aleena: Add base accel/gyro config for icm-426xx

Add icm-426xx config for new second source base accel/gyro.

BUG=none
BRANCH=grunt
TEST=Check ectool motionsense and get x,y,z data.

Signed-off-by: David Huang <david.huang@quanta.corp-partner.google.com>
Change-Id: I9a772fe700e97e29c7110c971683fa1c7f6c2f23
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/2626796
Reviewed-by: Keith Short <keithshort@chromium.org>
(cherry picked from commit 46afea52cc38b00505b24b601b732f035708975b)
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/2626797
Commit-Queue: Keith Short <keithshort@chromium.org>

3 files changed, 116 insertions, 1 deletions

diff --git a/board/aleena/board.c b/board/aleena/board.c
index 987ef36904..465ca59f3d 100644
--- a/board/aleena/board.c
+++ b/board/aleena/board.c
@@ -7,6 +7,9 @@
 
 #include "button.h"
 #include "driver/accelgyro_bmi160.h"
+#include "console.h"
+#include "driver/accelgyro_icm_common.h"
+#include "driver/accelgyro_icm426xx.h"
 #include "driver/led/lm3630a.h"
 #include "extpower.h"
 #include "hooks.h"
@@ -18,6 +21,7 @@
 #include "pwm_chip.h"
 #include "switch.h"
 #include "tablet_mode.h"
+#include "task.h"
 
 #include "gpio_list.h"
 
@@ -50,6 +54,111 @@ const struct pwm_t pwm_channels[] = {
 };
 BUILD_ASSERT(ARRAY_SIZE(pwm_channels) == PWM_CH_COUNT);
 
+#ifdef HAS_TASK_MOTIONSENSE
+/* Motion sensors */
+static struct mutex icm426xx_mutex;
+
+static struct icm_drv_data_t g_icm426xx_data;
+
+enum base_accelgyro_type {
+	BASE_GYRO_NONE = 0,
+	BASE_GYRO_BMI160 = 1,
+	BASE_GYRO_ICM426XX = 2,
+};
+
+const mat33_fp_t base_standard_ref_icm426xx = {
+	{ 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 = &icm426xx_mutex,
+	 .drv_data = &g_icm426xx_data,
+	 .port = I2C_PORT_SENSOR,
+	 .i2c_spi_addr_flags = ICM426XX_ADDR0_FLAGS,
+	 .default_range = 2, /* g, enough for laptop */
+	 .rot_standard_ref = &base_standard_ref_icm426xx,
+	 .min_frequency = ICM426XX_ACCEL_MIN_FREQ,
+	 .max_frequency = ICM426XX_ACCEL_MAX_FREQ,
+	 .config = {
+		 /* EC use accel for angle detection */
+		 [SENSOR_CONFIG_EC_S0] = {
+			.odr = 10000 | ROUND_UP_FLAG,
+			.ec_rate = 100,
+		 },
+		 /* EC use accel for angle detection */
+		 [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 = &icm426xx_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_icm426xx,
+	 .min_frequency = ICM426XX_GYRO_MIN_FREQ,
+	 .max_frequency = ICM426XX_GYRO_MAX_FREQ,
+};
+
+static enum base_accelgyro_type base_accelgyro_config;
+
+void motion_interrupt(enum gpio_signal signal)
+{
+	switch (base_accelgyro_config) {
+	case BASE_GYRO_ICM426XX:
+		icm426xx_interrupt(signal);
+		break;
+	case BASE_GYRO_BMI160:
+	default:
+		bmi160_interrupt(signal);
+		break;
+	}
+}
+
+static void board_detect_motionsensor(void)
+{
+	int ret;
+	int val;
+
+	if (base_accelgyro_config != BASE_GYRO_NONE)
+		return;
+
+	if (board_is_convertible()) {
+		/* Check base accelgyro chip */
+		ret = icm_read8(&icm426xx_base_accel,
+				 ICM426XX_REG_WHO_AM_I, &val);
+		if (ret)
+			ccprints("Get ICM fail.");
+		if (val == ICM426XX_CHIP_ICM40608) {
+			motion_sensors[BASE_ACCEL] = icm426xx_base_accel;
+			motion_sensors[BASE_GYRO] = icm426xx_base_gyro;
+		}
+		base_accelgyro_config = (val == ICM426XX_CHIP_ICM40608)
+			 ? BASE_GYRO_ICM426XX : BASE_GYRO_BMI160;
+		ccprints("Base Accelgyro: %s", (val == ICM426XX_CHIP_ICM40608)
+			 ? "ICM40608" : "BMI160");
+	}
+}
+DECLARE_HOOK(HOOK_CHIPSET_STARTUP, board_detect_motionsensor,
+	     HOOK_PRIO_DEFAULT);
+
 void board_update_sensor_config_from_sku(void)
 {
 	if (board_is_convertible()) {
@@ -64,6 +173,7 @@ void board_update_sensor_config_from_sku(void)
 			       GPIO_INPUT | GPIO_PULL_DOWN);
 	}
 }
+#endif
 
 static void board_kblight_init(void)
 {
diff --git a/board/aleena/board.h b/board/aleena/board.h
index 76350a76e6..e0fd8da555 100644
--- a/board/aleena/board.h
+++ b/board/aleena/board.h
@@ -37,6 +37,9 @@
 #define CONFIG_ACCELGYRO_BMI160
 #define CONFIG_ACCELGYRO_BMI160_INT_EVENT \
 	TASK_EVENT_MOTION_SENSOR_INTERRUPT(BASE_ACCEL)
+#define CONFIG_ACCELGYRO_ICM426XX	/* Base accel second source*/
+#define CONFIG_ACCELGYRO_ICM426XX_INT_EVENT \
+	TASK_EVENT_MOTION_SENSOR_INTERRUPT(BASE_ACCEL)
 #define CONFIG_ACCEL_INTERRUPTS
 #define CONFIG_ACCEL_KX022
 #define CONFIG_CMD_ACCELS
@@ -73,6 +76,8 @@ extern const int keyboard_factory_scan_pins[][2];
 extern const int keyboard_factory_scan_pins_used;
 #endif
 
+void motion_interrupt(enum gpio_signal signal);
+
 #endif /* !__ASSEMBLER__ */
 
 #endif /* __CROS_EC_BOARD_H */
diff --git a/board/aleena/gpio.inc b/board/aleena/gpio.inc
index e5cf59ba53..6fefcf88f1 100644
--- a/board/aleena/gpio.inc
+++ b/board/aleena/gpio.inc
@@ -23,7 +23,7 @@ GPIO_INT(WP_L,			PIN(A, 1), GPIO_INT_BOTH,			switch_interrupt)
 GPIO_INT(VOLUME_DOWN_L,		PIN(7, 0), GPIO_INT_BOTH | GPIO_PULL_UP,	button_interrupt)
 GPIO_INT(VOLUME_UP_L,		PIN(7, 5), GPIO_INT_BOTH | GPIO_PULL_UP,	button_interrupt)
 GPIO_INT(USB_C0_CABLE_DET,	PIN(3, 7), GPIO_INT_RISING,			anx74xx_cable_det_interrupt)
-GPIO_INT(6AXIS_INT_L,		PIN(8, 6), GPIO_INT_FALLING | GPIO_SEL_1P8V,	bmi160_interrupt)
+GPIO_INT(6AXIS_INT_L,		PIN(8, 6), GPIO_INT_FALLING | GPIO_SEL_1P8V,	motion_interrupt)
 
 /* GPIO_INT_BOTH is required for PSL wake from hibernate, but we don't need an interrupt handler. */
 GPIO(EC_RST_ODL,		PIN(0, 2), GPIO_INT_BOTH | GPIO_HIB_WAKE_HIGH | GPIO_LOCKED)