Samus: Split motion sense and lid angle

Split motion_sense.c.
Translate the accel data in the Android coordinate right away.

BUG=chrome-os-partner:32002
BRANCH=ToT
TEST=On samus, check lid angle are still correct.

Change-Id: If743e25245dc1ce4cdacb8a4d5af22616c4a79e4
Signed-off-by: Gwendal Grignou <gwendal@chromium.org>
Reviewed-on: https://chromium-review.googlesource.com/225486
Reviewed-by: Sheng-liang Song <ssl@chromium.org>
Reviewed-by: Alec Berg <alecaberg@chromium.org>

4 files changed, 81 insertions, 69 deletions

diff --git a/include/config.h b/include/config.h
index 309d061541..dd0815e22c 100644
--- a/include/config.h
+++ b/include/config.h
@@ -308,6 +308,7 @@
  */
 
 #undef CONFIG_CMD_ACCELS
+#undef CONFIG_CMD_ACCEL_INFO
 #undef CONFIG_CMD_BATDEBUG
 #undef CONFIG_CMD_CLOCKGATES
 #undef CONFIG_CMD_COMXTEST
@@ -317,7 +318,6 @@
 #undef CONFIG_CMD_HOSTCMD
 #undef CONFIG_CMD_ILIM
 #undef CONFIG_CMD_JUMPTAGS
-#define CONFIG_CMD_LID_ANGLE
 #undef CONFIG_CMD_PLL
 #undef CONFIG_CMD_PMU
 #define CONFIG_CMD_POWERINDEBUG
@@ -564,6 +564,18 @@
 
 #endif
 
+#undef CONFIG_LID_ANGLE
+#ifndef CONFIG_LID_ANGLE
+#undef CONFIG_SENSOR_BASE
+#undef CONFIG_SENSOR_LID
+
+/*
+ * Allows using the lid angle measurement to determine if key scanning should
+ * be enabled or disabled when chipset is suspended.
+ */
+#undef CONFIG_LID_ANGLE_KEY_SCAN
+
+#endif
 
 
 /*****************************************************************************/
@@ -729,12 +741,6 @@
 #undef CONFIG_LED_DRIVER_LP5562  /* LP5562, on I2C interface */
 
 /*
- * Allows using the lid angle measurement to determine if key scanning should
- * be enabled or disabled when chipset is suspended.
- */
-#undef CONFIG_LID_ANGLE_KEY_SCAN
-
-/*
  * Compile lid switch support.
  *
  * This is enabled by default because all boards other than reference boards
diff --git a/include/console.h b/include/console.h
index bf2cd536f1..29599dda4b 100644
--- a/include/console.h
+++ b/include/console.h
@@ -43,6 +43,7 @@ enum console_channel {
 	CC_LIDANGLE,
 	CC_LIGHTBAR,
 	CC_LPC,
+	CC_MOTION_LID,
 	CC_MOTION_SENSE,
 	CC_PD_HOST_CMD,
 	CC_PORT80,
diff --git a/include/motion_lid.h b/include/motion_lid.h
new file mode 100644
index 0000000000..b3348c020e
--- /dev/null
+++ b/include/motion_lid.h
@@ -0,0 +1,50 @@
+/* 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_LID_H
+#define __CROS_EC_MOTION_LID_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 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;
+
+	/* Vector pointing along hinge axis. */
+	vector_3_t hinge_axis;
+};
+
+/* Link global structure for orientation. This must be defined in board.c. */
+extern const 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_lid_get_angle(void);
+
+int host_cmd_motion_lid(struct host_cmd_handler_args *args);
+
+void motion_lid_calc(void);
+
+#endif  /* __CROS_EC_MOTION_LID_H */
+
+
diff --git a/include/motion_sense.h b/include/motion_sense.h
index be764a8d00..bb5acc308c 100644
--- a/include/motion_sense.h
+++ b/include/motion_sense.h
@@ -12,66 +12,6 @@
 #include "math_util.h"
 #include "chipset.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 const 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);
-
-
-/**
- * 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,
@@ -110,6 +50,7 @@ struct motion_sensor_t {
 	struct mutex *mutex;
 	void *drv_data;
 	uint8_t i2c_addr;
+	const matrix_3x3_t *rot_standard_ref;
 
 	/* Default configuration parameters, RO only */
 	int default_odr;
@@ -122,9 +63,7 @@ struct motion_sensor_t {
 	/* state parameters */
 	enum sensor_state state;
 	enum chipset_state_mask active;
-	vector_3_t raw_xyz;
 	vector_3_t xyz;
-
 };
 
 /* Defined at board level. */
@@ -137,4 +76,20 @@ extern const unsigned int motion_sensor_count;
  */
 #define MOTION_SENSE_HOOK_PRIO (HOOK_PRIO_DEFAULT)
 
+#ifdef CONFIG_ACCEL_INTERRUPTS
+/**
+ * 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);
+#endif
+
 #endif /* __CROS_EC_MOTION_SENSE_H */