diff options
Diffstat (limited to 'driver/accelgyro_lsm6ds0.c')
| -rw-r--r-- | driver/accelgyro_lsm6ds0.c | 120 |
1 files changed, 50 insertions, 70 deletions
diff --git a/driver/accelgyro_lsm6ds0.c b/driver/accelgyro_lsm6ds0.c index beee41b815..265d89e18c 100644 --- a/driver/accelgyro_lsm6ds0.c +++ b/driver/accelgyro_lsm6ds0.c @@ -1,4 +1,4 @@ -/* Copyright 2014 The Chromium OS Authors. All rights reserved. +/* Copyright 2014 The ChromiumOS Authors * Use of this source code is governed by a BSD-style license that can be * found in the LICENSE file. */ @@ -19,8 +19,8 @@ #include "util.h" #define CPUTS(outstr) cputs(CC_ACCEL, outstr) -#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) +#define CPRINTF(format, args...) cprintf(CC_ACCEL, format, ##args) /* * Struct for pairing an engineering value with the register value for a @@ -32,25 +32,21 @@ struct accel_param_pair { }; /* List of range values in +/-G's and their associated register values. */ -static const struct accel_param_pair g_ranges[] = { - {2, LSM6DS0_GSEL_2G}, - {4, LSM6DS0_GSEL_4G}, - {8, LSM6DS0_GSEL_8G} -}; +static const struct accel_param_pair g_ranges[] = { { 2, LSM6DS0_GSEL_2G }, + { 4, LSM6DS0_GSEL_4G }, + { 8, LSM6DS0_GSEL_8G } }; /* * List of angular rate range values in +/-dps's * and their associated register values. */ -const struct accel_param_pair dps_ranges[] = { - {245, LSM6DS0_DPS_SEL_245}, - {500, LSM6DS0_DPS_SEL_500}, - {1000, LSM6DS0_DPS_SEL_1000}, - {2000, LSM6DS0_DPS_SEL_2000} -}; +const struct accel_param_pair dps_ranges[] = { { 245, LSM6DS0_DPS_SEL_245 }, + { 500, LSM6DS0_DPS_SEL_500 }, + { 1000, LSM6DS0_DPS_SEL_1000 }, + { 2000, LSM6DS0_DPS_SEL_2000 } }; -static inline const struct accel_param_pair *get_range_table( - enum motionsensor_type type, int *psize) +static inline const struct accel_param_pair * +get_range_table(enum motionsensor_type type, int *psize) { if (MOTIONSENSE_TYPE_ACCEL == type) { if (psize) @@ -65,28 +61,22 @@ static inline const struct accel_param_pair *get_range_table( /* List of ODR (gyro off) values in mHz and their associated register values.*/ const struct accel_param_pair gyro_on_odr[] = { - {0, LSM6DS0_ODR_PD}, - {15000, LSM6DS0_ODR_15HZ}, - {59000, LSM6DS0_ODR_59HZ}, - {119000, LSM6DS0_ODR_119HZ}, - {238000, LSM6DS0_ODR_238HZ}, - {476000, LSM6DS0_ODR_476HZ}, - {952000, LSM6DS0_ODR_952HZ} + { 0, LSM6DS0_ODR_PD }, { 15000, LSM6DS0_ODR_15HZ }, + { 59000, LSM6DS0_ODR_59HZ }, { 119000, LSM6DS0_ODR_119HZ }, + { 238000, LSM6DS0_ODR_238HZ }, { 476000, LSM6DS0_ODR_476HZ }, + { 952000, LSM6DS0_ODR_952HZ } }; /* List of ODR (gyro on) values in mHz and their associated register values. */ const struct accel_param_pair gyro_off_odr[] = { - {0, LSM6DS0_ODR_PD}, - {10000, LSM6DS0_ODR_10HZ}, - {50000, LSM6DS0_ODR_50HZ}, - {119000, LSM6DS0_ODR_119HZ}, - {238000, LSM6DS0_ODR_238HZ}, - {476000, LSM6DS0_ODR_476HZ}, - {952000, LSM6DS0_ODR_952HZ} + { 0, LSM6DS0_ODR_PD }, { 10000, LSM6DS0_ODR_10HZ }, + { 50000, LSM6DS0_ODR_50HZ }, { 119000, LSM6DS0_ODR_119HZ }, + { 238000, LSM6DS0_ODR_238HZ }, { 476000, LSM6DS0_ODR_476HZ }, + { 952000, LSM6DS0_ODR_952HZ } }; -static inline const struct accel_param_pair *get_odr_table( - enum motionsensor_type type, int *psize) +static inline const struct accel_param_pair * +get_odr_table(enum motionsensor_type type, int *psize) { if (MOTIONSENSE_TYPE_ACCEL == type) { if (psize) @@ -101,14 +91,14 @@ static inline const struct accel_param_pair *get_odr_table( static inline int get_ctrl_reg(enum motionsensor_type type) { - return (MOTIONSENSE_TYPE_ACCEL == type) ? - LSM6DS0_CTRL_REG6_XL : LSM6DS0_CTRL_REG1_G; + return (MOTIONSENSE_TYPE_ACCEL == type) ? LSM6DS0_CTRL_REG6_XL : + LSM6DS0_CTRL_REG1_G; } static inline int get_xyz_reg(enum motionsensor_type type) { - return (MOTIONSENSE_TYPE_ACCEL == type) ? - LSM6DS0_OUT_X_L_XL : LSM6DS0_OUT_X_L_G; + return (MOTIONSENSE_TYPE_ACCEL == type) ? LSM6DS0_OUT_X_L_XL : + LSM6DS0_OUT_X_L_G; } /** @@ -118,14 +108,14 @@ static inline int get_xyz_reg(enum motionsensor_type type) * outside the range of values, it returns the closest valid reg value. */ static int get_reg_val(const int eng_val, const int round_up, - const struct accel_param_pair *pairs, const int size) + const struct accel_param_pair *pairs, const int size) { int i; for (i = 0; i < size - 1; i++) { if (eng_val <= pairs[i].val) break; - if (eng_val < pairs[i+1].val) { + if (eng_val < pairs[i + 1].val) { if (round_up) i += 1; break; @@ -138,7 +128,8 @@ static int get_reg_val(const int eng_val, const int round_up, * @return engineering value that matches the given reg val */ static int get_engineering_val(const int reg_val, - const struct accel_param_pair *pairs, const int size) + const struct accel_param_pair *pairs, + const int size) { int i; for (i = 0; i < size; i++) { @@ -166,9 +157,7 @@ static inline int raw_write8(const int port, const uint16_t i2c_addr_flags, return i2c_write8(port, i2c_addr_flags, reg, data); } -static int set_range(struct motion_sensor_t *s, - int range, - int rnd) +static int set_range(struct motion_sensor_t *s, int range, int rnd) { int ret, ctrl_val, range_tbl_size; uint8_t ctrl_reg, reg_val; @@ -185,19 +174,17 @@ static int set_range(struct motion_sensor_t *s, */ mutex_lock(s->mutex); - ret = raw_read8(s->port, s->i2c_spi_addr_flags, - ctrl_reg, &ctrl_val); + ret = raw_read8(s->port, s->i2c_spi_addr_flags, ctrl_reg, &ctrl_val); if (ret != EC_SUCCESS) goto accel_cleanup; ctrl_val = (ctrl_val & ~LSM6DS0_RANGE_MASK) | reg_val; - ret = raw_write8(s->port, s->i2c_spi_addr_flags, - ctrl_reg, ctrl_val); + ret = raw_write8(s->port, s->i2c_spi_addr_flags, ctrl_reg, ctrl_val); /* Now that we have set the range, update the driver's value. */ if (ret == EC_SUCCESS) - s->current_range = get_engineering_val(reg_val, ranges, - range_tbl_size); + s->current_range = + get_engineering_val(reg_val, ranges, range_tbl_size); accel_cleanup: mutex_unlock(s->mutex); @@ -209,9 +196,7 @@ static int get_resolution(const struct motion_sensor_t *s) return LSM6DS0_RESOLUTION; } -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, val, odr_tbl_size; uint8_t ctrl_reg, reg_val; @@ -237,8 +222,8 @@ static int set_data_rate(const struct motion_sensor_t *s, /* Now that we have set the odr, update the driver's value. */ if (ret == EC_SUCCESS) - data->base.odr = get_engineering_val(reg_val, data_rates, - odr_tbl_size); + data->base.odr = + get_engineering_val(reg_val, data_rates, odr_tbl_size); /* CTRL_REG3_G 12h * [7] low-power mode = 0; @@ -254,8 +239,8 @@ static int set_data_rate(const struct motion_sensor_t *s, goto accel_cleanup; val &= ~(0x3 << 4); /* clear bit [5:4] */ val = (rate > 119000) ? - (val | (1<<7)) /* set high-power mode */ : - (val & ~(1<<7)); /* set low-power mode */ + (val | (1 << 7)) /* set high-power mode */ : + (val & ~(1 << 7)); /* set low-power mode */ ret = raw_write8(s->port, s->i2c_spi_addr_flags, LSM6DS0_CTRL_REG3_G, val); } @@ -272,9 +257,8 @@ static int get_data_rate(const struct motion_sensor_t *s) return data->base.odr; } -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) { /* temperature is ignored */ struct lsm6ds0_data *data = s->drv_data; @@ -284,9 +268,8 @@ static int set_offset(const struct motion_sensor_t *s, return EC_SUCCESS; } -static int get_offset(const struct motion_sensor_t *s, - int16_t *offset, - int16_t *temp) +static int get_offset(const struct motion_sensor_t *s, int16_t *offset, + int16_t *temp) { struct lsm6ds0_data *data = s->drv_data; offset[X] = data->offset[X]; @@ -300,8 +283,8 @@ static int is_data_ready(const struct motion_sensor_t *s, int *ready) { int ret, tmp; - ret = raw_read8(s->port, s->i2c_spi_addr_flags, - LSM6DS0_STATUS_REG, &tmp); + ret = raw_read8(s->port, s->i2c_spi_addr_flags, LSM6DS0_STATUS_REG, + &tmp); if (ret != EC_SUCCESS) { CPRINTS("%s type:0x%X RS Error", s->name, s->type); @@ -341,12 +324,10 @@ static int read(const struct motion_sensor_t *s, intv3_t v) xyz_reg = get_xyz_reg(s->type); /* Read 6 bytes starting at xyz_reg */ - ret = i2c_read_block(s->port, s->i2c_spi_addr_flags, - xyz_reg, raw, 6); + ret = i2c_read_block(s->port, s->i2c_spi_addr_flags, xyz_reg, raw, 6); if (ret != EC_SUCCESS) { - CPRINTS("%s type:0x%X RD XYZ Error", - s->name, s->type); + CPRINTS("%s type:0x%X RD XYZ Error", s->name, s->type); return ret; } @@ -366,8 +347,8 @@ static int init(struct motion_sensor_t *s) { int ret = 0, tmp; - ret = raw_read8(s->port, s->i2c_spi_addr_flags, - LSM6DS0_WHO_AM_I_REG, &tmp); + ret = raw_read8(s->port, s->i2c_spi_addr_flags, LSM6DS0_WHO_AM_I_REG, + &tmp); if (ret) return EC_ERROR_UNKNOWN; @@ -387,7 +368,6 @@ static int init(struct motion_sensor_t *s) * SW_RESET is down for accel only! */ if (MOTIONSENSE_TYPE_ACCEL == s->type) { - mutex_lock(s->mutex); ret = raw_read8(s->port, s->i2c_spi_addr_flags, LSM6DS0_CTRL_REG8, &tmp); |