From 0e0bbbafd7482aba297f9a681fd6869d66f48aab Mon Sep 17 00:00:00 2001 From: Ben Chen Date: Thu, 31 Dec 2020 14:05:20 +0800 Subject: voxel: Add motion sensor config for kx022/icm-426xx Add icm-426xx config for new second source base accel/gyro, and lid accel config for new second source. BUG=b:176039213, b:175843510 BRANCH=main TEST=Using ectool 'motionsense' verified lid angle now goes from 0 to 360 and swtiches to tablet mode after crossing 200 threshold on re-work kx022/icm-426xx DUT. Change-Id: I6815a46f01f8334f4f8c1b07deee16046566fbce Signed-off-by: Ben Chen Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/2607207 Reviewed-by: Keith Short --- board/voxel/board.h | 7 +++ board/voxel/gpio.inc | 2 +- board/voxel/sensors.c | 115 ++++++++++++++++++++++++++++++++++++++++++++++++-- 3 files changed, 120 insertions(+), 4 deletions(-) diff --git a/board/voxel/board.h b/board/voxel/board.h index c868938778..f66a09becc 100644 --- a/board/voxel/board.h +++ b/board/voxel/board.h @@ -47,12 +47,17 @@ /* Sensors */ /* BMI160 Base accel/gyro */ #define CONFIG_ACCELGYRO_BMI160 +#define CONFIG_ACCELGYRO_ICM426XX /* Base accel second source*/ #define CONFIG_ACCELGYRO_BMI160_INT_EVENT \ TASK_EVENT_MOTION_SENSOR_INTERRUPT(BASE_ACCEL) +#define CONFIG_ACCELGYRO_ICM426XX_INT_EVENT \ + TASK_EVENT_MOTION_SENSOR_INTERRUPT(BASE_ACCEL) + /* Lid operates in forced mode, base in FIFO */ #define CONFIG_ACCEL_FORCE_MODE_MASK BIT(LID_ACCEL) /* BMA253 Lid accel */ +#define CONFIG_ACCEL_KX022 /* Lid accel */ #define CONFIG_ACCEL_BMA255 #define CONFIG_LID_ANGLE #define CONFIG_LID_ANGLE_UPDATE @@ -183,6 +188,8 @@ enum usbc_port { void board_reset_pd_mcu(void); +void motion_interrupt(enum gpio_signal signal); + #endif /* !__ASSEMBLER__ */ #endif /* __CROS_EC_BOARD_H */ diff --git a/board/voxel/gpio.inc b/board/voxel/gpio.inc index bd807aa399..fa3d0ffe7d 100644 --- a/board/voxel/gpio.inc +++ b/board/voxel/gpio.inc @@ -25,7 +25,7 @@ GPIO_INT(PG_EC_DSW_PWROK, PIN(C, 7), GPIO_INT_BOTH, power_signal_interrupt) GPIO_INT(PG_EC_ALL_SYS_PWRGD, PIN(F, 4), GPIO_INT_BOTH, power_signal_interrupt) /* Sensor Interrupts */ -GPIO_INT(EC_IMU_INT_L, PIN(5, 6), GPIO_INT_FALLING | GPIO_SEL_1P8V, bmi160_interrupt) +GPIO_INT(EC_IMU_INT_L, PIN(5, 6), GPIO_INT_FALLING | GPIO_SEL_1P8V, motion_interrupt) GPIO(EC_ALS_RGB_INT_L, PIN(D, 4), GPIO_INPUT | GPIO_PULL_UP) /* unused */ GPIO_INT(TABLET_MODE_L, PIN(9, 5), GPIO_INT_BOTH, gmr_tablet_switch_isr) /* diff --git a/board/voxel/sensors.c b/board/voxel/sensors.c index fab1fac66b..93c6f442c9 100644 --- a/board/voxel/sensors.c +++ b/board/voxel/sensors.c @@ -6,9 +6,13 @@ /* Volteer family-specific sensor configuration */ #include "common.h" #include "accelgyro.h" +#include "cbi_ssfc.h" #include "driver/accel_bma2x2.h" +#include "driver/accel_kionix.h" #include "driver/accelgyro_bmi_common.h" #include "driver/accelgyro_bmi160.h" +#include "driver/accelgyro_icm_common.h" +#include "driver/accelgyro_icm426xx.h" #include "driver/als_tcs3400.h" #include "driver/sync.h" #include "keyboard_scan.h" @@ -26,9 +30,11 @@ static struct mutex g_base_mutex; /* BMA253 private data */ static struct accelgyro_saved_data_t g_bma253_data; +static struct kionix_accel_data g_kx022_data; /* BMI160 private data */ static struct bmi_drv_data_t g_bmi160_data; +static struct icm_drv_data_t g_icm426xx_data; /* Rotation matrix for the lid accelerometer */ static const mat33_fp_t lid_standard_ref = { @@ -43,6 +49,85 @@ const mat33_fp_t base_standard_ref = { { 0, 0, FLOAT_TO_FP(1)} }; +static const mat33_fp_t base_icm_ref = { + { FLOAT_TO_FP(1), 0, 0}, + { 0, FLOAT_TO_FP(1), 0}, + { 0, 0, FLOAT_TO_FP(1)} +}; + +struct motion_sensor_t kx022_lid_accel = { + .name = "Lid Accel", + .active_mask = SENSOR_ACTIVE_S0_S3, + .chip = MOTIONSENSE_CHIP_KX022, + .type = MOTIONSENSE_TYPE_ACCEL, + .location = MOTIONSENSE_LOC_LID, + .drv = &kionix_accel_drv, + .mutex = &g_lid_accel_mutex, + .drv_data = &g_kx022_data, + .port = I2C_PORT_ACCEL, + .i2c_spi_addr_flags = KX022_ADDR0_FLAGS, + .rot_standard_ref = &lid_standard_ref, + .min_frequency = KX022_ACCEL_MIN_FREQ, + .max_frequency = KX022_ACCEL_MAX_FREQ, + .default_range = 2, /* g, to support tablet mode */ + .config = { + /* EC use accel for angle detection */ + [SENSOR_CONFIG_EC_S0] = { + .odr = 10000 | ROUND_UP_FLAG, + }, + /* EC use accel for angle detection */ + [SENSOR_CONFIG_EC_S3] = { + .odr = 10000 | ROUND_UP_FLAG, + }, + }, +}; + +struct motion_sensor_t icm426xx_base_accel = { + .name = "Base Accel", + .active_mask = SENSOR_ACTIVE_S0_S3, + .chip = MOTIONSENSE_CHIP_ICM426XX, + .type = MOTIONSENSE_TYPE_ACCEL, + .location = MOTIONSENSE_LOC_BASE, + .drv = &icm426xx_drv, + .mutex = &g_base_mutex, + .drv_data = &g_icm426xx_data, + .port = I2C_PORT_ACCEL, + .i2c_spi_addr_flags = ICM426XX_ADDR0_FLAGS, + .default_range = 4, /* g, enough for laptop */ + .rot_standard_ref = &base_icm_ref, + .min_frequency = ICM426XX_ACCEL_MIN_FREQ, + .max_frequency = ICM426XX_ACCEL_MAX_FREQ, + .config = { + /* EC use accel for angle detection */ + [SENSOR_CONFIG_EC_S0] = { + .odr = 10000 | ROUND_UP_FLAG, + .ec_rate = 100 * MSEC, + }, + /* EC use accel for angle detection */ + [SENSOR_CONFIG_EC_S3] = { + .odr = 10000 | ROUND_UP_FLAG, + .ec_rate = 100 * MSEC, + }, + }, +}; + +struct motion_sensor_t icm426xx_base_gyro = { + .name = "Base Gyro", + .active_mask = SENSOR_ACTIVE_S0_S3, + .chip = MOTIONSENSE_CHIP_ICM426XX, + .type = MOTIONSENSE_TYPE_GYRO, + .location = MOTIONSENSE_LOC_BASE, + .drv = &icm426xx_drv, + .mutex = &g_base_mutex, + .drv_data = &g_icm426xx_data, + .port = I2C_PORT_ACCEL, + .i2c_spi_addr_flags = ICM426XX_ADDR0_FLAGS, + .default_range = 1000, /* dps */ + .rot_standard_ref = &base_standard_ref, + .min_frequency = ICM426XX_GYRO_MIN_FREQ, + .max_frequency = ICM426XX_GYRO_MAX_FREQ, +}; + struct motion_sensor_t motion_sensors[] = { [LID_ACCEL] = { .name = "Lid Accel", @@ -120,15 +205,39 @@ unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors); static void board_sensors_init(void) { - /* Note - BMA253 interrupt unused by EC */ - - /* Enable interrupt for the BMI160 accel/gyro sensor */ + /* Enable interrupt for the accel/gyro sensor */ gpio_enable_interrupt(GPIO_EC_IMU_INT_L); CPRINTS("Motion Sensor Count = %d", motion_sensor_count); + + if (get_cbi_ssfc_base_sensor() == SSFC_SENSOR_ICM426XX) { + motion_sensors[BASE_ACCEL] = icm426xx_base_accel; + motion_sensors[BASE_GYRO] = icm426xx_base_gyro; + ccprints("BASE GYRO is ICM426XX"); + } else + ccprints("BASE GYRO is BMI160"); + + if (get_cbi_ssfc_lid_sensor() == SSFC_SENSOR_KX022) { + motion_sensors[LID_ACCEL] = kx022_lid_accel; + ccprints("LID_ACCEL is KX022"); + } else + ccprints("LID_ACCEL is BMA253"); } DECLARE_HOOK(HOOK_INIT, board_sensors_init, HOOK_PRIO_DEFAULT); +void motion_interrupt(enum gpio_signal signal) +{ + switch (get_cbi_ssfc_base_sensor()) { + case SSFC_SENSOR_ICM426XX: + icm426xx_interrupt(signal); + break; + case SSFC_SENSOR_BMI160: + default: + bmi160_interrupt(signal); + break; + } +} + #ifndef TEST_BUILD void lid_angle_peripheral_enable(int enable) { -- cgit v1.2.1