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Diffstat (limited to 'zephyr/shim/src/motionsense_sensors.c')
| -rw-r--r-- | zephyr/shim/src/motionsense_sensors.c | 403 |
1 files changed, 0 insertions, 403 deletions
diff --git a/zephyr/shim/src/motionsense_sensors.c b/zephyr/shim/src/motionsense_sensors.c deleted file mode 100644 index 0c54160e2e..0000000000 --- a/zephyr/shim/src/motionsense_sensors.c +++ /dev/null @@ -1,403 +0,0 @@ -/* Copyright 2021 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. - */ - -#include "common.h" -#include "accelgyro.h" -#include "hooks.h" -#include "drivers/cros_cbi.h" - -#define SENSOR_MUTEX_NODE DT_PATH(motionsense_mutex) -#define SENSOR_MUTEX_NAME(id) DT_CAT(MUTEX_, id) - -#if DT_NODE_EXISTS(SENSOR_MUTEX_NODE) -#define DECLARE_SENSOR_MUTEX(id) K_MUTEX_DEFINE(SENSOR_MUTEX_NAME(id)); - -/* - * Declare mutex for - * each child node of "/motionsense-mutex" node in DT. - * - * A mutex can be shared among the motion sensors. - */ -DT_FOREACH_CHILD(SENSOR_MUTEX_NODE, DECLARE_SENSOR_MUTEX) -#endif /* DT_NODE_EXISTS(SENSOR_MUTEX_NODE) */ - -#define SENSOR_ROT_REF_NODE DT_PATH(motionsense_rotation_ref) -#define SENSOR_ROT_STD_REF_NAME(id) DT_CAT(ROT_REF_, id) -#define MAT_ITEM(i, id) FLOAT_TO_FP((int32_t)(DT_PROP_BY_IDX(id, mat33, i))) -#define DECLARE_SENSOR_ROT_REF(id) \ - static const mat33_fp_t SENSOR_ROT_STD_REF_NAME(id) = { \ - { \ - FOR_EACH_FIXED_ARG(MAT_ITEM, (,), id, 0, 1, 2) \ - }, \ - { \ - FOR_EACH_FIXED_ARG(MAT_ITEM, (,), id, 3, 4, 5) \ - }, \ - { \ - FOR_EACH_FIXED_ARG(MAT_ITEM, (,), id, 6, 7, 8) \ - }, \ - }; - -/* - * Declare 3x3 rotation matrix for - * each child node of "/motionsense-rotation-ref" node in DT. - * - * A rotation matrix can be shared among the motion sensors. - */ -#if DT_NODE_EXISTS(SENSOR_ROT_REF_NODE) -DT_FOREACH_CHILD(SENSOR_ROT_REF_NODE, DECLARE_SENSOR_ROT_REF) -#endif - -/* - * Declare sensor driver data for - * each child node with status = "okay" of - * "/motionsense-sensor-data" node in DT. - * - * A driver data can be shared among the motion sensors. - */ -#define SENSOR_DATA_NAME(id) DT_CAT(SENSOR_DAT_, id) -#define SENSOR_DATA_NODE DT_PATH(motionsense_sensor_data) - -#define SENSOR_DATA(inst, compat, create_data_macro) \ - create_data_macro(DT_INST(inst, compat), \ - SENSOR_DATA_NAME(DT_INST(inst, compat))) - -/* - * CREATE_SENSOR_DATA is a helper macro that gets - * compat and create_data_macro as parameters. - * - * For each node with compatible = "compat", - * CREATE_SENSOR_DATA expands "create_data_macro" macro with the node id and - * the designated name for the sensor driver data to be created. The - * "create_datda_macro" macro is responsible for creating the sensor driver - * data with the name. - * - * Sensor drivers should provide <chip>-drvinfo.inc file and, in the file, - * it should have the macro that creates its sensor driver data using device - * tree and pass the macro via CREATE_SENSOR_DATA. - * - * e.g) The below is contents of tcs3400-drvinfo.inc file. The file has - * CREATE_SENSOR_DATA_TCS3400_CLEAR that creates the static instance of - * "struct als_drv_data_t" with the given name and initializes it - * with device tree. Then use CREATE_SENSOR_DATA. - * - * ----------- bma255-drvinfo.inc ----------- - * #define CREATE_SENSOR_DATA_TCS3400_CLEAR(id, drvdata_name) \ - * static struct als_drv_data_t drvdata_name = \ - * ACCELGYRO_ALS_DRV_DATA(DT_CHILD(id, als_drv_data)); - * - * CREATE_SENSOR_DATA(cros_ec_drvdata_tcs3400_clear, \ - * CREATE_SENSOR_DATA_TCS3400_CLEAR) - */ -#define CREATE_SENSOR_DATA(compat, create_data_macro) \ - UTIL_LISTIFY(DT_NUM_INST_STATUS_OKAY(compat), SENSOR_DATA, \ - compat, create_data_macro) - -/* - * sensor_drv_list.inc is included three times in this file. This is the first - * time and it is for creating sensor driver-specific data. So we ignore - * CREATE_MOTION_SENSOR() that creates motion sensor at this time. - */ -#define CREATE_MOTION_SENSOR(s_compat, s_chip, s_type, s_drv, \ - s_min_freq, s_max_freq) - -/* - * Here, we declare all sensor driver data. How to create the data is - * defined in <chip>-drvinfo.inc file and ,in turn, the file is included - * in sensor_drv_list.inc. - */ -#if DT_NODE_EXISTS(SENSOR_DATA_NODE) -#include "motionsense_driver/sensor_drv_list.inc" -#endif - -/* - * Get the address of the mutex which is referred by phandle. - * See motionsense-sensor-base.yaml and cros-ec,motionsense-mutex.yaml - * for DT example and details. - */ -#define SENSOR_MUTEX(id) \ - IF_ENABLED(DT_NODE_HAS_PROP(id, mutex), \ - (.mutex = &SENSOR_MUTEX_NAME(DT_PHANDLE(id, mutex)),)) - -/* - * Get I2C port number which is referred by phandle. - * See motionsense-sensor-base.yaml for DT example and details. - */ -#define SENSOR_I2C_PORT(id) \ - IF_ENABLED(DT_NODE_HAS_PROP(id, port), \ - (.port = I2C_PORT(DT_PHANDLE(id, port)),)) - -/* - * Get I2C or SPI address. - * See motionsense-sensor-base.yaml for DT example and details. - */ -#define SENSOR_I2C_SPI_ADDR_FLAGS(id) \ - IF_ENABLED(DT_NODE_HAS_PROP(id, i2c_spi_addr_flags), \ - (.i2c_spi_addr_flags = \ - DT_STRING_TOKEN(id, i2c_spi_addr_flags), )) - -/* - * Get the address of rotation matrix which is referred by phandle. - * See motionsense-sensor-base.yaml and cros-ec,motionsense-rotation-ref.yaml - * for DT example and details. - */ -#define SENSOR_ROT_STD_REF(id) \ - IF_ENABLED(DT_NODE_HAS_PROP(id, rot_standard_ref), \ - (.rot_standard_ref = \ - &SENSOR_ROT_STD_REF_NAME(DT_PHANDLE(id, rot_standard_ref)),)) - -/* - * Get the address of driver-specific data which is referred by phandle. - * See motionsense-sensor-base.yaml for DT example and details. - */ -#define SENSOR_DRV_DATA(id) \ - IF_ENABLED(DT_NODE_HAS_PROP(id, drv_data), \ - (.drv_data = &SENSOR_DATA_NAME(DT_PHANDLE(id, drv_data)),)) - -/* - * Get odr and ec_rate for the motion sensor. - * See motionsense-sensor-base.yaml and cros-ec,motionsense-sensor-config.yaml - * for DT example and details. - */ -#define SET_CONFIG_EC(cfg_id, cfg_suffix) \ - [SENSOR_CONFIG_##cfg_suffix] = { \ - IF_ENABLED(DT_NODE_HAS_PROP(cfg_id, odr), \ - (.odr = DT_PROP(cfg_id, odr),)) \ - IF_ENABLED(DT_NODE_HAS_PROP(cfg_id, ec_rate), \ - (.ec_rate = DT_PROP(cfg_id, ec_rate),)) \ - } - -/* Get configs */ -#define CREATE_SENSOR_CONFIG(cfgs_id) \ - .config = { \ - IF_ENABLED(DT_NODE_EXISTS(DT_CHILD(cfgs_id, ap)), \ - (SET_CONFIG_EC(DT_CHILD(cfgs_id, ap), AP),)) \ - IF_ENABLED(DT_NODE_EXISTS(DT_CHILD(cfgs_id, ec_s0)), \ - (SET_CONFIG_EC(DT_CHILD(cfgs_id, ec_s0), EC_S0),)) \ - IF_ENABLED(DT_NODE_EXISTS(DT_CHILD(cfgs_id, ec_s3)), \ - (SET_CONFIG_EC(DT_CHILD(cfgs_id, ec_s3), EC_S3),)) \ - IF_ENABLED(DT_NODE_EXISTS(DT_CHILD(cfgs_id, ec_s5)), \ - (SET_CONFIG_EC(DT_CHILD(cfgs_id, ec_s5), EC_S5),)) \ - } - -#define SENSOR_CONFIG(id) \ - IF_ENABLED(DT_NODE_EXISTS(DT_CHILD(id, configs)), \ - (CREATE_SENSOR_CONFIG(DT_CHILD(id, configs)),)) - -/* Get and assign the basic information for a motion sensor */ -#define SENSOR_BASIC_INFO(id) \ - .name = DT_LABEL(id), \ - .active_mask = DT_STRING_TOKEN(id, active_mask), \ - .location = DT_STRING_TOKEN(id, location), \ - .default_range = DT_PROP(id, default_range), \ - SENSOR_I2C_SPI_ADDR_FLAGS(id) \ - SENSOR_MUTEX(id) \ - SENSOR_I2C_PORT(id) \ - SENSOR_ROT_STD_REF(id) \ - SENSOR_DRV_DATA(id) \ - SENSOR_CONFIG(id) - -/* Create motion sensor node with node ID */ -#define DO_MK_SENSOR_ENTRY( \ - id, s_chip, s_type, s_drv, s_min_freq, s_max_freq) \ - [SENSOR_ID(id)] = { \ - SENSOR_BASIC_INFO(id) \ - .chip = s_chip, \ - .type = s_type, \ - .drv = &s_drv, \ - .min_frequency = s_min_freq, \ - .max_frequency = s_max_freq \ - }, - -/* Construct an entry iff the alternate_for property is missing. */ -#define MK_SENSOR_ENTRY(inst, s_compat, s_chip, s_type, s_drv, s_min_freq, \ - s_max_freq) \ - COND_CODE_0(DT_NODE_HAS_PROP(DT_INST(inst, s_compat), alternate_for), \ - (DO_MK_SENSOR_ENTRY(DT_INST(inst, s_compat), s_chip, \ - s_type, s_drv, s_min_freq, \ - s_max_freq)), \ - ()) - -/* Construct an entry iff the alternate_for property exists. */ -#define MK_SENSOR_ALT_ENTRY(inst, s_compat, s_chip, s_type, s_drv, s_min_freq, \ - s_max_freq) \ - COND_CODE_1(DT_NODE_HAS_PROP(DT_INST(inst, s_compat), alternate_for), \ - (DO_MK_SENSOR_ENTRY(DT_INST(inst, s_compat), s_chip, \ - s_type, s_drv, s_min_freq, \ - s_max_freq)), \ - ()) - -#undef CREATE_SENSOR_DATA -/* - * Sensor driver-specific data creation stage is already done. So this - * time we ignore CREATE_SENSOR_DATA(). - */ -#define CREATE_SENSOR_DATA(compat, create_data_macro) -#undef CREATE_MOTION_SENSOR - -/* - * CREATE_MOTION_SENSOR is a help macro that read the sensor information from - * device tree and creates an entry in motion_sensors array which is used - * by motion sense task. The help macro gets compatible value of the - * sensor node and several driver specific information like CHIP_ID, - * SENSOR_TYPE, driver instance name, and min/max frequency. - * - * <chip>-drvinfo.inc file which is provided by sensor driver should use - * CREATE_MOTION_SENSOR to provide driver specific information. - * - * e.g) The below is contents of tcs3400-drvinfo.inc file. The file has - * CREATE_MOTION_SENSOR like below to create the sensor entry. The file uses - * the help macro two times since the chip supports two functions - * ALS clear and ALS RGB. - - * ------------- tcs3400-drvinfo.inc ------------- - * // Here, we call CREATE_MOTION_SENSOR to create a motion_sensor_t entry - * // for each TCS3400 clear instance (compatible = "cros-ec,tcs3400-clear") - * // in device tree. - * CREATE_MOTION_SENSOR(cros_ec_tcs3400_clear, MOTIONSENSE_CHIP_TCS3400, \ - * MOTIONSENSE_TYPE_LIGHT, tcs3400_drv, \ - * TCS3400_LIGHT_MIN_FREQ, TCS3400_LIGHT_MAX_FREQ) - - * - * // Here, we call CREATE_MOTION_SENSOR to create a motion_sensor_t entry - * // for each TCS3400 RGB instance (compatible = "cros-ec,tcs3400-rgb") - * // in device tree. - * - * CREATE_MOTION_SENSOR(cros_ec_tcs3400_rgb, MOTIONSENSE_CHIP_TCS3400, \ - * MOTIONSENSE_TYPE_LIGHT_RGB, tcs3400_rgb_drv, 0, 0) - * ----------------------------------------------- - */ -#define CREATE_MOTION_SENSOR(s_compat, s_chip, s_type, s_drv, \ - s_min_freq, s_max_freq) \ - UTIL_LISTIFY(DT_NUM_INST_STATUS_OKAY(s_compat), MK_SENSOR_ENTRY,\ - s_compat, s_chip, s_type, s_drv, s_min_freq, s_max_freq) - -/* - * Here, we include sensor_drv_list.inc AGAIN but this time it only - * uses CREATE_MOTION_SENSOR to create the motion sensor entries. - */ -struct motion_sensor_t motion_sensors[] = { -#if DT_NODE_EXISTS(SENSOR_NODE) -#include "motionsense_driver/sensor_drv_list.inc" -#endif -}; - -/* - * Remap the CREATE_MOTION_SENSOR to call MK_SENSOR_ALT_ENTRY to create a list - * of alternate sensors that will be used at runtime. - */ -#undef CREATE_MOTION_SENSOR -#define CREATE_MOTION_SENSOR(s_compat, s_chip, s_type, s_drv, s_min_freq, \ - s_max_freq) \ - UTIL_LISTIFY(DT_NUM_INST_STATUS_OKAY(s_compat), MK_SENSOR_ALT_ENTRY, \ - s_compat, s_chip, s_type, s_drv, s_min_freq, s_max_freq) - -/* - * The list of alternate motion sensors that may be used at runtime to replace - * an entry in the motion_sensors array. - */ -__maybe_unused struct motion_sensor_t motion_sensors_alt[] = { -#if DT_NODE_EXISTS(SENSOR_ALT_NODE) -#include "motionsense_driver/sensor_drv_list.inc" -#endif -}; - -#ifdef CONFIG_DYNAMIC_MOTION_SENSOR_COUNT -unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors); -#else -const unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors); -#endif - -/* - * Create a list of ALS sensors needed by motion sense - * - * The following example adds tcs3400 als sensor to motion_als_sensors array - * - * motionsense-sensors { - * lid_accel: bma255 { - * : - * }; - * : - * : - * als_clear: tcs3400 { - * : - * }; - * }; - * - * motionsense-sensor-info { - * compatible = "cros-ec,motionsense-sensor-info"; - * - * // list of entries for motion_als_sensors - * als-sensors = <&als_clear>; - * : - * : - * }; - */ -#if DT_NODE_HAS_PROP(SENSOR_INFO_NODE, als_sensors) -#define ALS_SENSOR_ENTRY_WITH_COMMA(i, id) \ - &motion_sensors[SENSOR_ID(DT_PHANDLE_BY_IDX(id, als_sensors, i))], -const struct motion_sensor_t *motion_als_sensors[] = { - UTIL_LISTIFY(DT_PROP_LEN(SENSOR_INFO_NODE, als_sensors), - ALS_SENSOR_ENTRY_WITH_COMMA, SENSOR_INFO_NODE) -}; -BUILD_ASSERT(ARRAY_SIZE(motion_als_sensors) == ALS_COUNT); -#endif - -/* - * Enable interrupts for motion sensors - * - * e.g) list of named-gpio nodes - * motionsense-sensor-info { - * compatible = "cros-ec,motionsense-sensor-info"; - * - * // list of GPIO interrupts that have to - * // be enabled at initial stage - * sensor-irqs = <&gpio_ec_imu_int_l &gpio_ec_als_rgb_int_l>; - * }; - */ -#if DT_NODE_HAS_PROP(SENSOR_INFO_NODE, sensor_irqs) -#define SENSOR_GPIO_ENABLE_INTERRUPT(i, id) \ - gpio_enable_interrupt( \ - GPIO_SIGNAL(DT_PHANDLE_BY_IDX(id, sensor_irqs, i))); -static void sensor_enable_irqs(void) -{ - UTIL_LISTIFY(DT_PROP_LEN(SENSOR_INFO_NODE, sensor_irqs), - SENSOR_GPIO_ENABLE_INTERRUPT, SENSOR_INFO_NODE) -} -DECLARE_HOOK(HOOK_INIT, sensor_enable_irqs, HOOK_PRIO_DEFAULT); -#endif - -/* Handle the alternative motion sensors */ -#define REPLACE_ALT_MOTION_SENSOR(new_id, old_id) \ - motion_sensors[SENSOR_ID(old_id)] = \ - motion_sensors_alt[SENSOR_ID(new_id)]; - -#define CHECK_AND_REPLACE_ALT_MOTION_SENSOR(id) \ - do { \ - if (cros_cbi_ssfc_check_match( \ - dev, CBI_SSFC_VALUE_ID(DT_PHANDLE( \ - id, alternate_indicator)))) { \ - REPLACE_ALT_MOTION_SENSOR( \ - id, DT_PHANDLE(id, alternate_for)) \ - } \ - } while (0); - -#define ALT_MOTION_SENSOR_INIT_ID(id) \ - COND_CODE_1(UTIL_AND(DT_NODE_HAS_PROP(id, alternate_for), \ - DT_NODE_HAS_PROP(id, alternate_indicator)), \ - (CHECK_AND_REPLACE_ALT_MOTION_SENSOR(id)), ()) - -void motion_sensors_init_alt(void) -{ - const struct device *dev = device_get_binding("cros_cbi"); - - if (dev == NULL) - return; - -#if DT_NODE_EXISTS(SENSOR_ALT_NODE) - DT_FOREACH_CHILD(SENSOR_ALT_NODE, ALT_MOTION_SENSOR_INIT_ID) -#endif -} - -DECLARE_HOOK(HOOK_INIT, motion_sensors_init_alt, HOOK_PRIO_INIT_I2C + 1); |