Jelboz360: Config the G-sensor setting

1. Base on schematics, modify the motion sensor related setting to
   BMI160 and KX022.
2. Modify base rotation matrix depend on schematics.

BUG=b:178451001
BRANCH=firmware-zork-13434.B
TEST=make BOARD=shuboz
  1. Using "ectool motionsense" check x/y/z value.
  2. Using "ectool motionsense lid_angle" check angle.

Signed-off-by: Jacky Wang <jacky5_wang@pegatron.corp-partner.google.com>
Change-Id: I6f07e6795b6a28a805270250a0ef78babf4a5d75
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/2649886
Tested-by: Michael5 Chen <michael5_chen1@pegatron.corp-partner.google.com>
Reviewed-by: Edward Hill <ecgh@chromium.org>
Reviewed-by: Michael5 Chen <michael5_chen1@pegatron.corp-partner.google.com>
Commit-Queue: Edward Hill <ecgh@chromium.org>

3 files changed, 41 insertions, 39 deletions

diff --git a/board/shuboz/board.c b/board/shuboz/board.c
index ea7029c03d..d4bb011729 100644
--- a/board/shuboz/board.c
+++ b/board/shuboz/board.c
@@ -6,8 +6,9 @@
 #include "battery_smart.h"
 #include "button.h"
 #include "cros_board_info.h"
-#include "driver/accel_lis2dw12.h"
-#include "driver/accelgyro_lsm6dsm.h"
+#include "driver/accelgyro_bmi_common.h"
+#include "driver/accel_kionix.h"
+#include "driver/accel_kx022.h"
 #include "driver/bc12/pi3usb9201.h"
 #include "driver/ppc/aoz1380.h"
 #include "driver/ppc/nx20p348x.h"
@@ -49,37 +50,44 @@ static struct mutex g_lid_mutex;
 static struct mutex g_base_mutex;
 
 /* sensor private data */
-static struct stprivate_data g_lis2dwl_data;
-static struct lsm6dsm_data g_lsm6dsm_data = LSM6DSM_DATA;
+static struct kionix_accel_data g_kx022_data;
+static struct bmi_drv_data_t g_bmi160_data;
 
 /* Matrix to rotate accelrator into standard reference frame */
+static const mat33_fp_t lid_standard_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_standard_ref = {
-	{ FLOAT_TO_FP(-1), 0, 0},
 	{ 0, FLOAT_TO_FP(-1), 0},
-	{ 0, 0, FLOAT_TO_FP(1)}
+	{ FLOAT_TO_FP(1), 0, 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 motion_sensors[] = {
 	[LID_ACCEL] = {
 	 .name = "Lid Accel",
 	 .active_mask = SENSOR_ACTIVE_S0_S3,
-	 .chip = MOTIONSENSE_CHIP_LIS2DWL,
+	 .chip = MOTIONSENSE_CHIP_KX022,
 	 .type = MOTIONSENSE_TYPE_ACCEL,
 	 .location = MOTIONSENSE_LOC_LID,
-	 .drv = &lis2dw12_drv,
+	 .drv = &kionix_accel_drv,
 	 .mutex = &g_lid_mutex,
-	 .drv_data = &g_lis2dwl_data,
+	 .drv_data = &g_kx022_data,
 	 .port = I2C_PORT_SENSOR,
-	 .i2c_spi_addr_flags = LIS2DWL_ADDR1_FLAGS,
-	 .rot_standard_ref = NULL,
+	 .i2c_spi_addr_flags = KX022_ADDR0_FLAGS,
+	 .rot_standard_ref = &lid_standard_ref,
 	 .default_range = 2, /* g, enough for laptop. */
-	 .min_frequency = LIS2DW12_ODR_MIN_VAL,
-	 .max_frequency = LIS2DW12_ODR_MAX_VAL,
+	 .min_frequency = KX022_ACCEL_MIN_FREQ,
+	 .max_frequency = KX022_ACCEL_MAX_FREQ,
 	 .config = {
 		 /* EC use accel for angle detection */
 		[SENSOR_CONFIG_EC_S0] = {
-			.odr = 12500 | ROUND_UP_FLAG,
+			.odr = 10000 | ROUND_UP_FLAG,
+			.ec_rate = 100,
 		},
 		 /* Sensor on for lid angle detection */
 		[SENSOR_CONFIG_EC_S3] = {
@@ -91,31 +99,28 @@ struct motion_sensor_t motion_sensors[] = {
 	[BASE_ACCEL] = {
 	 .name = "Base Accel",
 	 .active_mask = SENSOR_ACTIVE_S0_S3,
-	 .chip = MOTIONSENSE_CHIP_LSM6DSM,
+	 .chip = MOTIONSENSE_CHIP_BMI160,
 	 .type = MOTIONSENSE_TYPE_ACCEL,
 	 .location = MOTIONSENSE_LOC_BASE,
-	 .drv = &lsm6dsm_drv,
+	 .drv = &bmi160_drv,
 	 .mutex = &g_base_mutex,
-	 .drv_data = LSM6DSM_ST_DATA(g_lsm6dsm_data,
-			MOTIONSENSE_TYPE_ACCEL),
+	 .drv_data = &g_bmi160_data,
 	 .int_signal = GPIO_6AXIS_INT_L,
-	 .flags = MOTIONSENSE_FLAG_INT_SIGNAL,
 	 .port = I2C_PORT_SENSOR,
-	 .i2c_spi_addr_flags = LSM6DSM_ADDR0_FLAGS,
-	 .default_range = 4, /* g, enough for laptop */
+	 .i2c_spi_addr_flags = BMI160_ADDR0_FLAGS,
+	 .default_range = 2, /* g, enough for laptop */
 	 .rot_standard_ref = &base_standard_ref,
-	 .min_frequency = LSM6DSM_ODR_MIN_VAL,
-	 .max_frequency = LSM6DSM_ODR_MAX_VAL,
+	 .min_frequency = BMI_ACCEL_MIN_FREQ,
+	 .max_frequency = BMI_ACCEL_MAX_FREQ,
 	 .config = {
 		 /* EC use accel for angle detection */
 		[SENSOR_CONFIG_EC_S0] = {
-			.odr = 13000 | ROUND_UP_FLAG,
+			.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,
 		},
 	 },
 	},
@@ -123,21 +128,18 @@ struct motion_sensor_t motion_sensors[] = {
 	[BASE_GYRO] = {
 	 .name = "Base Gyro",
 	 .active_mask = SENSOR_ACTIVE_S0_S3,
-	 .chip = MOTIONSENSE_CHIP_LSM6DSM,
+	 .chip = MOTIONSENSE_CHIP_BMI160,
 	 .type = MOTIONSENSE_TYPE_GYRO,
 	 .location = MOTIONSENSE_LOC_BASE,
-	 .drv = &lsm6dsm_drv,
+	 .drv = &bmi160_drv,
 	 .mutex = &g_base_mutex,
-	 .drv_data = LSM6DSM_ST_DATA(g_lsm6dsm_data,
-			MOTIONSENSE_TYPE_GYRO),
-	.int_signal = GPIO_6AXIS_INT_L,
-	.flags = MOTIONSENSE_FLAG_INT_SIGNAL,
+	 .drv_data = &g_bmi160_data,
 	 .port = I2C_PORT_SENSOR,
-	 .i2c_spi_addr_flags = LSM6DSM_ADDR0_FLAGS,
-	 .default_range = 1000 | ROUND_UP_FLAG, /* dps */
+	 .i2c_spi_addr_flags = BMI160_ADDR0_FLAGS,
+	 .default_range = 1000, /* dps */
 	 .rot_standard_ref = &base_standard_ref,
-	 .min_frequency = LSM6DSM_ODR_MIN_VAL,
-	 .max_frequency = LSM6DSM_ODR_MAX_VAL,
+	 .min_frequency = BMI_GYRO_MIN_FREQ,
+	 .max_frequency = BMI_GYRO_MAX_FREQ,
 	},
 };
 
diff --git a/board/shuboz/board.h b/board/shuboz/board.h
index ccbc7e2f06..bc029b5cd2 100644
--- a/board/shuboz/board.h
+++ b/board/shuboz/board.h
@@ -29,10 +29,10 @@
 #define CONFIG_LED_ONOFF_STATES_BAT_LOW 10
 
 /* Motion sensing drivers */
-#define CONFIG_ACCELGYRO_LSM6DSM
-#define CONFIG_ACCEL_LSM6DSM_INT_EVENT \
+#define CONFIG_ACCELGYRO_BMI160
+#define CONFIG_ACCELGYRO_BMI160_INT_EVENT \
 	TASK_EVENT_MOTION_SENSOR_INTERRUPT(BASE_ACCEL)
-#define CONFIG_ACCEL_LIS2DWL
+#define CONFIG_ACCEL_KX022
 #define CONFIG_ACCEL_INTERRUPTS
 #define CONFIG_CMD_ACCELS
 #define CONFIG_CMD_ACCEL_INFO
diff --git a/board/shuboz/gpio.inc b/board/shuboz/gpio.inc
index 30ea179291..e0d05ea78b 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(VOLDN_BTN_ODL,		PIN(A, 6), GPIO_INT_BOTH | GPIO_PULL_UP,	button_interrupt)
 GPIO_INT(VOLUP_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,	lsm6dsm_interrupt)
+GPIO_INT(6AXIS_INT_L,		PIN(A, 0), GPIO_INT_FALLING | GPIO_PULL_UP,	bmi160_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)