voema: Add accel/gyro sensor icm40608

Support accel/gyro sensor: icm40608.

BUG=b:192301309
BRANCH=volteer
TEST=Motion sensors are detected correctly and ectool motionsense
     show correct data.

Signed-off-by: David Huang <david.huang@quanta.corp-partner.google.com>
Change-Id: I35cb0fca753768468f07581251234149db5a04b1
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/3020667
Reviewed-by: Keith Short <keithshort@chromium.org>
Commit-Queue: Keith Short <keithshort@chromium.org>

3 files changed, 81 insertions, 1 deletions

diff --git a/board/voema/board.h b/board/voema/board.h
index 737f6c1d7b..c0bee73682 100644
--- a/board/voema/board.h
+++ b/board/voema/board.h
@@ -40,6 +40,9 @@
 /* Sensors */
 /* BMA253 accelerometer in base */
 #define CONFIG_ACCEL_BMA255
+#define CONFIG_ACCELGYRO_ICM426XX
+#define CONFIG_ACCELGYRO_ICM426XX_INT_EVENT \
+	TASK_EVENT_MOTION_SENSOR_INTERRUPT(BASE_ACCEL)
 #define CONFIG_ACCEL_KX022
 
 /* TCS3400 ALS */
@@ -171,6 +174,7 @@ enum pwm_channel {
 enum sensor_id {
 	LID_ACCEL = 0,
 	BASE_ACCEL,
+	BASE_GYRO,
 	CLEAR_ALS,
 	RGB_ALS,
 	SENSOR_COUNT,
@@ -183,6 +187,9 @@ enum usbc_port {
 };
 
 void board_reset_pd_mcu(void);
+#ifndef BOARD_VOEMA_NPCX796FC
+void motion_interrupt(enum gpio_signal signal);
+#endif
 
 #endif /* !__ASSEMBLER__ */
 
diff --git a/board/voema/gpio.inc b/board/voema/gpio.inc
index a16ed3ec22..8379e5f12a 100644
--- a/board/voema/gpio.inc
+++ b/board/voema/gpio.inc
@@ -26,13 +26,17 @@ GPIO_INT(PG_EC_ALL_SYS_PWRGD,  PIN(F, 4), GPIO_INT_BOTH, power_signal_interrupt)
 
 /* Sensor Interrupts */
 GPIO_INT(EC_ALS_RGB_INT_L,     PIN(D, 4), GPIO_INT_FALLING, tcs3400_interrupt)
+#ifndef BOARD_VOEMA_NPCX796FC
+GPIO_INT(EC_MB_ACCEL_INT_L,    PIN(5, 6), GPIO_INT_FALLING | GPIO_SEL_1P8V, motion_interrupt)
+#else
+GPIO(EC_MB_ACCEL_INT_L,	       PIN(5, 6), GPIO_INPUT | GPIO_PULL_UP)
+#endif
 GPIO_INT(TABLET_MODE_L,        PIN(9, 5), GPIO_INT_BOTH, gmr_tablet_switch_isr)
 
 /*
  * Base / Lid g-sensor interrupt unused on Voema, configure as regular input
  * for power saving.
  */
-GPIO(EC_MB_ACCEL_INT_L,         PIN(5, 6), GPIO_INPUT | GPIO_PULL_UP)
 GPIO(EC_ACCEL_INT,		PIN(8, 1), GPIO_INPUT | GPIO_PULL_UP)
 
 /* USB-C interrupts */
diff --git a/board/voema/sensors.c b/board/voema/sensors.c
index 9328685a5f..2e9a4adf08 100644
--- a/board/voema/sensors.c
+++ b/board/voema/sensors.c
@@ -8,6 +8,8 @@
 #include "accelgyro.h"
 #include "cbi_ssfc.h"
 #include "driver/accel_bma2x2.h"
+#include "driver/accelgyro_icm426xx.h"
+#include "driver/accelgyro_icm_common.h"
 #include "driver/accel_kionix.h"
 #include "driver/als_tcs3400.h"
 #include "driver/sync.h"
@@ -27,6 +29,8 @@ static struct mutex g_base_mutex;
 static struct accelgyro_saved_data_t g_bma253_base_data;
 static struct accelgyro_saved_data_t g_bma253_lid_data;
 
+static struct icm_drv_data_t g_icm426xx_data;
+
 static struct kionix_accel_data g_kx022_base_data;
 static struct kionix_accel_data g_kx022_lid_data;
 
@@ -97,6 +101,12 @@ const mat33_fp_t base_standard_ref = {
 	{ 0, 0, FLOAT_TO_FP(-1)}
 };
 
+const mat33_fp_t base_icm_ref = {
+	{ FLOAT_TO_FP(1), 0,  0},
+	{ 0, FLOAT_TO_FP(-1), 0},
+	{ 0, 0,  FLOAT_TO_FP(-1)}
+};
+
 struct motion_sensor_t kx022_lid_accel = {
 	.name = "Lid Accel",
 	.active_mask = SENSOR_ACTIVE_S0_S3,
@@ -204,6 +214,8 @@ struct motion_sensor_t motion_sensors[] = {
 			},
 		},
 	},
+	[BASE_GYRO] = {
+	},
 	[CLEAR_ALS] = {
 		.name = "Clear Light",
 		.active_mask = SENSOR_ACTIVE_S0_S3,
@@ -244,6 +256,50 @@ struct motion_sensor_t motion_sensors[] = {
 };
 unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
 
+struct motion_sensor_t icm_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,
+		.rot_standard_ref = &base_icm_ref,
+		.min_frequency = ICM426XX_ACCEL_MIN_FREQ,
+		.max_frequency = ICM426XX_ACCEL_MAX_FREQ,
+		.default_range = 4, /* g */
+		.config = {
+			/* EC use accel for angle detection */
+			[SENSOR_CONFIG_EC_S0] = {
+				.odr = 10000 | ROUND_UP_FLAG,
+			},
+			/* Sensor on in S3 */
+			[SENSOR_CONFIG_EC_S3] = {
+				.odr = 10000 | ROUND_UP_FLAG,
+			},
+		},
+};
+
+struct motion_sensor_t icm_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_icm_ref,
+		 .min_frequency = ICM426XX_GYRO_MIN_FREQ,
+		 .max_frequency = ICM426XX_GYRO_MAX_FREQ,
+};
+
 /* ALS instances when LPC mapping is needed. Each entry directs to a sensor. */
 const struct motion_sensor_t *motion_als_sensors[] = {
 	&motion_sensors[CLEAR_ALS],
@@ -258,6 +314,12 @@ static void baseboard_sensors_init(void)
 	if (get_cbi_ssfc_base_sensor() == SSFC_SENSOR_BASE_KX022) {
 		motion_sensors[BASE_ACCEL] = kx022_basse_accel;
 		ccprints("BASE_ACCEL is KX022");
+	} else if (IS_ENABLED(BOARD_VOEMA) && get_cbi_ssfc_base_sensor() ==
+			SSFC_SENSOR_BASE_ICM426XX) {
+		gpio_enable_interrupt(GPIO_EC_MB_ACCEL_INT_L);
+		motion_sensors[BASE_ACCEL] = icm_base_accel;
+		motion_sensors[BASE_GYRO] = icm_base_gyro;
+		ccprints("BASE ACCEL/GYRO is ICM426XX");
 	} else
 		ccprints("BASE_ACCEL is BMA253");
 
@@ -269,6 +331,13 @@ static void baseboard_sensors_init(void)
 }
 DECLARE_HOOK(HOOK_INIT, baseboard_sensors_init, HOOK_PRIO_DEFAULT);
 
+#ifndef BOARD_VOEMA_NPCX796FC
+void motion_interrupt(enum gpio_signal signal)
+{
+	icm426xx_interrupt(signal);
+}
+#endif
+
 #ifndef TEST_BUILD
 void lid_angle_peripheral_enable(int enable)
 {