diff options
Diffstat (limited to 'driver/accelgyro_icm_common.c')
| -rw-r--r-- | driver/accelgyro_icm_common.c | 366 |
1 files changed, 0 insertions, 366 deletions
diff --git a/driver/accelgyro_icm_common.c b/driver/accelgyro_icm_common.c deleted file mode 100644 index 94db99407d..0000000000 --- a/driver/accelgyro_icm_common.c +++ /dev/null @@ -1,366 +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. - */ - -/** - * ICM accelerometer and gyroscope module for Chrome EC - * 3D digital accelerometer & 3D digital gyroscope - */ - -#include "accelgyro.h" -#include "console.h" -#include "i2c.h" -#include "spi.h" -#include "driver/accelgyro_icm_common.h" -#include "driver/accelgyro_icm426xx.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) - -#ifdef CONFIG_ACCELGYRO_ICM_COMM_SPI -static int icm_spi_raw_read(const int addr, const uint8_t reg, - uint8_t *data, const int len) -{ - uint8_t cmd = 0x80 | reg; - - return spi_transaction(&spi_devices[addr], &cmd, 1, data, len); -} - -static int icm_spi_raw_write(const int addr, const uint8_t reg, - const uint8_t *data, const int len) -{ - uint8_t cmd[3]; - int i; - - if (len > 2) - return EC_ERROR_UNIMPLEMENTED; - - cmd[0] = reg; - for (i = 0; i < len; ++i) - cmd[i + 1] = data[i]; - - return spi_transaction(&spi_devices[addr], cmd, len + 1, NULL, 0); -} -#endif - -static int icm_bank_sel(const struct motion_sensor_t *s, const int reg) -{ - struct icm_drv_data_t *st = ICM_GET_DATA(s); - uint8_t bank = ICM426XX_REG_GET_BANK(reg); - int ret; - - if (bank == st->bank) - return EC_SUCCESS; - -#ifdef CONFIG_ACCELGYRO_ICM_COMM_SPI - ret = icm_spi_raw_write(ACCEL_GET_SPI_ADDR(s->i2c_spi_addr_flags), - ICM426XX_REG_BANK_SEL, &bank, 1); -#else - ret = i2c_write8(s->port, s->i2c_spi_addr_flags, ICM426XX_REG_BANK_SEL, - bank); -#endif - - if (ret == EC_SUCCESS) - st->bank = bank; - - return ret; -} - -/** - * Read 8 bits register - */ -int icm_read8(const struct motion_sensor_t *s, const int reg, int *data_ptr) -{ - const uint8_t addr = ICM426XX_REG_GET_ADDR(reg); - int ret; - - ret = icm_bank_sel(s, reg); - if (ret != EC_SUCCESS) - return ret; - -#ifdef CONFIG_ACCELGYRO_ICM_COMM_SPI - { - uint8_t val; - - ret = icm_spi_raw_read( - ACCEL_GET_SPI_ADDR(s->i2c_spi_addr_flags), addr, &val, - sizeof(val)); - if (ret == EC_SUCCESS) - *data_ptr = val; - } -#else - ret = i2c_read8(s->port, s->i2c_spi_addr_flags, addr, data_ptr); -#endif - - return ret; -} - -/** - * Write 8 bits register - */ -int icm_write8(const struct motion_sensor_t *s, const int reg, int data) -{ - const uint8_t addr = ICM426XX_REG_GET_ADDR(reg); - int ret; - - ret = icm_bank_sel(s, reg); - if (ret != EC_SUCCESS) - return ret; - -#ifdef CONFIG_ACCELGYRO_ICM_COMM_SPI - { - uint8_t val = data; - - ret = icm_spi_raw_write( - ACCEL_GET_SPI_ADDR(s->i2c_spi_addr_flags), addr, &val, - sizeof(val)); - } -#else - ret = i2c_write8(s->port, s->i2c_spi_addr_flags, addr, data); -#endif - - return ret; -} - -/** - * Read 16 bits register - */ -int icm_read16(const struct motion_sensor_t *s, const int reg, int *data_ptr) -{ - const uint8_t addr = ICM426XX_REG_GET_ADDR(reg); - int ret; - - ret = icm_bank_sel(s, reg); - if (ret != EC_SUCCESS) - return ret; - -#ifdef CONFIG_ACCELGYRO_ICM_COMM_SPI - { - uint8_t val[2]; - - ret = icm_spi_raw_read( - ACCEL_GET_SPI_ADDR(s->i2c_spi_addr_flags), addr, val, - sizeof(val)); - if (ret == EC_SUCCESS) { - if (I2C_IS_BIG_ENDIAN(s->i2c_spi_addr_flags)) - *data_ptr = ((int)val[0] << 8) | val[1]; - else - *data_ptr = ((int)val[1] << 8) | val[0]; - } - } -#else - ret = i2c_read16(s->port, s->i2c_spi_addr_flags, - addr, data_ptr); -#endif - - return ret; -} - -/** - * Write 16 bits register - */ -int icm_write16(const struct motion_sensor_t *s, const int reg, int data) -{ - const uint8_t addr = ICM426XX_REG_GET_ADDR(reg); - int ret; - - ret = icm_bank_sel(s, reg); - if (ret != EC_SUCCESS) - return ret; - -#ifdef CONFIG_ACCELGYRO_ICM_COMM_SPI - { - uint8_t val[2]; - - if (I2C_IS_BIG_ENDIAN(s->i2c_spi_addr_flags)) { - val[0] = (data >> 8) & 0xFF; - val[1] = data & 0xFF; - } else { - val[0] = data & 0xFF; - val[1] = (data >> 8) & 0xFF; - } - ret = icm_spi_raw_write( - ACCEL_GET_SPI_ADDR(s->i2c_spi_addr_flags), addr, val, - sizeof(val)); - } -#else - ret = i2c_write16(s->port, s->i2c_spi_addr_flags, addr, data); -#endif - - return ret; -} - -/** - * Read n bytes - */ -int icm_read_n(const struct motion_sensor_t *s, const int reg, - uint8_t *data_ptr, const int len) -{ - const uint8_t addr = ICM426XX_REG_GET_ADDR(reg); - int ret; - - ret = icm_bank_sel(s, reg); - if (ret != EC_SUCCESS) - return ret; - -#ifdef CONFIG_ACCELGYRO_ICM_COMM_SPI - ret = icm_spi_raw_read(ACCEL_GET_SPI_ADDR(s->i2c_spi_addr_flags), addr, - data_ptr, len); -#else - ret = i2c_read_block(s->port, s->i2c_spi_addr_flags, addr, data_ptr, - len); -#endif - - return ret; -} - -int icm_field_update8(const struct motion_sensor_t *s, const int reg, - const uint8_t field_mask, const uint8_t set_value) -{ - const uint8_t addr = ICM426XX_REG_GET_ADDR(reg); - int ret; - - ret = icm_bank_sel(s, reg); - if (ret != EC_SUCCESS) - return ret; - - ret = EC_ERROR_UNIMPLEMENTED; -#ifdef CONFIG_ACCELGYRO_ICM_COMM_SPI - { - uint8_t val; - - ret = icm_spi_raw_read( - ACCEL_GET_SPI_ADDR(s->i2c_spi_addr_flags), addr, &val, - sizeof(val)); - if (ret != EC_SUCCESS) - return ret; - - val = (val & (~field_mask)) | set_value; - - ret = icm_spi_raw_write( - ACCEL_GET_SPI_ADDR(s->i2c_spi_addr_flags), addr, &val, - sizeof(val)); - } -#else - ret = i2c_field_update8(s->port, s->i2c_spi_addr_flags, addr, - field_mask, set_value); -#endif - - return ret; -} - -int icm_get_resolution(const struct motion_sensor_t *s) -{ - return ICM_RESOLUTION; -} - -int icm_get_data_rate(const struct motion_sensor_t *s) -{ - struct accelgyro_saved_data_t *data = ICM_GET_SAVED_DATA(s); - - return data->odr; -} - -int icm_set_scale(const struct motion_sensor_t *s, const uint16_t *scale, - int16_t temp) -{ - struct accelgyro_saved_data_t *data = ICM_GET_SAVED_DATA(s); - - data->scale[X] = scale[X]; - data->scale[Y] = scale[Y]; - data->scale[Z] = scale[Z]; - return EC_SUCCESS; -} - -int icm_get_scale(const struct motion_sensor_t *s, uint16_t *scale, - int16_t *temp) -{ - struct accelgyro_saved_data_t *data = ICM_GET_SAVED_DATA(s); - - scale[X] = data->scale[X]; - scale[Y] = data->scale[Y]; - scale[Z] = data->scale[Z]; - *temp = EC_MOTION_SENSE_INVALID_CALIB_TEMP; - return EC_SUCCESS; -} - -/* FIFO header: 1 byte */ -#define ICM_FIFO_HEADER_MSG BIT(7) -#define ICM_FIFO_HEADER_ACCEL BIT(6) -#define ICM_FIFO_HEADER_GYRO BIT(5) -#define ICM_FIFO_HEADER_TMST_FSYNC GENMASK(3, 2) -#define ICM_FIFO_HEADER_ODR_ACCEL BIT(1) -#define ICM_FIFO_HEADER_ODR_GYRO BIT(0) - -/* FIFO data packet */ -struct icm_fifo_sensor_data { - int16_t x; - int16_t y; - int16_t z; -} __packed; - -struct icm_fifo_1sensor_packet { - uint8_t header; - struct icm_fifo_sensor_data data; - int8_t temp; -} __packed; -#define ICM_FIFO_1SENSOR_PACKET_SIZE 8 - -struct icm_fifo_2sensors_packet { - uint8_t header; - struct icm_fifo_sensor_data accel; - struct icm_fifo_sensor_data gyro; - int8_t temp; - uint16_t timestamp; -} __packed; -#define ICM_FIFO_2SENSORS_PACKET_SIZE 16 - -ssize_t icm_fifo_decode_packet(const void *packet, const uint8_t **accel, - const uint8_t **gyro) -{ - const struct icm_fifo_1sensor_packet *pack1 = packet; - const struct icm_fifo_2sensors_packet *pack2 = packet; - uint8_t header = *((const uint8_t *)packet); - - /* FIFO empty */ - if (header & ICM_FIFO_HEADER_MSG) { - if (accel != NULL) - *accel = NULL; - if (gyro != NULL) - *gyro = NULL; - return 0; - } - - /* accel + gyro */ - if ((header & ICM_FIFO_HEADER_ACCEL) && - (header & ICM_FIFO_HEADER_GYRO)) { - if (accel != NULL) - *accel = (uint8_t *)&pack2->accel; - if (gyro != NULL) - *gyro = (uint8_t *)&pack2->gyro; - return ICM_FIFO_2SENSORS_PACKET_SIZE; - } - - /* accel only */ - if (header & ICM_FIFO_HEADER_ACCEL) { - if (accel != NULL) - *accel = (uint8_t *)&pack1->data; - if (gyro != NULL) - *gyro = NULL; - return ICM_FIFO_1SENSOR_PACKET_SIZE; - } - - /* gyro only */ - if (header & ICM_FIFO_HEADER_GYRO) { - if (accel != NULL) - *accel = NULL; - if (gyro != NULL) - *gyro = (uint8_t *)&pack1->data; - return ICM_FIFO_1SENSOR_PACKET_SIZE; - } - - /* invalid packet if here */ - return -EC_ERROR_INVAL; -} |