kano: change lid accel and base accel/gyro

Change Lid accel to kx022 and base accel/gyro to icm40608.

BUG=b:192370253
BRANCH=brya
TEST=make buildall -j succeeded.

Signed-off-by: David Huang <david.huang@quanta.corp-partner.google.com>
Change-Id: I034c2da62d1671294b4ce81536a0254a67c63240
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/3098118
Reviewed-by: caveh jalali <caveh@chromium.org>
Reviewed-by: Boris Mittelberg <bmbm@google.com>
Commit-Queue: Boris Mittelberg <bmbm@google.com>

4 files changed, 44 insertions, 44 deletions

diff --git a/board/kano/board.c b/board/kano/board.c
index 3701d5bfbf..07dfc2cd5a 100644
--- a/board/kano/board.c
+++ b/board/kano/board.c
@@ -13,8 +13,6 @@
 #include "gpio.h"
 #include "gpio_signal.h"
 #include "hooks.h"
-#include "driver/accel_lis2dw12.h"
-#include "driver/accelgyro_lsm6dso.h"
 #include "fw_config.h"
 #include "hooks.h"
 #include "lid_switch.h"
diff --git a/board/kano/board.h b/board/kano/board.h
index 8c6164df54..2f1103ae09 100644
--- a/board/kano/board.h
+++ b/board/kano/board.h
@@ -39,8 +39,9 @@
 #define CONFIG_LED_PWM_LOW_BATT_COLOR EC_LED_COLOR_AMBER
 
 /* Sensors */
-#define CONFIG_ACCELGYRO_LSM6DSO	/* Base accel */
-#define CONFIG_ACCEL_LSM6DSO_INT_EVENT \
+#define CONFIG_ACCELGYRO_ICM426XX	/* Base accel */
+#define CONFIG_ACCELGYRO_ICM_COMM_I2C
+#define CONFIG_ACCELGYRO_ICM426XX_INT_EVENT \
 	TASK_EVENT_MOTION_SENSOR_INTERRUPT(BASE_ACCEL)
 
 /* Enable sensor fifo, must also define the _SIZE and _THRES */
@@ -55,12 +56,10 @@
 
 /* Lid accel */
 #define CONFIG_LID_ANGLE
+#define CONFIG_LID_ANGLE_UPDATE
 #define CONFIG_LID_ANGLE_SENSOR_BASE	BASE_ACCEL
 #define CONFIG_LID_ANGLE_SENSOR_LID	LID_ACCEL
-#define CONFIG_ACCEL_LIS2DWL
-#define CONFIG_ACCEL_LIS2DW_AS_BASE
-#define CONFIG_ACCEL_LIS2DW12_INT_EVENT \
-	TASK_EVENT_MOTION_SENSOR_INTERRUPT(LID_ACCEL)
+#define CONFIG_ACCEL_KX022
 
 #define CONFIG_ACCEL_INTERRUPTS
 
@@ -241,6 +240,8 @@ enum mft_channel {
 	MFT_CH_COUNT
 };
 
+void motion_interrupt(enum gpio_signal signal);
+
 #endif /* !__ASSEMBLER__ */
 
 #endif /* __CROS_EC_BOARD_H */
diff --git a/board/kano/generated-gpio.inc b/board/kano/generated-gpio.inc
index 0b741188e9..d65d64feca 100644
--- a/board/kano/generated-gpio.inc
+++ b/board/kano/generated-gpio.inc
@@ -4,8 +4,7 @@
 
 /* INTERRUPT GPIOs: */
 GPIO_INT(ACOK_OD,                        PIN(0, 0), GPIO_INT_BOTH | GPIO_HIB_WAKE_HIGH, extpower_interrupt)
-GPIO_INT(EC_ACCEL_INT_R_L,               PIN(8, 1), GPIO_SEL_1P8V | GPIO_INT_FALLING, lis2dw12_interrupt)
-GPIO_INT(EC_IMU_INT_R_L,                 PIN(5, 6), GPIO_SEL_1P8V | GPIO_INT_FALLING, lsm6dso_interrupt)
+GPIO_INT(EC_IMU_INT_R_L,                 PIN(5, 6), GPIO_SEL_1P8V | GPIO_INT_FALLING, motion_interrupt)
 GPIO_INT(EC_PROCHOT_IN_L,                PIN(F, 0), GPIO_INT_BOTH, throttle_ap_prochot_input_interrupt)
 GPIO_INT(EC_VOLDN_BTN_ODL,               PIN(9, 3), GPIO_INT_BOTH | GPIO_PULL_UP, button_interrupt)
 GPIO_INT(EC_VOLUP_BTN_ODL,               PIN(9, 7), GPIO_INT_BOTH | GPIO_PULL_UP, button_interrupt)
diff --git a/board/kano/sensors.c b/board/kano/sensors.c
index 4a90179cf4..f49c356a6f 100644
--- a/board/kano/sensors.c
+++ b/board/kano/sensors.c
@@ -6,8 +6,9 @@
 #include "common.h"
 #include "accelgyro.h"
 #include "adc_chip.h"
-#include "driver/accel_lis2dw12.h"
-#include "driver/accelgyro_lsm6dso.h"
+#include "driver/accelgyro_icm426xx.h"
+#include "driver/accelgyro_icm_common.h"
+#include "driver/accel_kionix.h"
 #include "hooks.h"
 #include "motion_sense.h"
 #include "temp_sensor.h"
@@ -42,41 +43,41 @@ BUILD_ASSERT(ARRAY_SIZE(adc_channels) == ADC_CH_COUNT);
 
 K_MUTEX_DEFINE(g_lid_accel_mutex);
 K_MUTEX_DEFINE(g_base_accel_mutex);
-static struct stprivate_data g_lis2dw12_data;
-static struct lsm6dso_data lsm6dso_data;
+static struct kionix_accel_data g_kx022_data;
+static struct icm_drv_data_t g_icm426xx_data;
 
-/* TODO(b/184779333): calibrate the orientation matrix on later board stage */
+/*
+ * TODO:(b/197200940): Verify lid and base orientation
+ * matrix on proto board.
+ */
 static const mat33_fp_t lid_standard_ref = {
-	{ 0, FLOAT_TO_FP(1), 0},
-	{ FLOAT_TO_FP(1), 0, 0},
+	{ FLOAT_TO_FP(-1), 0, 0},
+	{ 0, FLOAT_TO_FP(-1), 0},
 	{ 0, 0, FLOAT_TO_FP(-1)}
 };
-
-/* TODO(b/184779743): verify orientation matrix */
 static const mat33_fp_t base_standard_ref = {
 	{ FLOAT_TO_FP(1), 0, 0},
-	{ 0, FLOAT_TO_FP(-1), 0},
-	{ 0, 0, FLOAT_TO_FP(-1)}
+	{ 0, FLOAT_TO_FP(1), 0},
+	{ 0, 0, FLOAT_TO_FP(1)}
 };
 
 struct motion_sensor_t motion_sensors[] = {
 	[LID_ACCEL] = {
 		.name = "Lid Accel",
 		.active_mask = SENSOR_ACTIVE_S0_S3,
-		.chip = MOTIONSENSE_CHIP_LIS2DW12,
+		.chip = MOTIONSENSE_CHIP_KX022,
 		.type = MOTIONSENSE_TYPE_ACCEL,
 		.location = MOTIONSENSE_LOC_LID,
-		.drv = &lis2dw12_drv,
+		.drv = &kionix_accel_drv,
 		.mutex = &g_lid_accel_mutex,
-		.drv_data = &g_lis2dw12_data,
-		.int_signal = GPIO_EC_ACCEL_INT_R_L,
+		.drv_data = &g_kx022_data,
 		.port = I2C_PORT_SENSOR,
-		.i2c_spi_addr_flags = LIS2DW12_ADDR0,
+		.i2c_spi_addr_flags = KX022_ADDR0_FLAGS,
 		.flags = MOTIONSENSE_FLAG_INT_SIGNAL,
 		.rot_standard_ref = &lid_standard_ref, /* identity matrix */
 		.default_range = 2, /* g */
-		.min_frequency = LIS2DW12_ODR_MIN_VAL,
-		.max_frequency = LIS2DW12_ODR_MAX_VAL,
+		.min_frequency = KX022_ACCEL_MIN_FREQ,
+		.max_frequency = KX022_ACCEL_MAX_FREQ,
 		.config = {
 			/* EC use accel for angle detection */
 			[SENSOR_CONFIG_EC_S0] = {
@@ -92,21 +93,20 @@ struct motion_sensor_t motion_sensors[] = {
 	[BASE_ACCEL] = {
 		.name = "Base Accel",
 		.active_mask = SENSOR_ACTIVE_S0_S3,
-		.chip = MOTIONSENSE_CHIP_LSM6DSO,
+		.chip = MOTIONSENSE_CHIP_ICM426XX,
 		.type = MOTIONSENSE_TYPE_ACCEL,
 		.location = MOTIONSENSE_LOC_BASE,
-		.drv = &lsm6dso_drv,
+		.drv = &icm426xx_drv,
 		.mutex = &g_base_accel_mutex,
-		.drv_data = LSM6DSO_ST_DATA(lsm6dso_data,
-				MOTIONSENSE_TYPE_ACCEL),
+		.drv_data = &g_icm426xx_data,
 		.int_signal = GPIO_EC_IMU_INT_R_L,
 		.flags = MOTIONSENSE_FLAG_INT_SIGNAL,
 		.port = I2C_PORT_SENSOR,
-		.i2c_spi_addr_flags = LSM6DSO_ADDR0_FLAGS,
+		.i2c_spi_addr_flags = ICM426XX_ADDR0_FLAGS,
 		.rot_standard_ref = &base_standard_ref,
 		.default_range = 4,  /* g */
-		.min_frequency = LSM6DSO_ODR_MIN_VAL,
-		.max_frequency = LSM6DSO_ODR_MAX_VAL,
+		.min_frequency = ICM426XX_ACCEL_MIN_FREQ,
+		.max_frequency = ICM426XX_ACCEL_MAX_FREQ,
 		.config = {
 			[SENSOR_CONFIG_EC_S0] = {
 				.odr = 13000 | ROUND_UP_FLAG,
@@ -122,21 +122,20 @@ struct motion_sensor_t motion_sensors[] = {
 	[BASE_GYRO] = {
 		.name = "Base Gyro",
 		.active_mask = SENSOR_ACTIVE_S0_S3,
-		.chip = MOTIONSENSE_CHIP_LSM6DSO,
+		.chip = MOTIONSENSE_CHIP_ICM426XX,
 		.type = MOTIONSENSE_TYPE_GYRO,
 		.location = MOTIONSENSE_LOC_BASE,
-		.drv = &lsm6dso_drv,
+		.drv = &icm426xx_drv,
 		.mutex = &g_base_accel_mutex,
-		.drv_data = LSM6DSO_ST_DATA(lsm6dso_data,
-				MOTIONSENSE_TYPE_GYRO),
+		.drv_data = &g_icm426xx_data,
 		.int_signal = GPIO_EC_IMU_INT_R_L,
 		.flags = MOTIONSENSE_FLAG_INT_SIGNAL,
 		.port = I2C_PORT_SENSOR,
-		.i2c_spi_addr_flags = LSM6DSO_ADDR0_FLAGS,
+		.i2c_spi_addr_flags = ICM426XX_ADDR0_FLAGS,
 		.default_range = 1000 | ROUND_UP_FLAG, /* dps */
 		.rot_standard_ref = &base_standard_ref,
-		.min_frequency = LSM6DSO_ODR_MIN_VAL,
-		.max_frequency = LSM6DSO_ODR_MAX_VAL,
+		.min_frequency = ICM426XX_GYRO_MIN_FREQ,
+		.max_frequency = ICM426XX_GYRO_MAX_FREQ,
 		.config = {
 			[SENSOR_CONFIG_EC_S0] = {
 				.odr = 13000 | ROUND_UP_FLAG,
@@ -153,13 +152,16 @@ const unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
 
 static void baseboard_sensors_init(void)
 {
-	/* Enable gpio interrupt for lid accel sensor */
-	gpio_enable_interrupt(GPIO_EC_ACCEL_INT_R_L);
 	/* Enable gpio interrupt for base accelgyro sensor */
 	gpio_enable_interrupt(GPIO_EC_IMU_INT_R_L);
 }
 DECLARE_HOOK(HOOK_INIT, baseboard_sensors_init, HOOK_PRIO_INIT_I2C + 1);
 
+void motion_interrupt(enum gpio_signal signal)
+{
+	icm426xx_interrupt(signal);
+}
+
 /* Temperature sensor configuration */
 const struct temp_sensor_t temp_sensors[] = {
 	[TEMP_SENSOR_1_DDR_SOC] = {