morphius: add accel sensor ICM406xxx support

This patch add base accelerometer: ICM406xxx for morphius,
ICM406xxx use the same low level driver as ICM426XX,
we will use fw_config to choose different sensor:
BASE_GYRO_ICM426XX = 3
BASE_GYRO_BMI160 = 1

BUG=b:173753906
BRANCH=zork
TEST=verify sensor can work on morphius.

Signed-off-by: Zick Wei <zick.wei@quanta.corp-partner.google.com>
Change-Id: I26fb9b6ec82b7d7f22b6eccb38b986813c4c48f3
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/2596571
Reviewed-by: Denis Brockus <dbrockus@chromium.org>

3 files changed, 86 insertions, 1 deletions

diff --git a/board/morphius/board.c b/board/morphius/board.c
index 38548b34e2..dfbe54a1da 100644
--- a/board/morphius/board.c
+++ b/board/morphius/board.c
@@ -12,6 +12,8 @@
 #include "charger.h"
 #include "cros_board_info.h"
 #include "driver/accelgyro_bmi_common.h"
+#include "driver/accelgyro_icm_common.h"
+#include "driver/accelgyro_icm426xx.h"
 #include "driver/accel_kionix.h"
 #include "driver/accel_kx022.h"
 #include "driver/ppc/aoz1380.h"
@@ -64,6 +66,11 @@ mat33_fp_t base_standard_ref = {
 	{ FLOAT_TO_FP(1), 0, 0},
 	{ 0, 0, FLOAT_TO_FP(-1)}
 };
+const mat33_fp_t base_standard_ref_1 = {
+	{ FLOAT_TO_FP(-1), 0, 0},
+	{ 0, FLOAT_TO_FP(1), 0},
+	{ 0, 0,  FLOAT_TO_FP(-1)}
+};
 mat33_fp_t lid_standard_ref = {
 	{ 0, FLOAT_TO_FP(1), 0},
 	{ FLOAT_TO_FP(-1), 0,  0},
@@ -73,6 +80,7 @@ mat33_fp_t lid_standard_ref = {
 /* sensor private data */
 static struct kionix_accel_data g_kx022_data;
 static struct bmi_drv_data_t g_bmi160_data;
+static struct icm_drv_data_t g_icm426xx_data;
 
 /* TODO(gcc >= 5.0) Remove the casts to const pointer at rot_standard_ref */
 struct motion_sensor_t motion_sensors[] = {
@@ -152,6 +160,50 @@ struct motion_sensor_t motion_sensors[] = {
 
 unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
 
+struct motion_sensor_t icm426xx_base_accel = {
+	.name = "Base Accel",
+	.active_mask = SENSOR_ACTIVE_S0_S3,
+	.chip = MOTIONSENSE_CHIP_ICM426XX,
+	.type = MOTIONSENSE_TYPE_ACCEL,
+	.location = MOTIONSENSE_LOC_BASE,
+	.drv = &icm426xx_drv,
+	.mutex = &g_base_mutex,
+	.drv_data = &g_icm426xx_data,
+	.port = I2C_PORT_SENSOR,
+	.i2c_spi_addr_flags = ICM426XX_ADDR0_FLAGS,
+	.default_range = 2, /* g, enough for laptop */
+	.rot_standard_ref = &base_standard_ref_1,
+	.min_frequency = ICM426XX_ACCEL_MIN_FREQ,
+	.max_frequency = ICM426XX_ACCEL_MAX_FREQ,
+	.config = {
+		/* EC use accel for angle detection */
+		[SENSOR_CONFIG_EC_S0] = {
+			.odr = 10000 | ROUND_UP_FLAG,
+			.ec_rate = 100,
+		},
+		/* EC use accel for angle detection */
+		[SENSOR_CONFIG_EC_S3] = {
+			.odr = 10000 | ROUND_UP_FLAG,
+		},
+	},
+};
+struct motion_sensor_t icm426xx_base_gyro = {
+	.name = "Base Gyro",
+	.active_mask = SENSOR_ACTIVE_S0_S3,
+	.chip = MOTIONSENSE_CHIP_ICM426XX,
+	.type = MOTIONSENSE_TYPE_GYRO,
+	.location = MOTIONSENSE_LOC_BASE,
+	.drv = &icm426xx_drv,
+	.mutex = &g_base_mutex,
+	.drv_data = &g_icm426xx_data,
+	.port = I2C_PORT_SENSOR,
+	.i2c_spi_addr_flags = ICM426XX_ADDR0_FLAGS,
+	.default_range = 1000, /* dps */
+	.rot_standard_ref = &base_standard_ref_1,
+	.min_frequency = ICM426XX_GYRO_MIN_FREQ,
+	.max_frequency = ICM426XX_GYRO_MAX_FREQ,
+};
+
 #endif /* HAS_TASK_MOTIONSENSE */
 
 const struct pwm_t pwm_channels[] = {
@@ -196,6 +248,33 @@ const struct pi3hdx1204_tuning pi3hdx1204_tuning = {
 };
 
 /*****************************************************************************
+ * Base Gyro Sensor dynamic configuration
+ */
+static int base_gyro_config;
+static void setup_base_gyro_config(void)
+{
+	base_gyro_config = ec_config_has_base_gyro_sensor();
+	if (base_gyro_config == BASE_GYRO_ICM426XX) {
+		motion_sensors[BASE_ACCEL] = icm426xx_base_accel;
+		motion_sensors[BASE_GYRO] = icm426xx_base_gyro;
+		ccprints("BASE GYRO is ICM426XX");
+	} else if (base_gyro_config == BASE_GYRO_BMI160)
+		ccprints("BASE GYRO is BMI160");
+}
+void motion_interrupt(enum gpio_signal signal)
+{
+	switch (base_gyro_config) {
+	case BASE_GYRO_ICM426XX:
+		icm426xx_interrupt(signal);
+		break;
+	case BASE_GYRO_BMI160:
+	default:
+		bmi160_interrupt(signal);
+		break;
+	}
+}
+
+/*****************************************************************************
  * USB-C MUX/Retimer dynamic configuration
  */
 static void setup_mux(void)
@@ -378,6 +457,8 @@ static void setup_fw_config(void)
 	setup_mux();
 
 	board_remap_gpio();
+
+	setup_base_gyro_config();
 }
 /* Use HOOK_PRIO_INIT_I2C + 2 to be after ioex_init(). */
 DECLARE_HOOK(HOOK_INIT, setup_fw_config, HOOK_PRIO_INIT_I2C + 2);
diff --git a/board/morphius/board.h b/board/morphius/board.h
index 33811914aa..b3861939ec 100644
--- a/board/morphius/board.h
+++ b/board/morphius/board.h
@@ -28,6 +28,9 @@
 #define ZORK_PS8818_RX_INPUT_TERM PS8818_RX_INPUT_TERM_85_OHM
 
 /* Motion sensing drivers */
+#define CONFIG_ACCELGYRO_ICM426XX
+#define CONFIG_ACCELGYRO_ICM426XX_INT_EVENT \
+	TASK_EVENT_MOTION_SENSOR_INTERRUPT(BASE_ACCEL)
 #define CONFIG_ACCELGYRO_BMI160
 #define CONFIG_ACCELGYRO_BMI160_INT_EVENT \
 	TASK_EVENT_MOTION_SENSOR_INTERRUPT(BASE_ACCEL)
@@ -205,6 +208,7 @@ static inline bool ec_config_has_mst_hub_rtd2141b(void)
 		  HAS_MST_HUB_RTD2141B);
 }
 
+void motion_interrupt(enum gpio_signal signal);
 enum gpio_signal board_usbc_port_to_hpd_gpio(int port);
 #define PORT_TO_HPD(port) board_usbc_port_to_hpd_gpio(port)
 
diff --git a/board/morphius/gpio.inc b/board/morphius/gpio.inc
index 5ec5875a3a..39b0f946b5 100644
--- a/board/morphius/gpio.inc
+++ b/board/morphius/gpio.inc
@@ -25,7 +25,7 @@ GPIO_INT(ACOK_OD,		PIN(0, 0), GPIO_INT_BOTH | GPIO_HIB_WAKE_HIGH,	extpower_inter
 GPIO_INT(EC_WP_L,		PIN(5, 0), GPIO_INT_BOTH,			switch_interrupt)
 GPIO_INT(VOLDN_BTN_ODL,		PIN(A, 6), GPIO_INT_BOTH | GPIO_PULL_UP,	button_interrupt)
 GPIO_INT(VOLUP_BTN_ODL,		PIN(9, 5), GPIO_INT_BOTH | GPIO_PULL_UP,	button_interrupt)
-GPIO_INT(6AXIS_INT_L,		PIN(A, 0), GPIO_INT_FALLING | GPIO_PULL_UP,	bmi160_interrupt)
+GPIO_INT(6AXIS_INT_L,		PIN(A, 0), GPIO_INT_FALLING | GPIO_PULL_UP,	motion_interrupt)
 GPIO_INT(EN_PWR_TOUCHPAD_PS2,	PIN(C, 2), GPIO_INT_RISING,			ps2_pwr_en_interrupt)
 GPIO_INT(DP1_HPD_EC_IN,		PIN(7, 5), GPIO_INT_BOTH,			hdmi_hpd_interrupt_v3)