hatch: Add support for base accelgyro bmi160 sensor

This CL adds the motion_sensor_t table, config options, gpio interrupt
signal, and rotation matrix required for the bmi160 base accel/gyro
sensor.

BUG=b:124337208
BRANCH=none
TEST=Verfied with 'ectool motionsense' that sensor readings are
present and that values move in the expected direction as I rotated
the unit along it's X and Y axis. Also verified the gyro sensor
returns non-zero values when moving the system.

Change-Id: I57c323916662a4ee0b9aa3fc00c3a4bf18aaef40
Signed-off-by: Scott Collyer <scollyer@google.com>
Reviewed-on: https://chromium-review.googlesource.com/1464393
Commit-Ready: Scott Collyer <scollyer@chromium.org>
Tested-by: Scott Collyer <scollyer@chromium.org>
Tested-by: Zack Yang <zack_yang@compal.corp-partner.google.com>
Reviewed-by: Gwendal Grignou <gwendal@chromium.org>
Reviewed-by: Furquan Shaikh <furquan@chromium.org>

5 files changed, 106 insertions, 1 deletions

diff --git a/baseboard/hatch/baseboard.h b/baseboard/hatch/baseboard.h
index e57b9a24e4..54edc83c9a 100644
--- a/baseboard/hatch/baseboard.h
+++ b/baseboard/hatch/baseboard.h
@@ -48,6 +48,26 @@
 #define CONFIG_KEYBOARD_PROTOCOL_8042
 #define CONFIG_KEYBOARD_PWRBTN_ASSERTS_KSI2
 
+/* Sensors */
+#define CONFIG_MKBP_EVENT
+/*
+ * TODO(b/125933998): Remove this config and use EC_PCH_INT_L to signal AP
+ * instead.
+ */
+#define CONFIG_MKBP_USE_HOST_EVENT
+#define CONFIG_DYNAMIC_MOTION_SENSOR_COUNT
+/* I2C_PORT_ACCEL needs to be defined for i2c transactions */
+#define I2C_PORT_ACCEL I2C_PORT_SENSOR
+
+/* FIFO size is in power of 2. */
+#define CONFIG_ACCEL_FIFO 256
+/* Depends on how fast the AP boots and typical ODRs */
+#define CONFIG_ACCEL_FIFO_THRES (CONFIG_ACCEL_FIFO / 3)
+
+/* Sensor console commands */
+#define CONFIG_CMD_ACCELS
+#define CONFIG_CMD_ACCEL_INFO
+
 /* Common charger defines */
 #define CONFIG_CHARGE_MANAGER
 #define CONFIG_CHARGE_RAMP_HW
diff --git a/board/hatch/board.c b/board/hatch/board.c
index 9bac034d31..5648dc016e 100644
--- a/board/hatch/board.c
+++ b/board/hatch/board.c
@@ -8,6 +8,7 @@
 #include "adc.h"
 #include "adc_chip.h"
 #include "common.h"
+#include "driver/accelgyro_bmi160.h"
 #include "driver/ppc/sn5s330.h"
 #include "ec_commands.h"
 #include "extpower.h"
@@ -110,6 +111,66 @@ const struct pwm_t pwm_channels[] = {
 BUILD_ASSERT(ARRAY_SIZE(pwm_channels) == PWM_CH_COUNT);
 
 /******************************************************************************/
+/* Sensors */
+/* Base Sensor mutex */
+static struct mutex g_base_mutex;
+
+/* Base accel private data */
+static struct bmi160_drv_data_t g_bmi160_data;
+
+/* Matrix to rotate accelrator into standard reference frame */
+static const mat33_fp_t base_standard_ref = {
+	{ 0, FLOAT_TO_FP(1), 0},
+	{ FLOAT_TO_FP(-1), 0, 0},
+	{ 0, 0, FLOAT_TO_FP(1)}
+};
+
+struct motion_sensor_t motion_sensors[] = {
+	[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_ACCEL,
+		.addr = BMI160_ADDR0,
+		.rot_standard_ref = &base_standard_ref,
+		.min_frequency = BMI160_ACCEL_MIN_FREQ,
+		.max_frequency = BMI160_ACCEL_MAX_FREQ,
+		.default_range = 2, /* g, to support tablet mode  */
+		.config = {
+			[SENSOR_CONFIG_EC_S0] = {
+				.odr = 10000 | ROUND_UP_FLAG,
+			},
+			/* Sensor on in S3 */
+			[SENSOR_CONFIG_EC_S3] = {
+				.odr = 10000 | ROUND_UP_FLAG,
+			},
+		},
+	},
+	[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_ACCEL,
+		.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,
+	},
+};
+unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
+
+/******************************************************************************/
 /* Physical fans. These are logically separate from pwm_channels. */
 
 const struct fan_conf fan_conf_0 = {
@@ -189,7 +250,15 @@ static void setup_fans(void)
 	thermal_params[TEMP_SENSOR_1] = thermal_a;
 	thermal_params[TEMP_SENSOR_2] = thermal_a;
 }
-DECLARE_HOOK(HOOK_INIT, setup_fans, HOOK_PRIO_DEFAULT);
+
+static void board_init(void)
+{
+	/* Initialize Fans */
+	setup_fans();
+	/* Enable gpio interrupt for base accelgyro sensor */
+	gpio_enable_interrupt(GPIO_BASE_SIXAXIS_INT_L);
+}
+DECLARE_HOOK(HOOK_INIT, board_init, HOOK_PRIO_DEFAULT);
 
 void board_overcurrent_event(int port, int is_overcurrented)
 {
diff --git a/board/hatch/board.h b/board/hatch/board.h
index 5dc6a0fb67..0b2de2f9d0 100644
--- a/board/hatch/board.h
+++ b/board/hatch/board.h
@@ -29,6 +29,12 @@
 /* Keyboard features */
 #define CONFIG_PWM_KBLIGHT
 
+/* Sensors */
+#define CONFIG_ACCEL_INTERRUPTS
+#define CONFIG_ACCELGYRO_BMI160
+#define CONFIG_ACCELGYRO_BMI160_INT_EVENT TASK_EVENT_CUSTOM(4)
+#define CONFIG_ACCELGYRO_BMI160_INT2_OUTPUT
+
 /* Fan features */
 #define CONFIG_FANS 1
 #undef CONFIG_FAN_INIT_SPEED
@@ -71,6 +77,12 @@ enum adc_channel {
 	ADC_CH_COUNT
 };
 
+enum sensor_id {
+	BASE_ACCEL = 0,
+	BASE_GYRO,
+	SENSOR_COUNT,
+};
+
 enum pwm_channel {
 	PWM_CH_KBLIGHT,
 	PWM_CH_FAN,
diff --git a/board/hatch/ec.tasklist b/board/hatch/ec.tasklist
index 55f289ad47..6a09d9f7d1 100644
--- a/board/hatch/ec.tasklist
+++ b/board/hatch/ec.tasklist
@@ -25,6 +25,7 @@
 	TASK_ALWAYS(USB_CHG_P0, usb_charger_task, 0, LARGER_TASK_STACK_SIZE) \
 	TASK_ALWAYS(USB_CHG_P1, usb_charger_task, 1, LARGER_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, TASK_STACK_SIZE) \
diff --git a/board/hatch/gpio.inc b/board/hatch/gpio.inc
index cf2fb6a840..8400b570ca 100644
--- a/board/hatch/gpio.inc
+++ b/board/hatch/gpio.inc
@@ -23,6 +23,9 @@ GPIO_INT(SLP_S4_L,             PIN(D, 4), GPIO_INT_BOTH, power_signal_interrupt)
 GPIO_INT(PG_EC_RSMRST_L,       PIN(E, 2), GPIO_INT_BOTH, power_signal_interrupt)
 GPIO_INT(PG_EC_ALL_SYS_PWRGD,  PIN(F, 4), GPIO_INT_BOTH, power_signal_interrupt)
 
+/* Sensor Interrupts */
+GPIO_INT(BASE_SIXAXIS_INT_L,   PIN(5, 6), GPIO_INT_FALLING, bmi160_interrupt)
+
 /* USB-C interrupts */
 GPIO_INT(USB_C0_PPC_INT_ODL,   PIN(E, 0), GPIO_INT_FALLING, ppc_interrupt)
 GPIO_INT(USB_C1_PPC_INT_ODL,   PIN(A, 2), GPIO_INT_FALLING, ppc_interrupt)