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/* Copyright 2021 The Chromium OS Authors. All rights reserved.
* Use of this source code is governed by a BSD-style license that can be
* found in the LICENSE file.
*/
/* Cherry board configuration */
#include "common.h"
#include "console.h"
#include "driver/accel_bma422.h"
#include "driver/accel_kionix.h"
#include "driver/accel_kx022.h"
#include "driver/accelgyro_icm42607.h"
#include "driver/accelgyro_icm_common.h"
#include "gpio.h"
#include "hooks.h"
#include "motion_sense.h"
#include "pwm.h"
#include "pwm_chip.h"
#include "system.h"
#define CPRINTS(format, args...) cprints(CC_USBCHARGE, format, ## args)
#define CPRINTF(format, args...) cprintf(CC_USBCHARGE, format, ## args)
/* Sensor */
static struct mutex g_base_mutex;
static struct mutex g_lid_mutex;
static struct icm_drv_data_t g_icm42607_data;
static struct kionix_accel_data g_kx022_data;
static struct accelgyro_saved_data_t g_bma422_data;
/* Matrix to rotate accelrator into standard reference frame */
static const mat33_fp_t base_standard_ref = {
{ 0, FLOAT_TO_FP(1), 0},
{ FLOAT_TO_FP(1), 0, 0},
{ 0, 0, FLOAT_TO_FP(-1)}
};
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)}
};
struct motion_sensor_t motion_sensors[] = {
/*
* 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 = "Base Accel",
.active_mask = SENSOR_ACTIVE_S0_S3,
.chip = MOTIONSENSE_CHIP_ICM42607,
.type = MOTIONSENSE_TYPE_ACCEL,
.location = MOTIONSENSE_LOC_BASE,
.drv = &icm42607_drv,
.mutex = &g_base_mutex,
.drv_data = &g_icm42607_data,
.port = I2C_PORT_ACCEL,
.i2c_spi_addr_flags = ICM42607_ADDR0_FLAGS,
.default_range = 4, /* g, to meet CDD 7.3.1/C-1-4 reqs.*/
.rot_standard_ref = &base_standard_ref,
.min_frequency = ICM42607_ACCEL_MIN_FREQ,
.max_frequency = ICM42607_ACCEL_MAX_FREQ,
.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,
},
},
},
[BASE_GYRO] = {
.name = "Base Gyro",
.active_mask = SENSOR_ACTIVE_S0_S3,
.chip = MOTIONSENSE_CHIP_ICM42607,
.type = MOTIONSENSE_TYPE_GYRO,
.location = MOTIONSENSE_LOC_BASE,
.drv = &icm42607_drv,
.mutex = &g_base_mutex,
.drv_data = &g_icm42607_data,
.port = I2C_PORT_ACCEL,
.i2c_spi_addr_flags = ICM42607_ADDR0_FLAGS,
.default_range = 1000, /* dps */
.rot_standard_ref = &base_standard_ref,
.min_frequency = ICM42607_GYRO_MIN_FREQ,
.max_frequency = ICM42607_GYRO_MAX_FREQ,
},
[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_ACCEL,
.i2c_spi_addr_flags = KX022_ADDR1_FLAGS,
.rot_standard_ref = &lid_standard_ref,
.default_range = 2, /* g, enough for laptop. */
.min_frequency = KX022_ACCEL_MIN_FREQ,
.max_frequency = KX022_ACCEL_MAX_FREQ,
.config = {
/* EC use accel for angle detection */
[SENSOR_CONFIG_EC_S0] = {
.odr = 10000 | ROUND_UP_FLAG,
.ec_rate = 100,
},
/* EC use accel for angle detection */
[SENSOR_CONFIG_EC_S3] = {
.odr = 10000 | ROUND_UP_FLAG,
},
},
},
};
const unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
struct motion_sensor_t bma422_lid_accel = {
.name = "Lid Accel",
.active_mask = SENSOR_ACTIVE_S0_S3,
.chip = MOTIONSENSE_CHIP_BMA422,
.type = MOTIONSENSE_TYPE_ACCEL,
.location = MOTIONSENSE_LOC_LID,
.drv = &bma4_accel_drv,
.mutex = &g_lid_mutex,
.drv_data = &g_bma422_data,
.port = I2C_PORT_ACCEL,
.i2c_spi_addr_flags = BMA4_I2C_ADDR_PRIMARY,
.rot_standard_ref = &lid_standard_ref,
.min_frequency = BMA4_ACCEL_MIN_FREQ,
.max_frequency = BMA4_ACCEL_MAX_FREQ,
.default_range = 2, /* g, enough for laptop. */
.config = {
/* EC use accel for angle detection */
[SENSOR_CONFIG_EC_S0] = {
.odr = 12500 | ROUND_UP_FLAG,
.ec_rate = 100 * MSEC,
},
/* Sensor on in S3 */
[SENSOR_CONFIG_EC_S3] = {
.odr = 12500 | ROUND_UP_FLAG,
.ec_rate = 0,
},
},
};
static void board_update_motion_sensor_config(void)
{
if (system_get_board_version() >= 2) {
motion_sensors[LID_ACCEL] = bma422_lid_accel;
ccprints("LID ACCEL is BMA422");
} else {
ccprints("LID ACCEL is KX022");
}
}
/* Initialize board. */
static void board_init(void)
{
/* Enable motion sensor interrupt */
gpio_enable_interrupt(GPIO_BASE_IMU_INT_L);
gpio_enable_interrupt(GPIO_LID_ACCEL_INT_L);
/* Disable PWM_CH_LED2(Green) for unuse */
pwm_enable(PWM_CH_LED2, 0);
board_update_motion_sensor_config();
}
DECLARE_HOOK(HOOK_INIT, board_init, HOOK_PRIO_DEFAULT);
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