garg: Add 2nd base accelerometer

This patch adds a 2nd base accelerometer icm-40608.

BUG=b:194632295
BRANCH=firmware-octopus-11297.B
TEST=watch ectool motionsense

Signed-off-by: Devin Lu <Devin.Lu@quantatw.com>
Change-Id: I99716c34b8519447db7fe9903904046d216ae7e0
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/3067144
Reviewed-by: Diana Z <dzigterman@chromium.org>

3 files changed, 81 insertions, 1 deletions

diff --git a/board/garg/board.c b/board/garg/board.c
index 32ea8569be..ec74c69af7 100644
--- a/board/garg/board.c
+++ b/board/garg/board.c
@@ -9,12 +9,15 @@
 #include "adc_chip.h"
 #include "battery.h"
 #include "button.h"
+#include "cbi_ssfc.h"
 #include "charge_manager.h"
 #include "charge_state.h"
 #include "common.h"
 #include "cros_board_info.h"
 #include "driver/accel_kionix.h"
 #include "driver/accelgyro_bmi_common.h"
+#include "driver/accelgyro_icm426xx.h"
+#include "driver/accelgyro_icm_common.h"
 #include "driver/charger/bd9995x.h"
 #include "driver/ppc/nx20p348x.h"
 #include "driver/tcpm/anx7447.h"
@@ -127,9 +130,16 @@ const mat33_fp_t base_standard_ref = {
 	{ 0, 0,  FLOAT_TO_FP(1)}
 };
 
+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)}
+};
+
 /* sensor private data */
 static struct kionix_accel_data g_kx022_data;
 static struct bmi_drv_data_t g_bmi160_data;
+static struct icm_drv_data_t g_icm426xx_data;
 
 /* Drivers */
 struct motion_sensor_t motion_sensors[] = {
@@ -207,6 +217,52 @@ struct motion_sensor_t motion_sensors[] = {
 
 unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
 
+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_SENSOR,
+	 .i2c_spi_addr_flags = ICM426XX_ADDR0_FLAGS,
+	 .rot_standard_ref = &base_icm_ref,
+	 .default_range = 4,  /* g */
+	 .min_frequency = ICM426XX_ACCEL_MIN_FREQ,
+	 .max_frequency = ICM426XX_ACCEL_MAX_FREQ,
+	 .config = {
+		 /* EC use accel for angle detection */
+		 [SENSOR_CONFIG_EC_S0] = {
+			.odr = 13000 | ROUND_UP_FLAG,
+			.ec_rate = 100 * MSEC,
+		 },
+		 /* Sensor on 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_SENSOR,
+	 .i2c_spi_addr_flags = ICM426XX_ADDR0_FLAGS,
+	 .default_range = 1000, /* dps */
+	 .rot_standard_ref = &base_icm_ref,
+	 .min_frequency = ICM426XX_GYRO_MIN_FREQ,
+	 .max_frequency = ICM426XX_GYRO_MAX_FREQ,
+};
+
 static int board_is_convertible(void)
 {
 	/*
@@ -219,6 +275,12 @@ static int board_is_convertible(void)
 static void board_update_sensor_config_from_sku(void)
 {
 	if (board_is_convertible()) {
+		if (get_cbi_ssfc_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");
 		motion_sensor_count = ARRAY_SIZE(motion_sensors);
 		/* Enable Base Accel interrupt */
 		gpio_enable_interrupt(GPIO_BASE_SIXAXIS_INT_L);
@@ -231,6 +293,19 @@ static void board_update_sensor_config_from_sku(void)
 	}
 }
 
+void sensor_interrupt(enum gpio_signal signal)
+{
+	switch (motion_sensors[BASE_ACCEL].chip) {
+	case MOTIONSENSE_CHIP_ICM426XX:
+		icm426xx_interrupt(signal);
+		break;
+	case MOTIONSENSE_CHIP_BMI160:
+	default:
+		bmi160_interrupt(signal);
+		break;
+	}
+}
+
 /* Read CBI from i2c eeprom and initialize variables for board variants */
 static void cbi_init(void)
 {
diff --git a/board/garg/board.h b/board/garg/board.h
index 57bd10e007..a209964fdb 100644
--- a/board/garg/board.h
+++ b/board/garg/board.h
@@ -25,6 +25,7 @@
 /* Sensors */
 #define CONFIG_ACCEL_KX022	/* Lid accel */
 #define CONFIG_ACCELGYRO_BMI160	/* Base accel */
+#define CONFIG_ACCELGYRO_ICM426XX	/* 2nd Base accel */
 #define CONFIG_SYNC		/* Camera VSYNC */
 
 #define CONFIG_DYNAMIC_MOTION_SENSOR_COUNT
@@ -34,6 +35,8 @@
 /* Motion Sense Task Events */
 #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)
 
 #define CONFIG_SYNC_INT_EVENT	\
 	TASK_EVENT_MOTION_SENSOR_INTERRUPT(VSYNC)
@@ -101,6 +104,8 @@ enum battery_type {
 	BATTERY_TYPE_COUNT,
 };
 
+void sensor_interrupt(enum gpio_signal signal);
+
 #endif /* !__ASSEMBLER__ */
 
 #endif /* __CROS_EC_BOARD_H */
diff --git a/board/garg/gpio.inc b/board/garg/gpio.inc
index 2c485e4e2c..378434a505 100644
--- a/board/garg/gpio.inc
+++ b/board/garg/gpio.inc
@@ -37,7 +37,7 @@ GPIO_INT(TABLET_MODE_L,         PIN(8, 6), GPIO_INT_BOTH, gmr_tablet_switch_isr)
 GPIO_INT(EC_VOLUP_BTN_ODL,	PIN(7, 5), GPIO_INT_BOTH, button_interrupt)
 GPIO_INT(EC_VOLDN_BTN_ODL,	PIN(4, 0), GPIO_INT_BOTH, button_interrupt)
 
-GPIO_INT(BASE_SIXAXIS_INT_L,	PIN(5, 6), GPIO_INT_FALLING | GPIO_SEL_1P8V, bmi160_interrupt)
+GPIO_INT(BASE_SIXAXIS_INT_L,	PIN(5, 6), GPIO_INT_FALLING | GPIO_SEL_1P8V, sensor_interrupt)
 
 GPIO(LID_ACCEL_INT_L,		PIN(5, 0), GPIO_INPUT | GPIO_SEL_1P8V)