storo: Add motion sense config for BMI220

Add BMI220 base sensor config for second source

BUG=b:188373185
BRANCH=dedede
TEST=Using ectool 'motionsense' verified lid angle goes
from 0 to 360 and swtiches to tablet mode after crossing 200
threshold on re-work bmi220/bmi253 DUT

Signed-off-by: Mike Lee <mike5@huaqin.corp-partner.google.com>
Change-Id: I9e72bb898b2dbfe68e44248f0238982921c4a198
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/3077596
Reviewed-by: Henry Sun <henrysun@google.com>
Reviewed-by: Aseda Aboagye <aaboagye@chromium.org>
Reviewed-by: jesen <wangganxiang@huaqin.corp-partner.google.com>
Reviewed-by: Weimin Wu <wuweimin@huaqin.corp-partner.google.com>
Commit-Queue: Aseda Aboagye <aaboagye@chromium.org>

3 files changed, 71 insertions, 1 deletions

diff --git a/board/storo/board.c b/board/storo/board.c
index 4981bedc8e..f864d230c2 100644
--- a/board/storo/board.c
+++ b/board/storo/board.c
@@ -17,6 +17,7 @@
 #include "driver/accel_bma2x2.h"
 #include "driver/accel_kionix.h"
 #include "driver/accelgyro_bmi_common.h"
+#include "driver/accelgyro_bmi260.h"
 #include "driver/accelgyro_icm_common.h"
 #include "driver/accelgyro_icm42607.h"
 #include "driver/bc12/pi3usb9201.h"
@@ -753,6 +754,57 @@ struct motion_sensor_t icm42607_base_gyro = {
 	 .max_frequency = ICM42607_GYRO_MAX_FREQ,
 };
 
+
+static struct bmi_drv_data_t g_bmi220_data;
+const mat33_fp_t based_ref_bmi220 = {
+	{ 0, FLOAT_TO_FP(1), 0},
+	{ FLOAT_TO_FP(-1), 0, 0},
+	{ 0, 0, FLOAT_TO_FP(1)}
+};
+struct motion_sensor_t bmi220_base_accel = {
+	 .name = "Base Accel",
+	 .active_mask = SENSOR_ACTIVE_S0_S3,
+	 .chip = MOTIONSENSE_CHIP_BMI220,
+	 .type = MOTIONSENSE_TYPE_ACCEL,
+	 .location = MOTIONSENSE_LOC_BASE,
+	 .drv = &bmi260_drv,
+	 .mutex = &g_base_mutex,
+	 .drv_data = &g_bmi220_data,
+	 .port = I2C_PORT_ACCEL,
+	 .i2c_spi_addr_flags = BMI260_ADDR0_FLAGS,
+	 .default_range = 4, /* g, to meet CDD 7.3.1/C-1-4 reqs.*/
+	 .rot_standard_ref = &based_ref_bmi220,
+	 .min_frequency = BMI_ACCEL_MIN_FREQ,
+	 .max_frequency = BMI_ACCEL_MAX_FREQ,
+	 .config = {
+		[SENSOR_CONFIG_EC_S0] = {
+				.odr = 13000 | ROUND_UP_FLAG,
+				.ec_rate = 100 * MSEC,
+		},
+		[SENSOR_CONFIG_EC_S3] = {
+			.odr = 10000 | ROUND_UP_FLAG,
+			.ec_rate = 100 * MSEC,
+		},
+	 },
+};
+
+struct motion_sensor_t bmi220_base_gyro = {
+	 .name = "Base Gyro",
+	 .active_mask = SENSOR_ACTIVE_S0_S3,
+	 .chip = MOTIONSENSE_CHIP_BMI220,
+	 .type = MOTIONSENSE_TYPE_GYRO,
+	 .location = MOTIONSENSE_LOC_BASE,
+	 .drv = &bmi260_drv,
+	 .mutex = &g_base_mutex,
+	 .drv_data = &g_bmi220_data,
+	 .port = I2C_PORT_ACCEL,
+	 .i2c_spi_addr_flags = BMI260_ADDR0_FLAGS,
+	 .default_range = 1000, /* dps */
+	 .rot_standard_ref = &based_ref_bmi220,
+	 .min_frequency = BMI_GYRO_MIN_FREQ,
+	 .max_frequency = BMI_GYRO_MAX_FREQ,
+};
+
 void board_init(void)
 {
 	int on;
@@ -794,6 +846,11 @@ void board_init(void)
 						icm42607_base_accel;
 				motion_sensors[BASE_GYRO] = icm42607_base_gyro;
 				CPRINTF("BASE GYRO is ICM42607");
+			} else if (get_cbi_ssfc_base_sensor() ==
+						SSFC_SENSOR_BMI220) {
+				motion_sensors[BASE_ACCEL] = bmi220_base_accel;
+				motion_sensors[BASE_GYRO] = bmi220_base_gyro;
+				CPRINTF("BASE GYRO is BMI220");
 			} else {
 				CPRINTF("BASE GYRO is BMI160");
 			}
@@ -823,6 +880,10 @@ void board_init(void)
 			motion_sensors[BASE_ACCEL] = icm42607_base_accel;
 			motion_sensors[BASE_GYRO] = icm42607_base_gyro;
 			CPRINTF("BASE GYRO is ICM42607");
+		} else if (get_cbi_ssfc_base_sensor() == SSFC_SENSOR_BMI220) {
+			motion_sensors[BASE_ACCEL] = bmi220_base_accel;
+			motion_sensors[BASE_GYRO] = bmi220_base_gyro;
+			CPRINTF("BASE GYRO is BMI220");
 		} else {
 			CPRINTF("BASE GYRO is BMI160");
 		}
@@ -846,6 +907,9 @@ void motion_interrupt(enum gpio_signal signal)
 		case SSFC_SENSOR_ICM42607:
 			icm42607_interrupt(signal);
 			break;
+		case SSFC_SENSOR_BMI220:
+			bmi260_interrupt(signal);
+			break;
 		case SSFC_SENSOR_BMI160:
 		default:
 			bmi160_interrupt(signal);
diff --git a/board/storo/board.h b/board/storo/board.h
index a89bde6fcf..cb738e8245 100644
--- a/board/storo/board.h
+++ b/board/storo/board.h
@@ -50,6 +50,8 @@
 #define CONFIG_ACCEL_KX022
 #define CONFIG_ACCELGYRO_BMI160	/* Base accel */
 #define CONFIG_ACCELGYRO_ICM42607
+#define CONFIG_ACCELGYRO_BMI220
+#define CONFIG_I2C_XFER_LARGE_TRANSFER
 
 /* Lid operates in forced mode, base in FIFO */
 #define CONFIG_ACCEL_FORCE_MODE_MASK BIT(LID_ACCEL)
@@ -61,6 +63,9 @@
 #define CONFIG_ACCELGYRO_BMI160_INT_EVENT \
 	TASK_EVENT_MOTION_SENSOR_INTERRUPT(BASE_ACCEL)
 
+#define CONFIG_ACCELGYRO_BMI260_INT_EVENT \
+	TASK_EVENT_MOTION_SENSOR_INTERRUPT(BASE_ACCEL)
+
 #define CONFIG_ACCELGYRO_ICM42607_INT_EVENT \
 	TASK_EVENT_MOTION_SENSOR_INTERRUPT(BASE_ACCEL)
 
diff --git a/board/storo/cbi_ssfc.h b/board/storo/cbi_ssfc.h
index 935049b6ae..f4a51b8e91 100644
--- a/board/storo/cbi_ssfc.h
+++ b/board/storo/cbi_ssfc.h
@@ -20,7 +20,8 @@ enum ec_ssfc_base_sensor {
 	SSFC_SENSOR_BMI160 = 1,
 	SSFC_SENSOR_ICM426XX = 2,
 	SSFC_SENSOR_LSM6DSM = 3,
-	SSFC_SENSOR_ICM42607 = 4
+	SSFC_SENSOR_ICM42607 = 4,
+	SSFC_SENSOR_BMI220 = 5
 };
 
 /*