From 14d1cd8c83e7b6f1329688ad76dbb35b07f40654 Mon Sep 17 00:00:00 2001 From: David Huang Date: Mon, 16 Aug 2021 15:18:40 +0800 Subject: kano: change lid accel and base accel/gyro Change Lid accel to kx022 and base accel/gyro to icm40608. BUG=b:192370253 BRANCH=brya TEST=make buildall -j succeeded. Signed-off-by: David Huang Change-Id: I034c2da62d1671294b4ce81536a0254a67c63240 Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/3098118 Reviewed-by: caveh jalali Reviewed-by: Boris Mittelberg Commit-Queue: Boris Mittelberg --- board/kano/board.c | 2 -- board/kano/board.h | 13 ++++---- board/kano/generated-gpio.inc | 3 +- board/kano/sensors.c | 70 ++++++++++++++++++++++--------------------- 4 files changed, 44 insertions(+), 44 deletions(-) diff --git a/board/kano/board.c b/board/kano/board.c index 3701d5bfbf..07dfc2cd5a 100644 --- a/board/kano/board.c +++ b/board/kano/board.c @@ -13,8 +13,6 @@ #include "gpio.h" #include "gpio_signal.h" #include "hooks.h" -#include "driver/accel_lis2dw12.h" -#include "driver/accelgyro_lsm6dso.h" #include "fw_config.h" #include "hooks.h" #include "lid_switch.h" diff --git a/board/kano/board.h b/board/kano/board.h index 8c6164df54..2f1103ae09 100644 --- a/board/kano/board.h +++ b/board/kano/board.h @@ -39,8 +39,9 @@ #define CONFIG_LED_PWM_LOW_BATT_COLOR EC_LED_COLOR_AMBER /* Sensors */ -#define CONFIG_ACCELGYRO_LSM6DSO /* Base accel */ -#define CONFIG_ACCEL_LSM6DSO_INT_EVENT \ +#define CONFIG_ACCELGYRO_ICM426XX /* Base accel */ +#define CONFIG_ACCELGYRO_ICM_COMM_I2C +#define CONFIG_ACCELGYRO_ICM426XX_INT_EVENT \ TASK_EVENT_MOTION_SENSOR_INTERRUPT(BASE_ACCEL) /* Enable sensor fifo, must also define the _SIZE and _THRES */ @@ -55,12 +56,10 @@ /* Lid accel */ #define CONFIG_LID_ANGLE +#define CONFIG_LID_ANGLE_UPDATE #define CONFIG_LID_ANGLE_SENSOR_BASE BASE_ACCEL #define CONFIG_LID_ANGLE_SENSOR_LID LID_ACCEL -#define CONFIG_ACCEL_LIS2DWL -#define CONFIG_ACCEL_LIS2DW_AS_BASE -#define CONFIG_ACCEL_LIS2DW12_INT_EVENT \ - TASK_EVENT_MOTION_SENSOR_INTERRUPT(LID_ACCEL) +#define CONFIG_ACCEL_KX022 #define CONFIG_ACCEL_INTERRUPTS @@ -241,6 +240,8 @@ enum mft_channel { MFT_CH_COUNT }; +void motion_interrupt(enum gpio_signal signal); + #endif /* !__ASSEMBLER__ */ #endif /* __CROS_EC_BOARD_H */ diff --git a/board/kano/generated-gpio.inc b/board/kano/generated-gpio.inc index 0b741188e9..d65d64feca 100644 --- a/board/kano/generated-gpio.inc +++ b/board/kano/generated-gpio.inc @@ -4,8 +4,7 @@ /* INTERRUPT GPIOs: */ GPIO_INT(ACOK_OD, PIN(0, 0), GPIO_INT_BOTH | GPIO_HIB_WAKE_HIGH, extpower_interrupt) -GPIO_INT(EC_ACCEL_INT_R_L, PIN(8, 1), GPIO_SEL_1P8V | GPIO_INT_FALLING, lis2dw12_interrupt) -GPIO_INT(EC_IMU_INT_R_L, PIN(5, 6), GPIO_SEL_1P8V | GPIO_INT_FALLING, lsm6dso_interrupt) +GPIO_INT(EC_IMU_INT_R_L, PIN(5, 6), GPIO_SEL_1P8V | GPIO_INT_FALLING, motion_interrupt) GPIO_INT(EC_PROCHOT_IN_L, PIN(F, 0), GPIO_INT_BOTH, throttle_ap_prochot_input_interrupt) GPIO_INT(EC_VOLDN_BTN_ODL, PIN(9, 3), GPIO_INT_BOTH | GPIO_PULL_UP, button_interrupt) GPIO_INT(EC_VOLUP_BTN_ODL, PIN(9, 7), GPIO_INT_BOTH | GPIO_PULL_UP, button_interrupt) diff --git a/board/kano/sensors.c b/board/kano/sensors.c index 4a90179cf4..f49c356a6f 100644 --- a/board/kano/sensors.c +++ b/board/kano/sensors.c @@ -6,8 +6,9 @@ #include "common.h" #include "accelgyro.h" #include "adc_chip.h" -#include "driver/accel_lis2dw12.h" -#include "driver/accelgyro_lsm6dso.h" +#include "driver/accelgyro_icm426xx.h" +#include "driver/accelgyro_icm_common.h" +#include "driver/accel_kionix.h" #include "hooks.h" #include "motion_sense.h" #include "temp_sensor.h" @@ -42,41 +43,41 @@ BUILD_ASSERT(ARRAY_SIZE(adc_channels) == ADC_CH_COUNT); K_MUTEX_DEFINE(g_lid_accel_mutex); K_MUTEX_DEFINE(g_base_accel_mutex); -static struct stprivate_data g_lis2dw12_data; -static struct lsm6dso_data lsm6dso_data; +static struct kionix_accel_data g_kx022_data; +static struct icm_drv_data_t g_icm426xx_data; -/* TODO(b/184779333): calibrate the orientation matrix on later board stage */ +/* + * TODO:(b/197200940): Verify lid and base orientation + * matrix on proto board. + */ static const mat33_fp_t lid_standard_ref = { - { 0, FLOAT_TO_FP(1), 0}, - { FLOAT_TO_FP(1), 0, 0}, + { FLOAT_TO_FP(-1), 0, 0}, + { 0, FLOAT_TO_FP(-1), 0}, { 0, 0, FLOAT_TO_FP(-1)} }; - -/* TODO(b/184779743): verify orientation matrix */ static const mat33_fp_t base_standard_ref = { { FLOAT_TO_FP(1), 0, 0}, - { 0, FLOAT_TO_FP(-1), 0}, - { 0, 0, FLOAT_TO_FP(-1)} + { 0, FLOAT_TO_FP(1), 0}, + { 0, 0, FLOAT_TO_FP(1)} }; struct motion_sensor_t motion_sensors[] = { [LID_ACCEL] = { .name = "Lid Accel", .active_mask = SENSOR_ACTIVE_S0_S3, - .chip = MOTIONSENSE_CHIP_LIS2DW12, + .chip = MOTIONSENSE_CHIP_KX022, .type = MOTIONSENSE_TYPE_ACCEL, .location = MOTIONSENSE_LOC_LID, - .drv = &lis2dw12_drv, + .drv = &kionix_accel_drv, .mutex = &g_lid_accel_mutex, - .drv_data = &g_lis2dw12_data, - .int_signal = GPIO_EC_ACCEL_INT_R_L, + .drv_data = &g_kx022_data, .port = I2C_PORT_SENSOR, - .i2c_spi_addr_flags = LIS2DW12_ADDR0, + .i2c_spi_addr_flags = KX022_ADDR0_FLAGS, .flags = MOTIONSENSE_FLAG_INT_SIGNAL, .rot_standard_ref = &lid_standard_ref, /* identity matrix */ .default_range = 2, /* g */ - .min_frequency = LIS2DW12_ODR_MIN_VAL, - .max_frequency = LIS2DW12_ODR_MAX_VAL, + .min_frequency = KX022_ACCEL_MIN_FREQ, + .max_frequency = KX022_ACCEL_MAX_FREQ, .config = { /* EC use accel for angle detection */ [SENSOR_CONFIG_EC_S0] = { @@ -92,21 +93,20 @@ struct motion_sensor_t motion_sensors[] = { [BASE_ACCEL] = { .name = "Base Accel", .active_mask = SENSOR_ACTIVE_S0_S3, - .chip = MOTIONSENSE_CHIP_LSM6DSO, + .chip = MOTIONSENSE_CHIP_ICM426XX, .type = MOTIONSENSE_TYPE_ACCEL, .location = MOTIONSENSE_LOC_BASE, - .drv = &lsm6dso_drv, + .drv = &icm426xx_drv, .mutex = &g_base_accel_mutex, - .drv_data = LSM6DSO_ST_DATA(lsm6dso_data, - MOTIONSENSE_TYPE_ACCEL), + .drv_data = &g_icm426xx_data, .int_signal = GPIO_EC_IMU_INT_R_L, .flags = MOTIONSENSE_FLAG_INT_SIGNAL, .port = I2C_PORT_SENSOR, - .i2c_spi_addr_flags = LSM6DSO_ADDR0_FLAGS, + .i2c_spi_addr_flags = ICM426XX_ADDR0_FLAGS, .rot_standard_ref = &base_standard_ref, .default_range = 4, /* g */ - .min_frequency = LSM6DSO_ODR_MIN_VAL, - .max_frequency = LSM6DSO_ODR_MAX_VAL, + .min_frequency = ICM426XX_ACCEL_MIN_FREQ, + .max_frequency = ICM426XX_ACCEL_MAX_FREQ, .config = { [SENSOR_CONFIG_EC_S0] = { .odr = 13000 | ROUND_UP_FLAG, @@ -122,21 +122,20 @@ struct motion_sensor_t motion_sensors[] = { [BASE_GYRO] = { .name = "Base Gyro", .active_mask = SENSOR_ACTIVE_S0_S3, - .chip = MOTIONSENSE_CHIP_LSM6DSO, + .chip = MOTIONSENSE_CHIP_ICM426XX, .type = MOTIONSENSE_TYPE_GYRO, .location = MOTIONSENSE_LOC_BASE, - .drv = &lsm6dso_drv, + .drv = &icm426xx_drv, .mutex = &g_base_accel_mutex, - .drv_data = LSM6DSO_ST_DATA(lsm6dso_data, - MOTIONSENSE_TYPE_GYRO), + .drv_data = &g_icm426xx_data, .int_signal = GPIO_EC_IMU_INT_R_L, .flags = MOTIONSENSE_FLAG_INT_SIGNAL, .port = I2C_PORT_SENSOR, - .i2c_spi_addr_flags = LSM6DSO_ADDR0_FLAGS, + .i2c_spi_addr_flags = ICM426XX_ADDR0_FLAGS, .default_range = 1000 | ROUND_UP_FLAG, /* dps */ .rot_standard_ref = &base_standard_ref, - .min_frequency = LSM6DSO_ODR_MIN_VAL, - .max_frequency = LSM6DSO_ODR_MAX_VAL, + .min_frequency = ICM426XX_GYRO_MIN_FREQ, + .max_frequency = ICM426XX_GYRO_MAX_FREQ, .config = { [SENSOR_CONFIG_EC_S0] = { .odr = 13000 | ROUND_UP_FLAG, @@ -153,13 +152,16 @@ const unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors); static void baseboard_sensors_init(void) { - /* Enable gpio interrupt for lid accel sensor */ - gpio_enable_interrupt(GPIO_EC_ACCEL_INT_R_L); /* Enable gpio interrupt for base accelgyro sensor */ gpio_enable_interrupt(GPIO_EC_IMU_INT_R_L); } DECLARE_HOOK(HOOK_INIT, baseboard_sensors_init, HOOK_PRIO_INIT_I2C + 1); +void motion_interrupt(enum gpio_signal signal) +{ + icm426xx_interrupt(signal); +} + /* Temperature sensor configuration */ const struct temp_sensor_t temp_sensors[] = { [TEMP_SENSOR_1_DDR_SOC] = { -- cgit v1.2.1