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| author | Yuval Peress <peress@chromium.org> | 2020-03-09 11:59:52 -0600 |
|---|---|---|
| committer | Commit Bot <commit-bot@chromium.org> | 2020-06-14 02:33:37 +0000 |
| commit | 13d9ff85b01bf69c78e4e3623797b4c1f5c56ffa (patch) | |
| tree | 448d5b0b758cf594363ff24e6ca5d5ba7dbb94f1 /common/online_calibration.c | |
| parent | bc66c458cf35a122f4f50e111be834e69410d996 (diff) | |
| download | chrome-ec-13d9ff85b01bf69c78e4e3623797b4c1f5c56ffa.tar.gz | |
common: online_calibration: Add support for magnetometer
Add support for magnetometers in online calibration.
BRANCH=None
BUG=b:138303797,chromium:1023858
TEST=Added new unit test
Change-Id: I3a6dafb2f5fab9b11ac8bd3b53ae4976002d18cd
Signed-off-by: Yuval Peress <peress@chromium.org>
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/2095519
Diffstat (limited to 'common/online_calibration.c')
| -rw-r--r-- | common/online_calibration.c | 44 |
1 files changed, 36 insertions, 8 deletions
diff --git a/common/online_calibration.c b/common/online_calibration.c index dd2c154260..6c090a6abc 100644 --- a/common/online_calibration.c +++ b/common/online_calibration.c @@ -8,6 +8,7 @@ #include "hwtimer.h" #include "online_calibration.h" #include "common.h" +#include "mag_cal.h" #include "util.h" #include "vec3.h" #include "task.h" @@ -108,8 +109,11 @@ void online_calibration_init(void) switch (s->type) { case MOTIONSENSE_TYPE_ACCEL: { - accel_cal_reset((struct accel_cal *) - type_specific_data); + accel_cal_reset((struct accel_cal *)type_specific_data); + break; + } + case MOTIONSENSE_TYPE_MAG: { + init_mag_cal((struct mag_cal_t *)type_specific_data); break; } default: @@ -153,14 +157,11 @@ int online_calibration_process_data( struct motion_sensor_t *sensor, uint32_t timestamp) { + size_t sensor_num = motion_sensors - sensor; int rc; int temperature; struct online_calib_data *calib_data; - rc = get_temperature(sensor, &temperature); - if (rc != EC_SUCCESS) - return rc; - calib_data = sensor->online_calib_data; switch (sensor->type) { case MOTIONSENSE_TYPE_ACCEL: { @@ -168,11 +169,14 @@ int online_calibration_process_data( (struct accel_cal *)(calib_data->type_specific_data); fpv3_t fdata; + /* Temperature is required for accelerometer calibration. */ + rc = get_temperature(sensor, &temperature); + if (rc != EC_SUCCESS) + return rc; + data_int16_to_fp(sensor, data->data, fdata); if (accel_cal_accumulate(cal, timestamp, fdata[X], fdata[Y], fdata[Z], temperature)) { - int sensor_num = motion_sensors - sensor; - mutex_lock(&g_calib_cache_mutex); /* Convert result to the right scale. */ data_fp_to_int16(sensor, cal->bias, calib_data->cache); @@ -185,6 +189,30 @@ int online_calibration_process_data( } break; } + case MOTIONSENSE_TYPE_MAG: { + struct mag_cal_t *cal = + (struct mag_cal_t *) (calib_data->type_specific_data); + int idata[] = { + (int)data->data[X], + (int)data->data[Y], + (int)data->data[Z], + }; + + if (mag_cal_update(cal, idata)) { + mutex_lock(&g_calib_cache_mutex); + /* Copy the values */ + calib_data->cache[X] = cal->bias[X]; + calib_data->cache[Y] = cal->bias[Y]; + calib_data->cache[Z] = cal->bias[Z]; + /* Set valid and dirty. */ + sensor_calib_cache_valid_map |= BIT(sensor_num); + sensor_calib_cache_dirty_map |= BIT(sensor_num); + mutex_unlock(&g_calib_cache_mutex); + /* Notify the AP. */ + mkbp_send_event(EC_MKBP_EVENT_ONLINE_CALIBRATION); + } + break; + } default: break; } |