garg: support imu bmi260

BUG=b:231646511
BRANCH=firmware-octopus-11297.B
TEST=verified on rework garg DUT, BMI260 work as intended.

Signed-off-by: Zick Wei <zick.wei@quanta.corp-partner.google.com>
Change-Id: I652d62c68f1cf8f305c467772c31f58eb2cd42a6
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/3631913
Commit-Queue: Henry Sun <henrysun@google.com>
Reviewed-by: Henry Sun <henrysun@google.com>

3 files changed, 68 insertions, 0 deletions

diff --git a/baseboard/octopus/cbi_ssfc.h b/baseboard/octopus/cbi_ssfc.h
index b762336e59..0b9eafc888 100644
--- a/baseboard/octopus/cbi_ssfc.h
+++ b/baseboard/octopus/cbi_ssfc.h
@@ -54,6 +54,7 @@ enum ssfc_sensor {
 	SSFC_SENSOR_DEFAULT,
 	SSFC_SENSOR_BMI160,
 	SSFC_SENSOR_ICM426XX,
+	SSFC_SENSOR_BMI260,
 };
 #define SSFC_SENSOR_OFFSET		12
 #define SSFC_SENSOR_MASK		GENMASK(14, 12)
diff --git a/board/garg/board.c b/board/garg/board.c
index 2747bdac03..4dc7c1b292 100644
--- a/board/garg/board.c
+++ b/board/garg/board.c
@@ -15,6 +15,8 @@
 #include "common.h"
 #include "cros_board_info.h"
 #include "driver/accel_kionix.h"
+#include "driver/accelgyro_bmi160.h"
+#include "driver/accelgyro_bmi260.h"
 #include "driver/accelgyro_bmi_common.h"
 #include "driver/accelgyro_icm426xx.h"
 #include "driver/accelgyro_icm_common.h"
@@ -139,9 +141,17 @@ const mat33_fp_t base_icm_ref = {
 	{ 0, 0,  FLOAT_TO_FP(1)}
 };
 
+static const mat33_fp_t base_bmi260_ref = {
+	{ 0, FLOAT_TO_FP(-1), 0},
+	{ FLOAT_TO_FP(1), 0, 0},
+	{ 0, 0, FLOAT_TO_FP(1)}
+};
+
+
 /* sensor private data */
 static struct kionix_accel_data g_kx022_data;
 static struct bmi_drv_data_t g_bmi160_data;
+static struct bmi_drv_data_t g_bmi260_data;
 static struct icm_drv_data_t g_icm426xx_data;
 
 /* Drivers */
@@ -266,6 +276,53 @@ struct motion_sensor_t icm426xx_base_gyro = {
 	 .max_frequency = ICM426XX_GYRO_MAX_FREQ,
 };
 
+struct motion_sensor_t bmi260_base_accel = {
+	.name = "Base Accel",
+	.active_mask = SENSOR_ACTIVE_S0_S3,
+	.chip = MOTIONSENSE_CHIP_BMI260,
+	.type = MOTIONSENSE_TYPE_ACCEL,
+	.location = MOTIONSENSE_LOC_BASE,
+	.drv = &bmi260_drv,
+	.mutex = &g_base_mutex,
+	.drv_data = &g_bmi260_data,
+	.port = I2C_PORT_ACCEL,
+	.addr = BMI260_ADDR0_FLAGS,
+	.rot_standard_ref = &base_bmi260_ref,
+	.min_frequency = BMI_ACCEL_MIN_FREQ,
+	.max_frequency = BMI_ACCEL_MAX_FREQ,
+	.default_range = 4, /* g */
+	.config = {
+		/* EC use accel for angle detection */
+		[SENSOR_CONFIG_EC_S0] = {
+			.odr = 10000 | ROUND_UP_FLAG,
+			.ec_rate = 100 * MSEC,
+		},
+		/* Sensor on in S3 */
+		[SENSOR_CONFIG_EC_S3] = {
+			.odr = 10000 | ROUND_UP_FLAG,
+			.ec_rate = 100 * MSEC,
+		},
+	},
+};
+
+struct motion_sensor_t bmi260_base_gyro = {
+	.name = "Base Gyro",
+	.active_mask = SENSOR_ACTIVE_S0_S3,
+	.chip = MOTIONSENSE_CHIP_BMI260,
+	.type = MOTIONSENSE_TYPE_GYRO,
+	.location = MOTIONSENSE_LOC_BASE,
+	.drv = &bmi260_drv,
+	.mutex = &g_base_mutex,
+	.drv_data = &g_bmi260_data,
+	.port = I2C_PORT_ACCEL,
+	.addr = BMI260_ADDR0_FLAGS,
+	.default_range = 1000, /* dps */
+	.rot_standard_ref = &base_bmi260_ref,
+	.min_frequency = BMI_GYRO_MIN_FREQ,
+	.max_frequency = BMI_GYRO_MAX_FREQ,
+};
+
+
 static int board_is_convertible(void)
 {
 	/*
@@ -282,6 +339,10 @@ static void board_update_sensor_config_from_sku(void)
 			motion_sensors[BASE_ACCEL] = icm426xx_base_accel;
 			motion_sensors[BASE_GYRO] = icm426xx_base_gyro;
 			ccprints("BASE GYRO is ICM426XX");
+		} else if (get_cbi_ssfc_sensor() == SSFC_SENSOR_BMI260) {
+			motion_sensors[BASE_ACCEL] = bmi260_base_accel;
+			motion_sensors[BASE_GYRO] = bmi260_base_gyro;
+			ccprints("BASE GYRO is BMI260");
 		} else
 			ccprints("BASE GYRO is BMI160");
 		motion_sensor_count = ARRAY_SIZE(motion_sensors);
@@ -302,6 +363,9 @@ void sensor_interrupt(enum gpio_signal signal)
 	case MOTIONSENSE_CHIP_ICM426XX:
 		icm426xx_interrupt(signal);
 		break;
+	case MOTIONSENSE_CHIP_BMI260:
+		bmi260_interrupt(signal);
+		break;
 	case MOTIONSENSE_CHIP_BMI160:
 	default:
 		bmi160_interrupt(signal);
diff --git a/board/garg/board.h b/board/garg/board.h
index 0053a537f1..f588be561b 100644
--- a/board/garg/board.h
+++ b/board/garg/board.h
@@ -27,6 +27,7 @@
 /* Sensors */
 #define CONFIG_ACCEL_KX022	/* Lid accel */
 #define CONFIG_ACCELGYRO_BMI160	/* Base accel */
+#define CONFIG_ACCELGYRO_BMI260	/* 2nd Base accel */
 #define CONFIG_ACCELGYRO_ICM426XX	/* 2nd Base accel */
 #define CONFIG_SYNC		/* Camera VSYNC */
 
@@ -37,6 +38,8 @@
 /* Motion Sense Task Events */
 #define CONFIG_ACCELGYRO_BMI160_INT_EVENT \
 	TASK_EVENT_MOTION_SENSOR_INTERRUPT(BASE_ACCEL)
+#define CONFIG_ACCELGYRO_BMI260_INT_EVENT \
+	TASK_EVENT_MOTION_SENSOR_INTERRUPT(BASE_ACCEL)
 #define CONFIG_ACCELGYRO_ICM426XX_INT_EVENT \
 	TASK_EVENT_MOTION_SENSOR_INTERRUPT(BASE_ACCEL)