From 1b9a55b24634c699eb3cec3467e665e77a7205dd Mon Sep 17 00:00:00 2001 From: Ben Chen Date: Thu, 13 Aug 2020 20:18:38 +0800 Subject: voxel: modify motion sensors config change motion sensor base accel and gyro config, and rotations matrices of lid accel and base. BUG=b:162940877 BRANCH=none TEST=Using ectool 'motionsense' verified lid angle now goes from 0 to 360 and swtiches to tablet mode after crossing 200 threshold. Change-Id: I2073ed7d64604d4c3a53ee5d9d11ab930840d0dd Signed-off-by: Ben Chen Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/2352965 Reviewed-by: Keith Short --- board/voxel/board.c | 2 +- board/voxel/board.h | 18 +++++++----------- board/voxel/gpio.inc | 2 +- board/voxel/sensors.c | 37 ++++++++++++++++++++----------------- 4 files changed, 29 insertions(+), 30 deletions(-) diff --git a/board/voxel/board.c b/board/voxel/board.c index 52965ac4cb..23c4c6391a 100644 --- a/board/voxel/board.c +++ b/board/voxel/board.c @@ -10,7 +10,7 @@ #include "accelgyro.h" #include "cbi_ec_fw_config.h" #include "driver/accel_bma2x2.h" -#include "driver/accelgyro_bmi260.h" +#include "driver/accelgyro_bmi160.h" #include "driver/ppc/syv682x.h" #include "driver/retimer/bb_retimer.h" #include "driver/sync.h" diff --git a/board/voxel/board.h b/board/voxel/board.h index e380ba2846..422e4adcdd 100644 --- a/board/voxel/board.h +++ b/board/voxel/board.h @@ -33,21 +33,17 @@ /* Keyboard features */ /* Sensors */ -/* BMA253 accelerometer in base */ -#define CONFIG_ACCEL_BMA255 - -/* BMI260 accel/gyro in base */ -#define CONFIG_ACCELGYRO_BMI260 -#define CONFIG_ACCELGYRO_BMI260_INT_EVENT \ +/* BMI160 Base accel/gyro */ +#define CONFIG_ACCELGYRO_BMI160 +#define CONFIG_ACCELGYRO_BMI160_INT_EVENT \ TASK_EVENT_MOTION_SENSOR_INTERRUPT(BASE_ACCEL) -/* Sensors without hardware FIFO are in forced mode */ -#define CONFIG_ACCEL_FORCE_MODE_MASK BIT(LID_ACCEL) - +/* BMA253 Lid accel */ +#define CONFIG_ACCEL_BMA255 #define CONFIG_LID_ANGLE #define CONFIG_LID_ANGLE_UPDATE -#define CONFIG_LID_ANGLE_SENSOR_BASE BASE_ACCEL -#define CONFIG_LID_ANGLE_SENSOR_LID LID_ACCEL +#define CONFIG_LID_ANGLE_SENSOR_BASE BASE_ACCEL +#define CONFIG_LID_ANGLE_SENSOR_LID LID_ACCEL /* USB Type C and USB PD defines */ /* diff --git a/board/voxel/gpio.inc b/board/voxel/gpio.inc index 63b42c9a7c..0a1c6ae1cf 100644 --- a/board/voxel/gpio.inc +++ b/board/voxel/gpio.inc @@ -25,7 +25,7 @@ GPIO_INT(DSW_PWROK, PIN(C, 7), GPIO_INT_BOTH, power_signal_interrupt) GPIO_INT(PG_EC_ALL_SYS_PWRGD, PIN(F, 4), GPIO_INT_BOTH, power_signal_interrupt) /* Sensor Interrupts */ -GPIO_INT(EC_IMU_INT_L, PIN(5, 6), GPIO_INT_FALLING | GPIO_SEL_1P8V, bmi260_interrupt) +GPIO_INT(EC_IMU_INT_L, PIN(5, 6), GPIO_INT_FALLING | GPIO_SEL_1P8V, bmi160_interrupt) GPIO(EC_ALS_RGB_INT_L, PIN(D, 4), GPIO_INPUT | GPIO_PULL_UP) /* unused */ GPIO_INT(TABLET_MODE_L, PIN(9, 5), GPIO_INT_BOTH, gmr_tablet_switch_isr) /* diff --git a/board/voxel/sensors.c b/board/voxel/sensors.c index 6b8933264c..fab1fac66b 100644 --- a/board/voxel/sensors.c +++ b/board/voxel/sensors.c @@ -8,7 +8,7 @@ #include "accelgyro.h" #include "driver/accel_bma2x2.h" #include "driver/accelgyro_bmi_common.h" -#include "driver/accelgyro_bmi260.h" +#include "driver/accelgyro_bmi160.h" #include "driver/als_tcs3400.h" #include "driver/sync.h" #include "keyboard_scan.h" @@ -18,6 +18,7 @@ #include "tablet_mode.h" #include "util.h" +#define CPRINTS(format, args...) cprints(CC_MOTION_SENSE, format, ## args) /******************************************************************************/ /* Sensors */ static struct mutex g_lid_accel_mutex; @@ -26,19 +27,19 @@ static struct mutex g_base_mutex; /* BMA253 private data */ static struct accelgyro_saved_data_t g_bma253_data; -/* BMI260 private data */ -static struct bmi_drv_data_t g_bmi260_data; +/* BMI160 private data */ +static struct bmi_drv_data_t g_bmi160_data; /* Rotation matrix for the lid accelerometer */ static const mat33_fp_t lid_standard_ref = { - { FLOAT_TO_FP(1), 0, 0}, + { FLOAT_TO_FP(-1), 0, 0}, { 0, FLOAT_TO_FP(-1), 0}, - { 0, 0, FLOAT_TO_FP(-1)} + { 0, 0, FLOAT_TO_FP(1)} }; const mat33_fp_t base_standard_ref = { - { 0, FLOAT_TO_FP(1), 0}, { FLOAT_TO_FP(-1), 0, 0}, + { 0, FLOAT_TO_FP(-1), 0}, { 0, 0, FLOAT_TO_FP(1)} }; @@ -72,14 +73,14 @@ struct motion_sensor_t motion_sensors[] = { [BASE_ACCEL] = { .name = "Base Accel", .active_mask = SENSOR_ACTIVE_S0_S3, - .chip = MOTIONSENSE_CHIP_BMI260, + .chip = MOTIONSENSE_CHIP_BMI160, .type = MOTIONSENSE_TYPE_ACCEL, .location = MOTIONSENSE_LOC_BASE, - .drv = &bmi260_drv, + .drv = &bmi160_drv, .mutex = &g_base_mutex, - .drv_data = &g_bmi260_data, + .drv_data = &g_bmi160_data, .port = I2C_PORT_SENSOR, - .i2c_spi_addr_flags = BMI260_ADDR0_FLAGS, + .i2c_spi_addr_flags = BMI160_ADDR0_FLAGS, .rot_standard_ref = &base_standard_ref, .min_frequency = BMI_ACCEL_MIN_FREQ, .max_frequency = BMI_ACCEL_MAX_FREQ, @@ -101,14 +102,14 @@ struct motion_sensor_t motion_sensors[] = { [BASE_GYRO] = { .name = "Base Gyro", .active_mask = SENSOR_ACTIVE_S0_S3, - .chip = MOTIONSENSE_CHIP_BMI260, + .chip = MOTIONSENSE_CHIP_BMI160, .type = MOTIONSENSE_TYPE_GYRO, .location = MOTIONSENSE_LOC_BASE, - .drv = &bmi260_drv, + .drv = &bmi160_drv, .mutex = &g_base_mutex, - .drv_data = &g_bmi260_data, + .drv_data = &g_bmi160_data, .port = I2C_PORT_SENSOR, - .i2c_spi_addr_flags = BMI260_ADDR0_FLAGS, + .i2c_spi_addr_flags = BMI160_ADDR0_FLAGS, .default_range = 1000, /* dps */ .rot_standard_ref = &base_standard_ref, .min_frequency = BMI_GYRO_MIN_FREQ, @@ -117,14 +118,16 @@ struct motion_sensor_t motion_sensors[] = { }; unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors); -static void baseboard_sensors_init(void) +static void board_sensors_init(void) { /* Note - BMA253 interrupt unused by EC */ - /* Enable interrupt for the BMI260 accel/gyro sensor */ + /* Enable interrupt for the BMI160 accel/gyro sensor */ gpio_enable_interrupt(GPIO_EC_IMU_INT_L); + + CPRINTS("Motion Sensor Count = %d", motion_sensor_count); } -DECLARE_HOOK(HOOK_INIT, baseboard_sensors_init, HOOK_PRIO_DEFAULT); +DECLARE_HOOK(HOOK_INIT, board_sensors_init, HOOK_PRIO_DEFAULT); #ifndef TEST_BUILD void lid_angle_peripheral_enable(int enable) -- cgit v1.2.1