1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
|
/* Copyright (c) 2014 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.
*/
#ifndef __CROS_EC_ACCELGYRO_H
#define __CROS_EC_ACCELGYRO_H
#include "motion_sense.h"
/* Header file for accelerometer / gyro drivers. */
struct accelgyro_drv {
/**
* Initialize accelerometers.
* @s Pointer to sensor data pointer. Sensor data will be
* allocated on success.
* @return EC_SUCCESS if successful, non-zero if error.
*/
int (*init)(const struct motion_sensor_t *s);
/**
* Read all three accelerations of an accelerometer. Note that all
* three accelerations come back in counts, where ACCEL_G can be used
* to convert counts to engineering units.
* @s Pointer to sensor data.
* @v Vector to store acceleration (in units of counts).
* @return EC_SUCCESS if successful, non-zero if error.
*/
int (*read)(const struct motion_sensor_t *s, intv3_t v);
/**
* Setter and getter methods for the sensor range. The sensor range
* defines the maximum value that can be returned from read(). As the
* range increases, the resolution gets worse.
* @s Pointer to sensor data.
* @range Range (Units are +/- G's for accel, +/- deg/s for gyro)
* @rnd Rounding flag. If true, it rounds up to nearest valid
* value. Otherwise, it rounds down.
* @return EC_SUCCESS if successful, non-zero if error.
*/
int (*set_range)(const struct motion_sensor_t *s,
int range,
int rnd);
int (*get_range)(const struct motion_sensor_t *s);
/**
* Setter and getter methods for the sensor resolution.
* @s Pointer to sensor data.
* @range Resolution (Units are number of bits)
* param rnd Rounding flag. If true, it rounds up to nearest valid
* value. Otherwise, it rounds down.
* @return EC_SUCCESS if successful, non-zero if error.
*/
int (*set_resolution)(const struct motion_sensor_t *s,
int res,
int rnd);
int (*get_resolution)(const struct motion_sensor_t *s);
/**
* Setter and getter methods for the sensor output data range. As the
* ODR increases, the LPF roll-off frequency also increases.
* @s Pointer to sensor data.
* @rate Output data rate (units are milli-Hz)
* @rnd Rounding flag. If true, it rounds up to nearest valid
* value. Otherwise, it rounds down.
* @return EC_SUCCESS if successful, non-zero if error.
*/
int (*set_data_rate)(const struct motion_sensor_t *s,
int rate,
int rnd);
int (*get_data_rate)(const struct motion_sensor_t *s);
/**
* Setter and getter methods for the sensor offset.
* @s Pointer to sensor data.
* @offset: offset to apply to raw data.
* @temp: temperature when calibration was done.
* @return EC_SUCCESS if successful, non-zero if error.
*/
int (*set_offset)(const struct motion_sensor_t *s,
const int16_t *offset,
int16_t temp);
int (*get_offset)(const struct motion_sensor_t *s,
int16_t *offset,
int16_t *temp);
/**
* Setter and getter methods for the sensor scale.
* @s Pointer to sensor data.
* @scale: scale to apply to raw data.
* @temp: temperature when calibration was done.
* @return EC_SUCCESS if successful, non-zero if error.
*/
int (*set_scale)(const struct motion_sensor_t *s,
const uint16_t *scale,
int16_t temp);
int (*get_scale)(const struct motion_sensor_t *s,
uint16_t *scale,
int16_t *temp);
int (*perform_calib)(const struct motion_sensor_t *s);
#ifdef CONFIG_ACCEL_INTERRUPTS
/**
* handler for interrupts triggered by the sensor: it runs in task and
* process the events that triggered an interrupt.
* @s Pointer to sensor data.
* @event Event to process. May add other events for the next processor.
*
* Return EC_SUCCESS when one event is handled, EC_ERROR_NOT_HANDLED
* when no events have been processed.
*/
int (*irq_handler)(struct motion_sensor_t *s, uint32_t *event);
#endif
#ifdef CONFIG_GESTURE_DETECTION
/**
* handler for setting/getting activity information.
* Manage the high level activity detection of the chip.
* @s Pointer to sensor data.
* @activity activity to work on
* @enable 1 to enable, 0 to disable
* @data additional data if needed, activity dependent.
*/
int (*manage_activity)(const struct motion_sensor_t *s,
enum motionsensor_activity activity,
int enable,
const struct ec_motion_sense_activity *data);
/**
* List activities managed by the sensors.
* @s Pointer to sensor data.
* @enable bit mask of activities currently enabled.
* @disabled bit mask of activities currently disabled.
*/
int (*list_activities)(const struct motion_sensor_t *s,
uint32_t *enabled,
uint32_t *disabled);
#endif
};
/* Used to save sensor information */
struct accelgyro_saved_data_t {
int odr;
int range;
uint16_t scale[3];
};
#define SENSOR_APPLY_DIV_SCALE(_input, _scale) \
(((_input) * (uint64_t)MOTION_SENSE_DEFAULT_SCALE) / (_scale))
#define SENSOR_APPLY_SCALE(_input, _scale) \
(((_input) * (_scale)) / MOTION_SENSE_DEFAULT_SCALE)
#endif /* __CROS_EC_ACCELGYRO_H */
|
