path: root/zephyr/shim/src/motionsense_sensors.c

/* 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.
 */

#include "common.h"
#include "accelgyro.h"
#include "hooks.h"
#include "drivers/cros_cbi.h"

#define SENSOR_MUTEX_NODE		DT_PATH(motionsense_mutex)
#define SENSOR_MUTEX_NAME(id)		DT_CAT(MUTEX_, id)

#if DT_NODE_EXISTS(SENSOR_MUTEX_NODE)
#define DECLARE_SENSOR_MUTEX(id)	K_MUTEX_DEFINE(SENSOR_MUTEX_NAME(id));

/*
 * Declare mutex for
 * each child node of "/motionsense-mutex" node in DT.
 *
 * A mutex can be shared among the motion sensors.
 */
DT_FOREACH_CHILD(SENSOR_MUTEX_NODE, DECLARE_SENSOR_MUTEX)
#endif /* DT_NODE_EXISTS(SENSOR_MUTEX_NODE) */

#define SENSOR_ROT_REF_NODE		DT_PATH(motionsense_rotation_ref)
#define SENSOR_ROT_STD_REF_NAME(id)	DT_CAT(ROT_REF_, id)
#define MAT_ITEM(i, id)	FLOAT_TO_FP((int32_t)(DT_PROP_BY_IDX(id, mat33, i)))
#define DECLARE_SENSOR_ROT_REF(id)					\
	static const mat33_fp_t SENSOR_ROT_STD_REF_NAME(id) = {	\
		{							\
			FOR_EACH_FIXED_ARG(MAT_ITEM, (,), id, 0, 1, 2)	\
		},							\
		{							\
			FOR_EACH_FIXED_ARG(MAT_ITEM, (,), id, 3, 4, 5)	\
		},							\
		{							\
			FOR_EACH_FIXED_ARG(MAT_ITEM, (,), id, 6, 7, 8)	\
		},							\
	};

/*
 * Declare 3x3 rotation matrix for
 * each child node of "/motionsense-rotation-ref" node in DT.
 *
 * A rotation matrix can be shared among the motion sensors.
 */
#if DT_NODE_EXISTS(SENSOR_ROT_REF_NODE)
DT_FOREACH_CHILD(SENSOR_ROT_REF_NODE, DECLARE_SENSOR_ROT_REF)
#endif

/*
 * Declare sensor driver data for
 * each child node with status = "okay" of
 * "/motionsense-sensor-data" node in DT.
 *
 * A driver data can be shared among the motion sensors.
 */
#define SENSOR_DATA_NAME(id)		DT_CAT(SENSOR_DAT_, id)
#define SENSOR_DATA_NODE		DT_PATH(motionsense_sensor_data)

#define SENSOR_DATA(inst, compat, create_data_macro)			\
	create_data_macro(DT_INST(inst, compat),			\
		SENSOR_DATA_NAME(DT_INST(inst, compat)))

/*
 * CREATE_SENSOR_DATA is a helper macro that gets
 * compat and create_data_macro as parameters.
 *
 * For each node with compatible = "compat",
 * CREATE_SENSOR_DATA expands "create_data_macro" macro with the node id and
 * the designated name for the sensor driver data to be created. The
 * "create_datda_macro" macro is responsible for creating the sensor driver
 * data with the name.
 *
 * Sensor drivers should provide <chip>-drvinfo.inc file and, in the file,
 * it should have the macro that creates its sensor driver data using device
 * tree and pass the macro via CREATE_SENSOR_DATA.
 *
 * e.g) The below is contents of tcs3400-drvinfo.inc file. The file has
 * CREATE_SENSOR_DATA_TCS3400_CLEAR that creates the static instance of
 * "struct als_drv_data_t" with the given name and initializes it
 * with device tree. Then use CREATE_SENSOR_DATA.
 *
 * ----------- bma255-drvinfo.inc -----------
 * #define CREATE_SENSOR_DATA_TCS3400_CLEAR(id, drvdata_name)      \
 *       static struct als_drv_data_t drvdata_name =               \
 *           ACCELGYRO_ALS_DRV_DATA(DT_CHILD(id, als_drv_data));
 *
 * CREATE_SENSOR_DATA(cros_ec_drvdata_tcs3400_clear,   \
 *                    CREATE_SENSOR_DATA_TCS3400_CLEAR)
 */
#define CREATE_SENSOR_DATA(compat, create_data_macro)			\
	UTIL_LISTIFY(DT_NUM_INST_STATUS_OKAY(compat), SENSOR_DATA,	\
		compat, create_data_macro)

/*
 * sensor_drv_list.inc is included three times in this file. This is the first
 * time and it is for creating sensor driver-specific data. So we ignore
 * CREATE_MOTION_SENSOR() that creates motion sensor at this time.
 */
#define CREATE_MOTION_SENSOR(s_compat, s_chip, s_type, s_drv,		\
		s_min_freq, s_max_freq)

/*
 * Here, we declare all sensor driver data. How to create the data is
 * defined in <chip>-drvinfo.inc file and ,in turn, the file is included
 * in sensor_drv_list.inc.
 */
#if DT_NODE_EXISTS(SENSOR_DATA_NODE)
#include "motionsense_driver/sensor_drv_list.inc"
#endif

/*
 * Get the address of the mutex which is referred by phandle.
 * See motionsense-sensor-base.yaml and cros-ec,motionsense-mutex.yaml
 * for DT example and details.
 */
#define SENSOR_MUTEX(id)						\
	IF_ENABLED(DT_NODE_HAS_PROP(id, mutex),				\
		(.mutex = &SENSOR_MUTEX_NAME(DT_PHANDLE(id, mutex)),))

/*
 * Get I2C port number which is referred by phandle.
 * See motionsense-sensor-base.yaml for DT example and details.
 */
#define SENSOR_I2C_PORT(id)						\
	IF_ENABLED(DT_NODE_HAS_PROP(id, port),				\
		(.port = I2C_PORT(DT_PHANDLE(id, port)),))

/*
 * Get I2C or SPI address.
 * See motionsense-sensor-base.yaml for DT example and details.
 */
#define SENSOR_I2C_SPI_ADDR_FLAGS(id)                        \
	IF_ENABLED(DT_NODE_HAS_PROP(id, i2c_spi_addr_flags), \
		   (.i2c_spi_addr_flags =                    \
			    DT_STRING_TOKEN(id, i2c_spi_addr_flags), ))

/*
 * Get the address of rotation matrix which is referred by phandle.
 * See motionsense-sensor-base.yaml and cros-ec,motionsense-rotation-ref.yaml
 * for DT example and details.
 */
#define SENSOR_ROT_STD_REF(id)						\
	IF_ENABLED(DT_NODE_HAS_PROP(id, rot_standard_ref),		\
		(.rot_standard_ref =					\
		 &SENSOR_ROT_STD_REF_NAME(DT_PHANDLE(id, rot_standard_ref)),))

/*
 * Get the address of driver-specific data which is referred by phandle.
 * See motionsense-sensor-base.yaml for DT example and details.
 */
#define SENSOR_DRV_DATA(id)						\
	IF_ENABLED(DT_NODE_HAS_PROP(id, drv_data),			\
		   (.drv_data = &SENSOR_DATA_NAME(DT_PHANDLE(id, drv_data)),))

/*
 * Get odr and ec_rate for the motion sensor.
 * See motionsense-sensor-base.yaml and cros-ec,motionsense-sensor-config.yaml
 * for DT example and details.
 */
#define SET_CONFIG_EC(cfg_id, cfg_suffix)				\
	[SENSOR_CONFIG_##cfg_suffix] = {				\
		IF_ENABLED(DT_NODE_HAS_PROP(cfg_id, odr),		\
		   (.odr = DT_PROP(cfg_id, odr),))			\
		IF_ENABLED(DT_NODE_HAS_PROP(cfg_id, ec_rate),		\
		   (.ec_rate = DT_PROP(cfg_id, ec_rate),))		\
	}

/* Get configs */
#define CREATE_SENSOR_CONFIG(cfgs_id)					      \
	.config = {							      \
		IF_ENABLED(DT_NODE_EXISTS(DT_CHILD(cfgs_id, ap)),	      \
			   (SET_CONFIG_EC(DT_CHILD(cfgs_id, ap), AP),))       \
		IF_ENABLED(DT_NODE_EXISTS(DT_CHILD(cfgs_id, ec_s0)),	      \
			   (SET_CONFIG_EC(DT_CHILD(cfgs_id, ec_s0), EC_S0),)) \
		IF_ENABLED(DT_NODE_EXISTS(DT_CHILD(cfgs_id, ec_s3)),	      \
			   (SET_CONFIG_EC(DT_CHILD(cfgs_id, ec_s3), EC_S3),)) \
		IF_ENABLED(DT_NODE_EXISTS(DT_CHILD(cfgs_id, ec_s5)),	      \
			   (SET_CONFIG_EC(DT_CHILD(cfgs_id, ec_s5), EC_S5),)) \
	}

#define SENSOR_CONFIG(id)						\
	IF_ENABLED(DT_NODE_EXISTS(DT_CHILD(id, configs)),		\
		   (CREATE_SENSOR_CONFIG(DT_CHILD(id, configs)),))

/* Get and assign the basic information for a motion sensor */
#define SENSOR_BASIC_INFO(id)						\
	.name = DT_LABEL(id),						\
	.active_mask = DT_STRING_TOKEN(id, active_mask),		\
	.location = DT_STRING_TOKEN(id, location),			\
	.default_range = DT_PROP(id, default_range),			\
	SENSOR_I2C_SPI_ADDR_FLAGS(id)					\
	SENSOR_MUTEX(id)						\
	SENSOR_I2C_PORT(id)						\
	SENSOR_ROT_STD_REF(id)						\
	SENSOR_DRV_DATA(id)						\
	SENSOR_CONFIG(id)

/* Create motion sensor node with node ID */
#define DO_MK_SENSOR_ENTRY(						\
		id, s_chip, s_type, s_drv, s_min_freq, s_max_freq)	\
	[SENSOR_ID(id)] = {						\
		SENSOR_BASIC_INFO(id)					\
		.chip = s_chip,						\
		.type = s_type,						\
		.drv = &s_drv,						\
		.min_frequency = s_min_freq,				\
		.max_frequency = s_max_freq				\
	},

/* Construct an entry iff the alternate_for property is missing. */
#define MK_SENSOR_ENTRY(inst, s_compat, s_chip, s_type, s_drv, s_min_freq,    \
			s_max_freq)                                           \
	COND_CODE_0(DT_NODE_HAS_PROP(DT_INST(inst, s_compat), alternate_for), \
		    (DO_MK_SENSOR_ENTRY(DT_INST(inst, s_compat), s_chip,      \
					s_type, s_drv, s_min_freq,            \
					s_max_freq)),                         \
		    ())

/* Construct an entry iff the alternate_for property exists. */
#define MK_SENSOR_ALT_ENTRY(inst, s_compat, s_chip, s_type, s_drv, s_min_freq, \
			    s_max_freq)                                        \
	COND_CODE_1(DT_NODE_HAS_PROP(DT_INST(inst, s_compat), alternate_for),  \
		    (DO_MK_SENSOR_ENTRY(DT_INST(inst, s_compat), s_chip,       \
					s_type, s_drv, s_min_freq,             \
					s_max_freq)),                          \
		    ())

#undef CREATE_SENSOR_DATA
/*
 * Sensor driver-specific data creation stage is already done. So this
 * time we ignore CREATE_SENSOR_DATA().
 */
#define CREATE_SENSOR_DATA(compat, create_data_macro)
#undef CREATE_MOTION_SENSOR

/*
 * CREATE_MOTION_SENSOR is a help macro that read the sensor information from
 * device tree and creates an entry in motion_sensors array which is used
 * by motion sense task. The help macro gets compatible value of the
 * sensor node and several driver specific information like CHIP_ID,
 * SENSOR_TYPE, driver instance name, and min/max frequency.
 *
 * <chip>-drvinfo.inc file which is provided by sensor driver should use
 * CREATE_MOTION_SENSOR to provide driver specific information.
 *
 * e.g) The below is contents of tcs3400-drvinfo.inc file. The file has
 * CREATE_MOTION_SENSOR like below to create the sensor entry. The file uses
 * the help macro two times since the chip supports two functions
 * ALS clear and ALS RGB.

 * ------------- tcs3400-drvinfo.inc -------------
 * // Here, we call CREATE_MOTION_SENSOR to create a motion_sensor_t entry
 * // for each TCS3400 clear instance (compatible = "cros-ec,tcs3400-clear")
 * // in device tree.
 * CREATE_MOTION_SENSOR(cros_ec_tcs3400_clear, MOTIONSENSE_CHIP_TCS3400,   \
 *       MOTIONSENSE_TYPE_LIGHT, tcs3400_drv,            \
 *       TCS3400_LIGHT_MIN_FREQ, TCS3400_LIGHT_MAX_FREQ)

 *
 * // Here, we call CREATE_MOTION_SENSOR to create a motion_sensor_t entry
 * // for each TCS3400 RGB instance (compatible = "cros-ec,tcs3400-rgb")
 * // in device tree.
 *
 * CREATE_MOTION_SENSOR(cros_ec_tcs3400_rgb, MOTIONSENSE_CHIP_TCS3400, \
 *       MOTIONSENSE_TYPE_LIGHT_RGB, tcs3400_rgb_drv, 0, 0)
 * -----------------------------------------------
 */
#define CREATE_MOTION_SENSOR(s_compat, s_chip, s_type, s_drv,		\
		s_min_freq, s_max_freq)					\
	UTIL_LISTIFY(DT_NUM_INST_STATUS_OKAY(s_compat), MK_SENSOR_ENTRY,\
		s_compat, s_chip, s_type, s_drv, s_min_freq, s_max_freq)

/*
 * Here, we include sensor_drv_list.inc AGAIN but this time it only
 * uses CREATE_MOTION_SENSOR to create the motion sensor entries.
 */
struct motion_sensor_t motion_sensors[] = {
#if DT_NODE_EXISTS(SENSOR_NODE)
#include "motionsense_driver/sensor_drv_list.inc"
#endif
};

/*
 * Remap the CREATE_MOTION_SENSOR to call MK_SENSOR_ALT_ENTRY to create a list
 * of alternate sensors that will be used at runtime.
 */
#undef CREATE_MOTION_SENSOR
#define CREATE_MOTION_SENSOR(s_compat, s_chip, s_type, s_drv, s_min_freq,    \
			     s_max_freq)                                     \
	UTIL_LISTIFY(DT_NUM_INST_STATUS_OKAY(s_compat), MK_SENSOR_ALT_ENTRY, \
		     s_compat, s_chip, s_type, s_drv, s_min_freq, s_max_freq)

/*
 * The list of alternate motion sensors that may be used at runtime to replace
 * an entry in the motion_sensors array.
 */
__maybe_unused struct motion_sensor_t motion_sensors_alt[] = {
#if DT_NODE_EXISTS(SENSOR_ALT_NODE)
#include "motionsense_driver/sensor_drv_list.inc"
#endif
};

#ifdef CONFIG_DYNAMIC_MOTION_SENSOR_COUNT
unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
#else
const unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
#endif

/*
 * Create a list of ALS sensors needed by motion sense
 *
 * The following example adds tcs3400 als sensor to motion_als_sensors array
 *
 * motionsense-sensors {
 *         lid_accel: bma255 {
 *             :
 *         };
 *             :
 *             :
 *         als_clear: tcs3400 {
 *             :
 *         };
 * };
 *
 * motionsense-sensor-info {
 *       compatible = "cros-ec,motionsense-sensor-info";
 *
 *       // list of entries for motion_als_sensors
 *       als-sensors = <&als_clear>;
 *                  :
 *                  :
 * };
 */
#if DT_NODE_HAS_PROP(SENSOR_INFO_NODE, als_sensors)
#define ALS_SENSOR_ENTRY_WITH_COMMA(i, id)		\
	&motion_sensors[SENSOR_ID(DT_PHANDLE_BY_IDX(id, als_sensors, i))],
const struct motion_sensor_t *motion_als_sensors[] = {
	UTIL_LISTIFY(DT_PROP_LEN(SENSOR_INFO_NODE, als_sensors),
		     ALS_SENSOR_ENTRY_WITH_COMMA, SENSOR_INFO_NODE)
};
BUILD_ASSERT(ARRAY_SIZE(motion_als_sensors) == ALS_COUNT);
#endif

/*
 * Enable interrupts for motion sensors
 *
 * e.g) list of named-gpio nodes
 * motionsense-sensor-info {
 *        compatible = "cros-ec,motionsense-sensor-info";
 *
 *         // list of GPIO interrupts that have to
 *         // be enabled at initial stage
 *        sensor-irqs = <&gpio_ec_imu_int_l &gpio_ec_als_rgb_int_l>;
 * };
 */
#if DT_NODE_HAS_PROP(SENSOR_INFO_NODE, sensor_irqs)
#define SENSOR_GPIO_ENABLE_INTERRUPT(i, id)		\
	gpio_enable_interrupt(				\
		GPIO_SIGNAL(DT_PHANDLE_BY_IDX(id, sensor_irqs, i)));
static void sensor_enable_irqs(void)
{
	UTIL_LISTIFY(DT_PROP_LEN(SENSOR_INFO_NODE, sensor_irqs),
		     SENSOR_GPIO_ENABLE_INTERRUPT, SENSOR_INFO_NODE)
}
DECLARE_HOOK(HOOK_INIT, sensor_enable_irqs, HOOK_PRIO_DEFAULT);
#endif

/* Handle the alternative motion sensors */
#define REPLACE_ALT_MOTION_SENSOR(new_id, old_id) \
	motion_sensors[SENSOR_ID(old_id)] =       \
		motion_sensors_alt[SENSOR_ID(new_id)];

#define CHECK_AND_REPLACE_ALT_MOTION_SENSOR(id)                        \
	do {                                                           \
		if (cros_cbi_ssfc_check_match(                         \
			    dev, CBI_SSFC_VALUE_ID(DT_PHANDLE(         \
					 id, alternate_indicator)))) { \
			REPLACE_ALT_MOTION_SENSOR(                     \
				id, DT_PHANDLE(id, alternate_for))     \
		}                                                      \
	} while (0);

#define ALT_MOTION_SENSOR_INIT_ID(id)                                    \
	COND_CODE_1(UTIL_AND(DT_NODE_HAS_PROP(id, alternate_for),        \
			     DT_NODE_HAS_PROP(id, alternate_indicator)), \
		    (CHECK_AND_REPLACE_ALT_MOTION_SENSOR(id)), ())

void motion_sensors_init_alt(void)
{
	const struct device *dev = device_get_binding("cros_cbi");

	if (dev == NULL)
		return;

#if DT_NODE_EXISTS(SENSOR_ALT_NODE)
	DT_FOREACH_CHILD(SENSOR_ALT_NODE, ALT_MOTION_SENSOR_INIT_ID)
#endif
}

DECLARE_HOOK(HOOK_INIT, motion_sensors_init_alt, HOOK_PRIO_INIT_I2C + 1);