aleena/kasumi: Add support for motion sensors

Adjust Grunt baseboard to allow for per-sku support for motion sensors.
Use this to enable motion sensors for SKU 82 (Kasumi360).
Only enable the interrupt if the sensor is present.

BUG=b:119795894
BRANCH=grunt
TEST=Kasumi360 `ectool motionsense lid_angle` shows correct angles.

Change-Id: Icb34359d7ac4cd894776e134c2c1fb7032741f03
Signed-off-by: Edward Hill <ecgh@chromium.org>
Reviewed-on: https://chromium-review.googlesource.com/c/1362634
Reviewed-by: Ryan Zhang <ryan.zhang@quanta.corp-partner.google.com>
Reviewed-by: Jett Rink <jettrink@chromium.org>
Commit-Queue: Ryan Zhang <ryan.zhang@quanta.corp-partner.google.com>
Tested-by: Ryan Zhang <ryan.zhang@quanta.corp-partner.google.com>

10 files changed, 50 insertions, 31 deletions

diff --git a/baseboard/grunt/baseboard.c b/baseboard/grunt/baseboard.c
index 579b7758c5..032ae55076 100644
--- a/baseboard/grunt/baseboard.c
+++ b/baseboard/grunt/baseboard.c
@@ -49,8 +49,6 @@
 #define CPRINTS(format, args...) cprints(CC_USBCHARGE, format, ## args)
 #define CPRINTF(format, args...) cprintf(CC_USBCHARGE, format, ## args)
 
-static int board_is_convertible(void);
-
 const enum gpio_signal hibernate_wake_pins[] = {
 	GPIO_LID_OPEN,
 	GPIO_AC_PRESENT,
@@ -348,6 +346,8 @@ const struct temp_sensor_t temp_sensors[] = {
 };
 BUILD_ASSERT(ARRAY_SIZE(temp_sensors) == TEMP_SENSOR_COUNT);
 
+#ifdef HAS_TASK_MOTIONSENSE
+
 /* Motion sensors */
 static struct mutex g_lid_mutex;
 static struct mutex g_base_mutex;
@@ -441,6 +441,8 @@ struct motion_sensor_t motion_sensors[] = {
 
 unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
 
+#endif /* HAS_TASK_MOTIONSENSE */
+
 #ifndef TEST_BUILD
 void lid_angle_peripheral_enable(int enable)
 {
@@ -532,6 +534,10 @@ static void cbi_init(void)
 	}
 #endif
 
+#ifdef HAS_TASK_MOTIONSENSE
+	board_update_sensor_config_from_sku();
+#endif
+
 	ccprints("Board Version: %d (0x%x)", board_version, board_version);
 	ccprints("SKU: %d (0x%x)", sku_id, sku_id);
 }
@@ -555,9 +561,11 @@ int board_get_version(void)
  * Returns 1 for boards that are convertible into tablet mode, and zero for
  * clamshells.
  */
-static int board_is_convertible(void)
+int board_is_convertible(void)
 {
-	return system_get_sku_id() == 6;
+	/* Grunt: 6 */
+	/* Kasumi360: 82 */
+	return (sku_id == 6 || sku_id == 82);
 }
 
 int board_is_lid_angle_tablet_mode(void)
@@ -567,16 +575,12 @@ int board_is_lid_angle_tablet_mode(void)
 
 uint32_t board_override_feature_flags0(uint32_t flags0)
 {
-	uint32_t sku = system_get_sku_id();
-
 	/*
-	 * We always compile in backlight support for grunt baseboard,
-	 * but only some models come with the hardware. Therefore,
-	 * check if the current device is one of them and return
-	 * the default value - with backlight here.
+	 * Remove keyboard backlight feature for devices that don't support it.
 	 */
-	if (sku == 16 || sku == 17 || sku == 20 || sku == 21 || sku == 32
-		|| sku == 33)
+	if (sku_id == 16 || sku_id == 17 ||
+	    sku_id == 20 || sku_id == 21 ||
+	    sku_id == 32 || sku_id == 33)
 		return (flags0 & ~EC_FEATURE_MASK_0(EC_FEATURE_PWM_KEYB));
 	else
 		return flags0;
diff --git a/baseboard/grunt/baseboard.h b/baseboard/grunt/baseboard.h
index 066ee26394..d96d98e903 100644
--- a/baseboard/grunt/baseboard.h
+++ b/baseboard/grunt/baseboard.h
@@ -255,6 +255,8 @@ void board_reset_pd_mcu(void);
 void tcpc_alert_event(enum gpio_signal signal);
 
 int board_get_version(void);
+int board_is_convertible(void);
+void board_update_sensor_config_from_sku(void);
 
 #endif /* !__ASSEMBLER__ */
 
diff --git a/board/aleena/board.c b/board/aleena/board.c
index e10d0da223..5ba79d81fa 100644
--- a/board/aleena/board.c
+++ b/board/aleena/board.c
@@ -14,6 +14,7 @@
 #include "common.h"
 #include "compile_time_macros.h"
 #include "console.h"
+#include "driver/accelgyro_bmi160.h"
 #include "driver/led/lm3630a.h"
 #include "driver/ppc/sn5s330.h"
 #include "driver/tcpm/anx74xx.h"
@@ -102,10 +103,18 @@ const struct pwm_t pwm_channels[] = {
 };
 BUILD_ASSERT(ARRAY_SIZE(pwm_channels) == PWM_CH_COUNT);
 
-static void board_init(void)
+void board_update_sensor_config_from_sku(void)
 {
+	if (board_is_convertible()) {
+		/* Enable Gyro interrupts */
+		gpio_enable_interrupt(GPIO_6AXIS_INT_L);
+	} else {
+		motion_sensor_count = 0;
+		/* Gyro is not present, don't allow line to float */
+		gpio_set_flags(GPIO_6AXIS_INT_L,
+			       GPIO_INPUT | GPIO_PULL_DOWN);
+	}
 }
-DECLARE_HOOK(HOOK_INIT, board_init, HOOK_PRIO_DEFAULT);
 
 void board_overcurrent_event(int port)
 {
diff --git a/board/aleena/board.h b/board/aleena/board.h
index a32ec2ffd2..aeb75404a6 100644
--- a/board/aleena/board.h
+++ b/board/aleena/board.h
@@ -29,6 +29,24 @@
 /* KB backlight driver */
 #define CONFIG_LED_DRIVER_LM3630A
 
+/* Motion sensing drivers */
+#define CONFIG_ACCELGYRO_BMI160
+#define CONFIG_ACCELGYRO_BMI160_INT_EVENT TASK_EVENT_CUSTOM(4)
+#define CONFIG_ACCEL_INTERRUPTS
+#define CONFIG_ACCEL_KX022
+#define CONFIG_CMD_ACCELS
+#define CONFIG_CMD_ACCEL_INFO
+#define CONFIG_TABLET_MODE
+#define CONFIG_LID_ANGLE
+#define CONFIG_LID_ANGLE_UPDATE
+#define CONFIG_LID_ANGLE_SENSOR_BASE BASE_ACCEL
+#define CONFIG_LID_ANGLE_SENSOR_LID LID_ACCEL
+/*
+ * Slew rate on the PP1800_SENSOR load switch requires a short delay on startup.
+ */
+#undef  CONFIG_MOTION_SENSE_RESUME_DELAY_US
+#define CONFIG_MOTION_SENSE_RESUME_DELAY_US (10 * MSEC)
+
 #ifndef __ASSEMBLER__
 
 enum pwm_channel {
diff --git a/board/aleena/ec.tasklist b/board/aleena/ec.tasklist
index 67453cd670..97711213a1 100644
--- a/board/aleena/ec.tasklist
+++ b/board/aleena/ec.tasklist
@@ -25,6 +25,7 @@
 	TASK_ALWAYS(USB_CHG_P0, usb_charger_task, 0, TASK_STACK_SIZE) \
 	TASK_ALWAYS(USB_CHG_P1, usb_charger_task, 1, TASK_STACK_SIZE) \
 	TASK_ALWAYS(CHARGER, charger_task, NULL, VENTI_TASK_STACK_SIZE) \
+	TASK_ALWAYS(MOTIONSENSE, motion_sense_task, NULL, VENTI_TASK_STACK_SIZE) \
 	TASK_NOTEST(CHIPSET, chipset_task, NULL, VENTI_TASK_STACK_SIZE) \
 	TASK_NOTEST(KEYPROTO, keyboard_protocol_task, NULL, TASK_STACK_SIZE) \
 	TASK_NOTEST(PDCMD, pd_command_task, NULL, LARGER_TASK_STACK_SIZE) \
diff --git a/board/aleena/gpio.inc b/board/aleena/gpio.inc
index 085aa9a1d6..1256ecb6cb 100644
--- a/board/aleena/gpio.inc
+++ b/board/aleena/gpio.inc
@@ -23,6 +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(EN_PWR_A,			PIN(E, 2), GPIO_OUT_LOW)			/* Enable Power */
 GPIO(EN_PP1800_SENSOR,		PIN(6, 7), GPIO_OUT_LOW)			/* Enable Power */
diff --git a/board/careena/board.c b/board/careena/board.c
index 495b4a9cae..380a936fd1 100644
--- a/board/careena/board.c
+++ b/board/careena/board.c
@@ -101,11 +101,6 @@ const struct pwm_t pwm_channels[] = {
 };
 BUILD_ASSERT(ARRAY_SIZE(pwm_channels) == PWM_CH_COUNT);
 
-static void board_init(void)
-{
-}
-DECLARE_HOOK(HOOK_INIT, board_init, HOOK_PRIO_DEFAULT);
-
 void board_overcurrent_event(int port)
 {
 	enum gpio_signal signal = (port == 0) ? GPIO_USB_C0_OC_L
diff --git a/board/delan/board.c b/board/delan/board.c
index 0c0924e8bd..f5b5f5b2dd 100644
--- a/board/delan/board.c
+++ b/board/delan/board.c
@@ -114,11 +114,6 @@ const struct pwm_t pwm_channels[] = {
 };
 BUILD_ASSERT(ARRAY_SIZE(pwm_channels) == PWM_CH_COUNT);
 
-static void board_init(void)
-{
-}
-DECLARE_HOOK(HOOK_INIT, board_init, HOOK_PRIO_DEFAULT);
-
 void board_overcurrent_event(int port)
 {
 	enum gpio_signal signal = (port == 0) ? GPIO_USB_C0_OC_L
diff --git a/board/grunt/board.c b/board/grunt/board.c
index 3477666679..f60e3be18a 100644
--- a/board/grunt/board.c
+++ b/board/grunt/board.c
@@ -118,12 +118,11 @@ const struct pwm_t pwm_channels[] = {
 };
 BUILD_ASSERT(ARRAY_SIZE(pwm_channels) == PWM_CH_COUNT);
 
-static void board_init(void)
+void board_update_sensor_config_from_sku(void)
 {
 	/* Enable Gyro interrupts */
 	gpio_enable_interrupt(GPIO_6AXIS_INT_L);
 }
-DECLARE_HOOK(HOOK_INIT, board_init, HOOK_PRIO_DEFAULT);
 
 void board_overcurrent_event(int port)
 {
diff --git a/board/liara/board.c b/board/liara/board.c
index 5a7cbdf23e..0e8a9abb5e 100644
--- a/board/liara/board.c
+++ b/board/liara/board.c
@@ -114,11 +114,6 @@ const struct pwm_t pwm_channels[] = {
 };
 BUILD_ASSERT(ARRAY_SIZE(pwm_channels) == PWM_CH_COUNT);
 
-static void board_init(void)
-{
-}
-DECLARE_HOOK(HOOK_INIT, board_init, HOOK_PRIO_DEFAULT);
-
 void board_overcurrent_event(int port)
 {
 	enum gpio_signal signal = (port == 0) ? GPIO_USB_C0_OC_L