From 1cbae5e8a9ff1a39e753b4ba58851fff71bba156 Mon Sep 17 00:00:00 2001 From: Sue Chen Date: Fri, 30 Jul 2021 10:14:11 +0800 Subject: Pico: Support motion sensors Lid Accel: KX022 BASE Accelgyro: BMI160 BUG=none BRANCH=icarus TEST=EC can read sensors' data and lig angle is correct. Signed-off-by: Sue Chen Change-Id: I07743c86a3d133dd96e499f23150fd4f20340470 Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/3062062 Reviewed-by: Ting Shen --- board/pico/board.c | 110 +++++++++++++++++++++++++++++++++++++++++++++++++ board/pico/board.h | 32 ++++++++++---- board/pico/ec.tasklist | 1 + board/pico/gpio.inc | 3 +- 4 files changed, 137 insertions(+), 9 deletions(-) diff --git a/board/pico/board.c b/board/pico/board.c index d094210c67..aba144b73c 100644 --- a/board/pico/board.c +++ b/board/pico/board.c @@ -14,6 +14,8 @@ #include "chipset.h" #include "common.h" #include "console.h" +#include "driver/accel_kionix.h" +#include "driver/accelgyro_bmi_common.h" #include "driver/battery/max17055.h" #include "driver/bc12/pi3usb9201.h" #include "driver/charger/isl923x.h" @@ -32,6 +34,7 @@ #include "registers.h" #include "spi.h" #include "system.h" +#include "tablet_mode.h" #include "task.h" #include "tcpm/tcpm.h" #include "timer.h" @@ -46,6 +49,111 @@ #include "gpio_list.h" +#ifndef VARIANT_KUKUI_NO_SENSORS +/* Motion sensors */ +/* Mutexes */ +static struct mutex g_lid_mutex; +static struct mutex g_base_mutex; + +/* Rotation matrixes */ +static const mat33_fp_t lid_standard_ref = { + {FLOAT_TO_FP(1), 0, 0}, + {0, FLOAT_TO_FP(-1), 0}, + {0, 0, FLOAT_TO_FP(-1)} +}; + +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)} +}; + +/* sensor private data */ +static struct kionix_accel_data g_kx022_data; +static struct bmi_drv_data_t g_bmi160_data; + +struct motion_sensor_t motion_sensors[] = { + [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_mutex, + .drv_data = &g_kx022_data, + .port = I2C_PORT_SENSORS, + .i2c_spi_addr_flags = KX022_ADDR1_FLAGS, + .rot_standard_ref = &lid_standard_ref, + .default_range = 2, /* g, enough to calculate lid angle. */ + .config = { + /* EC use accel for angle detection */ + [SENSOR_CONFIG_EC_S0] = { + .odr = 10000 | ROUND_UP_FLAG, + }, + /* Sensor on for lid angle detection */ + [SENSOR_CONFIG_EC_S3] = { + .odr = 10000 | ROUND_UP_FLAG, + }, + }, + }, + /* + * Note: bmi160: supports accelerometer and gyro sensor + * Requirement: accelerometer sensor must init before gyro sensor + * DO NOT change the order of the following table. + */ + [BASE_ACCEL] = { + .name = "Accel", + .active_mask = SENSOR_ACTIVE_S0_S3, + .chip = MOTIONSENSE_CHIP_BMI160, + .type = MOTIONSENSE_TYPE_ACCEL, + .location = MOTIONSENSE_LOC_BASE, + .drv = &bmi160_drv, + .mutex = &g_base_mutex, + .drv_data = &g_bmi160_data, + .port = I2C_PORT_SENSORS, + .i2c_spi_addr_flags = BMI160_ADDR0_FLAGS, + .rot_standard_ref = &base_standard_ref, + .default_range = 4, /* g, to meet CDD 7.3.1/C-1-4 reqs */ + .min_frequency = BMI_ACCEL_MIN_FREQ, + .max_frequency = BMI_ACCEL_MAX_FREQ, + .config = { + /* EC use accel for angle detection */ + [SENSOR_CONFIG_EC_S0] = { + .odr = 10000 | ROUND_UP_FLAG, + .ec_rate = 100 * MSEC, + }, + /* Sensor on for angle detection */ + [SENSOR_CONFIG_EC_S3] = { + .odr = 10000 | ROUND_UP_FLAG, + .ec_rate = 100 * MSEC, + }, + }, + }, + [BASE_GYRO] = { + .name = "Gyro", + .active_mask = SENSOR_ACTIVE_S0_S3, + .chip = MOTIONSENSE_CHIP_BMI160, + .type = MOTIONSENSE_TYPE_GYRO, + .location = MOTIONSENSE_LOC_BASE, + .drv = &bmi160_drv, + .mutex = &g_base_mutex, + .drv_data = &g_bmi160_data, + .port = I2C_PORT_SENSORS, + .i2c_spi_addr_flags = BMI160_ADDR0_FLAGS, + .default_range = 1000, /* dps */ + .rot_standard_ref = &base_standard_ref, + .min_frequency = BMI_GYRO_MIN_FREQ, + .max_frequency = BMI_GYRO_MAX_FREQ, + }, +}; +unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors); + +int board_sensor_at_360(void) +{ + return !gpio_get_level(GMR_TABLET_MODE_GPIO_L); +} +#endif /* !VARIANT_KUKUI_NO_SENSORS */ /* * Map keyboard connector pins to EC GPIO pins for factory test. * Pins mapped to {-1, -1} are skipped. @@ -236,8 +344,10 @@ static void board_init(void) gpio_set_level(GPIO_PMIC_FORCE_RESET_ODL, 1); } +#ifndef VARIANT_KUKUI_NO_SENSORS /* Enable interrupts from BMI160 sensor. */ gpio_enable_interrupt(GPIO_ACCEL_INT_ODL); +#endif /* VARIANT_KUKUI_NO_SENSORS */ /* Enable interrupt from PMIC. */ gpio_enable_interrupt(GPIO_PMIC_EC_RESETB); diff --git a/board/pico/board.h b/board/pico/board.h index e70fc7113d..ff02019f42 100644 --- a/board/pico/board.h +++ b/board/pico/board.h @@ -13,6 +13,10 @@ #define VARIANT_KUKUI_CHARGER_ISL9238 #define VARIANT_KUKUI_EC_IT81202 +#ifndef SECTION_IS_RW +#define VARIANT_KUKUI_NO_SENSORS +#endif /* SECTION_IS_RW */ + #include "baseboard.h" /* TODO: remove me once we fix IT83XX_ILM_BLOCK_SIZE out of space issue */ @@ -43,9 +47,26 @@ #define CONFIG_USB_MUX_IT5205 -#undef CONFIG_ACCEL_FIFO -#undef CONFIG_ACCEL_FIFO_SIZE -#undef CONFIG_ACCEL_FIFO_THRES +/* Motion Sensors */ +#ifndef VARIANT_KUKUI_NO_SENSORS +#define CONFIG_DYNAMIC_MOTION_SENSOR_COUNT +#define CONFIG_ACCEL_KX022 /* Lid accel */ +#define CONFIG_ACCELGYRO_BMI160 /* Base accel */ +#define CONFIG_ACCEL_INTERRUPTS +#define CONFIG_ACCELGYRO_BMI160_INT_EVENT \ + TASK_EVENT_MOTION_SENSOR_INTERRUPT(BASE_ACCEL) +#define CONFIG_ALS +#define CONFIG_CMD_ACCEL_INFO + +#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_FORCE_MODE_MASK BIT(LID_ACCEL) + +#define CONFIG_GMR_TABLET_MODE_CUSTOM +#endif /* !VARIANT_KUKUI_NO_SENSORS */ /* I2C ports */ #define I2C_PORT_BC12 IT83XX_I2C_CH_C @@ -63,11 +84,6 @@ #define CONFIG_LED_ONOFF_STATES -#undef CONFIG_GMR_TABLET_MODE -#undef GMR_TABLET_MODE_GPIO_L -#undef CONFIG_TABLET_MODE -#undef CONFIG_TABLET_MODE_SWITCH - #ifndef __ASSEMBLER__ enum adc_channel { diff --git a/board/pico/ec.tasklist b/board/pico/ec.tasklist index e8ad538bc2..5c272d04f4 100644 --- a/board/pico/ec.tasklist +++ b/board/pico/ec.tasklist @@ -11,6 +11,7 @@ TASK_ALWAYS(CHARGER, charger_task, NULL, VENTI_TASK_STACK_SIZE) \ TASK_ALWAYS(USB_CHG_P0, usb_charger_task, NULL, VENTI_TASK_STACK_SIZE) \ TASK_NOTEST(CHIPSET, chipset_task, NULL, LARGER_TASK_STACK_SIZE) \ + TASK_ALWAYS_RW(MOTIONSENSE, motion_sense_task, NULL, VENTI_TASK_STACK_SIZE) \ TASK_ALWAYS(HOSTCMD, host_command_task, NULL, 1024) \ TASK_ALWAYS(CONSOLE, console_task, NULL, VENTI_TASK_STACK_SIZE) \ TASK_NOTEST(KEYSCAN, keyboard_scan_task, NULL, LARGER_TASK_STACK_SIZE) \ diff --git a/board/pico/gpio.inc b/board/pico/gpio.inc index a3a097c17b..dc12c5ce3f 100644 --- a/board/pico/gpio.inc +++ b/board/pico/gpio.inc @@ -19,6 +19,8 @@ GPIO_INT(PMIC_EC_RESETB, PIN(F, 3), GPIO_INT_BOTH | GPIO_PULL_DOWN | GPIO_SEL power_signal_interrupt) GPIO_INT(WARM_RESET_REQ, PIN(D, 3), GPIO_INT_RISING | GPIO_PULL_DOWN | GPIO_SEL_1P8V, chipset_reset_request_interrupt) +GPIO_INT_RW(ACCEL_INT_ODL, PIN(J, 2), GPIO_INT_FALLING | GPIO_SEL_1P8V, + bmi160_interrupt) GPIO_INT_RO(BOOTBLOCK_EN_L, PIN(J, 1), GPIO_INT_RISING | GPIO_SEL_1P8V, emmc_ap_jump_to_bl) GPIO_INT(SPI0_CS, PIN(M, 5), GPIO_INT_FALLING, @@ -34,7 +36,6 @@ GPIO_INT(AP_EC_WATCHDOG_L, PIN(C, 7), GPIO_INT_FALLING | GPIO_SEL_1P8V, GPIO_INT(UART1_RX, PIN(B, 0), GPIO_INT_FALLING, uart_deepsleep_interrupt) /* UART_DEBUG_TX_EC_RX */ /* Unimplemented interrupts */ -GPIO(ACCEL_INT_ODL, PIN(J, 2), GPIO_INPUT) GPIO(TABLET_MODE_L, PIN(J, 7), GPIO_INPUT) GPIO(VOLUME_DOWN_L, PIN(D, 5), GPIO_INPUT) GPIO(VOLUME_UP_L, PIN(D, 6), GPIO_INPUT) -- cgit v1.2.1