collis: gyro sensor add 2nd source icm-40608

gyro sensor add 2nd source icm-40608

BUG=b:193476997
BRANCH=firmware-volteer-13672.B
TEST=make BOARD=collis
1. Set CBI SSFC 0x2 and using command
   "watch ectool motionsense lid_angle" for sensor icm-40608.
2. Using command "watch ectool motionsense lid_angle" for BMI160.

Signed-off-by: Jacky Wang <jacky5_wang@pegatron.corp-partner.google.com>
Change-Id: I4633cb25f9ef7f93d556370b7bc8d78489f75813
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/3023505
Reviewed-by: Michael5 Chen <michael5_chen1@pegatron.corp-partner.google.com>
Reviewed-by: Keith Short <keithshort@chromium.org>
Tested-by: Michael5 Chen <michael5_chen1@pegatron.corp-partner.google.com>

3 files changed, 75 insertions, 2 deletions

diff --git a/board/collis/board.h b/board/collis/board.h
index 99466d5e76..8d7772f2ae 100644
--- a/board/collis/board.h
+++ b/board/collis/board.h
@@ -52,6 +52,10 @@
 #define CONFIG_ACCELGYRO_BMI160_INT_EVENT \
 	TASK_EVENT_MOTION_SENSOR_INTERRUPT(BASE_ACCEL)
 
+#define CONFIG_ACCELGYRO_ICM426XX
+#define CONFIG_ACCELGYRO_ICM426XX_INT_EVENT \
+	TASK_EVENT_MOTION_SENSOR_INTERRUPT(BASE_ACCEL)
+
 /* Sensors without hardware FIFO are in forced mode */
 #define CONFIG_ACCEL_FORCE_MODE_MASK BIT(LID_ACCEL)
 
@@ -184,6 +188,7 @@ enum usbc_port {
 };
 
 void board_reset_pd_mcu(void);
+void motion_interrupt(enum gpio_signal signal);
 
 #endif /* !__ASSEMBLER__ */
 
diff --git a/board/collis/gpio.inc b/board/collis/gpio.inc
index 80fe3268c3..0bd40b8499 100644
--- a/board/collis/gpio.inc
+++ b/board/collis/gpio.inc
@@ -25,7 +25,7 @@ GPIO_INT(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, bmi160_interrupt)
+GPIO_INT(EC_IMU_INT_L,         PIN(5, 6), GPIO_INT_FALLING | GPIO_SEL_1P8V, motion_interrupt)
 GPIO_INT(TABLET_MODE_L,        PIN(9, 5), GPIO_INT_BOTH, gmr_tablet_switch_isr)
 
 /* USB-C interrupts */
diff --git a/board/collis/sensors.c b/board/collis/sensors.c
index bab31212cb..92e034d50b 100644
--- a/board/collis/sensors.c
+++ b/board/collis/sensors.c
@@ -12,6 +12,8 @@
 #include "driver/accel_kionix.h"
 #include "driver/accelgyro_bmi_common.h"
 #include "driver/accelgyro_bmi160.h"
+#include "driver/accelgyro_icm_common.h"
+#include "driver/accelgyro_icm426xx.h"
 #include "driver/sync.h"
 #include "keyboard_scan.h"
 #include "hooks.h"
@@ -29,8 +31,8 @@ static struct mutex g_base_mutex;
 static struct accelgyro_saved_data_t g_bma253_data;
 static struct kionix_accel_data g_kx022_data;
 
-/* BMI160 private data */
 static struct bmi_drv_data_t g_bmi160_data;
+static struct icm_drv_data_t g_icm426xx_data;
 
 /* Rotation matrix for the lid accelerometer */
 static const mat33_fp_t lid_standard_ref = {
@@ -45,6 +47,57 @@ const mat33_fp_t base_standard_ref = {
 	{ 0, 0, FLOAT_TO_FP(-1)}
 };
 
+const mat33_fp_t base_standard_ref_icm = {
+	{ 0, FLOAT_TO_FP(1), 0},
+	{ FLOAT_TO_FP(1), 0, 0},
+	{ 0, 0, FLOAT_TO_FP(-1)},
+};
+
+struct motion_sensor_t icm426xx_base_accel = {
+	.name = "Base Accel",
+	.active_mask = SENSOR_ACTIVE_S0_S3,
+	.chip = MOTIONSENSE_CHIP_ICM426XX,
+	.type = MOTIONSENSE_TYPE_ACCEL,
+	.location = MOTIONSENSE_LOC_BASE,
+	.drv = &icm426xx_drv,
+	.mutex = &g_base_mutex,
+	.drv_data = &g_icm426xx_data,
+	.port = I2C_PORT_SENSOR,
+	.i2c_spi_addr_flags = ICM426XX_ADDR0_FLAGS,
+	.rot_standard_ref = &base_standard_ref_icm,
+	.min_frequency = ICM426XX_ACCEL_MIN_FREQ,
+	.max_frequency = ICM426XX_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,
+		},
+	},
+};
+
+struct motion_sensor_t icm426xx_base_gyro = {
+	.name = "Base Gyro",
+	.active_mask = SENSOR_ACTIVE_S0_S3,
+	.chip = MOTIONSENSE_CHIP_ICM426XX,
+	.type = MOTIONSENSE_TYPE_GYRO,
+	.location = MOTIONSENSE_LOC_BASE,
+	.drv = &icm426xx_drv,
+	.mutex = &g_base_mutex,
+	.drv_data = &g_icm426xx_data,
+	.port = I2C_PORT_SENSOR,
+	.i2c_spi_addr_flags = ICM426XX_ADDR0_FLAGS,
+	.default_range = 1000, /* dps */
+	.rot_standard_ref = &base_standard_ref_icm,
+	.min_frequency = ICM426XX_GYRO_MIN_FREQ,
+	.max_frequency = ICM426XX_GYRO_MAX_FREQ,
+};
+
 struct motion_sensor_t kx022_lid_accel = {
 	.name = "Lid Accel",
 	.active_mask = SENSOR_ACTIVE_S0_S3,
@@ -147,6 +200,14 @@ struct motion_sensor_t motion_sensors[] = {
 };
 unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
 
+void motion_interrupt(enum gpio_signal signal)
+{
+	if (get_cbi_ssfc_base_sensor() == SSFC_SENSOR_BASE_ICM426XX)
+		icm426xx_interrupt(signal);
+	else
+		bmi160_interrupt(signal);
+}
+
 static void baseboard_sensors_init(void)
 {
 	if (get_cbi_ssfc_lid_sensor() == SSFC_SENSOR_LID_KX022) {
@@ -155,6 +216,13 @@ static void baseboard_sensors_init(void)
 	} else
 		ccprints("LID_ACCEL is BMA253");
 
+	if (get_cbi_ssfc_base_sensor() == SSFC_SENSOR_BASE_ICM426XX) {
+		motion_sensors[BASE_ACCEL] = icm426xx_base_accel;
+		motion_sensors[BASE_GYRO] = icm426xx_base_gyro;
+		ccprints("BASE ACCEL is ICM426XX");
+	} else
+		ccprints("BASE ACCEL IS BMI160");
+
 	/* Enable interrupt for the accel/gyro sensor */
 	gpio_enable_interrupt(GPIO_EC_IMU_INT_L);
 }