From 86b52c3f6f4a916ba069f22650a5898ad848b858 Mon Sep 17 00:00:00 2001 From: David Huang Date: Tue, 15 Dec 2020 11:45:37 +0800 Subject: bobba: Add base accel/gyro config for icm-426xx Add icm-426xx config for new second source base accel/gyro. BUG=b:174628541 BRANCH=octopus TEST=Check ectool motionsense and get x,y,z data. Change-Id: I7ba4bd4b90e270cc39c4b01c5aab24d5d1c3f097 Signed-off-by: David Huang Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/2592529 Reviewed-by: Zhuohao Lee Commit-Queue: Zhuohao Lee --- baseboard/octopus/cbi_ssfc.c | 5 +++ baseboard/octopus/cbi_ssfc.h | 16 +++++++++ board/bobba/board.c | 78 ++++++++++++++++++++++++++++++++++++++++++++ board/bobba/board.h | 7 +++- board/bobba/gpio.inc | 2 +- 5 files changed, 106 insertions(+), 2 deletions(-) diff --git a/baseboard/octopus/cbi_ssfc.c b/baseboard/octopus/cbi_ssfc.c index e515bf0d6b..e7f8177baa 100644 --- a/baseboard/octopus/cbi_ssfc.c +++ b/baseboard/octopus/cbi_ssfc.c @@ -42,3 +42,8 @@ enum ssfc_charger get_cbi_ssfc_charger(void) { return ((cached_ssfc & SSFC_CHARGER_MASK) >> SSFC_CHARGER_OFFSET); } + +enum ssfc_sensor get_cbi_ssfc_sensor(void) +{ + return ((cached_ssfc & SSFC_SENSOR_MASK) >> SSFC_SENSOR_OFFSET); +} diff --git a/baseboard/octopus/cbi_ssfc.h b/baseboard/octopus/cbi_ssfc.h index 326072f68e..b762336e59 100644 --- a/baseboard/octopus/cbi_ssfc.h +++ b/baseboard/octopus/cbi_ssfc.h @@ -43,8 +43,24 @@ enum ssfc_charger { #define SSFC_CHARGER_OFFSET 6 #define SSFC_CHARGER_MASK GENMASK(8, 6) +/* + * Audio (Bits 11-9) + */ + +/* + * Sensor (Bits 14-12) + */ +enum ssfc_sensor { + SSFC_SENSOR_DEFAULT, + SSFC_SENSOR_BMI160, + SSFC_SENSOR_ICM426XX, +}; +#define SSFC_SENSOR_OFFSET 12 +#define SSFC_SENSOR_MASK GENMASK(14, 12) + enum ssfc_tcpc_p1 get_cbi_ssfc_tcpc_p1(void); enum ssfc_ppc_p1 get_cbi_ssfc_ppc_p1(void); enum ssfc_charger get_cbi_ssfc_charger(void); +enum ssfc_sensor get_cbi_ssfc_sensor(void); #endif /* _OCTOPUS_CBI_SSFC__H_ */ diff --git a/board/bobba/board.c b/board/bobba/board.c index 9caa1d617f..cd75140fd8 100644 --- a/board/bobba/board.c +++ b/board/bobba/board.c @@ -9,12 +9,15 @@ #include "adc_chip.h" #include "battery.h" #include "button.h" +#include "cbi_ssfc.h" #include "charge_manager.h" #include "charge_state.h" #include "common.h" #include "cros_board_info.h" #include "driver/accel_kionix.h" #include "driver/accelgyro_bmi160.h" +#include "driver/accelgyro_icm426xx.h" +#include "driver/accelgyro_icm_common.h" #include "driver/charger/bd9995x.h" #include "driver/ppc/nx20p348x.h" #include "driver/ppc/syv682x.h" @@ -156,6 +159,12 @@ const mat33_fp_t base_standard_ref = { { 0, 0, FLOAT_TO_FP(1)} }; +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)} +}; + /* * Sparky360 SKU ID 26 has AR Cam, and move base accel/gryo to AR Cam board. * AR Cam board has about 16° bias with motherboard through Y axis. @@ -177,6 +186,7 @@ const mat33_fp_t base_ar_cam_ref = { /* sensor private data */ static struct kionix_accel_data g_kx022_data; static struct bmi160_drv_data_t g_bmi160_data; +static struct icm_drv_data_t g_icm426xx_data; /* Drivers */ struct motion_sensor_t motion_sensors[] = { @@ -265,6 +275,52 @@ struct motion_sensor_t motion_sensors[] = { unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors); +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_SENSOR, + .addr = ICM426XX_ADDR0_FLAGS, + .rot_standard_ref = &base_icm_ref, + .default_range = 4, /* g */ + .min_frequency = ICM426XX_ACCEL_MIN_FREQ, + .max_frequency = ICM426XX_ACCEL_MAX_FREQ, + .config = { + /* EC use accel for angle detection */ + [SENSOR_CONFIG_EC_S0] = { + .odr = 13000 | 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, + }, + }, +}; + +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_SENSOR, + .addr = ICM426XX_ADDR0_FLAGS, + .default_range = 1000, /* dps */ + .rot_standard_ref = &base_icm_ref, + .min_frequency = ICM426XX_GYRO_MIN_FREQ, + .max_frequency = ICM426XX_GYRO_MAX_FREQ, +}; + static int board_is_convertible(void) { /* @@ -282,9 +338,18 @@ static int board_with_ar_cam(void) return sku_id == 26; } +static int base_gyro_config; + static void board_update_sensor_config_from_sku(void) { if (board_is_convertible()) { + base_gyro_config = get_cbi_ssfc_sensor(); + if (base_gyro_config == 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"); motion_sensor_count = ARRAY_SIZE(motion_sensors); /* Enable Base Accel interrupt */ gpio_enable_interrupt(GPIO_BASE_SIXAXIS_INT_L); @@ -309,6 +374,19 @@ static void board_update_sensor_config_from_sku(void) } } +void motion_interrupt(enum gpio_signal signal) +{ + switch (base_gyro_config) { + case SSFC_SENSOR_ICM426XX: + icm426xx_interrupt(signal); + break; + case SSFC_SENSOR_BMI160: + default: + bmi160_interrupt(signal); + break; + } +} + static int board_has_keypad(void) { return sku_id == 41 || sku_id == 42 || sku_id == 43 || sku_id == 44; diff --git a/board/bobba/board.h b/board/bobba/board.h index 3960ed63ff..27d5369f86 100644 --- a/board/bobba/board.h +++ b/board/bobba/board.h @@ -33,7 +33,8 @@ /* Sensors */ #define CONFIG_ACCEL_KX022 /* Lid accel */ -#define CONFIG_ACCELGYRO_BMI160 /* Base accel */ +#define CONFIG_ACCELGYRO_BMI160 /* Base accel main source*/ +#define CONFIG_ACCELGYRO_ICM426XX /* Base accel second source*/ #define CONFIG_SYNC /* Camera VSYNC */ #define CONFIG_DYNAMIC_MOTION_SENSOR_COUNT @@ -43,6 +44,8 @@ /* Motion Sense Task Events */ #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) #define CONFIG_SYNC_INT_EVENT \ TASK_EVENT_MOTION_SENSOR_INTERRUPT(VSYNC) @@ -129,6 +132,8 @@ enum battery_type { BATTERY_TYPE_COUNT, }; +void motion_interrupt(enum gpio_signal signal); + #endif /* !__ASSEMBLER__ */ #endif /* __CROS_EC_BOARD_H */ diff --git a/board/bobba/gpio.inc b/board/bobba/gpio.inc index e05298c656..1bea82c972 100644 --- a/board/bobba/gpio.inc +++ b/board/bobba/gpio.inc @@ -37,7 +37,7 @@ GPIO_INT(TABLET_MODE_L, PIN(8, 6), GPIO_INT_BOTH, hall_sensor_isr) GPIO_INT(EC_VOLUP_BTN_ODL, PIN(7, 5), GPIO_INT_BOTH, button_interrupt) GPIO_INT(EC_VOLDN_BTN_ODL, PIN(4, 0), GPIO_INT_BOTH, button_interrupt) -GPIO_INT(BASE_SIXAXIS_INT_L, PIN(5, 6), GPIO_INT_FALLING | GPIO_SEL_1P8V, bmi160_interrupt) +GPIO_INT(BASE_SIXAXIS_INT_L, PIN(5, 6), GPIO_INT_FALLING | GPIO_SEL_1P8V, motion_interrupt) GPIO_INT(WFCAM_VSYNC, PIN(0, 3), GPIO_INT_RISING , sync_interrupt) GPIO(LID_ACCEL_INT_L, PIN(5, 0), GPIO_INPUT | GPIO_SEL_1P8V) -- cgit v1.2.1