dojo: Update base sensor by board version and SSFC value

BUG=b:237963220
BRANCH=cherry
TEST=make sure that all base sensors work correctly with corresponding
board version and ssfc value.

Signed-off-by: Tommy Chung <tommy.chung@quanta.corp-partner.google.com>
Change-Id: I2ba9d3bf3bc4b93ebefae466b8f1027d4bfb6aa7
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/3739114
Reviewed-by: Devin Lu <devin.lu@quantatw.com>
Reviewed-by: Ting Shen <phoenixshen@chromium.org>
Reviewed-by: Chen-Tsung Hsieh <chentsung@chromium.org>
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/3746507
Commit-Queue: Chen-Tsung Hsieh <chentsung@chromium.org>

2 files changed, 112 insertions, 46 deletions

diff --git a/board/dojo/board.c b/board/dojo/board.c
index 690f9aa547..0b124d80ab 100644
--- a/board/dojo/board.c
+++ b/board/dojo/board.c
@@ -5,6 +5,7 @@
 /* Dojo board configuration */
 
 #include "cbi_fw_config.h"
+#include "cbi_ssfc.h"
 #include "charge_manager.h"
 #include "charge_state_v2.h"
 #include "common.h"
@@ -13,6 +14,7 @@
 #include "driver/accel_kionix.h"
 #include "driver/accel_kx022.h"
 #include "driver/accelgyro_icm426xx.h"
+#include "driver/accelgyro_icm42607.h"
 #include "driver/accelgyro_icm_common.h"
 #include "driver/accelgyro_bmi_common_public.h"
 #include "driver/accelgyro_bmi260_public.h"
@@ -31,6 +33,7 @@
 #define CPRINTF(format, args...) cprintf(CC_USBCHARGE, format, ##args)
 
 uint32_t board_version;
+enum ec_ssfc_base_sensor base_sensor;
 
 /* Keyboard scan setting */
 __override struct keyboard_scan_config keyscan_config = {
@@ -110,21 +113,26 @@ static struct mutex g_base_mutex;
 static struct mutex g_lid_mutex;
 
 static struct icm_drv_data_t g_icm426xx_data;
+static struct icm_drv_data_t g_icm42607_data;
 static struct bmi_drv_data_t g_bmi260_data;
 static struct kionix_accel_data g_kx022_data;
 
 /* Matrix to rotate accelrator into standard reference frame */
-static const mat33_fp_t base_standard_ref = { { FLOAT_TO_FP(-1), 0, 0 },
-					      { 0, FLOAT_TO_FP(-1), 0 },
-					      { 0, 0, FLOAT_TO_FP(1) } };
+static 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) } };
 
 static const mat33_fp_t lid_standard_ref = { { FLOAT_TO_FP(1), 0, 0 },
 					     { 0, FLOAT_TO_FP(-1), 0 },
 					     { 0, 0, FLOAT_TO_FP(-1) } };
 
-static const mat33_fp_t bmi260_standard_ref = { { 0, FLOAT_TO_FP(-1), 0 },
-						{ FLOAT_TO_FP(1), 0, 0 },
-						{ 0, 0, FLOAT_TO_FP(1) } };
+static const mat33_fp_t icm42607_standard_ref = { { FLOAT_TO_FP(-1), 0, 0 },
+					      { 0, FLOAT_TO_FP(-1), 0 },
+					      { 0, 0, FLOAT_TO_FP(1) } };
+
+static const mat33_fp_t icm426xx_standard_ref = { { FLOAT_TO_FP(-1), 0, 0 },
+					      { 0, FLOAT_TO_FP(-1), 0 },
+					      { 0, 0, FLOAT_TO_FP(1) } };
 
 struct motion_sensor_t motion_sensors[] = {
 	/*
@@ -135,44 +143,46 @@ struct motion_sensor_t motion_sensors[] = {
 	[BASE_ACCEL] = {
 		.name = "Base Accel",
 		.active_mask = SENSOR_ACTIVE_S0_S3,
-		.chip = MOTIONSENSE_CHIP_ICM426XX,
+		.chip = MOTIONSENSE_CHIP_BMI260,
 		.type = MOTIONSENSE_TYPE_ACCEL,
 		.location = MOTIONSENSE_LOC_BASE,
-		.drv = &icm426xx_drv,
+		.drv = &bmi260_drv,
 		.mutex = &g_base_mutex,
-		.drv_data = &g_icm426xx_data,
+		.drv_data = &g_bmi260_data,
 		.port = I2C_PORT_ACCEL,
-		.i2c_spi_addr_flags = ICM426XX_ADDR0_FLAGS,
-		.default_range = 4, /* g, to meet CDD 7.3.1/C-1-4 reqs. */
+		.i2c_spi_addr_flags = BMI260_ADDR0_FLAGS,
 		.rot_standard_ref = &base_standard_ref,
-		.min_frequency = ICM426XX_ACCEL_MIN_FREQ,
-		.max_frequency = ICM426XX_ACCEL_MAX_FREQ,
+		.min_frequency = BMI_ACCEL_MIN_FREQ,
+		.max_frequency = BMI_ACCEL_MAX_FREQ,
+		.default_range = 4, /* g */
 		.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 = 100 * MSEC,
 			},
 		},
 	},
 	[BASE_GYRO] = {
 		.name = "Base Gyro",
 		.active_mask = SENSOR_ACTIVE_S0_S3,
-		.chip = MOTIONSENSE_CHIP_ICM426XX,
+		.chip = MOTIONSENSE_CHIP_BMI260,
 		.type = MOTIONSENSE_TYPE_GYRO,
 		.location = MOTIONSENSE_LOC_BASE,
-		.drv = &icm426xx_drv,
+		.drv = &bmi260_drv,
 		.mutex = &g_base_mutex,
-		.drv_data = &g_icm426xx_data,
+		.drv_data = &g_bmi260_data,
 		.port = I2C_PORT_ACCEL,
-		.i2c_spi_addr_flags = ICM426XX_ADDR0_FLAGS,
+		.i2c_spi_addr_flags = BMI260_ADDR0_FLAGS,
 		.default_range = 1000, /* dps */
 		.rot_standard_ref = &base_standard_ref,
-		.min_frequency = ICM426XX_GYRO_MIN_FREQ,
-		.max_frequency = ICM426XX_GYRO_MAX_FREQ,
+		.min_frequency = BMI_GYRO_MIN_FREQ,
+		.max_frequency = BMI_GYRO_MAX_FREQ,
 	},
 	[LID_ACCEL] = {
 		.name = "Lid Accel",
@@ -204,69 +214,117 @@ struct motion_sensor_t motion_sensors[] = {
 };
 const unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
 
-struct motion_sensor_t bmi260_base_accel = {
+struct motion_sensor_t icm42607_base_accel = {
 	.name = "Base Accel",
 	.active_mask = SENSOR_ACTIVE_S0_S3,
-	.chip = MOTIONSENSE_CHIP_BMI260,
+	.chip = MOTIONSENSE_CHIP_ICM42607,
 	.type = MOTIONSENSE_TYPE_ACCEL,
 	.location = MOTIONSENSE_LOC_BASE,
-	.drv = &bmi260_drv,
+	.drv = &icm42607_drv,
 	.mutex = &g_base_mutex,
-	.drv_data = &g_bmi260_data,
+	.drv_data = &g_icm42607_data,
 	.port = I2C_PORT_ACCEL,
-	.i2c_spi_addr_flags = BMI260_ADDR0_FLAGS,
-	.rot_standard_ref = &bmi260_standard_ref,
-	.min_frequency = BMI_ACCEL_MIN_FREQ,
-	.max_frequency = BMI_ACCEL_MAX_FREQ,
-	.default_range = 4, /* g */
+	.i2c_spi_addr_flags = ICM42607_ADDR0_FLAGS,
+	.default_range = 4, /* g, to meet CDD 7.3.1/C-1-4 reqs.*/
+	.rot_standard_ref = &icm42607_standard_ref,
+	.min_frequency = ICM42607_ACCEL_MIN_FREQ,
+	.max_frequency = ICM42607_ACCEL_MAX_FREQ,
 	.config = {
 		/* EC use accel for angle detection */
 		[SENSOR_CONFIG_EC_S0] = {
 			.odr = 10000 | ROUND_UP_FLAG,
-			.ec_rate = 100 * MSEC,
 		},
-		/* Sensor on in S3 */
+		/* EC use accel for angle detection */
 		[SENSOR_CONFIG_EC_S3] = {
 			.odr = 10000 | ROUND_UP_FLAG,
+		},
+	},
+};
+
+struct motion_sensor_t icm42607_base_gyro = {
+	.name = "Base Gyro",
+	.active_mask = SENSOR_ACTIVE_S0_S3,
+	.chip = MOTIONSENSE_CHIP_ICM42607,
+	.type = MOTIONSENSE_TYPE_GYRO,
+	.location = MOTIONSENSE_LOC_BASE,
+	.drv = &icm42607_drv,
+	.mutex = &g_base_mutex,
+	.drv_data = &g_icm42607_data,
+	.port = I2C_PORT_ACCEL,
+	.i2c_spi_addr_flags = ICM42607_ADDR0_FLAGS,
+	.default_range = 1000, /* dps */
+	.rot_standard_ref = &icm42607_standard_ref,
+	.min_frequency = ICM42607_GYRO_MIN_FREQ,
+	.max_frequency = ICM42607_GYRO_MAX_FREQ,
+};
+
+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_ACCEL,
+	.i2c_spi_addr_flags = ICM426XX_ADDR0_FLAGS,
+	.default_range = 4, /* g, to meet CDD 7.3.1/C-1-4 reqs. */
+	.rot_standard_ref = &icm426xx_standard_ref,
+	.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_rate = 100 * MSEC,
 		},
+		[SENSOR_CONFIG_EC_S3] = {
+			.odr = 10000 | ROUND_UP_FLAG,
+		},
 	},
 };
 
-struct motion_sensor_t bmi260_base_gyro = {
+struct motion_sensor_t icm426xx_base_gyro = {
 	.name = "Base Gyro",
 	.active_mask = SENSOR_ACTIVE_S0_S3,
-	.chip = MOTIONSENSE_CHIP_BMI260,
+	.chip = MOTIONSENSE_CHIP_ICM426XX,
 	.type = MOTIONSENSE_TYPE_GYRO,
 	.location = MOTIONSENSE_LOC_BASE,
-	.drv = &bmi260_drv,
+	.drv = &icm426xx_drv,
 	.mutex = &g_base_mutex,
-	.drv_data = &g_bmi260_data,
+	.drv_data = &g_icm426xx_data,
 	.port = I2C_PORT_ACCEL,
-	.i2c_spi_addr_flags = BMI260_ADDR0_FLAGS,
+	.i2c_spi_addr_flags = ICM426XX_ADDR0_FLAGS,
 	.default_range = 1000, /* dps */
-	.rot_standard_ref = &bmi260_standard_ref,
-	.min_frequency = BMI_GYRO_MIN_FREQ,
-	.max_frequency = BMI_GYRO_MAX_FREQ,
+	.rot_standard_ref = &icm426xx_standard_ref,
+	.min_frequency = ICM426XX_GYRO_MIN_FREQ,
+	.max_frequency = ICM426XX_GYRO_MAX_FREQ,
 };
 
 static void board_update_motion_sensor_config(void)
 {
-	if (board_version >= 2) {
-		motion_sensors[BASE_ACCEL] = bmi260_base_accel;
-		motion_sensors[BASE_GYRO] = bmi260_base_gyro;
-		ccprints("BASE Accelgyro is BMI260");
-	} else {
+	if (board_version <= 1 || base_sensor == SSFC_SENSOR_ICM426XX) {
+		motion_sensors[BASE_ACCEL] = icm426xx_base_accel;
+		motion_sensors[BASE_GYRO] = icm426xx_base_gyro;
 		ccprints("BASE Accelgyro is ICM426XX");
+	} else if (base_sensor == SSFC_SENSOR_ICM42607) {
+		motion_sensors[BASE_ACCEL] = icm42607_base_accel;
+		motion_sensors[BASE_GYRO] = icm42607_base_gyro;
+		ccprints("BASE Accelgyro is ICM42607");
+	} else {
+		ccprints("BASE Accelgyro is BMI260");
 	}
 }
 
 void motion_interrupt(enum gpio_signal signal)
 {
-	if (board_version >= 2)
-		bmi260_interrupt(signal);
-	else
+	if (board_version <= 1 || base_sensor == SSFC_SENSOR_ICM426XX)
 		icm426xx_interrupt(signal);
+	else if (base_sensor == SSFC_SENSOR_ICM42607)
+		icm42607_interrupt(signal);
+	else
+		bmi260_interrupt(signal);
 }
 
 /* PWM */
@@ -397,6 +455,9 @@ static void board_init(void)
 	/* Store board version for use of something */
 	cbi_get_board_version(&board_version);
 
+	/* Store base sensor to recognize which base sensor we are using */
+	base_sensor = get_cbi_ssfc_base_sensor();
+
 	board_update_motion_sensor_config();
 	board_update_vol_up_key();
 }
diff --git a/board/dojo/board.h b/board/dojo/board.h
index dbf5854f65..1bdc016b23 100644
--- a/board/dojo/board.h
+++ b/board/dojo/board.h
@@ -63,6 +63,11 @@
 #define CONFIG_ACCELGYRO_ICM426XX_INT_EVENT \
 	TASK_EVENT_MOTION_SENSOR_INTERRUPT(BASE_ACCEL)
 
+/* ICM42607 Base accel/gyro*/
+#define CONFIG_ACCELGYRO_ICM42607
+#define CONFIG_ACCELGYRO_ICM42607_INT_EVENT \
+	TASK_EVENT_MOTION_SENSOR_INTERRUPT(BASE_ACCEL)
+
 /* BMI260 accel/gyro in base */
 #define CONFIG_ACCELGYRO_BMI260
 #define CONFIG_ACCELGYRO_BMI260_INT_EVENT \