guybrush: enable BMI323 sensor on guybrush

Enable BMI323 sensor as BASE ACCEL and BASE GYRO on guybrush board.

BRANCH=none
BUG=b:178398789
TEST=Accel implementation tested on Guybrush
     EC commands:
     > accelinfo
     > acceldata

Signed-off-by: Bhanu Prakash Maiya <bhanumaiya@chromium.org>
Change-Id: I1bda8d0836dcb62b0d4a33750246a15931c77389
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/2984744
Commit-Queue: Bhanu Prakash Maiya <bhanumaiya@google.com>
Tested-by: Bhanu Prakash Maiya <bhanumaiya@google.com>
Auto-Submit: Bhanu Prakash Maiya <bhanumaiya@google.com>
Reviewed-by: Diana Z <dzigterman@chromium.org>

4 files changed, 123 insertions, 27 deletions

diff --git a/board/guybrush/board.c b/board/guybrush/board.c
index 09406e481c..917d2c4613 100644
--- a/board/guybrush/board.c
+++ b/board/guybrush/board.c
@@ -5,10 +5,14 @@
 
 /* Guybrush board-specific configuration */
 
+#include "base_fw_config.h"
+#include "board_fw_config.h"
 #include "button.h"
 #include "common.h"
+#include "cros_board_info.h"
 #include "driver/accelgyro_bmi_common.h"
 #include "driver/accelgyro_bmi160.h"
+#include "driver/accelgyro_bmi323.h"
 #include "driver/accel_bma422.h"
 #include "driver/retimer/ps8811.h"
 #include "driver/retimer/ps8818.h"
@@ -26,24 +30,25 @@
 
 #include "gpio_list.h" /* Must come after other header files. */
 
-/* Lid Sensor mutex */
+/* Motion sensor mutex */
 static struct mutex g_lid_mutex;
 static struct mutex g_base_mutex;
 
-/* Lid accel private data */
+/* Motion sensor private data */
 static struct bmi_drv_data_t g_bmi160_data;
+static struct bmi3xx_drv_data g_bmi323_data;
 static struct accelgyro_saved_data_t g_bma422_data;
 
 /* Matrix to rotate accelrator into standard reference frame */
 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)}
+	{ FLOAT_TO_FP(-1), 0, 0},
+	{ 0, FLOAT_TO_FP(1),  0},
+	{ 0, 0,  FLOAT_TO_FP(-1)}
 };
 
 const mat33_fp_t lid_standard_ref = {
-	{ FLOAT_TO_FP(-1), 0,  0},
-	{ 0, FLOAT_TO_FP(-1), 0},
+	{ 0, FLOAT_TO_FP(1), 0},
+	{ FLOAT_TO_FP(-1), 0, 0},
 	{ 0, 0,  FLOAT_TO_FP(1)}
 };
 
@@ -51,14 +56,14 @@ struct motion_sensor_t motion_sensors[] = {
 	[BASE_ACCEL] = {
 		.name = "Base Accel",
 		.active_mask = SENSOR_ACTIVE_S0_S3,
-		.chip = MOTIONSENSE_CHIP_BMI160,
+		.chip = MOTIONSENSE_CHIP_BMI323,
 		.type = MOTIONSENSE_TYPE_ACCEL,
 		.location = MOTIONSENSE_LOC_BASE,
-		.drv = &bmi160_drv,
+		.drv = &bmi3xx_drv,
 		.mutex = &g_base_mutex,
-		.drv_data = &g_bmi160_data,
+		.drv_data = &g_bmi323_data,
 		.port = I2C_PORT_SENSOR,
-		.i2c_spi_addr_flags = BMI160_ADDR0_FLAGS,
+		.i2c_spi_addr_flags = BMI3_ADDR_I2C_PRIM,
 		.rot_standard_ref = &base_standard_ref,
 		.min_frequency = BMI_ACCEL_MIN_FREQ,
 		.max_frequency = BMI_ACCEL_MAX_FREQ,
@@ -107,27 +112,67 @@ struct motion_sensor_t motion_sensors[] = {
 	[BASE_GYRO] = {
 		.name = "Base Gyro",
 		.active_mask = SENSOR_ACTIVE_S0_S3,
-		.chip = MOTIONSENSE_CHIP_BMI160,
+		.chip = MOTIONSENSE_CHIP_BMI323,
 		.type = MOTIONSENSE_TYPE_GYRO,
 		.location = MOTIONSENSE_LOC_BASE,
-		.drv = &bmi160_drv,
+		.drv = &bmi3xx_drv,
 		.mutex = &g_base_mutex,
-		.drv_data = &g_bmi160_data,
+		.drv_data = &g_bmi323_data,
 		.port = I2C_PORT_SENSOR,
-		.i2c_spi_addr_flags = BMI160_ADDR0_FLAGS,
+		.i2c_spi_addr_flags = BMI3_ADDR_I2C_PRIM,
 		.default_range = 1000, /* dps */
 		.rot_standard_ref = &base_standard_ref,
 		.min_frequency = BMI_GYRO_MIN_FREQ,
 		.max_frequency = BMI_GYRO_MAX_FREQ,
 	},
 };
-const unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
+unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
 
-static void board_init(void)
-{
-	/* TODO */
-}
-DECLARE_HOOK(HOOK_INIT, board_init, HOOK_PRIO_DEFAULT);
+struct motion_sensor_t bmi160_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 = &base_standard_ref,
+	.min_frequency = BMI_ACCEL_MIN_FREQ,
+	.max_frequency = BMI_ACCEL_MAX_FREQ,
+	.default_range = 4,  /* g, to meet CDD 7.3.1/C-1-4 reqs */
+	.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 = 0,
+		},
+	},
+};
+
+struct motion_sensor_t bmi160_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 = &base_standard_ref,
+	.min_frequency = BMI_GYRO_MIN_FREQ,
+	.max_frequency = BMI_GYRO_MAX_FREQ,
+};
 
 __override enum ec_error_list
 board_a1_ps8811_retimer_init(const struct usb_mux *me)
@@ -241,19 +286,54 @@ uint16_t board_anx7451_get_usb_i2c_addr(const struct usb_mux *me)
 	return 0x2a;
 }
 
+/*
+ * Base Gyro Sensor dynamic configuration
+ */
+static int base_gyro_config;
+
+static void board_update_motion_sensor_config(void)
+{
+	if (board_is_convertible()) {
+		if (get_board_version() == 1) {
+			motion_sensors[BASE_ACCEL] = bmi160_base_accel;
+			motion_sensors[BASE_GYRO] = bmi160_base_gyro;
+			base_gyro_config = BASE_GYRO_BMI160;
+			ccprints("BASE GYRO is BMI160");
+		} else {
+			base_gyro_config = BASE_GYRO_BMI323;
+			ccprints("BASE GYRO is BMI323");
+		}
+
+		motion_sensor_count = ARRAY_SIZE(motion_sensors);
+		/* Enable Base Accel and Gyro interrupt */
+		gpio_enable_interrupt(GPIO_6AXIS_INT_L);
+	} else {
+		motion_sensor_count = 0;
+		gmr_tablet_switch_disable();
+		/* Base accel is not stuffed, don't allow line to float */
+		gpio_set_flags(GPIO_6AXIS_INT_L, GPIO_INPUT | GPIO_PULL_DOWN);
+	}
+}
+
 void motion_interrupt(enum gpio_signal signal)
 {
-	switch (signal) {
-	case GPIO_3AXIS_INT_L:
-		/* TODO */
+	switch (base_gyro_config) {
+	case BASE_GYRO_BMI160:
+		bmi160_interrupt(signal);
 		break;
-	case GPIO_6AXIS_INT_L:
+	case BASE_GYRO_BMI323:
 	default:
-		bmi160_interrupt(signal);
+		bmi3xx_interrupt(signal);
 		break;
 	}
 }
 
+static void board_init(void)
+{
+	board_update_motion_sensor_config();
+}
+DECLARE_HOOK(HOOK_INIT, board_init, HOOK_PRIO_DEFAULT);
+
 static void board_chipset_startup(void)
 {
 	if (get_board_version() > 1)
diff --git a/board/guybrush/board.h b/board/guybrush/board.h
index 5c6bc9bbcb..49c0537983 100644
--- a/board/guybrush/board.h
+++ b/board/guybrush/board.h
@@ -19,6 +19,9 @@
 #define CONFIG_ACCELGYRO_BMI160
 #define CONFIG_ACCELGYRO_BMI160_INT_EVENT \
 	TASK_EVENT_MOTION_SENSOR_INTERRUPT(BASE_ACCEL)
+#define CONFIG_ACCELGYRO_BMI3XX
+#define CONFIG_ACCELGYRO_BMI3XX_INT_EVENT \
+	TASK_EVENT_MOTION_SENSOR_INTERRUPT(BASE_ACCEL)
 #define CONFIG_ACCEL_INTERRUPTS
 #define CONFIG_ACCEL_BMA4XX
 
@@ -64,6 +67,12 @@ enum battery_type {
 	BATTERY_TYPE_COUNT,
 };
 
+enum base_accelgyro_type {
+	BASE_GYRO_NONE = 0,
+	BASE_GYRO_BMI160 = 1,
+	BASE_GYRO_BMI323 = 2,
+};
+
 #endif /* !__ASSEMBLER__ */
 
 #endif /* __CROS_EC_BOARD_H */
diff --git a/board/guybrush/board_fw_config.c b/board/guybrush/board_fw_config.c
index b971ad7301..c919d82851 100644
--- a/board/guybrush/board_fw_config.c
+++ b/board/guybrush/board_fw_config.c
@@ -6,6 +6,13 @@
 #include "base_fw_config.h"
 #include "board_fw_config.h"
 
+bool board_is_convertible(void)
+{
+	return (get_fw_config_field(FW_CONFIG_FORM_FACTOR_OFFSET,
+			FW_CONFIG_FORM_FACTOR_WIDTH)
+			== FW_CONFIG_FORM_FACTOR_CONVERTIBLE);
+}
+
 bool board_has_kblight(void)
 {
 	return (get_fw_config_field(FW_CONFIG_KBLIGHT_OFFSET,
diff --git a/board/guybrush/board_fw_config.h b/board/guybrush/board_fw_config.h
index 80098d8eff..1de417d77a 100644
--- a/board/guybrush/board_fw_config.h
+++ b/board/guybrush/board_fw_config.h
@@ -24,7 +24,7 @@
 #define FW_CONFIG_FORM_FACTOR_OFFSET		2
 #define FW_CONFIG_FORM_FACTOR_WIDTH		1
 #define FW_CONFIG_FORM_FACTOR_CLAMSHELL		0
-#define FW_CONFIG_FORM_FACTOR_CONVERTIABLE	1
+#define FW_CONFIG_FORM_FACTOR_CONVERTIBLE	1
 
 /*
  * Keyboard Backlight (1 bit)