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-rw-r--r--driver/accelgyro_bmi_common.c232
-rw-r--r--driver/accelgyro_bmi_common.h5
-rw-r--r--include/config.h19
-rw-r--r--zephyr/CMakeLists.txt5
-rw-r--r--zephyr/Kconfig.accelgyro_bmi33
-rw-r--r--zephyr/Kconfig.sensor_devices9
-rw-r--r--zephyr/projects/volteer/volteer/prj.conf1
-rw-r--r--zephyr/shim/include/config_chip.h10
8 files changed, 169 insertions, 145 deletions
diff --git a/driver/accelgyro_bmi_common.c b/driver/accelgyro_bmi_common.c
index b23e4521f5..87746454b1 100644
--- a/driver/accelgyro_bmi_common.c
+++ b/driver/accelgyro_bmi_common.c
@@ -142,7 +142,7 @@ int bmi_get_engineering_val(const int reg_val,
return pairs[i].val;
}
-#ifdef CONFIG_SPI_ACCEL_PORT
+#ifdef CONFIG_ACCELGYRO_BMI_COMM_SPI
static int bmi_spi_raw_read(const int addr, const uint8_t reg,
uint8_t *data, const int len)
{
@@ -158,23 +158,20 @@ static int bmi_spi_raw_read(const int addr, const uint8_t reg,
int bmi_read8(const int port, const uint16_t i2c_spi_addr_flags,
const int reg, int *data_ptr)
{
- int rv = -EC_ERROR_PARAM1;
+ int rv;
- if (SLAVE_IS_SPI(i2c_spi_addr_flags)) {
-#ifdef CONFIG_SPI_ACCEL_PORT
+#ifdef CONFIG_ACCELGYRO_BMI_COMM_SPI
+ {
uint8_t val;
rv = bmi_spi_raw_read(SLAVE_GET_SPI_ADDR(i2c_spi_addr_flags),
- reg, &val, 1);
+ reg, &val, 1);
if (rv == EC_SUCCESS)
*data_ptr = val;
-#endif
- } else {
-#ifdef I2C_PORT_ACCEL
- rv = i2c_read8(port, i2c_spi_addr_flags,
- reg, data_ptr);
-#endif
}
+#else
+ rv = i2c_read8(port, i2c_spi_addr_flags, reg, data_ptr);
+#endif
return rv;
}
@@ -184,22 +181,19 @@ int bmi_read8(const int port, const uint16_t i2c_spi_addr_flags,
int bmi_write8(const int port, const uint16_t i2c_spi_addr_flags,
const int reg, int data)
{
- int rv = -EC_ERROR_PARAM1;
+ int rv;
- if (SLAVE_IS_SPI(i2c_spi_addr_flags)) {
-#ifdef CONFIG_SPI_ACCEL_PORT
+#ifdef CONFIG_ACCELGYRO_BMI_COMM_SPI
+ {
uint8_t cmd[2] = { reg, data };
rv = spi_transaction(
&spi_devices[SLAVE_GET_SPI_ADDR(i2c_spi_addr_flags)],
cmd, 2, NULL, 0);
-#endif
- } else {
-#ifdef I2C_PORT_ACCEL
- rv = i2c_write8(port, i2c_spi_addr_flags,
- reg, data);
-#endif
}
+#else
+ rv = i2c_write8(port, i2c_spi_addr_flags, reg, data);
+#endif
/*
* From Bosch: BMI needs a delay of 450us after each write if it
* is in suspend mode, otherwise the operation may be ignored by
@@ -217,20 +211,12 @@ int bmi_write8(const int port, const uint16_t i2c_spi_addr_flags,
int bmi_read16(const int port, const uint16_t i2c_spi_addr_flags,
const uint8_t reg, int *data_ptr)
{
- int rv = -EC_ERROR_PARAM1;
-
- if (SLAVE_IS_SPI(i2c_spi_addr_flags)) {
-#ifdef CONFIG_SPI_ACCEL_PORT
- rv = bmi_spi_raw_read(SLAVE_GET_SPI_ADDR(i2c_spi_addr_flags),
- reg, (uint8_t *)data_ptr, 2);
-#endif
- } else {
-#ifdef I2C_PORT_ACCEL
- rv = i2c_read16(port, i2c_spi_addr_flags,
- reg, data_ptr);
+#ifdef CONFIG_ACCELGYRO_BMI_COMM_SPI
+ return bmi_spi_raw_read(SLAVE_GET_SPI_ADDR(i2c_spi_addr_flags), reg,
+ (uint8_t *)data_ptr, 2);
+#else
+ return i2c_read16(port, i2c_spi_addr_flags, reg, data_ptr);
#endif
- }
- return rv;
}
/**
@@ -241,16 +227,11 @@ int bmi_write16(const int port, const uint16_t i2c_spi_addr_flags,
{
int rv = -EC_ERROR_PARAM1;
- if (SLAVE_IS_SPI(i2c_spi_addr_flags)) {
-#ifdef CONFIG_SPI_ACCEL_PORT
- CPRINTS("%s() spi part is not implemented", __func__);
-#endif
- } else {
-#ifdef I2C_PORT_ACCEL
- rv = i2c_write16(port, i2c_spi_addr_flags,
- reg, data);
+#ifdef CONFIG_ACCELGYRO_BMI_COMM_SPI
+ CPRINTS("%s() spi part is not implemented", __func__);
+#else
+ rv = i2c_write16(port, i2c_spi_addr_flags, reg, data);
#endif
- }
/*
* From Bosch: BMI needs a delay of 450us after each write if it
* is in suspend mode, otherwise the operation may be ignored by
@@ -267,20 +248,12 @@ int bmi_write16(const int port, const uint16_t i2c_spi_addr_flags,
int bmi_read32(const int port, const uint16_t i2c_spi_addr_flags,
const uint8_t reg, int *data_ptr)
{
- int rv = -EC_ERROR_PARAM1;
-
- if (SLAVE_IS_SPI(i2c_spi_addr_flags)) {
-#ifdef CONFIG_SPI_ACCEL_PORT
- rv = bmi_spi_raw_read(SLAVE_GET_SPI_ADDR(i2c_spi_addr_flags),
- reg, (uint8_t *)data_ptr, 4);
-#endif
- } else {
-#ifdef I2C_PORT_ACCEL
- rv = i2c_read32(port, i2c_spi_addr_flags,
- reg, data_ptr);
+#ifdef CONFIG_ACCELGYRO_BMI_COMM_SPI
+ return bmi_spi_raw_read(SLAVE_GET_SPI_ADDR(i2c_spi_addr_flags), reg,
+ (uint8_t *)data_ptr, 4);
+#else
+ return i2c_read32(port, i2c_spi_addr_flags, reg, data_ptr);
#endif
- }
- return rv;
}
/**
@@ -289,20 +262,12 @@ int bmi_read32(const int port, const uint16_t i2c_spi_addr_flags,
int bmi_read_n(const int port, const uint16_t i2c_spi_addr_flags,
const uint8_t reg, uint8_t *data_ptr, const int len)
{
- int rv = -EC_ERROR_PARAM1;
-
- if (SLAVE_IS_SPI(i2c_spi_addr_flags)) {
-#ifdef CONFIG_SPI_ACCEL_PORT
- rv = bmi_spi_raw_read(SLAVE_GET_SPI_ADDR(i2c_spi_addr_flags),
- reg, data_ptr, len);
-#endif
- } else {
-#ifdef I2C_PORT_ACCEL
- rv = i2c_read_block(port, i2c_spi_addr_flags,
- reg, data_ptr, len);
+#ifdef CONFIG_ACCELGYRO_BMI_COMM_SPI
+ return bmi_spi_raw_read(SLAVE_GET_SPI_ADDR(i2c_spi_addr_flags), reg,
+ data_ptr, len);
+#else
+ return i2c_read_block(port, i2c_spi_addr_flags, reg, data_ptr, len);
#endif
- }
- return rv;
}
/**
@@ -313,16 +278,11 @@ int bmi_write_n(const int port, const uint16_t i2c_spi_addr_flags,
{
int rv = -EC_ERROR_PARAM1;
- if (SLAVE_IS_SPI(i2c_spi_addr_flags)) {
-#ifdef CONFIG_SPI_ACCEL_PORT
- CPRINTS("%s() spi part is not implemented", __func__);
-#endif
- } else {
-#ifdef I2C_PORT_ACCEL
- rv = i2c_write_block(port, i2c_spi_addr_flags,
- reg, data_ptr, len);
+#ifdef CONFIG_ACCELGYRO_BMI_COMM_SPI
+ CPRINTS("%s() spi part is not implemented", __func__);
+#else
+ rv = i2c_write_block(port, i2c_spi_addr_flags, reg, data_ptr, len);
#endif
- }
/*
* From Bosch: BMI needs a delay of 450us after each write if it
* is in suspend mode, otherwise the operation may be ignored by
@@ -336,8 +296,8 @@ int bmi_write_n(const int port, const uint16_t i2c_spi_addr_flags,
/*
* Enable/Disable specific bit set of a 8-bit reg.
*/
-int bmi_enable_reg8(const struct motion_sensor_t *s,
- int reg, uint8_t bits, int enable)
+int bmi_enable_reg8(const struct motion_sensor_t *s, int reg, uint8_t bits,
+ int enable)
{
if (enable)
return bmi_set_reg8(s, reg, bits, 0);
@@ -347,8 +307,8 @@ int bmi_enable_reg8(const struct motion_sensor_t *s,
/*
* Set specific bit set to certain value of a 8-bit reg.
*/
-int bmi_set_reg8(const struct motion_sensor_t *s,
- int reg, uint8_t bits, int mask)
+int bmi_set_reg8(const struct motion_sensor_t *s, int reg, uint8_t bits,
+ int mask)
{
int ret, val;
@@ -381,12 +341,11 @@ void bmi_normalize(const struct motion_sensor_t *s, intv3_t v, uint8_t *input)
v[i] = SENSOR_APPLY_SCALE(v[i], data->scale[i]);
}
-int bmi_decode_header(struct motion_sensor_t *accel,
- enum fifo_header hdr, uint32_t last_ts,
- uint8_t **bp, uint8_t *ep)
+int bmi_decode_header(struct motion_sensor_t *accel, enum fifo_header hdr,
+ uint32_t last_ts, uint8_t **bp, uint8_t *ep)
{
if ((hdr & BMI_FH_MODE_MASK) == BMI_FH_EMPTY &&
- (hdr & BMI_FH_PARM_MASK) != 0) {
+ (hdr & BMI_FH_PARM_MASK) != 0) {
int i, size = 0;
/* Check if there is enough space for the data frame */
for (i = MOTIONSENSE_TYPE_MAG; i >= MOTIONSENSE_TYPE_ACCEL;
@@ -410,15 +369,14 @@ int bmi_decode_header(struct motion_sensor_t *accel,
vector.flags = 0;
bmi_normalize(s, v, *bp);
if (IS_ENABLED(CONFIG_ACCEL_SPOOF_MODE) &&
- s->flags &
- MOTIONSENSE_FLAG_IN_SPOOF_MODE)
+ s->flags & MOTIONSENSE_FLAG_IN_SPOOF_MODE)
v = s->spoof_xyz;
vector.data[X] = v[X];
vector.data[Y] = v[Y];
vector.data[Z] = v[Z];
vector.sensor_num = s - motion_sensors;
motion_sense_fifo_stage_data(&vector, s, 3,
- last_ts);
+ last_ts);
*bp += (i == MOTIONSENSE_TYPE_MAG ? 8 : 6);
}
}
@@ -448,25 +406,22 @@ int bmi_load_fifo(struct motion_sensor_t *s, uint32_t last_ts)
uint8_t *ep;
uint32_t beginning;
-
if (s->type != MOTIONSENSE_TYPE_ACCEL)
return EC_SUCCESS;
- if (!(data->flags &
- (BMI_FIFO_ALL_MASK << BMI_FIFO_FLAG_OFFSET))) {
+ if (!(data->flags & (BMI_FIFO_ALL_MASK << BMI_FIFO_FLAG_OFFSET))) {
/*
* The FIFO was disabled while we were processing it.
*
* Flush potential left over:
* When sensor is resumed, we won't read old data.
*/
- bmi_write8(s->port, s->i2c_spi_addr_flags,
- BMI_CMD_REG(V(s)), BMI_CMD_FIFO_FLUSH);
+ bmi_write8(s->port, s->i2c_spi_addr_flags, BMI_CMD_REG(V(s)),
+ BMI_CMD_FIFO_FLUSH);
return EC_SUCCESS;
}
- bmi_read_n(s->port, s->i2c_spi_addr_flags,
- BMI_FIFO_LENGTH_0(V(s)),
+ bmi_read_n(s->port, s->i2c_spi_addr_flags, BMI_FIFO_LENGTH_0(V(s)),
(uint8_t *)&length, sizeof(length));
length &= BMI_FIFO_LENGTH_MASK(V(s));
@@ -492,8 +447,8 @@ int bmi_load_fifo(struct motion_sensor_t *s, uint32_t last_ts)
CPRINTS("unexpected large FIFO: %d", length);
length = MIN(length, sizeof(bmi_buffer));
- bmi_read_n(s->port, s->i2c_spi_addr_flags,
- BMI_FIFO_DATA(V(s)), bmi_buffer, length);
+ bmi_read_n(s->port, s->i2c_spi_addr_flags, BMI_FIFO_DATA(V(s)),
+ bmi_buffer, length);
beginning = *(uint32_t *)bmi_buffer;
ep = bmi_buffer + length;
/*
@@ -504,16 +459,13 @@ int bmi_load_fifo(struct motion_sensor_t *s, uint32_t last_ts)
* If we see those, assume the sensors have been disabled
* while this thread was running.
*/
- if (beginning == 0x84848484 ||
- (beginning & 0xdcdcdcdc) == 0x40404040) {
+ if (beginning == 0x84848484 || (beginning & 0xdcdcdcdc) == 0x40404040) {
CPRINTS("Suspended FIFO: accel ODR/rate: %d/%d: 0x%08x",
- BASE_ODR(s->config[SENSOR_CONFIG_AP].odr),
- BMI_GET_SAVED_DATA(s)->odr,
- beginning);
+ BASE_ODR(s->config[SENSOR_CONFIG_AP].odr),
+ BMI_GET_SAVED_DATA(s)->odr, beginning);
return EC_SUCCESS;
}
-
while (bp < ep) {
switch (state) {
case FIFO_HEADER: {
@@ -536,24 +488,24 @@ int bmi_load_fifo(struct motion_sensor_t *s, uint32_t last_ts)
state = FIFO_DATA_CONFIG;
break;
default:
- CPRINTS("Unknown header: 0x%02x @ %zd",
- hdr, bp - bmi_buffer);
+ CPRINTS("Unknown header: 0x%02x @ %zd", hdr,
+ bp - bmi_buffer);
bmi_write8(s->port, s->i2c_spi_addr_flags,
- BMI_CMD_REG(V(s)),
- BMI_CMD_FIFO_FLUSH);
+ BMI_CMD_REG(V(s)),
+ BMI_CMD_FIFO_FLUSH);
return EC_ERROR_NOT_HANDLED;
}
break;
}
case FIFO_DATA_SKIP:
CPRINTS("@ %zd - %d, skipped %d frames",
- bp - bmi_buffer, length, *bp);
+ bp - bmi_buffer, length, *bp);
bp++;
state = FIFO_HEADER;
break;
case FIFO_DATA_CONFIG:
CPRINTS("@ %zd - %d, config change: 0x%02x",
- bp - bmi_buffer, length, *bp);
+ bp - bmi_buffer, length, *bp);
bp++;
if (V(s))
state = FIFO_DATA_TIME;
@@ -566,8 +518,8 @@ int bmi_load_fifo(struct motion_sensor_t *s, uint32_t last_ts)
continue;
}
/* We are not requesting timestamp */
- CPRINTS("timestamp %d", (bp[2] << 16) |
- (bp[1] << 8) | bp[0]);
+ CPRINTS("timestamp %d",
+ (bp[2] << 16) | (bp[1] << 8) | bp[0]);
state = FIFO_HEADER;
bp += 3;
break;
@@ -595,8 +547,7 @@ int bmi_set_range(struct motion_sensor_t *s, int range, int rnd)
ranges = bmi_get_range_table(s, &range_tbl_size);
reg_val = bmi_get_reg_val(range, rnd, ranges, range_tbl_size);
- ret = bmi_write8(s->port, s->i2c_spi_addr_flags,
- ctrl_reg, reg_val);
+ ret = bmi_write8(s->port, s->i2c_spi_addr_flags, ctrl_reg, reg_val);
/* Now that we have set the range, update the driver's value. */
if (ret == EC_SUCCESS)
s->current_range = bmi_get_engineering_val(reg_val, ranges,
@@ -611,8 +562,8 @@ int bmi_get_data_rate(const struct motion_sensor_t *s)
return data->odr;
}
-int bmi_get_offset(const struct motion_sensor_t *s,
- int16_t *offset, int16_t *temp)
+int bmi_get_offset(const struct motion_sensor_t *s, int16_t *offset,
+ int16_t *temp)
{
int i;
intv3_t v;
@@ -669,8 +620,8 @@ int bmi_get_rms_noise(const struct motion_sensor_t *s)
* of ODR to 100Hz) to get current noise.
*/
noise_100hz = INT_TO_FP(BMI_ACCEL_RMS_NOISE_100HZ(V(s)));
- sqrt_rate_ratio = fp_sqrtf(fp_div(rate,
- INT_TO_FP(BMI_ACCEL_100HZ)));
+ sqrt_rate_ratio =
+ fp_sqrtf(fp_div(rate, INT_TO_FP(BMI_ACCEL_100HZ)));
ret = FP_TO_INT(fp_mul(noise_100hz, sqrt_rate_ratio));
break;
default:
@@ -686,8 +637,8 @@ int bmi_get_resolution(const struct motion_sensor_t *s)
return BMI_RESOLUTION;
}
-int bmi_set_scale(const struct motion_sensor_t *s,
- const uint16_t *scale, int16_t temp)
+int bmi_set_scale(const struct motion_sensor_t *s, const uint16_t *scale,
+ int16_t temp)
{
struct accelgyro_saved_data_t *data = BMI_GET_SAVED_DATA(s);
@@ -697,8 +648,8 @@ int bmi_set_scale(const struct motion_sensor_t *s,
return EC_SUCCESS;
}
-int bmi_get_scale(const struct motion_sensor_t *s,
- uint16_t *scale, int16_t *temp)
+int bmi_get_scale(const struct motion_sensor_t *s, uint16_t *scale,
+ int16_t *temp)
{
struct accelgyro_saved_data_t *data = BMI_GET_SAVED_DATA(s);
@@ -733,8 +684,8 @@ int bmi_read(const struct motion_sensor_t *s, intv3_t v)
uint8_t data[6];
int ret, status = 0;
- ret = bmi_read8(s->port, s->i2c_spi_addr_flags,
- BMI_STATUS(V(s)), &status);
+ ret = bmi_read8(s->port, s->i2c_spi_addr_flags, BMI_STATUS(V(s)),
+ &status);
if (ret != EC_SUCCESS)
return ret;
@@ -750,8 +701,8 @@ int bmi_read(const struct motion_sensor_t *s, intv3_t v)
}
/* Read 6 bytes starting at xyz_reg */
- ret = bmi_read_n(s->port, s->i2c_spi_addr_flags,
- bmi_get_xyz_reg(s), data, 6);
+ ret = bmi_read_n(s->port, s->i2c_spi_addr_flags, bmi_get_xyz_reg(s),
+ data, 6);
if (ret != EC_SUCCESS) {
CPRINTS("%s: type:0x%X RD XYZ Error %d", s->name, s->type, ret);
@@ -773,8 +724,8 @@ int bmi_get_sensor_temp(int idx, int *temp_ptr)
int ret;
ret = bmi_read_n(s->port, s->i2c_spi_addr_flags,
- BMI_TEMPERATURE_0(V(s)),
- (uint8_t *)&temp, sizeof(temp));
+ BMI_TEMPERATURE_0(V(s)), (uint8_t *)&temp,
+ sizeof(temp));
if (ret || temp == BMI_INVALID_TEMP)
return EC_ERROR_NOT_POWERED;
@@ -828,10 +779,8 @@ void bmi_accel_get_offset(const struct motion_sensor_t *accel, intv3_t v)
BMI_OFFSET_ACC70(V(accel)) + i, &val);
if (val > 0x7f)
val = -256 + val;
- v[i] = round_divide(
- (int64_t)val * BMI_OFFSET_ACC_MULTI_MG,
- BMI_OFFSET_ACC_DIV_MG);
-
+ v[i] = round_divide((int64_t)val * BMI_OFFSET_ACC_MULTI_MG,
+ BMI_OFFSET_ACC_DIV_MG);
}
}
@@ -848,9 +797,8 @@ void bmi_gyro_get_offset(const struct motion_sensor_t *gyro, intv3_t v)
val |= ((val98 >> (2 * i)) & 0x3) << 8;
if (val > 0x1ff)
val = -1024 + val;
- v[i] = round_divide(
- (int64_t)val * BMI_OFFSET_GYRO_MULTI_MDS,
- BMI_OFFSET_GYRO_DIV_MDS);
+ v[i] = round_divide((int64_t)val * BMI_OFFSET_GYRO_MULTI_MDS,
+ BMI_OFFSET_GYRO_DIV_MDS);
}
}
@@ -859,9 +807,8 @@ void bmi_set_accel_offset(const struct motion_sensor_t *accel, intv3_t v)
int i, val;
for (i = X; i <= Z; ++i) {
- val = round_divide(
- (int64_t)v[i] * BMI_OFFSET_ACC_DIV_MG,
- BMI_OFFSET_ACC_MULTI_MG);
+ val = round_divide((int64_t)v[i] * BMI_OFFSET_ACC_DIV_MG,
+ BMI_OFFSET_ACC_MULTI_MG);
if (val > 127)
val = 127;
if (val < -128)
@@ -879,9 +826,8 @@ void bmi_set_gyro_offset(const struct motion_sensor_t *gyro, intv3_t v,
int i, val;
for (i = X; i <= Z; i++) {
- val = round_divide(
- (int64_t)v[i] * BMI_OFFSET_GYRO_DIV_MDS,
- BMI_OFFSET_GYRO_MULTI_MDS);
+ val = round_divide((int64_t)v[i] * BMI_OFFSET_GYRO_DIV_MDS,
+ BMI_OFFSET_GYRO_MULTI_MDS);
if (val > 511)
val = 511;
if (val < -512)
@@ -899,11 +845,11 @@ void bmi_set_gyro_offset(const struct motion_sensor_t *gyro, intv3_t v,
bool motion_orientation_changed(const struct motion_sensor_t *s)
{
return BMI_GET_DATA(s)->orientation !=
- BMI_GET_DATA(s)->last_orientation;
+ BMI_GET_DATA(s)->last_orientation;
}
-enum motionsensor_orientation *motion_orientation_ptr(
- const struct motion_sensor_t *s)
+enum motionsensor_orientation *
+motion_orientation_ptr(const struct motion_sensor_t *s)
{
return &BMI_GET_DATA(s)->orientation;
}
diff --git a/driver/accelgyro_bmi_common.h b/driver/accelgyro_bmi_common.h
index 95294f8539..398f04dc42 100644
--- a/driver/accelgyro_bmi_common.h
+++ b/driver/accelgyro_bmi_common.h
@@ -13,6 +13,11 @@
#include "mag_bmm150.h"
#include "accelgyro_bmi_common_public.h"
+#if !defined(CONFIG_ACCELGYRO_BMI_COMM_SPI) && \
+ !defined(CONFIG_ACCELGYRO_BMI_COMM_I2C)
+#error "BMI must use either SPI or I2C communication"
+#endif
+
#define BMI_CONF_REG(_sensor) (0x40 + 2 * (_sensor))
#define BMI_RANGE_REG(_sensor) (0x41 + 2 * (_sensor))
diff --git a/include/config.h b/include/config.h
index be61317550..71a5724cf7 100644
--- a/include/config.h
+++ b/include/config.h
@@ -132,6 +132,14 @@
#undef CONFIG_ACCELGYRO_ICM_COMM_SPI
#undef CONFIG_ACCELGYRO_ICM_COMM_I2C
+/* Select the communication mode for the accelgyro BMI. Only one of these should
+ * be set. To set the value manually, simply define one or the other. If neither
+ * is defined, but I2C_PORT_ACCEL is defined, then CONFIG_ACCELGYRO_BMI_I2C will
+ * automatically be set.
+ */
+#undef CONFIG_ACCELGYRO_BMI_COMM_SPI
+#undef CONFIG_ACCELGYRO_BMI_COMM_I2C
+
/*
* Some chips have a portion of memory which will remain powered even
* during a reset. This is called Always-On, or AON memory, and
@@ -6296,4 +6304,15 @@
* !CONFIG_ACCELGYRO_ICM_COMM_I2C
*/
+#if !defined(CONFIG_ZEPHYR) && !defined(CONFIG_ACCELGYRO_BMI_COMM_SPI) && \
+ !defined(CONFIG_ACCELGYRO_BMI_COMM_I2C)
+#ifdef I2C_PORT_ACCEL
+#define CONFIG_ACCELGYRO_BMI_COMM_I2C
+#else
+#define CONFIG_ACCELGYRO_BMI_COMM_SPI
+#endif
+#endif /* !CONFIG_ZEPHYR && !CONFIG_ACCELGYRO_BMI_SPI && \
+ * !CONFIG_ACCELGYRO_BMI_I2C
+ */
+
#endif /* __CROS_EC_CONFIG_H */
diff --git a/zephyr/CMakeLists.txt b/zephyr/CMakeLists.txt
index ce47548d3b..883031ef7e 100644
--- a/zephyr/CMakeLists.txt
+++ b/zephyr/CMakeLists.txt
@@ -201,10 +201,11 @@ zephyr_library_sources_ifdef(CONFIG_PLATFORM_EC "${PLATFORM_EC}/common/base32.c"
zephyr_library_sources_ifdef(CONFIG_PLATFORM_EC_ACCEL_BMA255
"${PLATFORM_EC}/driver/accel_bma2x2.c"
"${PLATFORM_EC}/common/math_util.c")
-zephyr_library_sources_ifdef(CONFIG_PLATFORM_EC_ACCELGYRO_BMI260
+zephyr_library_sources_ifdef(CONFIG_PLATFORM_EC_ACCELGYRO_BMI
"${PLATFORM_EC}/driver/accelgyro_bmi_common.c"
- "${PLATFORM_EC}/driver/accelgyro_bmi260.c"
"${PLATFORM_EC}/common/math_util.c")
+zephyr_library_sources_ifdef(CONFIG_PLATFORM_EC_ACCELGYRO_BMI260
+ "${PLATFORM_EC}/driver/accelgyro_bmi260.c")
zephyr_library_sources_ifdef(CONFIG_PLATFORM_EC_ACCELGYRO_ICM
"${PLATFORM_EC}/driver/accelgyro_icm_common.c")
zephyr_library_sources_ifdef(CONFIG_PLATFORM_EC_ACCELGYRO_ICM426XX
diff --git a/zephyr/Kconfig.accelgyro_bmi b/zephyr/Kconfig.accelgyro_bmi
new file mode 100644
index 0000000000..bb8239f6d8
--- /dev/null
+++ b/zephyr/Kconfig.accelgyro_bmi
@@ -0,0 +1,33 @@
+# 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.
+
+
+if PLATFORM_EC_ACCELGYRO_BMI
+menu "BMI Sensor Common"
+
+choice PLATFORM_EC_ACCELGYRO_BMI_COMM
+ prompt "Accelgyro BMI's communication mode"
+ help
+ When using the BMI drivers, there's the option to communicate with the
+ chip via several methods. This choice helps improve code size by only
+ compiling the needed communication channels.
+
+config PLATFORM_EC_ACCELGYRO_BMI_COMM_SPI
+ bool "Use SPI communication"
+ help
+ The BMI chip is using SPI communication. This config value is used to
+ save on code size as only the SPI communication code will be included
+ for the BMI chip.
+
+config PLATFORM_EC_ACCELGYRO_BMI_COMM_I2C
+ bool "Use I2C communication"
+ help
+ The BMI chip is using I2C communication. This config value is used to
+ save on code size as only the I2C communication code will be included
+ for the BMI chip.
+
+endchoice
+
+endmenu # BMI Sensor
+endif # PLATFORM_EC_ACCELGYRO_BMI \ No newline at end of file
diff --git a/zephyr/Kconfig.sensor_devices b/zephyr/Kconfig.sensor_devices
index a62a43d6c2..3cfa41220d 100644
--- a/zephyr/Kconfig.sensor_devices
+++ b/zephyr/Kconfig.sensor_devices
@@ -4,6 +4,13 @@
menu "Sensor Devices"
+config PLATFORM_EC_ACCELGYRO_BMI
+ bool "Config used to include common accelgyro BMI features"
+ help
+ Do not set this directly in a .conf file. This value should be set
+ using an `select` statement in other BMI family of drivers such as
+ BMI260.
+
config PLATFORM_EC_ACCELGYRO_ICM
bool "Config used to include common accelgyro ICM features"
help
@@ -21,6 +28,7 @@ config PLATFORM_EC_ACCEL_BMA255
config PLATFORM_EC_ACCELGYRO_BMI260
bool "BMI260 Accelgyrometer Driver"
+ select PLATFORM_EC_ACCELGYRO_BMI
help
The driver supports Bosch's BMI260 which is an IMU consisting of
a 16-bit tri-axial gyroscope and a 16-bit tri-axial accelerometer.
@@ -38,6 +46,7 @@ config PLATFORM_EC_ACCELGYRO_ICM426XX
The driver supports ICM425XX which provides both accelerometer and
gyroscope readings.
+rsource "Kconfig.accelgyro_bmi"
rsource "Kconfig.accelgyro_icm"
endmenu # Sensor devices
diff --git a/zephyr/projects/volteer/volteer/prj.conf b/zephyr/projects/volteer/volteer/prj.conf
index 32a2ac8118..ed3255049d 100644
--- a/zephyr/projects/volteer/volteer/prj.conf
+++ b/zephyr/projects/volteer/volteer/prj.conf
@@ -86,6 +86,7 @@ CONFIG_PLATFORM_EC_TABLET_MODE=y
# Sensor Drivers
CONFIG_PLATFORM_EC_ACCEL_BMA255=y
CONFIG_PLATFORM_EC_ACCELGYRO_BMI260=y
+CONFIG_PLATFORM_EC_ACCELGYRO_BMI_COMM_I2C=y
CONFIG_PLATFORM_EC_ALS_TCS3400=y
# Temperature sensors
diff --git a/zephyr/shim/include/config_chip.h b/zephyr/shim/include/config_chip.h
index 923937688b..e0ca82c1c9 100644
--- a/zephyr/shim/include/config_chip.h
+++ b/zephyr/shim/include/config_chip.h
@@ -1447,4 +1447,14 @@
#define CONFIG_ACCELGYRO_ICM_COMM_I2C
#endif
+#undef CONFIG_ACCELGYRO_BMI_COMM_SPI
+#ifdef CONFIG_PLATFORM_EC_ACCELGYRO_BMI_COMM_SPI
+#define CONFIG_ACCELGYRO_BMI_COMM_SPI
+#endif
+
+#undef CONFIG_ACCELGYRO_BMI_COMM_I2C
+#ifdef CONFIG_PLATFORM_EC_ACCELGYRO_BMI_COMM_I2C
+#define CONFIG_ACCELGYRO_BMI_COMM_I2C
+#endif
+
#endif /* __CROS_EC_CONFIG_CHIP_H */