kevin: Add support bmi160 sensor

BMI168 is twins sensor with BMI160. Adding defines, drv.

BUG=chrome-os-partner:52844
TEST="accelread 0" is working on kevin

Change-Id: I8335ea4a766ae88e049791b9231ab752486be9d4
Signed-off-by: Wonjoon Lee <woojoo.lee@samsung.com>
Reviewed-on: https://chromium-review.googlesource.com/341650
Reviewed-by: Shawn N <shawnn@chromium.org>

3 files changed, 112 insertions, 4 deletions

diff --git a/board/kevin/board.c b/board/kevin/board.c
index 037707b95b..1e4cb24a77 100644
--- a/board/kevin/board.c
+++ b/board/kevin/board.c
@@ -13,6 +13,8 @@
 #include "chipset.h"
 #include "common.h"
 #include "console.h"
+#include "ec_commands.h"
+#include "driver/accelgyro_bmi160.h"
 #include "driver/charger/bd99955.h"
 #include "driver/tcpm/fusb302.h"
 #include "extpower.h"
@@ -30,6 +32,7 @@
 #include "shi_chip.h"
 #include "spi.h"
 #include "switch.h"
+#include "task.h"
 #include "timer.h"
 #include "thermal.h"
 #include "usb_charge.h"
@@ -324,3 +327,97 @@ static void overtemp_interrupt_disable(void)
 }
 DECLARE_HOOK(HOOK_CHIPSET_SUSPEND, overtemp_interrupt_disable,
 	     HOOK_PRIO_DEFAULT);
+
+/* Motion sensors */
+#ifdef HAS_TASK_MOTIONSENSE
+/* Mutexes */
+static struct mutex g_base_mutex;
+
+/* Matrix to rotate accelrator into standard reference frame */
+const matrix_3x3_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[] = {
+	/*
+	 * Note: bmi160: supports accelerometer and gyro sensor
+	 * Requirement: accelerometer sensor must init before gyro sensor
+	 * DO NOT change the order of the following table.
+	 */
+	{.name = "Base Accel",
+	 .active_mask = SENSOR_ACTIVE_S0,
+	 .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,
+	 .addr = BMI160_SET_SPI_ADDRESS(CONFIG_SPI_ACCEL_PORT),
+	 .rot_standard_ref = NULL, /* Identity matrix. */
+	 .default_range = 2,  /* g, enough for laptop. */
+	 .config = {
+		 /* AP: by default use EC settings */
+		 [SENSOR_CONFIG_AP] = {
+			 .odr = 0,
+			 .ec_rate = 0,
+		 },
+		 /* EC use accel for angle detection */
+		 [SENSOR_CONFIG_EC_S0] = {
+			 .odr = 10000 | ROUND_UP_FLAG,
+			 .ec_rate = 100,
+		 },
+		 /* Sensor off in S3/S5 */
+		 [SENSOR_CONFIG_EC_S3] = {
+			 .odr = 0,
+			 .ec_rate = 0
+		 },
+		 /* Sensor off in S3/S5 */
+		 [SENSOR_CONFIG_EC_S5] = {
+			 .odr = 0,
+			 .ec_rate = 0
+		 },
+	 },
+	},
+
+	{.name = "Base Gyro",
+	 .active_mask = SENSOR_ACTIVE_S0,
+	 .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,
+	 .addr = BMI160_SET_SPI_ADDRESS(CONFIG_SPI_ACCEL_PORT),
+	 .default_range = 1000, /* dps */
+	 .rot_standard_ref = NULL, /* Identity Matrix. */
+	 .config = {
+		 /* AP: by default shutdown all sensors */
+		 [SENSOR_CONFIG_AP] = {
+			 .odr = 0,
+			 .ec_rate = 0,
+		 },
+		 /* EC does not need in S0 */
+		 /* TODO : Interrupt driven? */
+		 [SENSOR_CONFIG_EC_S0] = {
+			 .odr = 0,
+			 .ec_rate = 0,
+		 },
+		 /* Sensor off in S3/S5 */
+		 [SENSOR_CONFIG_EC_S3] = {
+			 .odr = 0,
+			 .ec_rate = 0,
+		 },
+		 /* Sensor off in S3/S5 */
+		 [SENSOR_CONFIG_EC_S5] = {
+			 .odr = 0,
+			 .ec_rate = 0,
+		 },
+	 },
+	},
+};
+const unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
+#endif /* defined(HAS_TASK_MOTIONSENSE) */
diff --git a/board/kevin/board.h b/board/kevin/board.h
index 18c801ec99..3c71b52949 100644
--- a/board/kevin/board.h
+++ b/board/kevin/board.h
@@ -12,12 +12,16 @@
 #define CONFIG_ADC
 #define CONFIG_CHIPSET_RK3399
 #define CONFIG_HOSTCMD_SPS
+#define CONFIG_I2C
+#define CONFIG_I2C_MASTER
 #define CONFIG_POWER_COMMON
 #define CONFIG_PWM
 #define CONFIG_PWM_DISPLIGHT
 #ifdef BOARD_KEVIN
 #define CONFIG_LED_COMMON
 #endif
+#define CONFIG_SPI
+#define CONFIG_SPI_MASTER
 
 #define CONFIG_SYSTEM_UNLOCKED /* Allow dangerous commands for testing */
 
@@ -38,15 +42,11 @@
 #define CONFIG_BOARD_SPECIFIC_VERSION
 #define CONFIG_BUTTON_COUNT        2
 #define CONFIG_FLASH_SIZE          0x00080000 /* 512KB spi flash */
-#define CONFIG_I2C
-#define CONFIG_I2C_MASTER
 #define CONFIG_KEYBOARD_BOARD_CONFIG
 #define CONFIG_KEYBOARD_COL2_INVERTED
 #define CONFIG_KEYBOARD_PROTOCOL_MKBP /* Instead of 8042 protocol of keyboard */
 #define CONFIG_LTO
 #define CONFIG_POWER_BUTTON
-#define CONFIG_SPI
-#define CONFIG_SPI_MASTER
 #define CONFIG_VBOOT_HASH
 
 #define CONFIG_CHARGER
@@ -54,6 +54,13 @@
 #define CONFIG_CHARGER_INPUT_CURRENT 512
 #define CONFIG_CHARGER_V2
 
+/* Motion Sensors */
+#define CONFIG_ACCELGYRO_BMI160
+#define CONFIG_ACCEL_INTRRUPTS
+#define CONFIG_LID_ANGLE
+#define CONFIG_LID_ANGLE_SENSOR_BASE    0
+#define CONFIG_LID_ANGLE_SENSOR_LID     2
+
 /* USB PD config */
 #define CONFIG_CHARGE_MANAGER
 #define CONFIG_USB_POWER_DELIVERY
@@ -87,6 +94,8 @@
 #define PD_DEFAULT_STATE PD_STATE_SNK_DISCONNECTED
 
 /* Optional features for test commands */
+#define CONFIG_CMD_ACCELS
+#define CONFIG_CMD_ACCEL_INFO
 #define CONFIG_CMD_TASKREADY
 #define CONFIG_CMD_STACKOVERFLOW
 #define CONFIG_CMD_JUMPTAGS
@@ -109,6 +118,7 @@
 
 #define I2C_PORT_TCPC0    NPCX_I2C_PORT0_0
 #define I2C_PORT_TCPC1    NPCX_I2C_PORT0_1
+#define I2C_PORT_ACCEL    NPCX_I2C_PORT1
 #define I2C_PORT_CHARGER  NPCX_I2C_PORT2
 #define I2C_PORT_BATTERY  NPCX_I2C_PORT3
 
diff --git a/board/kevin/ec.tasklist b/board/kevin/ec.tasklist
index 4eec31e7f1..0f91c4f39a 100644
--- a/board/kevin/ec.tasklist
+++ b/board/kevin/ec.tasklist
@@ -20,6 +20,7 @@
 	TASK_ALWAYS(HOOKS, hook_task, NULL, LARGER_TASK_STACK_SIZE) \
 	TASK_ALWAYS(CHARGER, charger_task, NULL, LARGER_TASK_STACK_SIZE) \
 	TASK_NOTEST(CHIPSET, chipset_task, NULL, LARGER_TASK_STACK_SIZE) \
+	TASK_NOTEST(MOTIONSENSE, motion_sense_task, NULL, VENTI_TASK_STACK_SIZE) \
 	TASK_NOTEST(PDCMD, pd_command_task, NULL, TASK_STACK_SIZE) \
 	TASK_ALWAYS(HOSTCMD, host_command_task, NULL, TASK_STACK_SIZE) \
 	TASK_ALWAYS(CONSOLE, console_task, NULL, LARGER_TASK_STACK_SIZE) \