diff options
Diffstat (limited to 'driver/accelgyro_bmi260.c')
| -rw-r--r-- | driver/accelgyro_bmi260.c | 601 |
1 files changed, 0 insertions, 601 deletions
diff --git a/driver/accelgyro_bmi260.c b/driver/accelgyro_bmi260.c deleted file mode 100644 index 9fb669e122..0000000000 --- a/driver/accelgyro_bmi260.c +++ /dev/null @@ -1,601 +0,0 @@ -/* Copyright 2020 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. - */ - -/** - * BMI260 accelerometer and gyro module for Chrome EC - * 3D digital accelerometer & 3D digital gyroscope - */ - -#include "accelgyro.h" -#include "console.h" -#include "accelgyro_bmi_common.h" -#include "accelgyro_bmi260.h" -#include "bmi260/accelgyro_bmi260_config_tbin.h" -#include "hwtimer.h" -#include "i2c.h" -#include "init_rom.h" -#include "math_util.h" -#include "motion_sense_fifo.h" -#include "spi.h" -#include "task.h" -#include "timer.h" -#include "util.h" -#include "watchdog.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) - -#if defined(CONFIG_ZEPHYR) && defined(CONFIG_ACCEL_INTERRUPTS) -/* - * Get the mostion sensor ID of the BMI260 sensor that - * generates the interrupt. - * The interrupt is converted to the event and transferred to motion - * sense task that actually handles the interrupt. - * - * Here, we use alias to get the motion sensor ID - * - * e.g) base_accel is the label of a child node in /motionsense-sensors - * aliases { - * bmi260-int = &base_accel; - * }; - */ -#if DT_NODE_EXISTS(DT_ALIAS(bmi260_int)) -#define CONFIG_ACCELGYRO_BMI260_INT_EVENT \ - TASK_EVENT_MOTION_SENSOR_INTERRUPT(SENSOR_ID(DT_ALIAS(bmi260_int))) -#endif -#endif - -STATIC_IF(CONFIG_ACCEL_FIFO) volatile uint32_t last_interrupt_timestamp; - -/* - * The gyro start-up time is 45ms in normal mode - * 2ms in fast start-up mode - */ -static int wakeup_time[] = { - [MOTIONSENSE_TYPE_ACCEL] = 2, - [MOTIONSENSE_TYPE_GYRO] = 45, - [MOTIONSENSE_TYPE_MAG] = 1 -}; - -static int enable_sensor(const struct motion_sensor_t *s, int enable) -{ - int ret; - - ret = bmi_enable_reg8(s, BMI260_PWR_CTRL, - BMI260_PWR_EN(s->type), - enable); - if (ret) - return ret; - - if (s->type == MOTIONSENSE_TYPE_GYRO) { - /* switch to performance mode */ - ret = bmi_enable_reg8(s, BMI_CONF_REG(s->type), - BMI260_FILTER_PERF | - BMI260_GYR_NOISE_PERF, - enable); - } else { - ret = bmi_enable_reg8(s, BMI_CONF_REG(s->type), - BMI260_FILTER_PERF, - enable); - } - return ret; - -} - -static int set_data_rate(const struct motion_sensor_t *s, - int rate, - int rnd) -{ - int ret, normalized_rate; - uint8_t reg_val; - struct accelgyro_saved_data_t *data = BMI_GET_SAVED_DATA(s); - - if (rate == 0) { - /* FIFO stop collecting events */ - if (IS_ENABLED(CONFIG_ACCEL_FIFO)) - bmi_enable_fifo(s, 0); - /* disable sensor */ - ret = enable_sensor(s, 0); - msleep(3); - data->odr = 0; - return ret; - } else if (data->odr == 0) { - /* enable sensor */ - ret = enable_sensor(s, 1); - if (ret) - return ret; - /* Wait for accel/gyro to wake up */ - msleep(wakeup_time[s->type]); - } - - ret = bmi_get_normalized_rate(s, rate, rnd, - &normalized_rate, ®_val); - if (ret) - return ret; - - /* - * Lock accel resource to prevent another task from attempting - * to write accel parameters until we are done. - */ - mutex_lock(s->mutex); - - ret = bmi_set_reg8(s, BMI_CONF_REG(s->type), - reg_val, BMI_ODR_MASK); - if (ret != EC_SUCCESS) - goto accel_cleanup; - - /* Now that we have set the odr, update the driver's value. */ - data->odr = normalized_rate; - - /* - * FIFO start collecting events. - * They will be discarded if AP does not want them. - */ - if (IS_ENABLED(CONFIG_ACCEL_FIFO)) - bmi_enable_fifo(s, 1); -accel_cleanup: - mutex_unlock(s->mutex); - return ret; -} - -static int set_offset(const struct motion_sensor_t *s, - const int16_t *offset, - int16_t temp) -{ - int ret, val98, val_nv_conf; - 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, - BMI260_OFFSET_EN_GYR98, &val98); - if (ret) - return ret; - ret = bmi_read8(s->port, s->i2c_spi_addr_flags, - BMI260_NV_CONF, &val_nv_conf); - if (ret) - return ret; - - switch (s->type) { - case MOTIONSENSE_TYPE_ACCEL: - ret = bmi_set_accel_offset(s, v); - if (ret != EC_SUCCESS) - return ret; - - ret = bmi_write8(s->port, s->i2c_spi_addr_flags, - BMI260_NV_CONF, - val_nv_conf | BMI260_ACC_OFFSET_EN); - break; - case MOTIONSENSE_TYPE_GYRO: - ret = bmi_set_gyro_offset(s, v, &val98); - if (ret != EC_SUCCESS) - return ret; - - ret = bmi_write8(s->port, s->i2c_spi_addr_flags, - BMI260_OFFSET_EN_GYR98, - val98 | BMI260_OFFSET_GYRO_EN); - break; - default: - ret = EC_RES_INVALID_PARAM; - } - return ret; -} - -static int wait_and_read_data(const struct motion_sensor_t *s, - intv3_t v, int try_cnt, int msec) -{ - uint8_t data[6]; - int ret, status = 0; - - /* Check if data is ready */ - while (try_cnt && !(status & BMI260_DRDY_ACC)) { - msleep(msec); - ret = bmi_read8(s->port, s->i2c_spi_addr_flags, - BMI260_STATUS, &status); - if (ret) - return ret; - try_cnt -= 1; - } - if (!(status & BMI260_DRDY_ACC)) - return EC_ERROR_TIMEOUT; - /* Read 6 bytes starting at xyz_reg */ - ret = bmi_read_n(s->port, s->i2c_spi_addr_flags, - bmi_get_xyz_reg(s), data, 6); - bmi_normalize(s, v, data); - return ret; -} - -static int calibrate_offset(const struct motion_sensor_t *s, - int range, intv3_t target, int16_t *offset) -{ - int ret = EC_ERROR_UNKNOWN; - int i, n_sample = 32; - int data_diff[3] = {0}; - - /* Manually offset compensation */ - for (i = 0; i < n_sample; ++i) { - intv3_t v; - /* Wait data for at most 3 * 10 msec */ - ret = wait_and_read_data(s, v, 3, 10); - if (ret) - return ret; - data_diff[X] += v[X] - target[X]; - data_diff[Y] += v[Y] - target[Y]; - data_diff[Z] += v[Z] - target[Z]; - } - - /* The data LSB: 1000 * range / 32768 (mdps | mg)*/ - for (i = X; i <= Z; ++i) - offset[i] -= ((int64_t)(data_diff[i] / n_sample) * - 1000 * range) >> 15; - return ret; -} - -static int perform_calib(struct motion_sensor_t *s, int enable) -{ - int ret, rate; - int16_t temp; - int16_t offset[3]; - intv3_t target = {0, 0, 0}; - /* Get sensor range for calibration*/ - int range = s->current_range; - - if (!enable) - return EC_SUCCESS; - rate = bmi_get_data_rate(s); - ret = set_data_rate(s, 100000, 0); - if (ret) - return ret; - - ret = bmi_get_offset(s, offset, &temp); - if (ret) - goto end_perform_calib; - - switch (s->type) { - case MOTIONSENSE_TYPE_ACCEL: - target[Z] = BMI260_ACC_DATA_PLUS_1G(range); - break; - case MOTIONSENSE_TYPE_GYRO: - break; - default: - /* Not supported on Magnetometer */ - ret = EC_RES_INVALID_PARAM; - goto end_perform_calib; - } - - /* Get the calibrated offset */ - ret = calibrate_offset(s, range, target, offset); - if (ret) - goto end_perform_calib; - - ret = set_offset(s, offset, temp); - if (ret) - goto end_perform_calib; - -end_perform_calib: - if (ret == EC_ERROR_TIMEOUT) - CPRINTS("%s timeout", __func__); - set_data_rate(s, rate, 0); - return ret; -} - -#ifdef CONFIG_ACCEL_INTERRUPTS - -/** - * bmi260_interrupt - called when the sensor activates the interrupt line. - * - * This is a "top half" interrupt handler, it just asks motion sense ask - * to schedule the "bottom half", ->irq_handler(). - */ -void bmi260_interrupt(enum gpio_signal signal) -{ - if (IS_ENABLED(CONFIG_ACCEL_FIFO)) - last_interrupt_timestamp = __hw_clock_source_read(); - - task_set_event(TASK_ID_MOTIONSENSE, CONFIG_ACCELGYRO_BMI260_INT_EVENT); -} - -static int config_interrupt(const struct motion_sensor_t *s) -{ - int ret; - - if (s->type != MOTIONSENSE_TYPE_ACCEL) - return EC_SUCCESS; - - mutex_lock(s->mutex); - bmi_write8(s->port, s->i2c_spi_addr_flags, - BMI260_CMD_REG, BMI260_CMD_FIFO_FLUSH); - - /* configure int1 as an interrupt */ - ret = bmi_write8(s->port, s->i2c_spi_addr_flags, - BMI260_INT1_IO_CTRL, - BMI260_INT1_OUTPUT_EN); - if (IS_ENABLED(CONFIG_ACCELGYRO_BMI260_INT2_OUTPUT)) - /* TODO(chingkang): Test it if we want int2 as an interrupt */ - /* configure int2 as an interrupt */ - ret = bmi_write8(s->port, s->i2c_spi_addr_flags, - BMI260_INT2_IO_CTRL, - BMI260_INT2_OUTPUT_EN); - else - /* configure int2 as an external input. */ - ret = bmi_write8(s->port, s->i2c_spi_addr_flags, - BMI260_INT2_IO_CTRL, - BMI260_INT2_INPUT_EN); - - if (IS_ENABLED(CONFIG_ACCEL_FIFO)) { - /* map fifo water mark to int 1 */ - ret = bmi_write8(s->port, s->i2c_spi_addr_flags, - BMI260_INT_MAP_DATA, - BMI260_INT_MAP_DATA_REG(1, FWM) | - BMI260_INT_MAP_DATA_REG(1, FFULL)); - - /* - * Configure fifo watermark to int whenever there's any data in - * there - */ - ret = bmi_write8(s->port, s->i2c_spi_addr_flags, - BMI260_FIFO_WTM_0, 1); - ret = bmi_write8(s->port, s->i2c_spi_addr_flags, - BMI260_FIFO_WTM_1, 0); - if (IS_ENABLED(CONFIG_ACCELGYRO_BMI260_INT2_OUTPUT)) - ret = bmi_write8(s->port, s->i2c_spi_addr_flags, - BMI260_FIFO_CONFIG_1, - BMI260_FIFO_HEADER_EN); - else - ret = bmi_write8(s->port, s->i2c_spi_addr_flags, - BMI260_FIFO_CONFIG_1, - (BMI260_FIFO_TAG_INT_LEVEL << - BMI260_FIFO_TAG_INT2_EN_OFFSET) | - BMI260_FIFO_HEADER_EN); - /* disable FIFO sensortime frame */ - ret = bmi_write8(s->port, s->i2c_spi_addr_flags, - BMI260_FIFO_CONFIG_0, 0); - } - mutex_unlock(s->mutex); - return ret; -} - -/** - * irq_handler - bottom half of the interrupt stack. - * Ran from the motion_sense task, finds the events that raised the interrupt. - * - * 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) -{ - /* use uint16_t interrupt can cause error. */ - uint32_t interrupt = 0; - int8_t has_read_fifo = 0; - int rv; - - if ((s->type != MOTIONSENSE_TYPE_ACCEL) || - (!(*event & CONFIG_ACCELGYRO_BMI260_INT_EVENT))) - return EC_ERROR_NOT_HANDLED; - - do { - rv = bmi_read16(s->port, s->i2c_spi_addr_flags, - BMI260_INT_STATUS_0, &interrupt); - /* - * Bail out of this loop there was an error reading the register - */ - if (rv) - return rv; - - if (IS_ENABLED(CONFIG_ACCEL_FIFO) && - interrupt & (BMI260_FWM_INT | BMI260_FFULL_INT)) { - bmi_load_fifo(s, last_interrupt_timestamp); - has_read_fifo = 1; - } - } while (interrupt != 0); - - if (IS_ENABLED(CONFIG_ACCEL_FIFO) && has_read_fifo) - motion_sense_fifo_commit_data(); - - return EC_SUCCESS; -} -#endif /* CONFIG_ACCEL_INTERRUPTS */ - -/* - * If the .init_rom section is not memory mapped, we need a static - * buffer in RAM to access the BMI configuration data. - */ -#ifdef CONFIG_CHIP_INIT_ROM_REGION -#define BMI_RAM_BUFFER_SIZE 256 -static uint8_t bmi_ram_buffer[BMI_RAM_BUFFER_SIZE]; -#else -#define BMI_RAM_BUFFER_SIZE 0 -static uint8_t *bmi_ram_buffer; -#endif - -static int bmi_config_load(const struct motion_sensor_t *s) -{ - int ret = EC_SUCCESS; - uint16_t i; - const uint8_t *bmi_config = NULL; - /* - * Due to i2c transaction timeout limit, - * burst_write_len should not be above 2048 to prevent timeout. - */ - int burst_write_len = 2048; - - /* - * The BMI config data may be linked into .rodata or the .init_rom - * section. Get the actual memory mapped address. - */ - bmi_config = init_rom_map(g_bmi260_config_tbin, - g_bmi260_config_tbin_len); - - /* - * init_rom_map() only returns NULL when the CONFIG_CHIP_INIT_ROM_REGION - * option is enabled and flash memory is not memory mapped. In this - * case copy the BMI config data through a RAM buffer and limit the - * I2C burst to the size of the RAM buffer. - */ - if (!bmi_config) - burst_write_len = MIN(BMI_RAM_BUFFER_SIZE, burst_write_len); - - /* We have to write the config even bytes of data every time */ - ASSERT(((burst_write_len & 1) == 0) && (burst_write_len != 0)); - - for (i = 0; i < g_bmi260_config_tbin_len; i += burst_write_len) { - uint8_t addr[2]; - const int len = MIN(burst_write_len, - g_bmi260_config_tbin_len - i); - - addr[0] = (i / 2) & 0xF; - addr[1] = (i / 2) >> 4; - ret = bmi_write_n(s->port, s->i2c_spi_addr_flags, - BMI260_INIT_ADDR_0, addr, 2); - if (ret) - break; - - if (!bmi_config) { - /* - * init_rom region isn't memory mapped. Copy the - * data through a RAM buffer. - */ - ret = init_rom_copy((int)&g_bmi260_config_tbin[i], len, - bmi_ram_buffer); - if (ret) - break; - - ret = bmi_write_n(s->port, s->i2c_spi_addr_flags, - BMI260_INIT_DATA, - bmi_ram_buffer, len); - } else { - ret = bmi_write_n(s->port, s->i2c_spi_addr_flags, - BMI260_INIT_DATA, - &bmi_config[i], len); - } - - if (ret) - break; - } - - /* - * Unmap the BMI config data, required when init_rom_map() returns - * a non NULL value. - */ - if (bmi_config) - init_rom_unmap(g_bmi260_config_tbin, g_bmi260_config_tbin_len); - - return ret; -} - -static int init_config(const struct motion_sensor_t *s) -{ - int init_status, ret; - uint16_t i; - - /* disable advance power save but remain fifo self wakeup*/ - bmi_write8(s->port, s->i2c_spi_addr_flags, BMI260_PWR_CONF, 2); - msleep(1); - /* prepare for config load */ - bmi_write8(s->port, s->i2c_spi_addr_flags, BMI260_INIT_CTRL, 0); - - /* load config file to INIT_DATA */ - ret = bmi_config_load(s); - - /* finish config load */ - bmi_write8(s->port, s->i2c_spi_addr_flags, BMI260_INIT_CTRL, 1); - /* return error if load config failed */ - if (ret) - return ret; - /* wait INTERNAL_STATUS.message to be 0x1 which take at most 150ms */ - for (i = 0; i < 15; ++i) { - msleep(10); - ret = bmi_read8(s->port, s->i2c_spi_addr_flags, - BMI260_INTERNAL_STATUS, &init_status); - if (ret) - break; - init_status &= BMI260_MESSAGE_MASK; - if (init_status == BMI260_INIT_OK) - break; - } - if (ret || init_status != BMI260_INIT_OK) - return EC_ERROR_INVALID_CONFIG; - return EC_SUCCESS; -} - -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, - BMI260_CHIP_ID, &tmp); - if (ret) - return EC_ERROR_UNKNOWN; - - if (tmp != BMI260_CHIP_ID_MAJOR) - 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, - BMI260_CMD_REG, BMI260_CMD_SOFT_RESET); - msleep(2); - if (init_config(s)) - return EC_ERROR_INVALID_CONFIG; - - data->flags &= ~(BMI_FLAG_SEC_I2C_ENABLED | - (BMI_FIFO_ALL_MASK << - BMI_FIFO_FLAG_OFFSET)); - } - - for (i = X; i <= Z; i++) - saved_data->scale[i] = MOTION_SENSE_DEFAULT_SCALE; - /* - * The sensor is in Suspend mode at init, - * so set data rate to 0. - */ - saved_data->odr = 0; - - if (IS_ENABLED(CONFIG_ACCEL_INTERRUPTS) && - (s->type == MOTIONSENSE_TYPE_ACCEL)) - ret = config_interrupt(s); - - return sensor_init_done(s); -} - -const struct accelgyro_drv bmi260_drv = { - .init = init, - .read = bmi_read, - .set_range = bmi_set_range, - .get_resolution = bmi_get_resolution, - .set_data_rate = set_data_rate, - .get_data_rate = bmi_get_data_rate, - .set_offset = set_offset, - .get_scale = bmi_get_scale, - .set_scale = bmi_set_scale, - .get_offset = bmi_get_offset, - .perform_calib = perform_calib, - .read_temp = bmi_read_temp, -#ifdef CONFIG_ACCEL_INTERRUPTS - .irq_handler = irq_handler, -#endif -#ifdef CONFIG_GESTURE_HOST_DETECTION - .list_activities = bmi_list_activities, -#endif -#ifdef CONFIG_BODY_DETECTION - .get_rms_noise = bmi_get_rms_noise, -#endif -}; - -#ifdef CONFIG_CMD_I2C_STRESS_TEST_ACCEL -struct i2c_stress_test_dev bmi260_i2c_stress_test_dev = { - .reg_info = { - .read_reg = BMI260_CHIP_ID, - .read_val = BMI260_CHIP_ID_MAJOR, - .write_reg = BMI260_PMU_TRIGGER, - }, - .i2c_read = &bmi_read8, - .i2c_write = &bmi_write8, -}; -#endif /* CONFIG_CMD_I2C_STRESS_TEST_ACCEL */ |