gimble: add motion sense support

We have base BMI160 and lid BMA253 sensor.

BUG=b:192423158 b:192477578
BRANCH=none
TEST=make buildall

Signed-off-by: Scott Chao <scott_chao@wistron.corp-partner.google.com>
Change-Id: Iddd7e2de5e7809c419f7afb24ce2d3ad60ce78cb
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/2996582
Tested-by: Will Tsai <will_tsai@wistron.corp-partner.google.com>
Reviewed-by: Boris Mittelberg <bmbm@google.com>

4 files changed, 50 insertions, 68 deletions

diff --git a/board/gimble/board.c b/board/gimble/board.c
index 1d53974627..ad70d0f2bf 100644
--- a/board/gimble/board.c
+++ b/board/gimble/board.c
@@ -10,8 +10,8 @@
 #include "charge_ramp.h"
 #include "charger.h"
 #include "console.h"
-#include "driver/accel_lis2dw12.h"
-#include "driver/accelgyro_lsm6dso.h"
+#include "driver/accel_bma2x2_public.h"
+#include "driver/accelgyro_bmi160.h"
 #include "fw_config.h"
 #include "hooks.h"
 #include "lid_switch.h"
diff --git a/board/gimble/board.h b/board/gimble/board.h
index 4040e9269a..2965ddc6ae 100644
--- a/board/gimble/board.h
+++ b/board/gimble/board.h
@@ -37,16 +37,13 @@
 #define CONFIG_LED_PWM_LOW_BATT_COLOR EC_LED_COLOR_AMBER
 
 /* Sensors */
-#define CONFIG_ACCELGYRO_LSM6DSO	/* Base accel */
-#define CONFIG_ACCEL_LSM6DSO_INT_EVENT \
-	TASK_EVENT_MOTION_SENSOR_INTERRUPT(BASE_ACCEL)
+/* BMA253 accelerometer in lid */
+#define CONFIG_ACCEL_BMA255
 
-/* Enable sensor fifo, must also define the _SIZE and _THRES */
-#define CONFIG_ACCEL_FIFO
-/* FIFO size is in power of 2. */
-#define CONFIG_ACCEL_FIFO_SIZE 256
-/* Depends on how fast the AP boots and typical ODRs */
-#define CONFIG_ACCEL_FIFO_THRES (CONFIG_ACCEL_FIFO_SIZE / 3)
+#define CONFIG_ACCEL_INTERRUPTS
+#define CONFIG_ACCELGYRO_BMI160	/* Base accel/gyro */
+#define CONFIG_ACCELGYRO_BMI160_INT_EVENT \
+	TASK_EVENT_MOTION_SENSOR_INTERRUPT(BASE_ACCEL)
 
 /* Sensors without hardware FIFO are in forced mode */
 #define CONFIG_ACCEL_FORCE_MODE_MASK BIT(LID_ACCEL)
@@ -55,12 +52,6 @@
 #define CONFIG_LID_ANGLE
 #define CONFIG_LID_ANGLE_SENSOR_BASE	BASE_ACCEL
 #define CONFIG_LID_ANGLE_SENSOR_LID	LID_ACCEL
-#define CONFIG_ACCEL_LIS2DWL
-#define CONFIG_ACCEL_LIS2DW_AS_BASE
-#define CONFIG_ACCEL_LIS2DW12_INT_EVENT \
-	TASK_EVENT_MOTION_SENSOR_INTERRUPT(LID_ACCEL)
-
-#define CONFIG_ACCEL_INTERRUPTS
 
 /* Sensor console commands */
 #define CONFIG_CMD_ACCELS
@@ -152,6 +143,9 @@
 #define I2C_PORT_EEPROM		NPCX_I2C_PORT7_0
 #define I2C_PORT_MP2964		NPCX_I2C_PORT7_0
 
+/* define this to aviod error on CONFIG_ACCELGYRO_BMI_COMM_I2C */
+#define I2C_PORT_ACCEL		I2C_PORT_SENSOR
+
 #define I2C_ADDR_EEPROM_FLAGS	0x50
 
 #define I2C_ADDR_MP2964_FLAGS	0x20
diff --git a/board/gimble/gpio.inc b/board/gimble/gpio.inc
index ebedf12d67..dc747e8545 100644
--- a/board/gimble/gpio.inc
+++ b/board/gimble/gpio.inc
@@ -9,8 +9,7 @@
 
 /* INTERRUPT GPIOs: */
 GPIO_INT(ACOK_OD,                        PIN(0, 0), GPIO_INT_BOTH | GPIO_HIB_WAKE_HIGH, extpower_interrupt)
-GPIO_INT(EC_ACCEL_INT_R_L,               PIN(8, 1), GPIO_SEL_1P8V | GPIO_INT_FALLING, lis2dw12_interrupt)
-GPIO_INT(EC_IMU_INT_R_L,                 PIN(5, 6), GPIO_SEL_1P8V | GPIO_INT_FALLING, lsm6dso_interrupt)
+GPIO_INT(EC_IMU_INT_R_L,                 PIN(5, 6), GPIO_SEL_1P8V | GPIO_INT_FALLING, bmi160_interrupt)
 GPIO_INT(EC_PROCHOT_IN_L,                PIN(F, 0), GPIO_INT_BOTH, throttle_ap_prochot_input_interrupt)
 GPIO_INT(EC_VOLDN_BTN_ODL,               PIN(9, 3), GPIO_INT_BOTH | GPIO_PULL_UP, button_interrupt)
 GPIO_INT(EC_VOLUP_BTN_ODL,               PIN(9, 7), GPIO_INT_BOTH | GPIO_PULL_UP, button_interrupt)
@@ -126,6 +125,7 @@ UNUSED(PIN(4, 1))       /* GPIO41/ADC4 */
 UNUSED(PIN(A, 0))       /* F_CS0_L/GPIOA0 */
 UNUSED(PIN(9, 6))       /* F_DIO1/GPIO96 */
 UNUSED(PIN(7, 0))       /* GPIO70/PS2_DAT0 */
+UNUSED(PIN(8, 1))       /* PECI DATA/GPIO81 */
 
 /* Pre-configured PSL balls:  J8  K6 */
 
diff --git a/board/gimble/sensors.c b/board/gimble/sensors.c
index a6e560fa99..47149b05d0 100644
--- a/board/gimble/sensors.c
+++ b/board/gimble/sensors.c
@@ -6,8 +6,9 @@
 #include "common.h"
 #include "accelgyro.h"
 #include "adc_chip.h"
-#include "driver/accel_lis2dw12.h"
-#include "driver/accelgyro_lsm6dso.h"
+#include "driver/accel_bma2x2.h"
+#include "driver/accel_bma2x2_public.h"
+#include "driver/accelgyro_bmi_common.h"
 #include "hooks.h"
 #include "motion_sense.h"
 #include "temp_sensor.h"
@@ -35,17 +36,20 @@ BUILD_ASSERT(ARRAY_SIZE(adc_channels) == ADC_CH_COUNT);
 
 K_MUTEX_DEFINE(g_lid_accel_mutex);
 K_MUTEX_DEFINE(g_base_accel_mutex);
-static struct stprivate_data g_lis2dw12_data;
-static struct lsm6dso_data lsm6dso_data;
+/* BMA253 private data */
+static struct accelgyro_saved_data_t g_bma253_data;
 
-/* TODO(b/184779333): calibrate the orientation matrix on later board stage */
+/* BMI160 private data */
+static struct bmi_drv_data_t g_bmi160_data;
+
+/* TODO(b/192477578): calibrate the orientation matrix on later board stage */
 static const mat33_fp_t lid_standard_ref = {
 	{ 0, FLOAT_TO_FP(1), 0},
 	{ FLOAT_TO_FP(1), 0, 0},
 	{ 0, 0, FLOAT_TO_FP(-1)}
 };
 
-/* TODO(b/184779743): verify orientation matrix */
+/* TODO(b/192477578): calibrate the orientation matrix on later board stage */
 static const mat33_fp_t base_standard_ref = {
 	{ FLOAT_TO_FP(1), 0, 0},
 	{ 0, FLOAT_TO_FP(-1), 0},
@@ -56,26 +60,24 @@ struct motion_sensor_t motion_sensors[] = {
 	[LID_ACCEL] = {
 		.name = "Lid Accel",
 		.active_mask = SENSOR_ACTIVE_S0_S3,
-		.chip = MOTIONSENSE_CHIP_LIS2DW12,
+		.chip = MOTIONSENSE_CHIP_BMA255,
 		.type = MOTIONSENSE_TYPE_ACCEL,
 		.location = MOTIONSENSE_LOC_LID,
-		.drv = &lis2dw12_drv,
+		.drv = &bma2x2_accel_drv,
 		.mutex = &g_lid_accel_mutex,
-		.drv_data = &g_lis2dw12_data,
-		.int_signal = GPIO_EC_ACCEL_INT_R_L,
+		.drv_data = &g_bma253_data,
 		.port = I2C_PORT_SENSOR,
-		.i2c_spi_addr_flags = LIS2DW12_ADDR0,
-		.flags = MOTIONSENSE_FLAG_INT_SIGNAL,
-		.rot_standard_ref = &lid_standard_ref, /* identity matrix */
-		.default_range = 2, /* g */
-		.min_frequency = LIS2DW12_ODR_MIN_VAL,
-		.max_frequency = LIS2DW12_ODR_MAX_VAL,
+		.i2c_spi_addr_flags = BMA2x2_I2C_ADDR2_FLAGS,
+		.rot_standard_ref = &lid_standard_ref,
+		.min_frequency = BMA255_ACCEL_MIN_FREQ,
+		.max_frequency = BMA255_ACCEL_MAX_FREQ,
+		.default_range = 2, /* g, to support tablet mode */
 		.config = {
 			/* EC use accel for angle detection */
 			[SENSOR_CONFIG_EC_S0] = {
-				.odr = 12500 | ROUND_UP_FLAG,
+				.odr = 10000 | ROUND_UP_FLAG,
 			},
-			/* Sensor on for lid angle detection */
+			/* Sensor on in S3 */
 			[SENSOR_CONFIG_EC_S3] = {
 				.odr = 10000 | ROUND_UP_FLAG,
 			},
@@ -85,25 +87,25 @@ struct motion_sensor_t motion_sensors[] = {
 	[BASE_ACCEL] = {
 		.name = "Base Accel",
 		.active_mask = SENSOR_ACTIVE_S0_S3,
-		.chip = MOTIONSENSE_CHIP_LSM6DSO,
+		.chip = MOTIONSENSE_CHIP_BMI160,
 		.type = MOTIONSENSE_TYPE_ACCEL,
 		.location = MOTIONSENSE_LOC_BASE,
-		.drv = &lsm6dso_drv,
+		.drv = &bmi160_drv,
 		.mutex = &g_base_accel_mutex,
-		.drv_data = &lsm6dso_data,
-		.int_signal = GPIO_EC_IMU_INT_R_L,
-		.flags = MOTIONSENSE_FLAG_INT_SIGNAL,
+		.drv_data = &g_bmi160_data,
 		.port = I2C_PORT_SENSOR,
-		.i2c_spi_addr_flags = LSM6DSO_ADDR0_FLAGS,
+		.i2c_spi_addr_flags = BMI160_ADDR0_FLAGS,
 		.rot_standard_ref = &base_standard_ref,
-		.default_range = 4,  /* g */
-		.min_frequency = LSM6DSO_ODR_MIN_VAL,
-		.max_frequency = LSM6DSO_ODR_MAX_VAL,
+		.min_frequency = BMI_ACCEL_MIN_FREQ,
+		.max_frequency = BMI_ACCEL_MAX_FREQ,
+		.default_range = 4, /* g */
 		.config = {
+			/* EC use accel for angle detection */
 			[SENSOR_CONFIG_EC_S0] = {
-				.odr = 13000 | ROUND_UP_FLAG,
+				.odr = 10000 | ROUND_UP_FLAG,
 				.ec_rate = 100 * MSEC,
 			},
+			/* Sensor on in S3 */
 			[SENSOR_CONFIG_EC_S3] = {
 				.odr = 10000 | ROUND_UP_FLAG,
 				.ec_rate = 100 * MSEC,
@@ -114,38 +116,24 @@ struct motion_sensor_t motion_sensors[] = {
 	[BASE_GYRO] = {
 		.name = "Base Gyro",
 		.active_mask = SENSOR_ACTIVE_S0_S3,
-		.chip = MOTIONSENSE_CHIP_LSM6DSO,
+		.chip = MOTIONSENSE_CHIP_BMI160,
 		.type = MOTIONSENSE_TYPE_GYRO,
 		.location = MOTIONSENSE_LOC_BASE,
-		.drv = &lsm6dso_drv,
+		.drv = &bmi160_drv,
 		.mutex = &g_base_accel_mutex,
-		.drv_data = &lsm6dso_data,
-		.int_signal = GPIO_EC_IMU_INT_R_L,
-		.flags = MOTIONSENSE_FLAG_INT_SIGNAL,
+		.drv_data = &g_bmi160_data,
 		.port = I2C_PORT_SENSOR,
-		.i2c_spi_addr_flags = LSM6DSO_ADDR0_FLAGS,
-		.default_range = 1000 | ROUND_UP_FLAG, /* dps */
+		.i2c_spi_addr_flags = BMI160_ADDR0_FLAGS,
+		.default_range = 1000, /* dps */
 		.rot_standard_ref = &base_standard_ref,
-		.min_frequency = LSM6DSO_ODR_MIN_VAL,
-		.max_frequency = LSM6DSO_ODR_MAX_VAL,
-		.config = {
-			[SENSOR_CONFIG_EC_S0] = {
-				.odr = 13000 | ROUND_UP_FLAG,
-				.ec_rate = 100 * MSEC,
-			},
-			[SENSOR_CONFIG_EC_S3] = {
-				.odr = 10000 | ROUND_UP_FLAG,
-				.ec_rate = 100 * MSEC,
-			},
-		},
+		.min_frequency = BMI_GYRO_MIN_FREQ,
+		.max_frequency = BMI_GYRO_MAX_FREQ,
 	},
 };
 const unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
 
 static void baseboard_sensors_init(void)
 {
-	/* Enable gpio interrupt for lid accel sensor */
-	gpio_enable_interrupt(GPIO_EC_ACCEL_INT_R_L);
 	/* Enable gpio interrupt for base accelgyro sensor */
 	gpio_enable_interrupt(GPIO_EC_IMU_INT_R_L);
 }