2 files changed, 63 insertions, 2 deletions

diff --git a/board/voxel/board.h b/board/voxel/board.h
index 1ef0548210..a672cf8bc1 100644
--- a/board/voxel/board.h
+++ b/board/voxel/board.h
@@ -47,10 +47,13 @@
 /* BMI160 Base accel/gyro */
 #define CONFIG_ACCELGYRO_BMI160
 #define CONFIG_ACCELGYRO_ICM426XX	/* Base accel second source*/
+#define CONFIG_ACCELGYRO_ICM42607	/* Base accel second source*/
 #define CONFIG_ACCELGYRO_BMI160_INT_EVENT \
 	TASK_EVENT_MOTION_SENSOR_INTERRUPT(BASE_ACCEL)
 #define CONFIG_ACCELGYRO_ICM426XX_INT_EVENT \
 	TASK_EVENT_MOTION_SENSOR_INTERRUPT(BASE_ACCEL)
+#define CONFIG_ACCELGYRO_ICM42607_INT_EVENT \
+	TASK_EVENT_MOTION_SENSOR_INTERRUPT(BASE_ACCEL)
 
 /* Lid operates in forced mode, base in FIFO */
 #define CONFIG_ACCEL_FORCE_MODE_MASK BIT(LID_ACCEL)
diff --git a/board/voxel/sensors.c b/board/voxel/sensors.c
index 00092dfe4e..ac444ad840 100644
--- a/board/voxel/sensors.c
+++ b/board/voxel/sensors.c
@@ -14,6 +14,7 @@
 #include "driver/accelgyro_bmi160.h"
 #include "driver/accelgyro_icm_common.h"
 #include "driver/accelgyro_icm426xx.h"
+#include "driver/accelgyro_icm42607.h"
 #include "driver/als_tcs3400.h"
 #include "driver/sync.h"
 #include "keyboard_scan.h"
@@ -130,6 +131,52 @@ struct motion_sensor_t icm426xx_base_gyro = {
 	.max_frequency = ICM426XX_GYRO_MAX_FREQ,
 };
 
+struct motion_sensor_t icm42607_base_accel = {
+	.name = "Base Accel",
+	.active_mask = SENSOR_ACTIVE_S0_S3,
+	.chip = MOTIONSENSE_CHIP_ICM42607,
+	.type = MOTIONSENSE_TYPE_ACCEL,
+	.location = MOTIONSENSE_LOC_BASE,
+	.drv = &icm42607_drv,
+	.mutex = &g_base_mutex,
+	.drv_data = &g_icm426xx_data,
+	.port = I2C_PORT_SENSOR,
+	.i2c_spi_addr_flags = ICM42607_ADDR0_FLAGS,
+	.default_range = 4, /* g, to meet CDD 7.3.1/C-1-4 reqs.*/
+	.rot_standard_ref = &base_icm_ref,
+	.min_frequency = ICM42607_ACCEL_MIN_FREQ,
+	.max_frequency = ICM42607_ACCEL_MAX_FREQ,
+	.config = {
+		/* EC use accel for angle detection */
+		[SENSOR_CONFIG_EC_S0] = {
+			.odr = 10000 | ROUND_UP_FLAG,
+			.ec_rate = 100 * MSEC,
+		},
+		/* EC use accel for angle detection */
+		[SENSOR_CONFIG_EC_S3] = {
+			.odr = 10000 | ROUND_UP_FLAG,
+			.ec_rate = 100 * MSEC,
+		},
+	},
+};
+
+struct motion_sensor_t icm42607_base_gyro = {
+	.name = "Base Gyro",
+	.active_mask = SENSOR_ACTIVE_S0_S3,
+	.chip = MOTIONSENSE_CHIP_ICM42607,
+	.type = MOTIONSENSE_TYPE_GYRO,
+	.location = MOTIONSENSE_LOC_BASE,
+	.drv = &icm42607_drv,
+	.mutex = &g_base_mutex,
+	.drv_data = &g_icm426xx_data,
+	.port = I2C_PORT_SENSOR,
+	.i2c_spi_addr_flags = ICM42607_ADDR0_FLAGS,
+	.default_range = 1000, /* dps */
+	.rot_standard_ref = &base_icm_ref,
+	.min_frequency = ICM42607_GYRO_MIN_FREQ,
+	.max_frequency = ICM42607_GYRO_MAX_FREQ,
+};
+
 struct motion_sensor_t motion_sensors[] = {
 	[LID_ACCEL] = {
 		.name = "Lid Accel",
@@ -205,13 +252,21 @@ struct motion_sensor_t motion_sensors[] = {
 };
 unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
 
+static enum ec_ssfc_base_sensor base_gyro_config = SSFC_SENSOR_BASE_DEFAULT;
+
 static void board_sensors_init(void)
 {
+	base_gyro_config = get_cbi_ssfc_base_sensor();
+
 	if (ec_cfg_has_tabletmode()) {
-		if (get_cbi_ssfc_base_sensor() == SSFC_SENSOR_BASE_ICM426XX) {
+		if (base_gyro_config == SSFC_SENSOR_BASE_ICM426XX) {
 			motion_sensors[BASE_ACCEL] = icm426xx_base_accel;
 			motion_sensors[BASE_GYRO] = icm426xx_base_gyro;
 			ccprints("BASE GYRO is ICM426XX");
+		} else if (base_gyro_config == SSFC_SENSOR_BASE_ICM42607) {
+			motion_sensors[BASE_ACCEL] = icm42607_base_accel;
+			motion_sensors[BASE_GYRO] = icm42607_base_gyro;
+			ccprints("BASE GYRO is ICM42607");
 		} else
 			ccprints("BASE GYRO is BMI160");
 
@@ -236,10 +291,13 @@ DECLARE_HOOK(HOOK_INIT, board_sensors_init, HOOK_PRIO_DEFAULT);
 
 void motion_interrupt(enum gpio_signal signal)
 {
-	switch (get_cbi_ssfc_base_sensor()) {
+	switch (base_gyro_config) {
 	case SSFC_SENSOR_BASE_ICM426XX:
 		icm426xx_interrupt(signal);
 		break;
+	case SSFC_SENSOR_BASE_ICM42607:
+		icm42607_interrupt(signal);
+		break;
 	case SSFC_SENSOR_BASE_BMI160:
 	default:
 		bmi160_interrupt(signal);