AmptonE: Implement EC motion sensor

Implement gyro sensor ICM42607 and lid sensor KX022.

BUG=b:206526996
BRANCH=firmware-octopus-11297.B
TEST=manual
  1. watch ectool motionsense
  2. watch ectool lid_angle

Signed-off-by: Michael5 Chen1 <michael5_chen1@pegatron.corp-partner.google.com>
Change-Id: Ib33d59dc359e1c4b189a6515ab6e31c5bc84e690
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/3314480
Reviewed-by: Henry Sun <henrysun@google.com>
Reviewed-by: Diana Z <dzigterman@chromium.org>

2 files changed, 77 insertions, 1 deletions

diff --git a/board/ampton/board.c b/board/ampton/board.c
index 1634f02991..9b62a8dd02 100644
--- a/board/ampton/board.c
+++ b/board/ampton/board.c
@@ -13,6 +13,8 @@
 #include "driver/accel_bma2x2.h"
 #include "driver/accel_kionix.h"
 #include "driver/accelgyro_bmi_common.h"
+#include "driver/accelgyro_icm_common.h"
+#include "driver/accelgyro_icm42607.h"
 #include "driver/ppc/sn5s330.h"
 #include "driver/sync.h"
 #include "driver/tcpm/it83xx_pd.h"
@@ -172,9 +174,21 @@ const mat33_fp_t gyro_standard_ref = {
 	{ 0, 0, FLOAT_TO_FP(1)}
 };
 
+const mat33_fp_t base_standard_ref_icm42607 = {
+	{ 0, FLOAT_TO_FP(1), 0},
+	{ FLOAT_TO_FP(1), 0, 0},
+	{ 0, 0, FLOAT_TO_FP(-1)}
+};
+
+const mat33_fp_t lid_standard_ref_sku57 = {
+	{ FLOAT_TO_FP(1), 0, 0},
+	{ 0, FLOAT_TO_FP(-1), 0},
+	{ 0, 0, FLOAT_TO_FP(-1)}
+};
 /* sensor private data */
 static struct kionix_accel_data g_kx022_data;
 static struct bmi_drv_data_t g_bmi160_data;
+static struct icm_drv_data_t g_icm42607_data;
 
 /* BMA253 private data */
 static struct accelgyro_saved_data_t g_bma253_data;
@@ -208,6 +222,49 @@ static const struct motion_sensor_t motion_sensor_bma253 = {
 	},
 };
 
+struct motion_sensor_t motion_sensor_accel_icm42607 = {
+	.name = "Base Accel",
+	.active_mask = SENSOR_ACTIVE_S0_S3,
+	.chip = MOTIONSENSE_CHIP_ICM42607,
+	.type = MOTIONSENSE_TYPE_ACCEL,
+	.location = MOTIONSENSE_LOC_BASE,
+	.drv = &icm42607_drv,
+	.mutex = &g_base_mutex,
+	.drv_data = &g_icm42607_data,
+	.port = I2C_PORT_SENSOR,
+	.i2c_spi_addr_flags = ICM42607_ADDR0_FLAGS,
+	.default_range = 4, /* g, to meet CDD 7.3.1/C-1-4 reqs. */
+	.rot_standard_ref = &base_standard_ref_icm42607,
+	.min_frequency = ICM42607_ACCEL_MIN_FREQ,
+	.max_frequency = ICM42607_ACCEL_MAX_FREQ,
+	.config = {
+		/* EC use accel for angle detection */
+		[SENSOR_CONFIG_EC_S0] = {
+			.odr = 10000 | ROUND_UP_FLAG,
+		},
+		[SENSOR_CONFIG_EC_S3] = {
+			.odr = 10000 | ROUND_UP_FLAG,
+		},
+	},
+};
+
+struct motion_sensor_t motion_sensor_gyro_icm42607 = {
+	.name = "Base Gyro",
+	.active_mask = SENSOR_ACTIVE_S0_S3,
+	.chip = MOTIONSENSE_CHIP_ICM42607,
+	.type = MOTIONSENSE_TYPE_GYRO,
+	.location = MOTIONSENSE_LOC_BASE,
+	.drv = &icm42607_drv,
+	.mutex = &g_base_mutex,
+	.drv_data = &g_icm42607_data,
+	.port = I2C_PORT_SENSOR,
+	.i2c_spi_addr_flags = ICM42607_ADDR0_FLAGS,
+	.default_range = 1000, /* dps */
+	.rot_standard_ref = &base_standard_ref_icm42607,
+	.min_frequency = ICM42607_GYRO_MIN_FREQ,
+	.max_frequency = ICM42607_GYRO_MAX_FREQ,
+};
+
 /* Drivers */
 struct motion_sensor_t motion_sensors[] = {
 	[LID_ACCEL] = {
@@ -299,7 +356,7 @@ static int board_is_convertible(void)
 {
 	/* SKU IDs of Ampton & unprovisioned: 1, 2, 3, 4, 255 */
 	return sku_id == 1 || sku_id == 2 || sku_id == 3 || sku_id == 4
-		|| sku_id == 255;
+		|| sku_id == 57 || sku_id == 255;
 	}
 
 static int board_with_sensor_bma253(void)
@@ -308,6 +365,12 @@ static int board_with_sensor_bma253(void)
 	return sku_id == 3 || sku_id == 4;
 }
 
+static int board_with_sensor_icm42607(void)
+{
+	/* SKU ID 3 and 4 of Ampton with BMA253 */
+	return sku_id == 57;
+}
+
 static void board_update_sensor_config_from_sku(void)
 {
 	if (board_is_convertible()) {
@@ -315,6 +378,16 @@ static void board_update_sensor_config_from_sku(void)
 
 		if (board_with_sensor_bma253())
 			motion_sensors[LID_ACCEL] = motion_sensor_bma253;
+		if (board_with_sensor_icm42607()) {
+			motion_sensors[BASE_ACCEL] =
+				motion_sensor_accel_icm42607;
+			motion_sensors[BASE_GYRO] =
+				motion_sensor_gyro_icm42607;
+			ccprints("Gyro sensor: ICM-42607");
+		}
+		if (sku_id == 57)
+			motion_sensors[LID_ACCEL].rot_standard_ref =
+					&lid_standard_ref_sku57;
 
 		/* Enable Base Accel interrupt */
 		gpio_enable_interrupt(GPIO_BASE_SIXAXIS_INT_L);
diff --git a/board/ampton/board.h b/board/ampton/board.h
index 697e7221bc..f1b33b14de 100644
--- a/board/ampton/board.h
+++ b/board/ampton/board.h
@@ -40,6 +40,7 @@
 #define CONFIG_ACCEL_BMA255	/* Lid accel */
 #define CONFIG_ACCEL_KX022	/* Lid accel */
 #define CONFIG_ACCELGYRO_BMI160	/* Base accel */
+#define CONFIG_ACCELGYRO_ICM42607 /* Base accel */
 #define CONFIG_SYNC		/* Camera VSYNC */
 
 #define CONFIG_DYNAMIC_MOTION_SENSOR_COUNT
@@ -53,6 +54,8 @@
 
 #define CONFIG_ACCELGYRO_BMI160_INT_EVENT \
 	TASK_EVENT_MOTION_SENSOR_INTERRUPT(BASE_ACCEL)
+#define CONFIG_ACCELGYRO_ICM42607_INT_EVENT \
+	TASK_EVENT_MOTION_SENSOR_INTERRUPT(BASE_ACCEL)
 #define CONFIG_SYNC_INT_EVENT \
 	TASK_EVENT_MOTION_SENSOR_INTERRUPT(VSYNC)