Zephyr: enable motion sensors for guybrush and skyrim

This commits adds the motionsense device tree and config changes
required to enable motion sensors for guybrush and skyrim.

BUG=b:214619940
TEST=Used `ectool motionsense` and `accelread` to validate sensor readings
under zephyr
BRANCH=none

Signed-off-by: Robert Zieba <robertzieba@google.com>
Change-Id: I3ef8e14eadcb07c97c616f938c78a8e1254444bc
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/3517676
Reviewed-by: Diana Z <dzigterman@chromium.org>

8 files changed, 200 insertions, 4 deletions

diff --git a/zephyr/dts/bindings/motionsense/driver/cros-ec,bmi3xx-accel.yaml b/zephyr/dts/bindings/motionsense/driver/cros-ec,bmi3xx-accel.yaml
index 713dcc0698..24d28645ee 100644
--- a/zephyr/dts/bindings/motionsense/driver/cros-ec,bmi3xx-accel.yaml
+++ b/zephyr/dts/bindings/motionsense/driver/cros-ec,bmi3xx-accel.yaml
@@ -2,7 +2,7 @@
 # Use of this source code is governed by a BSD-style license that can be
 # found in the LICENSE file.
 
-description: motion sense sensor node for BMI260 accel
+description: motion sense sensor node for BMI3XX accel
 
 compatible: "cros-ec,bmi3xx-accel"
 
diff --git a/zephyr/projects/skyrim/BUILD.py b/zephyr/projects/skyrim/BUILD.py
index fded4164f0..21b4caded7 100644
--- a/zephyr/projects/skyrim/BUILD.py
+++ b/zephyr/projects/skyrim/BUILD.py
@@ -16,6 +16,7 @@ def register_variant(project_name):
             here / "i2c.dts",
             here / "interrupts.dts",
             here / "keyboard.dts",
+            here / "motionsense.dts",
             here / "pwm.dts",
             here / "usbc.dts",
             # Project-specific DTS customizations.
diff --git a/zephyr/projects/skyrim/guybrush.dts b/zephyr/projects/skyrim/guybrush.dts
index d3e1d95832..4d633c33a9 100644
--- a/zephyr/projects/skyrim/guybrush.dts
+++ b/zephyr/projects/skyrim/guybrush.dts
@@ -89,7 +89,7 @@
 		ec_pwm7 {
 			gpios = <&gpio6 0 GPIO_INPUT_PULL_UP>;
 		};
-		6axis_int_l {
+		gpio_accel_gyro_int_l: accel_gyro_int_l {
 			gpios = <&gpioa 0 GPIO_INPUT_PULL_UP>;
 		};
 	};
@@ -175,4 +175,20 @@
 			handler = "baseboard_en_pwr_pcore_s0";
 		};
 	};
+
+	/* Rotation matrices for motion sensors. */
+	motionsense-rotation-ref {
+		compatible = "cros-ec,motionsense-rotation-ref";
+		lid_rot_ref: lid-rotation-ref {
+			mat33 = <0 (-1) 0
+				 (-1) 0 0
+				 0 0 (-1)>;
+		};
+
+		base_rot_ref: base-rotation-ref {
+			mat33 = <(-1) 0 0
+				 0 1 0
+				 0 0 (-1)>;
+		};
+	};
 };
diff --git a/zephyr/projects/skyrim/interrupts.dts b/zephyr/projects/skyrim/interrupts.dts
index 656fd78da1..66df9efadb 100644
--- a/zephyr/projects/skyrim/interrupts.dts
+++ b/zephyr/projects/skyrim/interrupts.dts
@@ -87,5 +87,10 @@
 			flags = <GPIO_INT_EDGE_FALLING>;
 			handler = "bc12_interrupt";
 		};
+		int_accel_gyro: accel_gyro {
+			irq-pin = <&gpio_accel_gyro_int_l>;
+			flags = <GPIO_INT_EDGE_FALLING>;
+			handler = "bmi3xx_interrupt";
+		};
 	};
 };
diff --git a/zephyr/projects/skyrim/motionsense.dts b/zephyr/projects/skyrim/motionsense.dts
new file mode 100644
index 0000000000..642a1cddf8
--- /dev/null
+++ b/zephyr/projects/skyrim/motionsense.dts
@@ -0,0 +1,144 @@
+/* Copyright 2022 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.
+		 */
+		bmi3xx-int = &base_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_bmi3xx: bmi3xx-mutex {
+			label = "BMI3XX_MUTEX";
+		};
+	};
+
+	/*
+	 * 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 {
+		bma4xx_data: bma4xx-drv-data {
+			compatible = "cros-ec,drvdata-bma4xx";
+			status = "okay";
+		};
+
+		bmi3xx_data: bmi3xx-drv-data {
+			compatible = "cros-ec,drvdata-bmi3xx";
+			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,bma4xx";
+			status = "okay";
+
+			label = "Lid Accel";
+			active-mask = "SENSOR_ACTIVE_S0_S3";
+			location = "MOTIONSENSE_LOC_LID";
+			mutex = <&lid_mutex>;
+			port = <&i2c_sensor>;
+			drv-data = <&bma4xx_data>;
+			rot-standard-ref = <&lid_rot_ref>;
+			default-range = <2>;
+			configs {
+				compatible =
+					"cros-ec,motionsense-sensor-config";
+				ec-s0 {
+					label = "SENSOR_CONFIG_EC_S0";
+					odr = <(12500 | ROUND_UP_FLAG)>;
+					ec-rate = <100>;
+				};
+				ec-s3 {
+					label = "SENSOR_CONFIG_EC_S3";
+					odr = <(12500 | ROUND_UP_FLAG)>;
+				};
+			};
+		};
+
+		base_accel: base-accel {
+			compatible = "cros-ec,bmi3xx-accel";
+			status = "okay";
+
+			label = "Base Accel";
+			active-mask = "SENSOR_ACTIVE_S0_S3";
+			location = "MOTIONSENSE_LOC_BASE";
+			mutex = <&mutex_bmi3xx>;
+			port = <&i2c_sensor>;
+			rot-standard-ref = <&base_rot_ref>;
+			drv-data = <&bmi3xx_data>;
+
+			configs {
+				compatible =
+					"cros-ec,motionsense-sensor-config";
+				ec-s0 {
+					label = "SENSOR_CONFIG_EC_S0";
+					odr = <(12500 | ROUND_UP_FLAG)>;
+					ec-rate = <100>;
+				};
+				ec-s3 {
+					label = "SENSOR_CONFIG_EC_S3";
+					odr = <(12500 | ROUND_UP_FLAG)>;
+				};
+			};
+		};
+
+		base-gyro {
+			compatible = "cros-ec,bmi3xx-gyro";
+			status = "okay";
+
+			label = "Base Gyro";
+			active-mask = "SENSOR_ACTIVE_S0_S3";
+			location = "MOTIONSENSE_LOC_BASE";
+			mutex = <&mutex_bmi3xx>;
+			port = <&i2c_sensor>;
+			rot-standard-ref = <&base_rot_ref>;
+			drv-data = <&bmi3xx_data>;
+		};
+	};
+
+	motionsense-sensor-info {
+		compatible = "cros-ec,motionsense-sensor-info";
+
+		/*
+		 * list of GPIO interrupts that have to
+		 * be enabled at initial stage
+		 */
+		sensor-irqs = <&int_accel_gyro>;
+
+		/* list of sensors in force mode */
+		accel-force-mode-sensors = <&lid_accel>;
+	};
+};
diff --git a/zephyr/projects/skyrim/prj.conf b/zephyr/projects/skyrim/prj.conf
index b5d1a14075..1bc9cb8345 100644
--- a/zephyr/projects/skyrim/prj.conf
+++ b/zephyr/projects/skyrim/prj.conf
@@ -132,5 +132,19 @@ CONFIG_PLATFORM_EC_IOEX=y
 CONFIG_PLATFORM_EC_BOARD_RESET_AFTER_POWER_ON=y
 CONFIG_PLATFORM_EC_HIBERNATE_PSL=y
 
+# Motion sense
+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_LID_ANGLE=y
+CONFIG_PLATFORM_EC_LID_ANGLE_UPDATE=y
+CONFIG_PLATFORM_EC_SENSOR_TIGHT_TIMESTAMPS=y
+
+CONFIG_PLATFORM_EC_ACCEL_BMA4XX=y
+CONFIG_PLATFORM_EC_ACCELGYRO_BMI3XX=y
+CONFIG_PLATFORM_EC_ACCELGYRO_BMI_COMM_I2C=y
+
 # Misc.
 CONFIG_PLATFORM_EC_I2C_DEBUG=y
diff --git a/zephyr/projects/skyrim/prj_guybrush.conf b/zephyr/projects/skyrim/prj_guybrush.conf
index f1ef2ae811..0ca57174a4 100644
--- a/zephyr/projects/skyrim/prj_guybrush.conf
+++ b/zephyr/projects/skyrim/prj_guybrush.conf
@@ -6,4 +6,4 @@
 CONFIG_BOARD_GUYBRUSH=y
 
 # Only Guybrush has TMP112
-CONFIG_PLATFORM_EC_TEMP_SENSOR_TMP112=y
+CONFIG_PLATFORM_EC_TEMP_SENSOR_TMP112=y
\ No newline at end of file
diff --git a/zephyr/projects/skyrim/skyrim.dts b/zephyr/projects/skyrim/skyrim.dts
index 7f20c5e266..88661a9fb2 100644
--- a/zephyr/projects/skyrim/skyrim.dts
+++ b/zephyr/projects/skyrim/skyrim.dts
@@ -84,7 +84,7 @@
 		ec_espi_rst_l {
 			gpios = <&gpio5 4 GPIO_PULL_DOWN>;
 		};
-		6axis_int_l {
+		gpio_accel_gyro_int_l: accel_gyro_int_l {
 			gpios = <&gpioa 0 GPIO_INPUT>;
 		};
 	};
@@ -180,4 +180,20 @@
 			};
 		};
 	};
+
+	/* Rotation matrices for motion sensors. */
+	motionsense-rotation-ref {
+		compatible = "cros-ec,motionsense-rotation-ref";
+		lid_rot_ref: lid-rotation-ref {
+			mat33 = <0 (-1) 0
+				 1 0 0
+				 0 0 1>;
+		};
+
+		base_rot_ref: base-rotation-ref {
+			mat33 = <0 1 0
+				 (-1) 0 0
+				 0 0 1>;
+		};
+	};
 };