diff options
Diffstat (limited to 'driver/accelgyro_bmi160.c')
| -rw-r--r-- | driver/accelgyro_bmi160.c | 261 |
1 files changed, 120 insertions, 141 deletions
diff --git a/driver/accelgyro_bmi160.c b/driver/accelgyro_bmi160.c index 184e20c9f5..0a736760d0 100644 --- a/driver/accelgyro_bmi160.c +++ b/driver/accelgyro_bmi160.c @@ -1,4 +1,4 @@ -/* Copyright 2015 The Chromium OS Authors. All rights reserved. +/* Copyright 2015 The ChromiumOS Authors * Use of this source code is governed by a BSD-style license that can be * found in the LICENSE file. */ @@ -9,6 +9,7 @@ */ #include "accelgyro.h" +#include "builtin/assert.h" #include "common.h" #include "console.h" #include "accelgyro_bmi_common.h" @@ -25,25 +26,22 @@ #include "util.h" #define CPUTS(outstr) cputs(CC_ACCEL, outstr) -#define CPRINTF(format, args...) cprintf(CC_ACCEL, format, ## args) -#define CPRINTS(format, args...) cprints(CC_ACCEL, format, ## args) +#define CPRINTF(format, args...) cprintf(CC_ACCEL, format, ##args) +#define CPRINTS(format, args...) cprints(CC_ACCEL, format, ##args) #ifdef CONFIG_ACCELGYRO_BMI160_INT_EVENT #define ACCELGYRO_BMI160_INT_ENABLE #endif -STATIC_IF(CONFIG_BMI_ORIENTATION_SENSOR) void irq_set_orientation( - struct motion_sensor_t *s, - int interrupt); +STATIC_IF(CONFIG_BMI_ORIENTATION_SENSOR) +void irq_set_orientation(struct motion_sensor_t *s, int interrupt); STATIC_IF(ACCELGYRO_BMI160_INT_ENABLE) - volatile uint32_t last_interrupt_timestamp; +volatile uint32_t last_interrupt_timestamp; -static int wakeup_time[] = { - [MOTIONSENSE_TYPE_ACCEL] = 4, - [MOTIONSENSE_TYPE_GYRO] = 80, - [MOTIONSENSE_TYPE_MAG] = 1 -}; +static int wakeup_time[] = { [MOTIONSENSE_TYPE_ACCEL] = 4, + [MOTIONSENSE_TYPE_GYRO] = 80, + [MOTIONSENSE_TYPE_MAG] = 1 }; /** * Control access to the compass on the secondary i2c interface: @@ -51,14 +49,12 @@ static int wakeup_time[] = { * 1: manual access, we can issue i2c to the compass * 0: data access: BMI160 gather data periodically from the compass. */ -static __maybe_unused int bmi160_sec_access_ctrl( - const int port, - const uint16_t i2c_spi_addr_flags, - const int enable) +static __maybe_unused int +bmi160_sec_access_ctrl(const int port, const uint16_t i2c_spi_addr_flags, + const int enable) { int mag_if_ctrl; - bmi_read8(port, i2c_spi_addr_flags, - BMI160_MAG_IF_1, &mag_if_ctrl); + bmi_read8(port, i2c_spi_addr_flags, BMI160_MAG_IF_1, &mag_if_ctrl); if (enable) { mag_if_ctrl |= BMI160_MAG_MANUAL_EN; mag_if_ctrl &= ~BMI160_MAG_READ_BURST_MASK; @@ -68,42 +64,36 @@ static __maybe_unused int bmi160_sec_access_ctrl( mag_if_ctrl &= ~BMI160_MAG_READ_BURST_MASK; mag_if_ctrl |= BMI160_MAG_READ_BURST_8; } - return bmi_write8(port, i2c_spi_addr_flags, - BMI160_MAG_IF_1, mag_if_ctrl); + return bmi_write8(port, i2c_spi_addr_flags, BMI160_MAG_IF_1, + mag_if_ctrl); } /** * Read register from compass. * Assuming we are in manual access mode, read compass i2c register. */ -int bmi160_sec_raw_read8(const int port, - const uint16_t i2c_spi_addr_flags, +int bmi160_sec_raw_read8(const int port, const uint16_t i2c_spi_addr_flags, const uint8_t reg, int *data_ptr) { /* Only read 1 bytes */ - bmi_write8(port, i2c_spi_addr_flags, - BMI160_MAG_I2C_READ_ADDR, reg); - return bmi_read8(port, i2c_spi_addr_flags, - BMI160_MAG_I2C_READ_DATA, data_ptr); + bmi_write8(port, i2c_spi_addr_flags, BMI160_MAG_I2C_READ_ADDR, reg); + return bmi_read8(port, i2c_spi_addr_flags, BMI160_MAG_I2C_READ_DATA, + data_ptr); } /** * Write register from compass. * Assuming we are in manual access mode, write to compass i2c register. */ -int bmi160_sec_raw_write8(const int port, - const uint16_t i2c_spi_addr_flags, +int bmi160_sec_raw_write8(const int port, const uint16_t i2c_spi_addr_flags, const uint8_t reg, int data) { - bmi_write8(port, i2c_spi_addr_flags, - BMI160_MAG_I2C_WRITE_DATA, data); - return bmi_write8(port, i2c_spi_addr_flags, - BMI160_MAG_I2C_WRITE_ADDR, reg); + bmi_write8(port, i2c_spi_addr_flags, BMI160_MAG_I2C_WRITE_DATA, data); + return bmi_write8(port, i2c_spi_addr_flags, BMI160_MAG_I2C_WRITE_ADDR, + reg); } -static int set_data_rate(const struct motion_sensor_t *s, - int rate, - int rnd) +static int set_data_rate(const struct motion_sensor_t *s, int rate, int rnd) { int ret, normalized_rate; uint8_t reg_val; @@ -115,8 +105,7 @@ static int set_data_rate(const struct motion_sensor_t *s, bmi_enable_fifo(s, 0); /* go to suspend mode */ - ret = bmi_write8(s->port, s->i2c_spi_addr_flags, - BMI160_CMD_REG, + ret = bmi_write8(s->port, s->i2c_spi_addr_flags, BMI160_CMD_REG, BMI160_CMD_MODE_SUSPEND(s->type)); msleep(3); data->odr = 0; @@ -130,8 +119,7 @@ static int set_data_rate(const struct motion_sensor_t *s, return ret; } else if (data->odr == 0) { /* back from suspend mode. */ - ret = bmi_write8(s->port, s->i2c_spi_addr_flags, - BMI160_CMD_REG, + ret = bmi_write8(s->port, s->i2c_spi_addr_flags, BMI160_CMD_REG, BMI160_CMD_MODE_NORMAL(s->type)); msleep(wakeup_time[s->type]); } @@ -146,8 +134,7 @@ static int set_data_rate(const struct motion_sensor_t *s, */ mutex_lock(s->mutex); - ret = bmi_set_reg8(s, BMI_CONF_REG(s->type), - reg_val, BMI_ODR_MASK); + ret = bmi_set_reg8(s, BMI_CONF_REG(s->type), reg_val, BMI_ODR_MASK); if (ret != EC_SUCCESS) goto accel_cleanup; @@ -165,9 +152,9 @@ static int set_data_rate(const struct motion_sensor_t *s, * for at least MIN_BATCH_WINDOW_US. * Given odr is in mHz, multiply by 1000x */ - moc->batch_size = MAX( - MAG_CAL_MIN_BATCH_SIZE, - (data->odr * 1000) / (MAG_CAL_MIN_BATCH_WINDOW_US)); + moc->batch_size = + MAX(MAG_CAL_MIN_BATCH_SIZE, + (data->odr * 1000) / (MAG_CAL_MIN_BATCH_WINDOW_US)); CPRINTS("Batch size: %d", moc->batch_size); } @@ -183,17 +170,16 @@ accel_cleanup: return ret; } -static int set_offset(const struct motion_sensor_t *s, - const int16_t *offset, - int16_t temp) +static int set_offset(const struct motion_sensor_t *s, const int16_t *offset, + int16_t temp) { int ret, val98; intv3_t v = { offset[X], offset[Y], offset[Z] }; rotate_inv(v, *s->rot_standard_ref, v); - ret = bmi_read8(s->port, s->i2c_spi_addr_flags, - BMI160_OFFSET_EN_GYR98, &val98); + ret = bmi_read8(s->port, s->i2c_spi_addr_flags, BMI160_OFFSET_EN_GYR98, + &val98); if (ret != 0) return ret; @@ -258,8 +244,8 @@ static int perform_calib(struct motion_sensor_t *s, int enable) else val = BMI160_FOC_ACC_MINUS_1G; val = (BMI160_FOC_ACC_0G << BMI160_FOC_ACC_X_OFFSET) | - (BMI160_FOC_ACC_0G << BMI160_FOC_ACC_Y_OFFSET) | - (val << BMI160_FOC_ACC_Z_OFFSET); + (BMI160_FOC_ACC_0G << BMI160_FOC_ACC_Y_OFFSET) | + (val << BMI160_FOC_ACC_Z_OFFSET); en_flag = BMI160_OFFSET_ACC_EN; /* * Temporary set range to minimum to run calibration with @@ -285,12 +271,11 @@ static int perform_calib(struct motion_sensor_t *s, int enable) /* Unreachable due to sensor type check above. */ ASSERT(false); return EC_RES_INVALID_PARAM; - /* LCOV_EXCL_STOP */ + /* LCOV_EXCL_STOP */ } - ret = bmi_write8(s->port, s->i2c_spi_addr_flags, - BMI160_FOC_CONF, val); - ret = bmi_write8(s->port, s->i2c_spi_addr_flags, - BMI160_CMD_REG, BMI160_CMD_START_FOC); + ret = bmi_write8(s->port, s->i2c_spi_addr_flags, BMI160_FOC_CONF, val); + ret = bmi_write8(s->port, s->i2c_spi_addr_flags, BMI160_CMD_REG, + BMI160_CMD_START_FOC); deadline.val = get_time().val + timeout.val; do { if (timestamp_expired(deadline, NULL)) { @@ -298,8 +283,8 @@ static int perform_calib(struct motion_sensor_t *s, int enable) goto end_perform_calib; } msleep(50); - ret = bmi_read8(s->port, s->i2c_spi_addr_flags, - BMI160_STATUS, &status); + ret = bmi_read8(s->port, s->i2c_spi_addr_flags, BMI160_STATUS, + &status); if (ret != EC_SUCCESS) goto end_perform_calib; } while ((status & BMI160_FOC_RDY) == 0); @@ -319,8 +304,7 @@ end_perform_calib: */ #ifdef CONFIG_GESTURE_HOST_DETECTION static int manage_activity(const struct motion_sensor_t *s, - enum motionsensor_activity activity, - int enable, + enum motionsensor_activity activity, int enable, const struct ec_motion_sense_activity *param) { int ret; @@ -332,23 +316,23 @@ static int manage_activity(const struct motion_sensor_t *s, if (enable) { /* We should use parameters from caller */ bmi_write8(s->port, s->i2c_spi_addr_flags, - BMI160_INT_MOTION_3, - BMI160_MOTION_PROOF_TIME( - CONFIG_GESTURE_SIGMO_PROOF_MS) << - BMI160_MOTION_PROOF_OFF | - BMI160_MOTION_SKIP_TIME( - CONFIG_GESTURE_SIGMO_SKIP_MS) << - BMI160_MOTION_SKIP_OFF | - BMI160_MOTION_SIG_MOT_SEL); + BMI160_INT_MOTION_3, + BMI160_MOTION_PROOF_TIME( + CONFIG_GESTURE_SIGMO_PROOF_MS) + << BMI160_MOTION_PROOF_OFF | + BMI160_MOTION_SKIP_TIME( + CONFIG_GESTURE_SIGMO_SKIP_MS) + << BMI160_MOTION_SKIP_OFF | + BMI160_MOTION_SIG_MOT_SEL); bmi_write8(s->port, s->i2c_spi_addr_flags, - BMI160_INT_MOTION_1, - BMI160_MOTION_TH(s, - CONFIG_GESTURE_SIGMO_THRES_MG)); + BMI160_INT_MOTION_1, + BMI160_MOTION_TH( + s, CONFIG_GESTURE_SIGMO_THRES_MG)); } ret = bmi_enable_reg8(s, BMI160_INT_EN_0, BMI160_INT_ANYMO_X_EN | - BMI160_INT_ANYMO_Y_EN | - BMI160_INT_ANYMO_Z_EN, + BMI160_INT_ANYMO_Y_EN | + BMI160_INT_ANYMO_Z_EN, enable); if (ret) ret = EC_RES_UNAVAILABLE; @@ -358,8 +342,7 @@ static int manage_activity(const struct motion_sensor_t *s, #ifdef CONFIG_GESTURE_SENSOR_DOUBLE_TAP case MOTIONSENSE_ACTIVITY_DOUBLE_TAP: { /* Set double tap interrupt */ - ret = bmi_enable_reg8(s, BMI160_INT_EN_0, - BMI160_INT_D_TAP_EN, + ret = bmi_enable_reg8(s, BMI160_INT_EN_0, BMI160_INT_D_TAP_EN, enable); if (ret) ret = EC_RES_UNAVAILABLE; @@ -382,6 +365,13 @@ static int manage_activity(const struct motion_sensor_t *s, } #endif +#ifdef CONFIG_BODY_DETECTION +static int get_rms_noise(const struct motion_sensor_t *s) +{ + return bmi_get_rms_noise(s, BMI160_ACCEL_RMS_NOISE_100HZ); +} +#endif + /** Requires that the passed sensor `*s` is an accelerometer */ static __maybe_unused int config_accel_interrupt(const struct motion_sensor_t *s) @@ -389,18 +379,18 @@ config_accel_interrupt(const struct motion_sensor_t *s) int ret, tmp; mutex_lock(s->mutex); - bmi_write8(s->port, s->i2c_spi_addr_flags, - BMI160_CMD_REG, BMI160_CMD_FIFO_FLUSH); - bmi_write8(s->port, s->i2c_spi_addr_flags, - BMI160_CMD_REG, BMI160_CMD_INT_RESET); + bmi_write8(s->port, s->i2c_spi_addr_flags, BMI160_CMD_REG, + BMI160_CMD_FIFO_FLUSH); + bmi_write8(s->port, s->i2c_spi_addr_flags, BMI160_CMD_REG, + BMI160_CMD_INT_RESET); if (IS_ENABLED(CONFIG_GESTURE_SENSOR_DOUBLE_TAP)) { - bmi_write8(s->port, s->i2c_spi_addr_flags, - BMI160_INT_TAP_0, - BMI160_TAP_DUR(s, CONFIG_GESTURE_TAP_MAX_INTERSTICE_T)); + bmi_write8(s->port, s->i2c_spi_addr_flags, BMI160_INT_TAP_0, + BMI160_TAP_DUR(s, + CONFIG_GESTURE_TAP_MAX_INTERSTICE_T)); ret = bmi_write8(s->port, s->i2c_spi_addr_flags, - BMI160_INT_TAP_1, - BMI160_TAP_TH(s, CONFIG_GESTURE_TAP_THRES_MG)); + BMI160_INT_TAP_1, + BMI160_TAP_TH(s, CONFIG_GESTURE_TAP_THRES_MG)); } /* only use orientation sensor on the lid sensor */ if (IS_ENABLED(CONFIG_BMI_ORIENTATION_SENSOR) && @@ -415,17 +405,16 @@ config_accel_interrupt(const struct motion_sensor_t *s) if (IS_ENABLED(CONFIG_ACCELGYRO_BMI160_INT2_OUTPUT)) { ret = bmi_write8(s->port, s->i2c_spi_addr_flags, - BMI160_INT_LATCH, BMI160_LATCH_5MS); + BMI160_INT_LATCH, BMI160_LATCH_5MS); } else { /* Also, configure int2 as an external input. */ ret = bmi_write8(s->port, s->i2c_spi_addr_flags, - BMI160_INT_LATCH, - BMI160_INT2_INPUT_EN | BMI160_LATCH_5MS); + BMI160_INT_LATCH, + BMI160_INT2_INPUT_EN | BMI160_LATCH_5MS); } /* configure int1 as an interrupt */ - ret = bmi_write8(s->port, s->i2c_spi_addr_flags, - BMI160_INT_OUT_CTRL, + ret = bmi_write8(s->port, s->i2c_spi_addr_flags, BMI160_INT_OUT_CTRL, BMI160_INT_CTRL(1, OUTPUT_EN)); /* Map activity interrupt to int 1 */ @@ -439,15 +428,14 @@ config_accel_interrupt(const struct motion_sensor_t *s) /* enable orientation interrupt for lid sensor only */ tmp |= BMI160_INT_ORIENT; } - ret = bmi_write8(s->port, s->i2c_spi_addr_flags, - BMI160_INT_MAP_REG(1), tmp); + ret = bmi_write8(s->port, s->i2c_spi_addr_flags, BMI160_INT_MAP_REG(1), + tmp); if (IS_ENABLED(ACCELGYRO_BMI160_INT_ENABLE)) { /* map fifo water mark to int 1 */ - ret = bmi_write8(s->port, s->i2c_spi_addr_flags, - BMI160_INT_FIFO_MAP, - BMI160_INT_MAP(1, FWM) | - BMI160_INT_MAP(1, FFULL)); + ret = bmi_write8( + s->port, s->i2c_spi_addr_flags, BMI160_INT_FIFO_MAP, + BMI160_INT_MAP(1, FWM) | BMI160_INT_MAP(1, FFULL)); /* * Configure fifo watermark to int whenever there's any data in @@ -457,13 +445,13 @@ config_accel_interrupt(const struct motion_sensor_t *s) BMI160_FIFO_CONFIG_0, 1); if (IS_ENABLED(CONFIG_ACCELGYRO_BMI160_INT2_OUTPUT)) ret = bmi_write8(s->port, s->i2c_spi_addr_flags, - BMI160_FIFO_CONFIG_1, - BMI160_FIFO_HEADER_EN); + BMI160_FIFO_CONFIG_1, + BMI160_FIFO_HEADER_EN); else ret = bmi_write8(s->port, s->i2c_spi_addr_flags, - BMI160_FIFO_CONFIG_1, - BMI160_FIFO_TAG_INT2_EN | - BMI160_FIFO_HEADER_EN); + BMI160_FIFO_CONFIG_1, + BMI160_FIFO_TAG_INT2_EN | + BMI160_FIFO_HEADER_EN); /* Set fifo*/ bmi_enable_reg8(s, BMI160_INT_EN_1, @@ -475,17 +463,15 @@ config_accel_interrupt(const struct motion_sensor_t *s) #ifdef ACCELGYRO_BMI160_INT_ENABLE #ifdef CONFIG_BMI_ORIENTATION_SENSOR -static void irq_set_orientation(struct motion_sensor_t *s, - int interrupt) +static void irq_set_orientation(struct motion_sensor_t *s, int interrupt) { - int shifted_masked_orientation = - (interrupt >> 24) & BMI160_ORIENT_XY_MASK; + int shifted_masked_orientation = (interrupt >> 24) & + BMI160_ORIENT_XY_MASK; if (BMI_GET_DATA(s)->raw_orientation != shifted_masked_orientation) { enum motionsensor_orientation orientation = MOTIONSENSE_ORIENTATION_UNKNOWN; - BMI_GET_DATA(s)->raw_orientation = - shifted_masked_orientation; + BMI_GET_DATA(s)->raw_orientation = shifted_masked_orientation; switch (shifted_masked_orientation) { case BMI160_ORIENT_PORTRAIT: @@ -509,7 +495,7 @@ static void irq_set_orientation(struct motion_sensor_t *s, *motion_orientation_ptr(s) = orientation; } } -#endif /* CONFIG_BMI_ORIENTATION_SENSOR */ +#endif /* CONFIG_BMI_ORIENTATION_SENSOR */ /** * bmi160_interrupt - called when the sensor activates the interrupt line. @@ -531,15 +517,14 @@ void bmi160_interrupt(enum gpio_signal signal) * For now, we just print out. We should set a bitmask motion sense code will * act upon. */ -static int irq_handler(struct motion_sensor_t *s, - uint32_t *event) +static int irq_handler(struct motion_sensor_t *s, uint32_t *event) { uint32_t interrupt; int8_t has_read_fifo = 0; int rv; if ((s->type != MOTIONSENSE_TYPE_ACCEL) || - (!(*event & CONFIG_ACCELGYRO_BMI160_INT_EVENT))) + (!(*event & CONFIG_ACCELGYRO_BMI160_INT_EVENT))) return EC_ERROR_NOT_HANDLED; do { @@ -554,11 +539,11 @@ static int irq_handler(struct motion_sensor_t *s, if (IS_ENABLED(CONFIG_GESTURE_SENSOR_DOUBLE_TAP) && (interrupt & BMI160_D_TAP_INT)) *event |= TASK_EVENT_MOTION_ACTIVITY_INTERRUPT( - MOTIONSENSE_ACTIVITY_DOUBLE_TAP); + MOTIONSENSE_ACTIVITY_DOUBLE_TAP); if (IS_ENABLED(CONFIG_GESTURE_SIGMO) && (interrupt & BMI160_SIGMOT_INT)) *event |= TASK_EVENT_MOTION_ACTIVITY_INTERRUPT( - MOTIONSENSE_ACTIVITY_SIG_MOTION); + MOTIONSENSE_ACTIVITY_SIG_MOTION); if (interrupt & (BMI160_FWM_INT | BMI160_FFULL_INT)) { bmi_load_fifo(s, last_interrupt_timestamp); has_read_fifo = 1; @@ -572,26 +557,25 @@ static int irq_handler(struct motion_sensor_t *s, return EC_SUCCESS; } -#endif /* ACCELGYRO_BMI160_INT_ENABLE */ +#endif /* ACCELGYRO_BMI160_INT_ENABLE */ static int init(struct motion_sensor_t *s) { int ret = 0, tmp, i; struct accelgyro_saved_data_t *saved_data = BMI_GET_SAVED_DATA(s); - ret = bmi_read8(s->port, s->i2c_spi_addr_flags, - BMI160_CHIP_ID, &tmp); + ret = bmi_read8(s->port, s->i2c_spi_addr_flags, BMI160_CHIP_ID, &tmp); if (ret) return EC_ERROR_UNKNOWN; if (tmp != BMI160_CHIP_ID_MAJOR && tmp != BMI168_CHIP_ID_MAJOR) { /* The device may be lock on paging mode. Try to unlock it. */ - bmi_write8(s->port, s->i2c_spi_addr_flags, - BMI160_CMD_REG, BMI160_CMD_EXT_MODE_EN_B0); - bmi_write8(s->port, s->i2c_spi_addr_flags, - BMI160_CMD_REG, BMI160_CMD_EXT_MODE_EN_B1); - bmi_write8(s->port, s->i2c_spi_addr_flags, - BMI160_CMD_REG, BMI160_CMD_EXT_MODE_EN_B2); + bmi_write8(s->port, s->i2c_spi_addr_flags, BMI160_CMD_REG, + BMI160_CMD_EXT_MODE_EN_B0); + bmi_write8(s->port, s->i2c_spi_addr_flags, BMI160_CMD_REG, + BMI160_CMD_EXT_MODE_EN_B1); + bmi_write8(s->port, s->i2c_spi_addr_flags, BMI160_CMD_REG, + BMI160_CMD_EXT_MODE_EN_B2); bmi_write8(s->port, s->i2c_spi_addr_flags, BMI160_CMD_EXT_MODE_ADDR, BMI160_CMD_PAGING_EN); bmi_write8(s->port, s->i2c_spi_addr_flags, @@ -599,17 +583,15 @@ static int init(struct motion_sensor_t *s) return EC_ERROR_ACCESS_DENIED; } - if (s->type == MOTIONSENSE_TYPE_ACCEL) { struct bmi_drv_data_t *data = BMI_GET_DATA(s); /* Reset the chip to be in a good state */ - bmi_write8(s->port, s->i2c_spi_addr_flags, - BMI160_CMD_REG, BMI160_CMD_SOFT_RESET); + bmi_write8(s->port, s->i2c_spi_addr_flags, BMI160_CMD_REG, + BMI160_CMD_SOFT_RESET); msleep(1); data->flags &= ~(BMI_FLAG_SEC_I2C_ENABLED | - (BMI_FIFO_ALL_MASK << - BMI_FIFO_FLAG_OFFSET)); + (BMI_FIFO_ALL_MASK << BMI_FIFO_FLAG_OFFSET)); if (IS_ENABLED(CONFIG_GESTURE_HOST_DETECTION)) { data->enabled_activities = 0; data->disabled_activities = 0; @@ -621,8 +603,8 @@ static int init(struct motion_sensor_t *s) BIT(MOTIONSENSE_ACTIVITY_DOUBLE_TAP); } /* To avoid gyro wakeup */ - bmi_write8(s->port, s->i2c_spi_addr_flags, - BMI160_PMU_TRIGGER, 0); + bmi_write8(s->port, s->i2c_spi_addr_flags, BMI160_PMU_TRIGGER, + 0); } #ifdef CONFIG_BMI_SEC_I2C @@ -633,8 +615,8 @@ static int init(struct motion_sensor_t *s) * To be able to configure the real magnetometer, we must set * the BMI160 magnetometer part (a pass through) in normal mode. */ - bmi_write8(s->port, s->i2c_spi_addr_flags, - BMI160_CMD_REG, BMI160_CMD_MODE_NORMAL(s->type)); + bmi_write8(s->port, s->i2c_spi_addr_flags, BMI160_CMD_REG, + BMI160_CMD_MODE_NORMAL(s->type)); msleep(wakeup_time[s->type]); if ((data->flags & BMI_FLAG_SEC_I2C_ENABLED) == 0) { @@ -670,21 +652,18 @@ static int init(struct motion_sensor_t *s) BMI160_CMD_EXT_MODE_ADDR, &ext_page_reg); /* Set the i2c address of the compass */ - ret = bmi_write8(s->port, s->i2c_spi_addr_flags, - BMI160_MAG_IF_0, - I2C_STRIP_FLAGS( - CONFIG_ACCELGYRO_SEC_ADDR_FLAGS) - << 1); + ret = bmi_write8( + s->port, s->i2c_spi_addr_flags, BMI160_MAG_IF_0, + I2C_STRIP_FLAGS(CONFIG_ACCELGYRO_SEC_ADDR_FLAGS) + << 1); /* Enable the secondary interface as I2C */ - ret = bmi_write8(s->port, s->i2c_spi_addr_flags, - BMI160_IF_CONF, - BMI160_IF_MODE_AUTO_I2C << - BMI160_IF_MODE_OFF); + ret = bmi_write8( + s->port, s->i2c_spi_addr_flags, BMI160_IF_CONF, + BMI160_IF_MODE_AUTO_I2C << BMI160_IF_MODE_OFF); data->flags |= BMI_FLAG_SEC_I2C_ENABLED; } - bmi160_sec_access_ctrl(s->port, s->i2c_spi_addr_flags, 1); ret = bmm150_init(s); @@ -746,7 +725,7 @@ const struct accelgyro_drv bmi160_drv = { .list_activities = bmi_list_activities, #endif #ifdef CONFIG_BODY_DETECTION - .get_rms_noise = bmi_get_rms_noise, + .get_rms_noise = get_rms_noise, #endif }; |