From ebe473fc938869955eecbdde0900f2f6b4f5bd19 Mon Sep 17 00:00:00 2001 From: David Huang Date: Mon, 12 Jul 2021 17:24:58 +0800 Subject: voema: Add accel/gyro sensor icm40608 Support accel/gyro sensor: icm40608. BUG=b:192301309 BRANCH=volteer TEST=Motion sensors are detected correctly and ectool motionsense show correct data. Signed-off-by: David Huang Change-Id: I35cb0fca753768468f07581251234149db5a04b1 Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/3020667 Reviewed-by: Keith Short Commit-Queue: Keith Short --- board/voema/board.h | 7 ++++++ board/voema/gpio.inc | 6 ++++- board/voema/sensors.c | 69 +++++++++++++++++++++++++++++++++++++++++++++++++++ 3 files changed, 81 insertions(+), 1 deletion(-) (limited to 'board/voema') diff --git a/board/voema/board.h b/board/voema/board.h index 737f6c1d7b..c0bee73682 100644 --- a/board/voema/board.h +++ b/board/voema/board.h @@ -40,6 +40,9 @@ /* Sensors */ /* BMA253 accelerometer in base */ #define CONFIG_ACCEL_BMA255 +#define CONFIG_ACCELGYRO_ICM426XX +#define CONFIG_ACCELGYRO_ICM426XX_INT_EVENT \ + TASK_EVENT_MOTION_SENSOR_INTERRUPT(BASE_ACCEL) #define CONFIG_ACCEL_KX022 /* TCS3400 ALS */ @@ -171,6 +174,7 @@ enum pwm_channel { enum sensor_id { LID_ACCEL = 0, BASE_ACCEL, + BASE_GYRO, CLEAR_ALS, RGB_ALS, SENSOR_COUNT, @@ -183,6 +187,9 @@ enum usbc_port { }; void board_reset_pd_mcu(void); +#ifndef BOARD_VOEMA_NPCX796FC +void motion_interrupt(enum gpio_signal signal); +#endif #endif /* !__ASSEMBLER__ */ diff --git a/board/voema/gpio.inc b/board/voema/gpio.inc index a16ed3ec22..8379e5f12a 100644 --- a/board/voema/gpio.inc +++ b/board/voema/gpio.inc @@ -26,13 +26,17 @@ GPIO_INT(PG_EC_ALL_SYS_PWRGD, PIN(F, 4), GPIO_INT_BOTH, power_signal_interrupt) /* Sensor Interrupts */ GPIO_INT(EC_ALS_RGB_INT_L, PIN(D, 4), GPIO_INT_FALLING, tcs3400_interrupt) +#ifndef BOARD_VOEMA_NPCX796FC +GPIO_INT(EC_MB_ACCEL_INT_L, PIN(5, 6), GPIO_INT_FALLING | GPIO_SEL_1P8V, motion_interrupt) +#else +GPIO(EC_MB_ACCEL_INT_L, PIN(5, 6), GPIO_INPUT | GPIO_PULL_UP) +#endif GPIO_INT(TABLET_MODE_L, PIN(9, 5), GPIO_INT_BOTH, gmr_tablet_switch_isr) /* * Base / Lid g-sensor interrupt unused on Voema, configure as regular input * for power saving. */ -GPIO(EC_MB_ACCEL_INT_L, PIN(5, 6), GPIO_INPUT | GPIO_PULL_UP) GPIO(EC_ACCEL_INT, PIN(8, 1), GPIO_INPUT | GPIO_PULL_UP) /* USB-C interrupts */ diff --git a/board/voema/sensors.c b/board/voema/sensors.c index 9328685a5f..2e9a4adf08 100644 --- a/board/voema/sensors.c +++ b/board/voema/sensors.c @@ -8,6 +8,8 @@ #include "accelgyro.h" #include "cbi_ssfc.h" #include "driver/accel_bma2x2.h" +#include "driver/accelgyro_icm426xx.h" +#include "driver/accelgyro_icm_common.h" #include "driver/accel_kionix.h" #include "driver/als_tcs3400.h" #include "driver/sync.h" @@ -27,6 +29,8 @@ static struct mutex g_base_mutex; static struct accelgyro_saved_data_t g_bma253_base_data; static struct accelgyro_saved_data_t g_bma253_lid_data; +static struct icm_drv_data_t g_icm426xx_data; + static struct kionix_accel_data g_kx022_base_data; static struct kionix_accel_data g_kx022_lid_data; @@ -97,6 +101,12 @@ 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)} +}; + struct motion_sensor_t kx022_lid_accel = { .name = "Lid Accel", .active_mask = SENSOR_ACTIVE_S0_S3, @@ -204,6 +214,8 @@ struct motion_sensor_t motion_sensors[] = { }, }, }, + [BASE_GYRO] = { + }, [CLEAR_ALS] = { .name = "Clear Light", .active_mask = SENSOR_ACTIVE_S0_S3, @@ -244,6 +256,50 @@ struct motion_sensor_t motion_sensors[] = { }; unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors); +struct motion_sensor_t icm_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, + .i2c_spi_addr_flags = ICM426XX_ADDR0_FLAGS, + .rot_standard_ref = &base_icm_ref, + .min_frequency = ICM426XX_ACCEL_MIN_FREQ, + .max_frequency = ICM426XX_ACCEL_MAX_FREQ, + .default_range = 4, /* g */ + .config = { + /* EC use accel for angle detection */ + [SENSOR_CONFIG_EC_S0] = { + .odr = 10000 | ROUND_UP_FLAG, + }, + /* Sensor on in S3 */ + [SENSOR_CONFIG_EC_S3] = { + .odr = 10000 | ROUND_UP_FLAG, + }, + }, +}; + +struct motion_sensor_t icm_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, + .i2c_spi_addr_flags = 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, +}; + /* ALS instances when LPC mapping is needed. Each entry directs to a sensor. */ const struct motion_sensor_t *motion_als_sensors[] = { &motion_sensors[CLEAR_ALS], @@ -258,6 +314,12 @@ static void baseboard_sensors_init(void) if (get_cbi_ssfc_base_sensor() == SSFC_SENSOR_BASE_KX022) { motion_sensors[BASE_ACCEL] = kx022_basse_accel; ccprints("BASE_ACCEL is KX022"); + } else if (IS_ENABLED(BOARD_VOEMA) && get_cbi_ssfc_base_sensor() == + SSFC_SENSOR_BASE_ICM426XX) { + gpio_enable_interrupt(GPIO_EC_MB_ACCEL_INT_L); + motion_sensors[BASE_ACCEL] = icm_base_accel; + motion_sensors[BASE_GYRO] = icm_base_gyro; + ccprints("BASE ACCEL/GYRO is ICM426XX"); } else ccprints("BASE_ACCEL is BMA253"); @@ -269,6 +331,13 @@ static void baseboard_sensors_init(void) } DECLARE_HOOK(HOOK_INIT, baseboard_sensors_init, HOOK_PRIO_DEFAULT); +#ifndef BOARD_VOEMA_NPCX796FC +void motion_interrupt(enum gpio_signal signal) +{ + icm426xx_interrupt(signal); +} +#endif + #ifndef TEST_BUILD void lid_angle_peripheral_enable(int enable) { -- cgit v1.2.1