eve: Enable BMI160 and BMM150 gyro/compass sensors

Added necessary CONFIG options and board specific info to enable the
following sensors:

1. KXCJ9 Lid motion sensor
2. BMI160 motion sensor
3. BMI160 gyro sensor
4. BMM150 magnetometer sensor

BRANCH=none
BUG=chrome-os-partner:58894
TEST=manual
accelrate 2 10000 -> enable gyro
accelrate 3 10000 -> enable magnetometer
accelinfo on 1000 -> display sensor outputs once per second

See outputs like the following:
Base Accel=3022 , 1685 , -15925
Base Gyro=188  , -1404, -300
Base Mag=-253 , 218  , 1004

Moved eve board around and saw the readings change accordingly.
Have not tested lid motion sensor at this stage.

Change-Id: Ia658de4cbf441759482a053358230793550ef5ab
Signed-off-by: Scott <scollyer@chromium.org>
Reviewed-on: https://chromium-review.googlesource.com/404987
Commit-Ready: Scott Collyer <scollyer@chromium.org>
Tested-by: Scott Collyer <scollyer@chromium.org>
Reviewed-by: Gwendal Grignou <gwendal@google.com>

3 files changed, 228 insertions, 6 deletions

diff --git a/board/eve/board.c b/board/eve/board.c
index 91ea7af370..d3edc9c072 100644
--- a/board/eve/board.c
+++ b/board/eve/board.c
@@ -16,6 +16,9 @@
 #include "charger.h"
 #include "chipset.h"
 #include "console.h"
+#include "driver/accel_kionix.h"
+#include "driver/accel_kxcj9.h"
+#include "driver/accelgyro_bmi160.h"
 #include "driver/als_isl29035.h"
 #include "driver/charger/bd9995x.h"
 #include "driver/tcpm/anx74xx.h"
@@ -30,6 +33,8 @@
 #include "keyboard_scan.h"
 #include "lid_switch.h"
 #include "math_util.h"
+#include "motion_lid.h"
+#include "motion_sense.h"
 #include "power.h"
 #include "power_button.h"
 #include "pwm.h"
@@ -107,11 +112,11 @@ const int hibernate_wake_pins_used = ARRAY_SIZE(hibernate_wake_pins);
 
 /* I2C port map */
 const struct i2c_port_t i2c_ports[]  = {
-	{"tcpc0",     I2C_PORT_TCPC0,   400, GPIO_I2C0_0_SCL, GPIO_I2C0_0_SDA},
-	{"tcpc1",     I2C_PORT_TCPC1,   400, GPIO_I2C0_1_SCL, GPIO_I2C0_1_SDA},
-	{"accelgyro", I2C_PORT_GYRO,    400, GPIO_I2C1_SCL,   GPIO_I2C1_SDA},
-	{"sensors",   I2C_PORT_ACCEL,   400, GPIO_I2C2_SCL,   GPIO_I2C2_SDA},
-	{"batt",      I2C_PORT_BATTERY, 100, GPIO_I2C3_SCL,   GPIO_I2C3_SDA},
+	{"tcpc0",     I2C_PORT_TCPC0,    400, GPIO_I2C0_0_SCL, GPIO_I2C0_0_SDA},
+	{"tcpc1",     I2C_PORT_TCPC1,    400, GPIO_I2C0_1_SCL, GPIO_I2C0_1_SDA},
+	{"accelgyro", I2C_PORT_GYRO,     400, GPIO_I2C1_SCL,   GPIO_I2C1_SDA},
+	{"sensors",   I2C_PORT_LID_ACCEL, 400, GPIO_I2C2_SCL,  GPIO_I2C2_SDA},
+	{"batt",      I2C_PORT_BATTERY,  100, GPIO_I2C3_SCL,   GPIO_I2C3_SDA},
 };
 const unsigned int i2c_ports_used = ARRAY_SIZE(i2c_ports);
 
@@ -566,3 +571,184 @@ void board_hibernate(void)
 	/* Enable both the VBUS & VCC ports before entering PG3 */
 	bd9995x_select_input_port(BD9995X_CHARGE_PORT_BOTH, 1);
 }
+
+/* Base Sensor mutex */
+static struct mutex g_base_mutex;
+
+/* Lid Sensor mutex */
+static struct mutex g_lid_mutex;
+
+/* kxcj9 local/private data */
+struct kionix_accel_data g_kxcj9_data;
+
+/* Matrix to rotate accelrator into standard reference frame */
+const matrix_3x3_t base_standard_ref = {
+	{ 0, FLOAT_TO_FP(-1), 0},
+	{ FLOAT_TO_FP(1), 0,  0},
+	{ 0, 0,  FLOAT_TO_FP(1)}
+};
+
+const matrix_3x3_t mag_standard_ref = {
+	{ FLOAT_TO_FP(-1), 0, 0},
+	{ 0,  FLOAT_TO_FP(1), 0},
+	{ 0, 0, FLOAT_TO_FP(-1)}
+};
+
+const matrix_3x3_t lid_standard_ref = {
+	{ 0,  FLOAT_TO_FP(1),  0},
+	{FLOAT_TO_FP(-1),  0,  0},
+	{ 0,  0, FLOAT_TO_FP(-1)}
+};
+
+struct motion_sensor_t motion_sensors[] = {
+
+	[LID_ACCEL] = {
+	 .name = "Lid Accel",
+	 .active_mask = SENSOR_ACTIVE_S0,
+	 .chip = MOTIONSENSE_CHIP_KXCJ9,
+	 .type = MOTIONSENSE_TYPE_ACCEL,
+	 .location = MOTIONSENSE_LOC_LID,
+	 .drv = &kionix_accel_drv,
+	 .mutex = &g_lid_mutex,
+	 .drv_data = &g_kxcj9_data,
+	 .port = I2C_PORT_LID_ACCEL,
+	 .addr = KXCJ9_ADDR0,
+	 .rot_standard_ref = &lid_standard_ref,
+	 .default_range = 2, /* g, enough for laptop. */
+	 .config = {
+		/* AP: by default use EC settings */
+		[SENSOR_CONFIG_AP] = {
+			.odr = 0,
+			.ec_rate = 0,
+		},
+		/* EC use accel for angle detection */
+		[SENSOR_CONFIG_EC_S0] = {
+			.odr = 10000 | ROUND_UP_FLAG,
+			.ec_rate = 100 * MSEC,
+		},
+		/* unused */
+		[SENSOR_CONFIG_EC_S3] = {
+			.odr = 0,
+			.ec_rate = 0,
+		},
+		[SENSOR_CONFIG_EC_S5] = {
+			.odr = 0,
+			.ec_rate = 0,
+		},
+	 },
+		},
+
+	[BASE_ACCEL] = {
+	 .name = "Base Accel",
+	 .active_mask = SENSOR_ACTIVE_S0,
+	 .chip = MOTIONSENSE_CHIP_BMI160,
+	 .type = MOTIONSENSE_TYPE_ACCEL,
+	 .location = MOTIONSENSE_LOC_BASE,
+	 .drv = &bmi160_drv,
+	 .mutex = &g_base_mutex,
+	 .drv_data = &g_bmi160_data,
+	 .port = I2C_PORT_GYRO,
+	 .addr = BMI160_ADDR0,
+	 .rot_standard_ref = &base_standard_ref,
+	 .default_range = 2,  /* g, enough for laptop. */
+	 .config = {
+		 /* AP: by default use EC settings */
+		 [SENSOR_CONFIG_AP] = {
+			.odr = 0,
+			.ec_rate = 0,
+		 },
+		 /* EC use accel for angle detection */
+		 [SENSOR_CONFIG_EC_S0] = {
+			.odr = 10000 | ROUND_UP_FLAG,
+			.ec_rate = 100 * MSEC,
+		 },
+		 /* Sensor off in S3/S5 */
+		 [SENSOR_CONFIG_EC_S3] = {
+			.odr = 0,
+			.ec_rate = 0
+		 },
+		 /* Sensor off in S3/S5 */
+		 [SENSOR_CONFIG_EC_S5] = {
+			.odr = 0,
+			.ec_rate = 0
+		 },
+	 },
+	},
+
+	[BASE_GYRO] = {
+	 .name = "Base Gyro",
+	 .active_mask = SENSOR_ACTIVE_S0,
+	 .chip = MOTIONSENSE_CHIP_BMI160,
+	 .type = MOTIONSENSE_TYPE_GYRO,
+	 .location = MOTIONSENSE_LOC_BASE,
+	 .drv = &bmi160_drv,
+	 .mutex = &g_base_mutex,
+	 .drv_data = &g_bmi160_data,
+	 .port = I2C_PORT_GYRO,
+	 .addr = BMI160_ADDR0,
+	 .default_range = 1000, /* dps */
+	 .rot_standard_ref = &base_standard_ref,
+	 .config = {
+		 /* AP: by default shutdown all sensors */
+		 [SENSOR_CONFIG_AP] = {
+			.odr = 0,
+			.ec_rate = 0,
+		 },
+		 /* EC does not need in S0 */
+		 [SENSOR_CONFIG_EC_S0] = {
+			.odr = 0,
+			.ec_rate = 0,
+		 },
+		 /* Sensor off in S3/S5 */
+		 [SENSOR_CONFIG_EC_S3] = {
+			.odr = 0,
+			.ec_rate = 0,
+		 },
+		 /* Sensor off in S3/S5 */
+		 [SENSOR_CONFIG_EC_S5] = {
+			.odr = 0,
+			.ec_rate = 0,
+		 },
+	 },
+	},
+
+	[BASE_MAG] = {
+	 .name = "Base Mag",
+	 .active_mask = SENSOR_ACTIVE_S0,
+	 .chip = MOTIONSENSE_CHIP_BMI160,
+	 .type = MOTIONSENSE_TYPE_MAG,
+	 .location = MOTIONSENSE_LOC_BASE,
+	 .drv = &bmi160_drv,
+	 .mutex = &g_base_mutex,
+	 .drv_data = &g_bmi160_data,
+	 .port = I2C_PORT_GYRO,
+	 .addr = BMI160_ADDR0,
+	 .default_range = 1 << 11, /* 16LSB / uT, fixed */
+	 .rot_standard_ref = &mag_standard_ref,
+	 .config = {
+		 /* AP: by default shutdown all sensors */
+		 [SENSOR_CONFIG_AP] = {
+			.odr = 0,
+			.ec_rate = 0,
+		 },
+		 /* EC does not need in S0 */
+		 [SENSOR_CONFIG_EC_S0] = {
+			.odr = 0,
+			.ec_rate = 0,
+		 },
+		 /* Sensor off in S3/S5 */
+		 [SENSOR_CONFIG_EC_S3] = {
+			.odr = 0,
+			.ec_rate = 0,
+		 },
+		 /* Sensor off in S3/S5 */
+		 [SENSOR_CONFIG_EC_S5] = {
+			 .odr = 0,
+			 .ec_rate = 0,
+		 },
+	 },
+	},
+};
+const unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
+
+
diff --git a/board/eve/board.h b/board/eve/board.h
index f07fe69e45..a891f7f2b6 100644
--- a/board/eve/board.h
+++ b/board/eve/board.h
@@ -41,6 +41,10 @@
 #define WIRELESS_GPIO_WLAN GPIO_WLAN_OFF_L
 #define WIRELESS_GPIO_WLAN_POWER GPIO_PP3300_DX_WLAN
 
+/* EC console commands */
+#define CONFIG_CMD_ACCELS
+#define CONFIG_CMD_ACCEL_INFO
+
 /* SOC */
 #define CONFIG_CHIPSET_SKYLAKE
 #define CONFIG_CHIPSET_RESET_HOOK
@@ -86,12 +90,29 @@
 #define CONFIG_POWER_SIGNAL_INTERRUPT_STORM_DETECT_THRESHOLD 30
 
 /* Sensor */
+#define CONFIG_ACCEL_KXCJ9
 #define CONFIG_ALS
 #define CONFIG_ALS_ISL29035
 #define CONFIG_TEMP_SENSOR
 #define CONFIG_TEMP_SENSOR_BD99992GW
 #define CONFIG_THERMISTOR_NCP15WB
 
+#define CONFIG_ACCELGYRO_BMI160
+#define CONFIG_MAG_BMI160_BMM150
+#define BMM150_I2C_ADDRESS BMM150_ADDR0	/* 8-bit address */
+#define CONFIG_MAG_CALIBRATE
+
+/* FIFO size is in power of 2. */
+/*
+ * TODO (crosbug.com/p/59144): Uncomment this when AP is reading sensor
+ * data. For now, it's commented so that the data can be read from the EC
+ * console.
+ */
+/*#define CONFIG_ACCEL_FIFO 1024*/
+
+/* Depends on how fast the AP boots and typical ODRs */
+#define CONFIG_ACCEL_FIFO_THRES (CONFIG_ACCEL_FIFO / 3)
+
 /* USB */
 #define CONFIG_USB_CHARGER
 #define CONFIG_USB_PD_ALT_MODE
@@ -125,7 +146,8 @@
 #define I2C_PORT_TCPC0		NPCX_I2C_PORT0_0
 #define I2C_PORT_TCPC1		NPCX_I2C_PORT0_1
 #define I2C_PORT_GYRO		NPCX_I2C_PORT1
-#define I2C_PORT_ACCEL		NPCX_I2C_PORT2
+#define I2C_PORT_ACCEL		I2C_PORT_GYRO
+#define I2C_PORT_LID_ACCEL	NPCX_I2C_PORT2
 #define I2C_PORT_ALS		NPCX_I2C_PORT2
 #define I2C_PORT_PMIC		NPCX_I2C_PORT3
 #define I2C_PORT_BATTERY	NPCX_I2C_PORT3
@@ -179,6 +201,19 @@ enum als_id {
 	ALS_COUNT
 };
 
+/*
+ * Motion sensors:
+ * When reading through IO memory is set up for sensors (LPC is used),
+ * the first 2 entries must be accelerometers, then gyroscope.
+ * For BMI160, accel, gyro and compass sensors must be next to each other.
+ */
+enum sensor_id {
+	LID_ACCEL = 0,
+	BASE_ACCEL,
+	BASE_GYRO,
+	BASE_MAG,
+};
+
 enum adc_channel {
 	ADC_CH_COUNT
 };
diff --git a/board/eve/ec.tasklist b/board/eve/ec.tasklist
index 916b05689e..ea57855247 100644
--- a/board/eve/ec.tasklist
+++ b/board/eve/ec.tasklist
@@ -26,6 +26,7 @@
 	TASK_ALWAYS(CHG_RAMP, chg_ramp_task, NULL, TASK_STACK_SIZE) \
 	TASK_ALWAYS(USB_CHG, usb_charger_task, NULL, TASK_STACK_SIZE) \
 	TASK_ALWAYS(CHARGER, charger_task, NULL, LARGER_TASK_STACK_SIZE) \
+	TASK_NOTEST(MOTIONSENSE, motion_sense_task, NULL, VENTI_TASK_STACK_SIZE) \
 	TASK_NOTEST(CHIPSET, chipset_task, NULL, LARGER_TASK_STACK_SIZE) \
 	TASK_NOTEST(KEYPROTO, keyboard_protocol_task, NULL, TASK_STACK_SIZE) \
 	TASK_NOTEST(PDCMD, pd_command_task, NULL, TASK_STACK_SIZE) \