diff options
Diffstat (limited to 'driver/accel_bma2x2.c')
| -rw-r--r-- | driver/accel_bma2x2.c | 335 |
1 files changed, 0 insertions, 335 deletions
diff --git a/driver/accel_bma2x2.c b/driver/accel_bma2x2.c deleted file mode 100644 index 6d2d596bea..0000000000 --- a/driver/accel_bma2x2.c +++ /dev/null @@ -1,335 +0,0 @@ -/* Copyright 2015 The Chromium OS Authors. All rights reserved. - * Use of this source code is governed by a BSD-style license that can be - * found in the LICENSE file. - */ - -/* - * Bosch Accelerometer driver for Chrome EC - * - * Supported: BMA255 - */ - -#include "accelgyro.h" -#include "common.h" -#include "console.h" -#include "accel_bma2x2.h" -#include "i2c.h" -#include "math_util.h" -#include "spi.h" -#include "task.h" -#include "util.h" - -#define CPUTS(outstr) cputs(CC_ACCEL, outstr) -#define CPRINTF(format, args...) cprintf(CC_ACCEL, format, ## args) - -/* Number of times to attempt to enable sensor before giving up. */ -#define SENSOR_ENABLE_ATTEMPTS 5 - -/** - * Read register from accelerometer. - */ -static inline int raw_read8(const int port, const uint16_t i2c_addr_flags, - const int reg, int *data_ptr) -{ - return i2c_read8(port, i2c_addr_flags, reg, data_ptr); -} - -/** - * Write register from accelerometer. - */ -static inline int raw_write8(const int port, const uint16_t i2c_addr_flags, - const int reg, int data) -{ - return i2c_write8(port, i2c_addr_flags, reg, data); -} - -static int set_range(struct motion_sensor_t *s, int range, int rnd) -{ - int ret, range_val, reg_val, range_reg_val; - - /* Range has to be between 2G-16G */ - if (range < 2) - range = 2; - else if (range > 16) - range = 16; - - range_val = BMA2x2_RANGE_TO_REG(range); - if ((BMA2x2_REG_TO_RANGE(range_val) < range) && rnd) - range_val = BMA2x2_RANGE_TO_REG(range * 2); - - mutex_lock(s->mutex); - - /* Determine the new value of control reg and attempt to write it. */ - ret = raw_read8(s->port, s->i2c_spi_addr_flags, - BMA2x2_RANGE_SELECT_ADDR, &range_reg_val); - if (ret != EC_SUCCESS) { - mutex_unlock(s->mutex); - return ret; - } - reg_val = (range_reg_val & ~BMA2x2_RANGE_SELECT_MSK) | range_val; - ret = raw_write8(s->port, s->i2c_spi_addr_flags, - BMA2x2_RANGE_SELECT_ADDR, reg_val); - - /* If successfully written, then save the range. */ - if (ret == EC_SUCCESS) - s->current_range = BMA2x2_REG_TO_RANGE(range_val); - - mutex_unlock(s->mutex); - - return ret; -} - -static int get_resolution(const struct motion_sensor_t *s) -{ - return BMA2x2_RESOLUTION; -} - -static int set_data_rate(const struct motion_sensor_t *s, int rate, int rnd) -{ - int ret, odr_val, odr_reg_val, reg_val; - struct accelgyro_saved_data_t *data = s->drv_data; - - /* Rate has to be between 7.8125Hz - 1000Hz */ - if (rate < 7813) { - rate = 7812; - odr_val = BMA2x2_BW_7_81HZ; - } else if (rate > 1000000) { - rate = 1000000; - odr_val = BMA2x2_BW_1000HZ; - } else { - odr_val = BMA2x2_BW_TO_REG(rate); - if ((BMA2x2_REG_TO_BW(odr_val) < rate) && rnd) - odr_val = BMA2x2_BW_TO_REG(rate * 2); - } - - mutex_lock(s->mutex); - - /* Determine the new value of control reg and attempt to write it. */ - ret = raw_read8(s->port, s->i2c_spi_addr_flags, - BMA2x2_BW_SELECT_ADDR, &odr_reg_val); - if (ret != EC_SUCCESS) { - mutex_unlock(s->mutex); - return ret; - } - reg_val = (odr_reg_val & ~BMA2x2_BW_MSK) | odr_val; - /* Set output data rate. */ - ret = raw_write8(s->port, s->i2c_spi_addr_flags, - BMA2x2_BW_SELECT_ADDR, reg_val); - - /* If successfully written, then save the new data rate. */ - if (ret == EC_SUCCESS) - data->odr = BMA2x2_REG_TO_BW(odr_val); - - mutex_unlock(s->mutex); - return ret; -} - -static int get_data_rate(const struct motion_sensor_t *s) -{ - struct accelgyro_saved_data_t *data = s->drv_data; - - return data->odr; -} - -static int set_offset(const struct motion_sensor_t *s, const int16_t *offset, - int16_t temp) -{ - int i, ret; - intv3_t v = { offset[X], offset[Y], offset[Z] }; - - rotate_inv(v, *s->rot_standard_ref, v); - - /* temperature is ignored */ - /* Offset from host is in 1/1024g, 1/128g internally. */ - for (i = X; i <= Z; i++) { - ret = raw_write8(s->port, s->i2c_spi_addr_flags, - BMA2x2_OFFSET_X_AXIS_ADDR + i, v[i] / 8); - if (ret) - return ret; - } - return EC_SUCCESS; -} - -static int get_offset(const struct motion_sensor_t *s, int16_t *offset, - int16_t *temp) -{ - int i, val, ret; - intv3_t v; - - for (i = X; i <= Z; i++) { - ret = raw_read8(s->port, s->i2c_spi_addr_flags, - BMA2x2_OFFSET_X_AXIS_ADDR + i, &val); - if (ret) - return ret; - v[i] = (int8_t)val * 8; - } - rotate(v, *s->rot_standard_ref, v); - offset[X] = v[X]; - offset[Y] = v[Y]; - offset[Z] = v[Z]; - - *temp = EC_MOTION_SENSE_INVALID_CALIB_TEMP; - return EC_SUCCESS; -} - -static int read(const struct motion_sensor_t *s, intv3_t v) -{ - uint8_t acc[6]; - int ret, i; - - /* Read 6 bytes starting at X_AXIS_LSB. */ - mutex_lock(s->mutex); - ret = i2c_read_block(s->port, s->i2c_spi_addr_flags, - BMA2x2_X_AXIS_LSB_ADDR, acc, 6); - mutex_unlock(s->mutex); - - if (ret != EC_SUCCESS) - return ret; - - /* - * Convert acceleration to a signed 16-bit number. Note, based on - * the order of the registers: - * - * acc[0] = X_AXIS_LSB -> bit 7~4 for value, bit 0 for new data bit - * acc[1] = X_AXIS_MSB - * acc[2] = Y_AXIS_LSB -> bit 7~4 for value, bit 0 for new data bit - * acc[3] = Y_AXIS_MSB - * acc[4] = Z_AXIS_LSB -> bit 7~4 for value, bit 0 for new data bit - * acc[5] = Z_AXIS_MSB - */ - for (i = X; i <= Z; i++) - v[i] = (((int8_t)acc[i * 2 + 1]) << 8) | (acc[i * 2] & 0xf0); - rotate(v, *s->rot_standard_ref, v); - - return EC_SUCCESS; -} - -static int perform_calib(struct motion_sensor_t *s, int enable) -{ - int ret, val, status, rate, range, i; - timestamp_t deadline; - - if (!enable) - return EC_SUCCESS; - - ret = raw_read8(s->port, s->i2c_spi_addr_flags, - BMA2x2_OFFSET_CTRL_ADDR, &val); - if (ret) - return ret; - if (!(val & BMA2x2_OFFSET_CAL_READY)) - return EC_ERROR_ACCESS_DENIED; - - rate = get_data_rate(s); - range = s->current_range; - /* - * Temporary set frequency to 100Hz to get enough data in a short - * period of time. - */ - set_data_rate(s, 100000, 0); - set_range(s, 2, 0); - - /* We assume the device is laying flat for calibration */ - if (s->rot_standard_ref == NULL || - (*s->rot_standard_ref)[2][2] > INT_TO_FP(0)) - val = BMA2x2_OFC_TARGET_PLUS_1G; - else - val = BMA2x2_OFC_TARGET_MINUS_1G; - val = ((BMA2x2_OFC_TARGET_0G << BMA2x2_OFC_TARGET_AXIS(X)) | - (BMA2x2_OFC_TARGET_0G << BMA2x2_OFC_TARGET_AXIS(Y)) | - (val << BMA2x2_OFC_TARGET_AXIS(Z))); - raw_write8(s->port, s->i2c_spi_addr_flags, - BMA2x2_OFC_SETTING_ADDR, val); - - for (i = X; i <= Z; i++) { - val = (i + 1) << BMA2x2_OFFSET_TRIGGER_OFF; - raw_write8(s->port, s->i2c_spi_addr_flags, - BMA2x2_OFFSET_CTRL_ADDR, val); - /* - * The sensor needs 16 samples. At 100Hz/10ms, it needs 160ms to - * complete. Set 400ms to have some margin. - */ - deadline.val = get_time().val + 400 * MSEC; - do { - if (timestamp_expired(deadline, NULL)) { - ret = EC_RES_TIMEOUT; - goto end_perform_calib; - } - msleep(50); - ret = raw_read8(s->port, s->i2c_spi_addr_flags, - BMA2x2_OFFSET_CTRL_ADDR, &status); - if (ret != EC_SUCCESS) - goto end_perform_calib; - } while ((status & BMA2x2_OFFSET_CAL_READY) == 0); - } - -end_perform_calib: - set_range(s, range, 0); - set_data_rate(s, rate, 0); - return ret; -} - -static int init(struct motion_sensor_t *s) -{ - int ret = 0, tries = 0, val, reg, reset_field; - - /* This driver requires a mutex */ - ASSERT(s->mutex); - - ret = raw_read8(s->port, s->i2c_spi_addr_flags, - BMA2x2_CHIP_ID_ADDR, &val); - if (ret) - return EC_ERROR_UNKNOWN; - - if (val != BMA255_CHIP_ID_MAJOR) - return EC_ERROR_ACCESS_DENIED; - - /* Reset the chip to be in a good state */ - reg = BMA2x2_RST_ADDR; - reset_field = BMA2x2_CMD_SOFT_RESET; - - mutex_lock(s->mutex); - - ret = raw_read8(s->port, s->i2c_spi_addr_flags, reg, &val); - if (ret != EC_SUCCESS) { - mutex_unlock(s->mutex); - return ret; - } - val |= reset_field; - ret = raw_write8(s->port, s->i2c_spi_addr_flags, reg, val); - if (ret != EC_SUCCESS) { - mutex_unlock(s->mutex); - return ret; - } - - /* The SRST will be cleared when reset is complete. */ - do { - ret = raw_read8(s->port, s->i2c_spi_addr_flags, reg, &val); - - /* Reset complete. */ - if ((ret == EC_SUCCESS) && !(val & reset_field)) - break; - - /* Check for tires. */ - if (tries++ > SENSOR_ENABLE_ATTEMPTS) { - ret = EC_ERROR_TIMEOUT; - mutex_unlock(s->mutex); - return ret; - } - msleep(1); - } while (1); - mutex_unlock(s->mutex); - - return sensor_init_done(s); -} - -const struct accelgyro_drv bma2x2_accel_drv = { - .init = init, - .read = read, - .set_range = set_range, - .get_resolution = get_resolution, - .set_data_rate = set_data_rate, - .get_data_rate = get_data_rate, - .set_offset = set_offset, - .get_offset = get_offset, - .perform_calib = perform_calib, -}; |