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

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

BUG=none
BRANCH=nami
TEST=Check ectool motionsense and get x,y,z data.

Signed-off-by: David Huang <david.huang@quanta.corp-partner.google.com>
Change-Id: Id0965e38af93ba950f6ba956e5edf1243420cc74
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/2617322
Reviewed-by: YH Lin <yueherngl@chromium.org>
Commit-Queue: YH Lin <yueherngl@chromium.org>

3 files changed, 107 insertions, 3 deletions

diff --git a/board/nami/board.c b/board/nami/board.c
index e81d88c3fe..09e9419273 100644
--- a/board/nami/board.c
+++ b/board/nami/board.c
@@ -19,6 +19,8 @@
 #include "cros_board_info.h"
 #include "driver/pmic_tps650x30.h"
 #include "driver/accelgyro_bmi160.h"
+#include "driver/accelgyro_icm_common.h"
+#include "driver/accelgyro_icm426xx.h"
 #include "driver/accel_bma2x2.h"
 #include "driver/accel_kionix.h"
 #include "driver/baro_bmp280.h"
@@ -723,10 +725,17 @@ static struct mutex g_base_mutex;
 /* Lid accel private data */
 static struct bmi160_drv_data_t g_bmi160_data;
 static struct kionix_accel_data g_kx022_data;
+static struct icm_drv_data_t g_icm426xx_data;
 
 /* BMA255 private 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 accelrator into standard reference frame */
 const matrix_3x3_t base_standard_ref = {
 	{ 0, FLOAT_TO_FP(-1), 0},
@@ -734,6 +743,12 @@ const matrix_3x3_t base_standard_ref = {
 	{ 0, 0, FLOAT_TO_FP(1)}
 };
 
+const matrix_3x3_t base_icm_ref = {
+	{ 0, FLOAT_TO_FP(-1), 0},
+	{ FLOAT_TO_FP(-1), 0,  0},
+	{ 0, 0,  FLOAT_TO_FP(1)}
+};
+
 const matrix_3x3_t lid_standard_ref = {
 	{ FLOAT_TO_FP(1), 0, 0},
 	{ 0, FLOAT_TO_FP(-1), 0},
@@ -849,6 +864,51 @@ 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_ACCEL,
+	 .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_ACCEL,
+	 .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,
+};
+
 /* Enable or disable input devices, based on chipset state and tablet mode */
 #ifndef TEST_BUILD
 void lid_angle_peripheral_enable(int enable)
@@ -878,14 +938,53 @@ static void board_chipset_suspend(void)
 }
 DECLARE_HOOK(HOOK_CHIPSET_SUSPEND, board_chipset_suspend, HOOK_PRIO_DEFAULT);
 
+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 base accelgyro chip */
+	ret = icm_read8(&icm426xx_base_accel, ICM426XX_REG_WHO_AM_I, &val);
+	if (ret)
+		CPRINTS("Get ICM fail.");
+	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 setup_motion_sensors(void)
 {
 	if (sku & SKU_ID_MASK_CONVERTIBLE) {
 		if (oem == PROJECT_AKALI) {
+			board_detect_motionsensor();
 			/* Rotate axis for Akali 360 */
 			motion_sensors[LID_ACCEL] = lid_accel_1;
-			motion_sensors[BASE_ACCEL].rot_standard_ref = NULL;
-			motion_sensors[BASE_GYRO].rot_standard_ref = NULL;
+			if (base_accelgyro_config != ICM426XX_CHIP_ICM40608) {
+				motion_sensors[BASE_ACCEL].rot_standard_ref
+					 = NULL;
+				motion_sensors[BASE_GYRO].rot_standard_ref
+					 = NULL;
+			}
 		}
 	} else {
 		/* Clamshells have no accel/gyro */
diff --git a/board/nami/board.h b/board/nami/board.h
index 0287e114ef..7b0979a10e 100644
--- a/board/nami/board.h
+++ b/board/nami/board.h
@@ -137,6 +137,9 @@
 #define CONFIG_ACCELGYRO_BMI160
 #define CONFIG_ACCELGYRO_BMI160_INT_EVENT TASK_EVENT_CUSTOM(4)
 #define CONFIG_ACCELGYRO_BMI160_INT2_OUTPUT
+#define CONFIG_ACCELGYRO_ICM426XX	/* Base accel second source*/
+#define CONFIG_ACCELGYRO_ICM426XX_INT_EVENT \
+	TASK_EVENT_CUSTOM(4)
 #define CONFIG_ACCEL_BMA255
 #define CONFIG_ACCEL_KX022
 #define CONFIG_ACCEL_INTERRUPTS
@@ -349,6 +352,8 @@ extern uint8_t model;
 
 void ccd_mode_isr(enum gpio_signal signal);
 
+void motion_interrupt(enum gpio_signal signal);
+
 #endif /* !__ASSEMBLER__ */
 
 #endif /* __CROS_EC_BOARD_H */
diff --git a/board/nami/gpio.inc b/board/nami/gpio.inc
index c5467c025d..3db9b7340b 100644
--- a/board/nami/gpio.inc
+++ b/board/nami/gpio.inc
@@ -33,7 +33,7 @@ GPIO_INT(USB_C0_VBUS_WAKE_L,	PIN(9, 7), GPIO_INT_BOTH | GPIO_PULL_UP,vbus0_evt)
 GPIO_INT(USB_C1_VBUS_WAKE_L,	PIN(C, 5), GPIO_INT_BOTH | GPIO_PULL_UP,vbus1_evt)
 GPIO_INT(USB_C0_BC12_INT_L,	PIN(D, 2), GPIO_INT_FALLING,		usb0_evt)
 GPIO_INT(USB_C1_BC12_INT_L,	PIN(D, 3), GPIO_INT_FALLING,		usb1_evt)
-GPIO_INT(ACCELGYRO3_INT_L,	PIN(3, 6), GPIO_INT_FALLING | GPIO_PULL_UP, bmi160_interrupt)
+GPIO_INT(ACCELGYRO3_INT_L,	PIN(3, 6), GPIO_INT_FALLING | GPIO_PULL_UP, motion_interrupt)
 GPIO_INT(TABLET_MODE_L,		PIN(7, 2), GPIO_INT_BOTH,		tablet_mode_isr)
 GPIO_INT(CCD_MODE_ODL,		PIN(6, 3), GPIO_INT_FALLING,		ccd_mode_isr)