voema: Change base accel sensor to BMA253

Change base accel sensor to BMA253.

BUG=b:169356807
BRANCH=main
TEST=Check "ectool motionsense" get sensor data.

Signed-off-by: David Huang <david.huang@quanta.corp-partner.google.com>
Change-Id: I2edd83c316ab3aed1d6f89fed077d0bdc54d7b8c
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/2649289
Reviewed-by: Keith Short <keithshort@chromium.org>
Commit-Queue: Keith Short <keithshort@chromium.org>

3 files changed, 17 insertions, 47 deletions

diff --git a/board/voema/board.h b/board/voema/board.h
index 857852e5aa..ce42dd9f42 100644
--- a/board/voema/board.h
+++ b/board/voema/board.h
@@ -35,11 +35,6 @@
 /* BMA253 accelerometer in base */
 #define CONFIG_ACCEL_BMA255
 
-/* BMI260 accel/gyro in base */
-#define CONFIG_ACCELGYRO_BMI260
-#define CONFIG_ACCELGYRO_BMI260_INT_EVENT \
-	TASK_EVENT_MOTION_SENSOR_INTERRUPT(BASE_ACCEL)
-
 /* TCS3400 ALS */
 #define CONFIG_ALS
 #define ALS_COUNT		1
@@ -49,7 +44,7 @@
 
 /* Sensors without hardware FIFO are in forced mode */
 #define CONFIG_ACCEL_FORCE_MODE_MASK \
-	(BIT(LID_ACCEL) | BIT(CLEAR_ALS))
+	(BIT(LID_ACCEL) | BIT(CLEAR_ALS) | BIT(BASE_ACCEL))
 
 #define CONFIG_LID_ANGLE
 #define CONFIG_LID_ANGLE_UPDATE
@@ -166,7 +161,6 @@ enum pwm_channel {
 enum sensor_id {
 	LID_ACCEL = 0,
 	BASE_ACCEL,
-	BASE_GYRO,
 	CLEAR_ALS,
 	RGB_ALS,
 	SENSOR_COUNT,
diff --git a/board/voema/gpio.inc b/board/voema/gpio.inc
index 7577e81f28..a16ed3ec22 100644
--- a/board/voema/gpio.inc
+++ b/board/voema/gpio.inc
@@ -25,13 +25,14 @@ GPIO_INT(PG_EC_DSW_PWROK,      PIN(C, 7), 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(EC_IMU_INT_L,         PIN(5, 6), GPIO_INT_FALLING | GPIO_SEL_1P8V, bmi260_interrupt)
 GPIO_INT(EC_ALS_RGB_INT_L,     PIN(D, 4), GPIO_INT_FALLING, tcs3400_interrupt)
 GPIO_INT(TABLET_MODE_L,        PIN(9, 5), GPIO_INT_BOTH, gmr_tablet_switch_isr)
+
 /*
- * Lid g-sensor interrupt unused on Volteer, configure as regular input for
- * power saving.
+ * Base / Lid g-sensor interrupt unused on Voema, configure as regular input
+ * for power saving.
  */
+GPIO(EC_MB_ACCEL_INT_L,         PIN(5, 6), GPIO_INPUT | GPIO_PULL_UP)
 GPIO(EC_ACCEL_INT,		PIN(8, 1), GPIO_INPUT | GPIO_PULL_UP)
 
 /* USB-C interrupts */
diff --git a/board/voema/sensors.c b/board/voema/sensors.c
index 9e34812131..e772a4178e 100644
--- a/board/voema/sensors.c
+++ b/board/voema/sensors.c
@@ -7,8 +7,6 @@
 #include "common.h"
 #include "accelgyro.h"
 #include "driver/accel_bma2x2.h"
-#include "driver/accelgyro_bmi_common.h"
-#include "driver/accelgyro_bmi260.h"
 #include "driver/als_tcs3400.h"
 #include "driver/sync.h"
 #include "keyboard_scan.h"
@@ -24,10 +22,8 @@ static struct mutex g_lid_accel_mutex;
 static struct mutex g_base_mutex;
 
 /* BMA253 private data */
-static struct accelgyro_saved_data_t g_bma253_data;
-
-/* BMI260 private data */
-static struct bmi_drv_data_t g_bmi260_data;
+static struct accelgyro_saved_data_t g_bma253_base_data;
+static struct accelgyro_saved_data_t g_bma253_lid_data;
 
 /* TCS3400 private data */
 static struct als_drv_data_t g_tcs3400_data = {
@@ -85,15 +81,15 @@ static struct tcs3400_rgb_drv_data_t g_tcs3400_rgb_data = {
 
 /* Rotation matrix for the lid accelerometer */
 static const mat33_fp_t lid_standard_ref = {
-	{ FLOAT_TO_FP(1), 0, 0},
+	{ FLOAT_TO_FP(-1), 0, 0},
 	{ 0, FLOAT_TO_FP(-1), 0},
-	{ 0, 0, FLOAT_TO_FP(-1)}
+	{ 0, 0, FLOAT_TO_FP(1)}
 };
 
 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)}
+	{ 0, 0, FLOAT_TO_FP(-1)}
 };
 
 struct motion_sensor_t motion_sensors[] = {
@@ -105,7 +101,7 @@ struct motion_sensor_t motion_sensors[] = {
 		.location = MOTIONSENSE_LOC_LID,
 		.drv = &bma2x2_accel_drv,
 		.mutex = &g_lid_accel_mutex,
-		.drv_data = &g_bma253_data,
+		.drv_data = &g_bma253_lid_data,
 		.port = I2C_PORT_SENSOR,
 		.i2c_spi_addr_flags = BMA2x2_I2C_ADDR1_FLAGS,
 		.rot_standard_ref = &lid_standard_ref,
@@ -126,48 +122,29 @@ struct motion_sensor_t motion_sensors[] = {
 	[BASE_ACCEL] = {
 		.name = "Base Accel",
 		.active_mask = SENSOR_ACTIVE_S0_S3,
-		.chip = MOTIONSENSE_CHIP_BMI260,
+		.chip = MOTIONSENSE_CHIP_BMA255,
 		.type = MOTIONSENSE_TYPE_ACCEL,
 		.location = MOTIONSENSE_LOC_BASE,
-		.drv = &bmi260_drv,
+		.drv = &bma2x2_accel_drv,
 		.mutex = &g_base_mutex,
-		.drv_data = &g_bmi260_data,
+		.drv_data = &g_bma253_base_data,
 		.port = I2C_PORT_SENSOR,
-		.i2c_spi_addr_flags = BMI260_ADDR0_FLAGS,
+		.i2c_spi_addr_flags = BMA2x2_I2C_ADDR2_FLAGS,
 		.rot_standard_ref = &base_standard_ref,
-		.min_frequency = BMI_ACCEL_MIN_FREQ,
-		.max_frequency = BMI_ACCEL_MAX_FREQ,
+		.min_frequency = BMA255_ACCEL_MIN_FREQ,
+		.max_frequency = BMA255_ACCEL_MAX_FREQ,
 		.default_range = 4, /* g */
 		.config = {
 			/* EC use accel for angle detection */
 			[SENSOR_CONFIG_EC_S0] = {
 				.odr = 10000 | ROUND_UP_FLAG,
-				.ec_rate = 100 * MSEC,
 			},
 			/* Sensor on in S3 */
 			[SENSOR_CONFIG_EC_S3] = {
 				.odr = 10000 | ROUND_UP_FLAG,
-				.ec_rate = 100 * MSEC,
 			},
 		},
 	},
-
-	[BASE_GYRO] = {
-		.name = "Base Gyro",
-		.active_mask = SENSOR_ACTIVE_S0_S3,
-		.chip = MOTIONSENSE_CHIP_BMI260,
-		.type = MOTIONSENSE_TYPE_GYRO,
-		.location = MOTIONSENSE_LOC_BASE,
-		.drv = &bmi260_drv,
-		.mutex = &g_base_mutex,
-		.drv_data = &g_bmi260_data,
-		.port = I2C_PORT_SENSOR,
-		.i2c_spi_addr_flags = BMI260_ADDR0_FLAGS,
-		.default_range = 1000, /* dps */
-		.rot_standard_ref = &base_standard_ref,
-		.min_frequency = BMI_GYRO_MIN_FREQ,
-		.max_frequency = BMI_GYRO_MAX_FREQ,
-	},
 	[CLEAR_ALS] = {
 		.name = "Clear Light",
 		.active_mask = SENSOR_ACTIVE_S0_S3,
@@ -220,8 +197,6 @@ static void baseboard_sensors_init(void)
 
 	/* Enable interrupt for the TCS3400 color light sensor */
 	gpio_enable_interrupt(GPIO_EC_ALS_RGB_INT_L);
-	/* Enable interrupt for the BMI260 accel/gyro sensor */
-	gpio_enable_interrupt(GPIO_EC_IMU_INT_L);
 }
 DECLARE_HOOK(HOOK_INIT, baseboard_sensors_init, HOOK_PRIO_DEFAULT);