bobba: Add base accel/gyro config for icm-426xx

Add icm-426xx config for new second source base accel/gyro.

BUG=b:174628541
BRANCH=octopus
TEST=Check ectool motionsense and get x,y,z data.

Change-Id: I7ba4bd4b90e270cc39c4b01c5aab24d5d1c3f097
Signed-off-by: David Huang <david.huang@quanta.corp-partner.google.com>
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/2592529
Reviewed-by: Zhuohao Lee <zhuohao@chromium.org>
Commit-Queue: Zhuohao Lee <zhuohao@chromium.org>

5 files changed, 106 insertions, 2 deletions

diff --git a/baseboard/octopus/cbi_ssfc.c b/baseboard/octopus/cbi_ssfc.c
index e515bf0d6b..e7f8177baa 100644
--- a/baseboard/octopus/cbi_ssfc.c
+++ b/baseboard/octopus/cbi_ssfc.c
@@ -42,3 +42,8 @@ enum ssfc_charger get_cbi_ssfc_charger(void)
 {
 	return ((cached_ssfc & SSFC_CHARGER_MASK) >> SSFC_CHARGER_OFFSET);
 }
+
+enum ssfc_sensor get_cbi_ssfc_sensor(void)
+{
+	return ((cached_ssfc & SSFC_SENSOR_MASK) >> SSFC_SENSOR_OFFSET);
+}
diff --git a/baseboard/octopus/cbi_ssfc.h b/baseboard/octopus/cbi_ssfc.h
index 326072f68e..b762336e59 100644
--- a/baseboard/octopus/cbi_ssfc.h
+++ b/baseboard/octopus/cbi_ssfc.h
@@ -43,8 +43,24 @@ enum ssfc_charger {
 #define SSFC_CHARGER_OFFSET		6
 #define SSFC_CHARGER_MASK		GENMASK(8, 6)
 
+/*
+ * Audio (Bits 11-9)
+ */
+
+/*
+ * Sensor (Bits 14-12)
+ */
+enum ssfc_sensor {
+	SSFC_SENSOR_DEFAULT,
+	SSFC_SENSOR_BMI160,
+	SSFC_SENSOR_ICM426XX,
+};
+#define SSFC_SENSOR_OFFSET		12
+#define SSFC_SENSOR_MASK		GENMASK(14, 12)
+
 enum ssfc_tcpc_p1 get_cbi_ssfc_tcpc_p1(void);
 enum ssfc_ppc_p1 get_cbi_ssfc_ppc_p1(void);
 enum ssfc_charger get_cbi_ssfc_charger(void);
+enum ssfc_sensor get_cbi_ssfc_sensor(void);
 
 #endif /* _OCTOPUS_CBI_SSFC__H_ */
diff --git a/board/bobba/board.c b/board/bobba/board.c
index 9caa1d617f..cd75140fd8 100644
--- a/board/bobba/board.c
+++ b/board/bobba/board.c
@@ -9,12 +9,15 @@
 #include "adc_chip.h"
 #include "battery.h"
 #include "button.h"
+#include "cbi_ssfc.h"
 #include "charge_manager.h"
 #include "charge_state.h"
 #include "common.h"
 #include "cros_board_info.h"
 #include "driver/accel_kionix.h"
 #include "driver/accelgyro_bmi160.h"
+#include "driver/accelgyro_icm426xx.h"
+#include "driver/accelgyro_icm_common.h"
 #include "driver/charger/bd9995x.h"
 #include "driver/ppc/nx20p348x.h"
 #include "driver/ppc/syv682x.h"
@@ -156,6 +159,12 @@ const mat33_fp_t base_standard_ref = {
 	{ 0, 0,  FLOAT_TO_FP(1)}
 };
 
+const mat33_fp_t base_icm_ref = {
+	{ FLOAT_TO_FP(1), 0,  0},
+	{ 0, FLOAT_TO_FP(-1), 0},
+	{ 0, 0,  FLOAT_TO_FP(1)}
+};
+
 /*
  * Sparky360 SKU ID 26 has AR Cam, and move base accel/gryo to AR Cam board.
  * AR Cam board has about 16° bias with motherboard through Y axis.
@@ -177,6 +186,7 @@ const mat33_fp_t base_ar_cam_ref = {
 /* sensor private data */
 static struct kionix_accel_data g_kx022_data;
 static struct bmi160_drv_data_t g_bmi160_data;
+static struct icm_drv_data_t g_icm426xx_data;
 
 /* Drivers */
 struct motion_sensor_t motion_sensors[] = {
@@ -265,6 +275,52 @@ 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,
+	 .addr = ICM426XX_ADDR0_FLAGS,
+	 .rot_standard_ref = &base_icm_ref,
+	 .default_range = 4,  /* g */
+	 .min_frequency = ICM426XX_ACCEL_MIN_FREQ,
+	 .max_frequency = ICM426XX_ACCEL_MAX_FREQ,
+	 .config = {
+		 /* EC use accel for angle detection */
+		 [SENSOR_CONFIG_EC_S0] = {
+			.odr = 13000 | ROUND_UP_FLAG,
+			.ec_rate = 100 * MSEC,
+		 },
+		 /* Sensor on for angle detection */
+		 [SENSOR_CONFIG_EC_S3] = {
+			.odr = 10000 | ROUND_UP_FLAG,
+			.ec_rate = 100 * MSEC,
+		 },
+	 },
+};
+
+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,
+	 .addr = ICM426XX_ADDR0_FLAGS,
+	 .default_range = 1000, /* dps */
+	 .rot_standard_ref = &base_icm_ref,
+	 .min_frequency = ICM426XX_GYRO_MIN_FREQ,
+	 .max_frequency = ICM426XX_GYRO_MAX_FREQ,
+};
+
 static int board_is_convertible(void)
 {
 	/*
@@ -282,9 +338,18 @@ static int board_with_ar_cam(void)
 	return sku_id == 26;
 }
 
+static int base_gyro_config;
+
 static void board_update_sensor_config_from_sku(void)
 {
 	if (board_is_convertible()) {
+		base_gyro_config = get_cbi_ssfc_sensor();
+		if (base_gyro_config == SSFC_SENSOR_ICM426XX) {
+			motion_sensors[BASE_ACCEL] = icm426xx_base_accel;
+			motion_sensors[BASE_GYRO] = icm426xx_base_gyro;
+			ccprints("BASE GYRO is ICM426XX");
+		} else
+			ccprints("BASE GYRO is BMI160");
 		motion_sensor_count = ARRAY_SIZE(motion_sensors);
 		/* Enable Base Accel interrupt */
 		gpio_enable_interrupt(GPIO_BASE_SIXAXIS_INT_L);
@@ -309,6 +374,19 @@ static void board_update_sensor_config_from_sku(void)
 	}
 }
 
+void motion_interrupt(enum gpio_signal signal)
+{
+	switch (base_gyro_config) {
+	case SSFC_SENSOR_ICM426XX:
+		icm426xx_interrupt(signal);
+		break;
+	case SSFC_SENSOR_BMI160:
+	default:
+		bmi160_interrupt(signal);
+		break;
+	}
+}
+
 static int board_has_keypad(void)
 {
 	return sku_id == 41 || sku_id == 42 || sku_id == 43 || sku_id == 44;
diff --git a/board/bobba/board.h b/board/bobba/board.h
index 3960ed63ff..27d5369f86 100644
--- a/board/bobba/board.h
+++ b/board/bobba/board.h
@@ -33,7 +33,8 @@
 
 /* Sensors */
 #define CONFIG_ACCEL_KX022	/* Lid accel */
-#define CONFIG_ACCELGYRO_BMI160	/* Base accel */
+#define CONFIG_ACCELGYRO_BMI160	/* Base accel main source*/
+#define CONFIG_ACCELGYRO_ICM426XX	/* Base accel second source*/
 #define CONFIG_SYNC		/* Camera VSYNC */
 
 #define CONFIG_DYNAMIC_MOTION_SENSOR_COUNT
@@ -43,6 +44,8 @@
 /* Motion Sense Task Events */
 #define CONFIG_ACCELGYRO_BMI160_INT_EVENT \
 	TASK_EVENT_MOTION_SENSOR_INTERRUPT(BASE_ACCEL)
+#define CONFIG_ACCELGYRO_ICM426XX_INT_EVENT \
+	TASK_EVENT_MOTION_SENSOR_INTERRUPT(BASE_ACCEL)
 
 #define CONFIG_SYNC_INT_EVENT	\
 	TASK_EVENT_MOTION_SENSOR_INTERRUPT(VSYNC)
@@ -129,6 +132,8 @@ enum battery_type {
 	BATTERY_TYPE_COUNT,
 };
 
+void motion_interrupt(enum gpio_signal signal);
+
 #endif /* !__ASSEMBLER__ */
 
 #endif /* __CROS_EC_BOARD_H */
diff --git a/board/bobba/gpio.inc b/board/bobba/gpio.inc
index e05298c656..1bea82c972 100644
--- a/board/bobba/gpio.inc
+++ b/board/bobba/gpio.inc
@@ -37,7 +37,7 @@ GPIO_INT(TABLET_MODE_L,         PIN(8, 6), GPIO_INT_BOTH, hall_sensor_isr)
 GPIO_INT(EC_VOLUP_BTN_ODL,	PIN(7, 5), GPIO_INT_BOTH, button_interrupt)
 GPIO_INT(EC_VOLDN_BTN_ODL,	PIN(4, 0), GPIO_INT_BOTH, button_interrupt)
 
-GPIO_INT(BASE_SIXAXIS_INT_L,	PIN(5, 6), GPIO_INT_FALLING | GPIO_SEL_1P8V, bmi160_interrupt)
+GPIO_INT(BASE_SIXAXIS_INT_L,	PIN(5, 6), GPIO_INT_FALLING | GPIO_SEL_1P8V, motion_interrupt)
 GPIO_INT(WFCAM_VSYNC,		PIN(0, 3), GPIO_INT_RISING , sync_interrupt)
 
 GPIO(LID_ACCEL_INT_L,		PIN(5, 0), GPIO_INPUT | GPIO_SEL_1P8V)