Mrbland: Add the support for ICM42607

BMI160 is going to EOL, so we intend to import ICM42607
to make 2 sources compatible for Mrbland.

BUG=b:196287196
BRANCH=trogdor
TEST=1.make BOARD=mrbland
     2.ectool motionsense can get the sensor data

Change-Id: Ie1b4c6722b460339a38ef48aeae1018f6c008949
Signed-off-by: Siyu Qin <qinsiyu@huaqin.corp-partner.google.com>
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/3089082
Reviewed-by: Bob Moragues <moragues@chromium.org>
Reviewed-by: Wai-Hong Tam <waihong@google.com>

3 files changed, 103 insertions, 4 deletions

diff --git a/board/mrbland/board.c b/board/mrbland/board.c
index 86924907f2..e1f9c4740b 100644
--- a/board/mrbland/board.c
+++ b/board/mrbland/board.c
@@ -3,7 +3,7 @@
  * found in the LICENSE file.
  */
 
-/* Homestar board-specific configuration */
+/* Mrbland board-specific configuration */
 
 #include "adc_chip.h"
 #include "button.h"
@@ -13,6 +13,8 @@
 #include "extpower.h"
 #include "driver/accel_bma2x2.h"
 #include "driver/accelgyro_bmi_common.h"
+#include "driver/accelgyro_icm_common.h"
+#include "driver/accelgyro_icm42607.h"
 #include "driver/ln9310.h"
 #include "driver/ppc/sn5s330.h"
 #include "driver/tcpm/ps8xxx.h"
@@ -259,14 +261,68 @@ const struct pi3usb9201_config_t pi3usb9201_bc12_chips[] = {
 static struct mutex g_lid_mutex;
 
 static struct bmi_drv_data_t g_bmi160_data;
+static struct icm_drv_data_t g_icm42607_data;
+
+enum lid_accelgyro_type {
+	LID_GYRO_NONE = 0,
+	LID_GYRO_BMI160 = 1,
+	LID_GYRO_ICM42607 = 2,
+};
+
+static enum lid_accelgyro_type lid_accelgyro_config;
 
 /* Matrix to rotate accelerometer into standard reference frame */
 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)}
+};
+
+const mat33_fp_t lid_standard_ref_icm42607 = {
 	{ 0, FLOAT_TO_FP(-1), 0},
+	{ FLOAT_TO_FP(1), 0, 0},
 	{ 0,  0, FLOAT_TO_FP(1)}
 };
 
+struct motion_sensor_t icm42607_lid_accel = {
+	.name = "Lid Accel",
+	.active_mask = SENSOR_ACTIVE_S0_S3,
+	.chip = MOTIONSENSE_CHIP_ICM42607,
+	.type = MOTIONSENSE_TYPE_ACCEL,
+	.location = MOTIONSENSE_LOC_LID,
+	.drv = &icm42607_drv,
+	.mutex = &g_lid_mutex,
+	.drv_data = &g_icm42607_data,
+	.port = I2C_PORT_SENSOR,
+	.i2c_spi_addr_flags = ICM42607_ADDR0_FLAGS,
+	.rot_standard_ref = &lid_standard_ref_icm42607,
+	.default_range = 4,  /* g, to meet CDD 7.3.1/C-1-4 reqs */
+	.min_frequency = ICM42607_ACCEL_MIN_FREQ,
+	.max_frequency = ICM42607_ACCEL_MAX_FREQ,
+	.config = {
+		[SENSOR_CONFIG_EC_S0] = {
+			.odr = 10000 | ROUND_UP_FLAG,
+		},
+	},
+};
+
+struct motion_sensor_t icm42607_lid_gyro = {
+	.name = "Gyro",
+	.active_mask = SENSOR_ACTIVE_S0_S3,
+	.chip = MOTIONSENSE_CHIP_ICM42607,
+	.type = MOTIONSENSE_TYPE_GYRO,
+	.location = MOTIONSENSE_LOC_LID,
+	.drv = &icm42607_drv,
+	.mutex = &g_lid_mutex,
+	.drv_data = &g_icm42607_data,
+	.port = I2C_PORT_SENSOR,
+	.i2c_spi_addr_flags = ICM42607_ADDR0_FLAGS,
+	.default_range = 1000, /* dps */
+	.rot_standard_ref = &lid_standard_ref_icm42607,
+	.min_frequency = ICM42607_GYRO_MIN_FREQ,
+	.max_frequency = ICM42607_GYRO_MAX_FREQ,
+};
+
 struct motion_sensor_t motion_sensors[] = {
 	/*
 	 * Note: bmi160: supports accelerometer and gyro sensor
@@ -313,6 +369,44 @@ struct motion_sensor_t motion_sensors[] = {
 };
 const unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
 
+static void board_detect_motionsensor(void)
+{
+	int val = -1;
+
+	if (chipset_in_state(CHIPSET_STATE_ANY_OFF))
+		return;
+	if (lid_accelgyro_config != LID_GYRO_NONE)
+		return;
+
+	/* Check base accelgyro chip */
+	icm_read8(&icm42607_lid_accel, ICM42607_REG_WHO_AM_I, &val);
+	if (val == ICM42607_CHIP_ICM42607P) {
+		motion_sensors[LID_ACCEL] = icm42607_lid_accel;
+		motion_sensors[LID_GYRO] = icm42607_lid_gyro;
+		lid_accelgyro_config = LID_GYRO_ICM42607;
+		CPRINTS("LID Accelgyro: ICM42607");
+	} else {
+		lid_accelgyro_config = LID_GYRO_BMI160;
+		CPRINTS("LID Accelgyro: BMI160");
+	}
+}
+DECLARE_HOOK(HOOK_CHIPSET_STARTUP, board_detect_motionsensor,
+	     HOOK_PRIO_DEFAULT);
+DECLARE_HOOK(HOOK_INIT, board_detect_motionsensor, HOOK_PRIO_DEFAULT + 1);
+
+void motion_interrupt(enum gpio_signal signal)
+{
+	switch (lid_accelgyro_config) {
+	case LID_GYRO_ICM42607:
+		icm42607_interrupt(signal);
+		break;
+	case LID_GYRO_BMI160:
+	default:
+		bmi160_interrupt(signal);
+		break;
+	}
+}
+
 enum battery_cell_type board_get_battery_cell_type(void)
 {
 	return BATTERY_CELL_TYPE_2S;
diff --git a/board/mrbland/board.h b/board/mrbland/board.h
index 3d29ac3686..c0d983b533 100644
--- a/board/mrbland/board.h
+++ b/board/mrbland/board.h
@@ -46,12 +46,15 @@
 #define CONFIG_USBC_PPC_SN5S330
 #define CONFIG_USB_PD_PORT_MAX_COUNT 2
 
-/* BMI160 Lid accel/gyro */
+/* Lid accel/gyro */
 #define CONFIG_ACCELGYRO_BMI160
 #define CONFIG_ACCEL_INTERRUPTS
 #define CONFIG_ACCELGYRO_BMI160_INT_EVENT \
 	TASK_EVENT_MOTION_SENSOR_INTERRUPT(LID_ACCEL)
 #define OPT3001_I2C_ADDR_FLAGS OPT3001_I2C_ADDR1_FLAGS
+#define CONFIG_ACCELGYRO_ICM42607
+#define CONFIG_ACCELGYRO_ICM42607_INT_EVENT \
+	TASK_EVENT_MOTION_SENSOR_INTERRUPT(LID_ACCEL)
 
 #define CONFIG_TABLET_MODE
 #define CONFIG_TABLET_MODE_SWITCH
@@ -113,6 +116,8 @@ void board_set_tcpc_power_mode(int port, int mode);
 /* Base detection */
 void base_detect_interrupt(enum gpio_signal signal);
 
+void motion_interrupt(enum gpio_signal signal);
+
 #endif /* !defined(__ASSEMBLER__) */
 
 #endif /* __CROS_EC_BOARD_H */
diff --git a/board/mrbland/gpio.inc b/board/mrbland/gpio.inc
index 714c640a53..77a69a5faa 100644
--- a/board/mrbland/gpio.inc
+++ b/board/mrbland/gpio.inc
@@ -42,7 +42,7 @@ GPIO_INT(AP_EC_SPI_CS_L,    PIN(5, 3), GPIO_INT_FALLING | GPIO_PULL_DOWN, shi_cs
 GPIO_INT(BASE_DET_L,        PIN(3, 7), GPIO_INT_BOTH, base_detect_interrupt)  /* Detachable base attached? */
 
 /* Sensor interrupts */
-GPIO_INT(ACCEL_GYRO_INT_L,  PIN(A, 0), GPIO_INT_FALLING, bmi160_interrupt)  /* Accelerometer/gyro interrupt */
+GPIO_INT(ACCEL_GYRO_INT_L,  PIN(A, 0), GPIO_INT_FALLING, motion_interrupt)  /* Accelerometer/gyro interrupt */
 
 /* Switchcap, for LN9310, it is the interrupt line of LN9310. */
 GPIO_INT(LN9310_INT,      PIN(E, 2), GPIO_INT_FALLING, switchcap_interrupt)