Guybrush: initial BMI160 sensor

Initial base BMI160 sensor.

BUG=b:178213305
BRANCH=none
TEST=make -j BOARD=guybrush
TEST=can read the sensor data in ec console by i2cxfer.

Signed-off-by: Matt_Wang <Matt_Wang@compal.corp-partner.google.com>
Change-Id: Id49ff98dc921ba173b24f3c389fcfbde337ce77c
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/2783514
Tested-by: Matt Wang <matt_wang@compal.corp-partner.google.com>
Reviewed-by: Bhanu Prakash Maiya <bhanumaiya@google.com>
Reviewed-by: Rob Barnes <robbarnes@google.com>
Commit-Queue: Rob Barnes <robbarnes@google.com>

6 files changed, 103 insertions, 3 deletions

diff --git a/baseboard/guybrush/base_gpio.inc b/baseboard/guybrush/base_gpio.inc
index 9a9c5cde41..3f6a06c804 100644
--- a/baseboard/guybrush/base_gpio.inc
+++ b/baseboard/guybrush/base_gpio.inc
@@ -59,7 +59,7 @@ GPIO(USB_C1_HPD,		PIN(F, 4), GPIO_OUT_LOW)						/* C1 DP Hotplug Detect */
 
 /* Sensor Signals */
 /* TODO: Make 6AXIS_INT_L an interrupt */
-GPIO(6AXIS_INT_L,		PIN(A, 0), GPIO_INT_FALLING | GPIO_PULL_UP)				/* 6 Axis IMU */
+GPIO_INT(6AXIS_INT_L,		PIN(A, 0), GPIO_INT_FALLING | GPIO_PULL_UP, motion_interrupt)				/* 6 Axis IMU */
 GPIO(3AXIS_INT_L,		PIN(A, 2), GPIO_INPUT | GPIO_PULL_DOWN)					/* 3 Axis Accel */
 GPIO_INT(LID_OPEN,		PIN(0, 2), GPIO_INT_BOTH | GPIO_HIB_WAKE_HIGH,	lid_interrupt)		/* Lid Open */
 GPIO_INT(TABLET_MODE,		PIN(C, 1), GPIO_INT_BOTH,			gmr_tablet_switch_isr)	/* 360 Tablet Mode */
diff --git a/baseboard/guybrush/baseboard.c b/baseboard/guybrush/baseboard.c
index 050545b997..0492bc5ae1 100644
--- a/baseboard/guybrush/baseboard.c
+++ b/baseboard/guybrush/baseboard.c
@@ -369,6 +369,9 @@ static void baseboard_interrupt_init(void)
 	/* Enable SBU fault interrupts */
 	ioex_enable_interrupt(IOEX_USB_C0_SBU_FAULT_ODL);
 	ioex_enable_interrupt(IOEX_USB_C1_SBU_FAULT_ODL);
+
+	/* Enable Accel/Gyro interrupt for convertibles. */
+	gpio_enable_interrupt(GPIO_6AXIS_INT_L);
 }
 DECLARE_HOOK(HOOK_INIT, baseboard_interrupt_init, HOOK_PRIO_INIT_I2C + 1);
 
diff --git a/baseboard/guybrush/baseboard.h b/baseboard/guybrush/baseboard.h
index 9a38ea77c1..b96a8cd292 100644
--- a/baseboard/guybrush/baseboard.h
+++ b/baseboard/guybrush/baseboard.h
@@ -111,6 +111,8 @@
 #define CONFIG_TABLET_MODE
 #define CONFIG_GMR_TABLET_MODE
 #define GMR_TABLET_MODE_GPIO_L		GPIO_TABLET_MODE
+#define CONFIG_SUPPRESSED_HOST_COMMANDS \
+	EC_CMD_MOTION_SENSE_CMD
 
 /* Battery Config */
 #define CONFIG_BATTERY_PRESENT_GPIO	GPIO_EC_BATT_PRES_ODL
@@ -308,6 +310,12 @@ enum temp_sensor_id {
 	TEMP_SENSOR_COUNT
 };
 
+enum sensor_id {
+	BASE_ACCEL = 0,
+	BASE_GYRO,
+	SENSOR_COUNT,
+};
+
 /* Battery Types */
 enum battery_type {
 	BATTERY_AP18F4M,
@@ -335,7 +343,6 @@ enum mft_channel {
 	MFT_CH_COUNT,
 };
 
-
 /* Common definition for the USB PD interrupt handlers. */
 void tcpc_alert_event(enum gpio_signal signal);
 void bc12_interrupt(enum gpio_signal signal);
diff --git a/board/guybrush/board.c b/board/guybrush/board.c
index dba67d36bd..85861a9995 100644
--- a/board/guybrush/board.c
+++ b/board/guybrush/board.c
@@ -7,6 +7,8 @@
 
 #include "button.h"
 #include "common.h"
+#include "driver/accelgyro_bmi_common.h"
+#include "driver/accelgyro_bmi160.h"
 #include "driver/retimer/ps8818.h"
 #include "extpower.h"
 #include "gpio.h"
@@ -20,6 +22,67 @@
 
 #include "gpio_list.h" /* Must come after other header files. */
 
+/* Lid Sensor mutex */
+static struct mutex g_base_mutex;
+
+/* Lid accel private data */
+static struct bmi_drv_data_t g_bmi160_data;
+
+/* Matrix to rotate accelrator into standard reference frame */
+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)}
+};
+
+struct motion_sensor_t motion_sensors[] = {
+	[BASE_ACCEL] = {
+		.name = "Base Accel",
+		.active_mask = SENSOR_ACTIVE_S0_S3,
+		.chip = MOTIONSENSE_CHIP_BMI160,
+		.type = MOTIONSENSE_TYPE_ACCEL,
+		.location = MOTIONSENSE_LOC_BASE,
+		.drv = &bmi160_drv,
+		.mutex = &g_base_mutex,
+		.drv_data = &g_bmi160_data,
+		.port = I2C_PORT_SENSOR,
+		.i2c_spi_addr_flags = BMI160_ADDR0_FLAGS,
+		.rot_standard_ref = &base_standard_ref,
+		.min_frequency = BMI_ACCEL_MIN_FREQ,
+		.max_frequency = BMI_ACCEL_MAX_FREQ,
+		.default_range = 4,  /* g, to meet CDD 7.3.1/C-1-4 reqs */
+		.config = {
+			/* EC use accel for angle detection */
+			[SENSOR_CONFIG_EC_S0] = {
+				.odr = 10000 | ROUND_UP_FLAG,
+				.ec_rate = 100 * MSEC,
+			},
+			/* Sensor on in S3 */
+			[SENSOR_CONFIG_EC_S3] = {
+				.odr = 10000 | ROUND_UP_FLAG,
+				.ec_rate = 0,
+			},
+		},
+	},
+	[BASE_GYRO] = {
+		.name = "Base Gyro",
+		.active_mask = SENSOR_ACTIVE_S0_S3,
+		.chip = MOTIONSENSE_CHIP_BMI160,
+		.type = MOTIONSENSE_TYPE_GYRO,
+		.location = MOTIONSENSE_LOC_BASE,
+		.drv = &bmi160_drv,
+		.mutex = &g_base_mutex,
+		.drv_data = &g_bmi160_data,
+		.port = I2C_PORT_SENSOR,
+		.i2c_spi_addr_flags = BMI160_ADDR0_FLAGS,
+		.default_range = 1000, /* dps */
+		.rot_standard_ref = &base_standard_ref,
+		.min_frequency = BMI_GYRO_MIN_FREQ,
+		.max_frequency = BMI_GYRO_MAX_FREQ,
+	},
+};
+const unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
+
 static void board_init(void)
 {
 	/* TODO */
@@ -101,3 +164,16 @@ __override int board_c1_ps8818_mux_set(const struct usb_mux *me,
 
 	return rv;
 }
+
+void motion_interrupt(enum gpio_signal signal)
+{
+	switch (signal) {
+	case GPIO_3AXIS_INT_L:
+		/* TODO */
+		break;
+	case GPIO_6AXIS_INT_L:
+	default:
+		bmi160_interrupt(signal);
+		break;
+	}
+}
diff --git a/board/guybrush/board.h b/board/guybrush/board.h
index 8a4a51e549..93b718e198 100644
--- a/board/guybrush/board.h
+++ b/board/guybrush/board.h
@@ -16,6 +16,16 @@
 /* Keyboard features */
 
 /* Sensors */
+#define CONFIG_ACCELGYRO_BMI160
+#define CONFIG_ACCELGYRO_BMI160_INT_EVENT \
+	TASK_EVENT_MOTION_SENSOR_INTERRUPT(BASE_ACCEL)
+#define CONFIG_ACCEL_INTERRUPTS
+#define I2C_PORT_ACCEL      I2C_PORT_SENSOR
+
+/* EC console commands */
+#define CONFIG_CMD_ACCELS
+#define CONFIG_CMD_ACCEL_INFO
+#define CONFIG_CMD_BUTTON
 
 /* USB Type C and USB PD defines */
 
@@ -32,6 +42,9 @@
 #include "gpio_signal.h"
 #include "registers.h"
 
+/* Motion sensor interrupt */
+void motion_interrupt(enum gpio_signal signal);
+
 #endif /* !__ASSEMBLER__ */
 
 #endif /* __CROS_EC_BOARD_H */
diff --git a/board/guybrush/ec.tasklist b/board/guybrush/ec.tasklist
index 2dc9c26ec2..cb9b34a3cf 100644
--- a/board/guybrush/ec.tasklist
+++ b/board/guybrush/ec.tasklist
@@ -9,4 +9,5 @@
 
 #include "base_ec.tasklist"
 
-#define CONFIG_TASK_LIST BASEBOARD_CONFIG_TASK_LIST
+#define CONFIG_TASK_LIST BASEBOARD_CONFIG_TASK_LIST \
+	TASK_ALWAYS(MOTIONSENSE, motion_sense_task, NULL, TASK_STACK_SIZE)