snappy: support lid accel matrix by board version.

As the new form-factor has the lid accelerometer on the
reversed side facing the B-cover, the matrix setting
depending on board version; in such matter, it should be
able to compatible with old version of boards.

We create a new hook function for board specific tweaks,
this is because since the commit of 0c57824
("reef: Re-factor PP5000 and PP3300 enable/disable"),
the board_init() is no longer a good place for tweaks,
because ADC read should come after adc_init();
such that, new hook ensures robust ADC reading which is
the source of board version.

Also, we fix an arithmetic error for version-3 workaround,
i.e. patch the commit of ca99f38 ("snappy: BMI160 is
powered down on board v3 and older in S3"), else it could
trigger unexpected EC panic like this:

[89.770776 chipset -> S3]
[89.771222 power state 2 = S3, in 0x006d]
[89.772428 I2C unwedge failed, SCL is being held low]
[89.773775 TCPC p0 Low Power Mode]
[89.812962 Reset i2c 01 fail!]
...snip...
[91.816415 Unexpected i2c state machine! 1]
Time:     0x00000000057a7d9c us,   91.913628 s
Deadline: 0x00000000057a8a1d ->    0.003201 s from now
...snip...
Rebooting...

--- UART initialized after reboot ---
[Reset cause: soft]
...snip...

BUG=chrome-os-partner:62676
BRANCH=reef
TEST=check the DVT1 and DVT2 unit rotate normally.

Change-Id: Ic53e67e0c97e57056587adb6b260e81c0f99437a
Signed-off-by: Bruce.Wan <Bruce.Wan@quantatw.com>
Reviewed-on: https://chromium-review.googlesource.com/442252
Commit-Ready: Chen Wisley <wisley.chen@quantatw.com>
Tested-by: Bruce Wan <Bruce.Wan@quantatw.com>
Tested-by: Harry Pan <harry.pan@intel.com>
Reviewed-by: Aaron Durbin <adurbin@chromium.org>

1 files changed, 35 insertions, 10 deletions

diff --git a/board/snappy/board.c b/board/snappy/board.c
index 1a40b5a49a..9eb9af564a 100644
--- a/board/snappy/board.c
+++ b/board/snappy/board.c
@@ -506,14 +506,6 @@ static void board_init(void)
 
 	/* Enable Gyro interrupts */
 	gpio_enable_interrupt(GPIO_BASE_SIXAXIS_INT_L);
-
-	/* Set the sensors in the right powermode */
-	if (system_get_board_version() <= BOARD_VERSION_3) {
-		int i;
-
-		for (i = BASE_ACCEL; i <= BASE_MAG; ++i)
-			motion_sensors[i].active_mask = SENSOR_ACTIVE_S0;
-	}
 }
 /* PP3300 needs to be enabled before TCPC init hooks */
 DECLARE_HOOK(HOOK_INIT, board_init, HOOK_PRIO_FIRST);
@@ -792,7 +784,13 @@ const matrix_3x3_t base_standard_ref = {
 	{ 0, 0, FLOAT_TO_FP(-1)}
 };
 
-const matrix_3x3_t lid_standard_ref = {
+const matrix_3x3_t lid_a_cover_facing_ref = {
+	{ FLOAT_TO_FP(1), 0, 0},
+	{ 0, FLOAT_TO_FP(1), 0},
+	{ 0, 0, FLOAT_TO_FP(1)}
+};
+
+const matrix_3x3_t lid_b_cover_facing_ref = {
 	{ FLOAT_TO_FP(1), 0,  0},
 	{ 0, FLOAT_TO_FP(-1), 0},
 	{ 0, 0, FLOAT_TO_FP(-1)}
@@ -815,7 +813,7 @@ struct motion_sensor_t motion_sensors[] = {
 	 .drv_data = &g_kx022_data,
 	 .port = I2C_PORT_LID_ACCEL,
 	 .addr = KX022_ADDR1,
-	 .rot_standard_ref = &lid_standard_ref, /* Identity matrix. */
+	 .rot_standard_ref = &lid_a_cover_facing_ref, /* Identity matrix. */
 	 .default_range = 2, /* g, enough for laptop. */
 	 .config = {
 		/* AP: by default use EC settings */
@@ -1093,3 +1091,30 @@ const int keyboard_factory_scan_pins[][2] = {
 const int keyboard_factory_scan_pins_used =
 			ARRAY_SIZE(keyboard_factory_scan_pins);
 #endif
+
+static void board_init_late(void)
+{
+	int version = system_get_board_version();
+
+	/* Set the sensors in the right powermode */
+	if (version <= BOARD_VERSION_4) {
+		int i;
+
+		for (i = BASE_ACCEL; i <= BASE_MAG; ++i)
+			motion_sensors[i].active_mask = SENSOR_ACTIVE_S0;
+	}
+
+	/*
+	 * New form-factor aligns w/ electro, lid accelerometer
+	 * faces to B-cover.
+	 */
+	if (version < BOARD_VERSION_6)
+		motion_sensors[LID_ACCEL].rot_standard_ref =
+						&lid_b_cover_facing_ref;
+}
+/*
+ * We need robust ADC read, that is the source of board version;
+ * in order to apply board specific tweaks, so eusure this hook
+ * comes after adc_init().
+ */
+DECLARE_HOOK(HOOK_INIT, board_init_late, HOOK_PRIO_INIT_ADC + 1);