sensors: add bmi160 & kionix orientation driver

BRANCH=none
BUG=chromium:718919
TEST=make buildall -j works, orientation works when enabled on gru
and scarlet.

Change-Id: I16dcfa5d9dea39c082d98190fa1bb6e496168b17
Signed-off-by: Nick Vaccaro <nvaccaro@chromium.org>
Reviewed-on: https://chromium-review.googlesource.com/540124
Tested-by: Nick Vaccaro <nvaccaro@google.com>
Reviewed-by: Gwendal Grignou <gwendal@chromium.org>

5 files changed, 178 insertions, 2 deletions

diff --git a/driver/accel_kionix.c b/driver/accel_kionix.c
index 7323abf6f0..8697a17d66 100644
--- a/driver/accel_kionix.c
+++ b/driver/accel_kionix.c
@@ -253,6 +253,12 @@ static int enable_sensor(const struct motion_sensor_t *s, int reg_val)
 		if (ret != EC_SUCCESS)
 			continue;
 
+#ifdef CONFIG_KX022_ORIENTATION_SENSOR
+		/* Enable tilt orientation mode  if lid sensor */
+		if ((s->location == MOTIONSENSE_LOC_LID) && (V(s) == 0))
+			reg_val |= KX022_CNTL1_TPE;
+#endif
+
 		/* Enable accelerometer based on reg_val value. */
 		ret = raw_write8(s->port, s->addr, reg,
 				reg_val | pc1_field);
@@ -394,6 +400,55 @@ static int get_offset(const struct motion_sensor_t *s, int16_t *offset,
 	return EC_SUCCESS;
 }
 
+#ifdef CONFIG_KX022_ORIENTATION_SENSOR
+static enum motionsensor_orientation kx022_convert_orientation(
+		const struct motion_sensor_t *s,
+		int orientation)
+{
+	enum motionsensor_orientation res = MOTIONSENSE_ORIENTATION_UNKNOWN;
+
+	switch (orientation) {
+	case KX022_ORIENT_PORTRAIT:
+		res = MOTIONSENSE_ORIENTATION_PORTRAIT;
+		break;
+	case KX022_ORIENT_INVERT_PORTRAIT:
+		res = MOTIONSENSE_ORIENTATION_UPSIDE_DOWN_PORTRAIT;
+		break;
+	case KX022_ORIENT_LANDSCAPE:
+		res = MOTIONSENSE_ORIENTATION_LANDSCAPE;
+		break;
+	case KX022_ORIENT_INVERT_LANDSCAPE:
+		res = MOTIONSENSE_ORIENTATION_UPSIDE_DOWN_LANDSCAPE;
+		break;
+	default:
+		break;
+	}
+	res = motion_sense_remap_orientation(s, res);
+	return res;
+}
+
+static int check_orientation_locked(const struct motion_sensor_t *s)
+{
+	struct kionix_accel_data *data = s->drv_data;
+	int orientation, raw_orientation;
+	int ret;
+
+	ret = raw_read8(s->port, s->addr,
+			KX022_TSCP, &raw_orientation);
+	if (ret != EC_SUCCESS)
+		return ret;
+
+	/* mask off up and down events, we don't care about those */
+	raw_orientation &= KX022_ORIENT_MASK;
+	if (raw_orientation && (raw_orientation != data->raw_orientation)) {
+		data->raw_orientation = raw_orientation;
+		orientation = kx022_convert_orientation(s, raw_orientation);
+		SET_ORIENTATION(s, orientation);
+	}
+	return ret;
+}
+#endif
+
 static int read(const struct motion_sensor_t *s, vector_3_t v)
 {
 	uint8_t acc[6];
@@ -405,6 +460,11 @@ static int read(const struct motion_sensor_t *s, vector_3_t v)
 	reg = KIONIX_XOUT_L(V(s));
 	mutex_lock(s->mutex);
 	ret = raw_read_multi(s->port, s->addr, reg, acc, 6);
+#ifdef CONFIG_KX022_ORIENTATION_SENSOR
+	if ((s->location == MOTIONSENSE_LOC_LID) && (V(s) == 0) &&
+			(ret == EC_SUCCESS))
+		ret = check_orientation_locked(s);
+#endif
 	mutex_unlock(s->mutex);
 
 	if (ret != EC_SUCCESS)
diff --git a/driver/accel_kionix.h b/driver/accel_kionix.h
index aeac666039..79d6374917 100644
--- a/driver/accel_kionix.h
+++ b/driver/accel_kionix.h
@@ -30,6 +30,11 @@ struct kionix_accel_data {
 	/* Current resolution of accelerometer. */
 	int sensor_resolution;
 	int16_t offset[3];
+#ifdef CONFIG_KX022_ORIENTATION_SENSOR
+	int8_t raw_orientation;
+	enum motionsensor_orientation orientation;
+	enum motionsensor_orientation last_orientation;
+#endif
 };
 
 extern const struct accelgyro_drv kionix_accel_drv;
@@ -77,4 +82,20 @@ extern const struct accelgyro_drv kionix_accel_drv;
 extern struct i2c_stress_test_dev kionix_i2c_stress_test_dev;
 #endif
 
+#ifdef CONFIG_KX022_ORIENTATION_SENSOR
+#define ORIENTATION_CHANGED(_sensor) \
+	(((struct kionix_accel_data *)(_sensor->drv_data))->orientation != \
+	((struct kionix_accel_data *)(_sensor->drv_data))->last_orientation)
+
+#define GET_ORIENTATION(_sensor) \
+	(((struct kionix_accel_data *)(_sensor->drv_data))->orientation)
+
+#define SET_ORIENTATION(_sensor, _val) \
+	(((struct kionix_accel_data *)(_sensor->drv_data))->orientation = _val)
+
+#define SET_ORIENTATION_UPDATED(_sensor) \
+	(((struct kionix_accel_data *)(_sensor->drv_data))->last_orientation = \
+	((struct kionix_accel_data *)(_sensor->drv_data))->orientation)
+#endif
+
 #endif /* __CROS_EC_ACCEL_KIONIX_H */
diff --git a/driver/accel_kx022.h b/driver/accel_kx022.h
index 7b1ea89c43..7fd7508395 100644
--- a/driver/accel_kx022.h
+++ b/driver/accel_kx022.h
@@ -74,6 +74,17 @@
 
 #define KX022_CNTL1_PC1		(1 << 7)
 #define KX022_CNTL1_WUFE	(1 << 1)
+#define KX022_CNTL1_TPE		(1 << 0)
+
+/* TSCP orientations */
+#define KX022_ORIENT_PORTRAIT		(1 << 2)
+#define KX022_ORIENT_INVERT_PORTRAIT	(1 << 3)
+#define KX022_ORIENT_LANDSCAPE		(1 << 4)
+#define KX022_ORIENT_INVERT_LANDSCAPE	(1 << 5)
+#define KX022_ORIENT_MASK		(KX022_ORIENT_PORTRAIT | \
+					 KX022_ORIENT_INVERT_PORTRAIT | \
+					 KX022_ORIENT_LANDSCAPE | \
+					 KX022_ORIENT_INVERT_LANDSCAPE)
 
 #define KX022_CNTL2_SRST	(1 << 7)
 
diff --git a/driver/accelgyro_bmi160.c b/driver/accelgyro_bmi160.c
index e63aefcb34..dcba2ae17f 100644
--- a/driver/accelgyro_bmi160.c
+++ b/driver/accelgyro_bmi160.c
@@ -796,6 +796,16 @@ static int config_interrupt(const struct motion_sensor_t *s)
 	ret = raw_write8(s->port, s->addr, BMI160_INT_TAP_1,
 		BMI160_TAP_TH(s, CONFIG_GESTURE_TAP_THRES_MG));
 #endif
+#ifdef CONFIG_BMI160_ORIENTATION_SENSOR
+	/* only use orientation sensor on the lid sensor */
+	if (s->location == MOTIONSENSE_LOC_LID) {
+		ret = raw_write8(s->port, s->addr, BMI160_INT_ORIENT_0,
+			BMI160_INT_ORIENT_0_INIT_VAL);
+		ret = raw_write8(s->port, s->addr, BMI160_INT_ORIENT_1,
+			BMI160_INT_ORIENT_1_INIT_VAL);
+	}
+#endif
+
 	/*
 	 * Set a 5ms latch to be sure the EC can read the interrupt register
 	 * properly, even when it is running more slowly.
@@ -820,6 +830,11 @@ static int config_interrupt(const struct motion_sensor_t *s)
 #ifdef CONFIG_GESTURE_SENSOR_BATTERY_TAP
 	tmp |= BMI160_INT_D_TAP;
 #endif
+#ifdef CONFIG_BMI160_ORIENTATION_SENSOR
+	/* enable orientation interrupt for lid sensor only */
+	if (s->location == MOTIONSENSE_LOC_LID)
+		tmp |= BMI160_INT_ORIENT;
+#endif
 	ret = raw_write8(s->port, s->addr, BMI160_INT_MAP_REG(1), tmp);
 
 #ifdef CONFIG_ACCEL_FIFO
@@ -859,6 +874,9 @@ static int config_interrupt(const struct motion_sensor_t *s)
 static int irq_handler(struct motion_sensor_t *s, uint32_t *event)
 {
 	int interrupt;
+#ifdef CONFIG_BMI160_ORIENTATION_SENSOR
+	int shifted_masked_orientation;
+#endif
 
 	if ((s->type != MOTIONSENSE_TYPE_ACCEL) ||
 	    (!(*event & CONFIG_ACCELGYRO_BMI160_INT_EVENT)))
@@ -874,6 +892,37 @@ static int irq_handler(struct motion_sensor_t *s, uint32_t *event)
 	if (interrupt & BMI160_SIGMOT_INT)
 		*event |= CONFIG_GESTURE_SIGMO_EVENT;
 #endif
+#ifdef CONFIG_BMI160_ORIENTATION_SENSOR
+	shifted_masked_orientation = (interrupt >> 24) & BMI160_ORIENT_XY_MASK;
+	if (BMI160_GET_DATA(s)->raw_orientation != shifted_masked_orientation) {
+		enum motionsensor_orientation orientation =
+				MOTIONSENSE_ORIENTATION_UNKNOWN;
+
+		BMI160_GET_DATA(s)->raw_orientation =
+				shifted_masked_orientation;
+
+		switch (shifted_masked_orientation) {
+		case BMI160_ORIENT_PORTRAIT:
+			orientation = MOTIONSENSE_ORIENTATION_PORTRAIT;
+			break;
+		case BMI160_ORIENT_PORTRAIT_INVERT:
+			orientation =
+				MOTIONSENSE_ORIENTATION_UPSIDE_DOWN_PORTRAIT;
+			break;
+		case BMI160_ORIENT_LANDSCAPE:
+			orientation = MOTIONSENSE_ORIENTATION_LANDSCAPE;
+			break;
+		case BMI160_ORIENT_LANDSCAPE_INVERT:
+			orientation =
+				MOTIONSENSE_ORIENTATION_UPSIDE_DOWN_LANDSCAPE;
+			break;
+		default:
+			break;
+		}
+		orientation = motion_sense_remap_orientation(s, orientation);
+		SET_ORIENTATION(s, orientation);
+	}
+#endif
 	/*
 	 * No need to read the FIFO here, motion sense task is
 	 * doing it on every interrupt.
diff --git a/driver/accelgyro_bmi160.h b/driver/accelgyro_bmi160.h
index bc31186344..0682d03171 100644
--- a/driver/accelgyro_bmi160.h
+++ b/driver/accelgyro_bmi160.h
@@ -99,6 +99,12 @@
 #define BMI160_S_TAP_INT           (1 << 5)
 #define BMI160_ORIENT_INT          (1 << 6)
 #define BMI160_FLAT_INT            (1 << 7)
+#define BMI160_ORIENT_XY_MASK	   0x30
+#define BMI160_ORIENT_PORTRAIT		(0 << 4)
+#define BMI160_ORIENT_PORTRAIT_INVERT	(1 << 4)
+#define BMI160_ORIENT_LANDSCAPE		(2 << 4)
+#define BMI160_ORIENT_LANDSCAPE_INVERT	(3 << 4)
+
 
 #define BMI160_INT_STATUS_1    0x1d
 #define BMI160_HIGHG_INT           (1 << (2 + 8))
@@ -333,8 +339,15 @@ enum fifo_header {
 #define BMI160_TAP_TH(_s, _mg) \
 	 (MIN(((_mg) * 1000) / ((_s)->drv->get_range(_s) * 31250), 0x1f))
 
-#define BMI160_INT_ORIENT_0    0x65
-#define BMI160_INT_ORIENT_1    0x66
+#define BMI160_INT_ORIENT_0				0x65
+
+/* No hysterisis, theta block, int on slope > 0.2 or axis > 1.5, symmetrical */
+#define BMI160_INT_ORIENT_0_INIT_VAL			0x48
+
+#define BMI160_INT_ORIENT_1				0x66
+
+/* no axes remap, no int on up/down, no blocking angle */
+#define BMI160_INT_ORIENT_1_INIT_VAL			0x00
 
 #define BMI160_INT_FLAT_0      0x67
 #define BMI160_INT_FLAT_1      0x68
@@ -449,6 +462,12 @@ struct bmi160_drv_data_t {
 #ifdef CONFIG_MAG_BMI160_BMM150
 	struct bmm150_private_data compass;
 #endif
+#ifdef CONFIG_BMI160_ORIENTATION_SENSOR
+	uint8_t raw_orientation;
+	enum motionsensor_orientation orientation;
+	enum motionsensor_orientation last_orientation;
+#endif
+
 };
 
 #define BMI160_GET_DATA(_s) \
@@ -456,6 +475,22 @@ struct bmi160_drv_data_t {
 #define BMI160_GET_SAVED_DATA(_s) \
 	(&BMI160_GET_DATA(_s)->saved_data[(_s)->type])
 
+#ifdef CONFIG_BMI160_ORIENTATION_SENSOR
+#define ORIENTATION_CHANGED(_sensor) \
+	(BMI160_GET_DATA(_sensor)->orientation != \
+	BMI160_GET_DATA(_sensor)->last_orientation)
+
+#define GET_ORIENTATION(_sensor) \
+	(BMI160_GET_DATA(_sensor)->orientation)
+
+#define SET_ORIENTATION(_sensor, _val) \
+	(BMI160_GET_DATA(_sensor)->orientation = _val)
+
+#define SET_ORIENTATION_UPDATED(_sensor) \
+	(BMI160_GET_DATA(_sensor)->last_orientation = \
+	BMI160_GET_DATA(_sensor)->orientation)
+#endif
+
 void bmi160_interrupt(enum gpio_signal signal);
 
 #ifdef CONFIG_MAG_BMI160_BMM150