rambi: glimmer: Disable key scanning in suspend when lid is open

Added ability to disable the keyboard to wake from suspend when the lid
is outside a certain angle range. This has been added to glimmer by
defining CONFIG_LID_ANGLE_KEY_SCAN in its board.h.

Also modified the lid angle calculation to include a reliability
flag which can be used to tell when the hinge aligns too closely
with gravity and the lid angle value is unreliable.

BUG=none
BRANCH=rambi
TEST=Tested on a glimmer:

In S3, verified that when the lid is open past ~180 deg, the keyboard
does not wake the machine. Also verified that if you align hinge with
gravity, the keyboard enabled/disabled status remains the same (since
we can't actually trust the lid angle value).

Change-Id: I45b2c7c3c4bbcae61d3a0f8b5baa461ab8dabfb0
Original-Change-Id: If1a1592d259902d38941936961854b81b3a75b95
Signed-off-by: Alec Berg <alecaberg@chromium.org>
Reviewed-on: https://chromium-review.googlesource.com/190061
Reviewed-on: https://chromium-review.googlesource.com/191612
Reviewed-by: Randall Spangler <rspangler@chromium.org>

11 files changed, 180 insertions, 19 deletions

diff --git a/common/build.mk b/common/build.mk
index cab075503a..93950f9495 100644
--- a/common/build.mk
+++ b/common/build.mk
@@ -49,6 +49,7 @@ common-$(CONFIG_KEYBOARD_PROTOCOL_8042)+=keyboard_8042.o
 common-$(CONFIG_KEYBOARD_PROTOCOL_MKBP)+=keyboard_mkbp.o
 common-$(CONFIG_KEYBOARD_TEST)+=keyboard_test.o
 common-$(CONFIG_LED_COMMON)+=led_common.o
+common-$(CONFIG_LID_ANGLE_KEY_SCAN)+=lid_angle.o
 common-$(CONFIG_LID_SWITCH)+=lid_switch.o
 common-$(CONFIG_LPC)+=port80.o
 common-$(CONFIG_ONEWIRE)+=onewire.o
diff --git a/common/console_output.c b/common/console_output.c
index b9db75c7fd..2b52da66cf 100644
--- a/common/console_output.c
+++ b/common/console_output.c
@@ -43,6 +43,7 @@ static const char * const channel_names[] = {
 	"i2c",
 	"keyboard",
 	"keyscan",
+	"lidangle",
 	"lightbar",
 	"lpc",
 	"motionsense",
diff --git a/common/keyboard_scan.c b/common/keyboard_scan.c
index 8af50de209..da918bbc8b 100644
--- a/common/keyboard_scan.c
+++ b/common/keyboard_scan.c
@@ -93,7 +93,7 @@ static int enable_scanning = 1;  /* Must init to 1 for scanning at boot */
 /* Constantly incrementing counter of the number of times we polled */
 static volatile int kbd_polls;
 
-static int is_scanning_enabled(void)
+int keyboard_scan_is_enabled(void)
 {
 #ifdef CONFIG_LID_SWITCH
 	/* Scanning is never enabled when lid is closed */
@@ -201,7 +201,7 @@ static int read_matrix(uint8_t *state)
 	for (c = 0; c < KEYBOARD_COLS; c++) {
 		/*
 		 * Stop if scanning becomes disabled.  Check enable_cscanning
-		 * instead of is_scanning_enabled() so that we can scan the
+		 * instead of keyboard_scan_is_enabled() so that we can scan the
 		 * matrix at boot time before the lid switch is readable.
 		 */
 		if (!enable_scanning)
@@ -404,7 +404,7 @@ static int check_keys_changed(uint8_t *state)
 
 #ifdef CONFIG_KEYBOARD_PROTOCOL_8042
 			/* Inform keyboard module if scanning is enabled */
-			if (is_scanning_enabled())
+			if (keyboard_scan_is_enabled())
 				keyboard_state_changed(i, c, new_mask ? 1 : 0);
 #endif
 		}
@@ -567,7 +567,7 @@ void keyboard_scan_task(void)
 	while (1) {
 		/* Enable all outputs */
 		CPRINTF("[%T KB wait]\n");
-		if (is_scanning_enabled())
+		if (keyboard_scan_is_enabled())
 			keyboard_raw_drive_column(KEYBOARD_COLUMN_ALL);
 		keyboard_raw_enable_interrupt(1);
 
@@ -579,9 +579,10 @@ void keyboard_scan_task(void)
 			 * user pressing a key and enable_interrupt()
 			 * starting to pay attention to edges.
 			 */
-			if (!keyboard_raw_read_rows() || !is_scanning_enabled())
+			if (!keyboard_raw_read_rows() ||
+					!keyboard_scan_is_enabled())
 				task_wait_event(-1);
-		} while (!is_scanning_enabled());
+		} while (!keyboard_scan_is_enabled());
 
 		/* Enter polling mode */
 		CPRINTF("[%T KB poll]\n");
@@ -589,7 +590,7 @@ void keyboard_scan_task(void)
 		keyboard_raw_drive_column(KEYBOARD_COLUMN_NONE);
 
 		/* Busy polling keyboard state. */
-		while (is_scanning_enabled()) {
+		while (keyboard_scan_is_enabled()) {
 			start = get_time();
 
 			/* Check for keys down */
diff --git a/common/lid_angle.c b/common/lid_angle.c
new file mode 100644
index 0000000000..e7a3139ebb
--- /dev/null
+++ b/common/lid_angle.c
@@ -0,0 +1,81 @@
+/* Copyright (c) 2014 The Chromium OS Authors. All rights reserved.
+ * Use of this source code is governed by a BSD-style license that can be
+ * found in the LICENSE file.
+ */
+
+/* Lid angle module for Chrome EC */
+
+#include "chipset.h"
+#include "common.h"
+#include "console.h"
+#include "keyboard_scan.h"
+#include "lid_angle.h"
+#include "lid_switch.h"
+#include "motion_sense.h"
+
+/* Console output macros */
+#define CPUTS(outstr) cputs(CC_LIDANGLE, outstr)
+#define CPRINTF(format, args...) cprintf(CC_LIDANGLE, format, ## args)
+
+/*
+ * Define the number of previous lid angle measurements to keep for determining
+ * whether to enable or disable key scanning. Note, that in order to change
+ * the state of key scanning, all stored measurements of the lid angle buffer
+ * must be in the specified range.
+ */
+#define KEY_SCAN_LID_ANGLE_BUFFER_SIZE 4
+
+void lidangle_keyscan_update(float lid_ang)
+{
+	static float lidangle_buffer[KEY_SCAN_LID_ANGLE_BUFFER_SIZE];
+	static int index;
+
+	int i;
+	int keys_accept = 1, keys_ignore = 1;
+
+	/* Record most recent lid angle in circular buffer. */
+	lidangle_buffer[index] = lid_ang;
+	index = (index == KEY_SCAN_LID_ANGLE_BUFFER_SIZE-1) ? 0 : index+1;
+
+#ifdef CONFIG_LID_SWITCH
+	/*
+	 * If lid is closed, don't need to check if keyboard scanning should
+	 * be enabled.
+	 */
+	if (!lid_is_open())
+		return;
+#endif
+
+	if (chipset_in_state(CHIPSET_STATE_SUSPEND)) {
+		for (i = 0; i < KEY_SCAN_LID_ANGLE_BUFFER_SIZE; i++) {
+			/*
+			 * If any lid angle samples are unreliable, then
+			 * don't change keyboard scanning state.
+			 */
+			if (lidangle_buffer[i] == LID_ANGLE_UNRELIABLE)
+				return;
+
+			/*
+			 * Force all elements of the lid angle buffer to be
+			 * in range of one of the conditions in order to change
+			 * to the corresponding key scanning state.
+			 */
+			if (!LID_IN_RANGE_TO_ACCEPT_KEYS(lidangle_buffer[i]))
+				keys_accept = 0;
+			if (!LID_IN_RANGE_TO_IGNORE_KEYS(lidangle_buffer[i]))
+				keys_ignore = 0;
+		}
+
+		/* Enable or disable keyboard scanning if necessary. */
+		if (keys_accept && !keyboard_scan_is_enabled()) {
+			CPRINTF("[%T Enabling keyboard scan, lid ang at %d]\n",
+					(int)lidangle_buffer[index]);
+			keyboard_scan_enable(1);
+		} else if (keys_ignore && !keys_accept &&
+				keyboard_scan_is_enabled()) {
+			CPRINTF("[%T Disabling keyboard scan, lid ang at %d]\n",
+					(int)lidangle_buffer[index]);
+			keyboard_scan_enable(0);
+		}
+	}
+}
diff --git a/common/motion_sense.c b/common/motion_sense.c
index 651215ef34..5dad6db1cf 100644
--- a/common/motion_sense.c
+++ b/common/motion_sense.c
@@ -10,6 +10,7 @@
 #include "console.h"
 #include "hooks.h"
 #include "host_command.h"
+#include "lid_angle.h"
 #include "math_util.h"
 #include "motion_sense.h"
 #include "timer.h"
@@ -27,11 +28,20 @@
 static vector_3_t acc_lid_raw, acc_lid, acc_base;
 static vector_3_t acc_lid_host, acc_base_host;
 static float lid_angle_deg;
+static int lid_angle_is_reliable;
 
 /* Accelerometer polling intervals based on chipset state. */
 #define ACCEL_INTERVAL_AP_ON_MS      10
 #define ACCEL_INTERVAL_AP_SUSPEND_MS 100
 
+/*
+ * Angle threshold for how close the hinge aligns with gravity before
+ * considering the lid angle calculation unreliable. For computational
+ * efficiency, value is given unit-less, so if you want the threshold to be
+ * at 15 degrees, the value would be cos(15 deg) = 0.96593.
+ */
+#define HINGE_ALIGNED_WITH_GRAVITY_THRESHOLD 0.96593F
+
 /* Sampling interval for measuring acceleration and calculating lid angle. */
 static int accel_interval_ms = ACCEL_INTERVAL_AP_SUSPEND_MS;
 
@@ -50,12 +60,20 @@ const struct accel_orientation * const p_acc_orient = &acc_orient;
 /**
  * Calculate the lid angle using two acceleration vectors, one recorded in
  * the base and one in the lid.
+ *
+ * @param base Base accel vector
+ * @param lid  Lid accel vector
+ * @param lid_angle Pointer to location to store lid angle result
+ *
+ * @return flag representing if resulting lid angle calculation is reliable.
  */
-static float calculate_lid_angle(vector_3_t base, vector_3_t lid)
+static int calculate_lid_angle(vector_3_t base, vector_3_t lid,
+		float *lid_angle)
 {
 	vector_3_t v;
 	float ang_lid_to_base, ang_lid_90, ang_lid_270;
 	float lid_to_base, base_to_hinge;
+	int reliable = 1;
 
 	/*
 	 * The angle between lid and base is:
@@ -66,11 +84,21 @@ static float calculate_lid_angle(vector_3_t base, vector_3_t lid)
 	 */
 	lid_to_base = cosine_of_angle_diff(base, lid);
 	base_to_hinge = cosine_of_angle_diff(base, p_acc_orient->hinge_axis);
+
+	/*
+	 * If hinge aligns too closely with gravity, then result may be
+	 * unreliable.
+	 */
+	if (ABS(base_to_hinge) > HINGE_ALIGNED_WITH_GRAVITY_THRESHOLD)
+		reliable = 0;
+
 	base_to_hinge = SQ(base_to_hinge);
 
 	/* Check divide by 0. */
-	if (ABS(1.0F - base_to_hinge) < 0.01F)
-		return 0.0;
+	if (ABS(1.0F - base_to_hinge) < 0.01F) {
+		*lid_angle = 0.0;
+		return 0;
+	}
 
 	ang_lid_to_base = arc_cos(
 			(lid_to_base - base_to_hinge) / (1 - base_to_hinge));
@@ -101,12 +129,16 @@ static float calculate_lid_angle(vector_3_t base, vector_3_t lid)
 	if (ang_lid_270 > ang_lid_90)
 		ang_lid_to_base = -ang_lid_to_base;
 
-	return ang_lid_to_base;
+	*lid_angle = ang_lid_to_base;
+	return reliable;
 }
 
 int motion_get_lid_angle(void)
 {
-	return (int)lid_angle_deg;
+	if (lid_angle_is_reliable)
+		return (int)lid_angle_deg;
+	else
+		return (int)LID_ANGLE_UNRELIABLE;
 }
 
 #ifdef CONFIG_ACCEL_CALIBRATE
@@ -178,7 +210,8 @@ void motion_sense_task(void)
 		rotate(acc_lid_raw, &p_acc_orient->rot_align, &acc_lid);
 
 		/* Calculate angle of lid. */
-		lid_angle_deg = calculate_lid_angle(acc_base, acc_lid);
+		lid_angle_is_reliable = calculate_lid_angle(acc_base, acc_lid,
+				&lid_angle_deg);
 
 		/* TODO(crosbug.com/p/25597): Add filter to smooth lid angle. */
 
@@ -201,7 +234,7 @@ void motion_sense_task(void)
 		 * Copy sensor data to shared memory. Note that this code
 		 * assumes little endian, which is what the host expects.
 		 */
-		lpc_data[0] = (int)lid_angle_deg;
+		lpc_data[0] = motion_get_lid_angle();
 		lpc_data[1] = acc_base_host[X];
 		lpc_data[2] = acc_base_host[Y];
 		lpc_data[3] = acc_base_host[Z];
@@ -217,14 +250,18 @@ void motion_sense_task(void)
 				EC_MEMMAP_ACC_STATUS_SAMPLE_ID_MASK;
 		*lpc_status = EC_MEMMAP_ACC_STATUS_PRESENCE_BIT | sample_id;
 
+#ifdef CONFIG_LID_ANGLE_KEY_SCAN
+		lidangle_keyscan_update(motion_get_lid_angle());
+#endif
 
 #ifdef CONFIG_CMD_LID_ANGLE
 		if (accel_disp) {
 			CPRINTF("[%T ACC base=%-5d, %-5d, %-5d  lid=%-5d, "
-					"%-5d, %-5d  a=%-6.1d]\n",
+					"%-5d, %-5d  a=%-6.1d r=%d]\n",
 					acc_base[X], acc_base[Y], acc_base[Z],
 					acc_lid[X], acc_lid[Y], acc_lid[Z],
-					(int)(10*lid_angle_deg));
+					(int)(10*lid_angle_deg),
+					lid_angle_is_reliable);
 		}
 #endif
 
diff --git a/include/config.h b/include/config.h
index 300126a6cf..68402985ec 100644
--- a/include/config.h
+++ b/include/config.h
@@ -559,6 +559,17 @@
 #undef CONFIG_LED_DRIVER_LP5562  /* LP5562, on I2C interface */
 
 /*
+ * Allows using the lid angle measurement to determine if key scanning should
+ * be enabled or disabled when chipset is suspended.
+ *
+ * Any board that defines this must also define two macros:
+ * LID_IN_RANGE_TO_ACCEPT_KEYS(angle), LID_IN_RANGE_TO_IGNORE_KEYS(angle).
+ * These macros should return true if the given angle argument is in range
+ * to accept or ignore key presses.
+ */
+#undef CONFIG_LID_ANGLE_KEY_SCAN
+
+/*
  * Compile lid switch support.
  *
  * This is enabled by default because all boards other than reference boards
diff --git a/include/console.h b/include/console.h
index 8106e54f56..a6cce1fa8c 100644
--- a/include/console.h
+++ b/include/console.h
@@ -39,6 +39,7 @@ enum console_channel {
 	CC_I2C,
 	CC_KEYBOARD,
 	CC_KEYSCAN,
+	CC_LIDANGLE,
 	CC_LIGHTBAR,
 	CC_LPC,
 	CC_MOTION_SENSE,
diff --git a/include/keyboard_scan.h b/include/keyboard_scan.h
index bc956cc685..8359cbd174 100644
--- a/include/keyboard_scan.h
+++ b/include/keyboard_scan.h
@@ -84,6 +84,11 @@ void keyboard_scan_enable(int enable);
 static inline void keyboard_scan_enable(int enable) { }
 #endif
 
+/**
+ * Returns if keyboard matrix scanning is enabled/disabled.
+ */
+int keyboard_scan_is_enabled(void);
+
 #ifdef CONFIG_KEYBOARD_SUPPRESS_NOISE
 /**
  * Indicate to audio codec that a key has been pressed.
diff --git a/include/lid_angle.h b/include/lid_angle.h
new file mode 100644
index 0000000000..bd60b90907
--- /dev/null
+++ b/include/lid_angle.h
@@ -0,0 +1,20 @@
+/* Copyright (c) 2014 The Chromium OS Authors. All rights reserved.
+ * Use of this source code is governed by a BSD-style license that can be
+ * found in the LICENSE file.
+ */
+
+/* Lid angle module for Chrome EC */
+
+#ifndef __CROS_EC_LID_ANGLE_H
+#define __CROS_EC_LID_ANGLE_H
+
+/**
+ * Update the lid angle module with the most recent lid angle calculation. Then
+ * use the lid angle history to enable/disable keyboard scanning when chipset
+ * is suspended.
+ *
+ * @lid_ang Lid angle.
+ */
+void lidangle_keyscan_update(float lid_ang);
+
+#endif  /* __CROS_EC_LID_ANGLE_H */
diff --git a/include/motion_sense.h b/include/motion_sense.h
index 08aefbcc0b..d0c2774254 100644
--- a/include/motion_sense.h
+++ b/include/motion_sense.h
@@ -11,6 +11,9 @@
 #include "gpio.h"
 #include "math_util.h"
 
+/* Anything outside of lid angle range [-180, 180] should work. */
+#define LID_ANGLE_UNRELIABLE 500.0F
+
 /**
  * This structure defines all of the data needed to specify the orientation
  * of the base and lid accelerometers in order to calculate the lid angle.
diff --git a/test/motion_sense.c b/test/motion_sense.c
index 1a5d808044..c332f962c5 100644
--- a/test/motion_sense.c
+++ b/test/motion_sense.c
@@ -70,15 +70,15 @@ static int test_lid_angle(void)
 	TEST_ASSERT(motion_get_lid_angle() == -135);
 
 	/*
-	 * Align base with hinge and make sure it returns 0 for angle. In this
-	 * test it doesn't matter what the lid acceleration vector is.
+	 * Align base with hinge and make sure it returns unreliable for angle.
+	 * In this test it doesn't matter what the lid acceleration vector is.
 	 */
 	mock_x_acc[ACCEL_BASE] = 0;
 	mock_y_acc[ACCEL_BASE] = 1000;
 	mock_z_acc[ACCEL_BASE] = 0;
 	task_wake(TASK_ID_MOTIONSENSE);
 	msleep(5);
-	TEST_ASSERT(motion_get_lid_angle() == 0);
+	TEST_ASSERT(motion_get_lid_angle() == LID_ANGLE_UNRELIABLE);
 
 	/*
 	 * Use all three axes and set lid to negative base and make sure