zephyr: add ICM42607 sensor

Implement the dts binding and driver for ICM42607 sensor.

BUG=b:211845298
TEST=`accelread 1` on krabby
BRANCH=none

Signed-off-by: Ting Shen <phoenixshen@google.com>
Change-Id: I469b1d5b1f5063691ffd3155040490ef3f43c34e
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/3354657
Reviewed-by: Jeremy Bettis <jbettis@chromium.org>
Reviewed-by: Keith Short <keithshort@chromium.org>
Commit-Queue: Ting Shen <phoenixshen@chromium.org>
Tested-by: Ting Shen <phoenixshen@chromium.org>

7 files changed, 126 insertions, 0 deletions

diff --git a/driver/accelgyro_icm42607.c b/driver/accelgyro_icm42607.c
index ae831c5918..2a2c68bc17 100644
--- a/driver/accelgyro_icm42607.c
+++ b/driver/accelgyro_icm42607.c
@@ -26,6 +26,27 @@
 #define CPRINTF(format, args...) cprintf(CC_ACCEL, format, ## args)
 #define CPRINTS(format, args...) cprints(CC_ACCEL, format, ## args)
 
+#if defined(CONFIG_ZEPHYR) && defined(CONFIG_ACCEL_INTERRUPTS)
+
+/* Get the motion sensor ID of the ICM42607 sensor that generates the interrupt.
+ * The interrupt is converted to the event and transferred to motion sense task
+ * that actually handles the interrupt.
+ *
+ * Here we use an alias (icm42607_int) to get the motion sensor ID. This alias
+ * MUST be defined for this driver to work.
+ * aliases {
+ *   icm42607-int = &base_accel;
+ * };
+ */
+#if DT_NODE_EXISTS(DT_ALIAS(icm42607_int))
+#define CONFIG_ACCELGYRO_ICM42607_INT_EVENT \
+	TASK_EVENT_MOTION_SENSOR_INTERRUPT(SENSOR_ID(DT_ALIAS(icm42607_int)))
+#else
+#error Missing aliases/icm42607-int in device tree
+#endif
+
+#endif /* defined(CONFIG_ZEPHYR) && defined(CONFIG_ACCEL_INTERRUPTS) */
+
 STATIC_IF(CONFIG_ACCEL_FIFO) volatile uint32_t last_interrupt_timestamp;
 
 static int icm_switch_on_mclk(const struct motion_sensor_t *s)
diff --git a/zephyr/CMakeLists.txt b/zephyr/CMakeLists.txt
index 60a30d7352..13e98feff7 100644
--- a/zephyr/CMakeLists.txt
+++ b/zephyr/CMakeLists.txt
@@ -142,6 +142,8 @@ zephyr_library_sources_ifdef(CONFIG_PLATFORM_EC_ACCELGYRO_ICM
                                                 "${PLATFORM_EC}/driver/accelgyro_icm_common.c")
 zephyr_library_sources_ifdef(CONFIG_PLATFORM_EC_ACCELGYRO_ICM426XX
                                                 "${PLATFORM_EC}/driver/accelgyro_icm426xx.c")
+zephyr_library_sources_ifdef(CONFIG_PLATFORM_EC_ACCELGYRO_ICM42607
+                                                "${PLATFORM_EC}/driver/accelgyro_icm42607.c")
 zephyr_library_sources_ifdef(CONFIG_PLATFORM_EC_ACCEL_FIFO
                                                 "${PLATFORM_EC}/common/motion_sense_fifo.c")
 zephyr_library_sources_ifdef(CONFIG_PLATFORM_EC_ADC_CMD
diff --git a/zephyr/dts/bindings/motionsense/driver/cros-ec,icm42607-accel.yaml b/zephyr/dts/bindings/motionsense/driver/cros-ec,icm42607-accel.yaml
new file mode 100644
index 0000000000..ba7fbb3878
--- /dev/null
+++ b/zephyr/dts/bindings/motionsense/driver/cros-ec,icm42607-accel.yaml
@@ -0,0 +1,13 @@
+# Copyright 2021 The Chromium OS Authors. All rights reserved.
+# Use of this source code is governed by a BSD-style license that can be
+# found in the LICENSE file.
+
+description: motion sense sensor node for ICM42607 accel
+
+compatible: "cros-ec,icm42607-accel"
+
+include: icm42607.yaml
+
+properties:
+  default-range:
+    default: 4
diff --git a/zephyr/dts/bindings/motionsense/driver/cros-ec,icm42607-gyro.yaml b/zephyr/dts/bindings/motionsense/driver/cros-ec,icm42607-gyro.yaml
new file mode 100644
index 0000000000..4707f33d6d
--- /dev/null
+++ b/zephyr/dts/bindings/motionsense/driver/cros-ec,icm42607-gyro.yaml
@@ -0,0 +1,13 @@
+# Copyright 2021 The Chromium OS Authors. All rights reserved.
+# Use of this source code is governed by a BSD-style license that can be
+# found in the LICENSE file.
+
+description: motion sense sensor node for ICM42607 gyro
+
+compatible: "cros-ec,icm42607-gyro"
+
+include: icm42607.yaml
+
+properties:
+  default-range:
+    default: 1000
diff --git a/zephyr/dts/bindings/motionsense/driver/icm42607.yaml b/zephyr/dts/bindings/motionsense/driver/icm42607.yaml
new file mode 100644
index 0000000000..f47e7a2f97
--- /dev/null
+++ b/zephyr/dts/bindings/motionsense/driver/icm42607.yaml
@@ -0,0 +1,17 @@
+# Copyright 2021 The Chromium OS Authors. All rights reserved.
+# Use of this source code is governed by a BSD-style license that can be
+# found in the LICENSE file.
+
+# common fields for both ICM426xx accel and gyro
+
+# every motionsense sensor node should include motionsense-sensor-base.yaml
+include: motionsense-sensor-base.yaml
+
+properties:
+  i2c-spi-addr-flags:
+    type: string
+    description: i2c address or SPI peripheral logic GPIO
+    enum:
+      - "ICM42607_ADDR0_FLAGS"
+      - "ICM42607_ADDR1_FLAGS"
+    default: "ICM42607_ADDR0_FLAGS"
diff --git a/zephyr/shim/src/motionsense_driver/icm42607-drvinfo.inc b/zephyr/shim/src/motionsense_driver/icm42607-drvinfo.inc
new file mode 100644
index 0000000000..e8199eaacf
--- /dev/null
+++ b/zephyr/shim/src/motionsense_driver/icm42607-drvinfo.inc
@@ -0,0 +1,57 @@
+/* Copyright 2021 The Chromium OS Authors. All rights reserved.
+ * Use of this source code is governed by a BSD-style license that can be
+ * found in the LICENSE file.
+ */
+
+#include "driver/accelgyro_icm_common.h"
+#include "driver/accelgyro_icm42607.h"
+
+/*
+ * CREATE_SENSOR_DATA which is defined in motionsense_sensors.c is
+ * the helper to create sensor driver specific data.
+ *
+ * CREATE_SENSOR_DATA gets two arguments. One is the compatible
+ * property value specified in device tree and the other one is the macro
+ * that actually creates sensor driver specific data. The macro gets
+ * node id and the name to be used for the sensor driver data.
+ */
+
+/*
+ * Create driver data. It can be shared among the entries in
+ * motion_sensors array which are using the same icm42607 driver.
+ */
+#define CREATE_SENSOR_DATA_ICM42607(id, drvdata_name) \
+	static struct icm_drv_data_t drvdata_name;
+
+/*
+ * Create driver data for each icm42607 drvinfo instance in device tree.
+ * (compatible = "cros-ec,drvdata-icm42607")
+ */
+CREATE_SENSOR_DATA(cros_ec_drvdata_icm42607, CREATE_SENSOR_DATA_ICM42607)
+/*
+ * CREATE_MOTION_SENSOR which is defined in motionsense_sensors.c is
+ * the macro to create an entry in motion_sensors array.
+ * The macro gets value of compatible property of
+ * the sensor in device tree and sensor specific values like chip ID,
+ * type of sensor, name of driver, default min/max frequency.
+ * Then using the values, it creates the corresponding motion_sense_t entry
+ * in motion_sensors array.
+ */
+
+/*
+ * Here, we call CREATE_MOTION_SENSOR to create a motion_sensor_t entry
+ * for each icm42607 accel instance(compatible = "cros-ec,icm42607-accel")
+ * in device tree.
+ */
+CREATE_MOTION_SENSOR(cros_ec_icm42607_accel, MOTIONSENSE_CHIP_ICM42607, \
+		MOTIONSENSE_TYPE_ACCEL,	icm42607_drv, \
+		ICM42607_ACCEL_MIN_FREQ, ICM42607_ACCEL_MAX_FREQ)
+
+/*
+ * Here, we call CREATE_MOTION_SENSOR to create a motion_sensor_t entry
+ * for each icm42607 gyro instance (compatible = "cros-ec,icm42607-gyro")
+ * in device tree.
+ */
+CREATE_MOTION_SENSOR(cros_ec_icm42607_gyro, MOTIONSENSE_CHIP_ICM42607, \
+		MOTIONSENSE_TYPE_GYRO, icm42607_drv, \
+		ICM42607_GYRO_MIN_FREQ, ICM42607_GYRO_MAX_FREQ)
diff --git a/zephyr/shim/src/motionsense_driver/sensor_drv_list.inc b/zephyr/shim/src/motionsense_driver/sensor_drv_list.inc
index 0062dccccd..d8319ff193 100644
--- a/zephyr/shim/src/motionsense_driver/sensor_drv_list.inc
+++ b/zephyr/shim/src/motionsense_driver/sensor_drv_list.inc
@@ -40,3 +40,6 @@
 #ifdef CONFIG_PLATFORM_EC_ACCELGYRO_ICM426XX
 #include "icm426xx-drvinfo.inc"
 #endif
+#ifdef CONFIG_PLATFORM_EC_ACCELGYRO_ICM42607
+#include "icm42607-drvinfo.inc"
+#endif