1 files changed, 70 insertions, 3 deletions

diff --git a/board/delbin/sensors.c b/board/delbin/sensors.c
index a2b2eb47e4..3885ae799f 100644
--- a/board/delbin/sensors.c
+++ b/board/delbin/sensors.c
@@ -12,6 +12,8 @@
 #include "driver/accel_kionix.h"
 #include "driver/accelgyro_bmi_common.h"
 #include "driver/accelgyro_bmi260.h"
+#include "driver/accelgyro_icm_common.h"
+#include "driver/accelgyro_icm426xx.h"
 #include "keyboard_scan.h"
 #include "hooks.h"
 #include "i2c.h"
@@ -24,12 +26,11 @@
 static struct mutex g_lid_accel_mutex;
 static struct mutex g_base_mutex;
 
-/* BMA253 private data */
+/* sensor private data */
 static struct accelgyro_saved_data_t g_bma253_data;
 static struct kionix_accel_data g_kx022_data;
-
-/* BMI260 private data */
 static struct bmi_drv_data_t g_bmi260_data;
+static struct icm_drv_data_t g_icm426xx_data;
 
 /* Rotation matrix for the lid accelerometer */
 static const mat33_fp_t lid_standard_ref = {
@@ -44,6 +45,57 @@ const mat33_fp_t base_standard_ref = {
 	{ 0, 0, FLOAT_TO_FP(1)}
 };
 
+const mat33_fp_t base_standard_ref_icm = {
+	{ 0, FLOAT_TO_FP(-1), 0},
+	{ FLOAT_TO_FP(1), 0, 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_SENSOR,
+	.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 */
+	.config = {
+		/* EC use accel for angle detection */
+		[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,
+		},
+	},
+};
+
+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_SENSOR,
+	.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 kx022_lid_accel = {
 	.name = "Lid Accel",
 	.active_mask = SENSOR_ACTIVE_S0_S3,
@@ -146,6 +198,14 @@ struct motion_sensor_t motion_sensors[] = {
 };
 unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
 
+void motion_interrupt(enum gpio_signal signal)
+{
+	if (get_cbi_ssfc_base_sensor() == SSFC_SENSOR_BASE_ICM426XX)
+		icm426xx_interrupt(signal);
+	else
+		bmi260_interrupt(signal);
+}
+
 static void baseboard_sensors_init(void)
 {
 	if (get_cbi_ssfc_lid_sensor() == SSFC_SENSOR_LID_KX022) {
@@ -154,6 +214,13 @@ static void baseboard_sensors_init(void)
 	} else
 		ccprints("LID_ACCEL is BMA253");
 
+	if (get_cbi_ssfc_base_sensor() == SSFC_SENSOR_BASE_ICM426XX) {
+		motion_sensors[BASE_ACCEL] = icm426xx_base_accel;
+		motion_sensors[BASE_GYRO] = icm426xx_base_gyro;
+		ccprints("BASE ACCEL is ICM426XX");
+	} else
+		ccprints("BASE ACCEL IS BMI260");
+
 	/* Enable interrupt for the accel/gyro sensor */
 	gpio_enable_interrupt(GPIO_EC_IMU_INT_L);
 }