arcada_ish: add base lis2dh accel sensor

Add base accelerometer to arcada_ish image. Lid angle detection using
base and lid accel sensors in EC is still pending.

With draft CLs, I successfully calibrated this sensor and calculated lid
angle successfully using the AccelerometersLidAngleTest factory test in
the AP.

BRANCH=none
BUG=b:122281217
TEST=sensors is calibratable with normal factory calibration process and
usable for lid angle calculation using factory tests.

Change-Id: I1c512cd4016d75c5bfece12475787189a99e6ee0
Signed-off-by: Jett Rink <jettrink@chromium.org>
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/1512133
Reviewed-by: Mathew King <mathewk@chromium.org>

2 files changed, 56 insertions, 5 deletions

diff --git a/board/arcada_ish/board.c b/board/arcada_ish/board.c
index 6ab110e03f..d8fd2f24d2 100644
--- a/board/arcada_ish/board.c
+++ b/board/arcada_ish/board.c
@@ -5,8 +5,9 @@
 
 /* Arcada ISH board-specific configuration */
 
-#include "accelgyro_lsm6dsm.h"
 #include "console.h"
+#include "driver/accel_lis2dh.h"
+#include "driver/accelgyro_lsm6dsm.h"
 #include "gpio.h"
 #include "hooks.h"
 #include "host_command.h"
@@ -29,8 +30,18 @@ const unsigned int i2c_ports_used = ARRAY_SIZE(i2c_ports);
 
 /* Sensor config */
 static struct mutex g_lid_mutex;
+static struct mutex g_base_mutex;
+
 /* sensor private data */
 static struct lsm6dsm_data lsm6dsm_a_data;
+static struct stprivate_data g_lis2dh_data;
+
+/* Matrix to rotate lid sensor into standard reference frame */
+const mat33_fp_t lid_rot_ref = {
+	{ FLOAT_TO_FP(-1), 0, 0},
+	{ 0, FLOAT_TO_FP(-1), 0},
+	{ 0, 0,  FLOAT_TO_FP(1)}
+};
 
 /* Drivers */
 struct motion_sensor_t motion_sensors[] = {
@@ -46,7 +57,7 @@ struct motion_sensor_t motion_sensors[] = {
 				MOTIONSENSE_TYPE_ACCEL),
 		.port = I2C_PORT_SENSOR,
 		.addr = LSM6DSM_ADDR1,
-		.rot_standard_ref = NULL, /* TODO rotate correctly */
+		.rot_standard_ref = &lid_rot_ref,
 		.default_range = 4,  /* g */
 		.min_frequency = LSM6DSM_ODR_MIN_VAL,
 		.max_frequency = LSM6DSM_ODR_MAX_VAL,
@@ -54,7 +65,10 @@ struct motion_sensor_t motion_sensors[] = {
 			/* EC use accel for angle detection */
 			[SENSOR_CONFIG_EC_S0] = {
 				.odr = 13000 | ROUND_UP_FLAG,
-				.ec_rate = 100 * MSEC,
+			},
+			/* Sensor on for lid angle detection */
+			[SENSOR_CONFIG_EC_S3] = {
+				.odr = 13000 | ROUND_UP_FLAG,
 			},
 		},
 	},
@@ -76,6 +90,35 @@ struct motion_sensor_t motion_sensors[] = {
 		.min_frequency = LSM6DSM_ODR_MIN_VAL,
 		.max_frequency = LSM6DSM_ODR_MAX_VAL,
 	},
+
+	[BASE_ACCEL] = {
+		.name = "Base Accel",
+		.active_mask = SENSOR_ACTIVE_S0,
+		.chip = MOTIONSENSE_CHIP_LNG2DM,
+		.type = MOTIONSENSE_TYPE_ACCEL,
+		.location = MOTIONSENSE_LOC_BASE,
+		.drv = &lis2dh_drv,
+		.mutex = &g_base_mutex,
+		.drv_data = &g_lis2dh_data,
+		.port = I2C_PORT_SENSOR,
+		.addr = LNG2DM_ADDR0,
+		.rot_standard_ref = NULL, /* Identity matrix */
+		/* We only use 2g because its resolution is only 8-bits */
+		.default_range = 2, /* g */
+		.min_frequency = LIS2DH_ODR_MIN_VAL,
+		.max_frequency = LIS2DH_ODR_MAX_VAL,
+		.config = {
+			/* EC use accel for angle detection */
+			[SENSOR_CONFIG_EC_S0] = {
+				.odr = 10000 | ROUND_UP_FLAG,
+			},
+			/* Sensor on for lid angle detection */
+			[SENSOR_CONFIG_EC_S3] = {
+				.odr = 10000 | ROUND_UP_FLAG,
+			},
+		},
+	},
+
 	/* TODO(b/122281217): Add remain sensors */
 };
 const unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
diff --git a/board/arcada_ish/board.h b/board/arcada_ish/board.h
index fbc8ad1c8a..fe5e82777a 100644
--- a/board/arcada_ish/board.h
+++ b/board/arcada_ish/board.h
@@ -31,11 +31,14 @@
 #define CONFIG_I2C
 #define CONFIG_I2C_MASTER
 
-#define CONFIG_ACCELGYRO_LSM6DSM	/* For LSM6DS3 */
+#define CONFIG_ACCEL_LNG2DM	 /* Base sensor: LNG2DM (uses LIS2DH driver) */
+#define CONFIG_ACCELGYRO_LSM6DSM /* Lid sensor: LSM6DS3 (uses LSM6DSM driver) */
 
 #define CONFIG_ACCEL_INTERRUPTS
 #define CONFIG_ACCEL_FIFO 256
 #define CONFIG_ACCEL_FIFO_THRES (CONFIG_ACCEL_FIFO / 3)
+/* Sensors without hardware FIFO are in forced mode */
+#define CONFIG_ACCEL_FORCE_MODE_MASK  (1 << BASE_ACCEL)
 
 #define CONFIG_ACCEL_LSM6DSM_INT_EVENT TASK_EVENT_CUSTOM(1 << 2)
 
@@ -83,10 +86,15 @@
 #include "gpio_signal.h"
 #include "registers.h"
 
-/* Motion sensors */
+/* Motion sensors
+ *
+ * Note: Since we aren't using LPC memory map to transmit sensor data, the
+ * order of this enum does not need to be accel, accel, gyro
+ */
 enum sensor_id {
 	LID_ACCEL,
 	LID_GYRO,
+	BASE_ACCEL,
 	/* TODO(b/122281217): Add remain sensors */
 	SENSOR_COUNT
 };