diff options
Diffstat (limited to 'board/rammus/board.c')
-rw-r--r-- | board/rammus/board.c | 70 |
1 files changed, 70 insertions, 0 deletions
diff --git a/board/rammus/board.c b/board/rammus/board.c index 1f88cf4388..c4e32a9791 100644 --- a/board/rammus/board.c +++ b/board/rammus/board.c @@ -19,6 +19,8 @@ #include "console.h" #include "cros_board_info.h" #include "driver/accelgyro_bmi_common.h" +#include "driver/accelgyro_icm_common.h" +#include "driver/accelgyro_icm426xx.h" #include "driver/accel_bma2x2.h" #include "driver/accel_kionix.h" #include "driver/accel_kx022.h" @@ -586,6 +588,7 @@ static struct mutex g_lid_mutex; static struct mutex g_base_mutex; static struct bmi_drv_data_t g_bmi160_data; +static struct icm_drv_data_t g_icm426xx_data; /* private data */ static struct accelgyro_saved_data_t g_bma255_data; @@ -598,12 +601,64 @@ 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) } +}; + 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) } }; +struct motion_sensor_t base_accel_icm = { + .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_ACCEL, + .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, to meet CDD 7.3.1/C-1-4 reqs */ + .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 = 0, + }, + }, +}; + +struct motion_sensor_t base_gyro_icm = { + .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_ACCEL, + .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 lid_accel_kx022 = { .name = "Lid Accel", .active_mask = SENSOR_ACTIVE_S0_S3, @@ -709,6 +764,14 @@ struct motion_sensor_t motion_sensors[] = { }; 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_BASE_ICM426XX) + icm426xx_interrupt(signal); + else + bmi160_interrupt(signal); +} + static void board_detect_motionsense(void) { if (get_cbi_ssfc_lid_sensor() == SSFC_SENSOR_LID_KX022) { @@ -716,6 +779,13 @@ static void board_detect_motionsense(void) ccprints("LID_ACCEL is KX022"); } else ccprints("LID_ACCEL is BMA253"); + + if (get_cbi_ssfc_base_sensor() == SSFC_SENSOR_BASE_ICM426XX) { + motion_sensors[BASE_ACCEL] = base_accel_icm; + motion_sensors[BASE_GYRO] = base_gyro_icm; + ccprints("BASE_ACCEL is ICM426XX"); + } else + ccprints("BASE_ACCEL is BMI160"); } DECLARE_HOOK(HOOK_INIT, board_detect_motionsense, HOOK_PRIO_DEFAULT); |