driver: Add/modify function and variable to fix build error

Add function and variable to fix icm426xx build error.
BUG=none
BRANCH=nami
TEST=make buildall -j success.

Signed-off-by: David Huang <david.huang@quanta.corp-partner.google.com>
Change-Id: I9e8f3f581d917dc79cdf8e4c7b9794e398096253
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/2617321
Reviewed-by: YH Lin <yueherngl@chromium.org>
Commit-Queue: YH Lin <yueherngl@chromium.org>

7 files changed, 51 insertions, 9 deletions

diff --git a/common/math_util.c b/common/math_util.c
index 6a49dc31c3..93207d7ecf 100644
--- a/common/math_util.c
+++ b/common/math_util.c
@@ -253,3 +253,11 @@ void rotate_inv(const vector_3_t v, const matrix_3x3_t R, vector_3_t res)
 	res[1] = FP_TO_INT(fp_div(t[1], deter));
 	res[2] = FP_TO_INT(fp_div(t[2], deter));
 }
+
+/* division that round to the nearest integer */
+int round_divide(int64_t dividend, int divisor)
+{
+	return (dividend > 0) ^ (divisor > 0) ?
+		(dividend - divisor / 2) / divisor :
+		(dividend + divisor / 2) / divisor;
+}
diff --git a/driver/accelgyro_icm426xx.c b/driver/accelgyro_icm426xx.c
index ef4859d548..efca0c009e 100644
--- a/driver/accelgyro_icm426xx.c
+++ b/driver/accelgyro_icm426xx.c
@@ -29,7 +29,7 @@
 volatile uint32_t last_interrupt_timestamp;
 #endif
 
-static int icm426xx_normalize(const struct motion_sensor_t *s, intv3_t v,
+static int icm426xx_normalize(const struct motion_sensor_t *s, vector_3_t v,
 			      const uint8_t *raw)
 {
 	struct accelgyro_saved_data_t *data = ICM_GET_SAVED_DATA(s);
@@ -166,7 +166,7 @@ out_unlock:
 static void __maybe_unused icm426xx_push_fifo_data(struct motion_sensor_t *s,
 						const uint8_t *raw, uint32_t ts)
 {
-	intv3_t v;
+	vector_3_t v;
 	struct ec_response_motion_sensor_data vect;
 	int ret;
 
@@ -510,7 +510,7 @@ static int icm426xx_set_range(const struct motion_sensor_t *s, int range,
 }
 
 static int icm426xx_get_hw_offset(const struct motion_sensor_t *s,
-				  intv3_t offset)
+				  vector_3_t offset)
 {
 	uint8_t raw[5];
 	int i, ret;
@@ -564,7 +564,7 @@ static int icm426xx_get_hw_offset(const struct motion_sensor_t *s,
 }
 
 static int icm426xx_set_hw_offset(const struct motion_sensor_t *s,
-				  intv3_t offset)
+				  vector_3_t offset)
 {
 	int i, val, ret;
 
@@ -661,7 +661,7 @@ static int icm426xx_set_offset(const struct motion_sensor_t *s,
 			       const int16_t *offset, int16_t temp)
 {
 	struct accelgyro_saved_data_t *data = ICM_GET_SAVED_DATA(s);
-	intv3_t v = { offset[X], offset[Y], offset[Z] };
+	vector_3_t v = { offset[X], offset[Y], offset[Z] };
 	int range, div1, div2;
 	int i;
 
@@ -696,7 +696,7 @@ static int icm426xx_get_offset(const struct motion_sensor_t *s, int16_t *offset,
 			       int16_t *temp)
 {
 	struct accelgyro_saved_data_t *data = ICM_GET_SAVED_DATA(s);
-	intv3_t v;
+	vector_3_t v;
 	int range, div1, div2;
 	int i, ret;
 
@@ -734,7 +734,7 @@ static int icm426xx_get_offset(const struct motion_sensor_t *s, int16_t *offset,
 	return EC_SUCCESS;
 }
 
-static int icm426xx_read(const struct motion_sensor_t *s, intv3_t v)
+static int icm426xx_read(const struct motion_sensor_t *s, vector_3_t v)
 {
 	uint8_t raw[6];
 	int reg, ret;
diff --git a/driver/accelgyro_icm426xx.h b/driver/accelgyro_icm426xx.h
index f3a42414a6..22dff9bceb 100644
--- a/driver/accelgyro_icm426xx.h
+++ b/driver/accelgyro_icm426xx.h
@@ -20,9 +20,9 @@
 
 /* Min and Max sampling frequency in mHz */
 #define ICM426XX_ACCEL_MIN_FREQ	3125
-#define ICM426XX_ACCEL_MAX_FREQ	MOTION_MAX_SENSOR_FREQUENCY(500000, 100000)
+#define ICM426XX_ACCEL_MAX_FREQ	500000
 #define ICM426XX_GYRO_MIN_FREQ	12500
-#define ICM426XX_GYRO_MAX_FREQ	MOTION_MAX_SENSOR_FREQUENCY(4000000, 100000)
+#define ICM426XX_GYRO_MAX_FREQ	4000000
 
 /* Min and Max Accel FS in G */
 #define ICM426XX_ACCEL_FS_MIN_VAL	2
diff --git a/include/accelgyro.h b/include/accelgyro.h
index 4b11e0ea2b..5ab8fde664 100644
--- a/include/accelgyro.h
+++ b/include/accelgyro.h
@@ -88,6 +88,20 @@ struct accelgyro_drv {
 	int (*get_offset)(const struct motion_sensor_t *s,
 				int16_t    *offset,
 				int16_t    *temp);
+	/**
+	 * Setter and getter methods for the sensor scale.
+	 * @s Pointer to sensor data.
+	 * @scale: scale to apply to raw data.
+	 * @temp: temperature when calibration was done.
+	 * @return EC_SUCCESS if successful, non-zero if error.
+	 */
+	int (*set_scale)(const struct motion_sensor_t *s,
+				const uint16_t    *scale,
+				int16_t    temp);
+	int (*get_scale)(const struct motion_sensor_t *s,
+				uint16_t   *scale,
+				int16_t    *temp);
+
 	int (*perform_calib)(const struct motion_sensor_t *s);
 #ifdef CONFIG_ACCEL_INTERRUPTS
 	/**
@@ -131,6 +145,7 @@ struct accelgyro_drv {
 struct accelgyro_saved_data_t {
 	int odr;
 	int range;
+	uint16_t scale[3];
 };
 
 #define SENSOR_APPLY_DIV_SCALE(_input, _scale) \
diff --git a/include/common.h b/include/common.h
index 657a86e26e..ca0ac79128 100644
--- a/include/common.h
+++ b/include/common.h
@@ -66,6 +66,17 @@
 #endif
 
 /*
+ * __maybe_unused is equivalent to the Linux kernel definition, so we
+ * can follow the Kernel style guide more closely.
+ *
+ * An example use case is a function which is only used under certain
+ * CONFIG options.
+ */
+#ifndef __maybe_unused
+#define __maybe_unused __attribute__((unused))
+#endif
+
+/*
  * externally_visible is required by GCC to avoid kicking out memset.
  */
 #ifndef __visible
diff --git a/include/ec_commands.h b/include/ec_commands.h
index 0ac13fe7ca..9e09fd77f9 100644
--- a/include/ec_commands.h
+++ b/include/ec_commands.h
@@ -2406,6 +2406,9 @@ struct __ec_todo_unpacked ec_motion_sense_activity {
 /* Set Calibration information */
 #define MOTION_SENSE_SET_OFFSET 1
 
+/* Default Scale value, factor 1. */
+#define MOTION_SENSE_DEFAULT_SCALE (1<<15)
+
 #define LID_ANGLE_UNRELIABLE 500
 
 enum motionsense_spoof_mode {
diff --git a/include/math_util.h b/include/math_util.h
index 385c044c6f..46981af05f 100644
--- a/include/math_util.h
+++ b/include/math_util.h
@@ -150,4 +150,9 @@ void rotate(const vector_3_t v, const matrix_3x3_t R, vector_3_t res);
  */
 void rotate_inv(const vector_3_t v, const matrix_3x3_t R, vector_3_t res);
 
+/**
+ * Divide dividend by divisor and round it to the nearest integer.
+ */
+int round_divide(int64_t dividend, int divisor);
+
 #endif /* __CROS_EC_MATH_UTIL_H */