1 files changed, 97 insertions, 0 deletions
diff --git a/board/kevin/board.c b/board/kevin/board.c
index 037707b95b..1e4cb24a77 100644
--- a/board/kevin/board.c
+++ b/board/kevin/board.c
@@ -13,6 +13,8 @@
 #include "chipset.h"
 #include "common.h"
 #include "console.h"
+#include "ec_commands.h"
+#include "driver/accelgyro_bmi160.h"
 #include "driver/charger/bd99955.h"
 #include "driver/tcpm/fusb302.h"
 #include "extpower.h"
@@ -30,6 +32,7 @@
 #include "shi_chip.h"
 #include "spi.h"
 #include "switch.h"
+#include "task.h"
 #include "timer.h"
 #include "thermal.h"
 #include "usb_charge.h"
@@ -324,3 +327,97 @@ static void overtemp_interrupt_disable(void)
 }
 DECLARE_HOOK(HOOK_CHIPSET_SUSPEND, overtemp_interrupt_disable,
 	     HOOK_PRIO_DEFAULT);
+
+/* Motion sensors */
+#ifdef HAS_TASK_MOTIONSENSE
+/* Mutexes */
+static struct mutex g_base_mutex;
+
+/* Matrix to rotate accelrator into standard reference frame */
+const matrix_3x3_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[] = {
+	/*
+	 * Note: bmi160: supports accelerometer and gyro sensor
+	 * Requirement: accelerometer sensor must init before gyro sensor
+	 * DO NOT change the order of the following table.
+	 */
+	{.name = "Base Accel",
+	 .active_mask = SENSOR_ACTIVE_S0,
+	 .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 = CONFIG_SPI_ACCEL_PORT,
+	 .addr = BMI160_SET_SPI_ADDRESS(CONFIG_SPI_ACCEL_PORT),
+	 .rot_standard_ref = NULL, /* Identity matrix. */
+	 .default_range = 2,  /* g, enough for laptop. */
+	 .config = {
+		 /* AP: by default use EC settings */
+		 [SENSOR_CONFIG_AP] = {
+			 .odr = 0,
+			 .ec_rate = 0,
+		 },
+		 /* EC use accel for angle detection */
+		 [SENSOR_CONFIG_EC_S0] = {
+			 .odr = 10000 | ROUND_UP_FLAG,
+			 .ec_rate = 100,
+		 },
+		 /* Sensor off in S3/S5 */
+		 [SENSOR_CONFIG_EC_S3] = {
+			 .odr = 0,
+			 .ec_rate = 0
+		 },
+		 /* Sensor off in S3/S5 */
+		 [SENSOR_CONFIG_EC_S5] = {
+			 .odr = 0,
+			 .ec_rate = 0
+		 },
+	 },
+	},
+
+	{.name = "Base Gyro",
+	 .active_mask = SENSOR_ACTIVE_S0,
+	 .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 = CONFIG_SPI_ACCEL_PORT,
+	 .addr = BMI160_SET_SPI_ADDRESS(CONFIG_SPI_ACCEL_PORT),
+	 .default_range = 1000, /* dps */
+	 .rot_standard_ref = NULL, /* Identity Matrix. */
+	 .config = {
+		 /* AP: by default shutdown all sensors */
+		 [SENSOR_CONFIG_AP] = {
+			 .odr = 0,
+			 .ec_rate = 0,
+		 },
+		 /* EC does not need in S0 */
+		 /* TODO : Interrupt driven? */
+		 [SENSOR_CONFIG_EC_S0] = {
+			 .odr = 0,
+			 .ec_rate = 0,
+		 },
+		 /* Sensor off in S3/S5 */
+		 [SENSOR_CONFIG_EC_S3] = {
+			 .odr = 0,
+			 .ec_rate = 0,
+		 },
+		 /* Sensor off in S3/S5 */
+		 [SENSOR_CONFIG_EC_S5] = {
+			 .odr = 0,
+			 .ec_rate = 0,
+		 },
+	 },
+	},
+};
+const unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
+#endif /* defined(HAS_TASK_MOTIONSENSE) */