samus: enable accel & gyro sensors

- Base: lsm6ds0
- Lid : kxcj9
- gyro: lsm6ds0

BUG=chrome-os-partner:27313
BRANCH=ToT
TEST=Verified on Samus.

Tested with EC CLI utils
accelrate, accelrange, accelres, accelread, accelcalib

Signed-off-by: Sheng-Liang Song <ssl@chromium.org>
Change-Id: I9f5f771e43a7b026ac59fb4d459638a4b8ea8f79
Reviewed-on: https://chromium-review.googlesource.com/212373
Reviewed-by: Alec Berg <alecaberg@chromium.org>

board/host/board.c

@@ -53,7 +53,10 @@ BUILD_ASSERT(ARRAY_SIZE(buttons) == CONFIG_BUTTON_COUNT);
 #endif
 
 /* Define the accelerometer orientation matrices. */
-const struct accel_orientation acc_orient = {
+#ifndef CONFIG_ACCEL_CALIBRATE
+const
+#endif
+struct accel_orientation acc_orient = {
 	/* Lid and base sensor are already aligned. */
 	.rot_align = {
 		{ 1,  0,  0},

board/samus/board.c

@@ -13,8 +13,10 @@
 #include "charger.h"
 #include "common.h"
 #include "console.h"
-#include "driver/temp_sensor/tmp006.h"
+#include "driver/accel_kxcj9.h"
+#include "driver/accelgyro_lsm6ds0.h"
 #include "driver/als_isl29035.h"
+#include "driver/temp_sensor/tmp006.h"
 #include "extpower.h"
 #include "fan.h"
 #include "gpio.h"
@@ -24,6 +26,7 @@
 #include "jtag.h"
 #include "keyboard_scan.h"
 #include "lid_switch.h"
+#include "motion_sense.h"
 #include "peci.h"
 #include "power.h"
 #include "power_button.h"
@@ -31,6 +34,7 @@
 #include "pwm_chip.h"
 #include "registers.h"
 #include "switch.h"
+#include "task.h"
 #include "temp_sensor.h"
 #include "temp_sensor_chip.h"
 #include "timer.h"
@@ -238,3 +242,59 @@ int board_discharge_on_ac(int enable)
 {
 	return charger_discharge_on_ac(enable);
 }
+
+/* Base Sensor mutex */
+static struct mutex g_base_mutex;
+
+/* Lid Sensor mutex */
+static struct mutex g_lid_mutex;
+
+/* kxcj9 local/private data */
+struct kxcj9_data g_kxcj9_data;
+
+/* Four Motion sensors */
+struct motion_sensor_t motion_sensors[] = {
+
+	{"Base", SENSOR_CHIP_LSM6DS0, SENSOR_ACCELEROMETER, LOCATION_BASE,
+		&lsm6ds0_drv, &g_base_mutex, NULL, LSM6DS0_ADDR1},
+
+	{"Lid",  SENSOR_CHIP_KXCJ9, SENSOR_ACCELEROMETER, LOCATION_LID,
+		&kxcj9_drv, &g_lid_mutex, &g_kxcj9_data, KXCJ9_ADDR0},
+
+	{"Base Gyro", SENSOR_CHIP_LSM6DS0, SENSOR_GYRO, LOCATION_BASE,
+		&lsm6ds0_drv, &g_base_mutex, NULL, LSM6DS0_ADDR1},
+
+};
+const unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
+
+/* Define the accelerometer orientation matrices. */
+#ifndef CONFIG_ACCEL_CALIBRATE
+const
+#endif
+struct accel_orientation acc_orient = {
+	/* Lid and base sensor are already aligned. */
+	.rot_align = {
+		{ 1,  0,  0},
+		{ 0,  1,  0},
+		{ 0,  0,  1}
+	},
+
+	/* Hinge aligns with y axis. */
+	.rot_hinge_90 = {
+		{ 1,  0,  0},
+		{ 0,  1,  0},
+		{ 0,  0,  1}
+	},
+	.rot_hinge_180 = {
+		{-1,  0,  0},
+		{ 0,  1,  0},
+		{ 0,  0, -1}
+	},
+	.rot_standard_ref = {
+		{-1,  0,  0},
+		{ 0, -1,  0},
+		{ 0,  0, -1}
+	},
+	.hinge_axis = {0, 1, 0},
+};
+

board/samus/board.h

@@ -15,9 +15,12 @@
 #undef HEY_USE_BUILTIN_CLKRUN
 
 /* Optional features */
+#define CONFIG_ACCELGYRO_LSM6DS0
+#define CONFIG_ACCEL_KXCJ9
 #define CONFIG_ALS
 #define CONFIG_ALS_ISL29035
 #define CONFIG_BOARD_VERSION
+#define CONFIG_CMD_ACCELS
 #define CONFIG_POWER_COMMON
 #define CONFIG_CHIPSET_CAN_THROTTLE
 #define CONFIG_KEYBOARD_BOARD_CONFIG

board/samus/ec.tasklist

@@ -21,6 +21,7 @@
 	TASK_NOTEST(ALS, als_task, NULL, SMALLER_TASK_STACK_SIZE) \
 	TASK_NOTEST(LIGHTBAR, lightbar_task, NULL, LARGER_TASK_STACK_SIZE) \
 	TASK_ALWAYS(CHARGER, charger_task, NULL, LARGER_TASK_STACK_SIZE) \
+	TASK_NOTEST(MOTIONSENSE, motion_sense_task, NULL, LARGER_TASK_STACK_SIZE) \
 	TASK_NOTEST(CHIPSET, chipset_task, NULL, TASK_STACK_SIZE) \
 	TASK_NOTEST(KEYPROTO, keyboard_protocol_task, NULL, TASK_STACK_SIZE) \
 	TASK_NOTEST(PDCMD, pd_command_task, NULL, SMALLER_TASK_STACK_SIZE) \