Metaknight: Support motion sensor 2nd source

Support motion sensor 2nd source:
 -Lid  : KX022
 -Base : LSM6DSM

BUG=b:177868819
BRANCH=main
TEST=rework KX022/LSM6DSM on DUT, check ectool
motionsense lid_angle is correct.
Signed-off-by: yu-an.chen@quanta.corp-partner.google.com

Change-Id: If61addd7ca182ff9c3d3e87e1f77076236a006d6
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/2641705
Tested-by: Yu-An Chen <yu-an.chen@quanta.corp-partner.google.com>
Reviewed-by: Diana Z <dzigterman@chromium.org>
Commit-Queue: Henry Sun <henrysun@google.com>

3 files changed, 177 insertions, 50 deletions

diff --git a/board/metaknight/board.c b/board/metaknight/board.c
index e5a7365c97..c93ebc52ad 100644
--- a/board/metaknight/board.c
+++ b/board/metaknight/board.c
@@ -8,6 +8,7 @@
 #include "adc_chip.h"
 #include "button.h"
 #include "cbi_fw_config.h"
+#include "cbi_ssfc.h"
 #include "charge_manager.h"
 #include "charge_state_v2.h"
 #include "charger.h"
@@ -15,7 +16,9 @@
 #include "common.h"
 #include "compile_time_macros.h"
 #include "driver/accel_bma2x2.h"
+#include "driver/accel_kionix.h"
 #include "driver/accelgyro_bmi_common.h"
+#include "driver/accelgyro_lsm6dsm.h"
 #include "driver/bc12/pi3usb9201.h"
 #include "driver/charger/isl923x.h"
 #include "driver/retimer/nb7v904m.h"
@@ -204,53 +207,6 @@ const struct adc_t adc_channels[] = {
 };
 BUILD_ASSERT(ARRAY_SIZE(adc_channels) == ADC_CH_COUNT);
 
-void board_init(void)
-{
-	int on;
-
-	gpio_enable_interrupt(GPIO_USB_C0_INT_ODL);
-	check_c0_line();
-
-	if (get_cbi_fw_config_db() == DB_1A_HDMI ||
-		get_cbi_fw_config_db() == DB_LTE_HDMI) {
-		/* Disable i2c on HDMI pins */
-		gpio_config_pin(MODULE_I2C,
-				GPIO_EC_I2C_SUB_C1_SDA_HDMI_HPD_ODL, 0);
-		gpio_config_pin(MODULE_I2C,
-				GPIO_EC_I2C_SUB_C1_SCL_HDMI_EN_ODL, 0);
-
-		/* Set HDMI and sub-rail enables to output */
-		gpio_set_flags(GPIO_EC_I2C_SUB_C1_SCL_HDMI_EN_ODL,
-			       chipset_in_state(CHIPSET_STATE_ON) ?
-						GPIO_ODR_LOW : GPIO_ODR_HIGH);
-		gpio_set_flags(GPIO_SUB_C1_INT_EN_RAILS_ODL,   GPIO_ODR_HIGH);
-
-		/* Select HDMI option */
-		gpio_set_level(GPIO_HDMI_SEL_L, 0);
-
-		/* Enable interrupt for passing through HPD */
-		gpio_enable_interrupt(GPIO_EC_I2C_SUB_C1_SDA_HDMI_HPD_ODL);
-	} else {
-		/* Set SDA as an input */
-		gpio_set_flags(GPIO_EC_I2C_SUB_C1_SDA_HDMI_HPD_ODL,
-			       GPIO_INPUT);
-
-		/* Enable C1 interrupts */
-		gpio_enable_interrupt(GPIO_SUB_C1_INT_EN_RAILS_ODL);
-		check_c1_line();
-	}
-	/* Enable gpio interrupt for base accelgyro sensor */
-	gpio_enable_interrupt(GPIO_BASE_SIXAXIS_INT_L);
-
-	/* Turn on 5V if the system is on, otherwise turn it off. */
-	on = chipset_in_state(CHIPSET_STATE_ON | CHIPSET_STATE_ANY_SUSPEND |
-			      CHIPSET_STATE_SOFT_OFF);
-	board_power_5v_enable(on);
-
-	gpio_enable_interrupt(GPIO_PEN_DET_ODL);
-}
-DECLARE_HOOK(HOOK_INIT, board_init, HOOK_PRIO_DEFAULT);
-
 /* Enable HDMI any time the SoC is on */
 static void hdmi_enable(void)
 {
@@ -469,8 +425,16 @@ static const mat33_fp_t base_standard_ref = {
 	{ 0, 0, FLOAT_TO_FP(-1)}
 };
 
+static const mat33_fp_t base_lsm6dsm_ref = {
+	{ FLOAT_TO_FP(-1), 0, 0},
+	{ 0, FLOAT_TO_FP(1), 0},
+	{ 0, 0, FLOAT_TO_FP(-1)}
+};
+
 static struct accelgyro_saved_data_t g_bma253_data;
 static struct bmi_drv_data_t g_bmi160_data;
+static struct kionix_accel_data g_kx022_data;
+static struct lsm6dsm_data lsm6dsm_data = LSM6DSM_DATA;
 
 struct motion_sensor_t motion_sensors[] = {
 	[LID_ACCEL] = {
@@ -543,6 +507,149 @@ struct motion_sensor_t motion_sensors[] = {
 
 const unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
 
+struct motion_sensor_t kx022_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_ACCEL,
+	.i2c_spi_addr_flags = KX022_ADDR0_FLAGS,
+	.rot_standard_ref = &lid_standard_ref,
+	.min_frequency = KX022_ACCEL_MIN_FREQ,
+	.max_frequency = KX022_ACCEL_MAX_FREQ,
+	.default_range = 2, /* g, to support tablet mode */
+	.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 lsm6dsm_base_accel = {
+	.name = "Base Accel",
+	.active_mask = SENSOR_ACTIVE_S0_S3,
+	.chip = MOTIONSENSE_CHIP_LSM6DSM,
+	.type = MOTIONSENSE_TYPE_ACCEL,
+	.location = MOTIONSENSE_LOC_BASE,
+	.drv = &lsm6dsm_drv,
+	.mutex = &g_base_mutex,
+	.drv_data = LSM6DSM_ST_DATA(lsm6dsm_data,
+			MOTIONSENSE_TYPE_ACCEL),
+	.int_signal = GPIO_BASE_SIXAXIS_INT_L,
+	.flags = MOTIONSENSE_FLAG_INT_SIGNAL,
+	.port = I2C_PORT_SENSOR,
+	.i2c_spi_addr_flags = LSM6DSM_ADDR0_FLAGS,
+	.rot_standard_ref = &base_lsm6dsm_ref,
+	.default_range = 4,  /* g */
+	.min_frequency = LSM6DSM_ODR_MIN_VAL,
+	.max_frequency = LSM6DSM_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,
+		},
+	},
+};
+
+struct motion_sensor_t lsm6dsm_base_gyro = {
+	.name = "Base Gyro",
+	.active_mask = SENSOR_ACTIVE_S0_S3,
+	.chip = MOTIONSENSE_CHIP_LSM6DSM,
+	.type = MOTIONSENSE_TYPE_GYRO,
+	.location = MOTIONSENSE_LOC_BASE,
+	.drv = &lsm6dsm_drv,
+	.mutex = &g_base_mutex,
+	.drv_data = LSM6DSM_ST_DATA(lsm6dsm_data,
+			MOTIONSENSE_TYPE_GYRO),
+	.int_signal = GPIO_BASE_SIXAXIS_INT_L,
+	.flags = MOTIONSENSE_FLAG_INT_SIGNAL,
+	.port = I2C_PORT_SENSOR,
+	.i2c_spi_addr_flags = LSM6DSM_ADDR0_FLAGS,
+	.default_range = 1000 | ROUND_UP_FLAG, /* dps */
+	.rot_standard_ref = &base_lsm6dsm_ref,
+	.min_frequency = LSM6DSM_ODR_MIN_VAL,
+	.max_frequency = LSM6DSM_ODR_MAX_VAL,
+};
+
+static int base_gyro_config;
+
+void board_init(void)
+{
+	int on;
+
+	gpio_enable_interrupt(GPIO_USB_C0_INT_ODL);
+	check_c0_line();
+
+	if (get_cbi_fw_config_db() == DB_1A_HDMI ||
+		get_cbi_fw_config_db() == DB_LTE_HDMI) {
+		/* Disable i2c on HDMI pins */
+		gpio_config_pin(MODULE_I2C,
+				GPIO_EC_I2C_SUB_C1_SDA_HDMI_HPD_ODL, 0);
+		gpio_config_pin(MODULE_I2C,
+				GPIO_EC_I2C_SUB_C1_SCL_HDMI_EN_ODL, 0);
+
+		/* Set HDMI and sub-rail enables to output */
+		gpio_set_flags(GPIO_EC_I2C_SUB_C1_SCL_HDMI_EN_ODL,
+			       chipset_in_state(CHIPSET_STATE_ON) ?
+						GPIO_ODR_LOW : GPIO_ODR_HIGH);
+		gpio_set_flags(GPIO_SUB_C1_INT_EN_RAILS_ODL,   GPIO_ODR_HIGH);
+
+		/* Select HDMI option */
+		gpio_set_level(GPIO_HDMI_SEL_L, 0);
+
+		/* Enable interrupt for passing through HPD */
+		gpio_enable_interrupt(GPIO_EC_I2C_SUB_C1_SDA_HDMI_HPD_ODL);
+	} else {
+		/* Set SDA as an input */
+		gpio_set_flags(GPIO_EC_I2C_SUB_C1_SDA_HDMI_HPD_ODL,
+			       GPIO_INPUT);
+
+		/* Enable C1 interrupts */
+		gpio_enable_interrupt(GPIO_SUB_C1_INT_EN_RAILS_ODL);
+		check_c1_line();
+	}
+	/* Enable gpio interrupt for base accelgyro sensor */
+	gpio_enable_interrupt(GPIO_BASE_SIXAXIS_INT_L);
+
+	/* Turn on 5V if the system is on, otherwise turn it off. */
+	on = chipset_in_state(CHIPSET_STATE_ON | CHIPSET_STATE_ANY_SUSPEND |
+			      CHIPSET_STATE_SOFT_OFF);
+	board_power_5v_enable(on);
+
+	gpio_enable_interrupt(GPIO_PEN_DET_ODL);
+
+	/* Initialize g-sensor */
+	base_gyro_config = get_cbi_ssfc_base_sensor();
+
+	if (base_gyro_config == SSFC_SENSOR_LSM6DSM) {
+		motion_sensors[BASE_ACCEL] = lsm6dsm_base_accel;
+		motion_sensors[BASE_GYRO] = lsm6dsm_base_gyro;
+		ccprints("BASE GYRO is LSM6DSM");
+	} else
+		ccprints("BASE GYRO is BMI160");
+
+	if (get_cbi_ssfc_lid_sensor() == SSFC_SENSOR_KX022) {
+		motion_sensors[LID_ACCEL] = kx022_lid_accel;
+		ccprints("LID_ACCEL is KX022");
+	} else
+		ccprints("LID_ACCEL is BMA253");
+
+}
+DECLARE_HOOK(HOOK_INIT, board_init, HOOK_PRIO_DEFAULT);
+
 __override void ocpc_get_pid_constants(int *kp, int *kp_div,
 				       int *ki, int *ki_div,
 				       int *kd, int *kd_div)
@@ -729,4 +836,18 @@ void lid_angle_peripheral_enable(int enable)
 			keyboard_scan_enable(0, KB_SCAN_DISABLE_LID_ANGLE);
 	}
 }
+
+void motion_interrupt(enum gpio_signal signal)
+{
+	switch (base_gyro_config) {
+	case SSFC_SENSOR_LSM6DSM:
+		lsm6dsm_interrupt(signal);
+		break;
+	case SSFC_SENSOR_BMI160:
+	default:
+		bmi160_interrupt(signal);
+		break;
+	}
+}
+
 #endif
diff --git a/board/metaknight/board.h b/board/metaknight/board.h
index 7b708a5440..ad37dc6604 100644
--- a/board/metaknight/board.h
+++ b/board/metaknight/board.h
@@ -97,8 +97,10 @@
 #define CONFIG_CMD_ACCELS
 #define CONFIG_CMD_ACCEL_INFO
 
-#define CONFIG_ACCEL_BMA255		/* Lid accel */
-#define CONFIG_ACCELGYRO_BMI160		/* Base accel */
+#define CONFIG_ACCEL_BMA255         /* Lid accel */
+#define CONFIG_ACCEL_KX022          /* Lid accel second source */
+#define CONFIG_ACCELGYRO_BMI160     /* Base accel */
+#define CONFIG_ACCELGYRO_LSM6DSM    /* Base accel second source */
 
 /* Lid operates in forced mode, base in FIFO */
 #define CONFIG_ACCEL_FORCE_MODE_MASK BIT(LID_ACCEL)
@@ -109,6 +111,8 @@
 #define CONFIG_ACCEL_INTERRUPTS
 #define CONFIG_ACCELGYRO_BMI160_INT_EVENT \
 	TASK_EVENT_MOTION_SENSOR_INTERRUPT(BASE_ACCEL)
+#define CONFIG_ACCEL_LSM6DSM_INT_EVENT \
+	TASK_EVENT_MOTION_SENSOR_INTERRUPT(BASE_ACCEL)
 
 #define CONFIG_LID_ANGLE
 #define CONFIG_LID_ANGLE_UPDATE
@@ -179,5 +183,7 @@ enum battery_type {
 
 int board_is_sourcing_vbus(int port);
 
+void motion_interrupt(enum gpio_signal signal);
+
 #endif /* !__ASSEMBLER__ */
 #endif /* __CROS_EC_BOARD_H */
diff --git a/board/metaknight/gpio.inc b/board/metaknight/gpio.inc
index 556d2071df..f0179018c3 100644
--- a/board/metaknight/gpio.inc
+++ b/board/metaknight/gpio.inc
@@ -35,7 +35,7 @@ GPIO_INT(H1_EC_PWR_BTN_ODL,	 PIN(0, 1), GPIO_INT_BOTH | GPIO_PULL_UP, power_butt
 /* Other interrupts */
 GPIO_INT(LID_OPEN,		 PIN(D, 2), GPIO_INT_BOTH, lid_interrupt)
 GPIO_INT(EC_WP_OD,		 PIN(A, 1), GPIO_INT_BOTH, switch_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, motion_interrupt)
 GPIO_INT(LID_360_L,		 PIN(9, 5), GPIO_INT_BOTH, gmr_tablet_switch_isr)
 GPIO_INT(PEN_DET_ODL,    PIN(5, 0), GPIO_INT_BOTH, pen_input_interrupt)