board/voxel/sensors.c - chromiumos/platform/ec - Git at Google

 /* Copyright 2020 The ChromiumOS Authors
  * Use of this source code is governed by a BSD-style license that can be
  * found in the LICENSE file.
  */

 /* Volteer family-specific sensor configuration */
 #include "accelgyro.h"
 #include "cbi_ec_fw_config.h"
 #include "cbi_ssfc.h"
 #include "common.h"
 #include "driver/accel_bma2x2.h"
 #include "driver/accel_kionix.h"
 #include "driver/accelgyro_bmi160.h"
 #include "driver/accelgyro_bmi_common.h"
 #include "driver/accelgyro_icm42607.h"
 #include "driver/accelgyro_icm426xx.h"
 #include "driver/accelgyro_icm_common.h"
 #include "driver/als_tcs3400.h"
 #include "driver/sync.h"
 #include "gpio.h"
 #include "hooks.h"
 #include "i2c.h"
 #include "keyboard_scan.h"
 #include "tablet_mode.h"
 #include "task.h"
 #include "util.h"

 #define CPRINTS(format, args...) cprints(CC_MOTION_SENSE, format, ##args)
 /******************************************************************************/
 /* Sensors */
 static struct mutex g_lid_accel_mutex;
 static struct mutex g_base_mutex;

 /* BMA253 private data */
 static struct accelgyro_saved_data_t g_bma253_data;
 static struct kionix_accel_data g_kx022_data;

 /* BMI160 private data */
 static struct bmi_drv_data_t g_bmi160_data;
 static struct icm_drv_data_t g_icm426xx_data;

 /* Rotation matrix for the lid accelerometer */
 static const mat33_fp_t lid_standard_ref = { { FLOAT_TO_FP(-1), 0, 0 },
 					     { 0, FLOAT_TO_FP(-1), 0 },
 					     { 0, 0, FLOAT_TO_FP(1) } };

 const mat33_fp_t base_standard_ref = { { 0, FLOAT_TO_FP(1), 0 },
 				       { FLOAT_TO_FP(-1), 0, 0 },
 				       { 0, 0, FLOAT_TO_FP(1) } };

 static const mat33_fp_t base_icm_ref = { { FLOAT_TO_FP(1), 0, 0 },
 					 { 0, FLOAT_TO_FP(1), 0 },
 					 { 0, 0, FLOAT_TO_FP(1) } };

 struct motion_sensor_t kx022_lid_accel = {
 	.name = "Lid Accel",
 	.active_mask = SENSOR_ACTIVE_S0_S3,
 	.chip = MOTIONSENSE_CHIP_KX022,
 	.type = MOTIONSENSE_TYPE_ACCEL,
 	.location = MOTIONSENSE_LOC_LID,
 	.drv = &kionix_accel_drv,
 	.mutex = &g_lid_accel_mutex,
 	.drv_data = &g_kx022_data,
 	.port = I2C_PORT_ACCEL,
 	.i2c_spi_addr_flags = KX022_ADDR0_FLAGS,
 	.rot_standard_ref = &lid_standard_ref,
 	.min_frequency = KX022_ACCEL_MIN_FREQ,
 	.max_frequency = KX022_ACCEL_MAX_FREQ,
 	.default_range = 2, /* g, to support tablet mode */
 	.config = {
 		/* EC use accel for angle detection */
 		[SENSOR_CONFIG_EC_S0] = {
 			.odr = 10000 | ROUND_UP_FLAG,
 		},
 		/* EC use accel for angle detection */
 		[SENSOR_CONFIG_EC_S3] = {
 			.odr = 10000 | ROUND_UP_FLAG,
 		},
 	},
 };

 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,
 	.default_range = 4, /* g, to meet CDD 7.3.1/C-1-4 reqs.*/
 	.rot_standard_ref = &base_icm_ref,
 	.min_frequency = ICM426XX_ACCEL_MIN_FREQ,
 	.max_frequency = ICM426XX_ACCEL_MAX_FREQ,
 	.config = {
 		/* EC use accel for angle detection */
 		[SENSOR_CONFIG_EC_S0] = {
 			.odr = 10000 | ROUND_UP_FLAG,
 			.ec_rate = 100 * MSEC,
 		},
 		/* EC use accel for angle detection */
 		[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_icm_ref,
 	.min_frequency = ICM426XX_GYRO_MIN_FREQ,
 	.max_frequency = ICM426XX_GYRO_MAX_FREQ,
 };

 struct motion_sensor_t icm42607_base_accel = {
 	.name = "Base Accel",
 	.active_mask = SENSOR_ACTIVE_S0_S3,
 	.chip = MOTIONSENSE_CHIP_ICM42607,
 	.type = MOTIONSENSE_TYPE_ACCEL,
 	.location = MOTIONSENSE_LOC_BASE,
 	.drv = &icm42607_drv,
 	.mutex = &g_base_mutex,
 	.drv_data = &g_icm426xx_data,
 	.port = I2C_PORT_SENSOR,
 	.i2c_spi_addr_flags = ICM42607_ADDR0_FLAGS,
 	.default_range = 4, /* g, to meet CDD 7.3.1/C-1-4 reqs.*/
 	.rot_standard_ref = &base_icm_ref,
 	.min_frequency = ICM42607_ACCEL_MIN_FREQ,
 	.max_frequency = ICM42607_ACCEL_MAX_FREQ,
 	.config = {
 		/* EC use accel for angle detection */
 		[SENSOR_CONFIG_EC_S0] = {
 			.odr = 10000 | ROUND_UP_FLAG,
 			.ec_rate = 100 * MSEC,
 		},
 		/* EC use accel for angle detection */
 		[SENSOR_CONFIG_EC_S3] = {
 			.odr = 10000 | ROUND_UP_FLAG,
 			.ec_rate = 100 * MSEC,
 		},
 	},
 };

 struct motion_sensor_t icm42607_base_gyro = {
 	.name = "Base Gyro",
 	.active_mask = SENSOR_ACTIVE_S0_S3,
 	.chip = MOTIONSENSE_CHIP_ICM42607,
 	.type = MOTIONSENSE_TYPE_GYRO,
 	.location = MOTIONSENSE_LOC_BASE,
 	.drv = &icm42607_drv,
 	.mutex = &g_base_mutex,
 	.drv_data = &g_icm426xx_data,
 	.port = I2C_PORT_SENSOR,
 	.i2c_spi_addr_flags = ICM42607_ADDR0_FLAGS,
 	.default_range = 1000, /* dps */
 	.rot_standard_ref = &base_icm_ref,
 	.min_frequency = ICM42607_GYRO_MIN_FREQ,
 	.max_frequency = ICM42607_GYRO_MAX_FREQ,
 };

 struct motion_sensor_t motion_sensors[] = {
 	[LID_ACCEL] = {
 		.name = "Lid Accel",
 		.active_mask = SENSOR_ACTIVE_S0_S3,
 		.chip = MOTIONSENSE_CHIP_BMA255,
 		.type = MOTIONSENSE_TYPE_ACCEL,
 		.location = MOTIONSENSE_LOC_LID,
 		.drv = &bma2x2_accel_drv,
 		.mutex = &g_lid_accel_mutex,
 		.drv_data = &g_bma253_data,
 		.port = I2C_PORT_SENSOR,
 		.i2c_spi_addr_flags = BMA2x2_I2C_ADDR1_FLAGS,
 		.rot_standard_ref = &lid_standard_ref,
 		.min_frequency = BMA255_ACCEL_MIN_FREQ,
 		.max_frequency = BMA255_ACCEL_MAX_FREQ,
 		.default_range = 2, /* g, to support tablet mode */
 		.config = {
 			/* EC use accel for angle detection */
 			[SENSOR_CONFIG_EC_S0] = {
 				.odr = 10000 | ROUND_UP_FLAG,
 			},
 			/* Sensor on in S3 */
 			[SENSOR_CONFIG_EC_S3] = {
 				.odr = 10000 | ROUND_UP_FLAG,
 			},
 		},
 	},
 	[BASE_ACCEL] = {
 		.name = "Base Accel",
 		.active_mask = SENSOR_ACTIVE_S0_S3,
 		.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 = I2C_PORT_SENSOR,
 		.i2c_spi_addr_flags = BMI160_ADDR0_FLAGS,
 		.rot_standard_ref = &base_standard_ref,
 		.min_frequency = BMI_ACCEL_MIN_FREQ,
 		.max_frequency = BMI_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,
 				.ec_rate = 100 * MSEC,
 			},
 		},
 	},

 	[BASE_GYRO] = {
 		.name = "Base Gyro",
 		.active_mask = SENSOR_ACTIVE_S0_S3,
 		.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 = I2C_PORT_SENSOR,
 		.i2c_spi_addr_flags = BMI160_ADDR0_FLAGS,
 		.default_range = 1000, /* dps */
 		.rot_standard_ref = &base_standard_ref,
 		.min_frequency = BMI_GYRO_MIN_FREQ,
 		.max_frequency = BMI_GYRO_MAX_FREQ,
 	},
 };
 unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);

 static enum ec_ssfc_base_sensor base_gyro_config = SSFC_SENSOR_BASE_DEFAULT;

 static void board_sensors_init(void)
 {
 	base_gyro_config = get_cbi_ssfc_base_sensor();

 	if (ec_cfg_has_tabletmode()) {
 		if (base_gyro_config == SSFC_SENSOR_BASE_ICM426XX) {
 			motion_sensors[BASE_ACCEL] = icm426xx_base_accel;
 			motion_sensors[BASE_GYRO] = icm426xx_base_gyro;
 			ccprints("BASE GYRO is ICM426XX");
 		} else if (base_gyro_config == SSFC_SENSOR_BASE_ICM42607) {
 			motion_sensors[BASE_ACCEL] = icm42607_base_accel;
 			motion_sensors[BASE_GYRO] = icm42607_base_gyro;
 			ccprints("BASE GYRO is ICM42607");
 		} else
 			ccprints("BASE GYRO is BMI160");

 		if (get_cbi_ssfc_lid_sensor() == SSFC_SENSOR_LID_KX022) {
 			motion_sensors[LID_ACCEL] = kx022_lid_accel;
 			ccprints("LID_ACCEL is KX022");
 		} else
 			ccprints("LID_ACCEL is BMA253");

 		motion_sensor_count = ARRAY_SIZE(motion_sensors);
 		/* Enable interrupt for the accel/gyro sensor */
 		gpio_enable_interrupt(GPIO_EC_IMU_INT_L);
 	} else {
 		motion_sensor_count = 0;
 		gmr_tablet_switch_disable();
 		/* Base accel is not stuffed, don't allow line to float */
 		gpio_set_flags(GPIO_EC_IMU_INT_L, GPIO_INPUT | GPIO_PULL_DOWN);
 	}
 }
 DECLARE_HOOK(HOOK_INIT, board_sensors_init, HOOK_PRIO_DEFAULT);

 void motion_interrupt(enum gpio_signal signal)
 {
 	switch (base_gyro_config) {
 	case SSFC_SENSOR_BASE_ICM426XX:
 		icm426xx_interrupt(signal);
 		break;
 	case SSFC_SENSOR_BASE_ICM42607:
 		icm42607_interrupt(signal);
 		break;
 	case SSFC_SENSOR_BASE_BMI160:
 	default:
 		bmi160_interrupt(signal);
 		break;
 	}
 }
	/* Copyright 2020 The ChromiumOS Authors
	* Use of this source code is governed by a BSD-style license that can be
	* found in the LICENSE file.
	*/

	/* Volteer family-specific sensor configuration */
	#include "accelgyro.h"
	#include "cbi_ec_fw_config.h"
	#include "cbi_ssfc.h"
	#include "common.h"
	#include "driver/accel_bma2x2.h"
	#include "driver/accel_kionix.h"
	#include "driver/accelgyro_bmi160.h"
	#include "driver/accelgyro_bmi_common.h"
	#include "driver/accelgyro_icm42607.h"
	#include "driver/accelgyro_icm426xx.h"
	#include "driver/accelgyro_icm_common.h"
	#include "driver/als_tcs3400.h"
	#include "driver/sync.h"
	#include "gpio.h"
	#include "hooks.h"
	#include "i2c.h"
	#include "keyboard_scan.h"
	#include "tablet_mode.h"
	#include "task.h"
	#include "util.h"

	#define CPRINTS(format, args...) cprints(CC_MOTION_SENSE, format, ##args)
	/******************************************************************************/
	/* Sensors */
	static struct mutex g_lid_accel_mutex;
	static struct mutex g_base_mutex;

	/* BMA253 private data */
	static struct accelgyro_saved_data_t g_bma253_data;
	static struct kionix_accel_data g_kx022_data;

	/* BMI160 private data */
	static struct bmi_drv_data_t g_bmi160_data;
	static struct icm_drv_data_t g_icm426xx_data;

	/* Rotation matrix for the lid accelerometer */
	static const mat33_fp_t lid_standard_ref = { { FLOAT_TO_FP(-1), 0, 0 },
	{ 0, FLOAT_TO_FP(-1), 0 },
	{ 0, 0, FLOAT_TO_FP(1) } };

	const mat33_fp_t base_standard_ref = { { 0, FLOAT_TO_FP(1), 0 },
	{ FLOAT_TO_FP(-1), 0, 0 },
	{ 0, 0, FLOAT_TO_FP(1) } };

	static const mat33_fp_t base_icm_ref = { { FLOAT_TO_FP(1), 0, 0 },
	{ 0, FLOAT_TO_FP(1), 0 },
	{ 0, 0, FLOAT_TO_FP(1) } };

	struct motion_sensor_t kx022_lid_accel = {
	.name = "Lid Accel",
	.active_mask = SENSOR_ACTIVE_S0_S3,
	.chip = MOTIONSENSE_CHIP_KX022,
	.type = MOTIONSENSE_TYPE_ACCEL,
	.location = MOTIONSENSE_LOC_LID,
	.drv = &kionix_accel_drv,
	.mutex = &g_lid_accel_mutex,
	.drv_data = &g_kx022_data,
	.port = I2C_PORT_ACCEL,
	.i2c_spi_addr_flags = KX022_ADDR0_FLAGS,
	.rot_standard_ref = &lid_standard_ref,
	.min_frequency = KX022_ACCEL_MIN_FREQ,
	.max_frequency = KX022_ACCEL_MAX_FREQ,
	.default_range = 2, /* g, to support tablet mode */
	.config = {
	/* EC use accel for angle detection */
	[SENSOR_CONFIG_EC_S0] = {
	.odr = 10000 \| ROUND_UP_FLAG,
	},
	/* EC use accel for angle detection */
	[SENSOR_CONFIG_EC_S3] = {
	.odr = 10000 \| ROUND_UP_FLAG,
	},
	},
	};

	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,
	.default_range = 4, /* g, to meet CDD 7.3.1/C-1-4 reqs.*/
	.rot_standard_ref = &base_icm_ref,
	.min_frequency = ICM426XX_ACCEL_MIN_FREQ,
	.max_frequency = ICM426XX_ACCEL_MAX_FREQ,
	.config = {
	/* EC use accel for angle detection */
	[SENSOR_CONFIG_EC_S0] = {
	.odr = 10000 \| ROUND_UP_FLAG,
	.ec_rate = 100 * MSEC,
	},
	/* EC use accel for angle detection */
	[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_icm_ref,
	.min_frequency = ICM426XX_GYRO_MIN_FREQ,
	.max_frequency = ICM426XX_GYRO_MAX_FREQ,
	};

	struct motion_sensor_t icm42607_base_accel = {
	.name = "Base Accel",
	.active_mask = SENSOR_ACTIVE_S0_S3,
	.chip = MOTIONSENSE_CHIP_ICM42607,
	.type = MOTIONSENSE_TYPE_ACCEL,
	.location = MOTIONSENSE_LOC_BASE,
	.drv = &icm42607_drv,
	.mutex = &g_base_mutex,
	.drv_data = &g_icm426xx_data,
	.port = I2C_PORT_SENSOR,
	.i2c_spi_addr_flags = ICM42607_ADDR0_FLAGS,
	.default_range = 4, /* g, to meet CDD 7.3.1/C-1-4 reqs.*/
	.rot_standard_ref = &base_icm_ref,
	.min_frequency = ICM42607_ACCEL_MIN_FREQ,
	.max_frequency = ICM42607_ACCEL_MAX_FREQ,
	.config = {
	/* EC use accel for angle detection */
	[SENSOR_CONFIG_EC_S0] = {
	.odr = 10000 \| ROUND_UP_FLAG,
	.ec_rate = 100 * MSEC,
	},
	/* EC use accel for angle detection */
	[SENSOR_CONFIG_EC_S3] = {
	.odr = 10000 \| ROUND_UP_FLAG,
	.ec_rate = 100 * MSEC,
	},
	},
	};

	struct motion_sensor_t icm42607_base_gyro = {
	.name = "Base Gyro",
	.active_mask = SENSOR_ACTIVE_S0_S3,
	.chip = MOTIONSENSE_CHIP_ICM42607,
	.type = MOTIONSENSE_TYPE_GYRO,
	.location = MOTIONSENSE_LOC_BASE,
	.drv = &icm42607_drv,
	.mutex = &g_base_mutex,
	.drv_data = &g_icm426xx_data,
	.port = I2C_PORT_SENSOR,
	.i2c_spi_addr_flags = ICM42607_ADDR0_FLAGS,
	.default_range = 1000, /* dps */
	.rot_standard_ref = &base_icm_ref,
	.min_frequency = ICM42607_GYRO_MIN_FREQ,
	.max_frequency = ICM42607_GYRO_MAX_FREQ,
	};

	struct motion_sensor_t motion_sensors[] = {
	[LID_ACCEL] = {
	.name = "Lid Accel",
	.active_mask = SENSOR_ACTIVE_S0_S3,
	.chip = MOTIONSENSE_CHIP_BMA255,
	.type = MOTIONSENSE_TYPE_ACCEL,
	.location = MOTIONSENSE_LOC_LID,
	.drv = &bma2x2_accel_drv,
	.mutex = &g_lid_accel_mutex,
	.drv_data = &g_bma253_data,
	.port = I2C_PORT_SENSOR,
	.i2c_spi_addr_flags = BMA2x2_I2C_ADDR1_FLAGS,
	.rot_standard_ref = &lid_standard_ref,
	.min_frequency = BMA255_ACCEL_MIN_FREQ,
	.max_frequency = BMA255_ACCEL_MAX_FREQ,
	.default_range = 2, /* g, to support tablet mode */
	.config = {
	/* EC use accel for angle detection */
	[SENSOR_CONFIG_EC_S0] = {
	.odr = 10000 \| ROUND_UP_FLAG,
	},
	/* Sensor on in S3 */
	[SENSOR_CONFIG_EC_S3] = {
	.odr = 10000 \| ROUND_UP_FLAG,
	},
	},
	},
	[BASE_ACCEL] = {
	.name = "Base Accel",
	.active_mask = SENSOR_ACTIVE_S0_S3,
	.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 = I2C_PORT_SENSOR,
	.i2c_spi_addr_flags = BMI160_ADDR0_FLAGS,
	.rot_standard_ref = &base_standard_ref,
	.min_frequency = BMI_ACCEL_MIN_FREQ,
	.max_frequency = BMI_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,
	.ec_rate = 100 * MSEC,
	},
	},
	},

	[BASE_GYRO] = {
	.name = "Base Gyro",
	.active_mask = SENSOR_ACTIVE_S0_S3,
	.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 = I2C_PORT_SENSOR,
	.i2c_spi_addr_flags = BMI160_ADDR0_FLAGS,
	.default_range = 1000, /* dps */
	.rot_standard_ref = &base_standard_ref,
	.min_frequency = BMI_GYRO_MIN_FREQ,
	.max_frequency = BMI_GYRO_MAX_FREQ,
	},
	};
	unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);

	static enum ec_ssfc_base_sensor base_gyro_config = SSFC_SENSOR_BASE_DEFAULT;

	static void board_sensors_init(void)
	{
	base_gyro_config = get_cbi_ssfc_base_sensor();

	if (ec_cfg_has_tabletmode()) {
	if (base_gyro_config == SSFC_SENSOR_BASE_ICM426XX) {
	motion_sensors[BASE_ACCEL] = icm426xx_base_accel;
	motion_sensors[BASE_GYRO] = icm426xx_base_gyro;
	ccprints("BASE GYRO is ICM426XX");
	} else if (base_gyro_config == SSFC_SENSOR_BASE_ICM42607) {
	motion_sensors[BASE_ACCEL] = icm42607_base_accel;
	motion_sensors[BASE_GYRO] = icm42607_base_gyro;
	ccprints("BASE GYRO is ICM42607");
	} else
	ccprints("BASE GYRO is BMI160");

	if (get_cbi_ssfc_lid_sensor() == SSFC_SENSOR_LID_KX022) {
	motion_sensors[LID_ACCEL] = kx022_lid_accel;
	ccprints("LID_ACCEL is KX022");
	} else
	ccprints("LID_ACCEL is BMA253");

	motion_sensor_count = ARRAY_SIZE(motion_sensors);
	/* Enable interrupt for the accel/gyro sensor */
	gpio_enable_interrupt(GPIO_EC_IMU_INT_L);
	} else {
	motion_sensor_count = 0;
	gmr_tablet_switch_disable();
	/* Base accel is not stuffed, don't allow line to float */
	gpio_set_flags(GPIO_EC_IMU_INT_L, GPIO_INPUT \| GPIO_PULL_DOWN);
	}
	}
	DECLARE_HOOK(HOOK_INIT, board_sensors_init, HOOK_PRIO_DEFAULT);

	void motion_interrupt(enum gpio_signal signal)
	{
	switch (base_gyro_config) {
	case SSFC_SENSOR_BASE_ICM426XX:
	icm426xx_interrupt(signal);
	break;
	case SSFC_SENSOR_BASE_ICM42607:
	icm42607_interrupt(signal);
	break;
	case SSFC_SENSOR_BASE_BMI160:
	default:
	bmi160_interrupt(signal);
	break;
	}
	}