Fennel: add the support for ICM42607firmware-kukui-12573.191.B

Bosh notice that BMI160 are going EOL,
so we intend to import ICM42607 for Fennel

BUG=b:194251601
BRANCH=kukui
TEST=1.make BOARD=fennel
     2.ectool motionsense can get the sensor data
     3.rotate the DUT and check the direction of the frame

Cq-Depend: chromium:3211699
Change-Id: I87e8b78078c2fe74246e2ce03d67315df7e9cab8
Signed-off-by: wen zhang <zhangwen6@huaqin.corp-partner.google.com>
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/3045032
Reviewed-by: Ting Shen <phoenixshen@chromium.org>
(cherry picked from commit 88b521505f967d58da29d07a015830284def54af)
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/3045862
Commit-Queue: Ting Shen <phoenixshen@chromium.org>
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/3214290
Commit-Queue: Shou-Chieh Hsu <shouchieh@chromium.org>
Reviewed-by: Shou-Chieh Hsu <shouchieh@chromium.org>

3 files changed, 108 insertions, 1 deletions

diff --git a/board/fennel/board.c b/board/fennel/board.c
index 0442cf3bd6..401eef5795 100644
--- a/board/fennel/board.c
+++ b/board/fennel/board.c
@@ -16,6 +16,8 @@
 #include "console.h"
 #include "driver/accel_lis2dw12.h"
 #include "driver/accelgyro_bmi160.h"
+#include "driver/accelgyro_icm_common.h"
+#include "driver/accelgyro_icm42607.h"
 #include "driver/battery/max17055.h"
 #include "driver/bc12/pi3usb9201.h"
 #include "driver/charger/isl923x.h"
@@ -333,6 +335,61 @@ static const mat33_fp_t lid_standard_ref = {
 /* sensor private data */
 static struct stprivate_data g_lis2dwl_data;
 static struct bmi160_drv_data_t g_bmi160_data;
+static struct icm_drv_data_t g_icm42607_data;
+
+enum base_accelgyro_type {
+	BASE_GYRO_NONE = 0,
+	BASE_GYRO_BMI160 = 1,
+	BASE_GYRO_ICM426XX = 2,
+};
+
+static enum base_accelgyro_type base_accelgyro_config;
+
+struct motion_sensor_t icm42607_base_accel = {
+	 .name = "Accel",
+	 .active_mask = SENSOR_ACTIVE_S0_S3,
+	 .chip = MOTIONSENSE_CHIP_ICM42607,
+	 .type = MOTIONSENSE_TYPE_ACCEL,
+	 .location = MOTIONSENSE_LOC_BASE,
+	 .drv = &icm42607_drv,
+	 .mutex = &g_base_mutex,
+	 .drv_data = &g_icm42607_data,
+	 .port = CONFIG_SPI_ACCEL_PORT,
+	 .i2c_spi_addr_flags = SLAVE_MK_SPI_ADDR_FLAGS(CONFIG_SPI_ACCEL_PORT),
+	 .default_range = 4, /* g, to meet CDD 7.3.1/C-1-4 reqs.*/
+	 .rot_standard_ref = NULL,
+	 .min_frequency = ICM42607_ACCEL_MIN_FREQ,
+	 .max_frequency = ICM42607_ACCEL_MAX_FREQ,
+	 .config = {
+		/* EC use accel for angle detection */
+		[SENSOR_CONFIG_EC_S0] = {
+			.odr = 10000 | ROUND_UP_FLAG,
+			.ec_rate = 100 * MSEC,
+		},
+		/* Sensor on for angle detection */
+		[SENSOR_CONFIG_EC_S3] = {
+			.odr = 10000 | ROUND_UP_FLAG,
+			.ec_rate = 100 * MSEC,
+		},
+	 },
+};
+
+struct motion_sensor_t icm42607_base_gyro = {
+	 .name = "Gyro",
+	 .active_mask = SENSOR_ACTIVE_S0_S3,
+	 .chip = MOTIONSENSE_CHIP_ICM42607,
+	 .type = MOTIONSENSE_TYPE_GYRO,
+	 .location = MOTIONSENSE_LOC_BASE,
+	 .drv = &icm42607_drv,
+	 .mutex = &g_base_mutex,
+	 .drv_data = &g_icm42607_data,
+	 .port = CONFIG_SPI_ACCEL_PORT,
+	 .i2c_spi_addr_flags = SLAVE_MK_SPI_ADDR_FLAGS(CONFIG_SPI_ACCEL_PORT),
+	 .default_range = 1000, /* dps */
+	 .rot_standard_ref = NULL,
+	 .min_frequency = ICM42607_GYRO_MIN_FREQ,
+	 .max_frequency = ICM42607_GYRO_MAX_FREQ,
+};
 
 struct motion_sensor_t motion_sensors[] = {
 	[LID_ACCEL] = {
@@ -413,6 +470,52 @@ struct motion_sensor_t motion_sensors[] = {
 };
 const unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
 
+static void board_detect_motionsensor(void)
+{
+	int ret;
+	int val;
+
+	if (chipset_in_state(CHIPSET_STATE_ANY_OFF))
+		return;
+	if (base_accelgyro_config != BASE_GYRO_NONE)
+		return;
+	/* Check base accelgyro chip */
+	ret = icm_read8(&icm42607_base_accel,
+				ICM42607_REG_WHO_AM_I, &val);
+	if (ret)
+		ccprints("Get ICM fail.");
+	if (val == ICM42607_CHIP_ICM42607P) {
+		motion_sensors[BASE_ACCEL] = icm42607_base_accel;
+		motion_sensors[BASE_GYRO] = icm42607_base_gyro;
+	}
+	base_accelgyro_config = (val == ICM42607_CHIP_ICM42607P)
+			? BASE_GYRO_ICM426XX : BASE_GYRO_BMI160;
+	ccprints("BASE Accelgyro: %s", (val == ICM42607_CHIP_ICM42607P)
+			? "ICM42607" : "BMI160");
+}
+DECLARE_HOOK(HOOK_CHIPSET_STARTUP, board_detect_motionsensor,
+	     HOOK_PRIO_DEFAULT);
+/*
+ * board_spi_enable() will be called in the board_init() when sysjump to rw
+ * the board_init() is DECLARE_HOOK(HOOK_INIT, board_init, HOOK_PRIO_DEFAULT)
+ * the board_detect_motionsensor() reads data via sensor SPI
+ * so the priority of board_detect_motionsensor should be HOOK_PRIO_DEFAULT+1
+ */
+DECLARE_HOOK(HOOK_INIT, board_detect_motionsensor, HOOK_PRIO_DEFAULT + 1);
+
+void motion_interrupt(enum gpio_signal signal)
+{
+	switch (base_accelgyro_config) {
+	case BASE_GYRO_ICM426XX:
+		icm42607_interrupt(signal);
+		break;
+	case BASE_GYRO_BMI160:
+	default:
+		bmi160_interrupt(signal);
+		break;
+	}
+}
+
 const struct it8801_pwm_t it8801_pwm_channels[] = {
 	[IT8801_PWM_CH_KBLIGHT] = {.index = 4},
 };
diff --git a/board/fennel/board.h b/board/fennel/board.h
index 4ad548bc26..0a8a1c5e86 100644
--- a/board/fennel/board.h
+++ b/board/fennel/board.h
@@ -55,6 +55,9 @@
 #define CONFIG_ACCEL_INTERRUPTS
 #define CONFIG_ACCELGYRO_BMI160_INT_EVENT \
 	TASK_EVENT_MOTION_SENSOR_INTERRUPT(BASE_ACCEL)
+#define CONFIG_ACCELGYRO_ICM42607	/* Base accel second source*/
+#define CONFIG_ACCELGYRO_ICM42607_INT_EVENT \
+	TASK_EVENT_MOTION_SENSOR_INTERRUPT(LID_ACCEL)
 #define CONFIG_ALS
 #define CONFIG_CMD_ACCEL_INFO
 
@@ -146,6 +149,7 @@ void bc12_interrupt(enum gpio_signal signal);
 void board_reset_pd_mcu(void);
 int board_get_version(void);
 int board_is_sourcing_vbus(int port);
+void motion_interrupt(enum gpio_signal signal);
 
 /* returns the i2c port number of charger/battery */
 int board_get_charger_i2c(void);
diff --git a/board/fennel/gpio.inc b/board/fennel/gpio.inc
index 3dccd94506..41fe9aa005 100644
--- a/board/fennel/gpio.inc
+++ b/board/fennel/gpio.inc
@@ -22,7 +22,7 @@ GPIO_INT(PMIC_EC_RESETB,    PIN(B, 7),  GPIO_INT_BOTH | GPIO_PULL_DOWN,
 GPIO_INT(WARM_RESET_REQ,    PIN(A, 3),  GPIO_INT_RISING | GPIO_PULL_DOWN,
          chipset_reset_request_interrupt)
 GPIO_INT_RW(ACCEL_INT_ODL,  PIN(A, 4), GPIO_INT_FALLING | GPIO_SEL_1P8V | GPIO_PULL_UP,
-         bmi160_interrupt)
+         motion_interrupt)
 GPIO_INT_RO(EMMC_CMD,       PIN(B, 15), GPIO_INT_FALLING,
          emmc_cmd_interrupt)
 GPIO_INT(SPI1_NSS,          PIN(A, 15), GPIO_INT_BOTH | GPIO_PULL_UP,