woomax: gyro sensor add 2nd source icm40608

gyro sensor add 2nd source icm-40608

BUG=b:196286186
BRANCH=zork
TEST=make BOARD=woomax
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: I8db74d6e42858f0e7c6f5c60b22f811c6ab0d190
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/3088971
Reviewed-by: Jacky Wang <jacky5_wang@pegatron.corp-partner.google.com>
Reviewed-by: Denis Brockus <dbrockus@chromium.org>

3 files changed, 79 insertions, 1 deletions

diff --git a/board/woomax/board.c b/board/woomax/board.c
index 5971cde9d4..11a7c9c969 100644
--- a/board/woomax/board.c
+++ b/board/woomax/board.c
@@ -9,8 +9,11 @@
 #include "adc_chip.h"
 #include "button.h"
 #include "cbi_ec_fw_config.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/retimer/pi3dpx1207.h"
@@ -52,6 +55,7 @@ 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;
 
 /* Rotation matrix for the lid accelerometer */
 static const mat33_fp_t lid_standard_ref = {
@@ -66,7 +70,58 @@ static const mat33_fp_t base_standard_ref = {
 	{ 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,
+		},
+		/* EC use accel for angle detection */
+		[SENSOR_CONFIG_EC_S3] = {
+			.odr = 10000 | ROUND_UP_FLAG,
+		},
+	},
+};
+
+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",
@@ -144,6 +199,24 @@ 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);
+}
+
 const struct power_signal_info power_signal_list[] = {
 	[X86_SLP_S3_N] = {
 		.gpio = GPIO_PCH_SLP_S3_L,
@@ -582,6 +655,7 @@ static void setup_fw_config(void)
 	if (ec_config_has_hdmi_retimer_pi3hdx1204())
 		gpio_enable_interrupt(GPIO_DP1_HPD_EC_IN);
 
+	setup_base_gyro_config();
 	setup_mux();
 }
 /* Use HOOK_PRIO_INIT_I2C + 2 to be after ioex_init(). */
diff --git a/board/woomax/board.h b/board/woomax/board.h
index 47754c46d7..d81c82f181 100644
--- a/board/woomax/board.h
+++ b/board/woomax/board.h
@@ -21,6 +21,9 @@
 #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_INTERRUPTS
 #define CONFIG_ACCEL_KX022
 #define CONFIG_CMD_ACCELS
@@ -206,6 +209,7 @@ extern const struct usb_mux usbc1_ps8802;
 extern const struct usb_mux usbc1_ps8818;
 extern struct usb_mux usbc1_amd_fp5_usb_mux;
 void hdmi_hpd_interrupt(enum gpio_signal signal);
+void motion_interrupt(enum gpio_signal signal);
 
 #endif /* !__ASSEMBLER__ */
 
diff --git a/board/woomax/gpio.inc b/board/woomax/gpio.inc
index b377291f74..ade15d3d4a 100644
--- a/board/woomax/gpio.inc
+++ b/board/woomax/gpio.inc
@@ -24,7 +24,7 @@ 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,	bmi160_interrupt)
+GPIO_INT(6AXIS_INT_L,		PIN(A, 0), GPIO_INT_FALLING | GPIO_PULL_UP,	motion_interrupt)
 GPIO_INT(TABLET_MODE_L,		PIN(4, 4), GPIO_INT_BOTH,			gmr_tablet_switch_isr)
 GPIO_INT(DP1_HPD_EC_IN,		PIN(7, 5), GPIO_INT_BOTH,			hdmi_hpd_interrupt)