zephyr: DT: support BMI260

This change is to support BMI260 via DT.
The change includes, using DT,
- creating BMI260 driver specific data
- creating motion sensor entry for BMI260
- creating the BMI260 irq event to motion sense task

BUG=b:173507858
BRANCH=none
TEST=make buildall -j8
build volteer on zephyr

Signed-off-by: Hyungwoo Yang <hyungwoo.yang@intel.corp-partner.google.com>
Change-Id: Id5c64df4d2f14a50709ac15855567a67671b8515
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/2778821
Reviewed-by: Simon Glass <sjg@chromium.org>

7 files changed, 132 insertions, 0 deletions

diff --git a/driver/accelgyro_bmi260.c b/driver/accelgyro_bmi260.c
index 573f8ce288..21d783fe84 100644
--- a/driver/accelgyro_bmi260.c
+++ b/driver/accelgyro_bmi260.c
@@ -28,6 +28,26 @@
 #define CPRINTF(format, args...) cprintf(CC_ACCEL, format, ## args)
 #define CPRINTS(format, args...) cprints(CC_ACCEL, format, ## args)
 
+#if defined(CONFIG_ZEPHYR) && defined(CONFIG_ACCEL_INTERRUPTS)
+/*
+ * Get the mostion sensor ID of the BMI260 sensor that
+ * generates the interrupt.
+ * The interrupt is converted to the event and transferred to motion
+ * sense task that actually handles the interrupt.
+ *
+ * Here, we use alias to get the motion sensor ID
+ *
+ * e.g) base_accel is the label of a child node in /motionsense-sensors
+ * aliases {
+ *     bmi260-int = &base_accel;
+ * };
+ */
+#if DT_NODE_EXISTS(DT_ALIAS(bmi260_int))
+#define CONFIG_ACCELGYRO_BMI260_INT_EVENT	\
+	TASK_EVENT_MOTION_SENSOR_INTERRUPT(SENSOR_ID(DT_ALIAS(bmi260_int)))
+#endif
+#endif
+
 STATIC_IF(CONFIG_ACCEL_FIFO) volatile uint32_t last_interrupt_timestamp;
 
 /*
diff --git a/zephyr/dts/bindings/motionsense/driver/bmi260.yaml b/zephyr/dts/bindings/motionsense/driver/bmi260.yaml
new file mode 100644
index 0000000000..1f9c16a2d9
--- /dev/null
+++ b/zephyr/dts/bindings/motionsense/driver/bmi260.yaml
@@ -0,0 +1,16 @@
+# Copyright 2021 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.
+
+# common fields for both BMI260 accel and BMI260 gyro
+
+# every motionsense sensor node should include motionsense-sensor-base.yaml
+include: motionsense-sensor-base.yaml
+
+properties:
+  i2c-spi-addr-flags:
+    type: string
+    required: true
+    description: i2c address or SPI slave logic GPIO
+    enum:
+      - "BMI260_ADDR0_FLAGS"
diff --git a/zephyr/dts/bindings/motionsense/driver/cros-ec,bmi260-accel.yaml b/zephyr/dts/bindings/motionsense/driver/cros-ec,bmi260-accel.yaml
new file mode 100644
index 0000000000..09907d8711
--- /dev/null
+++ b/zephyr/dts/bindings/motionsense/driver/cros-ec,bmi260-accel.yaml
@@ -0,0 +1,9 @@
+# Copyright 2021 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.
+
+description: motion sense sensor node for BMI260 accel
+
+compatible: "cros-ec,bmi260-accel"
+
+include: bmi260.yaml
diff --git a/zephyr/dts/bindings/motionsense/driver/cros-ec,bmi260-gyro.yaml b/zephyr/dts/bindings/motionsense/driver/cros-ec,bmi260-gyro.yaml
new file mode 100644
index 0000000000..67da0c4085
--- /dev/null
+++ b/zephyr/dts/bindings/motionsense/driver/cros-ec,bmi260-gyro.yaml
@@ -0,0 +1,9 @@
+# Copyright 2021 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.
+
+description: motion sense sensor node for BMI260 gyro
+
+compatible: "cros-ec,bmi260-gyro"
+
+include: bmi260.yaml
diff --git a/zephyr/dts/bindings/motionsense/drvdata/cros-ec,drvdata-bmi260.yaml b/zephyr/dts/bindings/motionsense/drvdata/cros-ec,drvdata-bmi260.yaml
new file mode 100644
index 0000000000..4d414121d1
--- /dev/null
+++ b/zephyr/dts/bindings/motionsense/drvdata/cros-ec,drvdata-bmi260.yaml
@@ -0,0 +1,18 @@
+# Copyright 2021 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.
+
+description: BMI260 driver data node
+
+compatible: "cros-ec,drvdata-bmi260"
+
+include: drvdata-base.yaml
+
+#
+# examples:
+#
+# bmi260_data: bmi260-drv-data {
+#        compatible = "cros-ec,drvdata-bmi260";
+#        status = "okay";
+# };
+#
diff --git a/zephyr/shim/src/motionsense_driver/bmi260-drvinfo.inc b/zephyr/shim/src/motionsense_driver/bmi260-drvinfo.inc
new file mode 100644
index 0000000000..2457fca31a
--- /dev/null
+++ b/zephyr/shim/src/motionsense_driver/bmi260-drvinfo.inc
@@ -0,0 +1,57 @@
+/* Copyright 2021 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 "driver/accelgyro_bmi_common_public.h"
+#include "driver/accelgyro_bmi260_public.h"
+
+/*
+ * CREATE_SENSOR_DATA which is defined in motionsense_sensros.c is
+ * the helper to create sensor driver specific data.
+ *
+ * CREATE_SENSOR_DATA gets two arguments. One is the compatible
+ * property value specified in device tree and the other one is the macro
+ * that actually creates sensor driver specific data. The macro gets
+ * node id and the name to be used for the sensor driver data.
+ */
+
+/*
+ * Create driver data. It can be shared among the entries in
+ * motion_sensors array which are using the same bmi260 driver.
+ */
+#define CREATE_SENSOR_DATA_BMI260(id, drvdata_name)			\
+	static struct bmi_drv_data_t drvdata_name;
+
+/*
+ * Create driver data for each BMI260 drvinfo instance in device tree.
+ * (compatible = "cros-ec,drvdata-bmi260")
+ */
+CREATE_SENSOR_DATA(cros_ec_drvdata_bmi260, CREATE_SENSOR_DATA_BMI260)
+/*
+ * CREATE_MOTION_SENSOR which is defined in motionsense_sensros.c is
+ * the macro to create an entry in motion_sensors array.
+ * The macro gets value of compatible property of
+ * the sensor in device tree and sensor specific values like chip ID,
+ * type of sensor, name of driver, default min/max frequency.
+ * Then using the values, it creates the corresponding motion_sense_t entry
+ * in motion_sensors array.
+ */
+
+/*
+ * Here, we call CREATE_MOTION_SENSOR to create a motion_sensor_t entry
+ * for each BMI260_accel instance(compatible = "cros-ec,bmi260-accel")
+ * in device tree.
+ */
+CREATE_MOTION_SENSOR(cros_ec_bmi260_accel, MOTIONSENSE_CHIP_BMI260,	\
+		MOTIONSENSE_TYPE_ACCEL,	bmi260_drv,			\
+		BMI_ACCEL_MIN_FREQ, BMI_ACCEL_MAX_FREQ)
+
+/*
+ * Here, we call CREATE_MOTION_SENSOR to create a motion_sensor_t entry
+ * for each BMI260_gyro instance (compatible = "cros-ec,bmi260-gyro")
+ * in device tree.
+ */
+CREATE_MOTION_SENSOR(cros_ec_bmi260_gyro, MOTIONSENSE_CHIP_BMI260,	\
+		MOTIONSENSE_TYPE_GYRO, bmi260_drv,			\
+		BMI_GYRO_MIN_FREQ, BMI_GYRO_MAX_FREQ)
diff --git a/zephyr/shim/src/motionsense_driver/sensor_drv_list.inc b/zephyr/shim/src/motionsense_driver/sensor_drv_list.inc
index 968d64b5dc..0bf395c9a0 100644
--- a/zephyr/shim/src/motionsense_driver/sensor_drv_list.inc
+++ b/zephyr/shim/src/motionsense_driver/sensor_drv_list.inc
@@ -22,3 +22,6 @@
 #ifdef CONFIG_ACCEL_BMA255
 #include "bma255-drvinfo.inc"
 #endif
+#ifdef CONFIG_ACCELGYRO_BMI260
+#include "bmi260-drvinfo.inc"
+#endif