burnet: add IMU sensors

* BMI160 Base ACC+Gyro
* BMA253 in the LID

BUG=none
BRANCH=firmware-kukui-12573.B
TEST=ectool motionsense to make sure sensors work.

Signed-off-by: Devin Lu <Devin.Lu@quantatw.com>
Change-Id: Iab6dcee5b4226750c649b6a61126ec188ff3a960
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/2348733
Reviewed-by: Ting Shen <phoenixshen@chromium.org>

3 files changed, 166 insertions, 30 deletions

diff --git a/board/burnet/board.c b/board/burnet/board.c
index 7a8b2989ae..e2588c0cd4 100644
--- a/board/burnet/board.c
+++ b/board/burnet/board.c
@@ -14,6 +14,7 @@
 #include "chipset.h"
 #include "common.h"
 #include "console.h"
+#include "driver/accel_bma2x2.h"
 #include "driver/accelgyro_bmi_common.h"
 #include "driver/battery/max17055.h"
 #include "driver/bc12/pi3usb9201.h"
@@ -114,8 +115,8 @@ struct ioexpander_config_t ioex_config[CONFIG_IO_EXPANDER_PORT_COUNT] = {
 
 /******************************************************************************/
 /* SPI devices */
-/* TODO: to be added once sensors land via CL:1714436 */
 const struct spi_device_t spi_devices[] = {
+	{ CONFIG_SPI_ACCEL_PORT, 2, GPIO_EC_SENSOR_SPI_NSS },
 };
 const unsigned int spi_devices_used = ARRAY_SIZE(spi_devices);
 
@@ -240,6 +241,41 @@ void bc12_interrupt(enum gpio_signal signal)
 	task_set_event(TASK_ID_USB_CHG_P0, USB_CHG_EVENT_BC12, 0);
 }
 
+#ifndef VARIANT_KUKUI_NO_SENSORS
+static void board_spi_enable(void)
+{
+	cputs(CC_ACCEL, "board_spi_enable");
+	gpio_config_module(MODULE_SPI_MASTER, 1);
+
+	/* Enable clocks to SPI2 module */
+	STM32_RCC_APB1ENR |= STM32_RCC_PB1_SPI2;
+
+	/* Reset SPI2 */
+	STM32_RCC_APB1RSTR |= STM32_RCC_PB1_SPI2;
+	STM32_RCC_APB1RSTR &= ~STM32_RCC_PB1_SPI2;
+
+	spi_enable(CONFIG_SPI_ACCEL_PORT, 1);
+}
+DECLARE_HOOK(HOOK_CHIPSET_STARTUP,
+	     board_spi_enable,
+	     MOTION_SENSE_HOOK_PRIO - 1);
+
+static void board_spi_disable(void)
+{
+	spi_enable(CONFIG_SPI_ACCEL_PORT, 0);
+
+	/* Disable clocks to SPI2 module */
+	STM32_RCC_APB1ENR &= ~STM32_RCC_PB1_SPI2;
+
+	gpio_config_module(MODULE_SPI_MASTER, 0);
+	gpio_set_flags(GPIO_EC_SENSOR_SPI_CK, GPIO_OUT_LOW);
+	gpio_set_level(GPIO_EC_SENSOR_SPI_CK, 0);
+}
+DECLARE_HOOK(HOOK_CHIPSET_SHUTDOWN,
+	     board_spi_disable,
+	     MOTION_SENSE_HOOK_PRIO + 1);
+#endif /* !VARIANT_KUKUI_NO_SENSORS */
+
 static void board_init(void)
 {
 	/* If the reset cause is external, pulse PMIC force reset. */
@@ -252,10 +288,13 @@ static void board_init(void)
 	/* Enable TCPC alert interrupts */
 	gpio_enable_interrupt(GPIO_USB_C0_PD_INT_ODL);
 
-#ifdef SECTION_IS_RW
+#ifndef VARIANT_KUKUI_NO_SENSORS
 	/* Enable interrupts from BMI160 sensor. */
 	gpio_enable_interrupt(GPIO_ACCEL_INT_ODL);
-#endif /* SECTION_IS_RW */
+
+	/* For some reason we have to do this again in case of sysjump */
+	board_spi_enable();
+#endif /* !VARIANT_KUKUI_NO_SENSORS */
 
 	/* Enable interrupt from PMIC. */
 	gpio_enable_interrupt(GPIO_PMIC_EC_RESETB);
@@ -265,15 +304,107 @@ static void board_init(void)
 }
 DECLARE_HOOK(HOOK_INIT, board_init, HOOK_PRIO_DEFAULT);
 
+#ifndef VARIANT_KUKUI_NO_SENSORS
 /* Motion sensors */
 /* Mutexes */
-#ifdef SECTION_IS_RW
-/* TODO: to be added once sensors land via CL:1714436 */
+static struct mutex g_lid_mutex;
+static struct mutex g_base_mutex;
+
+/* Rotation matrixes */
+static 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)}
+};
+
+static const mat33_fp_t base_standard_ref = {
+	{FLOAT_TO_FP(-1), 0, 0},
+	{0, FLOAT_TO_FP(1), 0},
+	{0, 0, FLOAT_TO_FP(-1)}
+};
+
+/* sensor private data */
+static struct accelgyro_saved_data_t g_bma253_data;
+static struct bmi_drv_data_t g_bmi160_data;
+
 struct motion_sensor_t motion_sensors[] = {
+	[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_bma253_data,
+		.port = I2C_PORT_SENSORS,
+		.i2c_spi_addr_flags = BMA2x2_I2C_ADDR1_FLAGS,
+		.rot_standard_ref = &lid_standard_ref,
+		.default_range = 2,
+		.min_frequency = BMA255_ACCEL_MIN_FREQ,
+		.max_frequency = BMA255_ACCEL_MAX_FREQ,
+		.config = {
+			[SENSOR_CONFIG_EC_S0] = {
+				.odr = 10000 | ROUND_UP_FLAG,
+			},
+			[SENSOR_CONFIG_EC_S3] = {
+				.odr = 10000 | ROUND_UP_FLAG,
+			},
+		},
+	},
+	/*
+	 * Note: bmi160: supports accelerometer and gyro sensor
+	 * Requirement: accelerometer sensor must init before gyro sensor
+	 * DO NOT change the order of the following table.
+	 */
+	[BASE_ACCEL] = {
+		.name = "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 = CONFIG_SPI_ACCEL_PORT,
+		.i2c_spi_addr_flags = SLAVE_MK_SPI_ADDR_FLAGS(CONFIG_SPI_ACCEL_PORT),
+		.rot_standard_ref = &base_standard_ref,
+		.default_range = 2,  /* g, to meet CDD 7.3.1/C-1-4 reqs */
+		.min_frequency = BMI_ACCEL_MIN_FREQ,
+		.max_frequency = BMI_ACCEL_MAX_FREQ,
+		.config = {
+			/* EC use accel for angle detection */
+			[SENSOR_CONFIG_EC_S0] = {
+				.odr = 10000 | ROUND_UP_FLAG,
+				.ec_rate = 100 * MSEC,
+			},
+			/* Sensor on for angle detection */
+			[SENSOR_CONFIG_EC_S3] = {
+				.odr = 10000 | ROUND_UP_FLAG,
+				.ec_rate = 100 * MSEC,
+			},
+		},
+	},
+	[BASE_GYRO] = {
+		.name = "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 = CONFIG_SPI_ACCEL_PORT,
+		.i2c_spi_addr_flags = SLAVE_MK_SPI_ADDR_FLAGS(CONFIG_SPI_ACCEL_PORT),
+		.default_range = 1000, /* dps */
+		.rot_standard_ref = &base_standard_ref,
+		.min_frequency = BMI_GYRO_MIN_FREQ,
+		.max_frequency = BMI_GYRO_MAX_FREQ,
+	},
 };
 const unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
 
-#endif /* SECTION_IS_RW */
+#endif /* !VARIANT_KUKUI_NO_SENSORS */
 
 /* Called on AP S5 -> S3 transition */
 static void board_chipset_startup(void)
diff --git a/board/burnet/board.h b/board/burnet/board.h
index 36530f3d69..05f66e19fb 100644
--- a/board/burnet/board.h
+++ b/board/burnet/board.h
@@ -3,7 +3,7 @@
  * found in the LICENSE file.
  */
 
-/* Configuration for Kukui */
+/* Configuration for Burnet */
 
 #ifndef __CROS_EC_BOARD_H
 #define __CROS_EC_BOARD_H
@@ -45,24 +45,22 @@
 #define CONFIG_USB_MUX_IT5205
 
 /* Motion Sensors */
-#ifdef SECTION_IS_RW
-#define CONFIG_MAG_BMI_BMM150
-#define CONFIG_ACCELGYRO_SEC_ADDR_FLAGS BMM150_ADDR0_FLAGS
-#define CONFIG_MAG_CALIBRATE
-#define CONFIG_ACCELGYRO_BMI160
+#ifndef VARIANT_KUKUI_NO_SENSORS
+#define CONFIG_ACCEL_BMA255		/* Lid accel */
+#define CONFIG_ACCELGYRO_BMI160		/* Base accel */
 #define CONFIG_ACCEL_INTERRUPTS
 #define CONFIG_ACCELGYRO_BMI160_INT_EVENT \
-	TASK_EVENT_MOTION_SENSOR_INTERRUPT(LID_ACCEL)
+	TASK_EVENT_MOTION_SENSOR_INTERRUPT(BASE_ACCEL)
 #define CONFIG_ALS
+#define CONFIG_CMD_ACCEL_INFO
 
-#define ALS_COUNT 1
-#define CONFIG_ALS_TCS3400
-#define CONFIG_ALS_TCS3400_INT_EVENT \
-	TASK_EVENT_MOTION_SENSOR_INTERRUPT(CLEAR_ALS)
-#define CONFIG_ALS_TCS3400_EMULATED_IRQ_EVENT
-#define CONFIG_ACCEL_FORCE_MODE_MASK BIT(CLEAR_ALS)
+#define CONFIG_LID_ANGLE
+#define CONFIG_LID_ANGLE_SENSOR_BASE BASE_ACCEL
+#define CONFIG_LID_ANGLE_SENSOR_LID LID_ACCEL
 
-#endif /* SECTION_IS_RW */
+#define CONFIG_ACCEL_FORCE_MODE_MASK BIT(LID_ACCEL)
+
+#endif /* VARIANT_KUKUI_NO_SENSORS */
 
 /* I2C ports */
 #define I2C_PORT_BC12               0
@@ -70,6 +68,7 @@
 #define I2C_PORT_USB_MUX            0
 #define I2C_PORT_BATTERY            2
 #define I2C_PORT_CHARGER            1
+#define I2C_PORT_SENSORS            1
 #define I2C_PORT_IO_EXPANDER_IT8801 1
 #define I2C_PORT_VIRTUAL_BATTERY    I2C_PORT_BATTERY
 
@@ -106,11 +105,8 @@ enum power_signal {
 /* Motion sensors */
 enum sensor_id {
 	LID_ACCEL = 0,
-	LID_GYRO,
-	LID_MAG,
-	CLEAR_ALS,
-	RGB_ALS,
-	VSYNC,
+	BASE_ACCEL,
+	BASE_GYRO,
 	SENSOR_COUNT,
 };
 
diff --git a/board/burnet/gpio.inc b/board/burnet/gpio.inc
index 2fe86f356b..7fa9f4e1c6 100644
--- a/board/burnet/gpio.inc
+++ b/board/burnet/gpio.inc
@@ -74,8 +74,8 @@ GPIO(EC_BL_EN_OD,          PIN(A, 13), GPIO_ODR_HIGH)
 GPIO(EN_USBA_5V,           PIN(C, 14), GPIO_OUT_LOW)
 GPIO(EC_SENSOR_SPI_MISO,   PIN(C, 2),  GPIO_INPUT)
 GPIO(EC_SENSOR_SPI_MOSI,   PIN(C, 3),  GPIO_OUT_LOW)
-GPIO(EC_SENSOR_SPI_NSS,    PIN(B, 12), GPIO_OUT_LOW)
-GPIO(EC_SENSOR_SPI_CK,     PIN(B, 10), GPIO_OUT_HIGH)
+GPIO(EC_SENSOR_SPI_NSS,    PIN(B, 12), GPIO_OUT_HIGH)
+GPIO(EC_SENSOR_SPI_CK,     PIN(B, 10), GPIO_OUT_LOW)
 GPIO(ENTERING_RW,          PIN(C, 6),  GPIO_ODR_HIGH) /* EC_ENTERING_RW_ODL */
 GPIO(EC_INT_L,             PIN(C, 7),  GPIO_ODR_HIGH) /* EC_AP_INT_ODL */
 GPIO(EC_BOARD_ID_EN_L,     PIN(C, 15), GPIO_ODR_HIGH) /* EC_BOARD_ID_EN_ODL */
@@ -101,11 +101,20 @@ ALTERNATE(PIN_MASK(A, 0x0600), 1, MODULE_UART,       0)
 ALTERNATE(PIN_MASK(B, 0x0300), 1, MODULE_I2C,        GPIO_ODR_HIGH )
 /* I2C MASTER: PA11/12 */
 ALTERNATE(PIN_MASK(A, 0x1800), 5, MODULE_I2C,        GPIO_ODR_HIGH )
+
+
+/* SPI1 */
 /* SPI SLAVE: PB3/4/5 */
 ALTERNATE(PIN_MASK(B, 0x0038), 0, MODULE_SPI,        0)
 /* SPI SLAVE CS: PA15 */
 ALTERNATE(PIN_MASK(A, 0x8000), 0, MODULE_SPI,        0)
-#ifdef SECTION_IS_RO
-/* SPI SLAVE: PB13/14/15 */
+
+/* SPI2 */
+#ifdef VARIANT_KUKUI_NO_SENSORS
+/* EMMC SPI SLAVE: PB13/14/15 */
 ALTERNATE(PIN_MASK(B, 0xE000), 0, MODULE_SPI_FLASH,  0)
-#endif
+#else
+/* SENSORS SPI MASTER: PB10, PB12, PC2, PC3 */
+ALTERNATE(PIN_MASK(B, 0x0400), 5, MODULE_SPI_MASTER, 0)
+ALTERNATE(PIN_MASK(C, 0x000C), 1, MODULE_SPI_MASTER, 0)
+#endif /* VARIANT_KUKUI_NO_SENSORS */