board: nucleo-f411re: create icm426xx development platform

Use icm426xx chip instead of bmi.
Add SPI slave + interrupt to interface with AP (SPI1 + PA1).
Add SPI master interface using SPI2 for the sensor (optional).
Fix board init hook priority to be run after motionsense init.
Increase task stack sizes.

 Conflicts:
	board/nucleo-f411re/board.c: Just change i2c address,
	   SPI and frequency support not in this branch.
	board/nucleo-f411re/board.h: CONFIG_ACCEL_FIFO_SIZE
           does not exist.

BUG=chromium:1117541, b:192817920
BRANCH=rammus
TEST=ectool && tast run hardware.SensorRing

Cq-Depend: chromium:3099546, chromium:3121867
Signed-off-by: Jean-Baptiste Maneyrol <jmaneyrol@invensense.com>
Change-Id: I860b669fd3d2ee196a66e5c80cdc0835b4e5bc73
(cherry picked from commit a4b8af57d15111440893759acd5d90bfc21d8c58)
Signed-off-by: Gwendal Grignou <gwendal@chromium.org>
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/3121866
Reviewed-by: JuHyun Kim <jkim@invensense.com>
Reviewed-by: Zhuohao Lee <zhuohao@chromium.org>
Commit-Queue: JuHyun Kim <jkim@invensense.com>
Commit-Queue: Zhuohao Lee <zhuohao@chromium.org>
Auto-Submit: JuHyun Kim <jkim@invensense.com>
Tested-by: JuHyun Kim <jkim@invensense.com>

4 files changed, 30 insertions, 18 deletions

diff --git a/board/nucleo-f411re/board.c b/board/nucleo-f411re/board.c
index 0f7c57f1e3..d0a84638fd 100644
--- a/board/nucleo-f411re/board.c
+++ b/board/nucleo-f411re/board.c
@@ -8,7 +8,8 @@
 #include "adc_chip.h"
 #include "common.h"
 #include "console.h"
-#include "driver/accelgyro_bmi160.h"
+#include "driver/accelgyro_icm_common.h"
+#include "driver/accelgyro_icm426xx.h"
 #include "ec_version.h"
 #include "gpio.h"
 #include "hooks.h"
@@ -31,6 +32,7 @@ void user_button_evt(enum gpio_signal signal)
 static void board_init(void)
 {
 	gpio_enable_interrupt(GPIO_USER_BUTTON_L);
+	gpio_enable_interrupt(GPIO_ICM426XX_INT1_L);
 
 	/* No power control yet */
 	/* Go to S3 state */
@@ -39,7 +41,7 @@ static void board_init(void)
 	/* Go to S0 state */
 	hook_notify(HOOK_CHIPSET_RESUME);
 }
-DECLARE_HOOK(HOOK_INIT, board_init, HOOK_PRIO_DEFAULT);
+DECLARE_HOOK(HOOK_INIT, board_init, HOOK_PRIO_LAST);
 
 /* ADC channels */
 const struct adc_t adc_channels[] = {
@@ -53,29 +55,28 @@ BUILD_ASSERT(ARRAY_SIZE(adc_channels) == ADC_CH_COUNT);
 
 /* I2C ports */
 const struct i2c_port_t i2c_ports[] = {
-	{"master", I2C_PORT_MASTER, 100,
+	{"master", I2C_PORT_MASTER, 400,
 	 GPIO_MASTER_I2C_SCL, GPIO_MASTER_I2C_SDA},
 };
-
 const unsigned int i2c_ports_used = ARRAY_SIZE(i2c_ports);
 
 /* Base Sensor mutex */
 static struct mutex g_base_mutex;
 
-static struct bmi160_drv_data_t g_bmi160_data;
+static struct icm_drv_data_t g_icm426xx_data;
 
 struct motion_sensor_t motion_sensors[] = {
 	[BASE_ACCEL] = {
 	 .name = "Base Accel",
 	 .active_mask = SENSOR_ACTIVE_S0_S3,
-	 .chip = MOTIONSENSE_CHIP_BMI160,
+	 .chip = MOTIONSENSE_CHIP_ICM426XX,
 	 .type = MOTIONSENSE_TYPE_ACCEL,
 	 .location = MOTIONSENSE_LOC_BASE,
-	 .drv = &bmi160_drv,
+	 .drv = &icm426xx_drv,
 	 .mutex = &g_base_mutex,
-	 .drv_data = &g_bmi160_data,
+	 .drv_data = &g_icm426xx_data,
 	 .port = I2C_PORT_ACCEL,
-	 .addr = BMI160_ADDR0,
+	 .addr = ICM426XX_ADDR0_FLAGS,
 	 .rot_standard_ref = NULL,
 	 .default_range = 2,  /* g, enough for laptop. */
 	 .config = {
@@ -95,14 +96,14 @@ struct motion_sensor_t motion_sensors[] = {
 	[BASE_GYRO] = {
 	 .name = "Base Gyro",
 	 .active_mask = SENSOR_ACTIVE_S0_S3,
-	 .chip = MOTIONSENSE_CHIP_BMI160,
+	 .chip = MOTIONSENSE_CHIP_ICM426XX,
 	 .type = MOTIONSENSE_TYPE_GYRO,
 	 .location = MOTIONSENSE_LOC_BASE,
-	 .drv = &bmi160_drv,
+	 .drv = &icm426xx_drv,
 	 .mutex = &g_base_mutex,
-	 .drv_data = &g_bmi160_data,
+	 .drv_data = &g_icm426xx_data,
 	 .port = I2C_PORT_ACCEL,
-	 .addr = BMI160_ADDR0,
+	 .addr = ICM426XX_ADDR0_FLAGS,
 	 .default_range = 1000, /* dps */
 	 .rot_standard_ref = NULL,
 	},
diff --git a/board/nucleo-f411re/board.h b/board/nucleo-f411re/board.h
index 7ffa0b0f07..9c2380948b 100644
--- a/board/nucleo-f411re/board.h
+++ b/board/nucleo-f411re/board.h
@@ -34,7 +34,17 @@
 #define CONFIG_UART_TX_REQ_CH STM32_REQ_USART2_TX
 #define CONFIG_UART_RX_REQ_CH STM32_REQ_USART2_RX
 
-#define CONFIG_ACCELGYRO_BMI160
+#define CONFIG_ACCELGYRO_ICM426XX
+#define CONFIG_ACCEL_INTERRUPTS
+#define CONFIG_ACCELGYRO_ICM426XX_INT_EVENT TASK_EVENT_CUSTOM(4)
+
+#define CONFIG_MKBP_EVENT
+/* Enable sensor fifo, must also define the _SIZE and _THRES */
+/* FIFO size is in power of 2. */
+#define CONFIG_ACCEL_FIFO 512
+/* Depends on how fast the AP boots and typical ODRs */
+#define CONFIG_ACCEL_FIFO_THRES (CONFIG_ACCEL_FIFO / 3)
+
 #define CONFIG_CMD_ACCELS
 #define CONFIG_CMD_ACCEL_INFO
 #define CONFIG_CMD_FLASH
diff --git a/board/nucleo-f411re/ec.tasklist b/board/nucleo-f411re/ec.tasklist
index 52135d97f8..847b82695c 100644
--- a/board/nucleo-f411re/ec.tasklist
+++ b/board/nucleo-f411re/ec.tasklist
@@ -17,7 +17,7 @@
  * 's' is the stack size in bytes; must be a multiple of 8
  */
 #define CONFIG_TASK_LIST \
-	TASK_ALWAYS(HOOKS, hook_task, NULL, LARGER_TASK_STACK_SIZE) \
-	TASK_NOTEST(HOSTCMD, host_command_task, NULL, TASK_STACK_SIZE) \
-	TASK_NOTEST(MOTIONSENSE, motion_sense_task, NULL, TASK_STACK_SIZE) \
+	TASK_ALWAYS(HOOKS, hook_task, NULL, VENTI_TASK_STACK_SIZE) \
+	TASK_NOTEST(HOSTCMD, host_command_task, NULL, VENTI_TASK_STACK_SIZE) \
+	TASK_NOTEST(MOTIONSENSE, motion_sense_task, NULL, VENTI_TASK_STACK_SIZE) \
 	TASK_ALWAYS(CONSOLE, console_task, NULL, LARGER_TASK_STACK_SIZE)
diff --git a/board/nucleo-f411re/gpio.inc b/board/nucleo-f411re/gpio.inc
index 83a9e51a08..3ad0a0ff69 100644
--- a/board/nucleo-f411re/gpio.inc
+++ b/board/nucleo-f411re/gpio.inc
@@ -7,11 +7,12 @@
 
 /* Interrupts */
 GPIO_INT(USER_BUTTON_L,   PIN(C, 13), GPIO_INT_BOTH, user_button_evt)
+GPIO_INT(ICM426XX_INT1_L, PIN(C, 10), GPIO_INT_FALLING, icm426xx_interrupt)
 
 /* User LED */
 GPIO(USER_LED,            PIN(A,  5), GPIO_OUT_LOW)
+GPIO(EC_INT_L,            PIN(A,  1), GPIO_OUT_HIGH)
 
-GPIO(BMI160_INT2_L,       PIN(C, 10), GPIO_OUT_LOW)
 /*
  * I2C pins should be configured as inputs until I2C module is
  * initialized. This will avoid driving the lines unintentionally.