tentacruel: add lid sensor 2nd source BMA422.

add BMA422 lid sensor and modify FW config conditions.

BUG=b:255501962
TEST=ectool motionsense info to check sensor are initial success.
confirm lid angle.
BRANCH=firmware-corsola-15194.B

Signed-off-by: jeffrey <jeffrey_lin@pegatron.corp-partner.google.com>
Change-Id: Iaf4eb89586854d5accc0643caca52875793e2152
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/4087970
Reviewed-by: Eric Yilun Lin <yllin@google.com>
Tested-by: Ting Shen <phoenixshen@chromium.org>
Commit-Queue: Ting Shen <phoenixshen@chromium.org>
Code-Coverage: Zoss <zoss-cl-coverage@prod.google.com>

9 files changed, 607 insertions, 51 deletions

diff --git a/zephyr/program/corsola/tentacruel/cbi.dtsi b/zephyr/program/corsola/tentacruel/cbi.dtsi
new file mode 100644
index 0000000000..cce0fff199
--- /dev/null
+++ b/zephyr/program/corsola/tentacruel/cbi.dtsi
@@ -0,0 +1,74 @@
+/* Copyright 2022 The ChromiumOS Authors
+ * Use of this source code is governed by a BSD-style license that can be
+ * found in the LICENSE file.
+ */
+
+/ {
+	/* tentacruel-specific fw_config fields. */
+	tentacruel-fw-config {
+		compatible = "cros-ec,cbi-fw-config";
+		/*
+		 * FW_CONFIG field to describe mainboard orientation in chassis.
+		 */
+		form_factor {
+			enum-name = "FORM_FACTOR";
+			start = <7>;
+			size = <1>;
+
+			clamshell {
+				compatible = "cros-ec,cbi-fw-config-value";
+				enum-name = "CLAMSHELL";
+				value = <0>;
+			};
+			convertible {
+				compatible = "cros-ec,cbi-fw-config-value";
+				enum-name = "CONVERTIBLE";
+				value = <1>;
+			};
+		};
+		base-sensor {
+			enum-name = "BASE_SENSOR";
+			start = <8>;
+			size = <2>;
+
+			none {
+				compatible = "cros-ec,cbi-fw-config-value";
+				enum-name = "BASE_NONE";
+				value = <0>;
+				default;
+			};
+			icm42607 {
+				compatible = "cros-ec,cbi-fw-config-value";
+				enum-name = "BASE_ICM42607";
+				value = <1>;
+			};
+			bmi323 {
+				compatible = "cros-ec,cbi-fw-config-value";
+				enum-name = "BASE_BMI323";
+				value = <2>;
+			};
+		};
+		lid-sensor {
+			enum-name = "LID_SENSOR";
+			start = <10>;
+			size = <2>;
+
+			none {
+				compatible = "cros-ec,cbi-fw-config-value";
+				enum-name = "LID_NONE";
+				value = <0>;
+				default;
+			};
+			lis2dwltr {
+				compatible = "cros-ec,cbi-fw-config-value";
+				enum-name = "LID_LIS2DWLTR";
+				value = <1>;
+			};
+			bma422 {
+				compatible = "cros-ec,cbi-fw-config-value";
+				enum-name = "LID_BMA422";
+				value = <2>;
+			};
+		};
+	};
+};
diff --git a/zephyr/program/corsola/tentacruel/project.conf b/zephyr/program/corsola/tentacruel/project.conf
index 594a0f477a..587e3932ba 100644
--- a/zephyr/program/corsola/tentacruel/project.conf
+++ b/zephyr/program/corsola/tentacruel/project.conf
@@ -14,7 +14,9 @@ CONFIG_PLATFORM_EC_KEYBOARD_PWRBTN_ASSERTS_KSI3=y
 
 # Sensor
 CONFIG_PLATFORM_EC_ACCELGYRO_BMI3XX=y
+CONFIG_PLATFORM_EC_ACCEL_BMA4XX=y
 CONFIG_PLATFORM_EC_ACCELGYRO_BMI_COMM_I2C=y
+CONFIG_PLATFORM_EC_DYNAMIC_MOTION_SENSOR_COUNT=y
 
 # Battery
 CONFIG_PLATFORM_EC_CHARGER_PROFILE_OVERRIDE=y
diff --git a/zephyr/program/corsola/tentacruel/project.overlay b/zephyr/program/corsola/tentacruel/project.overlay
index 80c8668388..8a3b053980 100644
--- a/zephyr/program/corsola/tentacruel/project.overlay
+++ b/zephyr/program/corsola/tentacruel/project.overlay
@@ -18,6 +18,7 @@
 #include "../ite_motionsense.dtsi"
 #include "../ite_usbc.dtsi"
 #include "./thermistor.dtsi"
+#include "./cbi.dtsi"
 
 / {
 	aliases {
@@ -27,6 +28,7 @@
 		 * its own <>_INT_EVENT.
 		 */
 		bmi3xx-int = &base_accel;
+		bma4xx-int = &lid_accel;
 	};
 
 	named-gpios {
@@ -80,7 +82,11 @@
 
 	gpio-interrupts {
 		int_base_imu: base_imu {
-			handler = "motion_interrupt";
+			handler = "base_sensor_interrupt";
+		};
+
+		int_lid_imu: lid_imu {
+			handler = "lid_sensor_interrupt";
 		};
 
 		/delete-node/ usb_c0_ppc_bc12;
@@ -152,11 +158,20 @@
 	motionsense-mutex {
 		base_mutex_bmi323: bmi323-mutex {
 		};
+
+		lid_mutex_bma422: bma422-mutex {
+		};
 	};
 
 	/* Rotation matrix used by drivers. */
 	motionsense-rotation-ref {
-		base_rot_ref_bmi: base-rotation-ref-bmi {
+		lid_rot_ref_bma422: lid-rotation-ref-bma422 {
+			mat33 = <1 0 0
+				 0 1 0
+				 0 0 1>;
+		};
+
+		base_rot_ref_bmi323: base-rotation-ref-bmi323 {
 			mat33 = <0 1 0
 				 (-1) 0 0
 				 0 0 1>;
@@ -177,9 +192,39 @@
 			compatible = "cros-ec,drvdata-bmi3xx";
 			status = "okay";
 		};
+
+		bma422_data: bma422-drv-data {
+			compatible = "cros-ec,drvdata-bma4xx";
+			status = "okay";
+		};
 	};
 
 	motionsense-sensor-alt {
+		alt_lid_accel: alt-lid-accel {
+			compatible = "cros-ec,bma4xx";
+			status = "okay";
+
+			active-mask = "SENSOR_ACTIVE_S0_S3";
+			location = "MOTIONSENSE_LOC_LID";
+			mutex = <&lid_mutex_bma422>;
+			port = <&i2c_sensor>;
+			rot-standard-ref = <&lid_rot_ref_bma422>;
+			default-range = <2>;
+			drv-data = <&bma422_data>;
+			i2c-spi-addr-flags = "BMA4_I2C_ADDR_SECONDARY";
+			alternate-for = <&lid_accel>;
+			configs {
+				compatible =
+					"cros-ec,motionsense-sensor-config";
+				ec-s0 {
+					odr = <(10000 | ROUND_UP_FLAG)>;
+				};
+				ec-s3 {
+					odr = <(10000 | ROUND_UP_FLAG)>;
+				};
+			};
+		};
+
 		alt_base_accel: alt-base-accel {
 			compatible = "cros-ec,bmi3xx-accel";
 			status = "okay";
@@ -188,7 +233,7 @@
 			location = "MOTIONSENSE_LOC_BASE";
 			mutex = <&base_mutex_bmi323>;
 			port = <&i2c_sensor>;
-			rot-standard-ref = <&base_rot_ref_bmi>;
+			rot-standard-ref = <&base_rot_ref_bmi323>;
 			drv-data = <&bmi323_data>;
 			alternate-for = <&base_accel>;
 			configs {
@@ -211,7 +256,7 @@
 			location = "MOTIONSENSE_LOC_BASE";
 			mutex = <&base_mutex_bmi323>;
 			port = <&i2c_sensor>;
-			rot-standard-ref = <&base_rot_ref_bmi>;
+			rot-standard-ref = <&base_rot_ref_bmi323>;
 			drv-data = <&bmi323_data>;
 			alternate-for = <&base_gyro>;
 		};
@@ -346,36 +391,6 @@
 			compatible = "dynapack,c140254", "battery-smart";
 		};
 	};
-
-	/* tentacruel-specific fw_config fields. */
-	tentacruel-fw-config {
-		compatible = "cros-ec,cbi-fw-config";
-		/*
-		 * FW_CONFIG field to describe mainboard orientation in chassis.
-		 */
-		base-gyro {
-			enum-name = "FW_BASE_GYRO";
-			start = <8>;
-			size = <2>;
-
-			None {
-				compatible = "cros-ec,cbi-fw-config-value";
-				enum-name = "FW_BASE_NONE";
-				value = <0>;
-			};
-			icm42607 {
-				compatible = "cros-ec,cbi-fw-config-value";
-				enum-name = "FW_BASE_ICM42607";
-				value = <1>;
-				default;
-			};
-			bmi323 {
-				compatible = "cros-ec,cbi-fw-config-value";
-				enum-name = "FW_BASE_BMI323";
-				value = <2>;
-			};
-		};
-	};
 };
 
 
diff --git a/zephyr/program/corsola/tentacruel/src/sensor.c b/zephyr/program/corsola/tentacruel/src/sensor.c
index 16c2ac9fef..d0b89ac77a 100644
--- a/zephyr/program/corsola/tentacruel/src/sensor.c
+++ b/zephyr/program/corsola/tentacruel/src/sensor.c
@@ -5,36 +5,89 @@
 
 #include "accelgyro.h"
 #include "cros_cbi.h"
+#include "driver/accel_bma422.h"
+#include "driver/accel_lis2dw12.h"
 #include "driver/accelgyro_bmi323.h"
 #include "driver/accelgyro_icm42607.h"
+#include "gpio/gpio_int.h"
 #include "hooks.h"
+#include "motion_sense.h"
 #include "motionsense_sensors.h"
+#include "tablet_mode.h"
 
-void motion_interrupt(enum gpio_signal signal)
+static bool base_is_none;
+static bool lid_is_none;
+
+void base_sensor_interrupt(enum gpio_signal signal)
 {
 	uint32_t val;
 
-	cros_cbi_get_fw_config(FW_BASE_GYRO, &val);
-	if (val == FW_BASE_ICM42607) {
+	cros_cbi_get_fw_config(BASE_SENSOR, &val);
+	if (val == BASE_ICM42607) {
 		icm42607_interrupt(signal);
-	} else if (val == FW_BASE_BMI323) {
+	} else if (val == BASE_BMI323) {
 		bmi3xx_interrupt(signal);
+	} else if (val == BASE_NONE) {
+		base_is_none = true;
 	}
 }
 
-static void motionsense_init(void)
+void lid_sensor_interrupt(enum gpio_signal signal)
 {
 	uint32_t val;
 
-	cros_cbi_get_fw_config(FW_BASE_GYRO, &val);
-	if (val == FW_BASE_ICM42607) {
-		ccprints("BASE ACCEL is ICM42607");
-	} else if (val == FW_BASE_BMI323) {
-		MOTIONSENSE_ENABLE_ALTERNATE(alt_base_accel);
-		MOTIONSENSE_ENABLE_ALTERNATE(alt_base_gyro);
-		ccprints("BASE ACCEL IS BMI323");
-	} else {
-		ccprints("no motionsense");
+	cros_cbi_get_fw_config(LID_SENSOR, &val);
+	if (val == LID_LIS2DWLTR) {
+		lis2dw12_interrupt(signal);
+	} else if (val == LID_BMA422) {
+		bma4xx_interrupt(signal);
+	} else if (val == LID_NONE) {
+		lid_is_none = true;
+	}
+}
+
+static void disable_base_lid_irq(void)
+{
+	if (base_is_none && lid_is_none) {
+		gpio_disable_dt_interrupt(
+			GPIO_INT_FROM_NODELABEL(int_base_imu));
+		gpio_pin_configure_dt(GPIO_DT_FROM_NODELABEL(base_imu_int_l),
+				      GPIO_INPUT | GPIO_PULL_UP);
+		gpio_disable_dt_interrupt(GPIO_INT_FROM_NODELABEL(int_lid_imu));
+		gpio_pin_configure_dt(GPIO_DT_FROM_NODELABEL(lid_accel_int_l),
+				      GPIO_INPUT | GPIO_PULL_UP);
+	}
+}
+DECLARE_HOOK(HOOK_INIT, disable_base_lid_irq, HOOK_PRIO_POST_DEFAULT);
+
+static void board_sensor_init(void)
+{
+	uint32_t val;
+
+	cros_cbi_get_fw_config(FORM_FACTOR, &val);
+	if (val == CLAMSHELL) {
+		motion_sensor_count = 0;
+		gmr_tablet_switch_disable();
+		ccprints("Board is Clamshell");
+	} else if (val == CONVERTIBLE) {
+		ccprints("Board is Convertible");
+
+		cros_cbi_get_fw_config(BASE_SENSOR, &val);
+		if (val == BASE_ICM42607) {
+			ccprints("Base sensor is ICM42607");
+		} else if (val == BASE_BMI323) {
+			MOTIONSENSE_ENABLE_ALTERNATE(alt_base_accel);
+			MOTIONSENSE_ENABLE_ALTERNATE(alt_base_gyro);
+			ccprints("Base sensor is BMI323");
+		}
+
+		cros_cbi_get_fw_config(LID_SENSOR, &val);
+		if (val == LID_LIS2DWLTR) {
+			ccprints("Lid sensnor is LIS2DWLTR");
+		} else if (val == LID_BMA422) {
+			MOTIONSENSE_ENABLE_ALTERNATE(alt_lid_accel);
+			ccprints("Lid sensnor is BMA422");
+		}
 	}
 }
-DECLARE_HOOK(HOOK_INIT, motionsense_init, HOOK_PRIO_DEFAULT);
+DECLARE_HOOK(HOOK_INIT, board_sensor_init, HOOK_PRIO_DEFAULT);
diff --git a/zephyr/test/krabby/CMakeLists.txt b/zephyr/test/krabby/CMakeLists.txt
index 30cc709cad..f7361974c6 100644
--- a/zephyr/test/krabby/CMakeLists.txt
+++ b/zephyr/test/krabby/CMakeLists.txt
@@ -24,5 +24,8 @@ target_sources_ifdef(CONFIG_TEST_KRABBY
 
 target_sources_ifdef(CONFIG_TEST_TENTACRUEL
 	app PRIVATE
+	src/fake.c
 	src/temp_tentacruel.c
-	${PLATFORM_EC_PROGRAM_DIR}/corsola/tentacruel/src/temp.c)
+	src/fwconfig_tentacruel.c
+	${PLATFORM_EC_PROGRAM_DIR}/corsola/tentacruel/src/temp.c
+	${PLATFORM_EC_PROGRAM_DIR}/corsola/tentacruel/src/sensor.c)
diff --git a/zephyr/test/krabby/cbi_sensor.dts b/zephyr/test/krabby/cbi_sensor.dts
new file mode 100644
index 0000000000..46e6ccf9ca
--- /dev/null
+++ b/zephyr/test/krabby/cbi_sensor.dts
@@ -0,0 +1,123 @@
+/* Copyright 2022 The ChromiumOS Authors
+ * Use of this source code is governed by a BSD-style license that can be
+ * found in the LICENSE file.
+ */
+
+
+/ {
+	aliases {
+		/*
+		 * motion sense's <>_INT_EVENT is handled
+		 * by alias. Using the alias, each driver creates
+		 * its own <>_INT_EVENT.
+		 */
+		bmi3xx-int = &base_accel;
+		bma4xx-int = &lid_accel;
+	};
+	named-i2c-ports {
+	    compatible = "named-i2c-ports";
+
+	    i2c_sensor: i2c-sensor {
+		    i2c-port = <&i2c_ctrl0>;
+		    enum-names = "I2C_PORT_SENSOR";
+	    };
+	    i2c_eeprom: i2c-eeprom {
+		    i2c-port = <&i2c_ctrl0>;
+		    enum-names = "I2C_PORT_EEPROM";
+	    };
+	};
+	gpio-interrupts {
+		int_base_imu: base_imu {
+			handler = "base_sensor_interrupt";
+		};
+
+		int_lid_imu: lid_imu {
+			handler = "lid_sensor_interrupt";
+		};
+	};
+	/*
+	 * change all underlying sensor drivers to bmi260 to have a easier way
+	 * to mock interrupt handlers.
+	 */
+	motionsense-sensor-data {
+		bmi323_data: bmi323-drv-data {
+			compatible = "cros-ec,drvdata-bmi260";
+			status = "okay";
+		};
+
+		bma422_data: bma422-drv-data {
+			compatible = "cros-ec,drvdata-bmi260";
+			status = "okay";
+		};
+	};
+	motionsense-sensor-alt {
+		alt_lid_accel: alt-lid-accel {
+			compatible = "cros-ec,bmi260-accel";
+			status = "okay";
+
+			active-mask = "SENSOR_ACTIVE_S0_S3";
+			location = "MOTIONSENSE_LOC_LID";
+			port = <&i2c_sensor>;
+			drv-data = <&bma422_data>;
+			alternate-for = <&lid_accel>;
+			mutex = <&lid_mutex>;
+		};
+
+		alt_base_accel: alt-base-accel {
+			compatible = "cros-ec,bmi260-accel";
+			status = "okay";
+
+			active-mask = "SENSOR_ACTIVE_S0_S3";
+			location = "MOTIONSENSE_LOC_BASE";
+			port = <&i2c_sensor>;
+			drv-data = <&bmi323_data>;
+			alternate-for = <&base_accel>;
+			mutex = <&base_mutex>;
+		};
+
+		alt_base_gyro: alt-base-gyro {
+			compatible = "cros-ec,bmi260-gyro";
+			status = "okay";
+
+			active-mask = "SENSOR_ACTIVE_S0_S3";
+			location = "MOTIONSENSE_LOC_BASE";
+			port = <&i2c_sensor>;
+			drv-data = <&bmi323_data>;
+			alternate-for = <&base_gyro>;
+			mutex = <&base_mutex>;
+		};
+	};
+};
+
+&i2c_ctrl0 {
+	status="okay";
+
+	cbi_eeprom: eeprom@50 {
+		compatible = "atmel,at24";
+		reg = <0x50>;
+		size = <2048>;
+		pagesize = <16>;
+		address-width = <8>;
+		timeout = <5>;
+	};
+};
+
+&lid_accel {
+	compatible = "cros-ec,bmi260-accel";
+};
+
+&base_accel {
+	compatible = "cros-ec,bmi260-accel";
+};
+
+&base_gyro {
+	compatible = "cros-ec,bmi260-gyro";
+};
+
+&icm42607_data {
+	compatible = "cros-ec,drvdata-bmi260";
+};
+
+&lis2dw12_data {
+	compatible = "cros-ec,drvdata-bmi260";
+};
diff --git a/zephyr/test/krabby/src/fake.c b/zephyr/test/krabby/src/fake.c
new file mode 100644
index 0000000000..e66ee101e7
--- /dev/null
+++ b/zephyr/test/krabby/src/fake.c
@@ -0,0 +1,23 @@
+/* Copyright 2022 The ChromiumOS Authors
+ * Use of this source code is governed by a BSD-style license that can be
+ * found in the LICENSE file.
+ */
+
+#include "gpio_signal.h"
+
+#include <zephyr/fff.h>
+
+FAKE_VOID_FUNC(power_button_interrupt, enum gpio_signal);
+FAKE_VOID_FUNC(button_interrupt, enum gpio_signal);
+FAKE_VOID_FUNC(lid_interrupt, enum gpio_signal);
+FAKE_VOID_FUNC(chipset_reset_request_interrupt, enum gpio_signal);
+FAKE_VOID_FUNC(power_signal_interrupt, enum gpio_signal);
+FAKE_VOID_FUNC(chipset_watchdog_interrupt, enum gpio_signal);
+FAKE_VOID_FUNC(extpower_interrupt, enum gpio_signal);
+FAKE_VOID_FUNC(usb_a0_interrupt, enum gpio_signal);
+FAKE_VOID_FUNC(switch_interrupt, enum gpio_signal);
+FAKE_VOID_FUNC(spi_event, enum gpio_signal);
+FAKE_VOID_FUNC(ppc_interrupt, enum gpio_signal);
+FAKE_VOID_FUNC(bc12_interrupt, enum gpio_signal);
+FAKE_VOID_FUNC(ccd_interrupt, enum gpio_signal);
+FAKE_VOID_FUNC(x_ec_interrupt, enum gpio_signal);
diff --git a/zephyr/test/krabby/src/fwconfig_tentacruel.c b/zephyr/test/krabby/src/fwconfig_tentacruel.c
new file mode 100644
index 0000000000..f1f2222ca3
--- /dev/null
+++ b/zephyr/test/krabby/src/fwconfig_tentacruel.c
@@ -0,0 +1,253 @@
+/* Copyright 2022 The ChromiumOS Authors
+ * Use of this source code is governed by a BSD-style license that can be
+ * found in the LICENSE file.
+ */
+
+#include "cros_board_info.h"
+#include "cros_cbi.h"
+#include "gpio_signal.h"
+#include "hooks.h"
+#include "tablet_mode.h"
+#include "zephyr/kernel.h"
+
+#include <zephyr/drivers/gpio/gpio_emul.h>
+#include <zephyr/ztest.h>
+
+#define BOARD_CLAMSHELL (0 << 7)
+#define BOARD_CONVERTIBLE (1 << 7)
+#define MAIN_BASE_SENSOR (1 << 8)
+#define ALT_BASE_SENSOR (2 << 8)
+#define MAIN_LID_SENSOR (1 << 10)
+#define ALT_LID_SENSOR (2 << 10)
+
+#define MAIN_FWCONFIG (BOARD_CONVERTIBLE | MAIN_BASE_SENSOR | MAIN_LID_SENSOR)
+#define ALT_FWCONFIG (BOARD_CONVERTIBLE | ALT_BASE_SENSOR | ALT_LID_SENSOR)
+
+static int base_interrupt_id;
+static int lid_interrupt_id;
+
+static void *clamshell_setup(void)
+{
+	uint32_t val;
+	const struct device *wp_gpio =
+		DEVICE_DT_GET(DT_GPIO_CTLR(DT_ALIAS(gpio_wp), gpios));
+	const gpio_port_pins_t wp_pin = DT_GPIO_PIN(DT_ALIAS(gpio_wp), gpios);
+
+	base_interrupt_id = 0;
+	lid_interrupt_id = 0;
+
+	/* Make sure that write protect is disabled */
+	zassert_ok(gpio_emul_input_set(wp_gpio, wp_pin, 1), NULL);
+	/* Set CBI to BOARD_CLAMSHELL */
+	zassert_ok(cbi_set_fw_config(BOARD_CLAMSHELL), NULL);
+	/* Run init hooks to initialize cbi. */
+	hook_notify(HOOK_INIT);
+
+	/* Check if CBI write worked. */
+	zassert_ok(cros_cbi_get_fw_config(FORM_FACTOR, &val), NULL);
+	zassert_equal(CLAMSHELL, val, "val=%d", val);
+	zassert_ok(cros_cbi_get_fw_config(BASE_SENSOR, &val), NULL);
+	zassert_equal(BASE_NONE, val, "val=%d", val);
+	zassert_ok(cros_cbi_get_fw_config(LID_SENSOR, &val), NULL);
+	zassert_equal(LID_NONE, val, "val=%d", val);
+
+	return NULL;
+}
+
+ZTEST_SUITE(tentacruel_clamshell, NULL, clamshell_setup, NULL, NULL, NULL);
+
+static void *main_sensor_setup(void)
+{
+	uint32_t val;
+	const struct device *wp_gpio =
+		DEVICE_DT_GET(DT_GPIO_CTLR(DT_ALIAS(gpio_wp), gpios));
+	const gpio_port_pins_t wp_pin = DT_GPIO_PIN(DT_ALIAS(gpio_wp), gpios);
+
+	base_interrupt_id = 0;
+	lid_interrupt_id = 0;
+
+	/* Make sure that write protect is disabled */
+	zassert_ok(gpio_emul_input_set(wp_gpio, wp_pin, 1), NULL);
+	/* Set CBI to main sensor config */
+	zassert_ok(cbi_set_fw_config(MAIN_FWCONFIG), NULL);
+	/* Run init hooks to initialize cbi. */
+	hook_notify(HOOK_INIT);
+
+	/* Check if CBI write worked. */
+	zassert_ok(cros_cbi_get_fw_config(FORM_FACTOR, &val), NULL);
+	zassert_equal(CONVERTIBLE, val, "val=%d", val);
+	zassert_ok(cros_cbi_get_fw_config(BASE_SENSOR, &val), NULL);
+	zassert_equal(BASE_ICM42607, val, "val=%d", val);
+	zassert_ok(cros_cbi_get_fw_config(LID_SENSOR, &val), NULL);
+	zassert_equal(LID_LIS2DWLTR, val, "val=%d", val);
+
+	return NULL;
+}
+
+ZTEST_SUITE(tentacruel_main_sensor, NULL, main_sensor_setup, NULL, NULL, NULL);
+
+static void *alt_sensor_setup(void)
+{
+	uint32_t val;
+	const struct device *wp_gpio =
+		DEVICE_DT_GET(DT_GPIO_CTLR(DT_ALIAS(gpio_wp), gpios));
+	const gpio_port_pins_t wp_pin = DT_GPIO_PIN(DT_ALIAS(gpio_wp), gpios);
+
+	base_interrupt_id = 0;
+	lid_interrupt_id = 0;
+
+	/* Make sure that write protect is disabled */
+	zassert_ok(gpio_emul_input_set(wp_gpio, wp_pin, 1), NULL);
+	/* Set CBI to alt sensor config */
+	zassert_ok(cbi_set_fw_config(ALT_FWCONFIG), NULL);
+	/* Run init hooks to initialize cbi. */
+	hook_notify(HOOK_INIT);
+
+	/* Check if CBI write worked. */
+	zassert_ok(cros_cbi_get_fw_config(FORM_FACTOR, &val), NULL);
+	zassert_equal(CONVERTIBLE, val, "val=%d", val);
+	zassert_ok(cros_cbi_get_fw_config(BASE_SENSOR, &val), NULL);
+	zassert_equal(BASE_BMI323, val, "val=%d", val);
+	zassert_ok(cros_cbi_get_fw_config(LID_SENSOR, &val), NULL);
+	zassert_equal(LID_BMA422, val, "val=%d", val);
+
+	return NULL;
+}
+
+ZTEST_SUITE(tentacruel_alt_sensor, NULL, alt_sensor_setup, NULL, NULL, NULL);
+
+/* Main gyro sensor. */
+void icm42607_interrupt(enum gpio_signal signal)
+{
+	base_interrupt_id = 1;
+}
+
+void bmi3xx_interrupt(enum gpio_signal signal)
+{
+	base_interrupt_id = 2;
+}
+
+/* Main lid sensor. */
+void lis2dw12_interrupt(enum gpio_signal signal)
+{
+	lid_interrupt_id = 1;
+}
+
+void bma4xx_interrupt(enum gpio_signal signal)
+{
+	lid_interrupt_id = 2;
+}
+
+ZTEST(tentacruel_clamshell, test_tabletmode_disable)
+{
+	const struct device *tablet_mode_gpio =
+		DEVICE_DT_GET(DT_GPIO_CTLR(DT_NODELABEL(tablet_mode_l), gpios));
+	const gpio_port_pins_t tablet_mode_pin =
+		DT_GPIO_PIN(DT_NODELABEL(tablet_mode_l), gpios);
+
+	/* Verify gmr_tablet_switch is disabled, by checking the side effects
+	 * of calling tablet_set_mode, and setting gpio_tablet_mode_l.
+	 */
+	zassert_ok(gpio_emul_input_set(tablet_mode_gpio, tablet_mode_pin, 0),
+		   NULL);
+	k_sleep(K_MSEC(100));
+	tablet_set_mode(1, TABLET_TRIGGER_LID);
+	zassert_equal(0, tablet_get_mode(), NULL);
+	zassert_ok(gpio_emul_input_set(tablet_mode_gpio, tablet_mode_pin, 1),
+		   NULL);
+	k_sleep(K_MSEC(100));
+	tablet_set_mode(0, TABLET_TRIGGER_LID);
+	zassert_equal(0, tablet_get_mode(), NULL);
+	zassert_ok(gpio_emul_input_set(tablet_mode_gpio, tablet_mode_pin, 0),
+		   NULL);
+	k_sleep(K_MSEC(100));
+	tablet_set_mode(1, TABLET_TRIGGER_LID);
+	zassert_equal(0, tablet_get_mode(), NULL);
+}
+
+ZTEST(tentacruel_clamshell, test_irq_disable)
+{
+	const struct device *base_imu_gpio = DEVICE_DT_GET(
+		DT_GPIO_CTLR(DT_NODELABEL(base_imu_int_l), gpios));
+	const gpio_port_pins_t base_imu_pin =
+		DT_GPIO_PIN(DT_NODELABEL(base_imu_int_l), gpios);
+
+	zassert_ok(gpio_emul_input_set(base_imu_gpio, base_imu_pin, 1), NULL);
+	k_sleep(K_MSEC(100));
+	zassert_ok(gpio_emul_input_set(base_imu_gpio, base_imu_pin, 0), NULL);
+	k_sleep(K_MSEC(100));
+
+	zassert_equal(base_interrupt_id, 0, "base_interrupt_id=%d",
+		      base_interrupt_id);
+
+	const struct device *lid_imu_gpio = DEVICE_DT_GET(
+		DT_GPIO_CTLR(DT_NODELABEL(lid_accel_int_l), gpios));
+	const gpio_port_pins_t lid_imu_pin =
+		DT_GPIO_PIN(DT_NODELABEL(lid_accel_int_l), gpios);
+
+	zassert_ok(gpio_emul_input_set(lid_imu_gpio, lid_imu_pin, 1), NULL);
+	k_sleep(K_MSEC(100));
+	zassert_ok(gpio_emul_input_set(lid_imu_gpio, lid_imu_pin, 0), NULL);
+	k_sleep(K_MSEC(100));
+
+	zassert_equal(lid_interrupt_id, 0, "lid_interrupt_id=%d",
+		      lid_interrupt_id);
+}
+
+ZTEST(tentacruel_main_sensor, test_tentacruel_main_sensor)
+{
+	const struct device *base_imu_gpio = DEVICE_DT_GET(
+		DT_GPIO_CTLR(DT_NODELABEL(base_imu_int_l), gpios));
+	const gpio_port_pins_t base_imu_pin =
+		DT_GPIO_PIN(DT_NODELABEL(base_imu_int_l), gpios);
+
+	zassert_ok(gpio_emul_input_set(base_imu_gpio, base_imu_pin, 1), NULL);
+	k_sleep(K_MSEC(100));
+	zassert_ok(gpio_emul_input_set(base_imu_gpio, base_imu_pin, 0), NULL);
+	k_sleep(K_MSEC(100));
+
+	zassert_equal(base_interrupt_id, 1, "base_interrupt_id=%d",
+		      base_interrupt_id);
+
+	const struct device *lid_imu_gpio = DEVICE_DT_GET(
+		DT_GPIO_CTLR(DT_NODELABEL(lid_accel_int_l), gpios));
+	const gpio_port_pins_t lid_imu_pin =
+		DT_GPIO_PIN(DT_NODELABEL(lid_accel_int_l), gpios);
+
+	zassert_ok(gpio_emul_input_set(lid_imu_gpio, lid_imu_pin, 1), NULL);
+	k_sleep(K_MSEC(100));
+	zassert_ok(gpio_emul_input_set(lid_imu_gpio, lid_imu_pin, 0), NULL);
+	k_sleep(K_MSEC(100));
+
+	zassert_equal(lid_interrupt_id, 1, "lid_interrupt_id=%d",
+		      lid_interrupt_id);
+}
+
+ZTEST(tentacruel_alt_sensor, test_tentacruel_alt_sensor)
+{
+	const struct device *base_imu_gpio = DEVICE_DT_GET(
+		DT_GPIO_CTLR(DT_NODELABEL(base_imu_int_l), gpios));
+	const gpio_port_pins_t base_imu_pin =
+		DT_GPIO_PIN(DT_NODELABEL(base_imu_int_l), gpios);
+
+	zassert_ok(gpio_emul_input_set(base_imu_gpio, base_imu_pin, 1), NULL);
+	k_sleep(K_MSEC(100));
+	zassert_ok(gpio_emul_input_set(base_imu_gpio, base_imu_pin, 0), NULL);
+	k_sleep(K_MSEC(100));
+
+	zassert_equal(base_interrupt_id, 2, "base_interrupt_id=%d",
+		      base_interrupt_id);
+
+	const struct device *lid_imu_gpio = DEVICE_DT_GET(
+		DT_GPIO_CTLR(DT_NODELABEL(lid_accel_int_l), gpios));
+	const gpio_port_pins_t lid_imu_pin =
+		DT_GPIO_PIN(DT_NODELABEL(lid_accel_int_l), gpios);
+
+	zassert_ok(gpio_emul_input_set(lid_imu_gpio, lid_imu_pin, 1), NULL);
+	k_sleep(K_MSEC(100));
+	zassert_ok(gpio_emul_input_set(lid_imu_gpio, lid_imu_pin, 0), NULL);
+	k_sleep(K_MSEC(100));
+
+	zassert_equal(lid_interrupt_id, 2, "lid_interrupt_id=%d",
+		      lid_interrupt_id);
+}
diff --git a/zephyr/test/krabby/testcase.yaml b/zephyr/test/krabby/testcase.yaml
index df29e24982..0994091c5a 100644
--- a/zephyr/test/krabby/testcase.yaml
+++ b/zephyr/test/krabby/testcase.yaml
@@ -11,7 +11,17 @@ tests:
       - CONFIG_TEST_KRABBY=y
       - CONFIG_MUX_INIT_ADC=y
   krabby.tentacruel:
-    extra_args: DTC_OVERLAY_FILE="common.dts;adc_temp.dts;../program/corsola/ite_interrupts.dtsi;../program/corsola/ite_gpio.dtsi;../program/corsola/tentacruel/thermistor.dtsi;pinctrl.dts"
+    extra_args: DTC_OVERLAY_FILE="common.dts;adc_temp.dts;../program/corsola/ite_interrupts.dtsi;../program/corsola/ite_gpio.dtsi;../program/corsola/tentacruel/thermistor.dtsi;pinctrl.dts;../program/corsola/ite_motionsense.dtsi;../program/corsola/tentacruel/cbi.dtsi;cbi_sensor.dts""
     extra_configs:
       - CONFIG_TEST_TENTACRUEL=y
       - CONFIG_PLATFORM_EC_CHARGER_PROFILE_OVERRIDE=y
+      - CONFIG_EEPROM=y
+      - CONFIG_EEPROM_SIMULATOR=n
+      - CONFIG_EMUL_EEPROM_AT2X=y
+      - CONFIG_PLATFORM_EC_MOTIONSENSE=y
+      - CONFIG_PLATFORM_EC_DYNAMIC_MOTION_SENSOR_COUNT=y
+      - CONFIG_PLATFORM_EC_GMR_TABLET_MODE=y
+      - CONFIG_PLATFORM_EC_TABLET_MODE=y
+      - CONFIG_PLATFORM_EC_LID_ANGLE=y
+      - CONFIG_PLATFORM_EC_ACCELGYRO_BMI260=y
+      - CONFIG_PLATFORM_EC_ACCELGYRO_BMI_COMM_I2C=y