kindred: config motion sensor driver by chip id

config motion sensor icm/kx022/bmi160/bma255
driver by chip id value.

BUG=b:175918382
BRANCH=main
TEST=Work on DUT with ICM/KX022/BMA255/BMI160,
check the motion function is workable.

Change-Id: Ie76dc49f2e102c230ddb5675a52639acb22b2da4
Signed-off-by: Ben Chen <ben.chen2@quanta.corp-partner.google.com>
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/2592541
Reviewed-by: Paul Fagerburg <pfagerburg@chromium.org>
Reviewed-by: Tim Wawrzynczak <twawrzynczak@chromium.org>
(cherry picked from commit 04661a072ecc00ef42112ceb223095808190ff68)
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/2657898
Commit-Queue: Tim Wawrzynczak <twawrzynczak@chromium.org>
Tested-by: Tim Wawrzynczak <twawrzynczak@chromium.org>

3 files changed, 142 insertions, 2 deletions

diff --git a/board/kindred/board.c b/board/kindred/board.c
index 2fb1690914..a04b913f8b 100644
--- a/board/kindred/board.c
+++ b/board/kindred/board.c
@@ -12,6 +12,9 @@
 #include "cros_board_info.h"
 #include "driver/accel_bma2x2.h"
 #include "driver/accelgyro_bmi160.h"
+#include "driver/accel_kionix.h"
+#include "driver/accelgyro_icm_common.h"
+#include "driver/accelgyro_icm426xx.h"
 #include "driver/bc12/pi3usb9201.h"
 #include "driver/ppc/sn5s330.h"
 #include "driver/tcpm/anx7447.h"
@@ -47,6 +50,9 @@
 #define CPRINTS(format, args...) cprints(CC_USBCHARGE, format, ## args)
 #define CPRINTF(format, args...) cprintf(CC_USBCHARGE, format, ## args)
 
+static int lid_device_id;
+static int base_device_id;
+
 static void check_reboot_deferred(void);
 DECLARE_DEFERRED(check_reboot_deferred);
 
@@ -199,9 +205,11 @@ static struct mutex g_lid_mutex;
 
 /* Base accel private data */
 static struct bmi160_drv_data_t g_bmi160_data;
+static struct icm_drv_data_t g_icm426xx_data;
 
 /* BMA255 private data */
 static struct accelgyro_saved_data_t g_bma255_data;
+static struct kionix_accel_data g_kx022_data;
 
 /* Matrix to rotate accelrator into standard reference frame */
 static const mat33_fp_t base_standard_ref = {
@@ -216,6 +224,84 @@ static const mat33_fp_t lid_standard_ref = {
 	{ 0, 0, FLOAT_TO_FP(1)}
 };
 
+static const mat33_fp_t base_icm_ref = {
+	{ 0, FLOAT_TO_FP(1), 0},
+	{ FLOAT_TO_FP(-1), 0, 0},
+	{ 0, 0, FLOAT_TO_FP(1)}
+};
+
+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_mutex,
+	.drv_data = &g_kx022_data,
+	.port = I2C_PORT_ACCEL,
+	.i2c_spi_addr_flags = KX022_ADDR0_FLAGS,
+	.rot_standard_ref = &lid_standard_ref,
+	.min_frequency = KX022_ACCEL_MIN_FREQ,
+	.max_frequency = KX022_ACCEL_MAX_FREQ,
+	.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 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_ACCEL,
+	.i2c_spi_addr_flags = ICM426XX_ADDR0_FLAGS,
+	.default_range = 2, /* g, enough for laptop */
+	.rot_standard_ref = &base_icm_ref,
+	.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 = &g_base_mutex,
+	.drv_data = &g_icm426xx_data,
+	.port = I2C_PORT_ACCEL,
+	.i2c_spi_addr_flags = ICM426XX_ADDR0_FLAGS,
+	.default_range = 1000, /* dps */
+	.rot_standard_ref = &base_icm_ref,
+	.min_frequency = ICM426XX_GYRO_MIN_FREQ,
+	.max_frequency = ICM426XX_GYRO_MAX_FREQ,
+};
+
+
 struct motion_sensor_t motion_sensors[] = {
 	[LID_ACCEL] = {
 		.name = "Lid Accel",
@@ -262,6 +348,7 @@ struct motion_sensor_t motion_sensors[] = {
 		.config = {
 			[SENSOR_CONFIG_EC_S0] = {
 				.odr = 10000 | ROUND_UP_FLAG,
+				.ec_rate = 100,
 			},
 			/* Sensor on in S3 */
 			[SENSOR_CONFIG_EC_S3] = {
@@ -456,6 +543,52 @@ static void board_init(void)
 }
 DECLARE_HOOK(HOOK_INIT, board_init, HOOK_PRIO_DEFAULT);
 
+static void determine_accel_devices(void)
+{
+	static uint8_t read_time;
+
+	if (read_time == 0) {
+		/* Read g sensor chip id*/
+		i2c_read8(I2C_PORT_ACCEL,
+			  KX022_ADDR0_FLAGS, KX022_WHOAMI, &lid_device_id);
+		/* Read gyro sensor id*/
+		i2c_read8(I2C_PORT_ACCEL,
+			  ICM426XX_ADDR0_FLAGS,
+			    ICM426XX_REG_WHO_AM_I, &base_device_id);
+
+		CPRINTS("Motion Sensor Base id = %d Lid id =%d",
+			  base_device_id, lid_device_id);
+
+		if (lid_device_id == KX022_WHO_AM_I_VAL) {
+			motion_sensors[LID_ACCEL] = kx022_lid_accel;
+			ccprints("Lid Accel is KX022");
+		} else
+			ccprints("Lid Accel is BMA255");
+
+		if (base_device_id == ICM426XX_CHIP_ICM40608) {
+			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");
+
+		read_time++;
+	}
+}
+DECLARE_HOOK(HOOK_CHIPSET_RESUME, determine_accel_devices, HOOK_PRIO_DEFAULT);
+
+void motion_interrupt(enum gpio_signal signal)
+{
+	switch (base_device_id) {
+	case ICM426XX_CHIP_ICM40608:
+		icm426xx_interrupt(signal);
+		break;
+	default:
+		bmi160_interrupt(signal);
+		break;
+	}
+}
+
 void board_overcurrent_event(int port, int is_overcurrented)
 {
 	/* Sanity check the port. */
diff --git a/board/kindred/board.h b/board/kindred/board.h
index 861a23d0e3..1f1ad8800b 100644
--- a/board/kindred/board.h
+++ b/board/kindred/board.h
@@ -33,12 +33,19 @@
 /* Sensors */
 /* BMI160 Base accel/gyro */
 #define CONFIG_ACCEL_INTERRUPTS
+
 #define CONFIG_ACCELGYRO_BMI160
 #define CONFIG_ACCELGYRO_BMI160_INT_EVENT \
 	TASK_EVENT_MOTION_SENSOR_INTERRUPT(BASE_ACCEL)
+
+#define CONFIG_ACCELGYRO_ICM426XX
+#define CONFIG_ACCELGYRO_ICM426XX_INT_EVENT \
+	TASK_EVENT_MOTION_SENSOR_INTERRUPT(BASE_ACCEL)
+
 #define CONFIG_ACCELGYRO_BMI160_INT2_OUTPUT
 /* BMA253 Lid accel */
 #define CONFIG_ACCEL_BMA255
+#define CONFIG_ACCEL_KX022
 #define CONFIG_LID_ANGLE
 #define CONFIG_LID_ANGLE_SENSOR_BASE BASE_ACCEL
 #define CONFIG_LID_ANGLE_SENSOR_LID LID_ACCEL
@@ -175,7 +182,7 @@ enum battery_type {
 
 extern const int keyboard_factory_scan_pins[][2];
 extern const int keyboard_factory_scan_pins_used;
-
+void motion_interrupt(enum gpio_signal signal);
 #endif /* !__ASSEMBLER__ */
 
 #endif /* __CROS_EC_BOARD_H */
diff --git a/board/kindred/gpio.inc b/board/kindred/gpio.inc
index 91b41a4730..2b749dffde 100644
--- a/board/kindred/gpio.inc
+++ b/board/kindred/gpio.inc
@@ -27,7 +27,7 @@ GPIO_INT(PG_EC_ALL_SYS_PWRGD,  PIN(F, 4), GPIO_INT_BOTH, power_signal_interrupt)
 GPIO_INT(PP5000_A_PG_OD,       PIN(D, 7), GPIO_INT_BOTH, power_signal_interrupt)
 
 /* Sensor Interrupts */
-GPIO_INT(BASE_SIXAXIS_INT_L,   PIN(5, 6), GPIO_INT_FALLING, bmi160_interrupt)
+GPIO_INT(BASE_SIXAXIS_INT_L,   PIN(5, 6), GPIO_INT_FALLING, motion_interrupt)
 
 /* USB-C interrupts */
 GPIO_INT(USB_C0_PPC_INT_ODL,   PIN(E, 0), GPIO_INT_FALLING, ppc_interrupt)