diff options
author | Yuval Peress <peress@chromium.org> | 2019-08-13 09:09:02 -0600 |
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committer | Commit Bot <commit-bot@chromium.org> | 2019-11-11 19:40:09 +0000 |
commit | 083ced83d71a6ab60204c7ada6c22d9c82731713 (patch) | |
tree | 84d730feb2e51f04bbb991a7aca4db54bfe7de8d /common/motion_sense_fifo.c | |
parent | 9f151350684fee0ac14deed0ce31ddfd520b2a36 (diff) | |
download | chrome-ec-083ced83d71a6ab60204c7ada6c22d9c82731713.tar.gz |
common: Refactor motion_sense_fifo
This change refactors the motion_sense_fifo to uniformly prefix
all the functions to avoid collisions. It also adds several unit
tests and fixes a few bugs with the fifo logic.
BUG=b:137758297
BRANCH=kukui
TEST=buildall
TEST=run CTS on arcada, kohaku, and kukui
TEST=boot kohaku (verify tablet mode works as expected)
Change-Id: I6e8492ae5fa474d0aa870088ab56f76b220a73e3
Signed-off-by: Yuval Peress <peress@chromium.org>
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/1835221
Reviewed-by: Jack Rosenthal <jrosenth@chromium.org>
Diffstat (limited to 'common/motion_sense_fifo.c')
-rw-r--r-- | common/motion_sense_fifo.c | 351 |
1 files changed, 233 insertions, 118 deletions
diff --git a/common/motion_sense_fifo.c b/common/motion_sense_fifo.c index ec4c63b6de..bdf39a857c 100644 --- a/common/motion_sense_fifo.c +++ b/common/motion_sense_fifo.c @@ -7,30 +7,14 @@ #include "hwtimer.h" #include "mkbp_event.h" #include "motion_sense_fifo.h" -#include "queue.h" #include "tablet_mode.h" +#include "task.h" #include "util.h" #define CPRINTS(format, args...) cprints(CC_MOTION_SENSE, format, ## args) -static inline int is_timestamp(struct ec_response_motion_sensor_data *data) -{ - return data->flags & MOTIONSENSE_SENSOR_FLAG_TIMESTAMP; -} - -/* Need to wake up the AP */ -int wake_up_needed; - -/* Number of element the AP should collect */ -int fifo_queue_count; -int fifo_int_enabled; - -struct queue motion_sense_fifo = QUEUE_NULL( - CONFIG_ACCEL_FIFO_SIZE, struct ec_response_motion_sensor_data); -int motion_sense_fifo_lost; - /** - * Staged metadata for the motion_sense_fifo. + * Staged metadata for the fifo queue. * @read_ts: The timestamp at which the staged data was read. This value will * serve as the upper bound for spreading * @count: The total number of motion_sense_fifo entries that are currently @@ -46,15 +30,61 @@ struct fifo_staged { uint8_t sample_count[SENSOR_COUNT]; uint8_t requires_spreading; }; + +/** + * Timestamp state metadata for maintaining spreading between commits. + * @prev: The previous timestamp that was added to the FIFO + * @next: The predicted next timestamp that will be added to the FIFO + */ +struct timestamp_state { + uint32_t prev; + uint32_t next; +}; + +/** Queue to hold the data to be sent to the AP. */ +static struct queue fifo = QUEUE_NULL(CONFIG_ACCEL_FIFO_SIZE, + struct ec_response_motion_sensor_data); +/** Count of the number of entries lost due to a small queue. */ +static int fifo_lost; +/** Metadata for the fifo, used for staging and spreading data. */ static struct fifo_staged fifo_staged; -static inline struct ec_response_motion_sensor_data * -get_motion_sense_fifo_head(void) +/** + * Cached expected timestamp per sensor. If a sensor's timestamp pre-dates this + * timestamp it will be fast forwarded. + */ +static struct timestamp_state next_timestamp[SENSOR_COUNT]; + +/** + * Bitmap telling which sensors have valid entries in the next_timestamp array. + */ +static uint32_t next_timestamp_initialized; + +/** Need to wake up the AP. */ +static int wake_up_needed; + +/** + * Check whether or not a give sensor data entry is a timestamp or not. + * + * @param data The data entry to check. + * @return 1 if the entry is a timestamp, 0 otherwise. + */ +static inline int is_timestamp( + const struct ec_response_motion_sensor_data *data) +{ + return data->flags & MOTIONSENSE_SENSOR_FLAG_TIMESTAMP; +} + +/** + * Convenience function to get the head of the fifo. This function makes no + * guarantee on whether or not the entry is valid. + * + * @return Pointer to the head of the fifo. + */ +static inline struct ec_response_motion_sensor_data *get_fifo_head(void) { - return ((struct ec_response_motion_sensor_data *) - motion_sense_fifo.buffer) + - (motion_sense_fifo.state->head & - motion_sense_fifo.unit_bytes); + return ((struct ec_response_motion_sensor_data *) fifo.buffer) + + (fifo.state->head & fifo.buffer_units_mask); } /** @@ -69,11 +99,10 @@ get_motion_sense_fifo_head(void) * WARNING: This function MUST be called from within a locked context of * g_sensor_mutex. */ -static void motion_sense_fifo_pop(void) +static void fifo_pop(void) { - struct ec_response_motion_sensor_data *head = - get_motion_sense_fifo_head(); - const size_t initial_count = queue_count(&motion_sense_fifo); + struct ec_response_motion_sensor_data *head = get_fifo_head(); + const size_t initial_count = queue_count(&fifo); /* Check that we have something to pop. */ if (!initial_count && !fifo_staged.count) @@ -85,13 +114,19 @@ static void motion_sense_fifo_pop(void) * staged data. */ if (!initial_count) - queue_advance_tail(&motion_sense_fifo, 1); + queue_advance_tail(&fifo, 1); /* + * If we're about to pop a wakeup flag, we should remember it as though + * it was committed. + */ + if (head->flags & MOTIONSENSE_SENSOR_FLAG_WAKEUP) + wake_up_needed = 1; + /* * By not using queue_remove_unit we're avoiding an un-necessary memcpy. */ - queue_advance_head(&motion_sense_fifo, 1); - motion_sense_fifo_lost++; + queue_advance_head(&fifo, 1); + fifo_lost++; /* Increment lost counter if we have valid data. */ if (!is_timestamp(head)) @@ -127,10 +162,13 @@ static void motion_sense_fifo_pop(void) } } -static void motion_sense_fifo_ensure_space(void) +/** + * Make sure that the fifo has at least 1 empty spot to stage data into. + */ +static void fifo_ensure_space(void) { /* If we already have space just bail. */ - if (queue_space(&motion_sense_fifo) > fifo_staged.count) + if (queue_space(&fifo) > fifo_staged.count) return; /* @@ -145,17 +183,21 @@ static void motion_sense_fifo_ensure_space(void) * would assign a bad timestamp to it. */ do { - motion_sense_fifo_pop(); + fifo_pop(); } while (IS_ENABLED(CONFIG_SENSOR_TIGHT_TIMESTAMPS) && - !is_timestamp(get_motion_sense_fifo_head()) && - queue_count(&motion_sense_fifo) + fifo_staged.count); + !is_timestamp(get_fifo_head()) && + queue_count(&fifo) + fifo_staged.count); } -/* - * Do not use this function directly if you just want to add sensor data, use - * motion_sense_fifo_stage_data instead to get a proper timestamp too. +/** + * Stage a single data unit to the motion sense fifo. Note that for the AP to + * see this data, it must be committed. + * + * @param data The data to stage. + * @param sensor The sensor that generated the data + * @param valid_data The number of readable data entries in the data. */ -static void motion_sense_fifo_stage_unit( +static void fifo_stage_unit( struct ec_response_motion_sensor_data *data, struct motion_sensor_t *sensor, int valid_data) @@ -172,35 +214,27 @@ static void motion_sense_fifo_stage_unit( if (valid_data) { int removed; - if (sensor->oversampling_ratio == 0) { - mutex_unlock(&g_sensor_mutex); - return; - } + if (sensor->oversampling_ratio == 0) + goto stage_unit_end; removed = sensor->oversampling++; sensor->oversampling %= sensor->oversampling_ratio; - if (removed != 0) { - mutex_unlock(&g_sensor_mutex); - return; - } + if (removed) + goto stage_unit_end; } /* Make sure we have room for the data */ - motion_sense_fifo_ensure_space(); - mutex_unlock(&g_sensor_mutex); + fifo_ensure_space(); - if (data->flags & MOTIONSENSE_SENSOR_FLAG_WAKEUP) - wake_up_needed = 1; if (IS_ENABLED(CONFIG_TABLET_MODE)) data->flags |= (tablet_get_mode() ? - MOTIONSENSE_SENSOR_FLAG_TABLET_MODE : 0); + MOTIONSENSE_SENSOR_FLAG_TABLET_MODE : 0); /* * Get the next writable block in the fifo. We don't need to lock this * because it will always be past the tail and thus the AP will never * read this until motion_sense_fifo_commit_data() is called. */ - chunk = queue_get_write_chunk( - &motion_sense_fifo, fifo_staged.count); + chunk = queue_get_write_chunk(&fifo, fifo_staged.count); if (!chunk.buffer) { /* @@ -209,7 +243,7 @@ static void motion_sense_fifo_stage_unit( * address 0. Just don't add any data to the queue instead. */ CPRINTS("Failed to get write chunk for new fifo data!"); - return; + goto stage_unit_end; } /* @@ -220,7 +254,7 @@ static void motion_sense_fifo_stage_unit( * be written to the next available block and this one will remain * staged. */ - memcpy(chunk.buffer, data, motion_sense_fifo.unit_bytes); + memcpy(chunk.buffer, data, fifo.unit_bytes); fifo_staged.count++; /* @@ -233,64 +267,96 @@ static void motion_sense_fifo_stage_unit( !is_timestamp(data) && ++fifo_staged.sample_count[data->sensor_num] > 1) fifo_staged.requires_spreading = 1; + +stage_unit_end: + mutex_unlock(&g_sensor_mutex); } -void motion_sense_insert_async_event(struct motion_sensor_t *sensor, - enum motion_sense_async_event evt) +/** + * Stage an entry representing a single timestamp. + * + * @param timestamp The timestamp to add to the fifo. + */ +static void fifo_stage_timestamp(uint32_t timestamp) { struct ec_response_motion_sensor_data vector; - vector.flags = evt; + vector.flags = MOTIONSENSE_SENSOR_FLAG_TIMESTAMP; + vector.timestamp = timestamp; + vector.sensor_num = 0; + fifo_stage_unit(&vector, NULL, 0); +} + +/** + * Peek into the staged data at a given offset. This function performs no bound + * checking and is purely for confinience. + * + * @param offset The offset into the staged data to peek into. + * @return Pointer to the entry at the given offset. + */ +static inline struct ec_response_motion_sensor_data * +peek_fifo_staged(size_t offset) +{ + return (struct ec_response_motion_sensor_data *) + queue_get_write_chunk(&fifo, offset).buffer; +} + +int motion_sense_fifo_wake_up_needed(void) +{ + int res; + + mutex_lock(&g_sensor_mutex); + res = wake_up_needed; + mutex_unlock(&g_sensor_mutex); + return res; +} + +void motion_sense_fifo_reset_wake_up_needed(void) +{ + mutex_lock(&g_sensor_mutex); + wake_up_needed = 0; + mutex_unlock(&g_sensor_mutex); +} + +void motion_sense_fifo_insert_async_event( + struct motion_sensor_t *sensor, + enum motion_sense_async_event event) +{ + struct ec_response_motion_sensor_data vector; + + vector.flags = event; vector.timestamp = __hw_clock_source_read(); vector.sensor_num = sensor - motion_sensors; - motion_sense_fifo_stage_unit(&vector, sensor, 0); + fifo_stage_unit(&vector, sensor, 0); motion_sense_fifo_commit_data(); } -void motion_sense_fifo_stage_timestamp(uint32_t timestamp) +inline void motion_sense_fifo_add_timestamp(uint32_t timestamp) { - struct ec_response_motion_sensor_data vector; - - vector.flags = MOTIONSENSE_SENSOR_FLAG_TIMESTAMP; - vector.timestamp = timestamp; - vector.sensor_num = 0; - motion_sense_fifo_stage_unit(&vector, NULL, 0); + fifo_stage_timestamp(timestamp); + motion_sense_fifo_commit_data(); } -void motion_sense_fifo_stage_data(struct ec_response_motion_sensor_data *data, - struct motion_sensor_t *sensor, - int valid_data, - uint32_t time) +void motion_sense_fifo_stage_data( + struct ec_response_motion_sensor_data *data, + struct motion_sensor_t *sensor, + int valid_data, + uint32_t time) { if (IS_ENABLED(CONFIG_SENSOR_TIGHT_TIMESTAMPS)) { /* First entry, save the time for spreading later. */ if (!fifo_staged.count) fifo_staged.read_ts = __hw_clock_source_read(); - motion_sense_fifo_stage_timestamp(time); + fifo_stage_timestamp(time); } - motion_sense_fifo_stage_unit(data, sensor, valid_data); -} - -/** - * Peek into the staged data at a given offset. This function performs no bound - * checking and is purely for convenience. - */ -static inline struct ec_response_motion_sensor_data * -motion_sense_peek_fifo_staged(size_t offset) -{ - return (struct ec_response_motion_sensor_data *) - queue_get_write_chunk(&motion_sense_fifo, offset).buffer; + fifo_stage_unit(data, sensor, valid_data); } void motion_sense_fifo_commit_data(void) { - /* - * Static data to use off stack. Note that next_timestamp should persist - * and is only updated if the timestamp from the sensor is greater. - */ + /* Cached data periods, static to store off stack. */ static uint32_t data_periods[SENSOR_COUNT]; - static uint32_t next_timestamp[SENSOR_COUNT]; struct ec_response_motion_sensor_data *data; int i, window, sensor_num; @@ -298,15 +364,16 @@ void motion_sense_fifo_commit_data(void) if (!fifo_staged.count) return; + mutex_lock(&g_sensor_mutex); /* * If per-sensor event counts are never more than 1, no spreading is * needed. This will also catch cases where tight timestamps aren't * used. */ if (!fifo_staged.requires_spreading) - goto flush_data_end; + goto commit_data_end; - data = motion_sense_peek_fifo_staged(0); + data = peek_fifo_staged(0); /* * Spreading only makes sense if tight timestamps are used. In such case @@ -316,7 +383,8 @@ void motion_sense_fifo_commit_data(void) */ if (!is_timestamp(data)) { CPRINTS("Spreading skipped, first entry is not a timestamp"); - goto flush_data_end; + fifo_staged.requires_spreading = 0; + goto commit_data_end; } window = time_until(data->timestamp, fifo_staged.read_ts); @@ -332,16 +400,18 @@ void motion_sense_fifo_commit_data(void) period = motion_sensors[i].collection_rate; /* * Clamp the sample period to the MIN of collection_rate and the - * window length / sample counts. + * window length / (sample count - 1). */ - if (window) - period = MIN(period, - window / fifo_staged.sample_count[i]); + if (window && fifo_staged.sample_count[i] > 1) + period = MIN( + period, + window / (fifo_staged.sample_count[i] - 1)); data_periods[i] = period; } +commit_data_end: /* - * Spread the timestamps. + * Conditionally spread the timestamps. * * If we got this far that means that the tight timestamps config is * enabled. This means that we can expect the staged entries to have 1 @@ -350,7 +420,9 @@ void motion_sense_fifo_commit_data(void) * the timestamp right before it to keep things correct. */ for (i = 0; i < fifo_staged.count; i++) { - data = motion_sense_peek_fifo_staged(i); + data = peek_fifo_staged(i); + if (data->flags & MOTIONSENSE_SENSOR_FLAG_WAKEUP) + wake_up_needed = 1; /* Skip timestamp, we don't know the sensor number yet. */ if (is_timestamp(data)) @@ -358,36 +430,52 @@ void motion_sense_fifo_commit_data(void) /* Get the sensor number and point to the timestamp entry. */ sensor_num = data->sensor_num; - data = motion_sense_peek_fifo_staged(i - 1); + data = peek_fifo_staged(i - 1); - /* If the timestamp is after our computed next, skip ahead. */ - if (time_after(data->timestamp, next_timestamp[sensor_num])) - next_timestamp[sensor_num] = data->timestamp; + /* + * If this is the first time we're seeing a timestamp for this + * sensor or the timestamp is after our computed next, skip + * ahead. + */ + if (!(next_timestamp_initialized & BIT(sensor_num)) || + time_after(data->timestamp, + next_timestamp[sensor_num].prev)) { + next_timestamp[sensor_num].next = data->timestamp; + next_timestamp_initialized |= BIT(sensor_num); + } /* Spread the timestamp and compute the expected next. */ - data->timestamp = next_timestamp[sensor_num]; - next_timestamp[sensor_num] += data_periods[sensor_num]; + data->timestamp = next_timestamp[sensor_num].next; + next_timestamp[sensor_num].prev = + next_timestamp[sensor_num].next; + next_timestamp[sensor_num].next += + fifo_staged.requires_spreading + ? data_periods[sensor_num] + : motion_sensors[sensor_num].collection_rate; } -flush_data_end: /* Advance the tail and clear the staged metadata. */ - mutex_lock(&g_sensor_mutex); - queue_advance_tail(&motion_sense_fifo, fifo_staged.count); - mutex_unlock(&g_sensor_mutex); + queue_advance_tail(&fifo, fifo_staged.count); /* Reset metadata for next staging cycle. */ memset(&fifo_staged, 0, sizeof(fifo_staged)); + + mutex_unlock(&g_sensor_mutex); } -void motion_sense_get_fifo_info( - struct ec_response_motion_sense_fifo_info *fifo_info) +void motion_sense_fifo_get_info( + struct ec_response_motion_sense_fifo_info *fifo_info, + int reset) { - fifo_info->size = motion_sense_fifo.buffer_units; mutex_lock(&g_sensor_mutex); - fifo_info->count = fifo_queue_count; - fifo_info->total_lost = motion_sense_fifo_lost; + fifo_info->size = fifo.buffer_units; + fifo_info->count = queue_count(&fifo); + fifo_info->total_lost = fifo_lost; mutex_unlock(&g_sensor_mutex); fifo_info->timestamp = mkbp_last_event_time; + + if (reset) + fifo_lost = 0; } static int motion_sense_get_next_event(uint8_t *out) @@ -395,14 +483,41 @@ static int motion_sense_get_next_event(uint8_t *out) union ec_response_get_next_data *data = (union ec_response_get_next_data *)out; /* out is not padded. It has one byte for the event type */ - motion_sense_get_fifo_info(&data->sensor_fifo.info); + motion_sense_fifo_get_info(&data->sensor_fifo.info, 0); return sizeof(data->sensor_fifo); } DECLARE_EVENT_SOURCE(EC_MKBP_EVENT_SENSOR_FIFO, motion_sense_get_next_event); -inline int motion_sense_fifo_is_wake_up_needed(void) +inline int motion_sense_fifo_over_thres(void) { - return queue_space(&motion_sense_fifo) < CONFIG_ACCEL_FIFO_THRES || - wake_up_needed; + int result; + + mutex_lock(&g_sensor_mutex); + result = queue_space(&fifo) < CONFIG_ACCEL_FIFO_THRES; + mutex_unlock(&g_sensor_mutex); + + return result; +} + +int motion_sense_fifo_read(int capacity_bytes, int max_count, void *out, + uint16_t *out_size) +{ + int count; + + mutex_lock(&g_sensor_mutex); + count = MIN(capacity_bytes / fifo.unit_bytes, + MIN(queue_count(&fifo), max_count)); + count = queue_remove_units(&fifo, out, count); + mutex_unlock(&g_sensor_mutex); + *out_size = count * fifo.unit_bytes; + + return count; +} + +void motion_sense_fifo_reset(void) +{ + next_timestamp_initialized = 0; + memset(&fifo_staged, 0, sizeof(fifo_staged)); + queue_init(&fifo); } |