jelboz360: gyro sensor add 2nd source icm-40608

gyro sensor add 2nd source icm-40608

BUG=b:191687030
BRANCH=zork
TEST=make BOARD=shuboz
1. Set CBI SSFC 0x03 and using command
   "watch ectool motionsense lid_angle" for sensor icm-40608.
2. Using command "watch ectool motionsense lid_angle" for BMI160.

Signed-off-by: Michael5 Chen1 <michael5_chen1@pegatron.corp-partner.google.com>
Change-Id: I2d57245e82f36eef684f483fbb4edb0e7cd56c93
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/2993791
Reviewed-by: Jacky Wang <jacky5_wang@pegatron.corp-partner.google.com>
Reviewed-by: Isaac Lee <isaaclee@google.com>
Reviewed-by: Denis Brockus <dbrockus@chromium.org>
Reviewed-by: Edward Hill <ecgh@chromium.org>
Commit-Queue: Edward Hill <ecgh@chromium.org>

3 files changed, 74 insertions, 2 deletions

diff --git a/board/shuboz/board.c b/board/shuboz/board.c
index d752f291a9..1d73e19a63 100644
--- a/board/shuboz/board.c
+++ b/board/shuboz/board.c
@@ -5,8 +5,11 @@
 
 #include "battery_smart.h"
 #include "button.h"
+#include "cbi_ssfc.h"
 #include "cros_board_info.h"
 #include "driver/accelgyro_bmi_common.h"
+#include "driver/accelgyro_icm_common.h"
+#include "driver/accelgyro_icm426xx.h"
 #include "driver/accel_kionix.h"
 #include "driver/accel_kx022.h"
 #include "driver/bc12/pi3usb9201.h"
@@ -50,6 +53,7 @@ static struct mutex g_base_mutex;
 /* 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;
 
 /* Matrix to rotate accelrator into standard reference frame */
 static const mat33_fp_t lid_standard_ref = {
@@ -62,9 +66,54 @@ static const mat33_fp_t base_standard_ref = {
 	{ FLOAT_TO_FP(-1), 0, 0},
 	{ 0, 0, FLOAT_TO_FP(-1)}
 };
-
+static const mat33_fp_t base_standard_ref_icm = {
+	{FLOAT_TO_FP(1), 0, 0},
+	{0, FLOAT_TO_FP(-1), 0},
+	{0, 0, FLOAT_TO_FP(-1)},
+};
 
 /* TODO(gcc >= 5.0) Remove the casts to const pointer at rot_standard_ref */
+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_SENSOR,
+	.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_standard_ref_icm,
+	.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_rate = 100,
+		},
+	},
+};
+
+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_SENSOR,
+	.i2c_spi_addr_flags = ICM426XX_ADDR0_FLAGS,
+	.default_range = 1000, /* dps */
+	.rot_standard_ref = &base_standard_ref_icm,
+	.min_frequency = ICM426XX_GYRO_MIN_FREQ,
+	.max_frequency = ICM426XX_GYRO_MAX_FREQ,
+};
+
 struct motion_sensor_t motion_sensors[] = {
 	[LID_ACCEL] = {
 	 .name = "Lid Accel",
@@ -143,6 +192,24 @@ struct motion_sensor_t motion_sensors[] = {
 
 unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
 
+static void setup_base_gyro_config(void)
+{
+	if (get_cbi_ssfc_base_sensor() == SSFC_BASE_GYRO_ICM426XX) {
+		motion_sensors[BASE_ACCEL] = icm426xx_base_accel;
+		motion_sensors[BASE_GYRO] = icm426xx_base_gyro;
+		ccprints("BASE GYRO is ICM426XX");
+	} else
+		ccprints("BASE GYRO is BMI160");
+}
+
+void motion_interrupt(enum gpio_signal signal)
+{
+	if (get_cbi_ssfc_base_sensor() == SSFC_BASE_GYRO_ICM426XX)
+		icm426xx_interrupt(signal);
+	else
+		bmi160_interrupt(signal);
+}
+
 /*****************************************************************************
  * Board suspend / resume
  */
@@ -503,6 +570,7 @@ static void setup_fw_config(void)
 	ioex_enable_interrupt(IOEX_USB_C1_SBU_FAULT_DB_ODL);
 
 	if (ec_config_has_lid_angle_tablet_mode()) {
+		setup_base_gyro_config();
 		/* Enable Gyro interrupts */
 		gpio_enable_interrupt(GPIO_6AXIS_INT_L);
 	} else {
diff --git a/board/shuboz/board.h b/board/shuboz/board.h
index 5daaf46767..6c64cf5dda 100644
--- a/board/shuboz/board.h
+++ b/board/shuboz/board.h
@@ -39,6 +39,9 @@
 #define CONFIG_ACCELGYRO_BMI160
 #define CONFIG_ACCELGYRO_BMI160_INT_EVENT \
 	TASK_EVENT_MOTION_SENSOR_INTERRUPT(BASE_ACCEL)
+#define CONFIG_ACCELGYRO_ICM426XX
+#define CONFIG_ACCELGYRO_ICM426XX_INT_EVENT \
+	TASK_EVENT_MOTION_SENSOR_INTERRUPT(BASE_ACCEL)
 #define CONFIG_ACCEL_KX022
 #define CONFIG_ACCEL_INTERRUPTS
 #define CONFIG_CMD_ACCELS
@@ -172,6 +175,7 @@ void board_reset_pd_mcu(void);
 void tcpc_alert_event(enum gpio_signal signal);
 void bc12_interrupt(enum gpio_signal signal);
 void ppc_interrupt(enum gpio_signal signal);
+void motion_interrupt(enum gpio_signal signal);
 
 #endif /* !__ASSEMBLER__ */
 
diff --git a/board/shuboz/gpio.inc b/board/shuboz/gpio.inc
index ce1695ff68..b093a7e6d6 100644
--- a/board/shuboz/gpio.inc
+++ b/board/shuboz/gpio.inc
@@ -25,7 +25,7 @@ GPIO_INT(ACOK_OD,		PIN(0, 0), GPIO_INT_BOTH | GPIO_HIB_WAKE_HIGH,	extpower_inter
 GPIO_INT(EC_WP_L,		PIN(5, 0), GPIO_INT_BOTH,			switch_interrupt)
 GPIO_INT(VOLUP_BTN_ODL,		PIN(A, 6), GPIO_INT_BOTH | GPIO_PULL_UP,	button_interrupt)
 GPIO_INT(VOLDN_BTN_ODL,		PIN(9, 5), GPIO_INT_BOTH | GPIO_PULL_UP,	button_interrupt)
-GPIO_INT(6AXIS_INT_L,		PIN(A, 0), GPIO_INT_FALLING | GPIO_PULL_UP,	bmi160_interrupt)
+GPIO_INT(6AXIS_INT_L,		PIN(A, 0), GPIO_INT_FALLING | GPIO_PULL_UP,	motion_interrupt)
 
 /* GPIO_INT_BOTH is required for PSL wake from hibernate, but we don't need an interrupt handler. */
 GPIO(EC_RST_ODL,		PIN(0, 2), GPIO_INT_BOTH | GPIO_HIB_WAKE_HIGH)