diff options
Diffstat (limited to 'driver/accelgyro_bmi160.c')
| -rw-r--r-- | driver/accelgyro_bmi160.c | 345 |
1 files changed, 166 insertions, 179 deletions
diff --git a/driver/accelgyro_bmi160.c b/driver/accelgyro_bmi160.c index cad62df246..96eea09844 100644 --- a/driver/accelgyro_bmi160.c +++ b/driver/accelgyro_bmi160.c @@ -759,6 +759,169 @@ int list_activities(const struct motion_sensor_t *s, #endif #ifdef CONFIG_ACCEL_INTERRUPTS +/** + * bmi160_interrupt - called when the sensor activates the interrupt line. + * + * This is a "top half" interrupt handler, it just asks motion sense ask + * to schedule the "bottom half", ->irq_handler(). + */ +void bmi160_interrupt(enum gpio_signal signal) +{ + task_set_event(TASK_ID_MOTIONSENSE, + CONFIG_ACCELGYRO_BMI160_INT_EVENT, 0); +} + + +static int config_interrupt(const struct motion_sensor_t *s) +{ + int ret, tmp; + + if (s->type != MOTIONSENSE_TYPE_ACCEL) + return EC_SUCCESS; + + mutex_lock(s->mutex); + raw_write8(s->port, s->addr, BMI160_CMD_REG, BMI160_CMD_FIFO_FLUSH); + raw_write8(s->port, s->addr, BMI160_CMD_REG, BMI160_CMD_INT_RESET); + +#ifdef CONFIG_GESTURE_SENSOR_BATTERY_TAP + raw_write8(s->port, s->addr, BMI160_INT_TAP_0, + BMI160_TAP_DUR(s, CONFIG_GESTURE_TAP_MAX_INTERSTICE_T)); + ret = raw_write8(s->port, s->addr, BMI160_INT_TAP_1, + BMI160_TAP_TH(s, CONFIG_GESTURE_TAP_THRES_MG)); +#endif +#ifdef CONFIG_BMI160_ORIENTATION_SENSOR + /* only use orientation sensor on the lid sensor */ + if (s->location == MOTIONSENSE_LOC_LID) { + ret = raw_write8(s->port, s->addr, BMI160_INT_ORIENT_0, + BMI160_INT_ORIENT_0_INIT_VAL); + ret = raw_write8(s->port, s->addr, BMI160_INT_ORIENT_1, + BMI160_INT_ORIENT_1_INIT_VAL); + } +#endif + + /* + * Set a 5ms latch to be sure the EC can read the interrupt register + * properly, even when it is running more slowly. + */ +#ifdef CONFIG_ACCELGYRO_BMI160_INT2_OUTPUT + ret = raw_write8(s->port, s->addr, BMI160_INT_LATCH, BMI160_LATCH_5MS); +#else + /* Also, configure int2 as an external input. */ + ret = raw_write8(s->port, s->addr, BMI160_INT_LATCH, + BMI160_INT2_INPUT_EN | BMI160_LATCH_5MS); +#endif + + /* configure int1 as an interrupt */ + ret = raw_write8(s->port, s->addr, BMI160_INT_OUT_CTRL, + BMI160_INT_CTRL(1, OUTPUT_EN)); + + /* Map activity interrupt to int 1 */ + tmp = 0; +#ifdef CONFIG_GESTURE_SIGMO + tmp |= BMI160_INT_ANYMOTION; +#endif +#ifdef CONFIG_GESTURE_SENSOR_BATTERY_TAP + tmp |= BMI160_INT_D_TAP; +#endif +#ifdef CONFIG_BMI160_ORIENTATION_SENSOR + /* enable orientation interrupt for lid sensor only */ + if (s->location == MOTIONSENSE_LOC_LID) + tmp |= BMI160_INT_ORIENT; +#endif + ret = raw_write8(s->port, s->addr, BMI160_INT_MAP_REG(1), tmp); + +#ifdef CONFIG_ACCEL_FIFO + /* map fifo water mark to int 1 */ + ret = raw_write8(s->port, s->addr, BMI160_INT_FIFO_MAP, + BMI160_INT_MAP(1, FWM) | + BMI160_INT_MAP(1, FFULL)); + + /* configure fifo watermark to int whenever there's any data in there */ + ret = raw_write8(s->port, s->addr, BMI160_FIFO_CONFIG_0, 1); +#ifdef CONFIG_ACCELGYRO_BMI160_INT2_OUTPUT + ret = raw_write8(s->port, s->addr, BMI160_FIFO_CONFIG_1, + BMI160_FIFO_HEADER_EN); +#else + ret = raw_write8(s->port, s->addr, BMI160_FIFO_CONFIG_1, + BMI160_FIFO_TAG_INT2_EN | + BMI160_FIFO_HEADER_EN); +#endif + + /* Set fifo*/ + ret = raw_read8(s->port, s->addr, BMI160_INT_EN_1, &tmp); + tmp |= BMI160_INT_FWM_EN | BMI160_INT_FFUL_EN; + ret = raw_write8(s->port, s->addr, BMI160_INT_EN_1, tmp); +#endif + mutex_unlock(s->mutex); + return ret; +} + +/** + * irq_handler - bottom half of the interrupt stack. + * Ran from the motion_sense task, finds the events that raised the interrupt. + * + * For now, we just print out. We should set a bitmask motion sense code will + * act upon. + */ +static int irq_handler(struct motion_sensor_t *s, uint32_t *event) +{ + int interrupt; +#ifdef CONFIG_BMI160_ORIENTATION_SENSOR + int shifted_masked_orientation; +#endif + + if ((s->type != MOTIONSENSE_TYPE_ACCEL) || + (!(*event & CONFIG_ACCELGYRO_BMI160_INT_EVENT))) + return EC_ERROR_NOT_HANDLED; + + raw_read32(s->port, s->addr, BMI160_INT_STATUS_0, &interrupt); + +#ifdef CONFIG_GESTURE_SENSOR_BATTERY_TAP + if (interrupt & BMI160_D_TAP_INT) + *event |= CONFIG_GESTURE_TAP_EVENT; +#endif +#ifdef CONFIG_GESTURE_SIGMO + if (interrupt & BMI160_SIGMOT_INT) + *event |= CONFIG_GESTURE_SIGMO_EVENT; +#endif +#ifdef CONFIG_BMI160_ORIENTATION_SENSOR + shifted_masked_orientation = (interrupt >> 24) & BMI160_ORIENT_XY_MASK; + if (BMI160_GET_DATA(s)->raw_orientation != shifted_masked_orientation) { + enum motionsensor_orientation orientation = + MOTIONSENSE_ORIENTATION_UNKNOWN; + + BMI160_GET_DATA(s)->raw_orientation = + shifted_masked_orientation; + + switch (shifted_masked_orientation) { + case BMI160_ORIENT_PORTRAIT: + orientation = MOTIONSENSE_ORIENTATION_PORTRAIT; + break; + case BMI160_ORIENT_PORTRAIT_INVERT: + orientation = + MOTIONSENSE_ORIENTATION_UPSIDE_DOWN_PORTRAIT; + break; + case BMI160_ORIENT_LANDSCAPE: + orientation = MOTIONSENSE_ORIENTATION_LANDSCAPE; + break; + case BMI160_ORIENT_LANDSCAPE_INVERT: + orientation = + MOTIONSENSE_ORIENTATION_UPSIDE_DOWN_LANDSCAPE; + break; + default: + break; + } + orientation = motion_sense_remap_orientation(s, orientation); + SET_ORIENTATION(s, orientation); + } +#endif + /* + * No need to read the FIFO here, motion sense task is + * doing it on every interrupt. + */ + return EC_SUCCESS; +} +#endif /* CONFIG_ACCEL_INTERRUPTS */ #ifdef CONFIG_ACCEL_FIFO enum fifo_state { @@ -823,17 +986,6 @@ static int bmi160_decode_header(struct motion_sensor_t *s, } } -/** - * Retrieve hardware FIFO from sensor, - * - put data in Sensor Hub fifo. - * - update sensor raw_xyz vector with the last information. - * We put raw data in hub fifo and process data from there. - * @s Pointer to sensor data. - * - * NOTE: If a new driver supports this function, be sure to add a check - * for spoof_mode in order to load the sensor stack with the spoofed - * data. See accelgyro_bmi160.c::load_fifo for an example. - */ static int load_fifo(struct motion_sensor_t *s) { int done = 0; @@ -940,174 +1092,6 @@ static int load_fifo(struct motion_sensor_t *s) } #endif /* CONFIG_ACCEL_FIFO */ -/** - * bmi160_interrupt - called when the sensor activates the interrupt line. - * - * This is a "top half" interrupt handler, it just asks motion sense ask - * to schedule the "bottom half", ->irq_handler(). - */ -void bmi160_interrupt(enum gpio_signal signal) -{ - task_set_event(TASK_ID_MOTIONSENSE, - CONFIG_ACCELGYRO_BMI160_INT_EVENT, 0); -} - - -static int config_interrupt(const struct motion_sensor_t *s) -{ - int ret, tmp; - - if (s->type != MOTIONSENSE_TYPE_ACCEL) - return EC_SUCCESS; - - mutex_lock(s->mutex); - raw_write8(s->port, s->addr, BMI160_CMD_REG, BMI160_CMD_FIFO_FLUSH); - raw_write8(s->port, s->addr, BMI160_CMD_REG, BMI160_CMD_INT_RESET); - -#ifdef CONFIG_GESTURE_SENSOR_BATTERY_TAP - raw_write8(s->port, s->addr, BMI160_INT_TAP_0, - BMI160_TAP_DUR(s, CONFIG_GESTURE_TAP_MAX_INTERSTICE_T)); - ret = raw_write8(s->port, s->addr, BMI160_INT_TAP_1, - BMI160_TAP_TH(s, CONFIG_GESTURE_TAP_THRES_MG)); -#endif -#ifdef CONFIG_BMI160_ORIENTATION_SENSOR - /* only use orientation sensor on the lid sensor */ - if (s->location == MOTIONSENSE_LOC_LID) { - ret = raw_write8(s->port, s->addr, BMI160_INT_ORIENT_0, - BMI160_INT_ORIENT_0_INIT_VAL); - ret = raw_write8(s->port, s->addr, BMI160_INT_ORIENT_1, - BMI160_INT_ORIENT_1_INIT_VAL); - } -#endif - - /* - * Set a 5ms latch to be sure the EC can read the interrupt register - * properly, even when it is running more slowly. - */ -#ifdef CONFIG_ACCELGYRO_BMI160_INT2_OUTPUT - ret = raw_write8(s->port, s->addr, BMI160_INT_LATCH, BMI160_LATCH_5MS); -#else - /* Also, configure int2 as an external input. */ - ret = raw_write8(s->port, s->addr, BMI160_INT_LATCH, - BMI160_INT2_INPUT_EN | BMI160_LATCH_5MS); -#endif - - /* configure int1 as an interrupt */ - ret = raw_write8(s->port, s->addr, BMI160_INT_OUT_CTRL, - BMI160_INT_CTRL(1, OUTPUT_EN)); - - /* Map activity interrupt to int 1 */ - tmp = 0; -#ifdef CONFIG_GESTURE_SIGMO - tmp |= BMI160_INT_ANYMOTION; -#endif -#ifdef CONFIG_GESTURE_SENSOR_BATTERY_TAP - tmp |= BMI160_INT_D_TAP; -#endif -#ifdef CONFIG_BMI160_ORIENTATION_SENSOR - /* enable orientation interrupt for lid sensor only */ - if (s->location == MOTIONSENSE_LOC_LID) - tmp |= BMI160_INT_ORIENT; -#endif - ret = raw_write8(s->port, s->addr, BMI160_INT_MAP_REG(1), tmp); - -#ifdef CONFIG_ACCEL_FIFO - /* map fifo water mark to int 1 */ - ret = raw_write8(s->port, s->addr, BMI160_INT_FIFO_MAP, - BMI160_INT_MAP(1, FWM) | - BMI160_INT_MAP(1, FFULL)); - - /* configure fifo watermark to int whenever there's any data in there */ - ret = raw_write8(s->port, s->addr, BMI160_FIFO_CONFIG_0, 1); -#ifdef CONFIG_ACCELGYRO_BMI160_INT2_OUTPUT - ret = raw_write8(s->port, s->addr, BMI160_FIFO_CONFIG_1, - BMI160_FIFO_HEADER_EN); -#else - ret = raw_write8(s->port, s->addr, BMI160_FIFO_CONFIG_1, - BMI160_FIFO_TAG_INT2_EN | - BMI160_FIFO_HEADER_EN); -#endif - - /* Set fifo*/ - ret = raw_read8(s->port, s->addr, BMI160_INT_EN_1, &tmp); - tmp |= BMI160_INT_FWM_EN | BMI160_INT_FFUL_EN; - ret = raw_write8(s->port, s->addr, BMI160_INT_EN_1, tmp); -#endif - mutex_unlock(s->mutex); - return ret; -} - -/** - * irq_handler - bottom half of the interrupt stack. - * Ran from the motion_sense task, finds the events that raised the interrupt. - * - * For now, we just print out. We should set a bitmask motion sense code will - * act upon. - */ -static int irq_handler(struct motion_sensor_t *s, uint32_t *event) -{ - int interrupt; -#ifdef CONFIG_BMI160_ORIENTATION_SENSOR - int shifted_masked_orientation; -#endif - - if ((s->type != MOTIONSENSE_TYPE_ACCEL) || - (!(*event & CONFIG_ACCELGYRO_BMI160_INT_EVENT))) - return EC_ERROR_NOT_HANDLED; - - raw_read32(s->port, s->addr, BMI160_INT_STATUS_0, &interrupt); - -#ifdef CONFIG_GESTURE_SENSOR_BATTERY_TAP - if (interrupt & BMI160_D_TAP_INT) - *event |= CONFIG_GESTURE_TAP_EVENT; -#endif -#ifdef CONFIG_GESTURE_SIGMO - if (interrupt & BMI160_SIGMOT_INT) - *event |= CONFIG_GESTURE_SIGMO_EVENT; -#endif -#ifdef CONFIG_ACCEL_FIFO - if (interrupt & (BMI160_FWM_INT | BMI160_FFULL_INT)) - load_fifo(s); -#endif -#ifdef CONFIG_BMI160_ORIENTATION_SENSOR - shifted_masked_orientation = (interrupt >> 24) & BMI160_ORIENT_XY_MASK; - if (BMI160_GET_DATA(s)->raw_orientation != shifted_masked_orientation) { - enum motionsensor_orientation orientation = - MOTIONSENSE_ORIENTATION_UNKNOWN; - - BMI160_GET_DATA(s)->raw_orientation = - shifted_masked_orientation; - - switch (shifted_masked_orientation) { - case BMI160_ORIENT_PORTRAIT: - orientation = MOTIONSENSE_ORIENTATION_PORTRAIT; - break; - case BMI160_ORIENT_PORTRAIT_INVERT: - orientation = - MOTIONSENSE_ORIENTATION_UPSIDE_DOWN_PORTRAIT; - break; - case BMI160_ORIENT_LANDSCAPE: - orientation = MOTIONSENSE_ORIENTATION_LANDSCAPE; - break; - case BMI160_ORIENT_LANDSCAPE_INVERT: - orientation = - MOTIONSENSE_ORIENTATION_UPSIDE_DOWN_LANDSCAPE; - break; - default: - break; - } - orientation = motion_sense_remap_orientation(s, orientation); - SET_ORIENTATION(s, orientation); - } -#endif - /* - * No need to read the FIFO here, motion sense task is - * doing it on every interrupt. - */ - return EC_SUCCESS; -} -#endif /* CONFIG_ACCEL_INTERRUPTS */ - static int read(const struct motion_sensor_t *s, vector_3_t v) { @@ -1301,6 +1285,9 @@ const struct accelgyro_drv bmi160_drv = { #ifdef CONFIG_ACCEL_INTERRUPTS .irq_handler = irq_handler, #endif +#ifdef CONFIG_ACCEL_FIFO + .load_fifo = load_fifo, +#endif #ifdef CONFIG_GESTURE_HOST_DETECTION .manage_activity = manage_activity, .list_activities = list_activities, |