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/* 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.
*/
/* Header for motion_sense.c */
#ifndef __CROS_EC_MOTION_SENSE_H
#define __CROS_EC_MOTION_SENSE_H
#include "gpio.h"
#include "math_util.h"
/* Anything outside of lid angle range [-180, 180] should work. */
#define LID_ANGLE_UNRELIABLE 500.0F
/**
* This structure defines all of the data needed to specify the orientation
* of the base and lid accelerometers in order to calculate the lid angle.
*/
struct accel_orientation {
/*
* Rotation matrix to rotate the lid sensor into the same reference
* frame as the base sensor.
*/
matrix_3x3_t rot_align;
/* Rotation matrix to rotate positive 90 degrees around the hinge. */
matrix_3x3_t rot_hinge_90;
/*
* Rotation matrix to rotate 180 degrees around the hinge. The value
* here should be rot_hinge_90 ^ 2.
*/
matrix_3x3_t rot_hinge_180;
/*
* Rotation matrix to rotate base sensor into the standard reference
* frame.
*/
matrix_3x3_t rot_standard_ref;
/* Vector pointing along hinge axis. */
vector_3_t hinge_axis;
};
/* Link global structure for orientation. This must be defined in board.c. */
extern
#ifndef CONFIG_ACCEL_CALIBRATE
const
#endif
struct accel_orientation acc_orient;
/**
* Get last calculated lid angle. Note, the lid angle calculated by the EC
* is un-calibrated and is an approximate angle.
*
* @return lid angle in degrees in range [0, 360].
*/
int motion_get_lid_angle(void);
#ifdef CONFIG_ACCEL_CALIBRATE
/**
* Get the last measured lid acceleration vector.
*
* @param v Pointer to location to store vector.
* @param adjusted If false use the raw vector, if true use the adjusted vector.
*/
void motion_get_accel_lid(vector_3_t *v, int adjusted);
/**
* Get the last measured base acceleration vector.
*
* @param v Pointer to location to store vector.
*/
void motion_get_accel_base(vector_3_t *v);
#endif
/**
* Interrupt function for lid accelerometer.
*
* @param signal GPIO signal that caused interrupt
*/
void accel_int_lid(enum gpio_signal signal);
/**
* Interrupt function for base accelerometer.
*
* @param signal GPIO signal that caused interrupt
*/
void accel_int_base(enum gpio_signal signal);
enum sensor_location_t {
LOCATION_BASE = 0,
LOCATION_LID = 1,
};
enum sensor_type_t {
SENSOR_ACCELEROMETER = 0x1,
SENSOR_GYRO = 0x2,
};
enum sensor_chip_t {
SENSOR_CHIP_KXCJ9 = 0,
SENSOR_CHIP_LSM6DS0 = 1,
};
enum sensor_state {
SENSOR_NOT_INITIALIZED = 0,
SENSOR_INITIALIZED = 1,
SENSOR_INIT_ERROR = 2
};
enum sensor_power {
SENSOR_POWER_OFF = 0,
SENSOR_POWER_ON = 1
};
struct motion_sensor_t {
/* RO fields */
char *name;
enum sensor_chip_t chip;
enum sensor_type_t type;
enum sensor_location_t location;
const struct accelgyro_drv *drv;
struct mutex *mutex;
void *drv_data;
uint8_t i2c_addr;
/* RW fields */
enum sensor_state state;
enum sensor_power power;
vector_3_t raw_xyz;
vector_3_t xyz;
};
/* Defined at board level. */
extern struct motion_sensor_t motion_sensors[];
extern const unsigned int motion_sensor_count;
#endif /* __CROS_EC_MOTION_SENSE_H */
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