volteer: Add board config for BMI260

Add board config of volteer for supportting BMI260.

BRANCH=None
BUG=b:146144827
TEST=make -j4 BOARD=volteer \
     && flash_ec --image build/volteer/ec.bin --board volteer
     Then, check sensor data is available on DUT by ectool motionsense.
TEST=make buildall -j
TEST=tast run ${IP} hardware.SensorRing

Change-Id: Iff5ea63d9c22ec63adc27f293e2f338a5aca5480
Signed-off-by: Ching-Kang Yen <chingkang@chromium.org>
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/2097805
Reviewed-by: Gwendal Grignou <gwendal@chromium.org>
Reviewed-by: Keith Short <keithshort@chromium.org>
Tested-by: Keith Short <keithshort@chromium.org>
Commit-Queue: Keith Short <keithshort@chromium.org>

4 files changed, 69 insertions, 0 deletions

diff --git a/board/volteer/board.c b/board/volteer/board.c
index dd418de1c1..dc81ada7d5 100644
--- a/board/volteer/board.c
+++ b/board/volteer/board.c
@@ -9,6 +9,7 @@
 #include "common.h"
 #include "accelgyro.h"
 #include "driver/accel_bma2x2.h"
+#include "driver/accelgyro_bmi260.h"
 #include "driver/als_tcs3400.h"
 #include "driver/retimer/bb_retimer.h"
 #include "driver/sync.h"
diff --git a/board/volteer/board.h b/board/volteer/board.h
index 4832be6469..71a96e5c5b 100644
--- a/board/volteer/board.h
+++ b/board/volteer/board.h
@@ -25,6 +25,11 @@
 /* BMA253 accelerometer in base */
 #define CONFIG_ACCEL_BMA255
 
+/* BMI260 accel/gyro in base */
+#define CONFIG_ACCELGYRO_BMI260
+#define CONFIG_ACCELGYRO_BMI260_INT_EVENT \
+	TASK_EVENT_MOTION_SENSOR_INTERRUPT(BASE_ACCEL)
+
 /* TCS3400 ALS */
 #define CONFIG_ALS
 #define ALS_COUNT		1
@@ -87,6 +92,7 @@
 
 /* I2C Bus Configuration */
 #define CONFIG_I2C
+#define I2C_PORT_ACCEL		I2C_PORT_SENSOR
 #define I2C_PORT_SENSOR		NPCX_I2C_PORT0_0
 #define I2C_PORT_USB_C0		NPCX_I2C_PORT1_0
 #define I2C_PORT_USB_C1		NPCX_I2C_PORT2_0
@@ -113,6 +119,8 @@ enum battery_type {
 
 enum sensor_id {
 	LID_ACCEL = 0,
+	BASE_ACCEL,
+	BASE_GYRO,
 	CLEAR_ALS,
 	RGB_ALS,
 	VSYNC,
diff --git a/board/volteer/gpio.inc b/board/volteer/gpio.inc
index ce1c1eae43..111e125225 100644
--- a/board/volteer/gpio.inc
+++ b/board/volteer/gpio.inc
@@ -30,6 +30,7 @@ GPIO_INT(DSW_PWROK,            PIN(C, 7), GPIO_INT_BOTH, power_signal_interrupt)
 GPIO_INT(PG_EC_ALL_SYS_PWRGD,  PIN(F, 4),  GPIO_INT_BOTH, power_signal_interrupt)
 
 /* Sensor Interrupts */
+GPIO_INT(EC_IMU_INT_L,         PIN(5, 6), GPIO_INT_FALLING | GPIO_SEL_1P8V, bmi260_interrupt)
 GPIO_INT(EC_CAM_VSYN_SLP_S0IX, PIN(7, 2), GPIO_INT_RISING, sync_interrupt)
 GPIO_INT(EC_ALS_RGB_INT_L,     PIN(D, 4), GPIO_INT_FALLING, tcs3400_interrupt)
 GPIO_INT(TABLET_MODE_L,        PIN(9, 5), GPIO_INT_BOTH, gmr_tablet_switch_isr)
diff --git a/board/volteer/sensors.c b/board/volteer/sensors.c
index e13d7fd57e..f59c199e07 100644
--- a/board/volteer/sensors.c
+++ b/board/volteer/sensors.c
@@ -7,20 +7,27 @@
 #include "common.h"
 #include "accelgyro.h"
 #include "driver/accel_bma2x2.h"
+#include "driver/accelgyro_bmi_common.h"
+#include "driver/accelgyro_bmi260.h"
 #include "driver/als_tcs3400.h"
 #include "driver/sync.h"
 #include "keyboard_scan.h"
 #include "hooks.h"
+#include "i2c.h"
 #include "task.h"
 #include "util.h"
 
 /******************************************************************************/
 /* Sensors */
 static struct mutex g_lid_accel_mutex;
+static struct mutex g_base_mutex;
 
 /* BMA253 private data */
 static struct accelgyro_saved_data_t g_bma253_data;
 
+/* BMI260 private data */
+static struct bmi_drv_data_t g_bmi260_data;
+
 /* TCS3400 private data */
 static struct als_drv_data_t g_tcs3400_data = {
 	.als_cal.scale = 1,
@@ -86,6 +93,12 @@ static const mat33_fp_t lid_standard_ref = {
 	{ 0, 0, FLOAT_TO_FP(-1)}
 };
 
+const mat33_fp_t base_standard_ref = {
+	{ 0, FLOAT_TO_FP(1), 0},
+	{ FLOAT_TO_FP(-1), 0, 0},
+	{ 0, 0, FLOAT_TO_FP(1)}
+};
+
 struct motion_sensor_t motion_sensors[] = {
 	[LID_ACCEL] = {
 		.name = "Lid Accel",
@@ -113,7 +126,51 @@ struct motion_sensor_t motion_sensors[] = {
 			},
 		},
 	},
+	[BASE_ACCEL] = {
+		.name = "Base Accel",
+		.active_mask = SENSOR_ACTIVE_S0_S3,
+		.chip = MOTIONSENSE_CHIP_BMI260,
+		.type = MOTIONSENSE_TYPE_ACCEL,
+		.location = MOTIONSENSE_LOC_BASE,
+		.drv = &bmi260_drv,
+		.mutex = &g_base_mutex,
+		.drv_data = &g_bmi260_data,
+		.port = I2C_PORT_SENSOR,
+		.i2c_spi_addr_flags = BMI260_ADDR0_FLAGS,
+		.rot_standard_ref = &base_standard_ref,
+		.min_frequency = BMI_ACCEL_MIN_FREQ,
+		.max_frequency = BMI_ACCEL_MAX_FREQ,
+		.default_range = 4, /* g */
+		.config = {
+			/* EC use accel for angle detection */
+			[SENSOR_CONFIG_EC_S0] = {
+				.odr = 10000 | ROUND_UP_FLAG,
+				.ec_rate = 100 * MSEC,
+			},
+			/* Sensor on in S3 */
+			[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_BMI260,
+		.type = MOTIONSENSE_TYPE_GYRO,
+		.location = MOTIONSENSE_LOC_BASE,
+		.drv = &bmi260_drv,
+		.mutex = &g_base_mutex,
+		.drv_data = &g_bmi260_data,
+		.port = I2C_PORT_SENSOR,
+		.i2c_spi_addr_flags = BMI260_ADDR0_FLAGS,
+		.default_range = 1000, /* dps */
+		.rot_standard_ref = &base_standard_ref,
+		.min_frequency = BMI_GYRO_MIN_FREQ,
+		.max_frequency = BMI_GYRO_MAX_FREQ,
+	},
 	[CLEAR_ALS] = {
 		.name = "Clear Light",
 		.active_mask = SENSOR_ACTIVE_S0_S3,
@@ -180,5 +237,7 @@ static void baseboard_sensors_init(void)
 	gpio_enable_interrupt(GPIO_EC_CAM_VSYN_SLP_S0IX);
 	/* Enable interrupt for the TCS3400 color light sensor */
 	gpio_enable_interrupt(GPIO_EC_ALS_RGB_INT_L);
+	/* Enable interrupt for the BMI260 accel/gyro sensor */
+	gpio_enable_interrupt(GPIO_EC_IMU_INT_L);
 }
 DECLARE_HOOK(HOOK_INIT, baseboard_sensors_init, HOOK_PRIO_DEFAULT);