driver: lsm6dsm: Integrate LIS2MDL behind LSM6DSM

- Cros set_rate and normalize between LIS2MDL and LSM6DSM
- Remove unused sensor hub function.
- Remove parent field, use macro instead (magnetometer is just after the
gyroscope).

BUG=b:110143516,b:115587004
BRANCH=none
TEST=On meep, check the magnetometer is returning data with shell/python
script.
Check calibration quick in.
Check with AIDA64, compass and sensor app the magnetometer is seen.

Change-Id: I2efef99eda095e33b6a0555b1cbc4ac8fdbfab5d
Signed-off-by: Gwendal Grignou <gwendal@chromium.org>
Reviewed-on: https://chromium-review.googlesource.com/c/1361992
Reviewed-by: Justin TerAvest <teravest@chromium.org>
Trybot-Ready: Justin TerAvest <teravest@chromium.org>
Tested-by: Justin TerAvest <teravest@chromium.org>

2 files changed, 17 insertions, 13 deletions

diff --git a/board/meep/board.c b/board/meep/board.c
index 72f7f2d864..00f7bc49b6 100644
--- a/board/meep/board.c
+++ b/board/meep/board.c
@@ -130,10 +130,8 @@ const mat33_fp_t mag_standard_ref = {
 };
 
 /* sensor private data */
-static struct kionix_accel_data g_kx022_data;
-static struct lsm6dsm_data lsm6dsm_g_data;
-static struct lsm6dsm_data lsm6dsm_a_data;
-static struct lsm6dsm_data lis2mdl_data;
+static struct kionix_accel_data kx022_data;
+static struct lsm6dsm_data lsm6dsm_data;
 
 /* Drivers */
 struct motion_sensor_t motion_sensors[] = {
@@ -145,7 +143,7 @@ struct motion_sensor_t motion_sensors[] = {
 		.location = MOTIONSENSE_LOC_LID,
 		.drv = &kionix_accel_drv,
 		.mutex = &g_lid_mutex,
-		.drv_data = &g_kx022_data,
+		.drv_data = &kx022_data,
 		.port = I2C_PORT_SENSOR,
 		.addr = KX022_ADDR1,
 		.rot_standard_ref = &lid_standrd_ref,
@@ -170,7 +168,8 @@ struct motion_sensor_t motion_sensors[] = {
 		.location = MOTIONSENSE_LOC_BASE,
 		.drv = &lsm6dsm_drv,
 		.mutex = &g_base_mutex,
-		.drv_data = &lsm6dsm_a_data,
+		.drv_data = LSM6DSM_ST_DATA(lsm6dsm_data,
+				MOTIONSENSE_TYPE_ACCEL),
 		.port = I2C_PORT_SENSOR,
 		.addr = LSM6DSM_ADDR0,
 		.rot_standard_ref = &base_standard_ref,
@@ -199,7 +198,8 @@ struct motion_sensor_t motion_sensors[] = {
 		.location = MOTIONSENSE_LOC_BASE,
 		.drv = &lsm6dsm_drv,
 		.mutex = &g_base_mutex,
-		.drv_data = &lsm6dsm_g_data,
+		.drv_data = LSM6DSM_ST_DATA(lsm6dsm_data,
+				MOTIONSENSE_TYPE_GYRO),
 		.port = I2C_PORT_SENSOR,
 		.addr = LSM6DSM_ADDR0,
 		.default_range = 1000 | ROUND_UP_FLAG, /* dps */
@@ -211,16 +211,15 @@ struct motion_sensor_t motion_sensors[] = {
 	[BASE_MAG] = {
 		.name = "Base Mag",
 		.active_mask = SENSOR_ACTIVE_S0_S3,
-		.chip = MOTIONSENSE_CHIP_LSM6DSM,
+		.chip = MOTIONSENSE_CHIP_LIS2MDL,
 		.type = MOTIONSENSE_TYPE_MAG,
 		.location = MOTIONSENSE_LOC_BASE,
 		.drv = &lis2mdl_drv,
 		.mutex = &g_base_mutex,
-		.drv_data = &lis2mdl_data,
-		.parent = &motion_sensors[BASE_ACCEL],
+		.drv_data = LSM6DSM_ST_DATA(lsm6dsm_data, MOTIONSENSE_TYPE_MAG),
 		.port = I2C_PORT_SENSOR,
-		.addr = LIS2MDL_ADDR0,
-		.default_range = LIS2MDL_RANGE,
+		.addr = LSM6DSM_ADDR0,
+		.default_range = 1 << 11, /* 16LSB / uT, fixed */
 		.rot_standard_ref = &mag_standard_ref,
 		.min_frequency = LIS2MDL_ODR_MIN_VAL,
 		.max_frequency = LIS2MDL_ODR_MAX_VAL,
diff --git a/board/meep/board.h b/board/meep/board.h
index e15016ce86..9beb1872e3 100644
--- a/board/meep/board.h
+++ b/board/meep/board.h
@@ -27,10 +27,15 @@
 /* Sensors */
 #define CONFIG_ACCEL_KX022		/* Lid accel */
 #define CONFIG_ACCELGYRO_LSM6DSM	/* Base accel */
+#define CONFIG_MAG_LSM6DSM_LIS2MDL	/* Magnetometer behind base accel */
+#define CONFIG_ACCELGYRO_SEC_ADDR LIS2MDL_ADDR0
 #define CONFIG_SENSORHUB_LSM6DSM
-#define CONFIG_MAG_LIS2MDL
+#define CONFIG_MAG_CALIBRATE
+#define CONFIG_FPU
+
 /* Sensors without hardware FIFO are in forced mode */
 #define CONFIG_ACCEL_FORCE_MODE_MASK (1 << LID_ACCEL)
+
 #define CONFIG_DYNAMIC_MOTION_SENSOR_COUNT
 
 #define CONFIG_LID_ANGLE