brya: add motionsense task and IMU sensors

Add motionsense task with following sensors: lid accel, base accel, base
gyro.

BRANCH=none
BUG=b:179648721
TEST=manual tests were performed
Base accel/gyro test on EC console:
 > accelread 1
 Current data 1: -65461 65488 8163
 > accelread 2
 Current data 2: -2    2     65518

Lid accel test from AP console:
 $ ectool motionsense
 Sensor 0: 392   10548   12708

All the values above changed when I moved the boards

Signed-off-by: Boris Mittelberg <bmbm@google.com>
Change-Id: I03cddcf74611da6d2b5557a3998db6f0314a015a
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/2798977
Reviewed-by: caveh jalali <caveh@chromium.org>
Reviewed-by: Keith Short <keithshort@chromium.org>

5 files changed, 163 insertions, 2 deletions

diff --git a/board/brya/board.c b/board/brya/board.c
index 1cd9836be2..beb327739f 100644
--- a/board/brya/board.c
+++ b/board/brya/board.c
@@ -10,6 +10,8 @@
 #include "charge_ramp.h"
 #include "charger.h"
 #include "console.h"
+#include "driver/accel_lis2dw12.h"
+#include "driver/accelgyro_lsm6dso.h"
 #include "power_button.h"
 #include "power.h"
 #include "switch.h"
diff --git a/board/brya/board.h b/board/brya/board.h
index 80c3fc04a3..7bbd19a6f5 100644
--- a/board/brya/board.h
+++ b/board/brya/board.h
@@ -33,6 +33,34 @@
 #define CONFIG_LED_PWM_SOC_SUSPEND_COLOR EC_LED_COLOR_WHITE
 #define CONFIG_LED_PWM_LOW_BATT_COLOR EC_LED_COLOR_AMBER
 
+/* Sensors */
+#define CONFIG_ACCELGYRO_LSM6DSO	/* Base accel */
+#define CONFIG_ACCEL_LSM6DSO_INT_EVENT \
+	TASK_EVENT_MOTION_SENSOR_INTERRUPT(BASE_ACCEL)
+
+/* Enable sensor fifo, must also define the _SIZE and _THRES */
+#define CONFIG_ACCEL_FIFO
+/* FIFO size is in power of 2. */
+#define CONFIG_ACCEL_FIFO_SIZE 256
+/* Depends on how fast the AP boots and typical ODRs */
+#define CONFIG_ACCEL_FIFO_THRES (CONFIG_ACCEL_FIFO_SIZE / 3)
+
+/* Sensors without hardware FIFO are in forced mode */
+#define CONFIG_ACCEL_FORCE_MODE_MASK \
+	(BIT(LID_ACCEL))
+
+/* Lid accel */
+#define CONFIG_ACCEL_LIS2DWL
+#define CONFIG_ACCEL_LIS2DW_AS_BASE
+#define CONFIG_ACCEL_LIS2DW12_INT_EVENT \
+	TASK_EVENT_MOTION_SENSOR_INTERRUPT(LID_ACCEL)
+
+#define CONFIG_ACCEL_INTERRUPTS
+
+/* Sensor console commands */
+#define CONFIG_CMD_ACCELS
+#define CONFIG_CMD_ACCEL_INFO
+
 /* USB Type A Features */
 #define USB_PORT_COUNT			1
 #define CONFIG_USB_PORT_POWER_DUMB
@@ -174,6 +202,13 @@ enum temp_sensor_id {
 	TEMP_SENSOR_COUNT
 };
 
+enum sensor_id {
+	LID_ACCEL = 0,
+	BASE_ACCEL,
+	BASE_GYRO,
+	SENSOR_COUNT
+};
+
 enum ioex_port {
 	IOEX_C0_NCT38XX = 0,
 	IOEX_C2_NCT38XX,
diff --git a/board/brya/ec.tasklist b/board/brya/ec.tasklist
index dd4f31ffed..470a1fcdde 100644
--- a/board/brya/ec.tasklist
+++ b/board/brya/ec.tasklist
@@ -17,6 +17,7 @@
 	TASK_ALWAYS(USB_CHG_P1, usb_charger_task, 0, TASK_STACK_SIZE) \
 	TASK_ALWAYS(USB_CHG_P2, usb_charger_task, 0, TASK_STACK_SIZE) \
 	TASK_ALWAYS(CHARGER, charger_task, NULL, VENTI_TASK_STACK_SIZE) \
+	TASK_ALWAYS(MOTIONSENSE, motion_sense_task, NULL, VENTI_TASK_STACK_SIZE) \
 	TASK_NOTEST(KEYPROTO, keyboard_protocol_task, NULL, TASK_STACK_SIZE) \
 	TASK_NOTEST(CHIPSET, chipset_task, NULL, LARGER_TASK_STACK_SIZE) \
 	TASK_ALWAYS(HOSTCMD, host_command_task, NULL, LARGER_TASK_STACK_SIZE) \
diff --git a/board/brya/generated-gpio.inc b/board/brya/generated-gpio.inc
index 7b03ee89e0..67afb0bb09 100644
--- a/board/brya/generated-gpio.inc
+++ b/board/brya/generated-gpio.inc
@@ -4,6 +4,8 @@
 
 /* INTERRUPT GPIOs: */
 GPIO_INT(ACOK_OD,                        PIN(0, 0), GPIO_INT_BOTH, extpower_interrupt)
+GPIO_INT(EC_ACCEL_INT_R_L,               PIN(8, 1), GPIO_SEL_1P8V | GPIO_INT_FALLING, lis2dw12_interrupt)
+GPIO_INT(EC_IMU_INT_R_L,                 PIN(5, 6), GPIO_SEL_1P8V | GPIO_INT_FALLING, lsm6dso_interrupt)
 GPIO_INT(EC_PROCHOT_IN_L,                PIN(F, 0), GPIO_INT_BOTH, throttle_ap_prochot_input_interrupt)
 GPIO_INT(EC_VOLDN_BTN_ODL,               PIN(9, 3), GPIO_INT_BOTH | GPIO_PULL_UP, button_interrupt)
 GPIO_INT(EC_VOLUP_BTN_ODL,               PIN(9, 7), GPIO_INT_BOTH | GPIO_PULL_UP, button_interrupt)
@@ -32,7 +34,6 @@ GPIO_INT(USB_C2_RT_INT_ODL,              PIN(4, 1), GPIO_INT_BOTH, retimer_inter
 GPIO(CCD_MODE_ODL,                   PIN(E, 5), GPIO_INPUT)
 GPIO(CHARGER_VAP_OTG_EN,             PIN(7, 3), GPIO_OUT_LOW)
 GPIO(CPU_C10_GATE_L,                 PIN(6, 7), GPIO_INPUT)
-GPIO(EC_ACCEL_INT_R_L,               PIN(8, 1), GPIO_INPUT | GPIO_SEL_1P8V)
 GPIO(EC_ALS_RGB_INT_R_L,             PIN(D, 4), GPIO_INPUT)
 GPIO(EC_BATT_PRES_ODL,               PIN(E, 1), GPIO_INPUT)
 GPIO(EC_ENTERING_RW,                 PIN(0, 3), GPIO_OUT_LOW)
diff --git a/board/brya/sensors.c b/board/brya/sensors.c
index 4dffe00d7c..0478b308a2 100644
--- a/board/brya/sensors.c
+++ b/board/brya/sensors.c
@@ -4,8 +4,12 @@
  */
 
 #include "common.h"
-
+#include "accelgyro.h"
 #include "adc_chip.h"
+#include "driver/accel_lis2dw12.h"
+#include "driver/accelgyro_lsm6dso.h"
+#include "hooks.h"
+#include "motion_sense.h"
 #include "temp_sensor.h"
 #include "thermal.h"
 #include "thermistor.h"
@@ -29,6 +33,124 @@ const struct adc_t adc_channels[] = {
 };
 BUILD_ASSERT(ARRAY_SIZE(adc_channels) == ADC_CH_COUNT);
 
+K_MUTEX_DEFINE(g_lid_accel_mutex);
+K_MUTEX_DEFINE(g_base_accel_mutex);
+static struct stprivate_data g_lis2dw12_data;
+static struct lsm6dso_data lsm6dso_data;
+
+/* TODO(b/184779333): calibrate the orientation matrix on later board stage */
+static const mat33_fp_t lid_standard_ref = {
+	{ 0, FLOAT_TO_FP(1), 0},
+	{ FLOAT_TO_FP(-1), 0, 0},
+	{ 0, 0, FLOAT_TO_FP(1)}
+};
+
+/* TODO(b/184779743): verify orientation matrix */
+static const mat33_fp_t base_standard_ref = {
+	{ 0, FLOAT_TO_FP(1), 0},
+	{ FLOAT_TO_FP(-1), 0, 0},
+	{ 0, 0, FLOAT_TO_FP(1)}
+};
+
+struct motion_sensor_t motion_sensors[] = {
+	[LID_ACCEL] = {
+		.name = "Lid Accel",
+		.active_mask = SENSOR_ACTIVE_S0_S3,
+		.chip = MOTIONSENSE_CHIP_LIS2DW12,
+		.type = MOTIONSENSE_TYPE_ACCEL,
+		.location = MOTIONSENSE_LOC_LID,
+		.drv = &lis2dw12_drv,
+		.mutex = &g_lid_accel_mutex,
+		.drv_data = &g_lis2dw12_data,
+		.int_signal = GPIO_EC_ACCEL_INT_R_L,
+		.port = I2C_PORT_SENSOR,
+		.i2c_spi_addr_flags = LIS2DW12_ADDR0,
+		.flags = MOTIONSENSE_FLAG_INT_SIGNAL,
+		.rot_standard_ref = &lid_standard_ref, /* identity matrix */
+		.default_range = 2, /* g */
+		.min_frequency = LIS2DW12_ODR_MIN_VAL,
+		.max_frequency = LIS2DW12_ODR_MAX_VAL,
+		.config = {
+			/* EC use accel for angle detection */
+			[SENSOR_CONFIG_EC_S0] = {
+				.odr = 12500 | ROUND_UP_FLAG,
+			},
+			/* Sensor on for lid angle detection */
+			[SENSOR_CONFIG_EC_S3] = {
+				.odr = 10000 | ROUND_UP_FLAG,
+			},
+		},
+	},
+
+	[BASE_ACCEL] = {
+		.name = "Base Accel",
+		.active_mask = SENSOR_ACTIVE_S0_S3,
+		.chip = MOTIONSENSE_CHIP_LSM6DSO,
+		.type = MOTIONSENSE_TYPE_ACCEL,
+		.location = MOTIONSENSE_LOC_BASE,
+		.drv = &lsm6dso_drv,
+		.mutex = &g_base_accel_mutex,
+		.drv_data = &lsm6dso_data,
+		.int_signal = GPIO_EC_IMU_INT_R_L,
+		.flags = MOTIONSENSE_FLAG_INT_SIGNAL,
+		.port = I2C_PORT_SENSOR,
+		.i2c_spi_addr_flags = LSM6DSO_ADDR0_FLAGS,
+		.rot_standard_ref = &base_standard_ref,
+		.default_range = 4,  /* g */
+		.min_frequency = LSM6DSO_ODR_MIN_VAL,
+		.max_frequency = LSM6DSO_ODR_MAX_VAL,
+		.config = {
+			[SENSOR_CONFIG_EC_S0] = {
+				.odr = 13000 | ROUND_UP_FLAG,
+				.ec_rate = 100 * MSEC,
+			},
+			[SENSOR_CONFIG_EC_S3] = {
+				.odr = 10000 | ROUND_UP_FLAG,
+				.ec_rate = 100 * MSEC,
+			},
+		},
+	},
+
+	[BASE_GYRO] = {
+		.name = "Base Gyro",
+		.active_mask = SENSOR_ACTIVE_S0_S3,
+		.chip = MOTIONSENSE_CHIP_LSM6DSO,
+		.type = MOTIONSENSE_TYPE_GYRO,
+		.location = MOTIONSENSE_LOC_BASE,
+		.drv = &lsm6dso_drv,
+		.mutex = &g_base_accel_mutex,
+		.drv_data = &lsm6dso_data,
+		.int_signal = GPIO_EC_IMU_INT_R_L,
+		.flags = MOTIONSENSE_FLAG_INT_SIGNAL,
+		.port = I2C_PORT_SENSOR,
+		.i2c_spi_addr_flags = LSM6DSO_ADDR0_FLAGS,
+		.default_range = 1000 | ROUND_UP_FLAG, /* dps */
+		.rot_standard_ref = &base_standard_ref,
+		.min_frequency = LSM6DSO_ODR_MIN_VAL,
+		.max_frequency = LSM6DSO_ODR_MAX_VAL,
+		.config = {
+			[SENSOR_CONFIG_EC_S0] = {
+				.odr = 13000 | ROUND_UP_FLAG,
+				.ec_rate = 100 * MSEC,
+			},
+			[SENSOR_CONFIG_EC_S3] = {
+				.odr = 10000 | ROUND_UP_FLAG,
+				.ec_rate = 100 * MSEC,
+			},
+		},
+	},
+};
+const unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
+
+static void baseboard_sensors_init(void)
+{
+	/* Enable gpio interrupt for lid accel sensor */
+	gpio_enable_interrupt(GPIO_EC_ACCEL_INT_R_L);
+	/* Enable gpio interrupt for base accelgyro sensor */
+	gpio_enable_interrupt(GPIO_EC_IMU_INT_R_L);
+}
+DECLARE_HOOK(HOOK_INIT, baseboard_sensors_init, HOOK_PRIO_INIT_I2C + 1);
+
 /* Temperature sensor configuration */
 const struct temp_sensor_t temp_sensors[] = {
 	[TEMP_SENSOR_1_DDR_SOC] = {