joxer: Allow alternate rotation parameters for Joxer

This will allow joxer to load different rotation matrix according to
cbi.

BUG=b:282054731
TEST=make sure joxer rotate correctly

Change-Id: I03aa376f05f8f68cbabacf897915cb54d6b80ab7
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/4486659
Commit-Queue: Scott Chao <scott_chao@wistron.corp-partner.google.com>
Reviewed-by: Peter Marheine <pmarheine@chromium.org>
Tested-by: Scott Chao <scott_chao@wistron.corp-partner.google.com>

4 files changed, 67 insertions, 0 deletions

diff --git a/zephyr/program/nissa/CMakeLists.txt b/zephyr/program/nissa/CMakeLists.txt
index cd45f00a3a..88e2d1c8a4 100644
--- a/zephyr/program/nissa/CMakeLists.txt
+++ b/zephyr/program/nissa/CMakeLists.txt
@@ -71,6 +71,7 @@ if(DEFINED CONFIG_BOARD_JOXER)
 	zephyr_library_sources(
 			"joxer/src/led.c"
 			"joxer/src/keyboard.c"
+			"joxer/src/form_factor.c"
 	)
 	zephyr_library_sources_ifdef(CONFIG_PLATFORM_EC_USBC "joxer/src/usbc.c")
 	zephyr_library_sources_ifdef(CONFIG_PLATFORM_EC_CHARGER "joxer/src/charger.c")
diff --git a/zephyr/program/nissa/joxer/cbi.dtsi b/zephyr/program/nissa/joxer/cbi.dtsi
index afbd125b32..71424ed681 100644
--- a/zephyr/program/nissa/joxer/cbi.dtsi
+++ b/zephyr/program/nissa/joxer/cbi.dtsi
@@ -28,5 +28,26 @@
 				value = <1>;
 			};
 		};
+
+		/*
+		 * FW_CONFIG field to describe lid accelerometer orientation.
+		 */
+		lid-inversion {
+			enum-name = "FW_LID_INVERSION";
+			start = <5>;
+			size = <1>;
+
+			default {
+				compatible = "cros-ec,cbi-fw-config-value";
+				enum-name = "SENSOR_DEFAULT";
+				value = <0>;
+				default;
+			};
+			inverted {
+				compatible = "cros-ec,cbi-fw-config-value";
+				enum-name = "SENSOR_INVERTED";
+				value = <1>;
+			};
+		};
 	};
 };
diff --git a/zephyr/program/nissa/joxer/motionsense.dtsi b/zephyr/program/nissa/joxer/motionsense.dtsi
index e9c46a849a..fbac470660 100644
--- a/zephyr/program/nissa/joxer/motionsense.dtsi
+++ b/zephyr/program/nissa/joxer/motionsense.dtsi
@@ -40,6 +40,12 @@
 				 0 0 (-1)>;
 		};
 
+		lid_rot_inverted: lid-rotation-inverted {
+			mat33 = <0 1 0
+				 (-1) 0 0
+				 0 0 1>;
+		};
+
 		base_rot_ref: base-rotation-ref {
 			mat33 = <1 0 0
 				 0 1 0
diff --git a/zephyr/program/nissa/joxer/src/form_factor.c b/zephyr/program/nissa/joxer/src/form_factor.c
new file mode 100644
index 0000000000..1087d7ddca
--- /dev/null
+++ b/zephyr/program/nissa/joxer/src/form_factor.c
@@ -0,0 +1,39 @@
+/* Copyright 2023 The ChromiumOS Authors
+ * Use of this source code is governed by a BSD-style license that can be
+ * found in the LICENSE file.
+ */
+
+#include "accelgyro.h"
+#include "cros_cbi.h"
+#include "hooks.h"
+#include "motionsense_sensors.h"
+
+#include <zephyr/devicetree.h>
+#include <zephyr/logging/log.h>
+
+LOG_MODULE_DECLARE(nissa, CONFIG_NISSA_LOG_LEVEL);
+
+#define ALT_MAT SENSOR_ROT_STD_REF_NAME(DT_NODELABEL(lid_rot_inverted))
+#define LID_ACCEL SENSOR_ID(DT_NODELABEL(lid_accel))
+
+static void form_factor_init(void)
+{
+	int ret;
+	uint32_t val;
+	/*
+	 * If the firmware config indicates
+	 * an inverted form factor, use the alternative
+	 * rotation matrix.
+	 */
+	ret = cros_cbi_get_fw_config(FW_LID_INVERSION, &val);
+	if (ret != 0) {
+		LOG_ERR("Error retrieving CBI FW_CONFIG field %d",
+			FW_LID_INVERSION);
+		return;
+	}
+	if (val == SENSOR_INVERTED) {
+		LOG_INF("Switching to inverted lid");
+		motion_sensors[LID_ACCEL].rot_standard_ref = &ALT_MAT;
+	}
+}
+DECLARE_HOOK(HOOK_INIT, form_factor_init, HOOK_PRIO_POST_I2C);