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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.
*/
/* Volteer family-specific sensor configuration */
#include "common.h"
#include "accelgyro.h"
#include "cbi_ec_fw_config.h"
#include "cbi_ssfc.h"
#include "driver/accel_bma2x2.h"
#include "driver/accel_kionix.h"
#include "driver/accelgyro_bmi_common.h"
#include "driver/accelgyro_bmi160.h"
#include "driver/accelgyro_icm_common.h"
#include "driver/accelgyro_icm426xx.h"
#include "driver/sync.h"
#include "keyboard_scan.h"
#include "gpio.h"
#include "hooks.h"
#include "i2c.h"
#include "task.h"
#include "tablet_mode.h"
#include "util.h"
/******************************************************************************/
/* Sensors */
static struct mutex g_lid_accel_mutex;
static struct mutex g_base_mutex;
/* sensor private data */
static struct accelgyro_saved_data_t g_bma253_data;
static struct kionix_accel_data g_kx022_data;
static struct bmi_drv_data_t g_bmi160_data;
static struct icm_drv_data_t g_icm426xx_data;
/* Rotation matrix for the lid accelerometer */
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)}
};
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)}
};
const mat33_fp_t base_standard_ref_icm = {
{ 0, FLOAT_TO_FP(1), 0},
{ FLOAT_TO_FP(1), 0, 0},
{ 0, 0, FLOAT_TO_FP(-1)},
};
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,
.i2c_spi_addr_flags = ICM426XX_ADDR0_FLAGS,
.rot_standard_ref = &base_standard_ref_icm,
.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,
.ec_rate = 100 * MSEC,
},
/* Sensor on in S3 */
[SENSOR_CONFIG_EC_S3] = {
.odr = 10000 | ROUND_UP_FLAG,
},
},
};
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,
.i2c_spi_addr_flags = ICM426XX_ADDR0_FLAGS,
.default_range = 1000, /* dps */
.rot_standard_ref = &base_standard_ref_icm,
.min_frequency = ICM426XX_GYRO_MIN_FREQ,
.max_frequency = ICM426XX_GYRO_MAX_FREQ,
};
struct motion_sensor_t kx022_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_accel_mutex,
.drv_data = &g_kx022_data,
.port = I2C_PORT_ACCEL,
.i2c_spi_addr_flags = KX022_ADDR1_FLAGS,
.rot_standard_ref = &lid_standard_ref,
.min_frequency = KX022_ACCEL_MIN_FREQ,
.max_frequency = KX022_ACCEL_MAX_FREQ,
.default_range = 2, /* g, to support tablet mode */
.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,
},
},
};
struct motion_sensor_t motion_sensors[] = {
[LID_ACCEL] = {
.name = "Lid Accel",
.active_mask = SENSOR_ACTIVE_S0_S3,
.chip = MOTIONSENSE_CHIP_BMA255,
.type = MOTIONSENSE_TYPE_ACCEL,
.location = MOTIONSENSE_LOC_LID,
.drv = &bma2x2_accel_drv,
.mutex = &g_lid_accel_mutex,
.drv_data = &g_bma253_data,
.port = I2C_PORT_SENSOR,
.i2c_spi_addr_flags = BMA2x2_I2C_ADDR1_FLAGS,
.rot_standard_ref = &lid_standard_ref,
.min_frequency = BMA255_ACCEL_MIN_FREQ,
.max_frequency = BMA255_ACCEL_MAX_FREQ,
.default_range = 2, /* g, to support tablet mode */
.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,
},
},
},
[BASE_ACCEL] = {
.name = "Base 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_SENSOR,
.i2c_spi_addr_flags = BMI160_ADDR0_FLAGS,
.rot_standard_ref = &base_standard_ref,
.min_frequency = BMI_ACCEL_MIN_FREQ,
.max_frequency = BMI_ACCEL_MAX_FREQ,
.default_range = 4, /* g */
.config = {
/* EC use accel for angle detection */
[SENSOR_CONFIG_EC_S0] = {
.odr = 10000 | ROUND_UP_FLAG,
.ec_rate = 100 * MSEC,
},
/* Sensor on in S3 */
[SENSOR_CONFIG_EC_S3] = {
.odr = 10000 | ROUND_UP_FLAG,
.ec_rate = 100 * MSEC,
},
},
},
[BASE_GYRO] = {
.name = "Base 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_SENSOR,
.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);
void motion_interrupt(enum gpio_signal signal)
{
if (get_cbi_ssfc_base_sensor() == SSFC_SENSOR_BASE_ICM426XX)
icm426xx_interrupt(signal);
else
bmi160_interrupt(signal);
}
static void baseboard_sensors_init(void)
{
if (get_cbi_ssfc_lid_sensor() == SSFC_SENSOR_LID_KX022) {
motion_sensors[LID_ACCEL] = kx022_lid_accel;
ccprints("LID_ACCEL is KX022");
} else
ccprints("LID_ACCEL is BMA253");
if (get_cbi_ssfc_base_sensor() == SSFC_SENSOR_BASE_ICM426XX) {
motion_sensors[BASE_ACCEL] = icm426xx_base_accel;
motion_sensors[BASE_GYRO] = icm426xx_base_gyro;
ccprints("BASE ACCEL is ICM426XX");
} else
ccprints("BASE ACCEL IS BMI160");
/* Enable interrupt for the accel/gyro sensor */
gpio_enable_interrupt(GPIO_EC_IMU_INT_L);
}
DECLARE_HOOK(HOOK_INIT, baseboard_sensors_init, HOOK_PRIO_DEFAULT);
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