diff options
Diffstat (limited to 'board/bobba/board.c')
-rw-r--r-- | board/bobba/board.c | 78 |
1 files changed, 77 insertions, 1 deletions
diff --git a/board/bobba/board.c b/board/bobba/board.c index c0902ec9ee..0317db2a0a 100644 --- a/board/bobba/board.c +++ b/board/bobba/board.c @@ -9,12 +9,15 @@ #include "adc_chip.h" #include "battery.h" #include "button.h" +#include "cbi_ssfc.h" #include "charge_manager.h" #include "charge_state.h" #include "common.h" #include "cros_board_info.h" #include "driver/accel_kionix.h" #include "driver/accelgyro_bmi_common.h" +#include "driver/accelgyro_icm426xx.h" +#include "driver/accelgyro_icm_common.h" #include "driver/charger/bd9995x.h" #include "driver/ppc/nx20p348x.h" #include "driver/ppc/syv682x.h" @@ -153,6 +156,12 @@ const mat33_fp_t base_standard_ref = { { 0, 0, FLOAT_TO_FP(1)} }; +const mat33_fp_t base_icm_ref = { + { FLOAT_TO_FP(1), 0, 0}, + { 0, FLOAT_TO_FP(-1), 0}, + { 0, 0, FLOAT_TO_FP(1)} +}; + /* * Sparky360 SKU ID 26 has AR Cam, and move base accel/gryo to AR Cam board. * AR Cam board has about 16° bias with motherboard through Y axis. @@ -174,6 +183,7 @@ const mat33_fp_t base_ar_cam_ref = { /* sensor private data */ static struct kionix_accel_data g_kx022_data; static struct bmi_drv_data_t g_bmi160_data; +static struct icm_drv_data_t g_icm426xx_data; /* Drivers */ struct motion_sensor_t motion_sensors[] = { @@ -262,6 +272,52 @@ struct motion_sensor_t motion_sensors[] = { unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors); +struct motion_sensor_t icm426xx_base_accel = { + .name = "Base Accel", + .active_mask = SENSOR_ACTIVE_S0_S3, + .chip = MOTIONSENSE_CHIP_ICM426XX, + .type = MOTIONSENSE_TYPE_ACCEL, + .location = MOTIONSENSE_LOC_BASE, + .drv = &icm426xx_drv, + .mutex = &g_base_mutex, + .drv_data = &g_icm426xx_data, + .port = I2C_PORT_SENSOR, + .i2c_spi_addr_flags = ICM426XX_ADDR0_FLAGS, + .rot_standard_ref = &base_icm_ref, + .default_range = 4, /* g */ + .min_frequency = ICM426XX_ACCEL_MIN_FREQ, + .max_frequency = ICM426XX_ACCEL_MAX_FREQ, + .config = { + /* EC use accel for angle detection */ + [SENSOR_CONFIG_EC_S0] = { + .odr = 13000 | ROUND_UP_FLAG, + .ec_rate = 100 * MSEC, + }, + /* Sensor on for angle detection */ + [SENSOR_CONFIG_EC_S3] = { + .odr = 10000 | ROUND_UP_FLAG, + .ec_rate = 100 * MSEC, + }, + }, +}; + +struct motion_sensor_t icm426xx_base_gyro = { + .name = "Base Gyro", + .active_mask = SENSOR_ACTIVE_S0_S3, + .chip = MOTIONSENSE_CHIP_ICM426XX, + .type = MOTIONSENSE_TYPE_GYRO, + .location = MOTIONSENSE_LOC_BASE, + .drv = &icm426xx_drv, + .mutex = &g_base_mutex, + .drv_data = &g_icm426xx_data, + .port = I2C_PORT_SENSOR, + .i2c_spi_addr_flags = ICM426XX_ADDR0_FLAGS, + .default_range = 1000, /* dps */ + .rot_standard_ref = &base_icm_ref, + .min_frequency = ICM426XX_GYRO_MIN_FREQ, + .max_frequency = ICM426XX_GYRO_MAX_FREQ, +}; + static int board_is_convertible(void) { /* @@ -278,10 +334,17 @@ static int board_with_ar_cam(void) /* SKU ID of Sparky360 with AR Cam: 26 */ return sku_id == 26; } - +static int base_gyro_config; static void board_update_sensor_config_from_sku(void) { if (board_is_convertible()) { + base_gyro_config = get_cbi_ssfc_sensor(); + if (base_gyro_config == SSFC_SENSOR_ICM426XX) { + motion_sensors[BASE_ACCEL] = icm426xx_base_accel; + motion_sensors[BASE_GYRO] = icm426xx_base_gyro; + ccprints("BASE GYRO is ICM426XX"); + } else + ccprints("BASE GYRO is BMI160"); motion_sensor_count = ARRAY_SIZE(motion_sensors); /* Enable Base Accel interrupt */ gpio_enable_interrupt(GPIO_BASE_SIXAXIS_INT_L); @@ -306,6 +369,19 @@ static void board_update_sensor_config_from_sku(void) } } +void motion_interrupt(enum gpio_signal signal) +{ + switch (base_gyro_config) { + case SSFC_SENSOR_ICM426XX: + icm426xx_interrupt(signal); + break; + case SSFC_SENSOR_BMI160: + default: + bmi160_interrupt(signal); + break; + } +} + static int board_has_keypad(void) { return sku_id == 41 || sku_id == 42 || sku_id == 43 || sku_id == 44; |