rammus: gryo sensor add 2nd source ICM40608

gryo sensor add 2nd source icm40608

BUG=b:192817920
BRANCH=rammus
TEST=make BOARD=rammus
Set CBI SSFC 0x10 and using command
"watch ectool motionsense lid_angle" for icm-40608.

Signed-off-by: Michael5 Chen1 <michael5_chen1@pegatron.corp-partner.google.com>
Change-Id: If64ee373c0c63e074b11b8a37c9d67c70d409f40
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/3180700
Reviewed-by: Zhuohao Lee <zhuohao@chromium.org>
Commit-Queue: Gwendal Grignou <gwendal@chromium.org>
(cherry picked from commit 9fc70659ae9cc8350e8734471bcffb55b2580f74)
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/3189456
Commit-Queue: Zhuohao Lee <zhuohao@chromium.org>

5 files changed, 97 insertions, 2 deletions

diff --git a/board/rammus/board.c b/board/rammus/board.c
index d21968e468..7577819fb8 100644
--- a/board/rammus/board.c
+++ b/board/rammus/board.c
@@ -20,6 +20,8 @@
 #include "console.h"
 #include "cros_board_info.h"
 #include "driver/accelgyro_bmi160.h"
+#include "driver/accelgyro_icm_common.h"
+#include "driver/accelgyro_icm426xx.h"
 #include "driver/accel_bma2x2.h"
 #include "driver/accel_kionix.h"
 #include "driver/accel_kx022.h"
@@ -603,6 +605,7 @@ static struct mutex g_lid_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;
 
 /* private data */
 static struct accelgyro_saved_data_t g_bma255_data;
@@ -615,12 +618,64 @@ const mat33_fp_t base_standard_ref = {
 	{ 0, 0, FLOAT_TO_FP(-1) }
 };
 
+const mat33_fp_t base_standard_ref_icm = {
+	{ 0, FLOAT_TO_FP(1), 0 },
+	{ FLOAT_TO_FP(1), 0, 0 },
+	{ 0, 0, FLOAT_TO_FP(-1) }
+};
+
 const mat33_fp_t lid_standard_ref = {
 	{ FLOAT_TO_FP(-1), 0, 0 },
 	{ 0,  FLOAT_TO_FP(1), 0 },
 	{ 0, 0, FLOAT_TO_FP(-1) }
 };
 
+struct motion_sensor_t base_accel_icm = {
+	.name = "Base Accel",
+	.active_mask = SENSOR_ACTIVE_S0_S3,
+	.chip = MOTIONSENSE_CHIP_ICM426XX,
+	.type = MOTIONSENSE_TYPE_ACCEL,
+	.location = MOTIONSENSE_LOC_BASE,
+	.drv = &icm426xx_drv,
+	.mutex = &g_base_mutex,
+	.drv_data = &g_icm426xx_data,
+	.port = I2C_PORT_ACCEL,
+	.addr = ICM426XX_ADDR0_FLAGS,
+	.rot_standard_ref = &base_standard_ref_icm,
+	.min_frequency = ICM426XX_ACCEL_MIN_FREQ,
+	.max_frequency = ICM426XX_ACCEL_MAX_FREQ,
+	.default_range = 4,  /* g, to meet CDD 7.3.1/C-1-4 reqs */
+	.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 = 0,
+		},
+	},
+};
+
+struct motion_sensor_t base_gyro_icm = {
+	.name = "Base Gyro",
+	.active_mask = SENSOR_ACTIVE_S0_S3,
+	.chip = MOTIONSENSE_CHIP_ICM426XX,
+	.type = MOTIONSENSE_TYPE_GYRO,
+	.location = MOTIONSENSE_LOC_BASE,
+	.drv = &icm426xx_drv,
+	.mutex = &g_base_mutex,
+	.drv_data = &g_icm426xx_data,
+	.port = I2C_PORT_ACCEL,
+	.addr = ICM426XX_ADDR0_FLAGS,
+	.default_range = 1000, /* dps */
+	.rot_standard_ref = &base_standard_ref_icm,
+	.min_frequency = ICM426XX_GYRO_MIN_FREQ,
+	.max_frequency = ICM426XX_GYRO_MAX_FREQ,
+};
+
 struct motion_sensor_t lid_accel_kx022 = {
 	.name = "Lid Accel",
 	.active_mask = SENSOR_ACTIVE_S0_S3,
@@ -726,6 +781,14 @@ struct motion_sensor_t motion_sensors[] = {
 };
 unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
 
+void motion_interrupt(enum gpio_signal signal)
+{
+	if (get_cbi_ssfc_base_sensor() == SSFC_SENSOR_BASE_ICM426XX)
+		icm426xx_interrupt(signal);
+	else
+		bmi160_interrupt(signal);
+}
+
 static void board_detect_motionsense(void)
 {
 	if (get_cbi_ssfc_lid_sensor() == SSFC_SENSOR_LID_KX022) {
@@ -733,6 +796,13 @@ static void board_detect_motionsense(void)
 		ccprints("LID_ACCEL is KX022");
 	} else
 		ccprints("LID_ACCEL is BMA253");
+
+	if (get_cbi_ssfc_base_sensor() == SSFC_SENSOR_BASE_ICM426XX) {
+		motion_sensors[BASE_ACCEL] = base_accel_icm;
+		motion_sensors[BASE_GYRO] = base_gyro_icm;
+		ccprints("BASE_ACCEL is ICM426XX");
+	} else
+		ccprints("BASE_ACCEL is BMI160");
 }
 DECLARE_HOOK(HOOK_INIT, board_detect_motionsense, HOOK_PRIO_DEFAULT);
 
diff --git a/board/rammus/board.h b/board/rammus/board.h
index 4f0e7090d1..0c23cd5bae 100644
--- a/board/rammus/board.h
+++ b/board/rammus/board.h
@@ -112,6 +112,8 @@
 #define CONFIG_MKBP_USE_HOST_EVENT
 #define CONFIG_ACCELGYRO_BMI160
 #define CONFIG_ACCELGYRO_BMI160_INT_EVENT TASK_EVENT_CUSTOM(4)
+#define CONFIG_ACCELGYRO_ICM426XX
+#define CONFIG_ACCELGYRO_ICM426XX_INT_EVENT TASK_EVENT_CUSTOM(4)
 #define CONFIG_ACCELGYRO_BMI160_INT2_OUTPUT
 #define CONFIG_ACCEL_BMA255
 #define CONFIG_ACCEL_KX022
@@ -283,6 +285,7 @@ enum pwm_channel {
 /* Board specific handlers */
 void board_reset_pd_mcu(void);
 void board_set_tcpc_power_mode(int port, int mode);
+void motion_interrupt(enum gpio_signal signal);
 
 /* Sensors without hardware FIFO are in forced mode */
 #define CONFIG_ACCEL_FORCE_MODE_MASK (1 << LID_ACCEL)
diff --git a/board/rammus/cbi_ssfc.c b/board/rammus/cbi_ssfc.c
index 18954c6e68..e1f6fa4bd2 100644
--- a/board/rammus/cbi_ssfc.c
+++ b/board/rammus/cbi_ssfc.c
@@ -29,3 +29,8 @@ enum ec_ssfc_lid_sensor get_cbi_ssfc_lid_sensor(void)
 {
 	return cached_ssfc.lid_sensor;
 }
+
+enum ec_ssfc_base_sensor get_cbi_ssfc_base_sensor(void)
+{
+	return cached_ssfc.base_sensor;
+}
diff --git a/board/rammus/cbi_ssfc.h b/board/rammus/cbi_ssfc.h
index 09a1d49714..2ca20f2376 100644
--- a/board/rammus/cbi_ssfc.h
+++ b/board/rammus/cbi_ssfc.h
@@ -21,10 +21,20 @@ enum ec_ssfc_lid_sensor {
 	SSFC_SENSOR_LID_KX022 = 2
 };
 
+/*
+ * Base Sensor (Bits 5-3)
+ */
+enum ec_ssfc_base_sensor {
+	SSFC_SENSOR_BASE_DEFAULT = 0,
+	SSFC_SENSOR_BASE_BMI160 = 1,
+	SSFC_SENSOR_BASE_ICM426XX = 2,
+};
+
 union rammus_cbi_ssfc {
 	struct {
 		enum ec_ssfc_lid_sensor lid_sensor : 3;
-		uint32_t reserved_2 : 29;
+		enum ec_ssfc_base_sensor base_sensor : 3;
+		uint32_t reserved_2 : 26;
 	};
 	uint32_t raw_value;
 };
@@ -36,4 +46,11 @@ union rammus_cbi_ssfc {
  */
 enum ec_ssfc_lid_sensor get_cbi_ssfc_lid_sensor(void);
 
+/**
+ * Get the base sensor type form SSFC_CONFIG.
+ *
+ * @return the base sensor board type.
+ */
+enum ec_ssfc_base_sensor get_cbi_ssfc_base_sensor(void);
+
 #endif /* _RAMMUS_CBI_SSFC__H_ */
diff --git a/board/rammus/gpio.inc b/board/rammus/gpio.inc
index 1a8f076aba..40cee5dfc5 100644
--- a/board/rammus/gpio.inc
+++ b/board/rammus/gpio.inc
@@ -26,7 +26,7 @@ GPIO_INT(USB_C0_VBUS_DET_L,  PIN(9, 3), GPIO_INT_BOTH | GPIO_PULL_UP,     vbus0_
 GPIO_INT(USB_C1_VBUS_DET_L,  PIN(9, 7), GPIO_INT_BOTH | GPIO_PULL_UP,     vbus1_evt)
 GPIO_INT(USB_C0_BC12_INT_L,  PIN(D, 3), GPIO_INT_FALLING,                 usb0_evt)
 GPIO_INT(USB_C1_BC12_INT_L,  PIN(3, 3), GPIO_INT_FALLING,                 usb1_evt)
-GPIO_INT(BASE_SIXAXIS_INT_L, PIN(7, 3), GPIO_INT_FALLING | GPIO_SEL_1P8V, bmi160_interrupt)
+GPIO_INT(BASE_SIXAXIS_INT_L, PIN(7, 3), GPIO_INT_FALLING | GPIO_SEL_1P8V, motion_interrupt)
 GPIO_INT(TABLET_MODE,        PIN(C, 6), GPIO_INT_BOTH,                    hall_sensor_isr)
 
 GPIO(EN_PP3300_TRACKPAD,     PIN(4, 5), GPIO_OUT_LOW)                /* Enable TouchPad */