voxel: modify motion sensors config

change motion sensor base accel and gyro config,
and rotations matrices of lid accel and base.

BUG=b:162940877
BRANCH=none
TEST=Using ectool 'motionsense' verified lid angle now goes
    from 0 to 360 and swtiches to tablet mode after crossing 200
    threshold.

Change-Id: I2073ed7d64604d4c3a53ee5d9d11ab930840d0dd
Signed-off-by: Ben Chen <ben.chen2@quanta.corp-partner.google.com>
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/2352965
Reviewed-by: Keith Short <keithshort@chromium.org>

4 files changed, 29 insertions, 30 deletions

diff --git a/board/voxel/board.c b/board/voxel/board.c
index 52965ac4cb..23c4c6391a 100644
--- a/board/voxel/board.c
+++ b/board/voxel/board.c
@@ -10,7 +10,7 @@
 #include "accelgyro.h"
 #include "cbi_ec_fw_config.h"
 #include "driver/accel_bma2x2.h"
-#include "driver/accelgyro_bmi260.h"
+#include "driver/accelgyro_bmi160.h"
 #include "driver/ppc/syv682x.h"
 #include "driver/retimer/bb_retimer.h"
 #include "driver/sync.h"
diff --git a/board/voxel/board.h b/board/voxel/board.h
index e380ba2846..422e4adcdd 100644
--- a/board/voxel/board.h
+++ b/board/voxel/board.h
@@ -33,21 +33,17 @@
 /* Keyboard features */
 
 /* Sensors */
-/* BMA253 accelerometer in base */
-#define CONFIG_ACCEL_BMA255
-
-/* BMI260 accel/gyro in base */
-#define CONFIG_ACCELGYRO_BMI260
-#define CONFIG_ACCELGYRO_BMI260_INT_EVENT \
+/* BMI160 Base accel/gyro */
+#define CONFIG_ACCELGYRO_BMI160
+#define CONFIG_ACCELGYRO_BMI160_INT_EVENT \
 	TASK_EVENT_MOTION_SENSOR_INTERRUPT(BASE_ACCEL)
 
-/* Sensors without hardware FIFO are in forced mode */
-#define CONFIG_ACCEL_FORCE_MODE_MASK BIT(LID_ACCEL)
-
+/* BMA253 Lid accel */
+#define CONFIG_ACCEL_BMA255
 #define CONFIG_LID_ANGLE
 #define CONFIG_LID_ANGLE_UPDATE
-#define CONFIG_LID_ANGLE_SENSOR_BASE		BASE_ACCEL
-#define CONFIG_LID_ANGLE_SENSOR_LID		LID_ACCEL
+#define CONFIG_LID_ANGLE_SENSOR_BASE	BASE_ACCEL
+#define CONFIG_LID_ANGLE_SENSOR_LID	LID_ACCEL
 
 /* USB Type C and USB PD defines */
 /*
diff --git a/board/voxel/gpio.inc b/board/voxel/gpio.inc
index 63b42c9a7c..0a1c6ae1cf 100644
--- a/board/voxel/gpio.inc
+++ b/board/voxel/gpio.inc
@@ -25,7 +25,7 @@ GPIO_INT(DSW_PWROK,            PIN(C, 7), GPIO_INT_BOTH, power_signal_interrupt)
 GPIO_INT(PG_EC_ALL_SYS_PWRGD,  PIN(F, 4),  GPIO_INT_BOTH, power_signal_interrupt)
 
 /* Sensor Interrupts */
-GPIO_INT(EC_IMU_INT_L,         PIN(5, 6), GPIO_INT_FALLING | GPIO_SEL_1P8V, bmi260_interrupt)
+GPIO_INT(EC_IMU_INT_L,         PIN(5, 6), GPIO_INT_FALLING | GPIO_SEL_1P8V, bmi160_interrupt)
 GPIO(EC_ALS_RGB_INT_L,         PIN(D, 4), GPIO_INPUT | GPIO_PULL_UP)	/* unused */
 GPIO_INT(TABLET_MODE_L,        PIN(9, 5), GPIO_INT_BOTH, gmr_tablet_switch_isr)
 /*
diff --git a/board/voxel/sensors.c b/board/voxel/sensors.c
index 6b8933264c..fab1fac66b 100644
--- a/board/voxel/sensors.c
+++ b/board/voxel/sensors.c
@@ -8,7 +8,7 @@
 #include "accelgyro.h"
 #include "driver/accel_bma2x2.h"
 #include "driver/accelgyro_bmi_common.h"
-#include "driver/accelgyro_bmi260.h"
+#include "driver/accelgyro_bmi160.h"
 #include "driver/als_tcs3400.h"
 #include "driver/sync.h"
 #include "keyboard_scan.h"
@@ -18,6 +18,7 @@
 #include "tablet_mode.h"
 #include "util.h"
 
+#define CPRINTS(format, args...) cprints(CC_MOTION_SENSE, format, ## args)
 /******************************************************************************/
 /* Sensors */
 static struct mutex g_lid_accel_mutex;
@@ -26,19 +27,19 @@ static struct mutex g_base_mutex;
 /* BMA253 private data */
 static struct accelgyro_saved_data_t g_bma253_data;
 
-/* BMI260 private data */
-static struct bmi_drv_data_t g_bmi260_data;
+/* BMI160 private data */
+static struct bmi_drv_data_t g_bmi160_data;
 
 /* Rotation matrix for the lid accelerometer */
 static const mat33_fp_t lid_standard_ref = {
-	{ FLOAT_TO_FP(1), 0, 0},
+	{ FLOAT_TO_FP(-1), 0, 0},
 	{ 0, FLOAT_TO_FP(-1), 0},
-	{ 0, 0, FLOAT_TO_FP(-1)}
+	{ 0, 0, FLOAT_TO_FP(1)}
 };
 
 const mat33_fp_t base_standard_ref = {
-	{ 0, FLOAT_TO_FP(1), 0},
 	{ FLOAT_TO_FP(-1), 0, 0},
+	{ 0, FLOAT_TO_FP(-1), 0},
 	{ 0, 0, FLOAT_TO_FP(1)}
 };
 
@@ -72,14 +73,14 @@ struct motion_sensor_t motion_sensors[] = {
 	[BASE_ACCEL] = {
 		.name = "Base Accel",
 		.active_mask = SENSOR_ACTIVE_S0_S3,
-		.chip = MOTIONSENSE_CHIP_BMI260,
+		.chip = MOTIONSENSE_CHIP_BMI160,
 		.type = MOTIONSENSE_TYPE_ACCEL,
 		.location = MOTIONSENSE_LOC_BASE,
-		.drv = &bmi260_drv,
+		.drv = &bmi160_drv,
 		.mutex = &g_base_mutex,
-		.drv_data = &g_bmi260_data,
+		.drv_data = &g_bmi160_data,
 		.port = I2C_PORT_SENSOR,
-		.i2c_spi_addr_flags = BMI260_ADDR0_FLAGS,
+		.i2c_spi_addr_flags = BMI160_ADDR0_FLAGS,
 		.rot_standard_ref = &base_standard_ref,
 		.min_frequency = BMI_ACCEL_MIN_FREQ,
 		.max_frequency = BMI_ACCEL_MAX_FREQ,
@@ -101,14 +102,14 @@ struct motion_sensor_t motion_sensors[] = {
 	[BASE_GYRO] = {
 		.name = "Base Gyro",
 		.active_mask = SENSOR_ACTIVE_S0_S3,
-		.chip = MOTIONSENSE_CHIP_BMI260,
+		.chip = MOTIONSENSE_CHIP_BMI160,
 		.type = MOTIONSENSE_TYPE_GYRO,
 		.location = MOTIONSENSE_LOC_BASE,
-		.drv = &bmi260_drv,
+		.drv = &bmi160_drv,
 		.mutex = &g_base_mutex,
-		.drv_data = &g_bmi260_data,
+		.drv_data = &g_bmi160_data,
 		.port = I2C_PORT_SENSOR,
-		.i2c_spi_addr_flags = BMI260_ADDR0_FLAGS,
+		.i2c_spi_addr_flags = BMI160_ADDR0_FLAGS,
 		.default_range = 1000, /* dps */
 		.rot_standard_ref = &base_standard_ref,
 		.min_frequency = BMI_GYRO_MIN_FREQ,
@@ -117,14 +118,16 @@ struct motion_sensor_t motion_sensors[] = {
 };
 unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
 
-static void baseboard_sensors_init(void)
+static void board_sensors_init(void)
 {
 	/* Note - BMA253 interrupt unused by EC */
 
-	/* Enable interrupt for the BMI260 accel/gyro sensor */
+	/* Enable interrupt for the BMI160 accel/gyro sensor */
 	gpio_enable_interrupt(GPIO_EC_IMU_INT_L);
+
+	CPRINTS("Motion Sensor Count = %d", motion_sensor_count);
 }
-DECLARE_HOOK(HOOK_INIT, baseboard_sensors_init, HOOK_PRIO_DEFAULT);
+DECLARE_HOOK(HOOK_INIT, board_sensors_init, HOOK_PRIO_DEFAULT);
 
 #ifndef TEST_BUILD
 void lid_angle_peripheral_enable(int enable)