voxel: Add motion sensor config for kx022/icm-426xx

Add icm-426xx config for new second source base accel/gyro,
and lid accel config for new second source.

BUG=b:176039213, b:175843510
BRANCH=main
TEST=Using ectool 'motionsense' verified lid angle now goes
from 0 to 360 and swtiches to tablet mode after crossing 200
threshold on re-work kx022/icm-426xx DUT.

Change-Id: I6815a46f01f8334f4f8c1b07deee16046566fbce
Signed-off-by: Ben Chen <ben.chen2@quanta.corp-partner.google.com>
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/2607207
Reviewed-by: Keith Short <keithshort@chromium.org>

3 files changed, 120 insertions, 4 deletions

diff --git a/board/voxel/board.h b/board/voxel/board.h
index c868938778..f66a09becc 100644
--- a/board/voxel/board.h
+++ b/board/voxel/board.h
@@ -47,12 +47,17 @@
 /* Sensors */
 /* BMI160 Base accel/gyro */
 #define CONFIG_ACCELGYRO_BMI160
+#define CONFIG_ACCELGYRO_ICM426XX	/* Base accel second source*/
 #define CONFIG_ACCELGYRO_BMI160_INT_EVENT \
 	TASK_EVENT_MOTION_SENSOR_INTERRUPT(BASE_ACCEL)
+#define CONFIG_ACCELGYRO_ICM426XX_INT_EVENT \
+	TASK_EVENT_MOTION_SENSOR_INTERRUPT(BASE_ACCEL)
+
 /* Lid operates in forced mode, base in FIFO */
 #define CONFIG_ACCEL_FORCE_MODE_MASK BIT(LID_ACCEL)
 
 /* BMA253 Lid accel */
+#define CONFIG_ACCEL_KX022	/* Lid accel */
 #define CONFIG_ACCEL_BMA255
 #define CONFIG_LID_ANGLE
 #define CONFIG_LID_ANGLE_UPDATE
@@ -183,6 +188,8 @@ enum usbc_port {
 
 void board_reset_pd_mcu(void);
 
+void motion_interrupt(enum gpio_signal signal);
+
 #endif /* !__ASSEMBLER__ */
 
 #endif /* __CROS_EC_BOARD_H */
diff --git a/board/voxel/gpio.inc b/board/voxel/gpio.inc
index bd807aa399..fa3d0ffe7d 100644
--- a/board/voxel/gpio.inc
+++ b/board/voxel/gpio.inc
@@ -25,7 +25,7 @@ GPIO_INT(PG_EC_DSW_PWROK,      PIN(C, 7), GPIO_INT_BOTH, power_signal_interrupt)
 GPIO_INT(PG_EC_ALL_SYS_PWRGD,  PIN(F, 4),  GPIO_INT_BOTH, power_signal_interrupt)
 
 /* Sensor Interrupts */
-GPIO_INT(EC_IMU_INT_L,         PIN(5, 6), GPIO_INT_FALLING | GPIO_SEL_1P8V, bmi160_interrupt)
+GPIO_INT(EC_IMU_INT_L,         PIN(5, 6), GPIO_INT_FALLING | GPIO_SEL_1P8V, motion_interrupt)
 GPIO(EC_ALS_RGB_INT_L,         PIN(D, 4), GPIO_INPUT | GPIO_PULL_UP)	/* unused */
 GPIO_INT(TABLET_MODE_L,        PIN(9, 5), GPIO_INT_BOTH, gmr_tablet_switch_isr)
 /*
diff --git a/board/voxel/sensors.c b/board/voxel/sensors.c
index fab1fac66b..93c6f442c9 100644
--- a/board/voxel/sensors.c
+++ b/board/voxel/sensors.c
@@ -6,9 +6,13 @@
 /* Volteer family-specific sensor configuration */
 #include "common.h"
 #include "accelgyro.h"
+#include "cbi_ssfc.h"
 #include "driver/accel_bma2x2.h"
+#include "driver/accel_kionix.h"
 #include "driver/accelgyro_bmi_common.h"
 #include "driver/accelgyro_bmi160.h"
+#include "driver/accelgyro_icm_common.h"
+#include "driver/accelgyro_icm426xx.h"
 #include "driver/als_tcs3400.h"
 #include "driver/sync.h"
 #include "keyboard_scan.h"
@@ -26,9 +30,11 @@ static struct mutex g_base_mutex;
 
 /* BMA253 private data */
 static struct accelgyro_saved_data_t g_bma253_data;
+static struct kionix_accel_data g_kx022_data;
 
 /* BMI160 private data */
 static struct bmi_drv_data_t g_bmi160_data;
+static struct icm_drv_data_t g_icm426xx_data;
 
 /* Rotation matrix for the lid accelerometer */
 static const mat33_fp_t lid_standard_ref = {
@@ -43,6 +49,85 @@ const mat33_fp_t base_standard_ref = {
 	{ 0, 0, FLOAT_TO_FP(1)}
 };
 
+static const mat33_fp_t base_icm_ref = {
+	{ FLOAT_TO_FP(1), 0, 0},
+	{ 0, FLOAT_TO_FP(1), 0},
+	{ 0, 0, FLOAT_TO_FP(1)}
+};
+
+struct motion_sensor_t kx022_lid_accel = {
+	.name = "Lid Accel",
+	.active_mask = SENSOR_ACTIVE_S0_S3,
+	.chip = MOTIONSENSE_CHIP_KX022,
+	.type = MOTIONSENSE_TYPE_ACCEL,
+	.location = MOTIONSENSE_LOC_LID,
+	.drv = &kionix_accel_drv,
+	.mutex = &g_lid_accel_mutex,
+	.drv_data = &g_kx022_data,
+	.port = I2C_PORT_ACCEL,
+	.i2c_spi_addr_flags = KX022_ADDR0_FLAGS,
+	.rot_standard_ref = &lid_standard_ref,
+	.min_frequency = KX022_ACCEL_MIN_FREQ,
+	.max_frequency = KX022_ACCEL_MAX_FREQ,
+	.default_range = 2, /* g, to support tablet mode */
+	.config = {
+		/* EC use accel for angle detection */
+		[SENSOR_CONFIG_EC_S0] = {
+			.odr = 10000 | ROUND_UP_FLAG,
+		},
+		/* EC use accel for angle detection */
+		[SENSOR_CONFIG_EC_S3] = {
+			.odr = 10000 | ROUND_UP_FLAG,
+		},
+	},
+};
+
+struct motion_sensor_t icm426xx_base_accel = {
+	.name = "Base Accel",
+	.active_mask = SENSOR_ACTIVE_S0_S3,
+	.chip = MOTIONSENSE_CHIP_ICM426XX,
+	.type = MOTIONSENSE_TYPE_ACCEL,
+	.location = MOTIONSENSE_LOC_BASE,
+	.drv = &icm426xx_drv,
+	.mutex = &g_base_mutex,
+	.drv_data = &g_icm426xx_data,
+	.port = I2C_PORT_ACCEL,
+	.i2c_spi_addr_flags = ICM426XX_ADDR0_FLAGS,
+	.default_range = 4, /* g, enough for laptop */
+	.rot_standard_ref = &base_icm_ref,
+	.min_frequency = ICM426XX_ACCEL_MIN_FREQ,
+	.max_frequency = ICM426XX_ACCEL_MAX_FREQ,
+	.config = {
+		/* EC use accel for angle detection */
+		[SENSOR_CONFIG_EC_S0] = {
+			.odr = 10000 | ROUND_UP_FLAG,
+			.ec_rate = 100 * MSEC,
+		},
+		/* EC use accel for angle detection */
+		[SENSOR_CONFIG_EC_S3] = {
+			.odr = 10000 | ROUND_UP_FLAG,
+			.ec_rate = 100 * MSEC,
+		},
+	},
+};
+
+struct motion_sensor_t icm426xx_base_gyro = {
+	.name = "Base Gyro",
+	.active_mask = SENSOR_ACTIVE_S0_S3,
+	.chip = MOTIONSENSE_CHIP_ICM426XX,
+	.type = MOTIONSENSE_TYPE_GYRO,
+	.location = MOTIONSENSE_LOC_BASE,
+	.drv = &icm426xx_drv,
+	.mutex = &g_base_mutex,
+	.drv_data = &g_icm426xx_data,
+	.port = I2C_PORT_ACCEL,
+	.i2c_spi_addr_flags = ICM426XX_ADDR0_FLAGS,
+	.default_range = 1000, /* dps */
+	.rot_standard_ref = &base_standard_ref,
+	.min_frequency = ICM426XX_GYRO_MIN_FREQ,
+	.max_frequency = ICM426XX_GYRO_MAX_FREQ,
+};
+
 struct motion_sensor_t motion_sensors[] = {
 	[LID_ACCEL] = {
 		.name = "Lid Accel",
@@ -120,15 +205,39 @@ unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
 
 static void board_sensors_init(void)
 {
-	/* Note - BMA253 interrupt unused by EC */
-
-	/* Enable interrupt for the BMI160 accel/gyro sensor */
+	/* Enable interrupt for the accel/gyro sensor */
 	gpio_enable_interrupt(GPIO_EC_IMU_INT_L);
 
 	CPRINTS("Motion Sensor Count = %d", motion_sensor_count);
+
+	if (get_cbi_ssfc_base_sensor() == SSFC_SENSOR_ICM426XX) {
+		motion_sensors[BASE_ACCEL] = icm426xx_base_accel;
+		motion_sensors[BASE_GYRO] = icm426xx_base_gyro;
+		ccprints("BASE GYRO is ICM426XX");
+	} else
+		ccprints("BASE GYRO is BMI160");
+
+	if (get_cbi_ssfc_lid_sensor() == SSFC_SENSOR_KX022) {
+		motion_sensors[LID_ACCEL] = kx022_lid_accel;
+		ccprints("LID_ACCEL is KX022");
+	} else
+		ccprints("LID_ACCEL is BMA253");
 }
 DECLARE_HOOK(HOOK_INIT, board_sensors_init, HOOK_PRIO_DEFAULT);
 
+void motion_interrupt(enum gpio_signal signal)
+{
+	switch (get_cbi_ssfc_base_sensor()) {
+	case SSFC_SENSOR_ICM426XX:
+		icm426xx_interrupt(signal);
+		break;
+	case SSFC_SENSOR_BMI160:
+	default:
+		bmi160_interrupt(signal);
+		break;
+	}
+}
+
 #ifndef TEST_BUILD
 void lid_angle_peripheral_enable(int enable)
 {