copano: Config the G-sensor setting

1. Base on schematics, modify the motion sensor related setting to BMI160.
2. Modify base rotation matrix depend on schematics.

BUG=b:176393206
BRANCH=firmware-volteer-13672.B
TEST=make BOARD=copano
  1. Using "ectool motionsense" check x/y/z value.
  2. Using "ectool motionsense lid_angle" check angle.

Signed-off-by: Jacky Wang <jacky5_wang@pegatron.corp-partner.google.com>
Change-Id: If82879f16e45d780c1fc8878d6a8f94dddaf0e3a
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/2607035
Reviewed-by: Keith Short <keithshort@chromium.org>
Reviewed-by: Michael5 Chen <michael5_chen1@pegatron.corp-partner.google.com>
Reviewed-by: Zhuohao Lee <zhuohao@chromium.org>

4 files changed, 20 insertions, 20 deletions

diff --git a/board/copano/board.c b/board/copano/board.c
index 1cd9fef2a5..702d093218 100644
--- a/board/copano/board.c
+++ b/board/copano/board.c
@@ -10,7 +10,7 @@
 #include "accelgyro.h"
 #include "cbi_ec_fw_config.h"
 #include "driver/accel_bma2x2.h"
-#include "driver/accelgyro_bmi260.h"
+#include "driver/accelgyro_bmi160.h"
 #include "driver/bc12/pi3usb9201.h"
 #include "driver/ppc/syv682x.h"
 #include "driver/tcpm/tcpci.h"
diff --git a/board/copano/board.h b/board/copano/board.h
index c5ec16a70e..f894160893 100644
--- a/board/copano/board.h
+++ b/board/copano/board.h
@@ -40,9 +40,9 @@
 /* BMA253 accelerometer in base */
 #define CONFIG_ACCEL_BMA255
 
-/* BMI260 accel/gyro in base */
-#define CONFIG_ACCELGYRO_BMI260
-#define CONFIG_ACCELGYRO_BMI260_INT_EVENT \
+/* BMI160 accel/gyro in base */
+#define CONFIG_ACCELGYRO_BMI160
+#define CONFIG_ACCELGYRO_BMI160_INT_EVENT \
 	TASK_EVENT_MOTION_SENSOR_INTERRUPT(BASE_ACCEL)
 
 /* Sensors without hardware FIFO are in forced mode */
diff --git a/board/copano/gpio.inc b/board/copano/gpio.inc
index d6c2b345fc..2ce5fd7a8b 100644
--- a/board/copano/gpio.inc
+++ b/board/copano/gpio.inc
@@ -25,7 +25,7 @@ GPIO_INT(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, bmi260_interrupt)
+GPIO_INT(EC_IMU_INT_L,         PIN(5, 6), GPIO_INT_FALLING | GPIO_SEL_1P8V, bmi160_interrupt)
 GPIO_INT(TABLET_MODE_L,        PIN(9, 5), GPIO_INT_BOTH, gmr_tablet_switch_isr)
 
 /* USB-C interrupts */
diff --git a/board/copano/sensors.c b/board/copano/sensors.c
index 8e2db059d6..6604d312ea 100644
--- a/board/copano/sensors.c
+++ b/board/copano/sensors.c
@@ -8,7 +8,7 @@
 #include "accelgyro.h"
 #include "driver/accel_bma2x2.h"
 #include "driver/accelgyro_bmi_common.h"
-#include "driver/accelgyro_bmi260.h"
+#include "driver/accelgyro_bmi160.h"
 #include "driver/sync.h"
 #include "keyboard_scan.h"
 #include "hooks.h"
@@ -25,20 +25,20 @@ static struct mutex g_base_mutex;
 /* BMA253 private data */
 static struct accelgyro_saved_data_t g_bma253_data;
 
-/* BMI260 private data */
-static struct bmi_drv_data_t g_bmi260_data;
+/* BMI160 private data */
+static struct bmi_drv_data_t g_bmi160_data;
 
 /* Rotation matrix for the lid accelerometer */
 static const mat33_fp_t lid_standard_ref = {
 	{ FLOAT_TO_FP(1), 0, 0},
-	{ 0, FLOAT_TO_FP(-1), 0},
+	{ 0, FLOAT_TO_FP(1), 0},
 	{ 0, 0, FLOAT_TO_FP(-1)}
 };
 
 const mat33_fp_t base_standard_ref = {
-	{ 0, FLOAT_TO_FP(1), 0},
 	{ FLOAT_TO_FP(-1), 0, 0},
-	{ 0, 0, FLOAT_TO_FP(1)}
+	{ 0, FLOAT_TO_FP(-1), 0},
+	{ 0, 0, FLOAT_TO_FP(-1)}
 };
 
 struct motion_sensor_t motion_sensors[] = {
@@ -71,14 +71,14 @@ struct motion_sensor_t motion_sensors[] = {
 	[BASE_ACCEL] = {
 		.name = "Base Accel",
 		.active_mask = SENSOR_ACTIVE_S0_S3,
-		.chip = MOTIONSENSE_CHIP_BMI260,
+		.chip = MOTIONSENSE_CHIP_BMI160,
 		.type = MOTIONSENSE_TYPE_ACCEL,
 		.location = MOTIONSENSE_LOC_BASE,
-		.drv = &bmi260_drv,
+		.drv = &bmi160_drv,
 		.mutex = &g_base_mutex,
-		.drv_data = &g_bmi260_data,
+		.drv_data = &g_bmi160_data,
 		.port = I2C_PORT_SENSOR,
-		.i2c_spi_addr_flags = BMI260_ADDR0_FLAGS,
+		.i2c_spi_addr_flags = BMI160_ADDR0_FLAGS,
 		.rot_standard_ref = &base_standard_ref,
 		.min_frequency = BMI_ACCEL_MIN_FREQ,
 		.max_frequency = BMI_ACCEL_MAX_FREQ,
@@ -100,14 +100,14 @@ struct motion_sensor_t motion_sensors[] = {
 	[BASE_GYRO] = {
 		.name = "Base Gyro",
 		.active_mask = SENSOR_ACTIVE_S0_S3,
-		.chip = MOTIONSENSE_CHIP_BMI260,
+		.chip = MOTIONSENSE_CHIP_BMI160,
 		.type = MOTIONSENSE_TYPE_GYRO,
 		.location = MOTIONSENSE_LOC_BASE,
-		.drv = &bmi260_drv,
+		.drv = &bmi160_drv,
 		.mutex = &g_base_mutex,
-		.drv_data = &g_bmi260_data,
+		.drv_data = &g_bmi160_data,
 		.port = I2C_PORT_SENSOR,
-		.i2c_spi_addr_flags = BMI260_ADDR0_FLAGS,
+		.i2c_spi_addr_flags = BMI160_ADDR0_FLAGS,
 		.default_range = 1000, /* dps */
 		.rot_standard_ref = &base_standard_ref,
 		.min_frequency = BMI_GYRO_MIN_FREQ,
@@ -120,7 +120,7 @@ static void baseboard_sensors_init(void)
 {
 	/* Note - BMA253 interrupt unused by EC */
 
-	/* Enable interrupt for the BMI260 accel/gyro sensor */
+	/* Enable interrupt for the BMI160 accel/gyro sensor */
 	gpio_enable_interrupt(GPIO_EC_IMU_INT_L);
 }
 DECLARE_HOOK(HOOK_INIT, baseboard_sensors_init, HOOK_PRIO_DEFAULT);