zephyr: asurada: Enable MotionSense

BUG=b:189857004
BRANCH=none
TEST=zmake testall
TEST=Flash on hayato and check sensors

Signed-off-by: Denis Brockus <dbrockus@google.com>
Change-Id: I9426b5a9cb2673da0ec8280aa15768815f47014c
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/2934359
Tested-by: Denis Brockus <dbrockus@chromium.org>
Auto-Submit: Denis Brockus <dbrockus@chromium.org>
Reviewed-by: Yuval Peress <peress@chromium.org>
Commit-Queue: Yuval Peress <peress@chromium.org>

7 files changed, 223 insertions, 3 deletions

diff --git a/zephyr/projects/asurada/hayato/CMakeLists.txt b/zephyr/projects/asurada/hayato/CMakeLists.txt
index 3d660fb8a5..979e1f7bf5 100644
--- a/zephyr/projects/asurada/hayato/CMakeLists.txt
+++ b/zephyr/projects/asurada/hayato/CMakeLists.txt
@@ -18,3 +18,7 @@ set(PLATFORM_EC_BOARD "${PLATFORM_EC}/board/hayato" CACHE PATH
 
 zephyr_library_sources(
   "${PLATFORM_EC_BASEBOARD}/board_chipset.c")
+
+# Board specific sensor implementation
+zephyr_library_sources_ifdef(CONFIG_PLATFORM_EC_MOTIONSENSE
+  "src/sensors.c")
diff --git a/zephyr/projects/asurada/hayato/gpio.dts b/zephyr/projects/asurada/hayato/gpio.dts
index 6782a35b2d..89b221acd3 100644
--- a/zephyr/projects/asurada/hayato/gpio.dts
+++ b/zephyr/projects/asurada/hayato/gpio.dts
@@ -44,9 +44,9 @@
 			enum-name = "GPIO_PMIC_EC_PWRGD";
 			label = "PMIC_EC_PWRGD";
 		};
-		base_imu_int_l {
+		gpio_accel_gyro_int_l: base_imu_int_l {
 			gpios = <&gpioj 2 (GPIO_INPUT | GPIO_VOLTAGE_1P8)>;
-			enum-name = "GPIO_BASE_IMU_INT_L";
+			enum-name = "GPIO_EC_IMU_INT_L";
 			label = "BASE_IMU_INT_L";
 		};
 		lid_accel_int_l {
diff --git a/zephyr/projects/asurada/hayato/include/gpio_map.h b/zephyr/projects/asurada/hayato/include/gpio_map.h
index 180134049a..c8504425d7 100644
--- a/zephyr/projects/asurada/hayato/include/gpio_map.h
+++ b/zephyr/projects/asurada/hayato/include/gpio_map.h
@@ -12,6 +12,10 @@
 #define GPIO_ENTERING_RW		GPIO_UNIMPLEMENTED
 #define GPIO_WP_L			GPIO_UNIMPLEMENTED
 
+#ifdef CONFIG_PLATFORM_EC_GMR_TABLET_MODE
+#define GMR_TABLET_MODE_GPIO_L GPIO_TABLET_MODE_L
+#endif
+
 /*
  * Set EC_CROS_GPIO_INTERRUPTS to a space-separated list of GPIO_INT items.
  *
@@ -31,7 +35,13 @@
 	GPIO_INT(GPIO_LID_OPEN,						\
 		 GPIO_INT_EDGE_BOTH, lid_interrupt)			\
 	GPIO_INT(GPIO_POWER_BUTTON_L,					\
-		 GPIO_INT_EDGE_BOTH, power_button_interrupt)
+		 GPIO_INT_EDGE_BOTH, power_button_interrupt)		\
+	GPIO_INT(GPIO_EC_IMU_INT_L,					\
+		 GPIO_INT_EDGE_FALLING, bmi160_interrupt)		\
+	GPIO_INT(GPIO_LID_ACCEL_INT_L,					\
+		 GPIO_INT_EDGE_FALLING, lis2dw12_interrupt)		\
+	GPIO_INT(GPIO_TABLET_MODE_L,					\
+		 GPIO_INT_EDGE_BOTH, gmr_tablet_switch_isr)
 
 
 
diff --git a/zephyr/projects/asurada/hayato/motionsense.dts b/zephyr/projects/asurada/hayato/motionsense.dts
new file mode 100644
index 0000000000..10128b0838
--- /dev/null
+++ b/zephyr/projects/asurada/hayato/motionsense.dts
@@ -0,0 +1,157 @@
+/* Copyright 2020 The Chromium OS Authors. All rights reserved.
+ * Use of this source code is governed by a BSD-style license that can be
+ * found in the LICENSE file.
+ */
+
+#include <dt-bindings/motionsense/utils.h>
+
+
+/ {
+	aliases {
+		/*
+		 * motion sense's <>_INT_EVENT is handled
+		 * by alias. Using the alias, each driver creates
+		 * its own <>_INT_EVENT.
+		 */
+		bmi160-int = &base_accel;
+		lis2dw12-int = &lid_accel;
+	};
+
+	/*
+	 * Declare mutexes used by sensor drivers.
+	 * A mutex node is used to create an instance of mutex_t.
+	 * A mutex node is referenced by a sensor node if the
+	 * corresponding sensor driver needs to use the
+	 * instance of the mutex.
+	 */
+	motionsense-mutex {
+		compatible = "cros-ec,motionsense-mutex";
+		lid_mutex: lid-mutex {
+			label = "LID_MUTEX";
+		};
+
+		mutex_bmi160: bmi160-mutex {
+			label = "BMI160_MUTEX";
+		};
+	};
+
+	/* Rotation matrix used by drivers. */
+	motionsense-rotation-ref {
+		compatible = "cros-ec,motionsense-rotation-ref";
+		lid_rot_ref: lid-rotation-ref {
+			mat33 = <(-1) 0 0
+				 0 (-1) 0
+				 0 0 1>;
+		};
+
+		base_rot_ref: base-rotation-ref {
+			mat33 = <1 0 0
+				 0 (-1) 0
+				 0 0 (-1)>;
+		};
+	};
+
+	/*
+	 * Driver specific data. A driver-specific data can be shared with
+	 * different motion sensors while they are using the same driver.
+	 *
+	 * If a node's compatible starts with "cros-ec,accelgyro-", it is for
+	 * a common structure defined in accelgyro.h.
+	 * e.g) compatible = "cros-ec,accelgyro-als-drv-data" is for
+	 * "struct als_drv_data_t" in accelgyro.h
+	 */
+	motionsense-sensor-data {
+		bmi160_data: bmi160-drv-data {
+			compatible = "cros-ec,drvdata-bmi160";
+			status = "okay";
+		};
+
+		lis2dw12_data: lis2dw12-drv-data {
+			compatible = "cros-ec,drvdata-lis2dw12";
+			status = "okay";
+		};
+	};
+
+	/*
+	 * List of motion sensors that creates motion_sensors array.
+	 * The label "lid_accel" and "base_accel" are used to indicate
+	 * motion sensor IDs for lid angle calculation.
+	 */
+	motionsense-sensor {
+		lid_accel: lid-accel {
+			compatible = "cros-ec,lis2dw12";
+			status = "okay";
+
+			label = "Lid Accel";
+			active-mask = "SENSOR_ACTIVE_S0_S3";
+			location = "MOTIONSENSE_LOC_LID";
+			mutex = <&lid_mutex>;
+			port = <&i2c_sensor>;
+			rot-standard-ref = <&lid_rot_ref>;
+			default-range = <2>;
+			drv-data = <&lis2dw12_data>;
+			configs {
+				compatible =
+					"cros-ec,motionsense-sensor-config";
+				ec-s0 {
+					label = "SENSOR_CONFIG_EC_S0";
+					odr = <(10000 | ROUND_UP_FLAG)>;
+				};
+				ec-s3 {
+					label = "SENSOR_CONFIG_EC_S3";
+					odr = <(10000 | ROUND_UP_FLAG)>;
+				};
+			};
+		};
+
+		base_accel: base-accel {
+			compatible = "cros-ec,bmi160-accel";
+			status = "okay";
+
+			label = "Base Accel";
+			active-mask = "SENSOR_ACTIVE_S0_S3";
+			location = "MOTIONSENSE_LOC_BASE";
+			mutex = <&mutex_bmi160>;
+			port = <&i2c_sensor>;
+			rot-standard-ref = <&base_rot_ref>;
+			drv-data = <&bmi160_data>;
+			configs {
+				compatible =
+					"cros-ec,motionsense-sensor-config";
+				ec-s0 {
+					label = "SENSOR_CONFIG_EC_S0";
+					odr = <(10000 | ROUND_UP_FLAG)>;
+				};
+				ec-s3 {
+					label = "SENSOR_CONFIG_EC_S3";
+					odr = <(10000 | ROUND_UP_FLAG)>;
+				};
+			};
+		};
+
+		base-gyro {
+			compatible = "cros-ec,bmi160-gyro";
+			status = "okay";
+
+			label = "Base Gyro";
+			active-mask = "SENSOR_ACTIVE_S0_S3";
+			location = "MOTIONSENSE_LOC_BASE";
+			mutex = <&mutex_bmi160>;
+			port = <&i2c_sensor>;
+			rot-standard-ref = <&base_rot_ref>;
+			drv-data = <&bmi160_data>;
+		};
+	};
+
+	motionsense-sensor-info {
+		compatible = "cros-ec,motionsense-sensor-info";
+
+		/*
+		 * list of GPIO interrupts that have to
+		 * be enabled at initial stage
+		 */
+		sensor-irqs = <&gpio_accel_gyro_int_l>;
+		/* list of sensors in force mode */
+		accel-force-mode-sensors = <&lid_accel>;
+	};
+};
diff --git a/zephyr/projects/asurada/hayato/prj.conf b/zephyr/projects/asurada/hayato/prj.conf
index de1c961a9d..54d5db8d59 100644
--- a/zephyr/projects/asurada/hayato/prj.conf
+++ b/zephyr/projects/asurada/hayato/prj.conf
@@ -8,6 +8,25 @@ CONFIG_SHIMMED_TASKS=y
 
 CONFIG_KERNEL_SHELL=y
 
+# Sensors
+CONFIG_PLATFORM_EC_MOTIONSENSE=y
+CONFIG_PLATFORM_EC_ACCEL_FIFO=y
+CONFIG_PLATFORM_EC_ACCEL_INTERRUPTS=y
+CONFIG_PLATFORM_EC_CONSOLE_CMD_ACCELS=y
+CONFIG_PLATFORM_EC_CONSOLE_CMD_ACCEL_INFO=y
+CONFIG_PLATFORM_EC_GMR_TABLET_MODE=y
+CONFIG_PLATFORM_EC_LID_ANGLE=y
+CONFIG_PLATFORM_EC_LID_ANGLE_UPDATE=y
+CONFIG_PLATFORM_EC_SENSOR_TIGHT_TIMESTAMPS=y
+CONFIG_PLATFORM_EC_TABLET_MODE=y
+CONFIG_PLATFORM_EC_TABLET_MODE_SWITCH=y
+
+# Sensor Drivers
+CONFIG_PLATFORM_EC_ACCEL_LIS2DW12=y
+CONFIG_PLATFORM_EC_ACCEL_LIS2DW12_AS_BASE=y
+CONFIG_PLATFORM_EC_ACCELGYRO_BMI160=y
+CONFIG_PLATFORM_EC_ACCELGYRO_BMI_COMM_I2C=y
+
 # TODO(b/180980668): bring these features up
 CONFIG_LTO=n
 CONFIG_PLATFORM_EC_BACKLIGHT_LID=n
diff --git a/zephyr/projects/asurada/hayato/src/sensors.c b/zephyr/projects/asurada/hayato/src/sensors.c
new file mode 100644
index 0000000000..6207461976
--- /dev/null
+++ b/zephyr/projects/asurada/hayato/src/sensors.c
@@ -0,0 +1,29 @@
+/* Copyright 2021 The Chromium OS Authors. All rights reserved.
+ * Use of this source code is governed by a BSD-style license that can be
+ * found in the LICENSE file.
+ */
+
+#include "chipset.h"
+#include "common.h"
+#include "keyboard_scan.h"
+
+/* Hayato board specific sensor implementation */
+
+#ifdef CONFIG_LID_ANGLE_UPDATE
+void lid_angle_peripheral_enable(int enable)
+{
+	int chipset_in_s0 = chipset_in_state(CHIPSET_STATE_ON);
+
+	if (enable) {
+		keyboard_scan_enable(1, KB_SCAN_DISABLE_LID_ANGLE);
+	} else {
+		/*
+		 * Ensure that the chipset is off before disabling the keyboard.
+		 * When the chipset is on, the EC keeps the keyboard enabled and
+		 * the AP decides whether to ignore input devices or not.
+		 */
+		if (!chipset_in_s0)
+			keyboard_scan_enable(0, KB_SCAN_DISABLE_LID_ANGLE);
+	}
+}
+#endif
diff --git a/zephyr/projects/asurada/hayato/zmake.yaml b/zephyr/projects/asurada/hayato/zmake.yaml
index cda916c4ea..8501d63dc3 100644
--- a/zephyr/projects/asurada/hayato/zmake.yaml
+++ b/zephyr/projects/asurada/hayato/zmake.yaml
@@ -5,6 +5,7 @@
 board: asurada
 dts-overlays:
   - gpio.dts
+  - motionsense.dts
 supported-zephyr-versions:
   - v2.5
 toolchain: coreboot-sdk