Craask: Fix lid rotation parameters for Craaskbowl

The placement of the LID sensor is spin 180' on xy plane for Craaskbowl.
Use fw_config bit8 to describe Lid sensor orientation:
0: original placement
1: rotate 180' on xy plane

BUG=none
BRANCH=none
TEST=table mode and rotation work fine on Craaskbowl

Signed-off-by: Sue Chen <sue.chen@quanta.corp-partner.google.com>
Change-Id: Ifa3d22ca2e1c90dfebb8ad8a7eca676b84c07191
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/3891565
Code-Coverage: Andrew McRae <amcrae@google.com>
Reviewed-by: Andrew McRae <amcrae@google.com>

2 files changed, 48 insertions, 0 deletions

diff --git a/zephyr/projects/nissa/craask/cbi.dts b/zephyr/projects/nissa/craask/cbi.dts
index de17bb1db9..7a827c192e 100644
--- a/zephyr/projects/nissa/craask/cbi.dts
+++ b/zephyr/projects/nissa/craask/cbi.dts
@@ -4,6 +4,33 @@
  */
 
 / {
+	/* Craask-specific fw_config fields. */
+	nissa-fw-config {
+		/*
+		 * FW_CONFIG field to describe Lid sensor orientation.
+		 */
+		lid-inversion {
+			enum-name = "FW_LID_INVERSION";
+			start = <8>;
+			size = <1>;
+
+			/*
+			 * 0: regular placement of the lid sensor
+			 * 1: rotate 180' of xy plane.
+			 */
+			regular {
+				compatible = "cros-ec,cbi-fw-config-value";
+				enum-name = "FW_LID_REGULAR";
+				value = <0>;
+				default;
+			};
+			xy_rotate_180 {
+				compatible = "cros-ec,cbi-fw-config-value";
+				enum-name = "FW_LID_XY_ROT_180";
+				value = <1>;
+			};
+		};
+	};
 	/* Craask-specific ssfc fields. */
 	cbi-ssfc {
 		compatible = "named-cbi-ssfc";
diff --git a/zephyr/projects/nissa/craask/src/form_factor.c b/zephyr/projects/nissa/craask/src/form_factor.c
index 7c642119f1..ccf0e66a4f 100644
--- a/zephyr/projects/nissa/craask/src/form_factor.c
+++ b/zephyr/projects/nissa/craask/src/form_factor.c
@@ -22,9 +22,13 @@ LOG_MODULE_DECLARE(nissa, CONFIG_NISSA_LOG_LEVEL);
  * Mainboard orientation support.
  */
 
+#define LIS_ALT_MAT SENSOR_ROT_STD_REF_NAME(DT_NODELABEL(lid_rot_bma422))
+#define BMA_ALT_MAT SENSOR_ROT_STD_REF_NAME(DT_NODELABEL(lid_rot_ref))
 #define ALT_MAT SENSOR_ROT_STD_REF_NAME(DT_NODELABEL(base_rot_ver1))
+#define LID_SENSOR SENSOR_ID(DT_NODELABEL(lid_accel))
 #define BASE_SENSOR SENSOR_ID(DT_NODELABEL(base_accel))
 #define BASE_GYRO SENSOR_ID(DT_NODELABEL(base_gyro))
+#define ALT_LID_S SENSOR_ID(DT_NODELABEL(alt_lid_accel))
 
 static bool use_alt_sensor;
 
@@ -51,6 +55,23 @@ static void form_factor_init(void)
 		motion_sensors[BASE_GYRO].rot_standard_ref = &ALT_MAT;
 	}
 
+	/*
+	 * If the firmware config indicates
+	 * an craaskbowl form factor, use the alternative
+	 * rotation matrix.
+	 */
+	ret = cros_cbi_get_fw_config(FW_LID_INVERSION, &val);
+	if (ret != 0) {
+		LOG_ERR("Error retrieving CBI FW_CONFIG field %d",
+			FW_LID_INVERSION);
+		return;
+	}
+	if (val == FW_LID_XY_ROT_180) {
+		LOG_INF("Lid sensor placement rotate 180 on xy plane");
+		motion_sensors[LID_SENSOR].rot_standard_ref = &LIS_ALT_MAT;
+		motion_sensors_alt[ALT_LID_S].rot_standard_ref = &BMA_ALT_MAT;
+	}
+
 	/* check which base sensor is used for motion_interrupt */
 	use_alt_sensor = cros_cbi_ssfc_check_match(
 		CBI_SSFC_VALUE_ID(DT_NODELABEL(base_sensor_1)));