magolor: Add motion sensor config for kx022/icm-426xx

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

BUG=b:176314158, b:176314157
BRANCH=main
TEST=Using ectool 'motionsense' verified lid angle now goes
from 0 to 360 and swtiches to tablet mode after crossing 200
threshold on re-work kx022/icm-426xx DUT.

Change-Id: I157ca9313f24726f51b829bc6da2dddbf7feeb49
Signed-off-by: Ben Chen <ben.chen2@quanta.corp-partner.google.com>
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/2631888
Reviewed-by: Aseda Aboagye <aaboagye@chromium.org>
Commit-Queue: Aseda Aboagye <aaboagye@chromium.org>

3 files changed, 160 insertions, 23 deletions

diff --git a/board/magolor/board.c b/board/magolor/board.c
index 0fb7f72db3..1ef86724a1 100644
--- a/board/magolor/board.c
+++ b/board/magolor/board.c
@@ -7,6 +7,7 @@
 
 #include "adc_chip.h"
 #include "button.h"
+#include "cbi_ssfc.h"
 #include "charge_manager.h"
 #include "charge_state_v2.h"
 #include "charger.h"
@@ -15,6 +16,9 @@
 #include "compile_time_macros.h"
 #include "driver/accel_bma2x2.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/temp_sensor/thermistor.h"
 #include "temp_sensor.h"
 #include "driver/bc12/pi3usb9201.h"
@@ -220,28 +224,6 @@ static void setup_thermal(void)
 	thermal_params[TEMP_SENSOR_2] = thermal_b;
 }
 
-void board_init(void)
-{
-	int on;
-
-	gpio_enable_interrupt(GPIO_USB_C0_INT_ODL);
-	gpio_enable_interrupt(GPIO_SUB_USB_C1_INT_ODL);
-	check_c0_line();
-	check_c1_line();
-
-	/* Enable gpio interrupt for base accelgyro sensor */
-	gpio_enable_interrupt(GPIO_BASE_SIXAXIS_INT_L);
-
-	/* Turn on 5V if the system is on, otherwise turn it off. */
-	on = chipset_in_state(CHIPSET_STATE_ON | CHIPSET_STATE_ANY_SUSPEND |
-			      CHIPSET_STATE_SOFT_OFF);
-	board_power_5v_enable(on);
-
-	/* Initialize THERMAL */
-	setup_thermal();
-}
-DECLARE_HOOK(HOOK_INIT, board_init, HOOK_PRIO_DEFAULT);
-
 void board_hibernate(void)
 {
 	/*
@@ -432,9 +414,99 @@ static const mat33_fp_t base_standard_ref = {
 	{ 0, 0, FLOAT_TO_FP(-1)}
 };
 
+
+/* BMA253 private data */
 static struct accelgyro_saved_data_t g_bma253_data;
+
+/* BMI160 private data */
 static struct bmi_drv_data_t g_bmi160_data;
 
+#ifdef BOARD_MAGOLOR
+static const mat33_fp_t base_icm_ref = {
+	{ 0, FLOAT_TO_FP(-1), 0},
+	{ FLOAT_TO_FP(1), 0, 0},
+	{ 0, 0, FLOAT_TO_FP(-1)}
+};
+
+/* ICM426 private data */
+static struct icm_drv_data_t g_icm426xx_data;
+/* KX022 private data */
+static struct kionix_accel_data g_kx022_data;
+
+struct motion_sensor_t kx022_lid_accel = {
+	.name = "Lid Accel",
+	.active_mask = SENSOR_ACTIVE_S0_S3,
+	.chip = MOTIONSENSE_CHIP_KX022,
+	.type = MOTIONSENSE_TYPE_ACCEL,
+	.location = MOTIONSENSE_LOC_LID,
+	.drv = &kionix_accel_drv,
+	.mutex = &g_lid_mutex,
+	.drv_data = &g_kx022_data,
+	.port = I2C_PORT_ACCEL,
+	.i2c_spi_addr_flags = KX022_ADDR0_FLAGS,
+	.rot_standard_ref = &lid_standard_ref,
+	.min_frequency = KX022_ACCEL_MIN_FREQ,
+	.max_frequency = KX022_ACCEL_MAX_FREQ,
+	.default_range = 2, /* g, to support tablet mode */
+	.config = {
+		/* EC use accel for angle detection */
+		[SENSOR_CONFIG_EC_S0] = {
+			.odr = 10000 | ROUND_UP_FLAG,
+		},
+		/* EC use accel for angle detection */
+		[SENSOR_CONFIG_EC_S3] = {
+			.odr = 10000 | ROUND_UP_FLAG,
+		},
+	},
+};
+
+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, enough for laptop */
+	.rot_standard_ref = &base_icm_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 = 13000 | ROUND_UP_FLAG,
+			.ec_rate = 100 * MSEC,
+		},
+		/* EC use accel 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,
+	.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
+
 struct motion_sensor_t motion_sensors[] = {
 	[LID_ACCEL] = {
 		.name = "Lid Accel",
@@ -506,6 +578,60 @@ struct motion_sensor_t motion_sensors[] = {
 
 const unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
 
+void board_init(void)
+{
+	int on;
+
+	gpio_enable_interrupt(GPIO_USB_C0_INT_ODL);
+	gpio_enable_interrupt(GPIO_SUB_USB_C1_INT_ODL);
+	check_c0_line();
+	check_c1_line();
+
+	/* Enable gpio interrupt for base accelgyro sensor */
+	gpio_enable_interrupt(GPIO_BASE_SIXAXIS_INT_L);
+
+	/* Turn on 5V if the system is on, otherwise turn it off. */
+	on = chipset_in_state(CHIPSET_STATE_ON | CHIPSET_STATE_ANY_SUSPEND |
+			      CHIPSET_STATE_SOFT_OFF);
+	board_power_5v_enable(on);
+
+	/* Initialize THERMAL */
+	setup_thermal();
+
+	#ifdef BOARD_MAGOLOR
+		if (get_cbi_ssfc_base_sensor() == SSFC_SENSOR_ICM426XX) {
+			motion_sensors[BASE_ACCEL] = icm426xx_base_accel;
+			motion_sensors[BASE_GYRO] = icm426xx_base_gyro;
+			ccprints("BASE GYRO is ICM426XX");
+		} else
+			ccprints("BASE GYRO is BMI160");
+
+		if (get_cbi_ssfc_lid_sensor() == SSFC_SENSOR_KX022) {
+			motion_sensors[LID_ACCEL] = kx022_lid_accel;
+			ccprints("LID_ACCEL is KX022");
+		} else
+			ccprints("LID_ACCEL is BMA253");
+	#endif
+}
+DECLARE_HOOK(HOOK_INIT, board_init, HOOK_PRIO_DEFAULT);
+
+void motion_interrupt(enum gpio_signal signal)
+{
+	#ifdef BOARD_MAGOLOR
+		switch (get_cbi_ssfc_base_sensor()) {
+		case SSFC_SENSOR_ICM426XX:
+			icm426xx_interrupt(signal);
+			break;
+		case SSFC_SENSOR_BMI160:
+		default:
+			bmi160_interrupt(signal);
+			break;
+		}
+	#else
+		bmi160_interrupt(signal);
+	#endif
+}
+
 __override void ocpc_get_pid_constants(int *kp, int *kp_div,
 				       int *ki, int *ki_div,
 				       int *kd, int *kd_div)
diff --git a/board/magolor/board.h b/board/magolor/board.h
index 2a9aecefea..cab934da2b 100644
--- a/board/magolor/board.h
+++ b/board/magolor/board.h
@@ -116,6 +116,11 @@
 #define CONFIG_ACCEL_BMA255		/* Lid accel */
 #define CONFIG_ACCELGYRO_BMI160		/* Base accel */
 
+#ifdef BOARD_MAGOLOR
+#define CONFIG_ACCEL_KX022		/* Lid accel */
+#define CONFIG_ACCELGYRO_ICM426XX	/* Base accel second source*/
+#endif
+
 /* Lid operates in forced mode, base in FIFO */
 #define CONFIG_ACCEL_FORCE_MODE_MASK BIT(LID_ACCEL)
 #define CONFIG_ACCEL_FIFO
@@ -126,6 +131,11 @@
 #define CONFIG_ACCELGYRO_BMI160_INT_EVENT \
 	TASK_EVENT_MOTION_SENSOR_INTERRUPT(BASE_ACCEL)
 
+#ifdef BOARD_MAGOLOR
+#define CONFIG_ACCELGYRO_ICM426XX_INT_EVENT \
+	TASK_EVENT_MOTION_SENSOR_INTERRUPT(BASE_ACCEL)
+#endif
+
 #define CONFIG_LID_ANGLE
 #define CONFIG_LID_ANGLE_UPDATE
 #define CONFIG_LID_ANGLE_SENSOR_BASE BASE_ACCEL
@@ -190,5 +200,6 @@ enum battery_type {
 };
 
 int board_is_sourcing_vbus(int port);
+void motion_interrupt(enum gpio_signal signal);
 #endif /* !__ASSEMBLER__ */
 #endif /* __CROS_EC_BOARD_H */
diff --git a/board/magolor/gpio.inc b/board/magolor/gpio.inc
index d648b4245b..1fc059143e 100644
--- a/board/magolor/gpio.inc
+++ b/board/magolor/gpio.inc
@@ -34,7 +34,7 @@ GPIO_INT(H1_EC_PWR_BTN_ODL,	 PIN(0, 1), GPIO_INT_BOTH | GPIO_PULL_UP, power_butt
 /* Other interrupts */
 GPIO_INT(LID_OPEN,		 PIN(D, 2), GPIO_INT_BOTH, lid_interrupt)
 GPIO_INT(EC_WP_OD,		 PIN(A, 1), GPIO_INT_BOTH, switch_interrupt)
-GPIO_INT(BASE_SIXAXIS_INT_L,	 PIN(5, 6), GPIO_INT_FALLING | GPIO_SEL_1P8V, bmi160_interrupt)
+GPIO_INT(BASE_SIXAXIS_INT_L,	 PIN(5, 6), GPIO_INT_FALLING | GPIO_SEL_1P8V, motion_interrupt)
 GPIO_INT(LID_360_L,		 PIN(9, 5), GPIO_INT_BOTH, gmr_tablet_switch_isr)
 
 /* I2C Ports */