG, /* dps */ .rot_standard_ref = &base_standard_ref, @@ -140,6 +239,36 @@ struct motion_sensor_t motion_sensors[] = { }; const unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors); +static void baseboard_sensors_detect(void) +{ + int ret, val; + + if (base_accelgyro_config != BASE_GYRO_NONE) + return; + + ret = i2c_read8(I2C_PORT_ACCEL, BMA4_I2C_ADDR_SECONDARY, + BMA4_CHIP_ID_ADDR, &val); + if (ret == 0 && val == BMA422_CHIP_ID) { + motion_sensors[LID_ACCEL] = bma422_lid_accel; + ccprints("LID_ACCEL is BMA422"); + } else + ccprints("LID_ACCEL is KX022"); + + ret = bmi_read8(I2C_PORT_ACCEL, BMI260_ADDR0_FLAGS, + BMI260_CHIP_ID, &val); + if (ret == 0 && val == BMI260_CHIP_ID_MAJOR) { + motion_sensors[BASE_ACCEL] = bmi260_base_accel; + motion_sensors[BASE_GYRO] = bmi260_base_gyro; + base_accelgyro_config = BASE_GYRO_BMI260; + ccprints("BASE ACCEL is BMI260"); + } else { + base_accelgyro_config = BASE_GYRO_ICM426XX; + ccprints("BASE ACCEL IS ICM426XX"); + } +} +DECLARE_HOOK(HOOK_CHIPSET_STARTUP, baseboard_sensors_detect, + HOOK_PRIO_DEFAULT); + static void baseboard_sensors_init(void) { /* Enable gpio interrupt for base accelgyro sensor */ @@ -149,7 +278,12 @@ DECLARE_HOOK(HOOK_INIT, baseboard_sensors_init, HOOK_PRIO_INIT_I2C + 1); void motion_interrupt(enum gpio_signal signal) { - icm426xx_interrupt(signal); + if (base_accelgyro_config == BASE_GYRO_NONE) + return; + if (base_accelgyro_config == BASE_GYRO_BMI260) + bmi260_interrupt(signal); + else + icm426xx_interrupt(signal); } /* Temperature sensor configuration */ |