diff options
Diffstat (limited to 'driver/accel_kxcj9.c')
| -rw-r--r-- | driver/accel_kxcj9.c | 238 |
1 files changed, 180 insertions, 58 deletions
diff --git a/driver/accel_kxcj9.c b/driver/accel_kxcj9.c index 78405a039f..76aee6f1b5 100644 --- a/driver/accel_kxcj9.c +++ b/driver/accel_kxcj9.c @@ -21,19 +21,90 @@ /* Number of times to attempt to enable sensor before giving up. */ #define SENSOR_ENABLE_ATTEMPTS 3 -/* Range of the accelerometers: 2G, 4G, or 8G. */ -static int sensor_range[ACCEL_COUNT] = {KXCJ9_GSEL_2G, KXCJ9_GSEL_2G}; +/* + * Struct for pairing an engineering value with the register value for a + * parameter. + */ +struct accel_param_pair { + int val; /* Value in engineering units. */ + int reg; /* Corresponding register value. */ +}; + +/* List of range values in +/-G's and their associated register values. */ +const struct accel_param_pair ranges[] = { + {2, KXCJ9_GSEL_2G}, + {4, KXCJ9_GSEL_4G}, + {8, KXCJ9_GSEL_8G_14BIT} +}; + +/* List of resolution values in bits and their associated register values. */ +const struct accel_param_pair resolutions[] = { + {8, KXCJ9_RES_8BIT}, + {12, KXCJ9_RES_12BIT} +}; + +/* List of ODR values in mHz and their associated register values. */ +const struct accel_param_pair datarates[] = { + {781, KXCJ9_OSA_0_781HZ}, + {1563, KXCJ9_OSA_1_563HZ}, + {3125, KXCJ9_OSA_3_125HZ}, + {6250, KXCJ9_OSA_6_250HZ}, + {12500, KXCJ9_OSA_12_50HZ}, + {25000, KXCJ9_OSA_25_00HZ}, + {50000, KXCJ9_OSA_50_00HZ}, + {100000, KXCJ9_OSA_100_0HZ}, + {200000, KXCJ9_OSA_200_0HZ}, + {400000, KXCJ9_OSA_400_0HZ}, + {800000, KXCJ9_OSA_800_0HZ}, + {1600000, KXCJ9_OSA_1600_HZ} +}; + +/* Current range of each accelerometer. The value is an index into ranges[]. */ +static int sensor_range[ACCEL_COUNT] = {0, 0}; + +/* + * Current resolution of each accelerometer. The value is an index into + * resolutions[]. + */ +static int sensor_resolution[ACCEL_COUNT] = {1, 1}; -/* Resolution: KXCJ9_RES_12BIT or KXCJ9_RES_12BIT. */ -static int sensor_resolution[ACCEL_COUNT] = {KXCJ9_RES_12BIT, KXCJ9_RES_12BIT}; +/* + * Current output data rate of each accelerometer. The value is an index into + * datarates[]. + */ +static int sensor_datarate[ACCEL_COUNT] = {6, 6}; -/* Output data rate: KXCJ9_OSA_* ranges from 0.781Hz to 1600Hz. */ -static int sensor_datarate[ACCEL_COUNT] = {KXCJ9_OSA_100_0HZ, - KXCJ9_OSA_100_0HZ}; static struct mutex accel_mutex[ACCEL_COUNT]; /** + * Find index into a accel_param_pair that matches the given engineering value + * passed in. The round_up flag is used to specify whether to round up or down. + * Note, this function always returns a valid index. If the request is + * outside the range of values, it returns the closest valid index. + */ +static int find_param_index(const int eng_val, const int round_up, + const struct accel_param_pair *pairs, const int size) +{ + int i; + + /* Linear search for index to match. */ + for (i = 0; i < size - 1; i++) { + if (eng_val <= pairs[i].val) + return i; + + if (eng_val < pairs[i+1].val) { + if (round_up) + return i + 1; + else + return i; + } + } + + return i; +} + +/** * Read register from accelerometer. */ static int raw_read8(const int addr, const int reg, int *data_ptr) @@ -125,22 +196,16 @@ static int enable_sensor(const enum accel_id id, const int ctrl1) return ret; } - -int accel_write_range(const enum accel_id id, const int range) +int accel_set_range(const enum accel_id id, const int range, const int rnd) { - int ret, ctrl1, ctrl1_new; + int ret, ctrl1, ctrl1_new, index; /* Check for valid id. */ if (id < 0 || id >= ACCEL_COUNT) return EC_ERROR_INVAL; - /* - * Verify that the input range is valid. Note that we currently - * don't support the 8G with 14-bit resolution mode. - */ - if (range != KXCJ9_GSEL_2G && range != KXCJ9_GSEL_4G && - range != KXCJ9_GSEL_8G) - return EC_ERROR_INVAL; + /* Find index for interface pair matching the specified range. */ + index = find_param_index(range, rnd, ranges, ARRAY_SIZE(ranges)); /* Disable the sensor to allow for changing of critical parameters. */ ret = disable_sensor(id, &ctrl1); @@ -148,12 +213,12 @@ int accel_write_range(const enum accel_id id, const int range) return ret; /* Determine new value of CTRL1 reg and attempt to write it. */ - ctrl1_new = (ctrl1 & ~KXCJ9_GSEL_ALL) | range; + ctrl1_new = (ctrl1 & ~KXCJ9_GSEL_ALL) | ranges[index].reg; ret = raw_write8(accel_addr[id], KXCJ9_CTRL1, ctrl1_new); /* If successfully written, then save the range. */ if (ret == EC_SUCCESS) { - sensor_range[id] = range; + sensor_range[id] = index; ctrl1 = ctrl1_new; } @@ -164,30 +229,40 @@ int accel_write_range(const enum accel_id id, const int range) return ret; } -int accel_write_resolution(const enum accel_id id, const int res) +int accel_get_range(const enum accel_id id, int * const range) { - int ret, ctrl1, ctrl1_new; - /* Check for valid id. */ if (id < 0 || id >= ACCEL_COUNT) return EC_ERROR_INVAL; - /* Check that resolution input is valid. */ - if (res != KXCJ9_RES_12BIT && res != KXCJ9_RES_8BIT) + *range = ranges[sensor_range[id]].val; + return EC_SUCCESS; +} + +int accel_set_resolution(const enum accel_id id, const int res, const int rnd) +{ + int ret, ctrl1, ctrl1_new, index; + + /* Check for valid id. */ + if (id < 0 || id >= ACCEL_COUNT) return EC_ERROR_INVAL; + /* Find index for interface pair matching the specified resolution. */ + index = find_param_index(res, rnd, resolutions, + ARRAY_SIZE(resolutions)); + /* Disable the sensor to allow for changing of critical parameters. */ ret = disable_sensor(id, &ctrl1); if (ret != EC_SUCCESS) return ret; /* Determine new value of CTRL1 reg and attempt to write it. */ - ctrl1_new = (ctrl1 & ~KXCJ9_RES_12BIT) | res; + ctrl1_new = (ctrl1 & ~KXCJ9_RES_12BIT) | resolutions[index].reg; ret = raw_write8(accel_addr[id], KXCJ9_CTRL1, ctrl1_new); /* If successfully written, then save the range. */ if (ret == EC_SUCCESS) { - sensor_resolution[id] = res; + sensor_resolution[id] = index; ctrl1 = ctrl1_new; } @@ -198,29 +273,39 @@ int accel_write_resolution(const enum accel_id id, const int res) return ret; } -int accel_write_datarate(const enum accel_id id, const int rate) +int accel_get_resolution(const enum accel_id id, int * const res) { - int ret, ctrl1; - /* Check for valid id. */ if (id < 0 || id >= ACCEL_COUNT) return EC_ERROR_INVAL; - /* Check that rate input is valid. */ - if (rate < KXCJ9_OSA_12_50HZ || rate > KXCJ9_OSA_6_250HZ) + *res = resolutions[sensor_resolution[id]].val; + return EC_SUCCESS; +} + +int accel_set_datarate(const enum accel_id id, const int rate, const int rnd) +{ + int ret, ctrl1, index; + + /* Check for valid id. */ + if (id < 0 || id >= ACCEL_COUNT) return EC_ERROR_INVAL; + /* Find index for interface pair matching the specified rate. */ + index = find_param_index(rate, rnd, datarates, ARRAY_SIZE(datarates)); + /* Disable the sensor to allow for changing of critical parameters. */ ret = disable_sensor(id, &ctrl1); if (ret != EC_SUCCESS) return ret; /* Set output data rate. */ - ret = raw_write8(accel_addr[id], KXCJ9_DATA_CTRL, rate); + ret = raw_write8(accel_addr[id], KXCJ9_DATA_CTRL, + datarates[index].reg); /* If successfully written, then save the range. */ if (ret == EC_SUCCESS) - sensor_datarate[id] = rate; + sensor_datarate[id] = index; /* Re-enable the sensor. */ if (enable_sensor(id, ctrl1) != EC_SUCCESS) @@ -229,6 +314,17 @@ int accel_write_datarate(const enum accel_id id, const int rate) return ret; } +int accel_get_datarate(const enum accel_id id, int * const rate) +{ + /* Check for valid id. */ + if (id < 0 || id >= ACCEL_COUNT) + return EC_ERROR_INVAL; + + *rate = datarates[sensor_datarate[id]].val; + return EC_SUCCESS; +} + + #ifdef CONFIG_ACCEL_INTERRUPTS int accel_set_interrupt(const enum accel_id id, unsigned int threshold) { @@ -284,7 +380,8 @@ error_enable_sensor: } #endif -int accel_read(enum accel_id id, int *x_acc, int *y_acc, int *z_acc) +int accel_read(const enum accel_id id, int * const x_acc, int * const y_acc, + int * const z_acc) { uint8_t acc[6]; uint8_t reg = KXCJ9_XOUT_L; @@ -306,7 +403,7 @@ int accel_read(enum accel_id id, int *x_acc, int *y_acc, int *z_acc) return ret; /* Determine multiplier based on stored range. */ - switch (sensor_range[id]) { + switch (ranges[sensor_range[id]].reg) { case KXCJ9_GSEL_2G: multiplier = 1; break; @@ -314,6 +411,7 @@ int accel_read(enum accel_id id, int *x_acc, int *y_acc, int *z_acc) multiplier = 2; break; case KXCJ9_GSEL_8G: + case KXCJ9_GSEL_8G_14BIT: multiplier = 4; break; default: @@ -338,7 +436,7 @@ int accel_read(enum accel_id id, int *x_acc, int *y_acc, int *z_acc) return EC_SUCCESS; } -int accel_init(enum accel_id id) +int accel_init(const enum accel_id id) { int ret = EC_SUCCESS; int cnt = 0, ctrl1, ctrl2; @@ -378,7 +476,8 @@ int accel_init(enum accel_id id) } /* Set resolution and range. */ - ctrl1 = sensor_resolution[id] | sensor_range[id]; + ctrl1 = resolutions[sensor_resolution[id]].reg | + ranges[sensor_range[id]].reg; #ifdef CONFIG_ACCEL_INTERRUPTS /* Enable wake up (motion detect) functionality. */ ctrl1 |= KXCJ9_CTRL1_WUFE; @@ -407,7 +506,8 @@ int accel_init(enum accel_id id) #endif /* Set output data rate. */ - ret |= raw_write8(accel_addr[id], KXCJ9_DATA_CTRL, sensor_datarate[id]); + ret |= raw_write8(accel_addr[id], KXCJ9_DATA_CTRL, + datarates[sensor_datarate[id]].reg); /* Enable the sensor. */ ret |= enable_sensor(id, ctrl1); @@ -482,9 +582,9 @@ DECLARE_CONSOLE_COMMAND(accelwrite, command_write_accelerometer, static int command_accelrange(int argc, char **argv) { char *e; - int id, data; + int id, data, round = 1; - if (argc < 2 || argc > 3) + if (argc < 2 || argc > 4) return EC_ERROR_PARAM_COUNT; /* First argument is sensor id. */ @@ -492,34 +592,42 @@ static int command_accelrange(int argc, char **argv) if (*e || id < 0 || id > ACCEL_COUNT) return EC_ERROR_PARAM1; - if (argc == 3) { + if (argc >= 3) { /* Second argument is data to write. */ data = strtoi(argv[2], &e, 0); if (*e) return EC_ERROR_PARAM2; + if (argc == 4) { + /* Third argument is rounding flag. */ + round = strtoi(argv[3], &e, 0); + if (*e) + return EC_ERROR_PARAM3; + } + /* * Write new range, if it returns invalid arg, then return * a parameter error. */ - if (accel_write_range(id, data) == EC_ERROR_INVAL) + if (accel_set_range(id, data, round) == EC_ERROR_INVAL) return EC_ERROR_PARAM2; } else { - ccprintf("Range for sensor %d: 0x%02x\n", id, sensor_range[id]); + accel_get_range(id, &data); + ccprintf("Range for sensor %d: %d\n", id, data); } return EC_SUCCESS; } DECLARE_CONSOLE_COMMAND(accelrange, command_accelrange, - "id [data]", + "id [data [roundup]]", "Read or write accelerometer range", NULL); static int command_accelresolution(int argc, char **argv) { char *e; - int id, data; + int id, data, round = 1; - if (argc < 2 || argc > 3) + if (argc < 2 || argc > 4) return EC_ERROR_PARAM_COUNT; /* First argument is sensor id. */ @@ -527,35 +635,42 @@ static int command_accelresolution(int argc, char **argv) if (*e || id < 0 || id > ACCEL_COUNT) return EC_ERROR_PARAM1; - if (argc == 3) { + if (argc >= 3) { /* Second argument is data to write. */ data = strtoi(argv[2], &e, 0); if (*e) return EC_ERROR_PARAM2; + if (argc == 4) { + /* Third argument is rounding flag. */ + round = strtoi(argv[3], &e, 0); + if (*e) + return EC_ERROR_PARAM3; + } + /* * Write new resolution, if it returns invalid arg, then * return a parameter error. */ - if (accel_write_resolution(id, data) == EC_ERROR_INVAL) + if (accel_set_resolution(id, data, round) == EC_ERROR_INVAL) return EC_ERROR_PARAM2; } else { - ccprintf("Resolution for sensor %d: 0x%02x\n", id, - sensor_resolution[id]); + accel_get_resolution(id, &data); + ccprintf("Resolution for sensor %d: %d\n", id, data); } return EC_SUCCESS; } DECLARE_CONSOLE_COMMAND(accelres, command_accelresolution, - "id [data]", + "id [data [roundup]]", "Read or write accelerometer resolution", NULL); static int command_acceldatarate(int argc, char **argv) { char *e; - int id, data; + int id, data, round = 1; - if (argc < 2 || argc > 3) + if (argc < 2 || argc > 4) return EC_ERROR_PARAM_COUNT; /* First argument is sensor id. */ @@ -563,27 +678,34 @@ static int command_acceldatarate(int argc, char **argv) if (*e || id < 0 || id > ACCEL_COUNT) return EC_ERROR_PARAM1; - if (argc == 3) { + if (argc >= 3) { /* Second argument is data to write. */ data = strtoi(argv[2], &e, 0); if (*e) return EC_ERROR_PARAM2; + if (argc == 4) { + /* Third argument is rounding flag. */ + round = strtoi(argv[3], &e, 0); + if (*e) + return EC_ERROR_PARAM3; + } + /* * Write new data rate, if it returns invalid arg, then * return a parameter error. */ - if (accel_write_datarate(id, data) == EC_ERROR_INVAL) + if (accel_set_datarate(id, data, round) == EC_ERROR_INVAL) return EC_ERROR_PARAM2; } else { - ccprintf("Data rate for sensor %d: 0x%02x\n", id, - sensor_datarate[id]); + accel_get_datarate(id, &data); + ccprintf("Data rate for sensor %d: %d\n", id, data); } return EC_SUCCESS; } DECLARE_CONSOLE_COMMAND(accelrate, command_acceldatarate, - "id [data]", + "id [data [roundup]]", "Read or write accelerometer range", NULL); #ifdef CONFIG_ACCEL_INTERRUPTS |