beetley: Add motion sense config for BMI220 & ICM42607

Add BMI220 & ICM42607 base sensor config for second source

BUG=b:204728251
BRANCH=dedede
TEST=ectool 'motionsense'
1.Using ectool 'motionsense' verified lid angle goes from 0 to 360
2.swtiches totablet mode after crossing 200 threshold on re-work
bmi220/icm42607 DUT

Signed-off-by: wizard <shenhu5@huaqin.corp-partner.google.com>
Change-Id: Ie5318f4c872136fcb4e120d25c6370500ae6c95e
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/3255467
Reviewed-by: Aseda Aboagye <aaboagye@chromium.org>
Reviewed-by: jesen <wangganxiang@huaqin.corp-partner.google.com>
Commit-Queue: Aseda Aboagye <aaboagye@chromium.org>

4 files changed, 148 insertions, 4 deletions

diff --git a/board/blipper/board.c b/board/blipper/board.c
index 2ca56a1b51..0f19763ebd 100644
--- a/board/blipper/board.c
+++ b/board/blipper/board.c
@@ -21,6 +21,10 @@
 #include "driver/tcpm/raa489000.h"
 #include "driver/tcpm/tcpci.h"
 #include "driver/usb_mux/it5205.h"
+#include "driver/accelgyro_bmi_common.h"
+#include "driver/accelgyro_bmi260.h"
+#include "driver/accelgyro_icm42607.h"
+#include "driver/accelgyro_icm_common.h"
 #include "gpio.h"
 #include "hooks.h"
 #include "intc.h"
@@ -43,6 +47,7 @@
 #include "usb_pd.h"
 #include "usb_pd_tcpm.h"
 
+#define CPRINTF(format, args...) cprints(CC_SYSTEM, format, ## args)
 #define CPRINTUSB(format, args...) cprints(CC_USBCHARGE, format, ## args)
 #define INT_RECHECK_US 5000
 
@@ -308,6 +313,104 @@ struct motion_sensor_t motion_sensors[] = {
 	},
 };
 
+static struct icm_drv_data_t g_icm42607_data;
+const mat33_fp_t based_ref_icm42607 = {
+	{ FLOAT_TO_FP(1), 0, 0},
+	{ 0, FLOAT_TO_FP(1), 0},
+	{ 0, 0, FLOAT_TO_FP(1)}
+};
+struct motion_sensor_t icm42607_base_accel = {
+	 .name = "Base Accel",
+	 .active_mask = SENSOR_ACTIVE_S0_S3,
+	 .chip = MOTIONSENSE_CHIP_ICM42607,
+	 .type = MOTIONSENSE_TYPE_ACCEL,
+	 .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 = 4, /* g, to meet CDD 7.3.1/C-1-4 reqs.*/
+	 .rot_standard_ref = &based_ref_icm42607,
+	 .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 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 = &based_ref_icm42607,
+	 .min_frequency = ICM42607_GYRO_MIN_FREQ,
+	 .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,
+};
+
 unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
 
 void board_init(void)
@@ -356,12 +459,38 @@ void board_init(void)
 
 		gpio_set_flags(GPIO_VOLUP_BTN_ODL,
 				GPIO_INPUT | GPIO_PULL_DOWN);
-
+	} else {
+		if (get_cbi_ssfc_base_sensor() == SSFC_SENSOR_ICM42607) {
+			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 LSM6DSM");
+		}
 	}
-
 }
 DECLARE_HOOK(HOOK_INIT, board_init, HOOK_PRIO_DEFAULT);
 
+void motion_interrupt(enum gpio_signal signal)
+{
+	switch (get_cbi_ssfc_base_sensor()) {
+	case SSFC_SENSOR_ICM42607:
+		icm42607_interrupt(signal);
+		break;
+	case SSFC_SENSOR_BMI220:
+		bmi260_interrupt(signal);
+		break;
+	case SSFC_SENSOR_LSM6DSM:
+	default:
+		lsm6dsm_interrupt(signal);
+		break;
+	}
+}
+
 void board_hibernate(void)
 {
 	/*
diff --git a/board/blipper/board.h b/board/blipper/board.h
index fdee05e800..9f0865b66b 100644
--- a/board/blipper/board.h
+++ b/board/blipper/board.h
@@ -36,12 +36,15 @@
 #define CONFIG_LED_ONOFF_STATES
 
 /*SENSOR*/
+#define I2C_PORT_ACCEL	I2C_PORT_SENSOR
 #define CONFIG_CMD_ACCELS
 #define CONFIG_CMD_ACCEL_INFO
 #define CONFIG_DYNAMIC_MOTION_SENSOR_COUNT
 
 #define CONFIG_ACCEL_LIS2DWL		/* Lid accel */
 #define CONFIG_ACCELGYRO_LSM6DSM    /* Base accel */
+#define CONFIG_ACCELGYRO_ICM42607
+#define CONFIG_ACCELGYRO_BMI220
 
 /* Lid operates in forced mode, base in FIFO */
 #define CONFIG_ACCEL_FORCE_MODE_MASK BIT(LID_ACCEL)
@@ -49,10 +52,19 @@
 #define CONFIG_ACCEL_FIFO_SIZE 256	/* Must be a power of 2 */
 #define CONFIG_ACCEL_FIFO_THRES (CONFIG_ACCEL_FIFO_SIZE / 3)
 
+#define CONFIG_I2C_XFER_LARGE_TRANSFER
+
 #define CONFIG_ACCEL_INTERRUPTS
 #define CONFIG_ACCEL_LSM6DSM_INT_EVENT \
 	TASK_EVENT_MOTION_SENSOR_INTERRUPT(BASE_ACCEL)
 
+#define CONFIG_ACCELGYRO_BMI260_INT_EVENT \
+	TASK_EVENT_MOTION_SENSOR_INTERRUPT(BASE_ACCEL)
+
+/* ICM426XX Base accel/gyro */
+#define CONFIG_ACCELGYRO_ICM42607_INT_EVENT \
+	TASK_EVENT_MOTION_SENSOR_INTERRUPT(BASE_ACCEL)
+
 #define CONFIG_LID_ANGLE
 #define CONFIG_LID_ANGLE_UPDATE
 #define CONFIG_LID_ANGLE_SENSOR_BASE BASE_ACCEL
@@ -144,6 +156,8 @@ enum battery_type {
 	BATTERY_TYPE_COUNT,
 };
 
+void motion_interrupt(enum gpio_signal signal);
+
 #endif /* !__ASSEMBLER__ */
 
 #endif /* __CROS_EC_BOARD_H */
diff --git a/board/blipper/cbi_ssfc.h b/board/blipper/cbi_ssfc.h
index 935049b6ae..f4a51b8e91 100644
--- a/board/blipper/cbi_ssfc.h
+++ b/board/blipper/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
 };
 
 /*
diff --git a/board/blipper/gpio.inc b/board/blipper/gpio.inc
index f072f1c832..8558aab638 100644
--- a/board/blipper/gpio.inc
+++ b/board/blipper/gpio.inc
@@ -37,7 +37,7 @@ GPIO_INT(LID_OPEN,		PIN(F, 3), GPIO_INT_BOTH, lid_interrupt)
 GPIO_INT(LID_360_L,		PIN(A, 7), GPIO_INT_BOTH, gmr_tablet_switch_isr)
 GPIO_INT(VOLDN_BTN_ODL,		PIN(I, 6), GPIO_INT_BOTH | GPIO_PULL_UP, button_interrupt)
 GPIO_INT(VOLUP_BTN_ODL,		PIN(I, 7), GPIO_INT_BOTH | GPIO_PULL_UP, button_interrupt)
-GPIO_INT(BASE_SIXAXIS_INT_L,	PIN(J, 0), GPIO_INT_FALLING | GPIO_SEL_1P8V, lsm6dsm_interrupt)
+GPIO_INT(BASE_SIXAXIS_INT_L,	PIN(J, 0), GPIO_INT_FALLING | GPIO_SEL_1P8V, motion_interrupt)
 GPIO_INT(EC_WP_OD,		PIN(A, 6), GPIO_INT_BOTH, switch_interrupt)
 GPIO_INT(HDMI_HPD_SUB_ODL,	PIN(E, 7), GPIO_INT_BOTH, hdmi_hpd_interrupt)