Cozmo: Remove motion sensors

For Cozmo is clamshell, it doesn't have motion sensors.

BUG=b:183454206
BRANCH=icarus
TEST=make BOARD=icarus

Signed-off-by: Sue Chen <sue.chen@quanta.corp-partner.google.com>
Change-Id: I3da637bdc5a5ea4a11e1b715fdd8bff030e388b6
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/2799331
Reviewed-by: Ting Shen <phoenixshen@chromium.org>

4 files changed, 4 insertions, 211 deletions

diff --git a/board/icarus/board.c b/board/icarus/board.c
index eea38ef5ee..defdfd1187 100644
--- a/board/icarus/board.c
+++ b/board/icarus/board.c
@@ -14,10 +14,6 @@
 #include "chipset.h"
 #include "common.h"
 #include "console.h"
-#include "driver/accel_kionix.h"
-#include "driver/accelgyro_bmi_common.h"
-#include "driver/accelgyro_icm_common.h"
-#include "driver/accelgyro_icm426xx.h"
 #include "driver/battery/max17055.h"
 #include "driver/bc12/pi3usb9201.h"
 #include "driver/charger/isl923x.h"
@@ -232,190 +228,6 @@ static void board_init(void)
 }
 DECLARE_HOOK(HOOK_INIT, board_init, HOOK_PRIO_DEFAULT);
 
-/* Motion sensors */
-/* Mutexes */
-static struct mutex g_lid_mutex;
-static struct mutex g_base_mutex;
-
-/* Rotation matrixes */
-static const mat33_fp_t base_bmi160_ref = {
-	{FLOAT_TO_FP(1), 0, 0},
-	{0, FLOAT_TO_FP(1), 0},
-	{0, 0, FLOAT_TO_FP(1)}
-};
-
-static const mat33_fp_t base_icm426xx_ref = {
-	{0, FLOAT_TO_FP(-1), 0},
-	{FLOAT_TO_FP(1), 0, 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;
-
-enum base_accelgyro_type {
-	BASE_GYRO_NONE = 0,
-	BASE_GYRO_BMI160 = 1,
-	BASE_GYRO_ICM426XX = 2,
-};
-
-struct motion_sensor_t motion_sensors[] = {
-	[LID_ACCEL] = {
-	 .name = "Lid Accel",
-	 .active_mask = SENSOR_ACTIVE_S0_S3,
-	 .chip = MOTIONSENSE_CHIP_KX022,
-	 .type = MOTIONSENSE_TYPE_ACCEL,
-	 .location = MOTIONSENSE_LOC_LID,
-	 .drv = &kionix_accel_drv,
-	 .mutex = &g_lid_mutex,
-	 .drv_data = &g_kx022_data,
-	 .port = I2C_PORT_SENSORS,
-	 .i2c_spi_addr_flags = KX022_ADDR1_FLAGS,
-	 .rot_standard_ref = NULL, /* Identity matrix. */
-	 .default_range = 2, /* g, enough to calculate lid angle. */
-	 .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,
-		},
-	 },
-	},
-	/*
-	 * Note: bmi160: supports accelerometer and gyro sensor
-	 * Requirement: accelerometer sensor must init before gyro sensor
-	 * DO NOT change the order of the following table.
-	 */
-	[BASE_ACCEL] = {
-	 .name = "Accel",
-	 .active_mask = SENSOR_ACTIVE_S0_S3,
-	 .chip = MOTIONSENSE_CHIP_BMI160,
-	 .type = MOTIONSENSE_TYPE_ACCEL,
-	 .location = MOTIONSENSE_LOC_BASE,
-	 .drv = &bmi160_drv,
-	 .mutex = &g_base_mutex,
-	 .drv_data = &g_bmi160_data,
-	 .port = I2C_PORT_SENSORS,
-	 .i2c_spi_addr_flags = BMI160_ADDR0_FLAGS,
-	 .rot_standard_ref = &base_bmi160_ref,
-	 .default_range = 4, /* g, to meet CDD 7.3.1/C-1-4 reqs.*/
-	 .min_frequency = BMI_ACCEL_MIN_FREQ,
-	 .max_frequency = BMI_ACCEL_MAX_FREQ,
-	 .config = {
-		 /* EC use accel for angle detection */
-		 [SENSOR_CONFIG_EC_S0] = {
-			.odr = 10000 | 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,
-		 },
-	 },
-	},
-	[BASE_GYRO] = {
-	 .name = "Gyro",
-	 .active_mask = SENSOR_ACTIVE_S0_S3,
-	 .chip = MOTIONSENSE_CHIP_BMI160,
-	 .type = MOTIONSENSE_TYPE_GYRO,
-	 .location = MOTIONSENSE_LOC_BASE,
-	 .drv = &bmi160_drv,
-	 .mutex = &g_base_mutex,
-	 .drv_data = &g_bmi160_data,
-	 .port = I2C_PORT_SENSORS,
-	 .i2c_spi_addr_flags = BMI160_ADDR0_FLAGS,
-	 .default_range = 1000, /* dps */
-	 .rot_standard_ref = &base_bmi160_ref,
-	 .min_frequency = BMI_GYRO_MIN_FREQ,
-	 .max_frequency = BMI_GYRO_MAX_FREQ,
-	},
-};
-const 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_SENSORS,
-	.i2c_spi_addr_flags = ICM426XX_ADDR0_FLAGS,
-	.default_range = 4, /* g, to meet CDD 7.3.1/C-1-4 reqs.*/
-	.rot_standard_ref = &base_icm426xx_ref,
-	.min_frequency = ICM426XX_ACCEL_MIN_FREQ,
-	.max_frequency = ICM426XX_ACCEL_MAX_FREQ,
-	.config = {
-		/* EC use accel for angle detection */
-		[SENSOR_CONFIG_EC_S0] = {
-			.odr = 10000 | ROUND_UP_FLAG,
-		},
-		/* EC use accel for angle detection */
-		[SENSOR_CONFIG_EC_S3] = {
-			.odr = 10000 | ROUND_UP_FLAG,
-		},
-	},
-};
-
-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_SENSORS,
-	.i2c_spi_addr_flags = ICM426XX_ADDR0_FLAGS,
-	.default_range = 1000, /* dps */
-	.rot_standard_ref = &base_icm426xx_ref,
-	.min_frequency = ICM426XX_GYRO_MIN_FREQ,
-	.max_frequency = ICM426XX_GYRO_MAX_FREQ,
-};
-
-static int base_accelgyro_config;
-
-void motion_interrupt(enum gpio_signal signal)
-{
-	switch (base_accelgyro_config) {
-	case BASE_GYRO_ICM426XX:
-		icm426xx_interrupt(signal);
-		break;
-	case BASE_GYRO_BMI160:
-	default:
-		bmi160_interrupt(signal);
-		break;
-	}
-}
-
-static void board_detect_motionsensor(void)
-{
-	int val;
-	/* Check base accelgyro chip */
-	if (base_accelgyro_config != BASE_GYRO_NONE)
-		return;
-
-	icm_read8(&icm426xx_base_accel, ICM426XX_REG_WHO_AM_I, &val);
-	if (val == ICM426XX_CHIP_ICM40608) {
-		motion_sensors[BASE_ACCEL] = icm426xx_base_accel;
-		motion_sensors[BASE_GYRO] = icm426xx_base_gyro;
-	}
-	base_accelgyro_config = (val == ICM426XX_CHIP_ICM40608)
-		 ? BASE_GYRO_ICM426XX : BASE_GYRO_BMI160;
-	CPRINTS("Base Accelgyro: %s", (val == ICM426XX_CHIP_ICM40608)
-		 ? "ICM40608" : "BMI160");
-}
-DECLARE_HOOK(HOOK_INIT, board_detect_motionsensor, HOOK_PRIO_DEFAULT);
-
 /* Vconn control for integrated ITE TCPC */
 void board_pd_vconn_ctrl(int port, enum usbpd_cc_pin cc_pin, int enabled)
 {
diff --git a/board/icarus/board.h b/board/icarus/board.h
index e4644d97c2..bf90e35ff7 100644
--- a/board/icarus/board.h
+++ b/board/icarus/board.h
@@ -45,26 +45,9 @@
 
 #define CONFIG_USB_MUX_IT5205
 
-/* Motion Sensors */
-#define CONFIG_ACCEL_KX022	/* Lid accel */
-#define CONFIG_ACCELGYRO_BMI160 /* Base accel */
-#define CONFIG_ACCEL_INTERRUPTS
-#define CONFIG_ACCELGYRO_BMI160_INT_EVENT \
-	TASK_EVENT_MOTION_SENSOR_INTERRUPT(BASE_ACCEL)
-
-/* ICM426XX Base accel/gyro */
-#define CONFIG_ACCELGYRO_ICM426XX
-#define CONFIG_ACCELGYRO_ICM426XX_INT_EVENT \
-	TASK_EVENT_MOTION_SENSOR_INTERRUPT(BASE_ACCEL)
-
-#define CONFIG_ALS
-#define CONFIG_CMD_ACCEL_INFO
-
-#define CONFIG_LID_ANGLE
-#define CONFIG_LID_ANGLE_SENSOR_BASE BASE_ACCEL
-#define CONFIG_LID_ANGLE_SENSOR_LID LID_ACCEL
-
-#define CONFIG_ACCEL_FORCE_MODE_MASK BIT(LID_ACCEL)
+#undef CONFIG_ACCEL_FIFO
+#undef CONFIG_ACCEL_FIFO_SIZE
+#undef CONFIG_ACCEL_FIFO_THRES
 
 /* I2C ports */
 #define I2C_PORT_BC12               IT83XX_I2C_CH_C
diff --git a/board/icarus/ec.tasklist b/board/icarus/ec.tasklist
index 8d4f451072..e8ad538bc2 100644
--- a/board/icarus/ec.tasklist
+++ b/board/icarus/ec.tasklist
@@ -11,7 +11,6 @@
 	TASK_ALWAYS(CHARGER, charger_task, NULL, VENTI_TASK_STACK_SIZE) \
 	TASK_ALWAYS(USB_CHG_P0, usb_charger_task, NULL, VENTI_TASK_STACK_SIZE) \
 	TASK_NOTEST(CHIPSET, chipset_task, NULL, LARGER_TASK_STACK_SIZE) \
-	TASK_ALWAYS(MOTIONSENSE, motion_sense_task, NULL, VENTI_TASK_STACK_SIZE) \
 	TASK_ALWAYS(HOSTCMD, host_command_task, NULL, 1024) \
 	TASK_ALWAYS(CONSOLE, console_task, NULL, VENTI_TASK_STACK_SIZE) \
 	TASK_NOTEST(KEYSCAN, keyboard_scan_task, NULL, LARGER_TASK_STACK_SIZE) \
diff --git a/board/icarus/gpio.inc b/board/icarus/gpio.inc
index e2fe2bb448..cf380a0c26 100644
--- a/board/icarus/gpio.inc
+++ b/board/icarus/gpio.inc
@@ -19,8 +19,6 @@ GPIO_INT(PMIC_EC_RESETB,    PIN(F, 3), GPIO_INT_BOTH | GPIO_PULL_DOWN | GPIO_SEL
          power_signal_interrupt)
 GPIO_INT(WARM_RESET_REQ,    PIN(D, 3), GPIO_INT_RISING | GPIO_PULL_DOWN | GPIO_SEL_1P8V,
          chipset_reset_request_interrupt)
-GPIO_INT(ACCEL_INT_ODL,  PIN(J, 2), GPIO_INT_FALLING | GPIO_SEL_1P8V,
-         motion_interrupt)
 GPIO_INT_RO(BOOTBLOCK_EN_L, PIN(J, 1), GPIO_INT_RISING | GPIO_SEL_1P8V,
          emmc_ap_jump_to_bl)
 GPIO_INT(SPI0_CS,           PIN(M, 5), GPIO_INT_FALLING,
@@ -36,6 +34,7 @@ GPIO_INT(AP_EC_WATCHDOG_L,  PIN(C, 7), GPIO_INT_FALLING | GPIO_SEL_1P8V,
 GPIO_INT(UART1_RX,          PIN(B, 0), GPIO_INT_FALLING,
          uart_deepsleep_interrupt) /* UART_DEBUG_TX_EC_RX */
 /* Unimplemented interrupts */
+GPIO(ACCEL_INT_ODL,         PIN(J, 2), GPIO_INPUT)
 GPIO(TABLET_MODE_L,         PIN(J, 7), GPIO_INPUT)
 GPIO(VOLUME_DOWN_L,         PIN(D, 5), GPIO_INPUT)
 GPIO(VOLUME_UP_L,           PIN(D, 6), GPIO_INPUT)