nautilus: enable gyro and accelerometer.

BUG=b:69399214
BRANCH=none
TEST=build/flash on nautilus.
check motionsense with ectool
ectool motionsense lid_angle
ectool motionsense odr 2 12500
ectool motionsense
check tablet mode/clamshell mode.

Change-Id: I8da0fb70b6c1b319db9c33f7cd6e4d2486b23b9f
Signed-off-by: Jongpil Jung <jongpil19.jung@samsung.com>
Reviewed-on: https://chromium-review.googlesource.com/781484
Commit-Ready: Jongpil Jung <jongpil19.jung@samsung.corp-partner.google.com>
Tested-by: Jongpil Jung <jongpil19.jung@samsung.corp-partner.google.com>
Reviewed-by: Philip Chen <philipchen@chromium.org>

2 files changed, 153 insertions, 130 deletions

diff --git a/board/nautilus/board.c b/board/nautilus/board.c
index 0a71e248cf..76f158327d 100644
--- a/board/nautilus/board.c
+++ b/board/nautilus/board.c
@@ -17,6 +17,7 @@
 #include "chipset.h"
 #include "console.h"
 #include "driver/accelgyro_bmi160.h"
+#include "driver/accel_bma2x2.h"
 #include "driver/baro_bmp280.h"
 #include "driver/tcpm/ps8xxx.h"
 #include "driver/tcpm/tcpci.h"
@@ -27,6 +28,7 @@
 #include "hooks.h"
 #include "host_command.h"
 #include "i2c.h"
+#include "keyboard_scan.h"
 #include "lid_switch.h"
 #include "math_util.h"
 #include "motion_lid.h"
@@ -506,142 +508,156 @@ void board_hibernate(void)
 
 /* Lid Sensor mutex */
 static struct mutex g_lid_mutex;
+static struct mutex g_base_mutex;
 
 static struct bmi160_drv_data_t g_bmi160_data;
 
+/* BMA255 private data */
+static struct bma2x2_accel_data g_bma255_data;
+
 /* Matrix to rotate accelrator into standard reference frame */
-const matrix_3x3_t mag_standard_ref = {
-	{ FLOAT_TO_FP(-1), 0, 0},
-	{ 0,  FLOAT_TO_FP(1), 0},
-	{ 0, 0, FLOAT_TO_FP(-1)}
+const matrix_3x3_t base_standard_ref = {
+    { FLOAT_TO_FP(-1), 0, 0},
+    { 0,  FLOAT_TO_FP(1), 0},
+    { 0, 0, FLOAT_TO_FP(-1)}
 };
 
 const matrix_3x3_t lid_standard_ref = {
-	{FLOAT_TO_FP(-1),  0,  0},
-	{ 0,  FLOAT_TO_FP(-1),  0},
-	{ 0,  0, FLOAT_TO_FP(1)}
+    { FLOAT_TO_FP(-1), 0, 0},
+    { 0, FLOAT_TO_FP(-1), 0},
+    { 0,  0, FLOAT_TO_FP(1)}
 };
 
 struct motion_sensor_t motion_sensors[] = {
-	[LID_ACCEL] = {
-	 .name = "Lid Accel",
-	 .active_mask = SENSOR_ACTIVE_S0,
-	 .chip = MOTIONSENSE_CHIP_BMI160,
-	 .type = MOTIONSENSE_TYPE_ACCEL,
-	 .location = MOTIONSENSE_LOC_LID,
-	 .drv = &bmi160_drv,
-	 .mutex = &g_lid_mutex,
-	 .drv_data = &g_bmi160_data,
-	 .port = I2C_PORT_GYRO,
-	 .addr = BMI160_ADDR0,
-	 .rot_standard_ref = &lid_standard_ref,
-	 .default_range = 2,  /* g, enough for laptop. */
-	 .min_frequency = BMI160_ACCEL_MIN_FREQ,
-	 .max_frequency = BMI160_ACCEL_MAX_FREQ,
-	 .config = {
-		 /* AP: by default use EC settings */
-		 [SENSOR_CONFIG_AP] = {
-			.odr = 0,
-			.ec_rate = 0,
-		 },
-		 /* EC use accel for angle detection */
-		 [SENSOR_CONFIG_EC_S0] = {
-			.odr = 10000 | ROUND_UP_FLAG,
-			.ec_rate = 100 * MSEC,
-		 },
-		 /* Sensor off in S3/S5 */
-		 [SENSOR_CONFIG_EC_S3] = {
-			.odr = 0,
-			.ec_rate = 0
-		 },
-		 /* Sensor off in S3/S5 */
-		 [SENSOR_CONFIG_EC_S5] = {
-			.odr = 0,
-			.ec_rate = 0
-		 },
-	 },
-	},
-
-	[LID_GYRO] = {
-	 .name = "Lid Gyro",
-	 .active_mask = SENSOR_ACTIVE_S0,
-	 .chip = MOTIONSENSE_CHIP_BMI160,
-	 .type = MOTIONSENSE_TYPE_GYRO,
-	 .location = MOTIONSENSE_LOC_LID,
-	 .drv = &bmi160_drv,
-	 .mutex = &g_lid_mutex,
-	 .drv_data = &g_bmi160_data,
-	 .port = I2C_PORT_GYRO,
-	 .addr = BMI160_ADDR0,
-	 .default_range = 1000, /* dps */
-	 .rot_standard_ref = &lid_standard_ref,
-	 .min_frequency = BMI160_GYRO_MIN_FREQ,
-	 .max_frequency = BMI160_GYRO_MAX_FREQ,
-	 .config = {
-		 /* AP: by default shutdown all sensors */
-		 [SENSOR_CONFIG_AP] = {
-			.odr = 0,
-			.ec_rate = 0,
-		 },
-		 /* EC does not need in S0 */
-		 [SENSOR_CONFIG_EC_S0] = {
-			.odr = 0,
-			.ec_rate = 0,
-		 },
-		 /* Sensor off in S3/S5 */
-		 [SENSOR_CONFIG_EC_S3] = {
-			.odr = 0,
-			.ec_rate = 0,
-		 },
-		 /* Sensor off in S3/S5 */
-		 [SENSOR_CONFIG_EC_S5] = {
-			.odr = 0,
-			.ec_rate = 0,
-		 },
-	 },
-	},
-
-	[LID_MAG] = {
-	 .name = "Lid Mag",
-	 .active_mask = SENSOR_ACTIVE_S0,
-	 .chip = MOTIONSENSE_CHIP_BMI160,
-	 .type = MOTIONSENSE_TYPE_MAG,
-	 .location = MOTIONSENSE_LOC_LID,
-	 .drv = &bmi160_drv,
-	 .mutex = &g_lid_mutex,
-	 .drv_data = &g_bmi160_data,
-	 .port = I2C_PORT_GYRO,
-	 .addr = BMI160_ADDR0,
-	 .default_range = 1 << 11, /* 16LSB / uT, fixed */
-	 .rot_standard_ref = &mag_standard_ref,
-	 .min_frequency = BMM150_MAG_MIN_FREQ,
-	 .max_frequency = BMM150_MAG_MAX_FREQ(SPECIAL),
-	 .config = {
-		 /* AP: by default shutdown all sensors */
-		 [SENSOR_CONFIG_AP] = {
-			.odr = 0,
-			.ec_rate = 0,
-		 },
-		 /* EC does not need in S0 */
-		 [SENSOR_CONFIG_EC_S0] = {
-			.odr = 0,
-			.ec_rate = 0,
-		 },
-		 /* Sensor off in S3/S5 */
-		 [SENSOR_CONFIG_EC_S3] = {
-			.odr = 0,
-			.ec_rate = 0,
-		 },
-		 /* Sensor off in S3/S5 */
-		 [SENSOR_CONFIG_EC_S5] = {
-			 .odr = 0,
-			 .ec_rate = 0,
-		 },
-	 },
-	},
+        [BASE_ACCEL] = {
+         .name = "Base Accel",
+         .active_mask = SENSOR_ACTIVE_S0_S3,
+         .chip = MOTIONSENSE_CHIP_BMI160,
+         .type = MOTIONSENSE_TYPE_ACCEL,
+         .location = MOTIONSENSE_LOC_BASE,
+         .drv = &bmi160_drv,
+         .mutex = &g_base_mutex,
+         .drv_data = &g_bmi160_data,
+         .port = I2C_PORT_ACCEL,
+         .addr = BMI160_ADDR0,
+         .rot_standard_ref = &base_standard_ref,
+         .min_frequency = BMI160_ACCEL_MIN_FREQ,
+         .max_frequency = BMI160_ACCEL_MAX_FREQ,
+         .default_range = 2, /* g, to support tablet mode  */
+         .config = {
+                 /* AP: by default use EC settings */
+                 [SENSOR_CONFIG_AP] = {
+                         .odr = 0,
+                         .ec_rate = 0,
+                 },
+                 /* 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,
+                 },
+                 /* Sensor off in S5 */
+                 [SENSOR_CONFIG_EC_S5] = {
+                         .odr = 0,
+                         .ec_rate = 0
+                 },
+         },
+        },
+        [BASE_GYRO] = {
+         .name = "Base Gyro",
+         .active_mask = SENSOR_ACTIVE_S0_S3,
+         .chip = MOTIONSENSE_CHIP_BMI160,
+         .type = MOTIONSENSE_TYPE_GYRO,
+         .location = MOTIONSENSE_LOC_BASE,
+         .drv = &bmi160_drv,
+         .mutex = &g_base_mutex,
+         .drv_data = &g_bmi160_data,
+         .port = I2C_PORT_ACCEL,
+         .addr = BMI160_ADDR0,
+         .default_range = 1000, /* dps */
+         .rot_standard_ref = &base_standard_ref,
+         .min_frequency = BMI160_GYRO_MIN_FREQ,
+         .max_frequency = BMI160_GYRO_MAX_FREQ,
+         .config = {
+                 /* AP: by default shutdown all sensors */
+                 [SENSOR_CONFIG_AP] = {
+                         .odr = 0,
+                         .ec_rate = 0,
+                 },
+                 /* EC does not need in S0 */
+                 [SENSOR_CONFIG_EC_S0] = {
+                         .odr = 0,
+                         .ec_rate = 0,
+                 },
+                 /* Sensor off in S3/S5 */
+                 [SENSOR_CONFIG_EC_S3] = {
+                         .odr = 0,
+                         .ec_rate = 0,
+                 },
+                 /* Sensor off in S3/S5 */
+                 [SENSOR_CONFIG_EC_S5] = {
+                         .odr = 0,
+                         .ec_rate = 0,
+                 },
+         },
+        },
+        [LID_ACCEL] = {
+         .name = "Lid Accel",
+         .active_mask = SENSOR_ACTIVE_S0_S3,
+         .chip = MOTIONSENSE_CHIP_BMA255,
+         .type = MOTIONSENSE_TYPE_ACCEL,
+         .location = MOTIONSENSE_LOC_LID,
+         .drv = &bma2x2_accel_drv,
+         .mutex = &g_lid_mutex,
+         .drv_data = &g_bma255_data,
+         .port = I2C_PORT_ACCEL,
+         .addr = BMA2x2_I2C_ADDR1,
+         .rot_standard_ref = &lid_standard_ref,
+         .min_frequency = BMA255_ACCEL_MIN_FREQ,
+         .max_frequency = BMA255_ACCEL_MAX_FREQ,
+         .default_range = 2, /* g, to support tablet mode */
+         .config = {
+                /* AP: by default use EC settings */
+                [SENSOR_CONFIG_AP] = {
+                        .odr = 0,
+                        .ec_rate = 0,
+                },
+                /* EC use accel for angle detection */
+                [SENSOR_CONFIG_EC_S0] = {
+                        .odr = 10000 | ROUND_UP_FLAG,
+                        .ec_rate = 0,
+                },
+                /* Sensor on in S3 */
+                [SENSOR_CONFIG_EC_S3] = {
+                        .odr = 10000 | ROUND_UP_FLAG,
+                        .ec_rate = 0,
+                },
+                /* Sensor off in S5 */
+                [SENSOR_CONFIG_EC_S5] = {
+                        .odr = 0,
+                        .ec_rate = 0,
+                },
+         },
+        },
 };
 const unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
 
+/* Enable or disable input devices, based on chipset state and tablet mode */
+#ifndef TEST_BUILD
+void lid_angle_peripheral_enable(int enable)
+{
+	/* If the lid is in 360 position, ignore the lid angle,
+	 * which might be faulty. Disable keyboard and touchpad. */
+	if (tablet_get_mode() || chipset_in_state(CHIPSET_STATE_ANY_OFF))
+		enable = 0;
+	keyboard_scan_enable(enable, KB_SCAN_DISABLE_LID_ANGLE);
+}
+#endif
+
 /* Called on AP S3 -> S0 transition */
 static void board_chipset_resume(void)
 {
diff --git a/board/nautilus/board.h b/board/nautilus/board.h
index 91d0f6c96b..d4e8bd153e 100644
--- a/board/nautilus/board.h
+++ b/board/nautilus/board.h
@@ -20,6 +20,7 @@
 #define CONFIG_BOARD_VERSION
 #define CONFIG_CASE_CLOSED_DEBUG_EXTERNAL
 #define CONFIG_DPTF
+#define CONFIG_DPTF_DEVICE_ORIENTATION
 #define CONFIG_FLASH_SIZE 0x80000
 #define CONFIG_FPU
 #define CONFIG_I2C
@@ -107,11 +108,16 @@
 #define CONFIG_MKBP_EVENT
 #define CONFIG_MKBP_USE_HOST_EVENT
 #define CONFIG_ACCELGYRO_BMI160
-#define CONFIG_MAG_BMI160_BMM150
-#define CONFIG_ACCEL_INTERRUPTS
 #define CONFIG_ACCELGYRO_BMI160_INT_EVENT TASK_EVENT_CUSTOM(4)
-#define BMM150_I2C_ADDRESS BMM150_ADDR0	/* 8-bit address */
-#define CONFIG_MAG_CALIBRATE
+#define CONFIG_ACCELGYRO_BMI160_INT2_OUTPUT
+#define CONFIG_ACCEL_BMA255
+#define CONFIG_ACCEL_INTERRUPTS
+#define CONFIG_LID_ANGLE
+#define CONFIG_LID_ANGLE_SENSOR_BASE BASE_ACCEL
+#define CONFIG_LID_ANGLE_SENSOR_LID LID_ACCEL
+#define CONFIG_LID_ANGLE_UPDATE
+#define CONFIG_LID_ANGLE_TABLET_MODE
+#define CONFIG_LID_ANGLE_INVALID_CHECK
 
 /* FIFO size is in power of 2. */
 #define CONFIG_ACCEL_FIFO 1024
@@ -204,10 +210,11 @@ enum temp_sensor_id {
  * the first 2 entries must be accelerometers, then gyroscope.
  * For BMI160, accel, gyro and compass sensors must be next to each other.
  */
+
 enum sensor_id {
-	LID_ACCEL = 0,
-	LID_GYRO,
-	LID_MAG,
+    BASE_ACCEL = 0,
+    BASE_GYRO,
+    LID_ACCEL,
 };
 
 enum adc_channel {