Waddledoo: Add sensor support

Waddledoo is using the BMI160 as a base accel and the BMA253 lid accel,
which is compatible with the current bma2x2 driver.

BUG=b:147258603
BRANCH=none
TEST=builds

Change-Id: Id76e826f11154f8b687021713a2bf176bd82fef4
Signed-off-by: Diana Z <dzigterman@chromium.org>
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/1993952
Reviewed-by: Aseda Aboagye <aaboagye@chromium.org>

4 files changed, 165 insertions, 0 deletions

diff --git a/board/waddledoo/board.c b/board/waddledoo/board.c
index 8c5a865035..8ef3330887 100644
--- a/board/waddledoo/board.c
+++ b/board/waddledoo/board.c
@@ -9,16 +9,112 @@
 #include "button.h"
 #include "common.h"
 #include "compile_time_macros.h"
+#include "driver/accel_bma2x2.h"
+#include "driver/accelgyro_bmi160.h"
+#include "driver/sync.h"
 #include "extpower.h"
 #include "gpio.h"
 #include "i2c.h"
 #include "lid_switch.h"
+#include "motion_sense.h"
 #include "power.h"
 #include "power_button.h"
 #include "switch.h"
+#include "tablet_mode.h"
+#include "task.h"
 
 #include "gpio_list.h"
 
+/* Sensors */
+static struct mutex g_lid_mutex;
+static struct mutex g_base_mutex;
+
+static struct accelgyro_saved_data_t g_bma253_data;
+static struct bmi160_drv_data_t g_bmi160_data;
+
+struct motion_sensor_t motion_sensors[] = {
+	[LID_ACCEL] = {
+		.name = "Lid Accel",
+		.active_mask = SENSOR_ACTIVE_S0_S3,
+		.chip = MOTIONSENSE_CHIP_BMA255,
+		.type = MOTIONSENSE_TYPE_ACCEL,
+		.location = MOTIONSENSE_LOC_LID,
+		.drv = &bma2x2_accel_drv,
+		.mutex = &g_lid_mutex,
+		.drv_data = &g_bma253_data,
+		.port = I2C_PORT_SENSOR,
+		.i2c_spi_addr_flags = BMA2x2_I2C_ADDR1_FLAGS,
+		.rot_standard_ref = NULL,
+		.default_range = 2,
+		.min_frequency = BMA255_ACCEL_MIN_FREQ,
+		.max_frequency = BMA255_ACCEL_MAX_FREQ,
+		.config = {
+			[SENSOR_CONFIG_EC_S0] = {
+				.odr = 10000 | ROUND_UP_FLAG,
+			},
+			[SENSOR_CONFIG_EC_S3] = {
+				.odr = 10000 | ROUND_UP_FLAG,
+			},
+		},
+	},
+	[BASE_ACCEL] = {
+		.name = "Base Accel",
+		.active_mask = SENSOR_ACTIVE_S0_S3,
+		.chip = MOTIONSENSE_CHIP_BMI160,
+		.type = MOTIONSENSE_TYPE_ACCEL,
+		.location = MOTIONSENSE_LOC_BASE,
+		.drv = &bmi160_drv,
+		.mutex = &g_base_mutex,
+		.drv_data = &g_bmi160_data,
+		.port = I2C_PORT_SENSOR,
+		.i2c_spi_addr_flags = BMI160_ADDR0_FLAGS,
+		.rot_standard_ref = NULL,
+		.default_range = 4,
+		.min_frequency = BMI160_ACCEL_MIN_FREQ,
+		.max_frequency = BMI160_ACCEL_MAX_FREQ,
+		.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,
+			},
+		},
+	},
+	[BASE_GYRO] = {
+		.name = "Base Gyro",
+		.active_mask = SENSOR_ACTIVE_S0_S3,
+		.chip = MOTIONSENSE_CHIP_BMI160,
+		.type = MOTIONSENSE_TYPE_GYRO,
+		.location = MOTIONSENSE_LOC_BASE,
+		.drv = &bmi160_drv,
+		.mutex = &g_base_mutex,
+		.drv_data = &g_bmi160_data,
+		.port = I2C_PORT_SENSOR,
+		.i2c_spi_addr_flags = BMI160_ADDR0_FLAGS,
+		.default_range = 1000, /* dps */
+		.rot_standard_ref = NULL,
+		.min_frequency = BMI160_GYRO_MIN_FREQ,
+		.max_frequency = BMI160_GYRO_MAX_FREQ,
+	},
+	[VSYNC] = {
+		.name = "Camera VSYNC",
+		.active_mask = SENSOR_ACTIVE_S0,
+		.chip = MOTIONSENSE_CHIP_GPIO,
+		.type = MOTIONSENSE_TYPE_SYNC,
+		.location = MOTIONSENSE_LOC_CAMERA,
+		.drv = &sync_drv,
+		.default_range = 0,
+		.min_frequency = 0,
+		.max_frequency = 1,
+	},
+};
+
+const unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
+
+
 int extpower_is_present(void)
 {
 	/*
@@ -27,3 +123,22 @@ int extpower_is_present(void)
 	 */
 	return 1;
 }
+
+#ifndef TEST_BUILD
+/* This callback disables keyboard when convertibles are fully open */
+void lid_angle_peripheral_enable(int enable)
+{
+	/*
+	 * If the lid is in tablet position via other sensors,
+	 * ignore the lid angle, which might be faulty then
+	 * disable keyboard.
+	 */
+	if (tablet_get_mode())
+		enable = 0;
+	/*
+	 * TODO(b/147453459): Waddledoo: add keyboard support
+	 * disable keyboard here when AP is off
+	 *
+	 */
+}
+#endif
diff --git a/board/waddledoo/board.h b/board/waddledoo/board.h
index f7a595d545..f19f92133e 100644
--- a/board/waddledoo/board.h
+++ b/board/waddledoo/board.h
@@ -18,8 +18,41 @@
 #define I2C_PORT_USB_C0     NPCX_I2C_PORT1_0
 #define I2C_PORT_SUB_USB_C1 NPCX_I2C_PORT2_0
 
+#define I2C_PORT_ACCEL      I2C_PORT_SENSOR
+
 #define I2C_ADDR_EEPROM_FLAGS 0x50 /* 7b address */
 
+/* Sensors */
+#define CONFIG_CMD_ACCELS
+#define CONFIG_CMD_ACCEL_INFO
+
+#define CONFIG_ACCEL_BMA255		/* Lid accel */
+#define CONFIG_ACCELGYRO_BMI160		/* Base accel */
+#define CONFIG_SYNC			/* Camera VSYNC */
+
+/* Lid operates in forced mode, base in FIFO */
+#define CONFIG_ACCEL_FORCE_MODE_MASK BIT(LID_ACCEL)
+#define CONFIG_ACCEL_FIFO
+#define CONFIG_ACCEL_FIFO_SIZE 256	/* Must be a power of 2 */
+#define CONFIG_ACCEL_FIFO_THRES (CONFIG_ACCEL_FIFO_SIZE / 3)
+
+#define CONFIG_ACCEL_INTERRUPTS
+#define CONFIG_ACCELGYRO_BMI160_INT_EVENT \
+	TASK_EVENT_MOTION_SENSOR_INTERRUPT(BASE_ACCEL)
+#define CONFIG_SYNC_INT_EVENT TASK_EVENT_MOTION_SENSOR_INTERRUPT(VSYNC)
+
+#define CONFIG_LID_ANGLE
+#define CONFIG_LID_ANGLE_UPDATE
+#define CONFIG_LID_ANGLE_SENSOR_BASE BASE_ACCEL
+#define CONFIG_LID_ANGLE_SENSOR_LID LID_ACCEL
+
+#define CONFIG_TABLET_MODE
+#define CONFIG_TABLET_MODE_SWITCH
+#define CONFIG_GMR_TABLET_MODE
+
+#define CONFIG_MKBP_EVENT
+#define CONFIG_MKBP_USE_GPIO
+
 #ifndef __ASSEMBLER__
 
 #include "gpio_signal.h"
@@ -34,5 +67,13 @@ enum adc_channel {
 	ADC_CH_COUNT
 };
 
+enum sensor_id {
+	LID_ACCEL,
+	BASE_ACCEL,
+	BASE_GYRO,
+	VSYNC,
+	SENSOR_COUNT
+};
+
 #endif /* !__ASSEMBLER__ */
 #endif /* __CROS_EC_BOARD_H */
diff --git a/board/waddledoo/ec.tasklist b/board/waddledoo/ec.tasklist
index 57bcccc28f..2bc06ded0c 100644
--- a/board/waddledoo/ec.tasklist
+++ b/board/waddledoo/ec.tasklist
@@ -9,6 +9,7 @@
 
 #define CONFIG_TASK_LIST \
 	TASK_ALWAYS(HOOKS, hook_task, NULL, VENTI_TASK_STACK_SIZE) \
+	TASK_ALWAYS(MOTIONSENSE, motion_sense_task, NULL, VENTI_TASK_STACK_SIZE) \
 	TASK_NOTEST(CHIPSET, chipset_task, NULL, VENTI_TASK_STACK_SIZE) \
 	TASK_NOTEST(KEYPROTO, keyboard_protocol_task, NULL, TASK_STACK_SIZE) \
 	TASK_ALWAYS(CONSOLE, console_task, NULL, VENTI_TASK_STACK_SIZE) \
diff --git a/board/waddledoo/gpio.inc b/board/waddledoo/gpio.inc
index 68d27b4025..ccf041cb44 100644
--- a/board/waddledoo/gpio.inc
+++ b/board/waddledoo/gpio.inc
@@ -10,6 +10,7 @@
  * Note: Those with interrupt handlers must be declared first.
  */
 
+/* Power Interrupts */
 GPIO_INT(SLP_S0_L,		 PIN(D, 5), GPIO_INT_BOTH, power_signal_interrupt)
 GPIO_INT(SLP_S3_L,		 PIN(A, 5), GPIO_INT_BOTH, power_signal_interrupt)
 GPIO_INT(SLP_S4_L,		 PIN(D, 4), GPIO_INT_BOTH, power_signal_interrupt)
@@ -21,12 +22,19 @@ GPIO_INT(VCCIN_AUX_VID0,	 PIN(F, 4), GPIO_INT_BOTH | GPIO_SEL_1P8V, power_signal
 GPIO_INT(PG_VCCIO_EXT_OD,	 PIN(B, 0), GPIO_INT_BOTH, power_signal_interrupt)
 GPIO_INT(PG_PP5000_U_OD,	 PIN(E, 2), GPIO_INT_BOTH, power_signal_interrupt)
 GPIO_INT(PG_DRAM_OD,		 PIN(E, 4), GPIO_INT_BOTH, power_signal_interrupt)
+
+/* Button interrupts */
 GPIO_INT(H1_EC_PWR_BTN_ODL,	 PIN(0, 1), GPIO_INT_BOTH | GPIO_PULL_UP, power_button_interrupt)
 GPIO_INT(VOLDN_BTN_ODL,		 PIN(4, 0), GPIO_INT_BOTH | GPIO_PULL_UP | GPIO_SEL_1P8V, button_interrupt)
 /* TODO(b:147257497) Fix this and EN_PP5000_U before board rev 0. */
 GPIO_INT(VOLUP_BTN_ODL,		 PIN(A, 4), GPIO_INT_BOTH | GPIO_PULL_UP | GPIO_SEL_1P8V, button_interrupt)
+
+/* 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(CAM_EC_VSYNC,		 PIN(0, 0), GPIO_INT_FALLING | GPIO_SEL_1P8V, sync_interrupt)
+GPIO_INT(LID_360_L,		 PIN(9, 5), GPIO_INT_BOTH, gmr_tablet_switch_isr)
 
 /* I2C Ports */
 GPIO(EC_I2C_EEPROM_SCL,	      PIN(B, 3), GPIO_INPUT)