Ezkinil: Using fw_config to choose base accelgyro driver

Add new ec_cfg_base_gyro_sensor_type "BASE_GYRO_ICM426XX = 3" for
support ICM-426XX on ezkinil.

BUG=b:175169469
BRANCH=zork
TEST=Write fw_config bit15-11 to 011b on the Ezkinil DUT with ICM chip.
     Check the motion function is workable.

Signed-off-by: Sue Chen <sue.chen@quanta.corp-partner.google.com>
Change-Id: If72746a1b7b44714aa39f7d48fd94d0c63d4f876
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/2581122
Reviewed-by: Edward Hill <ecgh@chromium.org>
Signed-off-by: Abe Levkoy <alevkoy@chromium.org>
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/2590860

4 files changed, 89 insertions, 3 deletions

diff --git a/baseboard/zork/cbi_ec_fw_config.h b/baseboard/zork/cbi_ec_fw_config.h
index 9222dd9f45..90940b1019 100644
--- a/baseboard/zork/cbi_ec_fw_config.h
+++ b/baseboard/zork/cbi_ec_fw_config.h
@@ -60,6 +60,7 @@ enum ec_cfg_base_gyro_sensor_type {
 	BASE_GYRO_NONE = 0,
 	BASE_GYRO_BMI160 = 1,
 	BASE_GYRO_LSM6DSM = 2,
+	BASE_GYRO_ICM426XX = 3,
 };
 #define EC_CFG_BASE_GYRO_SENSOR_L		11
 #define EC_CFG_BASE_GYRO_SENSOR_H		13
diff --git a/board/ezkinil/board.c b/board/ezkinil/board.c
index efeb4f680e..2db679ada4 100644
--- a/board/ezkinil/board.c
+++ b/board/ezkinil/board.c
@@ -9,6 +9,8 @@
 #include "charge_state_v2.h"
 #include "cros_board_info.h"
 #include "driver/accelgyro_bmi_common.h"
+#include "driver/accelgyro_icm_common.h"
+#include "driver/accelgyro_icm426xx.h"
 #include "driver/accel_kionix.h"
 #include "driver/accel_kx022.h"
 #include "driver/ppc/aoz1380.h"
@@ -39,10 +41,10 @@
 
 #include "gpio_list.h"
 
-#ifdef HAS_TASK_MOTIONSENSE
-
 static int board_ver;
 
+#ifdef HAS_TASK_MOTIONSENSE
+
 /* Motion sensors */
 static struct mutex g_lid_mutex;
 static struct mutex g_base_mutex;
@@ -50,6 +52,7 @@ static struct mutex g_base_mutex;
 /* sensor private data */
 static struct kionix_accel_data g_kx022_data;
 static struct bmi_drv_data_t g_bmi160_data;
+static struct icm_drv_data_t g_icm426xx_data;
 
 /* Matrix to rotate accelrator into standard reference frame */
 const mat33_fp_t base_standard_ref = {
@@ -141,6 +144,51 @@ 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_SENSOR,
+	.i2c_spi_addr_flags = ICM426XX_ADDR0_FLAGS,
+	.default_range = 2, /* g, enough for laptop */
+	.rot_standard_ref = &base_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,
+		},
+		/* EC use accel for angle detection */
+		[SENSOR_CONFIG_EC_S3] = {
+			.odr = 10000 | ROUND_UP_FLAG,
+		},
+	},
+};
+
+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,
+	.i2c_spi_addr_flags = ICM426XX_ADDR0_FLAGS,
+	.default_range = 1000, /* dps */
+	.rot_standard_ref = &base_standard_ref,
+	.min_frequency = ICM426XX_GYRO_MIN_FREQ,
+	.max_frequency = ICM426XX_GYRO_MAX_FREQ,
+};
+
 #endif /* HAS_TASK_MOTIONSENSE */
 
 const struct power_signal_info power_signal_list[] = {
@@ -235,6 +283,37 @@ const struct usb_mux usbc0_sbu_mux = {
 };
 
 /*****************************************************************************
+ * Base Gyro Sensor dynamic configuration
+ */
+
+static int base_gyro_config;
+
+static void setup_base_gyro_config(void)
+{
+	base_gyro_config = ec_config_has_base_gyro_sensor();
+
+	if (base_gyro_config == BASE_GYRO_ICM426XX) {
+		motion_sensors[BASE_ACCEL] = icm426xx_base_accel;
+		motion_sensors[BASE_GYRO] = icm426xx_base_gyro;
+		ccprints("BASE GYRO is ICM426XX");
+	} else if (base_gyro_config == BASE_GYRO_BMI160)
+		ccprints("BASE GYRO is BMI160");
+}
+
+void motion_interrupt(enum gpio_signal signal)
+{
+	switch (base_gyro_config) {
+	case BASE_GYRO_ICM426XX:
+		icm426xx_interrupt(signal);
+		break;
+	case BASE_GYRO_BMI160:
+	default:
+		bmi160_interrupt(signal);
+		break;
+	}
+}
+
+/*****************************************************************************
  * USB-C MUX/Retimer dynamic configuration
  */
 
@@ -420,6 +499,8 @@ static void setup_fw_config(void)
 		else
 			gpio_enable_interrupt(GPIO_DP1_HPD_EC_IN);
 	}
+
+	setup_base_gyro_config();
 }
 /* Use HOOK_PRIO_INIT_I2C + 2 to be after ioex_init(). */
 DECLARE_HOOK(HOOK_INIT, setup_fw_config, HOOK_PRIO_INIT_I2C + 2);
diff --git a/board/ezkinil/board.h b/board/ezkinil/board.h
index 17a924e99d..6f55803a60 100644
--- a/board/ezkinil/board.h
+++ b/board/ezkinil/board.h
@@ -15,6 +15,9 @@
 #define CONFIG_FAN_RPM_CUSTOM
 
 /* Motion sensing drivers */
+#define CONFIG_ACCELGYRO_ICM426XX
+#define CONFIG_ACCELGYRO_ICM426XX_INT_EVENT \
+	TASK_EVENT_MOTION_SENSOR_INTERRUPT(BASE_ACCEL)
 #define CONFIG_ACCELGYRO_BMI160
 #define CONFIG_ACCELGYRO_BMI160_INT_EVENT \
 	TASK_EVENT_MOTION_SENSOR_INTERRUPT(BASE_ACCEL)
@@ -203,6 +206,7 @@ extern const struct usb_mux usbc1_tusb544;
 extern const struct usb_mux usbc1_ps8743;
 extern struct usb_mux usbc1_amd_fp5_usb_mux;
 
+void motion_interrupt(enum gpio_signal signal);
 void hdmi_hpd_interrupt(enum gpio_signal signal);
 void hdmi_hpd_interrupt_v2(enum ioex_signal signal);
 
diff --git a/board/ezkinil/gpio.inc b/board/ezkinil/gpio.inc
index 9a3b022db4..8e75ec9975 100644
--- a/board/ezkinil/gpio.inc
+++ b/board/ezkinil/gpio.inc
@@ -24,7 +24,7 @@ GPIO_INT(ACOK_OD,		PIN(0, 0), GPIO_INT_BOTH | GPIO_HIB_WAKE_HIGH,	extpower_inter
 GPIO_INT(EC_WP_L,		PIN(5, 0), GPIO_INT_BOTH,			switch_interrupt)
 GPIO_INT(VOLDN_BTN_ODL,		PIN(A, 6), GPIO_INT_BOTH | GPIO_PULL_UP,	button_interrupt)
 GPIO_INT(VOLUP_BTN_ODL,		PIN(9, 5), GPIO_INT_BOTH | GPIO_PULL_UP,	button_interrupt)
-GPIO_INT(6AXIS_INT_L,		PIN(A, 0), GPIO_INT_FALLING | GPIO_PULL_UP,	bmi160_interrupt)
+GPIO_INT(6AXIS_INT_L,		PIN(A, 0), GPIO_INT_FALLING | GPIO_PULL_UP,	motion_interrupt)
 GPIO_INT(DP1_HPD_EC_IN,		PIN(7, 5), GPIO_INT_BOTH,			hdmi_hpd_interrupt)
 
 /* GPIO_INT_BOTH is required for PSL wake from hibernate, but we don't need an interrupt handler. */