helios: gyro sensor add 2nd source icm40608

gyro sensor add 2nd source icm-40608

BUG=b:196286603
BRANCH=hatch
TEST=make BAORD=helios
Using command "watch ectool motionsense lid_angle".

Signed-off-by: Michael5 Chen1 <michael5_chen1@pegatron.corp-partner.google.com>
Change-Id: I06c1ea21b353959f07dd16a3732d23c638d031bc
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/3089086
Reviewed-by: Tim Wawrzynczak <twawrzynczak@chromium.org>
Reviewed-by: Jacky Wang <jacky5_wang@pegatron.corp-partner.google.com>
Commit-Queue: Tim Wawrzynczak <twawrzynczak@chromium.org>

3 files changed, 100 insertions, 1 deletions

diff --git a/board/helios/board.c b/board/helios/board.c
index 16107d8884..11f2edb466 100644
--- a/board/helios/board.c
+++ b/board/helios/board.c
@@ -12,6 +12,8 @@
 #include "cros_board_info.h"
 #include "driver/accel_bma2x2.h"
 #include "driver/accelgyro_bmi_common.h"
+#include "driver/accelgyro_icm_common.h"
+#include "driver/accelgyro_icm426xx.h"
 #include "driver/als_opt3001.h"
 #include "driver/bc12/pi3usb9201.h"
 #include "driver/ppc/sn5s330.h"
@@ -200,10 +202,19 @@ static struct mutex g_lid_mutex;
 
 /* Base accel private data */
 static struct bmi_drv_data_t g_bmi160_data;
+static struct icm_drv_data_t g_icm426xx_data;
 
 /* BMA255 private data */
 static struct accelgyro_saved_data_t g_bma255_data;
 
+enum base_accelgyro_type {
+	BASE_GYRO_NONE = 0,
+	BASE_GYRO_BMI160 = 1,
+	BASE_GYRO_ICM426XX = 2,
+};
+
+static enum base_accelgyro_type base_accelgyro_config;
+
 /* Matrix to rotate accelrator into standard reference frame */
 static const mat33_fp_t base_standard_ref = {
 	{ 0, FLOAT_TO_FP(1), 0},
@@ -217,6 +228,57 @@ static const mat33_fp_t lid_standard_ref = {
 	{ 0, 0, FLOAT_TO_FP(-1)}
 };
 
+static const mat33_fp_t base_standard_ref_icm = {
+	{ FLOAT_TO_FP(-1), 0, 0},
+	{ 0, FLOAT_TO_FP(1), 0},
+	{ 0, 0, FLOAT_TO_FP(-1)},
+};
+
+struct motion_sensor_t icm426xx_base_accel = {
+	.name = "Base Accel",
+	.active_mask = SENSOR_ACTIVE_S0_S3,
+	.chip = MOTIONSENSE_CHIP_ICM426XX,
+	.type = MOTIONSENSE_TYPE_ACCEL,
+	.location = MOTIONSENSE_LOC_BASE,
+	.drv = &icm426xx_drv,
+	.mutex = &g_base_mutex,
+	.drv_data = &g_icm426xx_data,
+	.port = I2C_PORT_ACCEL,
+	.i2c_spi_addr_flags = ICM426XX_ADDR0_FLAGS,
+	.rot_standard_ref = &base_standard_ref_icm,
+	.min_frequency = ICM426XX_ACCEL_MIN_FREQ,
+	.max_frequency = ICM426XX_ACCEL_MAX_FREQ,
+	.default_range = 4, /* g, to meet CDD 7.3.1/C-1-4 reqs. */
+	.config = {
+		[SENSOR_CONFIG_EC_S0] = {
+			.odr = 10000 | ROUND_UP_FLAG,
+			.ec_rate = 100 * MSEC,
+		},
+		/* Sensor on in S3 */
+		[SENSOR_CONFIG_EC_S3] = {
+			.odr = 10000 | ROUND_UP_FLAG,
+			.ec_rate = 100 * MSEC,
+		},
+	},
+};
+
+struct motion_sensor_t icm426xx_base_gyro = {
+	.name = "Base Gyro",
+	.active_mask = SENSOR_ACTIVE_S0_S3,
+	.chip = MOTIONSENSE_CHIP_ICM426XX,
+	.type = MOTIONSENSE_TYPE_GYRO,
+	.location = MOTIONSENSE_LOC_BASE,
+	.drv = &icm426xx_drv,
+	.mutex = &g_base_mutex,
+	.drv_data = &g_icm426xx_data,
+	.port = I2C_PORT_ACCEL,
+	.i2c_spi_addr_flags = ICM426XX_ADDR0_FLAGS,
+	.default_range = 1000, /* dps */
+	.rot_standard_ref = &base_standard_ref_icm,
+	.min_frequency = ICM426XX_GYRO_MIN_FREQ,
+	.max_frequency = ICM426XX_GYRO_MAX_FREQ,
+};
+
 struct motion_sensor_t motion_sensors[] = {
 	[LID_ACCEL] = {
 		.name = "Lid Accel",
@@ -290,6 +352,38 @@ struct motion_sensor_t motion_sensors[] = {
 };
 unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
 
+void motion_interrupt(enum gpio_signal signal)
+{
+	if (base_accelgyro_config == BASE_GYRO_ICM426XX)
+		icm426xx_interrupt(signal);
+	else
+		bmi160_interrupt(signal);
+}
+
+static void board_detect_motionsense(void)
+{
+	int val;
+
+	if (chipset_in_state(CHIPSET_STATE_ANY_OFF))
+		return;
+	if (base_accelgyro_config != BASE_GYRO_NONE)
+		return;
+
+	icm_read8(&icm426xx_base_accel, ICM426XX_REG_WHO_AM_I, &val);
+	if (val == ICM426XX_CHIP_ICM40608) {
+		motion_sensors[BASE_ACCEL] = icm426xx_base_accel;
+		motion_sensors[BASE_GYRO] = icm426xx_base_gyro;
+		base_accelgyro_config = BASE_GYRO_ICM426XX;
+		ccprints("Base Accelgyro: ICM40608");
+	} else {
+		base_accelgyro_config = BASE_GYRO_BMI160;
+		ccprints("Base Accelgyro: BMI160");
+	}
+}
+DECLARE_HOOK(HOOK_CHIPSET_STARTUP, board_detect_motionsense,
+	     HOOK_PRIO_DEFAULT);
+DECLARE_HOOK(HOOK_INIT, board_detect_motionsense, HOOK_PRIO_INIT_I2C + 1);
+
 /******************************************************************************/
 /* Physical fans. These are logically separate from pwm_channels. */
 
diff --git a/board/helios/board.h b/board/helios/board.h
index 307405ef8b..1534b69c48 100644
--- a/board/helios/board.h
+++ b/board/helios/board.h
@@ -30,6 +30,9 @@
 #define CONFIG_ACCELGYRO_BMI160
 #define CONFIG_ACCELGYRO_BMI160_INT_EVENT \
 	TASK_EVENT_MOTION_SENSOR_INTERRUPT(BASE_ACCEL)
+#define CONFIG_ACCELGYRO_ICM426XX
+#define CONFIG_ACCELGYRO_ICM426XX_INT_EVENT \
+	TASK_EVENT_MOTION_SENSOR_INTERRUPT(BASE_ACCEL)
 #define CONFIG_ACCELGYRO_BMI160_INT2_OUTPUT
 /* BMA253 Lid accel */
 #define CONFIG_ACCEL_BMA255
@@ -148,6 +151,8 @@ enum battery_type {
 	BATTERY_TYPE_COUNT,
 };
 
+void motion_interrupt(enum gpio_signal signal);
+
 #endif /* !__ASSEMBLER__ */
 
 #endif /* __CROS_EC_BOARD_H */
diff --git a/board/helios/gpio.inc b/board/helios/gpio.inc
index ab8d9f4388..d16e1643be 100644
--- a/board/helios/gpio.inc
+++ b/board/helios/gpio.inc
@@ -28,7 +28,7 @@ GPIO_INT(PG_EC_ALL_SYS_PWRGD,  PIN(F, 4), GPIO_INT_BOTH, power_signal_interrupt)
 GPIO_INT(PP5000_A_PG_OD,       PIN(D, 7), GPIO_INT_BOTH, power_signal_interrupt)
 
 /* Sensor Interrupts */
-GPIO_INT(BASE_SIXAXIS_INT_L,   PIN(5, 6), GPIO_INT_FALLING, bmi160_interrupt)
+GPIO_INT(BASE_SIXAXIS_INT_L,   PIN(5, 6), GPIO_INT_FALLING, motion_interrupt)
 
 /* USB-C interrupts */
 GPIO_INT(USB_C0_PPC_INT_ODL,   PIN(E, 0), GPIO_INT_FALLING, ppc_interrupt)