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# Zephyr EC MotionSense
[TOC]
## Overview
Zephyr's wrapping of the EC motionsense provides a quick configuration of the
sensor framework via Zephyr's device tree.
## Kconfig Options
The following are the various Kconfig options for the motionsense logic. Every
config option depends on having `CONFIG_PLATFORM_EC_MOTIONSENSE=y`.
Kconfig Option | Default | Documentation
:----------------------------------------------- | :-----: | :------------
`CONFIG_PLATFORM_EC_MOTIONSENSE` | n | [MOTIONSENSE]
`CONFIG_PLATFORM_EC_ACCEL_FIFO` | n | [ACCEL FIFO]
`CONFIG_PLATFORM_EC_SENSOR_TIGHT_TIMESTAMPS` | n | [TIGHT TIMESTAMPS]
`CONFIG_PLATFORM_EC_ACCEL_INTERRUPTS` | n | [ACCEL INTERRUPTS]
`CONFIG_PLATFORM_EC_ALS` | n | [ALS]
`CONFIG_PLATFORM_EC_DYNAMIC_MOTION_SENSOR_COUNT` | n | [DYNAMIC SENSOR COUNT]
`CONFIG_PLATFORM_EC_LID_ANGLE` | n | [LID ANGLE]
`CONFIG_PLATFORM_EC_CONSOLE_CMD_ACCELS` | n | [ACCELS CMD]
`CONFIG_PLATFORM_EC_ACCEL_SPOOF_MODE` | n | [ACCEL SPOOF MODE]
Additional Kconfig options are available at
[Kconfig.sensor_devices](./zephyr_sensor_devices.md).
### CONFIG_PLATFORM_EC_ACCEL_FIFO sub configs
The following options are available only when `CONFIG_PLATFORM_EC_ACCEL_FIFO=y`.
Kconfig sub-option | Default | Documentation
:------------------------------------- | :-----: | :------------
`CONFIG_PLATFORM_EC_ACCEL_FIFO_SIZE` | 256 | [ACCEL FIFO SIZE]
`CONFIG_PLATFORM_EC_ACCEL_FIFO_THRES` | 85 | [ACCEL FIFO THRES]
### CONFIG_PLATFORM_EC_LID_ANGLE sub configs
The following options are available only when `CONFIG_PLATFORM_EC_LID_ANGLE=y`.
Kconfig sub-option | Default | Documentation
:------------------------------------- | :-----: | :------------
`CONFIG_PLATFORM_EC_LID_ANGLE_UPDATE` | n | [LID ANGLE UPDATE]
`CONFIG_PLATFORM_EC_TABLET_MODE` | n | [TABLET MODE]
### CONFIG_PLATFORM_EC_TABLET_MODE sub configs
The following options are available only when `CONFIG_PLATFORM_EC_TABLET_MODE=y`.
Kconfig sub-option | Default | Documentation
:--------------------------------------- | :-----: | :------------
`CONFIG_PLATFORM_EC_TABLET_MODE_SWITCH` | n | [TABLET MODE SWITCH]
`CONFIG_PLATFORM_EC_GMR_TABLET_MODE` | n | [GMR TABLET MODE]
### CONFIG_PLATFORM_EC_CONSOLE_CMD_ACCELS sub configs
The following options are available only when `CONFIG_PLATFORM_EC_CONSOLE_CMD_ACCELS=y`.
Kconfig sub-option | Default | Documentation
:------------------------------------------- | :-----: | :------------
`CONFIG_PLATFORM_EC_CONSOLE_CMD_ACCEL_INFO` | n | [ACCEL INFO CMD]
### CONFIG_PLATFORM_EC_ACCEL_SPOOF_MODE sub configs
The following options are available only when `CONFIG_PLATFORM_EC_ACCEL_SPOOF_MODE=y`.
Kconfig sub-option | Default | Documentation
:------------------------------------------- | :-----: | :------------
`CONFIG_PLATFORM_EC_CONSOLE_CMD_ACCEL_SPOOF` | n | [ACCEL SPOOF CMD]
## Devicetree Nodes
Initiating the devicetree nodes for motionsense requires a bit of internal
knowledge of the drivers'
[bindings](https://source.chromium.org/chromium/chromiumos/platform/ec/+/HEAD:zephyr/dts/bindings/motionsense/).
### Sensor mutex
Some drivers, such as the BMI260, which combine 2 sensors (accelerometer and
gyroscope) will require a mutex to be defined. The individual nodes in the
devicetree will accept a `phandle` pointing to the mutex
[here](https://source.chromium.org/chromium/chromiumos/platform/ec/+/HEAD:zephyr/dts/bindings/motionsense/motionsense-sensor-base.yaml;l=37;drc=67e0b58c17177858595001baa1aa607b54b18d11).
It is important for both nodes of these sensors to point to the same mutex (
see example below).
### Location and orientation
The location of the sensor is dictated in an enum property
[location](https://source.chromium.org/chromium/chromiumos/platform/ec/+/HEAD:zephyr/dts/bindings/motionsense/motionsense-sensor-base.yaml;l=29;drc=67e0b58c17177858595001baa1aa607b54b18d11).
It is important to note that sensors which are combined in a single chip (such
as the BMI260) should have the same value for both nodes.
This property allows the distinction between sensors location at the following:
* "base" - the base of the laptop (where the keyboard is).
* "lid" - the screen surface of the laptop.
* "camera" - an explicit location for the camera.
In addition to the location, each sensor node should also include a reference
to a [rotation matrix](https://source.chromium.org/chromium/chromiumos/platform/ec/+/HEAD:zephyr/dts/bindings/motionsense/motionsense-sensor-base.yaml;l=45;drc=67e0b58c17177858595001baa1aa607b54b18d11).
This will be used to orient the sensor data according to the standardised screen
coordinates.
### Internal sensor data
Internal sensor data nodes can be found [here](https://source.chromium.org/chromium/chromiumos/platform/ec/+/HEAD:zephyr/dts/bindings/motionsense/drvdata/).
These are required, one per physical sensor, in order to instantiate the
internal data structures. It is important to check the required properties of
each binding to ensure proper instantiation.
### Motion sensor nodes
All motion sensor nodes (accel, gyro, and mag) should be declared inside the
`motionsense-sensor` node. This will in-turn create the `motion_sensors` array
required for the sensor logic.
### Additional sensor meta-data
Additional information about sensors can be provided by the
[motionsense-sensor-info](https://source.chromium.org/chromium/chromiumos/platform/ec/+/HEAD:zephyr/dts/bindings/motionsense/cros-ec,motionsense-sensor-info.yaml).
This node provides information about the ALS (ambient light sensor) list, the
various interrupts, and sensors which are placed in force mode (motionsense will
directly query these sensors instead of waiting for an interrupt).
## Board Specific Code
*Document any board specific routines that a user must create to successfully
compile and run. For many features, this can section can be empty.*
## Threads
*Document any threads enabled by this feature.*
## Testing and Debugging
*Provide any tips for testing and debugging the EC feature.*
## Example
*Provide code snippets from a working board to walk the user through
all code that must be created to enable this feature.*
<!--
The following demonstrates linking to a code search result for a Kconfig option.
Reference this link in your text by matching the text in brackets exactly.
-->
[MOTIONSENSE]: https://source.chromium.org/chromiumos/chromiumos/codesearch/+/main:src/platform/ec/zephyr/Kconfig.motionsense;?q="config%20PLATFORM_EC_MOTIONSENSE"&ss=chromiumos
[ACCEL FIFO]: https://source.chromium.org/chromiumos/chromiumos/codesearch/+/main:src/platform/ec/zephyr/Kconfig.motionsense;?q="config%20PLATFORM_EC_ACCEL_FIFO"&ss=chromiumos
[TIGHT TIMESTAMPS]: https://source.chromium.org/chromiumos/chromiumos/codesearch/+/main:src/platform/ec/zephyr/Kconfig.motionsense;?q="config%20PLATFORM_EC_SENSOR_TIGHT_TIMESTAMPS"&ss=chromiumos
[ACCEL INTERRUPTS]: https://source.chromium.org/chromiumos/chromiumos/codesearch/+/main:src/platform/ec/zephyr/Kconfig.motionsense;?q="config%20PLATFORM_EC_ACCEL_INTERRUPTS"&ss=chromiumos
[ALS]: https://source.chromium.org/chromiumos/chromiumos/codesearch/+/main:src/platform/ec/zephyr/Kconfig.motionsense;?q="config%20PLATFORM_EC_ALS"&ss=chromiumos
[DYNAMIC SENSOR COUNT]: https://source.chromium.org/chromiumos/chromiumos/codesearch/+/main:src/platform/ec/zephyr/Kconfig.motionsense;?q="config%20PLATFORM_EC_DYNAMIC_MOTION_SENSOR_COUNT"&ss=chromiumos
[LID ANGLE]: https://source.chromium.org/chromiumos/chromiumos/codesearch/+/main:src/platform/ec/zephyr/Kconfig.motionsense;?q="config%20PLATFORM_EC_LID_ANGLE"&ss=chromiumos
[ACCELS CMD]: https://source.chromium.org/chromiumos/chromiumos/codesearch/+/main:src/platform/ec/zephyr/Kconfig.motionsense;?q="config%20PLATFORM_EC_CONSOLE_CMD_ACCELS"&ss=chromiumos
[ACCEL SPOOF MODE]: https://source.chromium.org/chromiumos/chromiumos/codesearch/+/main:src/platform/ec/zephyr/Kconfig.motionsense;?q="config%20PLATFORM_EC_ACCEL_SPOOF_MODE"&ss=chromiumos
[ACCEL FIFO SIZE]: https://source.chromium.org/chromiumos/chromiumos/codesearch/+/main:src/platform/ec/zephyr/Kconfig.motionsense;?q="config%20PLATFORM_EC_ACCEL_FIFO_SIZE"&ss=chromiumos
[ACCEL FIFO THRES]: https://source.chromium.org/chromiumos/chromiumos/codesearch/+/main:src/platform/ec/zephyr/Kconfig.motionsense;?q="config%20PLATFORM_EC_ACCEL_FIFO_THRES"&ss=chromiumos
[ALS COUNT]: https://source.chromium.org/chromiumos/chromiumos/codesearch/+/main:src/platform/ec/zephyr/Kconfig.motionsense;?q="config%20PLATFORM_EC_ALS_COUNT"&ss=chromiumos
[LID ANGLE UPDATE]: https://source.chromium.org/chromiumos/chromiumos/codesearch/+/main:src/platform/ec/zephyr/Kconfig.motionsense;?q="config%20PLATFORM_EC_LID_ANGLE_UPDATE"&ss=chromiumos
[TABLET MODE]: https://source.chromium.org/chromiumos/chromiumos/codesearch/+/main:src/platform/ec/zephyr/Kconfig.motionsense;?q="config%20PLATFORM_EC_TABLET_MODE"&ss=chromiumos
[TABLET MODE SWITCH]: https://source.chromium.org/chromiumos/chromiumos/codesearch/+/main:src/platform/ec/zephyr/Kconfig.motionsense;?q="config%20PLATFORM_EC_TABLET_MODE_SWITCH"&ss=chromiumos
[GMR TABLET MODE]: https://source.chromium.org/chromiumos/chromiumos/codesearch/+/main:src/platform/ec/zephyr/Kconfig.motionsense;?q="config%20PLATFORM_EC_GMR_TABLET_MODE"&ss=chromiumos
[ACCEL INFO CMD]: https://source.chromium.org/chromiumos/chromiumos/codesearch/+/main:src/platform/ec/zephyr/Kconfig.motionsense;?q="config%20PLATFORM_EC_CONSOLE_CMD_ACCEL_INFO"&ss=chromiumos
[ACCEL SPOOF CMD]: https://source.chromium.org/chromiumos/chromiumos/codesearch/+/main:src/platform/ec/zephyr/Kconfig.motionsense;?q="config%20PLATFORM_EC_CONSOLE_CMD_ACCEL_SPOOF"&ss=chromiumos
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