cherry: enable sensors

BUG=b:178158810
TEST=`accelread 0/1/2`
BRANCH=main

Signed-off-by: Ting Shen <phoenixshen@google.com>
Change-Id: Iad128e3c94e409da000d5f11952a526a73ad64d9
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/2730519
Tested-by: Ting Shen <phoenixshen@chromium.org>
Reviewed-by: Eric Yilun Lin <yllin@chromium.org>
Commit-Queue: Ting Shen <phoenixshen@chromium.org>

5 files changed, 54 insertions, 212 deletions

diff --git a/baseboard/cherry/baseboard.c b/baseboard/cherry/baseboard.c
index 67fbc244ca..ebc6584083 100644
--- a/baseboard/cherry/baseboard.c
+++ b/baseboard/cherry/baseboard.c
@@ -15,9 +15,10 @@
 #include "chipset.h"
 #include "common.h"
 #include "console.h"
-#include "driver/accelgyro_bmi_common.h"
-#include "driver/accel_lis2dw12.h"
-#include "driver/als_tcs3400.h"
+#include "driver/accel_kionix.h"
+#include "driver/accel_kx022.h"
+#include "driver/accelgyro_icm426xx.h"
+#include "driver/accelgyro_icm_common.h"
 #include "driver/bc12/mt6360.h"
 #include "driver/bc12/pi3usb9201.h"
 #include "driver/charger/isl923x.h"
diff --git a/baseboard/cherry/baseboard.h b/baseboard/cherry/baseboard.h
index 0611e3dfc7..5cadf928b3 100644
--- a/baseboard/cherry/baseboard.h
+++ b/baseboard/cherry/baseboard.h
@@ -80,11 +80,11 @@
 #define CONFIG_I2C_CONTROLLER
 #define CONFIG_I2C_PASSTHRU_RESTRICTED
 #define CONFIG_I2C_VIRTUAL_BATTERY
-#define I2C_PORT_CHARGER IT83XX_I2C_CH_A
-#define I2C_PORT_BATTERY IT83XX_I2C_CH_A
-#define I2C_PORT_ACCEL IT83XX_I2C_CH_B
-#define I2C_PORT_PPC0  IT83XX_I2C_CH_C
-#define I2C_PORT_PPC1  IT83XX_I2C_CH_E
+#define I2C_PORT_CHARGER  IT83XX_I2C_CH_A
+#define I2C_PORT_BATTERY  IT83XX_I2C_CH_A
+#define I2C_PORT_ACCEL    IT83XX_I2C_CH_B
+#define I2C_PORT_PPC0     IT83XX_I2C_CH_C
+#define I2C_PORT_PPC1     IT83XX_I2C_CH_E
 #define I2C_PORT_USB_MUX0 IT83XX_I2C_CH_C
 #define I2C_PORT_USB_MUX1 IT83XX_I2C_CH_E
 #define I2C_PORT_VIRTUAL_BATTERY I2C_PORT_BATTERY
diff --git a/board/cherry/board.c b/board/cherry/board.c
index 02095d6f57..4282aa99b3 100644
--- a/board/cherry/board.c
+++ b/board/cherry/board.c
@@ -13,9 +13,10 @@
 #include "chipset.h"
 #include "common.h"
 #include "console.h"
-#include "driver/accel_lis2dw12.h"
-#include "driver/accelgyro_bmi_common.h"
-#include "driver/als_tcs3400.h"
+#include "driver/accel_kionix.h"
+#include "driver/accel_kx022.h"
+#include "driver/accelgyro_icm426xx.h"
+#include "driver/accelgyro_icm_common.h"
 #include "driver/bc12/mt6360.h"
 #include "driver/bc12/pi3usb9201.h"
 #include "driver/charger/isl923x.h"
@@ -64,101 +65,8 @@ DECLARE_HOOK(HOOK_INIT, board_init, HOOK_PRIO_DEFAULT);
 static struct mutex g_base_mutex;
 static struct mutex g_lid_mutex;
 
-static struct bmi_drv_data_t g_bmi160_data;
-static struct stprivate_data g_lis2dwl_data;
-
-#ifdef BOARD_ASURADA_REV0
-/* Matrix to rotate accelerometer into standard reference frame */
-/* for rev 0 */
-static const mat33_fp_t base_standard_ref_rev0 = {
-	{FLOAT_TO_FP(-1), 0, 0},
-	{0, FLOAT_TO_FP(1), 0},
-	{0, 0, FLOAT_TO_FP(-1)},
-};
-
-static void update_rotation_matrix(void)
-{
-	motion_sensors[BASE_ACCEL].rot_standard_ref =
-		&base_standard_ref_rev0;
-	motion_sensors[BASE_GYRO].rot_standard_ref =
-		&base_standard_ref_rev0;
-}
-DECLARE_HOOK(HOOK_INIT, update_rotation_matrix, HOOK_PRIO_INIT_ADC + 2);
-
-/* TCS3400 private data */
-static struct als_drv_data_t g_tcs3400_data = {
-	.als_cal.scale = 1,
-	.als_cal.uscale = 0,
-	.als_cal.offset = 0,
-	.als_cal.channel_scale = {
-		.k_channel_scale = ALS_CHANNEL_SCALE(1.0), /* kc */
-		.cover_scale = ALS_CHANNEL_SCALE(1.0),     /* CT */
-	},
-};
-
-static struct tcs3400_rgb_drv_data_t g_tcs3400_rgb_data = {
-	/*
-	 * TODO: calculate the actual coefficients and scaling factors
-	 */
-	.calibration.rgb_cal[X] = {
-		.offset = 0,
-		.scale = {
-			.k_channel_scale = ALS_CHANNEL_SCALE(1.0), /* kr */
-			.cover_scale = ALS_CHANNEL_SCALE(1.0)
-		},
-		.coeff[TCS_RED_COEFF_IDX] = FLOAT_TO_FP(0),
-		.coeff[TCS_GREEN_COEFF_IDX] = FLOAT_TO_FP(0),
-		.coeff[TCS_BLUE_COEFF_IDX] = FLOAT_TO_FP(0),
-		.coeff[TCS_CLEAR_COEFF_IDX] = FLOAT_TO_FP(0),
-	},
-	.calibration.rgb_cal[Y] = {
-		.offset = 0,
-		.scale = {
-			.k_channel_scale = ALS_CHANNEL_SCALE(1.0), /* kg */
-			.cover_scale = ALS_CHANNEL_SCALE(1.0)
-		},
-		.coeff[TCS_RED_COEFF_IDX] = FLOAT_TO_FP(0),
-		.coeff[TCS_GREEN_COEFF_IDX] = FLOAT_TO_FP(0),
-		.coeff[TCS_BLUE_COEFF_IDX] = FLOAT_TO_FP(0),
-		.coeff[TCS_CLEAR_COEFF_IDX] = FLOAT_TO_FP(0.1),
-	},
-	.calibration.rgb_cal[Z] = {
-		.offset = 0,
-		.scale = {
-			.k_channel_scale = ALS_CHANNEL_SCALE(1.0), /* kb */
-			.cover_scale = ALS_CHANNEL_SCALE(1.0)
-		},
-		.coeff[TCS_RED_COEFF_IDX] = FLOAT_TO_FP(0),
-		.coeff[TCS_GREEN_COEFF_IDX] = FLOAT_TO_FP(0),
-		.coeff[TCS_BLUE_COEFF_IDX] = FLOAT_TO_FP(0),
-		.coeff[TCS_CLEAR_COEFF_IDX] = FLOAT_TO_FP(0),
-	},
-	.calibration.irt = INT_TO_FP(1),
-	.saturation.again = TCS_DEFAULT_AGAIN,
-	.saturation.atime = TCS_DEFAULT_ATIME,
-};
-#endif /* BOARD_ASURADA_REV0 */
-
-#ifdef BOARD_HAYATO
-/* Matrix to rotate accelerometer into standard reference frame */
-/* for Hayato */
-static const mat33_fp_t base_standard_ref = {
-	{0, FLOAT_TO_FP(1), 0},
-	{FLOAT_TO_FP(-1), 0, 0},
-	{0, 0, FLOAT_TO_FP(1)},
-};
-
-static void update_rotation_matrix(void)
-{
-	if (board_get_version() >= 2) {
-		motion_sensors[BASE_ACCEL].rot_standard_ref =
-			&base_standard_ref;
-		motion_sensors[BASE_GYRO].rot_standard_ref =
-			&base_standard_ref;
-	}
-}
-DECLARE_HOOK(HOOK_INIT, update_rotation_matrix, HOOK_PRIO_INIT_ADC + 2);
-#endif
+static struct icm_drv_data_t g_icm426xx_data;
+static struct kionix_accel_data g_kx022_data;
 
 struct motion_sensor_t motion_sensors[] = {
 	/*
@@ -169,120 +77,71 @@ struct motion_sensor_t motion_sensors[] = {
 	[BASE_ACCEL] = {
 		.name = "Base Accel",
 		.active_mask = SENSOR_ACTIVE_S0_S3,
-		.chip = MOTIONSENSE_CHIP_BMI160,
+		.chip = MOTIONSENSE_CHIP_ICM426XX,
 		.type = MOTIONSENSE_TYPE_ACCEL,
 		.location = MOTIONSENSE_LOC_BASE,
-		.drv = &bmi160_drv,
+		.drv = &icm426xx_drv,
 		.mutex = &g_base_mutex,
-		.drv_data = &g_bmi160_data,
+		.drv_data = &g_icm426xx_data,
 		.port = I2C_PORT_ACCEL,
-		.i2c_spi_addr_flags = BMI160_ADDR0_FLAGS,
-		.rot_standard_ref = NULL, /* identity matrix */
-		.default_range = 4,  /* g, to meet CDD 7.3.1/C-1-4 reqs */
-		.min_frequency = BMI_ACCEL_MIN_FREQ,
-		.max_frequency = BMI_ACCEL_MAX_FREQ,
+		.i2c_spi_addr_flags = ICM426XX_ADDR0_FLAGS,
+		.default_range = 4, /* g, to meet CDD 7.3.1/C-1-4 reqs.*/
+		.rot_standard_ref = NULL,
+		.min_frequency = ICM426XX_ACCEL_MIN_FREQ,
+		.max_frequency = ICM426XX_ACCEL_MAX_FREQ,
 		.config = {
-			/* Sensor on for angle detection */
+			/* EC use accel for angle detection */
 			[SENSOR_CONFIG_EC_S0] = {
 				.odr = 10000 | ROUND_UP_FLAG,
-				.ec_rate = 100 * MSEC,
 			},
-			/* Sensor on for angle detection */
+			/* EC use accel for angle detection */
 			[SENSOR_CONFIG_EC_S3] = {
 				.odr = 10000 | ROUND_UP_FLAG,
-				.ec_rate = 100 * MSEC,
 			},
 		},
 	},
 	[BASE_GYRO] = {
 		.name = "Base Gyro",
 		.active_mask = SENSOR_ACTIVE_S0_S3,
-		.chip = MOTIONSENSE_CHIP_BMI160,
+		.chip = MOTIONSENSE_CHIP_ICM426XX,
 		.type = MOTIONSENSE_TYPE_GYRO,
 		.location = MOTIONSENSE_LOC_BASE,
-		.drv = &bmi160_drv,
+		.drv = &icm426xx_drv,
 		.mutex = &g_base_mutex,
-		.drv_data = &g_bmi160_data,
+		.drv_data = &g_icm426xx_data,
 		.port = I2C_PORT_ACCEL,
-		.i2c_spi_addr_flags = BMI160_ADDR0_FLAGS,
+		.i2c_spi_addr_flags = ICM426XX_ADDR0_FLAGS,
 		.default_range = 1000, /* dps */
-		.rot_standard_ref = NULL, /* identity matrix */
-		.min_frequency = BMI_GYRO_MIN_FREQ,
-		.max_frequency = BMI_GYRO_MAX_FREQ,
+		.rot_standard_ref = NULL,
+		.min_frequency = ICM426XX_GYRO_MIN_FREQ,
+		.max_frequency = ICM426XX_GYRO_MAX_FREQ,
 	},
 	[LID_ACCEL] = {
 		.name = "Lid Accel",
 		.active_mask = SENSOR_ACTIVE_S0_S3,
-		.chip = MOTIONSENSE_CHIP_LIS2DWL,
+		.chip = MOTIONSENSE_CHIP_KX022,
 		.type = MOTIONSENSE_TYPE_ACCEL,
 		.location = MOTIONSENSE_LOC_LID,
-		.drv = &lis2dw12_drv,
+		.drv = &kionix_accel_drv,
 		.mutex = &g_lid_mutex,
-		.drv_data = &g_lis2dwl_data,
-		.int_signal = GPIO_LID_ACCEL_INT_L,
+		.drv_data = &g_kx022_data,
 		.port = I2C_PORT_ACCEL,
-		.i2c_spi_addr_flags = LIS2DWL_ADDR1_FLAGS,
-		.flags = MOTIONSENSE_FLAG_INT_SIGNAL,
-		.rot_standard_ref = NULL, /* identity matrix */
-		.default_range = 2, /* g */
-		.min_frequency = LIS2DW12_ODR_MIN_VAL,
-		.max_frequency = LIS2DW12_ODR_MAX_VAL,
+		.i2c_spi_addr_flags = KX022_ADDR1_FLAGS,
+		.rot_standard_ref = NULL,
+		.default_range = 2, /* g, enough for laptop. */
+		.min_frequency = KX022_ACCEL_MIN_FREQ,
+		.max_frequency = KX022_ACCEL_MAX_FREQ,
 		.config = {
-			/* EC use accel for angle detection */
+			 /* EC use accel for angle detection */
 			[SENSOR_CONFIG_EC_S0] = {
-				.odr = 12500 | ROUND_UP_FLAG,
+				.odr = 10000 | ROUND_UP_FLAG,
+				.ec_rate = 100,
 			},
-			/* Sensor on for lid angle detection */
+			/* EC use accel for angle detection */
 			[SENSOR_CONFIG_EC_S3] = {
 				.odr = 10000 | ROUND_UP_FLAG,
 			},
 		},
 	},
-#ifdef BOARD_ASURADA_REV0
-	[CLEAR_ALS] = {
-		.name = "Clear Light",
-		.active_mask = SENSOR_ACTIVE_S0_S3,
-		.chip = MOTIONSENSE_CHIP_TCS3400,
-		.type = MOTIONSENSE_TYPE_LIGHT,
-		.location = MOTIONSENSE_LOC_LID,
-		.drv = &tcs3400_drv,
-		.drv_data = &g_tcs3400_data,
-		.port = I2C_PORT_ACCEL,
-		.i2c_spi_addr_flags = TCS3400_I2C_ADDR_FLAGS,
-		.rot_standard_ref = NULL,
-		.default_range = 0x10000, /* scale = 1x, uscale = 0 */
-		.min_frequency = TCS3400_LIGHT_MIN_FREQ,
-		.max_frequency = TCS3400_LIGHT_MAX_FREQ,
-		.config = {
-			/* Run ALS sensor in S0 */
-			[SENSOR_CONFIG_EC_S0] = {
-				.odr = 1000,
-			},
-		},
-	},
-	[RGB_ALS] = {
-		.name = "RGB Light",
-		.active_mask = SENSOR_ACTIVE_S0_S3,
-		.chip = MOTIONSENSE_CHIP_TCS3400,
-		.type = MOTIONSENSE_TYPE_LIGHT_RGB,
-		.location = MOTIONSENSE_LOC_LID,
-		.drv = &tcs3400_rgb_drv,
-		.drv_data = &g_tcs3400_rgb_data,
-		.rot_standard_ref = NULL,
-		.default_range = 0x10000, /* scale = 1x, uscale = 0 */
-		/* freq = 0 indicates we should not use sensor directly */
-		.min_frequency = 0,
-		.max_frequency = 0,
-	},
-#endif /* BOARD_ASURADA_REV0 */
 };
 const unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
-
-int board_accel_force_mode_mask(void)
-{
-	int version = board_get_version();
-
-	if (version == -1 || version >= 2)
-		return 0;
-	return BIT(LID_ACCEL);
-}
diff --git a/board/cherry/board.h b/board/cherry/board.h
index 8864295094..7c5e72d9f3 100644
--- a/board/cherry/board.h
+++ b/board/cherry/board.h
@@ -45,34 +45,21 @@
 #define CONFIG_TABLET_MODE_SWITCH
 #define GMR_TABLET_MODE_GPIO_L GPIO_TABLET_MODE_L
 
-#define CONFIG_ACCELGYRO_BMI160 /* Base accel */
-#define CONFIG_ACCELGYRO_BMI160_INT_EVENT \
+/* ICM426XX Base accel/gyro */
+#define CONFIG_ACCELGYRO_ICM426XX
+#define CONFIG_ACCELGYRO_ICM426XX_INT_EVENT \
 	TASK_EVENT_MOTION_SENSOR_INTERRUPT(BASE_ACCEL)
 
-#define CONFIG_ACCEL_LIS2DWL
-#define CONFIG_ACCEL_LIS2DW_AS_BASE
-#define CONFIG_ACCEL_LIS2DW12_INT_EVENT \
-	TASK_EVENT_MOTION_SENSOR_INTERRUPT(LID_ACCEL)
+/* KX022 Lid accel */
+#define CONFIG_ACCEL_KX022
+
+#define CONFIG_ACCEL_FORCE_MODE_MASK BIT(LID_ACCEL)
 
 #define CONFIG_LID_ANGLE
 #define CONFIG_LID_ANGLE_SENSOR_BASE BASE_ACCEL
 #define CONFIG_LID_ANGLE_SENSOR_LID LID_ACCEL
 #define CONFIG_LID_ANGLE_UPDATE
 
-#ifdef BOARD_ASURADA_REV0
-#define CONFIG_ALS
-#define ALS_COUNT 1
-#define CONFIG_ALS_TCS3400
-#define CONFIG_ALS_TCS3400_INT_EVENT \
-	TASK_EVENT_MOTION_SENSOR_INTERRUPT(CLEAR_ALS)
-#define CONFIG_ALS_TCS3400_EMULATED_IRQ_EVENT
-
-#define CONFIG_ACCEL_FORCE_MODE_MASK (BIT(LID_ACCEL) | BIT(CLEAR_ALS))
-#else
-/* TODO(b/171931139): remove this after rev1 board deprecated */
-#define CONFIG_ACCEL_FORCE_MODE_MASK (board_accel_force_mode_mask())
-#endif
-
 /* SPI / Host Command */
 #undef CONFIG_HOSTCMD_DEBUG_MODE
 #define CONFIG_HOSTCMD_DEBUG_MODE HCDEBUG_OFF
@@ -94,10 +81,6 @@ enum sensor_id {
 	BASE_ACCEL = 0,
 	BASE_GYRO,
 	LID_ACCEL,
-#ifdef BOARD_ASURADA_REV0
-	CLEAR_ALS,
-	RGB_ALS,
-#endif
 	SENSOR_COUNT,
 };
 
diff --git a/board/cherry/gpio.inc b/board/cherry/gpio.inc
index c85ac8d6f5..17a9625a5a 100644
--- a/board/cherry/gpio.inc
+++ b/board/cherry/gpio.inc
@@ -30,15 +30,14 @@ GPIO_INT(PMIC_EC_PWRGD, PIN(F, 3),
 
 /* Sensor Interrupts */
 GPIO_INT(BASE_IMU_INT_L,     PIN(M, 3), GPIO_INT_FALLING | GPIO_SEL_1P8V,
-         bmi160_interrupt)
-GPIO_INT(LID_ACCEL_INT_L,    PIN(M, 2), GPIO_INT_FALLING | GPIO_SEL_1P8V,
-         lis2dw12_interrupt)
-
+         icm426xx_interrupt)
 /* USB-C interrupts */
 GPIO_INT(USB_C0_PPC_INT_ODL, PIN(D, 1), GPIO_INT_BOTH, ppc_interrupt)
 GPIO_INT(USB_C0_BC12_INT_ODL,PIN(J, 4), GPIO_INT_FALLING, bc12_interrupt)
 /* TODO: rt1718s interrupt, not implemented */
 GPIO(USB_C1_INT_ODL,         PIN(B, 2), GPIO_INPUT | GPIO_INT_FALLING)
+/* TODO: not used in other devices? */
+GPIO(LID_ACCEL_INT_L,        PIN(M, 2), GPIO_INT_FALLING | GPIO_SEL_1P8V)
 
 /* Volume button interrupts */
 GPIO_INT(VOLUME_DOWN_L,      PIN(D, 5), GPIO_INT_BOTH | GPIO_PULL_UP,