driver: icm42607: removed SW reset and added POC initialize

Removed SW reset in initialize code due to hardware issue of ICM42607
Added registers initialization code instead of SW reset

BUG=chromium:1288737
BRANCH=None
TEST=ectool motionsense && CROS-EC IIO drivers

Signed-off-by: JuHyun Kim <jkim@invensense.com>

Change-Id: If14c071b82b62a7432cb1855cdf5d1c9dc744a91
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/3403824
Tested-by: JuHyun Kim <jkim@invensense.com>
Reviewed-by: Jean-Baptiste Maneyrol <jmaneyrol@invensense.com>
Reviewed-by: Henry Sun <henrysun@google.com>
Reviewed-by: Aseda Aboagye <aaboagye@chromium.org>
Commit-Queue: Aseda Aboagye <aaboagye@chromium.org>
(cherry picked from commit 86f19b3430623dab7ce8089a7d3564a98705c5ac)
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/3587802
Tested-by: Gwendal Grignou <gwendal@chromium.org>
Reviewed-by: Daisuke Nojiri <dnojiri@chromium.org>
Commit-Queue: Gwendal Grignou <gwendal@chromium.org>

2 files changed, 133 insertions, 20 deletions

diff --git a/driver/accelgyro_icm42607.c b/driver/accelgyro_icm42607.c
index b840ba3363..33ef71dd81 100644
--- a/driver/accelgyro_icm42607.c
+++ b/driver/accelgyro_icm42607.c
@@ -994,6 +994,123 @@ static int icm42607_init_config(const struct motion_sensor_t *s)
 	/* Wait for 280 us for the OTP to load */
 	usleep(280);
 
+	/* Write POR value for all registers not loaded with OTP */
+	ret = icm_write8(s, ICM42607_REG_GYRO_CONFIG0, 0x06);
+	if (ret)
+		return ret;
+
+	ret = icm_write8(s, ICM42607_REG_ACCEL_CONFIG0, 0x06);
+	if (ret)
+		return ret;
+
+	ret = icm_write8(s, ICM42607_REG_APEX_CONFIG0, 0x08);
+	if (ret)
+		return ret;
+
+	ret = icm_write8(s, ICM42607_REG_APEX_CONFIG1,  0x02);
+	if (ret)
+		return ret;
+
+	ret = icm_write8(s, ICM42607_REG_FIFO_CONFIG1, 0x01);
+	if (ret)
+		return ret;
+
+	ret = icm_write8(s, ICM42607_REG_FIFO_CONFIG2, 0x00);
+	if (ret)
+		return ret;
+
+	ret = icm_write8(s, ICM42607_REG_FIFO_CONFIG3, 0x00);
+	if (ret)
+		return ret;
+
+	ret = icm_write_mclk_reg(s, ICM42607_MREG_FIFO_CONFIG5, 0x20);
+	if (ret)
+		return ret;
+
+	ret = icm_write_mclk_reg(s, ICM42607_MREG_INT_SOURCE7, 0x00);
+	if (ret)
+		return ret;
+
+	ret = icm_write_mclk_reg(s, ICM42607_MREG_INT_SOURCE8, 0x00);
+	if (ret)
+		return ret;
+
+	ret = icm_write_mclk_reg(s, ICM42607_MREG_INT_SOURCE9, 0x00);
+	if (ret)
+		return ret;
+
+	ret = icm_write_mclk_reg(s, ICM42607_MREG_INT_SOURCE10, 0x00);
+	if (ret)
+		return ret;
+
+	ret = icm_write_mclk_reg(s, ICM42607_MREG_APEX_CONFIG2, 0xA2);
+	if (ret)
+		return ret;
+
+	ret = icm_write_mclk_reg(s, ICM42607_MREG_APEX_CONFIG3, 0x85);
+	if (ret)
+		return ret;
+
+	ret = icm_write_mclk_reg(s, ICM42607_MREG_APEX_CONFIG4, 0x51);
+	if (ret)
+		return ret;
+
+	ret = icm_write_mclk_reg(s, ICM42607_MREG_APEX_CONFIG5, 0x80);
+	if (ret)
+		return ret;
+
+	ret = icm_write_mclk_reg(s, ICM42607_MREG_APEX_CONFIG9, 0x00);
+	if (ret)
+		return ret;
+
+	ret = icm_write_mclk_reg(s, ICM42607_MREG_APEX_CONFIG10, 0x00);
+	if (ret)
+		return ret;
+
+	ret = icm_write_mclk_reg(s, ICM42607_MREG_APEX_CONFIG11, 0x00);
+	if (ret)
+		return ret;
+
+	ret = icm_write_mclk_reg(s, ICM42607_MREG_OFFSET_USER0, 0x00);
+	if (ret)
+		return ret;
+
+	ret = icm_write_mclk_reg(s, ICM42607_MREG_OFFSET_USER1, 0x00);
+	if (ret)
+		return ret;
+
+	ret = icm_write_mclk_reg(s, ICM42607_MREG_OFFSET_USER2, 0x00);
+	if (ret)
+		return ret;
+
+	ret = icm_write_mclk_reg(s, ICM42607_MREG_OFFSET_USER3, 0x00);
+	if (ret)
+		return ret;
+
+	ret = icm_write_mclk_reg(s, ICM42607_MREG_OFFSET_USER4, 0x00);
+	if (ret)
+		return ret;
+
+	ret = icm_write_mclk_reg(s, ICM42607_MREG_OFFSET_USER5, 0x00);
+	if (ret)
+		return ret;
+
+	ret = icm_write_mclk_reg(s, ICM42607_MREG_OFFSET_USER6, 0x00);
+	if (ret)
+		return ret;
+
+	ret = icm_write_mclk_reg(s, ICM42607_MREG_OFFSET_USER7, 0x00);
+	if (ret)
+		return ret;
+
+	ret = icm_write_mclk_reg(s, ICM42607_MREG_OFFSET_USER8, 0x00);
+	if (ret)
+		return ret;
+
+	ret = icm_write_mclk_reg(s, ICM42607_MREG_APEX_CONFIG12, 0x00);
+	if (ret)
+		return ret;
+
 	ret = icm_switch_off_mclk(s);
 	if (ret)
 		return ret;
@@ -1049,26 +1166,6 @@ static int icm42607_init(const struct motion_sensor_t *s)
 		if (ret)
 			goto out_unlock;
 
-		/* Reset to make sure previous state are not there */
-		ret = icm_write8(s, ICM42607_REG_SIGNAL_PATH_RESET,
-				 ICM42607_SOFT_RESET_DEV_CONFIG);
-		if (ret)
-			goto out_unlock;
-
-		/* Check reset is done, 1ms max */
-		for (i = 0; i < 5; ++i) {
-			usleep(200);
-			ret = icm_read8(s, ICM42607_REG_INT_STATUS, &val);
-			if (ret)
-				goto out_unlock;
-			if (val == ICM42607_RESET_DONE_INT)
-				break;
-		}
-		if (val != ICM42607_RESET_DONE_INT) {
-			ret = EC_ERROR_HW_INTERNAL;
-			goto out_unlock;
-		}
-
 		/* configure sensor */
 		ret = icm42607_init_config(s);
 		if (ret)
diff --git a/driver/accelgyro_icm42607.h b/driver/accelgyro_icm42607.h
index f31392bf92..ccfd1e1d97 100644
--- a/driver/accelgyro_icm42607.h
+++ b/driver/accelgyro_icm42607.h
@@ -180,6 +180,8 @@ enum icm42607_ui_filt_bw {
 #define ICM42607_UI_FILT_BW_SET(_filt)	((_filt) & 0x07)
 
 #define ICM42607_REG_FIFO_CONFIG1	0x0028
+#define ICM42607_REG_FIFO_CONFIG2	0x0029
+#define ICM42607_REG_FIFO_CONFIG3	0x002A
 #define ICM42607_FIFO_STOP_ON_FULL_MODE	BIT(1)
 #define ICM42607_FIFO_BYPASS		BIT(0)
 #define ICM42607_FIFO_MODE_STREAM	0x00
@@ -258,6 +260,20 @@ enum icm42607_ui_filt_bw {
 #define ICM42607_OTP_COPY_TRIM		(0x01 << 2)
 #define ICM42607_OTP_COPY_ST_DATA	(0x03 << 2)
 
+#define ICM42607_MREG_INT_SOURCE7	0x0030
+#define ICM42607_MREG_INT_SOURCE8	0x0031
+#define ICM42607_MREG_INT_SOURCE9	0x0032
+#define ICM42607_MREG_INT_SOURCE10	0x0033
+
+#define ICM42607_MREG_APEX_CONFIG2	0x0044
+#define ICM42607_MREG_APEX_CONFIG3	0x0045
+#define ICM42607_MREG_APEX_CONFIG4	0x0046
+#define ICM42607_MREG_APEX_CONFIG5	0x0047
+#define ICM42607_MREG_APEX_CONFIG9	0x0048
+#define ICM42607_MREG_APEX_CONFIG10	0x0049
+#define ICM42607_MREG_APEX_CONFIG11	0x004A
+#define ICM42607_MREG_APEX_CONFIG12	0x0067
+
 #define ICM42607_MREG_OFFSET_USER0	0x004E
 #define ICM42607_MREG_OFFSET_USER1	0x004F
 #define ICM42607_MREG_OFFSET_USER2	0x0050