zephyr: Add initial shim for lsm6dso sensor

Add the initial shim for the lsm6dso accel/gyro sensor.

BUG=b:212497341
TEST=zmake testall
BRANCH=none

Signed-off-by: Andrew McRae <amcrae@google.com>
Change-Id: I01b5787f960971a637da743131ef4b74ba07885c
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/3360326
Reviewed-by: Yuval Peress <peress@google.com>

12 files changed, 189 insertions, 13 deletions

diff --git a/driver/accelgyro_lsm6dso.c b/driver/accelgyro_lsm6dso.c
index 61e93cd1cd..ca5850ac8f 100644
--- a/driver/accelgyro_lsm6dso.c
+++ b/driver/accelgyro_lsm6dso.c
@@ -25,6 +25,23 @@ STATIC_IF(CONFIG_ACCEL_FIFO) volatile uint32_t last_interrupt_timestamp;
 STATIC_IF(CONFIG_ACCEL_INTERRUPTS) int config_interrupt(
 		const struct motion_sensor_t *s);
 
+#if defined(CONFIG_ZEPHYR) && defined(CONFIG_ACCEL_INTERRUPTS)
+/* Get the motion sensor ID of the LSM6DSO 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 (lsm6dso_int) to get the motion sensor ID. This alias
+ * MUST be defined for this driver to work.
+ * aliases {
+ *   lsm6dso-int = &lid_accel;
+ * };
+ */
+#if DT_NODE_EXISTS(DT_ALIAS(lsm6dso_int))
+#define CONFIG_ACCEL_LSM6DSO_INT_EVENT \
+	TASK_EVENT_MOTION_SENSOR_INTERRUPT(SENSOR_ID(DT_ALIAS(lsm6dso_int)))
+#endif
+#endif
+
 /*
  * When ODR change, the sensor filters need settling time;
  * Add a counter to discard a well known number of data with
diff --git a/driver/accelgyro_lsm6dso.h b/driver/accelgyro_lsm6dso.h
index 9a58fe7d36..15c17f167a 100644
--- a/driver/accelgyro_lsm6dso.h
+++ b/driver/accelgyro_lsm6dso.h
@@ -8,15 +8,9 @@
 #ifndef __CROS_EC_ACCELGYRO_LSM6DSO_H
 #define __CROS_EC_ACCELGYRO_LSM6DSO_H
 
+#include "driver/accelgyro_lsm6dso_public.h"
 #include "stm_mems_common.h"
 
-/*
- * 7-bit address is 110101xb. Where 'x' is determined
- * by the voltage on the ADDR pin
- */
-#define LSM6DSO_ADDR0_FLAGS		0x6a
-#define LSM6DSO_ADDR1_FLAGS		0x6b
-
 /* Access to embedded sensor hub register bank */
 #define LSM6DSO_FUNC_CFG_ACC_ADDR	0x01
 #define LSM6DSO_FUNC_CFG_EN			0x80
@@ -113,11 +107,6 @@ struct lsm6dso_fstatus {
 	uint16_t pattern;
 };
 
-/* Absolute maximum rate for Acc and Gyro sensors */
-#define LSM6DSO_ODR_MIN_VAL		13000
-#define LSM6DSO_ODR_MAX_VAL \
-	MOTION_MAX_SENSOR_FREQUENCY(416000, 13000)
-
 /* ODR reg value from selected data rate in mHz */
 #define LSM6DSO_ODR_TO_REG(_odr) (__fls(_odr / LSM6DSO_ODR_MIN_VAL) + 1)
 
diff --git a/include/driver/accelgyro_lsm6dso_public.h b/include/driver/accelgyro_lsm6dso_public.h
new file mode 100644
index 0000000000..65e98bccec
--- /dev/null
+++ b/include/driver/accelgyro_lsm6dso_public.h
@@ -0,0 +1,25 @@
+/* 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.
+ */
+
+/* LSM6DSO Accel and Gyro driver for Chrome EC */
+
+#ifndef __CROS_EC_ACCELGYRO_LSM6DSO_PUBLIC_H
+#define __CROS_EC_ACCELGYRO_LSM6DSO_PUBLIC_H
+
+#include "driver/accelgyro_lsm6dso_public.h"
+
+/*
+ * 7-bit address is 110101xb. Where 'x' is determined
+ * by the voltage on the ADDR pin
+ */
+#define LSM6DSO_ADDR0_FLAGS		0x6a
+#define LSM6DSO_ADDR1_FLAGS		0x6b
+
+/* Absolute maximum rate for Acc and Gyro sensors */
+#define LSM6DSO_ODR_MIN_VAL		13000
+#define LSM6DSO_ODR_MAX_VAL \
+	MOTION_MAX_SENSOR_FREQUENCY(416000, 13000)
+
+#endif /* __CROS_EC_ACCELGYRO_LSM6DSO_PUBLIC_H */
diff --git a/zephyr/CMakeLists.txt b/zephyr/CMakeLists.txt
index 709d4fafb0..f9cf915613 100644
--- a/zephyr/CMakeLists.txt
+++ b/zephyr/CMakeLists.txt
@@ -144,6 +144,8 @@ 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_ACCELGYRO_LSM6DSO
+                                                "${PLATFORM_EC}/driver/accelgyro_lsm6dso.c")
 zephyr_library_sources_ifdef(CONFIG_PLATFORM_EC_ACCEL_FIFO
                                                 "${PLATFORM_EC}/common/motion_sense_fifo.c")
 zephyr_library_sources_ifdef(CONFIG_PLATFORM_EC_ADC_CMD
diff --git a/zephyr/Kconfig.sensor_devices b/zephyr/Kconfig.sensor_devices
index 3ddf65148c..2d01f41249 100644
--- a/zephyr/Kconfig.sensor_devices
+++ b/zephyr/Kconfig.sensor_devices
@@ -54,7 +54,7 @@ config PLATFORM_EC_ACCEL_LIS2DW12_AS_BASE
 	help
 	  The LIS2DW driver supports fifo and interrupt, but letting lid accel
 	  sensor work at polling mode is a common selection in current usage
-	  model. This option will select interrupt (foced mode).
+	  model. This option will select interrupt (forced mode).
 
 config PLATFORM_EC_ACCELGYRO_BMI160
 	bool "BMI160 Accelgyrometer Driver"
@@ -100,6 +100,21 @@ config PLATFORM_EC_ACCELGYRO_ICM42607
 	  The driver supports ICM42607 which provides both accelerometer and
 	  gyroscope readings.
 
+config PLATFORM_EC_ACCELGYRO_LSM6DSO
+	bool "LSM6DSO Accelgyro Driver"
+	select PLATFORM_EC_STM_MEMS_COMMON
+	help
+	  The driver supports ST's LSM6DSO 3D digital accelerometer sensor.
+	  It allows measurements of acceleration in three perpendicular axes.
+
+config PLATFORM_EC_ACCELGYRO_LSM6DSO_AS_BASE
+	bool "LSM6DSO Interrupt force mode"
+	depends on PLATFORM_EC_ACCELGYRO_LSM6DSO
+	help
+	  The LSM6DSO driver supports fifo and interrupt, but letting lid accel
+	  sensor work at polling mode is a common selection in current usage
+	  model. This option will select interrupt (forced mode).
+
 config PLATFORM_EC_STM_MEMS_COMMON
 	bool
 	help
diff --git a/zephyr/dts/bindings/motionsense/driver/cros-ec,lsm6dso-accel.yaml b/zephyr/dts/bindings/motionsense/driver/cros-ec,lsm6dso-accel.yaml
new file mode 100644
index 0000000000..5c3c6172f0
--- /dev/null
+++ b/zephyr/dts/bindings/motionsense/driver/cros-ec,lsm6dso-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: motionsense sensor node for LSM6DSO Accelerometer
+
+compatible: "cros-ec,lsm6dso-accel"
+
+include: lsm6dso.yaml
+
+properties:
+  default-range:
+    default: 2
diff --git a/zephyr/dts/bindings/motionsense/driver/cros-ec,lsm6dso-gyro.yaml b/zephyr/dts/bindings/motionsense/driver/cros-ec,lsm6dso-gyro.yaml
new file mode 100644
index 0000000000..a10a98d97f
--- /dev/null
+++ b/zephyr/dts/bindings/motionsense/driver/cros-ec,lsm6dso-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: motionsense sensor node for LSM6DSO Gyro
+
+compatible: "cros-ec,lsm6dso-gyro"
+
+include: lsm6dso.yaml
+
+properties:
+  default-range:
+    default: 1000
diff --git a/zephyr/dts/bindings/motionsense/driver/lsm6dso.yaml b/zephyr/dts/bindings/motionsense/driver/lsm6dso.yaml
new file mode 100644
index 0000000000..dd345854be
--- /dev/null
+++ b/zephyr/dts/bindings/motionsense/driver/lsm6dso.yaml
@@ -0,0 +1,19 @@
+# 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 LSM6DSO 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
+    # Address is b'0110101x' where x is determined by the
+    # logic level on SA0
+    enum:
+      - "LSM6DSO_ADDR0_FLAGS"
+      - "LSM6DSO_ADDR1_FLAGS"
+    default: "LSM6DSO_ADDR0_FLAGS"
diff --git a/zephyr/dts/bindings/motionsense/drvdata/cros-ec,drvdata-lsm6dso.yaml b/zephyr/dts/bindings/motionsense/drvdata/cros-ec,drvdata-lsm6dso.yaml
new file mode 100644
index 0000000000..d3a37da9a1
--- /dev/null
+++ b/zephyr/dts/bindings/motionsense/drvdata/cros-ec,drvdata-lsm6dso.yaml
@@ -0,0 +1,18 @@
+# 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: LSM6DSO driver data node
+
+compatible: "cros-ec,drvdata-lsm6dso"
+
+include: drvdata-base.yaml
+
+#
+# examples:
+#
+# lsm6dso_data: lsm6dso-drv-data {
+#       compatible = "cros-ec,drvdata-lsm6dso";
+#       status = "okay";
+# };
+#
diff --git a/zephyr/shim/include/config_chip.h b/zephyr/shim/include/config_chip.h
index b24cc80ddb..10490ae1eb 100644
--- a/zephyr/shim/include/config_chip.h
+++ b/zephyr/shim/include/config_chip.h
@@ -1584,6 +1584,11 @@
 #define CONFIG_ACCELGYRO_ICM42607
 #endif
 
+#undef CONFIG_ACCELGYRO_LSM6DSO
+#ifdef CONFIG_PLATFORM_EC_ACCELGYRO_LSM6DSO
+#define CONFIG_ACCELGYRO_LSM6DSO
+#endif
+
 #endif /* CONFIG_PLATFORM_EC_MOTIONSENSE */
 
 #undef CONFIG_MATH_UTIL
diff --git a/zephyr/shim/src/motionsense_driver/lsm6dso-drvinfo.inc b/zephyr/shim/src/motionsense_driver/lsm6dso-drvinfo.inc
new file mode 100644
index 0000000000..a759993ba4
--- /dev/null
+++ b/zephyr/shim/src/motionsense_driver/lsm6dso-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_lsm6dso.h"
+#include "driver/stm_mems_common.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 lsm6dso driver.
+ */
+#define CREATE_SENSOR_DATA_LSM6DSO(id, drvdata_name) \
+	static struct stprivate_data drvdata_name;
+
+/*
+ * Create driver data for each lsm6dso drvinfo instance in device tree.
+ * (compatible = "cros-ec,drvdata-lsm6dso")
+ */
+CREATE_SENSOR_DATA(cros_ec_drvdata_lsm6dso, CREATE_SENSOR_DATA_LSM6DSO)
+/*
+ * 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 lsm6dso accel instance(compatible = "cros-ec,lsm6dso-accel")
+ * in device tree.
+ */
+CREATE_MOTION_SENSOR(cros_ec_lsm6dso_accel, MOTIONSENSE_CHIP_LSM6DSO, \
+		MOTIONSENSE_TYPE_ACCEL,	lsm6dso_drv, \
+		LSM6DSO_ODR_MIN_VAL, LSM6DSO_ODR_MAX_VAL)
+
+/*
+ * Here, we call CREATE_MOTION_SENSOR to create a motion_sensor_t entry
+ * for each lsm6dso gyro instance (compatible = "cros-ec,lsm6dso-gyro")
+ * in device tree.
+ */
+CREATE_MOTION_SENSOR(cros_ec_lsm6dso_gyro, MOTIONSENSE_CHIP_LSM6DSO, \
+		MOTIONSENSE_TYPE_GYRO, lsm6dso_drv, \
+		LSM6DSO_ODR_MIN_VAL, LSM6DSO_ODR_MAX_VAL)
diff --git a/zephyr/shim/src/motionsense_driver/sensor_drv_list.inc b/zephyr/shim/src/motionsense_driver/sensor_drv_list.inc
index d8319ff193..4138074e95 100644
--- a/zephyr/shim/src/motionsense_driver/sensor_drv_list.inc
+++ b/zephyr/shim/src/motionsense_driver/sensor_drv_list.inc
@@ -43,3 +43,6 @@
 #ifdef CONFIG_PLATFORM_EC_ACCELGYRO_ICM42607
 #include "icm42607-drvinfo.inc"
 #endif
+#ifdef CONFIG_PLATFORM_EC_ACCELGYRO_LSM6DSO
+#include "lsm6dso-drvinfo.inc"
+#endif