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/* Copyright 2018 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.
*/
/**
* LIS2MDL magnetometer module for Chrome EC.
* This driver supports LIS2MDL magnetometer in cascade with LSM6DSx (x stands
* for L or M) accel/gyro module.
*/
#include "common.h"
#include "driver/mag_lis2mdl.h"
#include "driver/sensorhub_lsm6dsm.h"
#include "driver/accelgyro_lsm6dsm.h"
#include "driver/stm_mems_common.h"
#include "task.h"
#ifdef CONFIG_MAG_LSM6DSM_LIS2MDL
#ifndef CONFIG_SENSORHUB_LSM6DSM
#error "Need Sensor Hub LSM6DSM support"
#endif
#endif
void lis2mdl_normalize(const struct motion_sensor_t *s,
intv3_t v,
uint8_t *raw)
{
struct mag_cal_t *cal = LIS2MDL_CAL(s);
int i;
#ifdef CONFIG_MAG_BMI160_LIS2MDL
struct lis2mdl_private_data *private = LIS2MDL_DATA(s);
intv3_t hn1;
hn1[X] = ((int16_t)((raw[1] << 8) | raw[0]));
hn1[Y] = ((int16_t)((raw[3] << 8) | raw[2]));
hn1[Z] = ((int16_t)((raw[5] << 8) | raw[4]));
/* Only when LIS2MDL is in forced mode */
if (private->hn_valid) {
for (i = X; i <= Z; i++)
v[i] = (hn1[i] + private->hn[i]) / 2;
memcpy(private->hn, hn1, sizeof(intv3_t));
} else {
private->hn_valid = 1;
memcpy(v, hn1, sizeof(intv3_t));
}
#else
v[X] = ((int16_t)((raw[1] << 8) | raw[0]));
v[Y] = ((int16_t)((raw[3] << 8) | raw[2]));
v[Z] = ((int16_t)((raw[5] << 8) | raw[4]));
#endif
for (i = X; i <= Z; i++)
v[i] = LIS2MDL_RATIO(v[i]);
mag_cal_update(cal, v);
v[X] += cal->bias[X];
v[Y] += cal->bias[Y];
v[Z] += cal->bias[Z];
}
static int set_range(const struct motion_sensor_t *s, int range, int rnd)
{
struct stprivate_data *data = s->drv_data;
/* Range is fixed by hardware */
if (range != s->default_range)
return EC_ERROR_INVAL;
data->base.range = range;
return EC_SUCCESS;
}
static int get_range(const struct motion_sensor_t *s)
{
struct stprivate_data *data = s->drv_data;
return data->base.range;
}
/**
* set_offset - Set data offset
* @s: Motion sensor pointer
* @offset: offset vector
* @temp: Temp
*/
static int set_offset(const struct motion_sensor_t *s,
const int16_t *offset, int16_t temp)
{
#ifdef CONFIG_LSM6DSM_SEC_I2C
struct mag_cal_t *cal = LIS2MDL_CAL(s);
#endif
cal->bias[X] = offset[X];
cal->bias[Y] = offset[Y];
cal->bias[Z] = offset[Z];
rotate_inv(cal->bias, *s->rot_standard_ref, cal->bias);
return EC_SUCCESS;
}
/**
* get_offset - Get data offset
* @s: Motion sensor pointer
* @offset: offset vector
* @temp: Temp
*/
static int get_offset(const struct motion_sensor_t *s,
int16_t *offset, int16_t *temp)
{
#ifdef CONFIG_LSM6DSM_SEC_I2C
struct mag_cal_t *cal = LIS2MDL_CAL(s);
#endif
intv3_t offset_int;
rotate(cal->bias, *s->rot_standard_ref, offset_int);
offset[X] = offset_int[X];
offset[Y] = offset_int[Y];
offset[Z] = offset_int[Z];
*temp = EC_MOTION_SENSE_INVALID_CALIB_TEMP;
return EC_SUCCESS;
}
#ifdef CONFIG_MAG_LSM6DSM_LIS2MDL
int lis2mdl_thru_lsm6dsm_read(const struct motion_sensor_t *s, intv3_t v)
{
int ret;
uint8_t raw[OUT_XYZ_SIZE];
/*
* This is mostly for debugging, read happens through LSM6DSM/BMI160
* FIFO.
*/
mutex_lock(s->mutex);
ret = sensorhub_slv0_data_read(LSM6DSM_MAIN_SENSOR(s), raw);
mutex_unlock(s->mutex);
lis2mdl_normalize(s, v, raw);
rotate(v, *s->rot_standard_ref, v);
return ret;
}
int lis2mdl_thru_lsm6dsm_init(const struct motion_sensor_t *s)
{
int ret = EC_ERROR_UNIMPLEMENTED;
struct mag_cal_t *cal = LIS2MDL_CAL(s);
struct stprivate_data *data = s->drv_data;
mutex_lock(s->mutex);
/* Magnetometer in cascade mode */
ret = sensorhub_check_and_rst(
LSM6DSM_MAIN_SENSOR(s),
CONFIG_ACCELGYRO_SEC_ADDR,
LIS2MDL_WHO_AM_I_REG, LIS2MDL_WHO_AM_I,
LIS2MDL_CFG_REG_A_ADDR, LIS2MDL_SW_RESET);
if (ret != EC_SUCCESS)
goto err_unlock;
ret = sensorhub_config_ext_reg(
LSM6DSM_MAIN_SENSOR(s),
CONFIG_ACCELGYRO_SEC_ADDR,
LIS2MDL_CFG_REG_A_ADDR,
LIS2MDL_ODR_100HZ | LIS2MDL_CONT_MODE);
if (ret != EC_SUCCESS)
goto err_unlock;
ret = sensorhub_config_slv0_read(
LSM6DSM_MAIN_SENSOR(s),
CONFIG_ACCELGYRO_SEC_ADDR,
LIS2MDL_OUT_REG, OUT_XYZ_SIZE);
if (ret != EC_SUCCESS)
goto err_unlock;
mutex_unlock(s->mutex);
init_mag_cal(cal);
cal->radius = 0.0f;
data->resol = LIS2DSL_RESOLUTION;
return sensor_init_done(s);
err_unlock:
mutex_unlock(s->mutex);
return ret;
}
#endif /* CONFIG_MAG_LSM6DSM_LIS2MDL */
const struct accelgyro_drv lis2mdl_drv = {
#ifdef CONFIG_MAG_LSM6DSM_LIS2MDL
.init = lis2mdl_thru_lsm6dsm_init,
.read = lis2mdl_thru_lsm6dsm_read,
.set_data_rate = lsm6dsm_set_data_rate,
#endif
.set_range = set_range,
.get_range = get_range,
.get_resolution = st_get_resolution,
.get_data_rate = st_get_data_rate,
.set_offset = set_offset,
.get_offset = get_offset,
};
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