/* Copyright 2021 The ChromiumOS Authors
 * Use of this source code is governed by a BSD-style license that can be
 * found in the LICENSE file.
 */

/* Volteer family-specific sensor configuration */
#include "accelgyro.h"
#include "cbi_ec_fw_config.h"
#include "cbi_ssfc.h"
#include "common.h"
#include "driver/accel_bma2x2.h"
#include "driver/accel_kionix.h"
#include "driver/accelgyro_bmi160.h"
#include "driver/accelgyro_bmi_common.h"
#include "driver/accelgyro_icm426xx.h"
#include "driver/accelgyro_icm_common.h"
#include "driver/sync.h"
#include "gpio.h"
#include "hooks.h"
#include "i2c.h"
#include "keyboard_scan.h"
#include "tablet_mode.h"
#include "task.h"
#include "util.h"

/******************************************************************************/
/* Sensors */
static struct mutex g_lid_accel_mutex;
static struct mutex g_base_mutex;

/* sensor private data */
static struct accelgyro_saved_data_t g_bma253_data;
static struct kionix_accel_data g_kx022_data;

static struct bmi_drv_data_t g_bmi160_data;
static struct icm_drv_data_t g_icm426xx_data;

/* Rotation matrix for the lid accelerometer */
static const mat33_fp_t lid_standard_ref = { { FLOAT_TO_FP(1), 0, 0 },
					     { 0, FLOAT_TO_FP(1), 0 },
					     { 0, 0, FLOAT_TO_FP(1) } };

const mat33_fp_t base_standard_ref = { { FLOAT_TO_FP(1), 0, 0 },
				       { 0, FLOAT_TO_FP(-1), 0 },
				       { 0, 0, FLOAT_TO_FP(-1) } };

const mat33_fp_t base_standard_ref_icm = {
	{ 0, FLOAT_TO_FP(1), 0 },
	{ FLOAT_TO_FP(1), 0, 0 },
	{ 0, 0, FLOAT_TO_FP(-1) },
};

struct motion_sensor_t icm426xx_base_accel = {
	.name = "Base Accel",
	.active_mask = SENSOR_ACTIVE_S0_S3,
	.chip = MOTIONSENSE_CHIP_ICM426XX,
	.type = MOTIONSENSE_TYPE_ACCEL,
	.location = MOTIONSENSE_LOC_BASE,
	.drv = &icm426xx_drv,
	.mutex = &g_base_mutex,
	.drv_data = &g_icm426xx_data,
	.port = I2C_PORT_SENSOR,
	.i2c_spi_addr_flags = ICM426XX_ADDR0_FLAGS,
	.rot_standard_ref = &base_standard_ref_icm,
	.min_frequency = ICM426XX_ACCEL_MIN_FREQ,
	.max_frequency = ICM426XX_ACCEL_MAX_FREQ,
	.default_range = 4, /* g */
	.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,
		},
	},
};

struct motion_sensor_t icm426xx_base_gyro = {
	.name = "Base Gyro",
	.active_mask = SENSOR_ACTIVE_S0_S3,
	.chip = MOTIONSENSE_CHIP_ICM426XX,
	.type = MOTIONSENSE_TYPE_GYRO,
	.location = MOTIONSENSE_LOC_BASE,
	.drv = &icm426xx_drv,
	.mutex = &g_base_mutex,
	.drv_data = &g_icm426xx_data,
	.port = I2C_PORT_SENSOR,
	.i2c_spi_addr_flags = ICM426XX_ADDR0_FLAGS,
	.default_range = 1000, /* dps */
	.rot_standard_ref = &base_standard_ref_icm,
	.min_frequency = ICM426XX_GYRO_MIN_FREQ,
	.max_frequency = ICM426XX_GYRO_MAX_FREQ,
};

struct motion_sensor_t kx022_lid_accel = {
	.name = "Lid Accel",
	.active_mask = SENSOR_ACTIVE_S0_S3,
	.chip = MOTIONSENSE_CHIP_KX022,
	.type = MOTIONSENSE_TYPE_ACCEL,
	.location = MOTIONSENSE_LOC_LID,
	.drv = &kionix_accel_drv,
	.mutex = &g_lid_accel_mutex,
	.drv_data = &g_kx022_data,
	.port = I2C_PORT_ACCEL,
	.i2c_spi_addr_flags = KX022_ADDR1_FLAGS,
	.rot_standard_ref = &lid_standard_ref,
	.min_frequency = KX022_ACCEL_MIN_FREQ,
	.max_frequency = KX022_ACCEL_MAX_FREQ,
	.default_range = 2, /* g, to support tablet mode */
	.config = {
		/* EC use accel for angle detection */
		[SENSOR_CONFIG_EC_S0] = {
			.odr = 10000 | ROUND_UP_FLAG,
		},
		/* EC use accel for angle detection */
		[SENSOR_CONFIG_EC_S3] = {
			.odr = 10000 | ROUND_UP_FLAG,
		},
	},
};

struct motion_sensor_t motion_sensors[] = {
	[LID_ACCEL] = {
		.name = "Lid Accel",
		.active_mask = SENSOR_ACTIVE_S0_S3,
		.chip = MOTIONSENSE_CHIP_BMA255,
		.type = MOTIONSENSE_TYPE_ACCEL,
		.location = MOTIONSENSE_LOC_LID,
		.drv = &bma2x2_accel_drv,
		.mutex = &g_lid_accel_mutex,
		.drv_data = &g_bma253_data,
		.port = I2C_PORT_SENSOR,
		.i2c_spi_addr_flags = BMA2x2_I2C_ADDR1_FLAGS,
		.rot_standard_ref = &lid_standard_ref,
		.min_frequency = BMA255_ACCEL_MIN_FREQ,
		.max_frequency = BMA255_ACCEL_MAX_FREQ,
		.default_range = 2, /* g, to support tablet mode */
		.config = {
			/* EC use accel for angle detection */
			[SENSOR_CONFIG_EC_S0] = {
				.odr = 10000 | ROUND_UP_FLAG,
			},
			/* Sensor on in S3 */
			[SENSOR_CONFIG_EC_S3] = {
				.odr = 10000 | ROUND_UP_FLAG,
			},
		},
	},
	[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 */
		.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 = 100 * MSEC,
			},
		},
	},

	[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,
	},
};
unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);

void motion_interrupt(enum gpio_signal signal)
{
	if (get_cbi_ssfc_base_sensor() == SSFC_SENSOR_BASE_ICM426XX)
		icm426xx_interrupt(signal);
	else
		bmi160_interrupt(signal);
}

static void baseboard_sensors_init(void)
{
	if (get_cbi_ssfc_lid_sensor() == SSFC_SENSOR_LID_KX022) {
		motion_sensors[LID_ACCEL] = kx022_lid_accel;
		ccprints("LID_ACCEL is KX022");
	} else
		ccprints("LID_ACCEL is BMA253");

	if (get_cbi_ssfc_base_sensor() == SSFC_SENSOR_BASE_ICM426XX) {
		motion_sensors[BASE_ACCEL] = icm426xx_base_accel;
		motion_sensors[BASE_GYRO] = icm426xx_base_gyro;
		ccprints("BASE ACCEL is ICM426XX");
	} else
		ccprints("BASE ACCEL IS BMI160");

	/* Enable interrupt for the accel/gyro sensor */
	gpio_enable_interrupt(GPIO_EC_IMU_INT_L);
}
DECLARE_HOOK(HOOK_INIT, baseboard_sensors_init, HOOK_PRIO_DEFAULT);