lazor: Add motion sensors ICM40608 and KX022

KX022 is for lid accel. ICM40608 is for base accel and gyro.
For the i2c addresses of KX022 and BMA255 are different, do
a single read to check which chip is on the DUT.
For the i2c addresses of ICM40608 and BMI160 are the same,
read reg ICM426XX_REG_WHO_AM_I to check if the chip is
ICM426XX_CHIP_ICM40608.

BUG=b:175663607
BRANCH=none
TEST=Motion sensors are detected correctly and ectool motionsense
     show correct data.

Signed-off-by: Sue Chen <sue.chen@quanta.corp-partner.google.com>
Change-Id: I2788bdc1e5bad1b1212ffaa7670969318b77221f
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/2592304
Reviewed-by: Wai-Hong Tam <waihong@google.com>

3 files changed, 154 insertions, 6 deletions

diff --git a/board/lazor/board.c b/board/lazor/board.c
index 66701af613..49d59c10fa 100644
--- a/board/lazor/board.c
+++ b/board/lazor/board.c
@@ -13,6 +13,10 @@
 #include "extpower.h"
 #include "driver/accel_bma2x2.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/sn5s330.h"
 #include "driver/tcpm/ps8xxx.h"
 #include "driver/tcpm/tcpci.h"
@@ -287,22 +291,42 @@ const struct pi3usb9201_config_t pi3usb9201_bc12_chips[] = {
 static struct mutex g_base_mutex;
 static struct mutex g_lid_mutex;
 
+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;
 static struct accelgyro_saved_data_t g_bma255_data;
 
+enum base_accelgyro_type {
+	BASE_GYRO_NONE = 0,
+	BASE_GYRO_BMI160 = 1,
+	BASE_GYRO_ICM426XX = 2,
+};
+
 /* Matrix to rotate accelerometer into standard reference frame */
-const mat33_fp_t base_standard_ref = {
+const mat33_fp_t base_standard_ref_bmi160 = {
 	{ FLOAT_TO_FP(1), 0,  0},
 	{ 0,  FLOAT_TO_FP(-1),  0},
 	{ 0,  0, FLOAT_TO_FP(-1)}
 };
 
-static const mat33_fp_t lid_standard_ref = {
+const mat33_fp_t base_standard_ref_icm426xx = {
+	{ 0, FLOAT_TO_FP(1), 0},
+	{ FLOAT_TO_FP(1), 0, 0},
+	{ 0,  0, FLOAT_TO_FP(-1)}
+};
+
+static const mat33_fp_t lid_standard_ref_bma255 = {
 	{ FLOAT_TO_FP(-1), 0, 0},
 	{ 0, FLOAT_TO_FP(-1), 0},
 	{ 0, 0, FLOAT_TO_FP(1)}
 };
 
+static const mat33_fp_t lid_standard_ref_kx022 = {
+	{ FLOAT_TO_FP(1), 0, 0},
+	{ 0, FLOAT_TO_FP(1), 0},
+	{ 0, 0, FLOAT_TO_FP(1)}
+};
+
 struct motion_sensor_t motion_sensors[] = {
 	[LID_ACCEL] = {
 	 .name = "Lid Accel",
@@ -315,7 +339,7 @@ struct motion_sensor_t motion_sensors[] = {
 	 .drv_data = &g_bma255_data,
 	 .port = I2C_PORT_SENSOR,
 	 .i2c_spi_addr_flags = BMA2x2_I2C_ADDR1_FLAGS,
-	 .rot_standard_ref = &lid_standard_ref,
+	 .rot_standard_ref = &lid_standard_ref_bma255,
 	 .default_range = 2, /* g, to support lid angle calculation. */
 	 .min_frequency = BMA255_ACCEL_MIN_FREQ,
 	 .max_frequency = BMA255_ACCEL_MAX_FREQ,
@@ -346,7 +370,7 @@ struct motion_sensor_t motion_sensors[] = {
 	 .drv_data = &g_bmi160_data,
 	 .port = I2C_PORT_SENSOR,
 	 .i2c_spi_addr_flags = BMI160_ADDR0_FLAGS,
-	 .rot_standard_ref = &base_standard_ref,
+	 .rot_standard_ref = &base_standard_ref_bmi160,
 	 .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,
@@ -373,13 +397,84 @@ struct motion_sensor_t motion_sensors[] = {
 	 .port = I2C_PORT_SENSOR,
 	 .i2c_spi_addr_flags = BMI160_ADDR0_FLAGS,
 	 .default_range = 1000, /* dps */
-	 .rot_standard_ref = &base_standard_ref,
+	 .rot_standard_ref = &base_standard_ref_bmi160,
 	 .min_frequency = BMI_GYRO_MIN_FREQ,
 	 .max_frequency = BMI_GYRO_MAX_FREQ,
 	},
 };
 unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
 
+struct motion_sensor_t kx022_lid_accel = {
+	.name = "Lid Accel",
+	.active_mask = SENSOR_ACTIVE_S0_S3,
+	.chip = MOTIONSENSE_CHIP_KX022,
+	.type = MOTIONSENSE_TYPE_ACCEL,
+	.location = MOTIONSENSE_LOC_LID,
+	.drv = &kionix_accel_drv,
+	.mutex = &g_lid_mutex,
+	.drv_data = &g_kx022_data,
+	.port = I2C_PORT_SENSOR,
+	.i2c_spi_addr_flags = KX022_ADDR1_FLAGS,
+	.rot_standard_ref = &lid_standard_ref_kx022,
+	.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 */
+		 [SENSOR_CONFIG_EC_S0] = {
+			.odr = 10000 | ROUND_UP_FLAG,
+		 },
+		/* EC use accel for angle detection */
+		[SENSOR_CONFIG_EC_S3] = {
+			.odr = 10000 | ROUND_UP_FLAG,
+		},
+	},
+};
+
+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_icm426xx,
+	.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 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_icm426xx,
+	.min_frequency = ICM426XX_GYRO_MIN_FREQ,
+	.max_frequency = ICM426XX_GYRO_MAX_FREQ,
+};
+
 #ifndef TEST_BUILD
 /* This callback disables keyboard when convertibles are fully open */
 void lid_angle_peripheral_enable(int enable)
@@ -429,6 +524,48 @@ __override int board_get_default_battery_type(void)
 	return DEFAULT_BATTERY_TYPE;
 }
 
+static int base_accelgyro_config;
+
+void motion_interrupt(enum gpio_signal signal)
+{
+	switch (base_accelgyro_config) {
+	case BASE_GYRO_ICM426XX:
+		icm426xx_interrupt(signal);
+		break;
+	case BASE_GYRO_BMI160:
+	default:
+		bmi160_interrupt(signal);
+		break;
+	}
+}
+
+static void board_detect_motionsensor(void)
+{
+	int ret;
+	int val;
+
+	/* Check lid accel chip */
+	ret = i2c_read8(I2C_PORT_SENSOR, KX022_ADDR1_FLAGS,
+		KX022_WHOAMI, &val);
+
+	if (!ret)
+		motion_sensors[LID_ACCEL] = kx022_lid_accel;
+
+	CPRINTS("Lid Accel: %s", ret ? "BMA255" : "KX022");
+
+	/* Check base accelgyro chip */
+	ret = icm_read8(&icm426xx_base_accel, ICM426XX_REG_WHO_AM_I, &val);
+	if (val == ICM426XX_CHIP_ICM40608) {
+		motion_sensors[BASE_ACCEL] = icm426xx_base_accel;
+		motion_sensors[BASE_GYRO] = icm426xx_base_gyro;
+	}
+
+	base_accelgyro_config = (val == ICM426XX_CHIP_ICM40608)
+		 ? BASE_GYRO_ICM426XX : BASE_GYRO_BMI160;
+	CPRINTS("Base Accelgyro: %s", (val == ICM426XX_CHIP_ICM40608)
+		 ? "ICM40608" : "BMI160");
+}
+
 static void board_update_sensor_config_from_sku(void)
 {
 	if (board_is_clamshell()) {
@@ -440,6 +577,7 @@ static void board_update_sensor_config_from_sku(void)
 		gpio_set_flags(GPIO_LID_ACCEL_INT_L,
 			       GPIO_INPUT | GPIO_PULL_DOWN);
 	} else {
+		board_detect_motionsensor();
 		motion_sensor_count = ARRAY_SIZE(motion_sensors);
 		/* Enable interrupt for the base accel sensor */
 		gpio_enable_interrupt(GPIO_ACCEL_GYRO_INT_L);
diff --git a/board/lazor/board.h b/board/lazor/board.h
index 6bb8dc806b..0d0d3b2733 100644
--- a/board/lazor/board.h
+++ b/board/lazor/board.h
@@ -49,6 +49,14 @@
 	TASK_EVENT_MOTION_SENSOR_INTERRUPT(BASE_ACCEL)
 #define OPT3001_I2C_ADDR_FLAGS OPT3001_I2C_ADDR1_FLAGS
 
+/* ICM426XX Base accel/gyro */
+#define CONFIG_ACCELGYRO_ICM426XX
+#define CONFIG_ACCELGYRO_ICM426XX_INT_EVENT \
+	TASK_EVENT_MOTION_SENSOR_INTERRUPT(BASE_ACCEL)
+
+/* KX022 lid accel */
+#define CONFIG_ACCEL_KX022
+
 /* BMA253 lid accel */
 #define CONFIG_ACCEL_BMA255
 #define CONFIG_ACCEL_FORCE_MODE_MASK BIT(LID_ACCEL)
@@ -118,6 +126,8 @@ int board_vbus_sink_enable(int port, int enable);
 /* Reset all TCPCs. */
 void board_reset_pd_mcu(void);
 void board_set_tcpc_power_mode(int port, int mode);
+/* Motion sensor interrupt */
+void motion_interrupt(enum gpio_signal signal);
 
 #endif /* !defined(__ASSEMBLER__) */
 
diff --git a/board/lazor/gpio.inc b/board/lazor/gpio.inc
index aed9239885..49eb60064f 100644
--- a/board/lazor/gpio.inc
+++ b/board/lazor/gpio.inc
@@ -41,7 +41,7 @@ GPIO_INT(AP_EC_SPI_CS_L,    PIN(5, 3), GPIO_INT_FALLING | GPIO_PULL_DOWN, shi_cs
 
 /* Sensor interrupts */
 GPIO_INT(TABLET_MODE_L,     PIN(C, 6), GPIO_INT_BOTH, gmr_tablet_switch_isr)
-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
  *