cheza: Support accel/gyro

BUG=b:110006188
BRANCH=none
TEST=Move/rotate cheza rev1 board, and
'accelread' shows different readings

Change-Id: Iec89e800df9722f5bb53d91c3178dd99d30e5d4c
Signed-off-by: Philip Chen <philipchen@google.com>
Reviewed-on: https://chromium-review.googlesource.com/1090693
Commit-Ready: Philip Chen <philipchen@chromium.org>
Tested-by: Philip Chen <philipchen@chromium.org>
Reviewed-by: Alexandru M Stan <amstan@chromium.org>

4 files changed, 79 insertions, 1 deletions

diff --git a/board/cheza/board.c b/board/cheza/board.c
index 0409fb3885..c608ab583f 100644
--- a/board/cheza/board.c
+++ b/board/cheza/board.c
@@ -11,6 +11,7 @@
 #include "charge_state.h"
 #include "chipset.h"
 #include "extpower.h"
+#include "driver/accelgyro_bmi160.h"
 #include "driver/ppc/sn5s330.h"
 #include "driver/tcpm/anx74xx.h"
 #include "driver/tcpm/ps8xxx.h"
@@ -236,6 +237,9 @@ static void board_init(void)
 	/* Enable BC1.2 interrupts */
 	gpio_enable_interrupt(GPIO_USB_C0_BC12_INT_L);
 	gpio_enable_interrupt(GPIO_USB_C1_BC12_INT_L);
+
+	/* Enable interrupt for BMI160 sensor */
+	gpio_enable_interrupt(GPIO_ACCEL_GYRO_INT_L);
 }
 DECLARE_HOOK(HOOK_INIT, board_init, HOOK_PRIO_DEFAULT);
 
@@ -424,3 +428,60 @@ uint16_t tcpc_get_alert_status(void)
 	return status;
 }
 
+/* Mutexes */
+static struct mutex g_lid_mutex;
+
+static struct bmi160_drv_data_t g_bmi160_data;
+
+/* Matrix to rotate accelerometer into standard reference frame */
+const matrix_3x3_t base_standard_ref = {
+	{ FLOAT_TO_FP(-1), 0,  0},
+	{ 0,  FLOAT_TO_FP(-1),  0},
+	{ 0,  0, FLOAT_TO_FP(1)}
+};
+
+struct motion_sensor_t motion_sensors[] = {
+	/*
+	 * Note: bmi160: supports accelerometer and gyro sensor
+	 * Requirement: accelerometer sensor must init before gyro sensor
+	 * DO NOT change the order of the following table.
+	 */
+	[LID_ACCEL] = {
+	 .name = "Accel",
+	 .active_mask = SENSOR_ACTIVE_S0_S3_S5,
+	 .chip = MOTIONSENSE_CHIP_BMI160,
+	 .type = MOTIONSENSE_TYPE_ACCEL,
+	 .location = MOTIONSENSE_LOC_LID,
+	 .drv = &bmi160_drv,
+	 .mutex = &g_lid_mutex,
+	 .drv_data = &g_bmi160_data,
+	 .port = I2C_PORT_SENSOR,
+	 .addr = BMI160_ADDR0,
+	 .rot_standard_ref = &base_standard_ref,
+	 .default_range = 4,  /* g */
+	 .min_frequency = BMI160_ACCEL_MIN_FREQ,
+	 .max_frequency = BMI160_ACCEL_MAX_FREQ,
+	 .config = {
+		 [SENSOR_CONFIG_EC_S0] = {
+			 .odr = 10000 | ROUND_UP_FLAG,
+		 },
+	 },
+	},
+	[LID_GYRO] = {
+	 .name = "Gyro",
+	 .active_mask = SENSOR_ACTIVE_S0_S3_S5,
+	 .chip = MOTIONSENSE_CHIP_BMI160,
+	 .type = MOTIONSENSE_TYPE_GYRO,
+	 .location = MOTIONSENSE_LOC_LID,
+	 .drv = &bmi160_drv,
+	 .mutex = &g_lid_mutex,
+	 .drv_data = &g_bmi160_data,
+	 .port = I2C_PORT_SENSOR,
+	 .addr = BMI160_ADDR0,
+	 .default_range = 1000, /* dps */
+	 .rot_standard_ref = &base_standard_ref,
+	 .min_frequency = BMI160_GYRO_MIN_FREQ,
+	 .max_frequency = BMI160_GYRO_MAX_FREQ,
+	},
+};
+const unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
diff --git a/board/cheza/board.h b/board/cheza/board.h
index e91a4829fd..55e80c56aa 100644
--- a/board/cheza/board.h
+++ b/board/cheza/board.h
@@ -90,6 +90,15 @@
 #define CONFIG_USBC_VCONN
 #define CONFIG_USBC_VCONN_SWAP
 
+/* Sensors */
+#define CONFIG_ACCELGYRO_BMI160
+#define CONFIG_ACCEL_INTERRUPTS
+#define CONFIG_ACCELGYRO_BMI160_INT_EVENT TASK_EVENT_CUSTOM(4)
+#define CONFIG_ACCEL_FIFO 512
+#define CONFIG_ACCEL_FIFO_THRES (CONFIG_ACCEL_FIFO / 3)
+#define CONFIG_CMD_ACCELS
+#define CONFIG_CMD_ACCEL_INFO
+
 /* TODO(b/79163120): Use correct PD delay values, copied from Lux for rev-0 */
 #define PD_POWER_SUPPLY_TURN_ON_DELAY   30000  /* us */
 #define PD_POWER_SUPPLY_TURN_OFF_DELAY  250000 /* us */
@@ -112,6 +121,7 @@
 /* I2C Ports */
 #define I2C_PORT_BATTERY I2C_PORT_POWER
 #define I2C_PORT_CHARGER I2C_PORT_POWER
+#define I2C_PORT_ACCEL   I2C_PORT_SENSOR
 #define I2C_PORT_POWER   NPCX_I2C_PORT0_0
 #define I2C_PORT_TCPC0   NPCX_I2C_PORT1_0
 #define I2C_PORT_TCPC1   NPCX_I2C_PORT2_0
@@ -134,6 +144,12 @@ enum adc_channel {
 	ADC_CH_COUNT
 };
 
+/* Motion sensors */
+enum sensor_id {
+	LID_ACCEL = 0,
+	LID_GYRO,
+};
+
 void board_set_switchcap(int asserted);
 
 /* Custom function to indicate if sourcing VBUS */
diff --git a/board/cheza/ec.tasklist b/board/cheza/ec.tasklist
index 06acec6971..970f1df3f0 100644
--- a/board/cheza/ec.tasklist
+++ b/board/cheza/ec.tasklist
@@ -26,6 +26,7 @@
 	TASK_ALWAYS(USB_CHG_P1, usb_charger_task, NULL, TASK_STACK_SIZE) \
 	TASK_NOTEST(CHIPSET, chipset_task, NULL, LARGER_TASK_STACK_SIZE) \
 	TASK_ALWAYS(CHARGER, charger_task, NULL, LARGER_TASK_STACK_SIZE) \
+	TASK_ALWAYS(MOTIONSENSE, motion_sense_task, NULL, VENTI_TASK_STACK_SIZE) \
 	TASK_NOTEST(PDCMD, pd_command_task, NULL, TASK_STACK_SIZE) \
 	TASK_ALWAYS(HOSTCMD, host_command_task, NULL, LARGER_TASK_STACK_SIZE) \
 	TASK_ALWAYS(CONSOLE, console_task, NULL, LARGER_TASK_STACK_SIZE) \
diff --git a/board/cheza/gpio.inc b/board/cheza/gpio.inc
index a2820713a6..6dae084476 100644
--- a/board/cheza/gpio.inc
+++ b/board/cheza/gpio.inc
@@ -17,6 +17,7 @@ GPIO_INT(USB_C1_BC12_INT_L,    PIN(8, 2), GPIO_INT_FALLING, usb1_evt)  /* Interr
 GPIO_INT(USB_C0_VBUS_DET_L,    PIN(6, 2), GPIO_INT_BOTH | GPIO_PULL_UP, vbus0_evt)  /* BC1.2 VBUS detection on port-0 */
 GPIO_INT(USB_C1_VBUS_DET_L,    PIN(8, 3), GPIO_INT_BOTH | GPIO_PULL_UP, vbus1_evt)  /* BC1.2 VBUS detection on port-1 */
 GPIO_INT(USB_C0_CABLE_DET,     PIN(3, 7), GPIO_INT_RISING, anx74xx_cable_det_interrupt)  /* Cable detection from port-0 TCPC */
+GPIO_INT(ACCEL_GYRO_INT_L,     PIN(D, 3), GPIO_INT_RISING | GPIO_SEL_1P8V, bmi160_interrupt)  /* Accelerometer/gyro interrupt */
 
 /* System interrupts */
 /*
@@ -55,7 +56,6 @@ GPIO(BL_DISABLE_L,          PIN(2, 6), GPIO_OUT_HIGH)  /* EC_BL_DISABLE_L: Backl
 /* Sensors */
 GPIO(ALS_INT_L,             PIN(5, 0), GPIO_INPUT)     /* ALS sensor interrupt */
 GPIO(P_SENSOR_INT_L,        PIN(1, 4), GPIO_INPUT)     /* P-sensor interrupt */
-GPIO(ACCEL_GYRO_INT_L,      PIN(D, 3), GPIO_INPUT)     /* Accelerometer/gyro interrupt */
 GPIO(RCAM_VSYNC,            PIN(4, 0), GPIO_INPUT)     /* VSYNC from rear camera */
 
 /* Base */