diff options
Diffstat (limited to 'driver/accelgyro_bmi260.c')
| -rw-r--r-- | driver/accelgyro_bmi260.c | 166 |
1 files changed, 75 insertions, 91 deletions
diff --git a/driver/accelgyro_bmi260.c b/driver/accelgyro_bmi260.c index cf2b019cb2..f0b16be4d5 100644 --- a/driver/accelgyro_bmi260.c +++ b/driver/accelgyro_bmi260.c @@ -1,4 +1,4 @@ -/* Copyright 2020 The Chromium OS Authors. All rights reserved. +/* Copyright 2020 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 "console.h" #include "accelgyro_bmi_common.h" #include "accelgyro_bmi260.h" @@ -23,7 +24,6 @@ #include "util.h" #include "watchdog.h" - #ifdef CONFIG_ACCELGYRO_BMI260_INT_EVENT #define ACCELGYRO_BMI260_INT_ENABLE #endif @@ -37,52 +37,43 @@ #include "bmi260/accelgyro_bmi260_config_tbin.h" #endif /* CONFIG_ACCELGYRO_BMI260 */ - #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) STATIC_IF(ACCELGYRO_BMI260_INT_ENABLE) - volatile uint32_t last_interrupt_timestamp; +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 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), + 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); + 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); + BMI260_FILTER_PERF, enable); } return ret; - } -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; @@ -106,8 +97,7 @@ static int set_data_rate(const struct motion_sensor_t *s, msleep(wakeup_time[s->type]); } - ret = bmi_get_normalized_rate(s, rate, rnd, - &normalized_rate, ®_val); + ret = bmi_get_normalized_rate(s, rate, rnd, &normalized_rate, ®_val); if (ret) return ret; @@ -117,8 +107,7 @@ 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; @@ -136,21 +125,20 @@ 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, 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); + 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); + ret = bmi_read8(s->port, s->i2c_spi_addr_flags, BMI260_NV_CONF, + &val_nv_conf); if (ret) return ret; @@ -160,8 +148,7 @@ static int set_offset(const struct motion_sensor_t *s, if (ret != EC_SUCCESS) return ret; - ret = bmi_write8(s->port, s->i2c_spi_addr_flags, - BMI260_NV_CONF, + 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: @@ -179,8 +166,15 @@ static int set_offset(const struct motion_sensor_t *s, return ret; } -static int wait_and_read_data(const struct motion_sensor_t *s, - intv3_t v, int try_cnt, int msec) +#ifdef CONFIG_BODY_DETECTION +static int get_rms_noise(const struct motion_sensor_t *s) +{ + return bmi_get_rms_noise(s, BMI260_ACCEL_RMS_NOISE_100HZ); +} +#endif + +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; @@ -188,8 +182,8 @@ static int wait_and_read_data(const struct motion_sensor_t *s, /* 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); + ret = bmi_read8(s->port, s->i2c_spi_addr_flags, BMI260_STATUS, + &status); if (ret) return ret; try_cnt -= 1; @@ -197,18 +191,18 @@ static int wait_and_read_data(const struct motion_sensor_t *s, 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); + 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) +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}; + int data_diff[3] = { 0 }; /* Manually offset compensation */ for (i = 0; i < n_sample; ++i) { @@ -224,8 +218,9 @@ static int calibrate_offset(const struct motion_sensor_t *s, /* 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; + offset[i] -= + ((int64_t)(data_diff[i] / n_sample) * 1000 * range) >> + 15; return ret; } @@ -234,7 +229,7 @@ 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}; + intv3_t target = { 0, 0, 0 }; /* Get sensor range for calibration*/ int range = s->current_range; @@ -266,7 +261,7 @@ static int perform_calib(struct motion_sensor_t *s, int enable) /* Unreachable due to sensor type check above. */ ASSERT(false); break; - /* LCOV_EXCL_STOP */ + /* LCOV_EXCL_STOP */ } /* Get the calibrated offset */ @@ -296,52 +291,45 @@ static __maybe_unused int config_interrupt(const struct motion_sensor_t *s) int ret; mutex_lock(s->mutex); - bmi_write8(s->port, s->i2c_spi_addr_flags, - BMI260_CMD_REG, BMI260_CMD_FIFO_FLUSH); + 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, + 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); + 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); + BMI260_INT2_IO_CTRL, BMI260_INT2_INPUT_EN); /* map fifo water mark to int 1 */ - ret = bmi_write8(s->port, s->i2c_spi_addr_flags, - BMI260_INT_MAP_DATA, + 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)); + 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); + 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); + 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); + (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); + ret = bmi_write8(s->port, s->i2c_spi_addr_flags, BMI260_FIFO_CONFIG_0, + 0); mutex_unlock(s->mutex); return ret; } @@ -375,7 +363,7 @@ static int irq_handler(struct motion_sensor_t *s, uint32_t *event) int rv; if ((s->type != MOTIONSENSE_TYPE_ACCEL) || - (!(*event & CONFIG_ACCELGYRO_BMI260_INT_EVENT))) + (!(*event & CONFIG_ACCELGYRO_BMI260_INT_EVENT))) return EC_ERROR_NOT_HANDLED; do { @@ -398,17 +386,17 @@ static int irq_handler(struct motion_sensor_t *s, uint32_t *event) return EC_SUCCESS; } -#endif /* ACCELGYRO_BMI260_INT_ENABLE */ +#endif /* ACCELGYRO_BMI260_INT_ENABLE */ /* * 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 +#define BMI_RAM_BUFFER_SIZE 256 static uint8_t bmi_ram_buffer[BMI_RAM_BUFFER_SIZE]; #else -#define BMI_RAM_BUFFER_SIZE 0 +#define BMI_RAM_BUFFER_SIZE 0 static uint8_t *bmi_ram_buffer; #endif @@ -464,8 +452,7 @@ static int bmi_config_load(const struct motion_sensor_t *s) for (i = 0; i < bmi_config_tbin_len; i += burst_write_len) { uint8_t addr[2]; - const int len = MIN(burst_write_len, - bmi_config_tbin_len - i); + const int len = MIN(burst_write_len, bmi_config_tbin_len - i); addr[0] = (i / 2) & 0xF; addr[1] = (i / 2) >> 4; @@ -480,17 +467,17 @@ static int bmi_config_load(const struct motion_sensor_t *s) * data through a RAM buffer. */ ret = init_rom_copy((int)&bmi_config_tbin[i], len, - bmi_ram_buffer); + bmi_ram_buffer); if (ret) break; ret = bmi_write_n(s->port, s->i2c_spi_addr_flags, - BMI260_INIT_DATA, - bmi_ram_buffer, len); + 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); + BMI260_INIT_DATA, &bmi_config[i], + len); } if (ret) @@ -530,7 +517,7 @@ static int init_config(const struct motion_sensor_t *s) for (i = 0; i < 15; ++i) { msleep(10); ret = bmi_read8(s->port, s->i2c_spi_addr_flags, - BMI260_INTERNAL_STATUS, &init_status); + BMI260_INTERNAL_STATUS, &init_status); if (ret) break; init_status &= BMI260_MESSAGE_MASK; @@ -547,8 +534,7 @@ 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); + ret = bmi_read8(s->port, s->i2c_spi_addr_flags, BMI260_CHIP_ID, &tmp); if (ret) return EC_ERROR_UNKNOWN; @@ -567,20 +553,18 @@ 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, - BMI260_CMD_REG, BMI260_CMD_SOFT_RESET); + 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)); + (BMI_FIFO_ALL_MASK << BMI_FIFO_FLAG_OFFSET)); } for (i = X; i <= Z; i++) @@ -618,7 +602,7 @@ const struct accelgyro_drv bmi260_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 }; 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