Kakadu: add the support for ICM42607

Bosh notice that BMI160 are going EOL,
so we intend to import ICM42607 for Kakadu

BUG=b:189077747
BRANCH=kukui
TEST=1.make BOARD=kakadu
     2.ectool motionsense can get the sensor data

Change-Id: If73306784e276c21f158c6977e02b532087b2b22
Signed-off-by: wen zhang <zhangwen6@huaqin.corp-partner.google.com>
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/2910568
Reviewed-by: Ting Shen <phoenixshen@chromium.org>

3 files changed, 103 insertions, 2 deletions

diff --git a/board/kakadu/board.c b/board/kakadu/board.c
index 5be3420e56..592f7548c2 100644
--- a/board/kakadu/board.c
+++ b/board/kakadu/board.c
@@ -15,6 +15,8 @@
 #include "common.h"
 #include "console.h"
 #include "driver/accelgyro_bmi_common.h"
+#include "driver/accelgyro_icm_common.h"
+#include "driver/accelgyro_icm42607.h"
 #include "driver/charger/rt946x.h"
 #include "driver/sync.h"
 #include "driver/tcpm/mt6370.h"
@@ -306,6 +308,15 @@ void sensor_board_proc_double_tap(void)
 static struct mutex g_lid_mutex;
 
 static struct bmi_drv_data_t g_bmi160_data;
+static struct icm_drv_data_t g_icm42607_data;
+
+enum lid_accelgyro_type {
+	LID_GYRO_NONE = 0,
+	LID_GYRO_BMI160 = 1,
+	LID_GYRO_ICM426XX = 2,
+};
+
+static enum lid_accelgyro_type lid_accelgyro_config;
 
 /* Matrix to rotate accelerometer into standard reference frame */
 static const mat33_fp_t lid_standard_ref = {
@@ -314,6 +325,52 @@ static const mat33_fp_t lid_standard_ref = {
 	{0, 0, FLOAT_TO_FP(1)}
 };
 
+const mat33_fp_t lid_standard_ref_icm42607 = {
+	{ 0, FLOAT_TO_FP(1), 0},
+	{ FLOAT_TO_FP(-1), 0, 0},
+	{ 0,  0, FLOAT_TO_FP(1)}
+};
+struct motion_sensor_t icm42607_lid_accel = {
+	 .name = "Accel",
+	 .active_mask = SENSOR_ACTIVE_S0_S3,
+	 .chip = MOTIONSENSE_CHIP_ICM42607,
+	 .type = MOTIONSENSE_TYPE_ACCEL,
+	 .location = MOTIONSENSE_LOC_LID,
+	 .drv = &icm42607_drv,
+	 .mutex = &g_lid_mutex,
+	 .drv_data = &g_icm42607_data,
+	 .port = I2C_PORT_ACCEL,
+	 .i2c_spi_addr_flags = ICM42607_ADDR0_FLAGS,
+	 .default_range = 4, /* g, to meet CDD 7.3.1/C-1-4 reqs.*/
+	 .rot_standard_ref = &lid_standard_ref_icm42607,
+	 .min_frequency = ICM42607_ACCEL_MIN_FREQ,
+	 .max_frequency = ICM42607_ACCEL_MAX_FREQ,
+	 .config = {
+		 /* Enable accel in S0 */
+		 [SENSOR_CONFIG_EC_S0] = {
+			.odr = 10000 | ROUND_UP_FLAG,
+			.ec_rate = 100 * MSEC,
+		 },
+	 },
+};
+
+struct motion_sensor_t icm42607_lid_gyro = {
+	 .name = "Gyro",
+	 .active_mask = SENSOR_ACTIVE_S0_S3,
+	 .chip = MOTIONSENSE_CHIP_ICM42607,
+	 .type = MOTIONSENSE_TYPE_GYRO,
+	 .location = MOTIONSENSE_LOC_LID,
+	 .drv = &icm42607_drv,
+	 .mutex = &g_lid_mutex,
+	 .drv_data = &g_icm42607_data,
+	 .port = I2C_PORT_ACCEL,
+	 .i2c_spi_addr_flags = ICM42607_ADDR0_FLAGS,
+	 .default_range = 1000, /* dps */
+	 .rot_standard_ref = &lid_standard_ref_icm42607,
+	 .min_frequency = ICM42607_GYRO_MIN_FREQ,
+	 .max_frequency = ICM42607_GYRO_MAX_FREQ,
+};
+
 struct motion_sensor_t motion_sensors[] = {
 	/*
 	 * Note: bmi160: supports accelerometer and gyro sensor
@@ -377,6 +434,47 @@ struct motion_sensor_t motion_sensors[] = {
 	},
 };
 const unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
+
+static void board_detect_motionsensor(void)
+{
+	int ret;
+	int val;
+
+	if (chipset_in_state(CHIPSET_STATE_ANY_OFF))
+		return;
+	if (lid_accelgyro_config != LID_GYRO_NONE)
+		return;
+	/* Check base accelgyro chip */
+	ret = icm_read8(&icm42607_lid_accel,
+				ICM42607_REG_WHO_AM_I, &val);
+	if (ret)
+		ccprints("Get ICM fail.");
+	if (val == ICM42607_CHIP_ICM42607P) {
+		motion_sensors[LID_ACCEL] = icm42607_lid_accel;
+		motion_sensors[LID_GYRO] = icm42607_lid_gyro;
+	}
+	lid_accelgyro_config = (val == ICM42607_CHIP_ICM42607P)
+			? LID_GYRO_ICM426XX : LID_GYRO_BMI160;
+	ccprints("LID Accelgyro: %s", (val == ICM42607_CHIP_ICM42607P)
+			? "ICM42607" : "BMI160");
+}
+DECLARE_HOOK(HOOK_CHIPSET_STARTUP, board_detect_motionsensor,
+	     HOOK_PRIO_DEFAULT);
+DECLARE_HOOK(HOOK_INIT, board_detect_motionsensor, HOOK_PRIO_INIT_ADC + 2);
+
+void motion_interrupt(enum gpio_signal signal)
+{
+	switch (lid_accelgyro_config) {
+	case LID_GYRO_ICM426XX:
+		icm42607_interrupt(signal);
+		break;
+	case LID_GYRO_BMI160:
+	default:
+		bmi160_interrupt(signal);
+		break;
+	}
+}
+
 #endif /* VARIANT_KUKUI_NO_SENSORS */
 
 /*
diff --git a/board/kakadu/board.h b/board/kakadu/board.h
index 6cecfaed2b..1a7d8c3507 100644
--- a/board/kakadu/board.h
+++ b/board/kakadu/board.h
@@ -38,6 +38,9 @@
 #define CONFIG_ACCEL_INTERRUPTS
 #define CONFIG_ACCELGYRO_BMI160_INT_EVENT \
 	TASK_EVENT_MOTION_SENSOR_INTERRUPT(LID_ACCEL)
+#define CONFIG_ACCELGYRO_ICM42607	/* Base accel second source*/
+#define CONFIG_ACCELGYRO_ICM42607_INT_EVENT \
+	TASK_EVENT_MOTION_SENSOR_INTERRUPT(LID_ACCEL)
 
 /* Camera VSYNC */
 #define CONFIG_SYNC
@@ -116,10 +119,10 @@ void board_reset_pd_mcu(void);
 int board_get_version(void);
 void pogo_adc_interrupt(enum gpio_signal signal);
 int board_discharge_on_ac(int enable);
+void motion_interrupt(enum gpio_signal signal);
 
 /* Enable double tap detection */
 #define CONFIG_GESTURE_DETECTION
-#define CONFIG_GESTURE_HOST_DETECTION
 #define CONFIG_GESTURE_SENSOR_DOUBLE_TAP
 #define CONFIG_GESTURE_TAP_SENSOR 0
 #define CONFIG_GESTURE_SENSOR_DOUBLE_TAP_FOR_HOST
diff --git a/board/kakadu/gpio.inc b/board/kakadu/gpio.inc
index 1a3e8e539c..f52f2b7f2f 100644
--- a/board/kakadu/gpio.inc
+++ b/board/kakadu/gpio.inc
@@ -30,7 +30,7 @@ GPIO_INT(AP_EC_WATCHDOG_L,  PIN(C, 2),  GPIO_INT_FALLING,
          chipset_watchdog_interrupt)
 
 GPIO_INT_RW(ACCEL_INT_ODL,  PIN(A, 4), GPIO_INT_FALLING | GPIO_SEL_1P8V | GPIO_PULL_UP,
-         bmi160_interrupt)
+         motion_interrupt)
 GPIO_INT(CHARGER_INT_ODL,   PIN(C, 13), GPIO_INT_FALLING | GPIO_PULL_UP,
          rt946x_interrupt)
 GPIO_INT_RO(EMMC_CMD,       PIN(B, 15), GPIO_INT_FALLING,