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Merged
gmarull merged 3 commits into from
Feb 6, 2026
+770 −886
Merged

LIS2DW12 driver re-write #790

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a800b60
fw/drivers/imu/lis2dw12: driver re-write
gmarull Feb 2, 2026
a32e805
third_party: remove unused LIS2DW12 HAL
gmarull Feb 5, 2026
4d1ba2e
fw/drivers/sf32lb52/exti: fix context switching, use HAL
gmarull Feb 6, 2026
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3 changes: 0 additions & 3 deletions .gitmodules
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Original file line number Diff line number Diff line change
Expand Up @@ -40,9 +40,6 @@
[submodule "third_party/hal_lsm6dso/lsm6dso-pid"]
path = third_party/hal_lsm6dso/lsm6dso-pid
url = https://github.com/STMicroelectronics/lsm6dso-pid.git
[submodule "third_party/hal_lis2dw12/lis2dw12-pid"]
path = third_party/hal_lis2dw12/lis2dw12-pid
url = https://github.com/STMicroelectronics/lis2dw12-pid.git
[submodule "third_party/resources/iconography"]
path = third_party/resources/iconography
url = https://github.com/pebble-dev/iconography
36 changes: 31 additions & 5 deletions src/fw/board/boards/board_getafix.c
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Original file line number Diff line number Diff line change
Expand Up @@ -272,16 +272,42 @@ I2CBus *const I2C1_BUS = &s_i2c_bus_1;

IRQ_MAP(I2C1, i2c_irq_handler, I2C1_BUS);

static const I2CSlavePort s_i2c_lsm2dw12 = {
.bus = &s_i2c_bus_1,
static LIS2DW12State s_lis2dw12_state;

static const LIS2DW12Config s_lis2dw12_config = {
.state = &s_lis2dw12_state,
.i2c = {
.bus = &s_i2c_bus_1,
#if BOARD_GETAFIX_EVT
.address = 0x18,
.address = 0x18,
#else
.address = 0x19,
.address = 0x19,
#endif
},
.int1 = {
.peripheral = hwp_gpio1,
.gpio_pin = 26,
},
#if BOARD_GETAFIX_EVT
.disable_addr_pullup = true,
#endif
.wk_dur_default = 1U,
.wk_ths_default = 16U,
.scale_mg = 4000U,
.fifo_threshold = 16U,
.axis_map = {
[AXIS_X] = 0,
[AXIS_Y] = 1,
[AXIS_Z] = 2,
},
.axis_dir = {
[AXIS_X] = -1,
[AXIS_Y] = 1,
[AXIS_Z] = 1,
},
};

I2CSlavePort *const I2C_LSM2DW12 = &s_i2c_lsm2dw12;
const LIS2DW12Config *const LIS2DW12 = &s_lis2dw12_config;

static const I2CSlavePort s_i2c_mmc5603nj = {
.bus = &s_i2c_bus_1,
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19 changes: 3 additions & 16 deletions src/fw/board/boards/board_getafix.h
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Original file line number Diff line number Diff line change
Expand Up @@ -3,6 +3,7 @@

#pragma once

#include "drivers/imu/lis2dw12/lis2dw12.h"
#include "drivers/led_controller/aw9364e.h"
#include "drivers/pmic/npm1300.h"
#include "drivers/touch/cst816/touch_sensor_definitions.h"
Expand All @@ -20,7 +21,7 @@ extern QSPIFlash * const QSPI_FLASH;
extern I2CBus *const I2C1_BUS;
extern I2CBus *const I2C2_BUS;
extern I2CBus *const I2C3_BUS;
extern I2CSlavePort *const I2C_LSM2DW12;
extern const LIS2DW12Config *const LIS2DW12;
extern I2CSlavePort * const I2C_MMC5603NJ;
extern I2CSlavePort * const I2C_NPM1300;
extern I2CSlavePort *const I2C_W1160;
Expand All @@ -42,21 +43,7 @@ static const BoardConfigBacklight BOARD_CONFIG_BACKLIGHT = {

static const BoardConfigAccel BOARD_CONFIG_ACCEL = {
.accel_config = {
.axes_offsets[AXIS_X] = 0,
.axes_offsets[AXIS_Y] = 1,
.axes_offsets[AXIS_Z] = 2,
.axes_inverts[AXIS_X] = true,
.axes_inverts[AXIS_Y] = false,
.axes_inverts[AXIS_Z] = false,
.shake_thresholds[AccelThresholdHigh] = 64U,
.shake_thresholds[AccelThresholdLow] = 15U,
.double_tap_threshold = 12500U,
.tap_shock = 0x03U,
.tap_quiet = 0x02U,
.tap_dur = 0x08U,
},
.accel_ints = {
[0] = { .peripheral = hwp_gpio1, .gpio_pin = 26 },
.default_motion_sensitivity = 40U, // Medium-Low
},
};

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49 changes: 44 additions & 5 deletions src/fw/board/boards/board_obelix.c
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Original file line number Diff line number Diff line change
Expand Up @@ -373,16 +373,55 @@ I2CBus *const I2C2_BUS = &s_i2c_bus_2;

IRQ_MAP(I2C2, i2c_irq_handler, I2C2_BUS);

static const I2CSlavePort s_i2c_lsm2dw12 = {
.bus = &s_i2c_bus_2,
static LIS2DW12State s_lis2dw12_state;

static const LIS2DW12Config s_lis2dw12_config = {
.state = &s_lis2dw12_state,
.i2c = {
.bus = &s_i2c_bus_2,
#if BOARD_OBELIX_DVT || BOARD_OBELIX_BB2
.address = 0x18,
#else
.address = 0x19,
#endif
},
.int1 = {
.peripheral = hwp_gpio1,
.gpio_pin = 38,
},
#if BOARD_OBELIX_DVT || BOARD_OBELIX_BB2
.address = 0x18,
.disable_addr_pullup = true,
#endif
.wk_dur_default = 1U,
.wk_ths_default = 16U,
.scale_mg = 4000U,
.fifo_threshold = 16U,
#ifdef IS_BIGBOARD
.axis_map = {
[AXIS_X] = 0,
[AXIS_Y] = 1,
[AXIS_Z] = 2,
},
.axis_dir = {
[AXIS_X] = -1,
[AXIS_Y] = -1,
[AXIS_Z] = 1,
},
#else
.address = 0x19,
.axis_map = {
[AXIS_X] = 1,
[AXIS_Y] = 0,
[AXIS_Z] = 2,
},
.axis_dir = {
[AXIS_X] = -1,
[AXIS_Y] = 1,
[AXIS_Z] = -1,
},
#endif
};

I2CSlavePort *const I2C_LSM2DW12 = &s_i2c_lsm2dw12;
const LIS2DW12Config *const LIS2DW12 = &s_lis2dw12_config;

static const I2CSlavePort s_i2c_lsm6dso = {
.bus = &s_i2c_bus_2,
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40 changes: 3 additions & 37 deletions src/fw/board/boards/board_obelix.h
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Original file line number Diff line number Diff line change
Expand Up @@ -3,6 +3,7 @@

#pragma once

#include "drivers/imu/lis2dw12/lis2dw12.h"
#include "drivers/led_controller/pwm.h"
#include "drivers/pmic/npm1300.h"
#include "drivers/touch/cst816/touch_sensor_definitions.h"
Expand All @@ -19,7 +20,7 @@ extern QSPIPort * const QSPI;
extern QSPIFlash * const QSPI_FLASH;
extern I2CBus *const I2C1_BUS;
extern I2CBus *const I2C2_BUS;
extern I2CSlavePort *const I2C_LSM2DW12;
extern const LIS2DW12Config *const LIS2DW12;
extern I2CSlavePort *const I2C_LSM6DSO;
extern I2CSlavePort * const I2C_MMC5603NJ;
extern I2CSlavePort * const I2C_NPM1300;
Expand All @@ -44,42 +45,7 @@ static const BoardConfigBacklight BOARD_CONFIG_BACKLIGHT = {

static const BoardConfigAccel BOARD_CONFIG_ACCEL = {
.accel_config = {
#ifdef IS_BIGBOARD
.axes_offsets[AXIS_X] = 0,
.axes_offsets[AXIS_Y] = 1,
.axes_offsets[AXIS_Z] = 2,
.axes_inverts[AXIS_X] = true,
.axes_inverts[AXIS_Y] = true,
.axes_inverts[AXIS_Z] = false,
#else
.axes_offsets[AXIS_X] = 1,
.axes_offsets[AXIS_Y] = 0,
.axes_offsets[AXIS_Z] = 2,
.axes_inverts[AXIS_X] = true,
.axes_inverts[AXIS_Y] = false,
.axes_inverts[AXIS_Z] = true,
#endif
// TODO(OBELIX): Needs calibration
.shake_thresholds[AccelThresholdHigh] = 64U,
.shake_thresholds[AccelThresholdLow] = 15U,
.double_tap_threshold = 12500U,
// LSM6DSO tap timing register values tuned for reliable double-tap:
// tap_shock (0-3): maximum duration (in ODR steps) where an over-threshold event is still
// considered a tap. Higher tolerates longer impacts. 3 = ~max;
// tap_quiet (0-3): quiet time after first tap during which accel must stay below threshold
// before second tap; balances rejection of long impacts vs responsiveness. 2 is moderate.
// tap_dur (0-15): maximum interval (in ODR steps) between first and second tap. 8 chosen to
// allow natural user double taps without allowing widely spaced taps.
.tap_shock = 0x03U,
.tap_quiet = 0x02U,
.tap_dur = 0x08U,
.default_motion_sensitivity = 70U, // Medium-High
},
.accel_int_gpios = {
[0] = { .gpio = hwp_gpio1, .gpio_pin = 38 },
},
.accel_ints = {
[0] = { .peripheral = hwp_gpio1, .gpio_pin = 38 },
.default_motion_sensitivity = 40U, // Medium-Low
},
};

Expand Down
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