grunt: Add accel, gyro, and motion_sense task.

This adds support for the KX022 and BMI160 sensors.

It also enables the motion_sense task so that the keyboard can be
disabled in tablet mode.

BUG=b:69379570,b:69379621
BRANCH=None
TEST=Build

Change-Id: I72cc8f86ddd8d466b4208ff583e93fd51da63c49
Signed-off-by: Justin TerAvest <teravest@chromium.org>
Reviewed-on: https://chromium-review.googlesource.com/794525
Reviewed-by: Gwendal Grignou <gwendal@chromium.org>

3 files changed, 178 insertions, 0 deletions

diff --git a/board/grunt/board.c b/board/grunt/board.c
index 65beb7ad68..ca7e772e07 100644
--- a/board/grunt/board.c
+++ b/board/grunt/board.c
@@ -14,6 +14,9 @@
 #include "common.h"
 #include "compile_time_macros.h"
 #include "console.h"
+#include "driver/accel_kionix.h"
+#include "driver/accel_kx022.h"
+#include "driver/accelgyro_bmi160.h"
 #include "driver/ppc/sn5s330.h"
 #include "driver/tcpm/anx74xx.h"
 #include "driver/tcpm/ps8xxx.h"
@@ -24,6 +27,7 @@
 #include "i2c.h"
 #include "keyboard_scan.h"
 #include "lid_switch.h"
+#include "motion_sense.h"
 #include "power.h"
 #include "power_button.h"
 #include "pwm.h"
@@ -413,3 +417,149 @@ const struct temp_sensor_t temp_sensors[] = {
 	{"SOC", TEMP_SENSOR_TYPE_BOARD, board_get_temp, 1, 5},
 };
 BUILD_ASSERT(ARRAY_SIZE(temp_sensors) == TEMP_SENSOR_COUNT);
+
+/* Motion sensors */
+static struct mutex g_lid_mutex;
+static struct mutex g_base_mutex;
+
+/*
+ * Matrix to rotate accelerator into standard reference frame
+ *
+ * TODO(teravest): Update this when we can physically test a Grunt.
+ */
+const matrix_3x3_t base_standard_ref = {
+	{ 0, FLOAT_TO_FP(-1), 0},
+	{ FLOAT_TO_FP(1), 0,  0},
+	{ 0, 0,  FLOAT_TO_FP(1)}
+};
+
+/* sensor private data */
+static struct kionix_accel_data g_kx022_data;
+static struct bmi160_drv_data_t g_bmi160_data;
+
+struct motion_sensor_t motion_sensors[] = {
+	[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_SENSOR,
+	 .addr = KX022_ADDR1,
+	 .rot_standard_ref = NULL, /* Identity matrix. */
+	 .default_range = 2, /* g, enough for laptop. */
+	 .min_frequency = KX022_ACCEL_MIN_FREQ,
+	 .max_frequency = KX022_ACCEL_MAX_FREQ,
+	 .config = {
+		/* AP: by default use EC settings */
+		[SENSOR_CONFIG_AP] = {
+			.odr = 0,
+			.ec_rate = 0,
+		},
+		/* EC use accel for angle detection */
+		[SENSOR_CONFIG_EC_S0] = {
+			.odr = 10000 | ROUND_UP_FLAG,
+			.ec_rate = 0,
+		},
+		/* EC use accel for angle detection */
+		[SENSOR_CONFIG_EC_S3] = {
+			.odr = 10000 | ROUND_UP_FLAG,
+			.ec_rate = 0,
+		},
+		/* Sensor off in S5. */
+		[SENSOR_CONFIG_EC_S5] = {
+			.odr = 0,
+			.ec_rate = 0,
+		},
+	 },
+	},
+
+	[BASE_ACCEL] = {
+	 .name = "Base Accel",
+	 .active_mask = SENSOR_ACTIVE_S0_S3,
+	 .chip = MOTIONSENSE_CHIP_BMI160,
+	 .type = MOTIONSENSE_TYPE_ACCEL,
+	 .location = MOTIONSENSE_LOC_BASE,
+	 .drv = &bmi160_drv,
+	 .mutex = &g_base_mutex,
+	 .drv_data = &g_bmi160_data,
+	 .port = I2C_PORT_SENSOR,
+	 .addr = BMI160_ADDR0,
+	 .default_range = 2, /* g, enough for laptop */
+	 .rot_standard_ref = &base_standard_ref,
+	 .min_frequency = BMI160_ACCEL_MIN_FREQ,
+	 .max_frequency = BMI160_ACCEL_MAX_FREQ,
+	 .config = {
+		 /* AP: by default shutdown all sensors */
+		 [SENSOR_CONFIG_AP] = {
+			.odr = 0,
+			.ec_rate = 0,
+		 },
+		 /* 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,
+			.ec_rate = 0,
+		 },
+		 /* Sensor off in S5 */
+		 [SENSOR_CONFIG_EC_S5] = {
+			.odr = 0,
+			.ec_rate = 0,
+		 },
+	 },
+	},
+
+	[BASE_GYRO] = {
+	 .name = "Base Gyro",
+	 .active_mask = SENSOR_ACTIVE_S0_S3,
+	 .chip = MOTIONSENSE_CHIP_BMI160,
+	 .type = MOTIONSENSE_TYPE_GYRO,
+	 .location = MOTIONSENSE_LOC_BASE,
+	 .drv = &bmi160_drv,
+	 .mutex = &g_base_mutex,
+	 .drv_data = &g_bmi160_data,
+	 .port = I2C_PORT_SENSOR,
+	 .addr = BMI160_ADDR0,
+	 .default_range = 1000, /* dps */
+	 .rot_standard_ref = &base_standard_ref,
+	 .min_frequency = BMI160_GYRO_MIN_FREQ,
+	 .max_frequency = BMI160_GYRO_MAX_FREQ,
+	 .config = {
+		 /* AP: by default shutdown all sensors */
+		 [SENSOR_CONFIG_AP] = {
+			.odr = 0,
+			.ec_rate = 0,
+		 },
+		 /* EC does not need in S0 */
+		 [SENSOR_CONFIG_EC_S0] = {
+			.odr = 0,
+			.ec_rate = 0,
+		 },
+		 [SENSOR_CONFIG_EC_S3] = {
+			.odr = 0,
+			.ec_rate = 0,
+		 },
+		 /* Sensor off in S5 */
+		 [SENSOR_CONFIG_EC_S5] = {
+			.odr = 0,
+			.ec_rate = 0,
+		 },
+	 },
+	},
+};
+
+const unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
+
+#ifndef TEST_BUILD
+void lid_angle_peripheral_enable(int enable)
+{
+	keyboard_scan_enable(enable, KB_SCAN_DISABLE_LID_ANGLE);
+}
+#endif
diff --git a/board/grunt/board.h b/board/grunt/board.h
index b177bbe3f6..5b1de1b877 100644
--- a/board/grunt/board.h
+++ b/board/grunt/board.h
@@ -123,6 +123,24 @@
 
 #define CONFIG_BRINGUP /* TODO(teravest): Remove this later. */
 
+/* Sensors */
+#define CONFIG_ACCELGYRO_BMI160
+#define CONFIG_ACCELGYRO_BMI160_INT_EVENT TASK_EVENT_CUSTOM(4)
+#define CONFIG_ACCEL_INTERRUPTS
+#define CONFIG_ACCEL_KX022
+#define CONFIG_CMD_ACCELS
+#define CONFIG_CMD_ACCEL_INFO
+#define CONFIG_LID_ANGLE
+#define CONFIG_LID_ANGLE_UPDATE
+#define CONFIG_LID_ANGLE_SENSOR_BASE BASE_ACCEL
+#define CONFIG_LID_ANGLE_SENSOR_LID LID_ACCEL
+
+/* FIFO size is a power of 2. */
+#define CONFIG_ACCEL_FIFO 1024  /* TODO(teravest): Check this value. */
+
+/* Depends on how fast the AP boots and typical ODRs. */
+#define CONFIG_ACCEL_FIFO_THRES (CONFIG_ACCEL_FIFO / 3)
+
 #ifndef __ASSEMBLER__
 
 #include "gpio_signal.h"
@@ -154,6 +172,15 @@ enum pwm_channel {
 	PWM_CH_COUNT
 };
 
+enum sensor_id {
+	LID_ACCEL,
+	BASE_ACCEL,
+	BASE_GYRO,
+};
+
+/* Sensors without hardware FIFO are in forced mode */
+#define CONFIG_ACCEL_FORCE_MODE_MASK (1 << LID_ACCEL)
+
 void board_reset_pd_mcu(void);
 void board_tcpc_init(void);
 
diff --git a/board/grunt/ec.tasklist b/board/grunt/ec.tasklist
index 0ce94f2da3..be1dbcc21f 100644
--- a/board/grunt/ec.tasklist
+++ b/board/grunt/ec.tasklist
@@ -25,6 +25,7 @@
 	TASK_ALWAYS(USB_CHG_P0, usb_charger_task, 0, TASK_STACK_SIZE) \
 	TASK_ALWAYS(USB_CHG_P1, usb_charger_task, 1, TASK_STACK_SIZE) \
 	TASK_ALWAYS(CHARGER, charger_task, NULL, LARGER_TASK_STACK_SIZE) \
+	TASK_ALWAYS(MOTIONSENSE, motion_sense_task, NULL, VENTI_TASK_STACK_SIZE) \
 	TASK_NOTEST(CHIPSET, chipset_task, NULL, LARGER_TASK_STACK_SIZE) \
 	TASK_NOTEST(KEYPROTO, keyboard_protocol_task, NULL, TASK_STACK_SIZE) \
 	TASK_NOTEST(PDCMD, pd_command_task, NULL, LARGER_TASK_STACK_SIZE) \