diff options
Diffstat (limited to 'driver/accelgyro_lsm6dsm.c')
| -rw-r--r-- | driver/accelgyro_lsm6dsm.c | 109 |
1 files changed, 58 insertions, 51 deletions
diff --git a/driver/accelgyro_lsm6dsm.c b/driver/accelgyro_lsm6dsm.c index 78dafc0e52..2bf0215315 100644 --- a/driver/accelgyro_lsm6dsm.c +++ b/driver/accelgyro_lsm6dsm.c @@ -1,4 +1,4 @@ -/* Copyright 2016 The Chromium OS Authors. All rights reserved. +/* Copyright 2016 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 @@ * This driver supports both devices LSM6DSM and LSM6DSL */ +#include "builtin/assert.h" #include "driver/accelgyro_lsm6dsm.h" #include "driver/mag_lis2mdl.h" #include "hooks.h" @@ -25,11 +26,11 @@ #endif #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(ACCEL_LSM6DSM_INT_ENABLE) - volatile uint32_t last_interrupt_timestamp; +volatile uint32_t last_interrupt_timestamp; /** * Gets the sensor type associated with the dev_fifo enum. This type can be used @@ -55,7 +56,7 @@ static inline uint8_t get_sensor_type(enum dev_fifo fifo_type) static inline int get_xyz_reg(enum motionsensor_type type) { return LSM6DSM_ACCEL_OUT_X_L_ADDR - - (LSM6DSM_ACCEL_OUT_X_L_ADDR - LSM6DSM_GYRO_OUT_X_L_ADDR) * type; + (LSM6DSM_ACCEL_OUT_X_L_ADDR - LSM6DSM_GYRO_OUT_X_L_ADDR) * type; } /** @@ -77,13 +78,12 @@ __maybe_unused static int config_interrupt(const struct motion_sensor_t *accel) LSM6DSM_FIFO_CTRL1_ADDR, OUT_XYZ_SIZE / sizeof(uint16_t))); int1_ctrl_val |= LSM6DSM_INT_FIFO_TH | LSM6DSM_INT_FIFO_OVR | - LSM6DSM_INT_FIFO_FULL; + LSM6DSM_INT_FIFO_FULL; return st_raw_write8(accel->port, accel->i2c_spi_addr_flags, - LSM6DSM_INT1_CTRL, int1_ctrl_val); + LSM6DSM_INT1_CTRL, int1_ctrl_val); } - /** * fifo_disable - set fifo mode * @accel: Motion sensor pointer: must be MOTIONSENSE_TYPE_ACCEL. @@ -132,7 +132,6 @@ static int fifo_enable(const struct motion_sensor_t *accel) MOTIONSENSE_TYPE_MAG, }; - /* Search for min and max odr values for acc, gyro. */ for (i = FIFO_DEV_GYRO; i < FIFO_DEV_NUM; i++) { /* Check if sensor enabled with ODR. */ @@ -151,8 +150,7 @@ static int fifo_enable(const struct motion_sensor_t *accel) } /* FIFO ODR must be set before the decimation factors */ - odr_reg_val = LSM6DSM_ODR_TO_REG(max_odr) << - LSM6DSM_FIFO_CTRL5_ODR_OFF; + odr_reg_val = LSM6DSM_ODR_TO_REG(max_odr) << LSM6DSM_FIFO_CTRL5_ODR_OFF; err = st_raw_write8(accel->port, accel->i2c_spi_addr_flags, LSM6DSM_FIFO_CTRL5_ADDR, odr_reg_val); @@ -174,12 +172,13 @@ static int fifo_enable(const struct motion_sensor_t *accel) st_raw_write8(accel->port, accel->i2c_spi_addr_flags, LSM6DSM_FIFO_CTRL3_ADDR, (decimators[FIFO_DEV_GYRO] << LSM6DSM_FIFO_DEC_G_OFF) | - (decimators[FIFO_DEV_ACCEL] << LSM6DSM_FIFO_DEC_XL_OFF)); + (decimators[FIFO_DEV_ACCEL] + << LSM6DSM_FIFO_DEC_XL_OFF)); if (IS_ENABLED(CONFIG_LSM6DSM_SEC_I2C)) { ASSERT(ARRAY_SIZE(decimators) > FIFO_DEV_MAG); st_raw_write8(accel->port, accel->i2c_spi_addr_flags, - LSM6DSM_FIFO_CTRL4_ADDR, - decimators[FIFO_DEV_MAG]); + LSM6DSM_FIFO_CTRL4_ADDR, + decimators[FIFO_DEV_MAG]); /* * FIFO ODR is limited by odr of gyro or accel. @@ -204,12 +203,12 @@ static int fifo_enable(const struct motion_sensor_t *accel) */ if (max_odr > MAX(odrs[FIFO_DEV_ACCEL], odrs[FIFO_DEV_GYRO])) { st_write_data_with_mask(accel, - LSM6DSM_ODR_REG(accel->type), - LSM6DSM_ODR_MASK, - LSM6DSM_ODR_TO_REG(max_odr)); + LSM6DSM_ODR_REG(accel->type), + LSM6DSM_ODR_MASK, + LSM6DSM_ODR_TO_REG(max_odr)); } else { - st_write_data_with_mask(accel, - LSM6DSM_ODR_REG(accel->type), + st_write_data_with_mask( + accel, LSM6DSM_ODR_REG(accel->type), LSM6DSM_ODR_MASK, LSM6DSM_ODR_TO_REG(odrs[FIFO_DEV_ACCEL])); } @@ -275,8 +274,7 @@ static int fifo_next(struct lsm6dsm_data *private) * push_fifo_data - Scan data pattern and push upside */ static void push_fifo_data(struct motion_sensor_t *accel, uint8_t *fifo, - uint16_t flen, - uint32_t timestamp) + uint16_t flen, uint32_t timestamp) { struct motion_sensor_t *s; struct lsm6dsm_data *private = LSM6DSM_GET_DATA(accel); @@ -310,7 +308,6 @@ static void push_fifo_data(struct motion_sensor_t *accel, uint8_t *fifo, st_normalize(s, axis, fifo); } - if (IS_ENABLED(CONFIG_ACCEL_FIFO)) { struct ec_response_motion_sensor_data vect; @@ -356,8 +353,7 @@ static int load_fifo(struct motion_sensor_t *s, const struct fstatus *fsts) /* Read data and copy in buffer. */ err = st_raw_read_n_noinc(s->port, s->i2c_spi_addr_flags, - LSM6DSM_FIFO_DATA_ADDR, - fifo, length); + LSM6DSM_FIFO_DATA_ADDR, fifo, length); if (err != EC_SUCCESS) return err; @@ -398,17 +394,13 @@ static int irq_handler(struct motion_sensor_t *s, uint32_t *event) (!(*event & CONFIG_ACCEL_LSM6DSM_INT_EVENT))) return EC_ERROR_NOT_HANDLED; - while (!fifo_empty) { /* Read how many data pattern on FIFO to read. */ - RETURN_ERROR(st_raw_read_n_noinc(s->port, - s->i2c_spi_addr_flags, - LSM6DSM_FIFO_STS1_ADDR, - (uint8_t *)&fsts, - sizeof(fsts))); + RETURN_ERROR(st_raw_read_n_noinc( + s->port, s->i2c_spi_addr_flags, LSM6DSM_FIFO_STS1_ADDR, + (uint8_t *)&fsts, sizeof(fsts))); if (fsts.len & (LSM6DSM_FIFO_DATA_OVR | LSM6DSM_FIFO_FULL)) - CPRINTS("%s FIFO Overrun: %04x", - s->name, fsts.len); + CPRINTS("%s FIFO Overrun: %04x", s->name, fsts.len); fifo_empty = fsts.len & LSM6DSM_FIFO_EMPTY; if (!fifo_empty) { commit_needed = true; @@ -420,7 +412,7 @@ static int irq_handler(struct motion_sensor_t *s, uint32_t *event) return EC_SUCCESS; } -#endif /* ACCEL_LSM6DSM_INT_ENABLE */ +#endif /* ACCEL_LSM6DSM_INT_ENABLE */ /** * set_range - set full scale range @@ -520,10 +512,10 @@ int lsm6dsm_set_data_rate(const struct motion_sensor_t *s, int rate, int rnd) * less often. */ if (normalized_rate > 0) - cal->batch_size = MAX( - MAG_CAL_MIN_BATCH_SIZE, - (normalized_rate * 1000) / - MAG_CAL_MIN_BATCH_WINDOW_US); + cal->batch_size = + MAX(MAG_CAL_MIN_BATCH_SIZE, + (normalized_rate * 1000) / + MAG_CAL_MIN_BATCH_WINDOW_US); else cal->batch_size = 0; CPRINTS("Batch size: %d", cal->batch_size); @@ -554,8 +546,8 @@ static int is_data_ready(const struct motion_sensor_t *s, int *ready) { int ret, tmp; - ret = st_raw_read8(s->port, s->i2c_spi_addr_flags, - LSM6DSM_STATUS_REG, &tmp); + ret = st_raw_read8(s->port, s->i2c_spi_addr_flags, LSM6DSM_STATUS_REG, + &tmp); if (ret != EC_SUCCESS) { CPRINTS("%s type:0x%X RS Error", s->name, s->type); return ret; @@ -610,8 +602,8 @@ static int init(struct motion_sensor_t *s) struct stprivate_data *data = s->drv_data; uint8_t ctrl_reg, reg_val = 0; - ret = st_raw_read8(s->port, s->i2c_spi_addr_flags, - LSM6DSM_WHO_AM_I_REG, &tmp); + ret = st_raw_read8(s->port, s->i2c_spi_addr_flags, LSM6DSM_WHO_AM_I_REG, + &tmp); if (ret != EC_SUCCESS) return EC_ERROR_UNKNOWN; @@ -648,8 +640,8 @@ static int init(struct motion_sensor_t *s) goto err_unlock; /* Power ON Accel. */ - ret = st_raw_write8(s->port, s->i2c_spi_addr_flags, - ctrl_reg, reg_val); + ret = st_raw_write8(s->port, s->i2c_spi_addr_flags, ctrl_reg, + reg_val); if (ret != EC_SUCCESS) goto err_unlock; @@ -669,12 +661,12 @@ static int init(struct motion_sensor_t *s) /* Power ON Accel. */ ret = st_raw_write8(s->port, s->i2c_spi_addr_flags, - ctrl_reg, reg_val); + ctrl_reg, reg_val); if (ret != EC_SUCCESS) goto err_unlock; ret = st_raw_write8(s->port, s->i2c_spi_addr_flags, - LSM6DSM_CTRL3_ADDR, LSM6DSM_BOOT); + LSM6DSM_CTRL3_ADDR, LSM6DSM_BOOT); if (ret != EC_SUCCESS) goto err_unlock; @@ -686,7 +678,7 @@ static int init(struct motion_sensor_t *s) /* Power OFF Accel. */ ret = st_raw_write8(s->port, s->i2c_spi_addr_flags, - ctrl_reg, 0); + ctrl_reg, 0); if (ret != EC_SUCCESS) goto err_unlock; } @@ -695,11 +687,9 @@ static int init(struct motion_sensor_t *s) * Output data not updated until have been read. * Prefer interrupt to be active low. */ - ret = st_raw_write8(s->port, s->i2c_spi_addr_flags, - LSM6DSM_CTRL3_ADDR, - LSM6DSM_BDU - | LSM6DSM_H_L_ACTIVE - | LSM6DSM_IF_INC); + ret = st_raw_write8( + s->port, s->i2c_spi_addr_flags, LSM6DSM_CTRL3_ADDR, + LSM6DSM_BDU | LSM6DSM_H_L_ACTIVE | LSM6DSM_IF_INC); if (ret != EC_SUCCESS) goto err_unlock; @@ -736,6 +726,17 @@ static int read_temp(const struct motion_sensor_t *s, int *temp) return EC_SUCCESS; } +#ifdef CONFIG_BODY_DETECTION +static int get_rms_noise(const struct motion_sensor_t *s) +{ + /* + * RMS | Acceleration RMS noise in normal/low-power mode + * FS = ±4 g | 2.0 mg(RMS) + */ + return 2000; +} +#endif + const struct accelgyro_drv lsm6dsm_drv = { .init = init, .read = read, @@ -749,4 +750,10 @@ const struct accelgyro_drv lsm6dsm_drv = { #ifdef ACCEL_LSM6DSM_INT_ENABLE .irq_handler = irq_handler, #endif /* ACCEL_LSM6DSM_INT_ENABLE */ +#ifdef CONFIG_BODY_DETECTION + .get_rms_noise = get_rms_noise, +#endif +#ifdef CONFIG_GESTURE_HOST_DETECTION + .list_activities = st_list_activities, +#endif }; |