231 lines
6.9 KiB
C
231 lines
6.9 KiB
C
/* Copyright 2014 The Chromium OS Authors. All rights reserved.
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* Use of this source code is governed by a BSD-style license that can be
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* found in the LICENSE file.
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*/
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#ifndef __CROS_EC_ACCELGYRO_H
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#define __CROS_EC_ACCELGYRO_H
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#include "motion_sense.h"
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/* Header file for accelerometer / gyro drivers. */
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/*
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* EC reports sensor data on 16 bits. For accel/gyro/mag.. the MSB is the sign.
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* For instance, for gravity,
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* real_value[in g] = measured_value * range >> 15
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*/
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#define MOTION_SCALING_FACTOR (1 << 15)
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#define MOTION_ONE_G (9.80665f)
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struct accelgyro_drv {
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/**
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* Initialize accelerometers.
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* @s Pointer to sensor data pointer. Sensor data will be
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* allocated on success.
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* @return EC_SUCCESS if successful, non-zero if error.
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*/
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int (*init)(const struct motion_sensor_t *s);
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/**
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* Read all three accelerations of an accelerometer. Note that all
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* three accelerations come back in counts, where ACCEL_G can be used
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* to convert counts to engineering units.
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* @s Pointer to sensor data.
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* @v Vector to store acceleration (in units of counts).
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* @return EC_SUCCESS if successful, non-zero if error.
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*/
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int (*read)(const struct motion_sensor_t *s, intv3_t v);
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/**
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* Setter and getter methods for the sensor range. The sensor range
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* defines the maximum value that can be returned from read(). As the
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* range increases, the resolution gets worse.
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* @s Pointer to sensor data.
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* @range Range (Units are +/- G's for accel, +/- deg/s for gyro)
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* @rnd Rounding flag. If true, it rounds up to nearest valid
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* value. Otherwise, it rounds down.
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* @return EC_SUCCESS if successful, non-zero if error.
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*/
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int (*set_range)(const struct motion_sensor_t *s,
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int range,
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int rnd);
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int (*get_range)(const struct motion_sensor_t *s);
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/**
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* Setter and getter methods for the sensor resolution.
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* @s Pointer to sensor data.
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* @range Resolution (Units are number of bits)
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* param rnd Rounding flag. If true, it rounds up to nearest valid
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* value. Otherwise, it rounds down.
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* @return EC_SUCCESS if successful, non-zero if error.
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*/
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int (*set_resolution)(const struct motion_sensor_t *s,
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int res,
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int rnd);
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int (*get_resolution)(const struct motion_sensor_t *s);
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/**
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* Setter and getter methods for the sensor output data range. As the
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* ODR increases, the LPF roll-off frequency also increases.
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* @s Pointer to sensor data.
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* @rate Output data rate (units are milli-Hz)
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* @rnd Rounding flag. If true, it rounds up to nearest valid
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* value. Otherwise, it rounds down.
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* @return EC_SUCCESS if successful, non-zero if error.
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*/
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int (*set_data_rate)(const struct motion_sensor_t *s,
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int rate,
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int rnd);
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int (*get_data_rate)(const struct motion_sensor_t *s);
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/**
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* Setter and getter methods for the sensor offset.
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* @s Pointer to sensor data.
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* @offset: offset to apply to raw data.
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* @temp: temperature when calibration was done.
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* @return EC_SUCCESS if successful, non-zero if error.
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*/
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int (*set_offset)(const struct motion_sensor_t *s,
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const int16_t *offset,
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int16_t temp);
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int (*get_offset)(const struct motion_sensor_t *s,
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int16_t *offset,
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int16_t *temp);
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/**
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* Setter and getter methods for the sensor scale.
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* @s Pointer to sensor data.
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* @scale: scale to apply to raw data.
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* @temp: temperature when calibration was done.
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* @return EC_SUCCESS if successful, non-zero if error.
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*/
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int (*set_scale)(const struct motion_sensor_t *s,
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const uint16_t *scale,
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int16_t temp);
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int (*get_scale)(const struct motion_sensor_t *s,
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uint16_t *scale,
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int16_t *temp);
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/**
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* Request performing/entering calibration.
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* Either a one shot mode (enable is not used),
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* or enter/exit a calibration state.
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*/
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int (*perform_calib)(const struct motion_sensor_t *s,
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int enable);
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#ifdef CONFIG_ACCEL_INTERRUPTS
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/**
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* handler for interrupts triggered by the sensor: it runs in task and
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* process the events that triggered an interrupt.
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* @s Pointer to sensor data.
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* @event Event to process. May add other events for the next processor.
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*
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* Return EC_SUCCESS when one event is handled, EC_ERROR_NOT_HANDLED
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* when no events have been processed.
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*/
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int (*irq_handler)(struct motion_sensor_t *s, uint32_t *event);
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#endif
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#ifdef CONFIG_GESTURE_DETECTION
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/**
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* handler for setting/getting activity information.
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* Manage the high level activity detection of the chip.
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* @s Pointer to sensor data.
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* @activity activity to work on
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* @enable 1 to enable, 0 to disable
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* @data additional data if needed, activity dependent.
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*/
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int (*manage_activity)(const struct motion_sensor_t *s,
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enum motionsensor_activity activity,
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int enable,
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const struct ec_motion_sense_activity *data);
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/**
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* List activities managed by the sensors.
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* @s Pointer to sensor data.
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* @enable bit mask of activities currently enabled.
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* @disabled bit mask of activities currently disabled.
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*/
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int (*list_activities)(const struct motion_sensor_t *s,
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uint32_t *enabled,
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uint32_t *disabled);
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#endif
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};
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/* Index values for rgb_calibration_t.coeff array */
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enum xyz_coeff_index {
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TCS_CLEAR_COEFF_IDX = 0,
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TCS_RED_COEFF_IDX,
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TCS_GREEN_COEFF_IDX,
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TCS_BLUE_COEFF_IDX,
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COEFF_CHANNEL_COUNT,
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};
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/* Index values for rgb_scale array */
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enum rgb_index {
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RED_RGB_IDX = 0,
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GREEN_RGB_IDX,
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BLUE_RGB_IDX,
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RGB_CHANNEL_COUNT
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};
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/* Used to save sensor information */
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struct accelgyro_saved_data_t {
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int odr;
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int range;
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uint16_t scale[3];
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};
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/* individual channel cover scaling and k factors */
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struct als_channel_scale_t {
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uint16_t k_channel_scale;
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/* Cover compensation scale factor */
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uint16_t cover_scale;
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};
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/* Calibration data */
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struct als_calibration_t {
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/*
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* Scale, uscale, and offset are used to correct the raw 16 bit ALS
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* data and then to convert it to 32 bit using the following equations:
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* raw_value += offset;
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* adjusted_value = raw_value * scale + raw_value * uscale / 10000;
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*/
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uint16_t scale;
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uint16_t uscale;
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int16_t offset;
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struct als_channel_scale_t channel_scale;
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};
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/* RGB ALS Calibration Data */
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struct rgb_calibration_t {
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/*
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* Each channel has scaling factor for normalization & cover
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*/
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struct als_channel_scale_t scale;
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/* Any offset to add to raw channel data */
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int16_t offset;
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/* Clear, R, G, and B coefficients for this channel */
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fp_t coeff[COEFF_CHANNEL_COUNT];
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};
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/* als driver data */
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struct als_drv_data_t {
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int rate; /* holds current sensor rate */
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int last_value; /* holds last als clear channel value */
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struct als_calibration_t als_cal; /* calibration data */
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};
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#define SENSOR_APPLY_DIV_SCALE(_input, _scale) \
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(((_input) * (uint64_t)MOTION_SENSE_DEFAULT_SCALE) / (_scale))
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#define SENSOR_APPLY_SCALE(_input, _scale) \
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(((_input) * (uint64_t)(_scale)) / MOTION_SENSE_DEFAULT_SCALE)
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/* Individual channel scale value between 0 and 2 represented in 16 bits */
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#define ALS_CHANNEL_SCALE(_x) ((_x) * MOTION_SENSE_DEFAULT_SCALE)
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#endif /* __CROS_EC_ACCELGYRO_H */
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