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-rw-r--r--common/motion_sense.c43
-rw-r--r--driver/accel_lis2dh.c8
-rw-r--r--driver/accelgyro_bmi160.c11
-rw-r--r--driver/als_si114x.c8
-rw-r--r--include/motion_sense.h11
5 files changed, 58 insertions, 23 deletions
diff --git a/common/motion_sense.c b/common/motion_sense.c
index 24ac31c964..89a7f870df 100644
--- a/common/motion_sense.c
+++ b/common/motion_sense.c
@@ -104,9 +104,12 @@ struct queue motion_sense_fifo = QUEUE_NULL(CONFIG_ACCEL_FIFO,
struct ec_response_motion_sensor_data);
static int motion_sense_fifo_lost;
-static void motion_sense_insert_timestamp(void);
-
-void motion_sense_fifo_add_unit(struct ec_response_motion_sensor_data *data,
+/*
+ * Do not use this function directly if you just want to add sensor data, use
+ * motion_sense_fifo_add_data instead to get a proper timestamp too.
+ */
+static void motion_sense_fifo_add_unit(
+ struct ec_response_motion_sensor_data *data,
struct motion_sensor_t *sensor,
int valid_data)
{
@@ -139,11 +142,6 @@ void motion_sense_fifo_add_unit(struct ec_response_motion_sensor_data *data,
}
mutex_unlock(&g_sensor_mutex);
if (data->flags & MOTIONSENSE_SENSOR_FLAG_WAKEUP) {
- /*
- * Fist, send a timestamp to be sure the event will not
- * be tied to an old one.
- */
- motion_sense_insert_timestamp();
wake_up_needed = 1;
}
#ifdef CONFIG_TABLET_MODE
@@ -166,15 +164,23 @@ static void motion_sense_insert_flush(struct motion_sensor_t *sensor)
motion_sense_fifo_add_unit(&vector, sensor, 0);
}
-static void motion_sense_insert_timestamp(void)
+static void motion_sense_insert_timestamp(uint32_t timestamp)
{
struct ec_response_motion_sensor_data vector;
vector.flags = MOTIONSENSE_SENSOR_FLAG_TIMESTAMP;
- vector.timestamp = __hw_clock_source_read();
+ vector.timestamp = timestamp;
vector.sensor_num = 0;
motion_sense_fifo_add_unit(&vector, NULL, 0);
}
+void motion_sense_fifo_add_data(struct ec_response_motion_sensor_data *data,
+ struct motion_sensor_t *sensor,
+ int valid_data,
+ uint32_t time) {
+ motion_sense_insert_timestamp(time);
+ motion_sense_fifo_add_unit(data, sensor, valid_data);
+}
+
static void motion_sense_get_fifo_info(
struct ec_response_motion_sense_fifo_info *fifo_info)
{
@@ -732,7 +738,8 @@ static int motion_sense_process(struct motion_sensor_t *sensor,
vector.data[X] = v[X];
vector.data[Y] = v[Y];
vector.data[Z] = v[Z];
- motion_sense_fifo_add_unit(&vector, sensor, 3);
+ motion_sense_fifo_add_data(&vector, sensor, 3,
+ __hw_clock_source_read());
}
sensor->last_collection = ts->le.lo;
} else {
@@ -812,7 +819,8 @@ static void check_and_queue_gestures(uint32_t *event)
vector.activity = MOTIONSENSE_ACTIVITY_DOUBLE_TAP;
vector.state = 1; /* triggered */
vector.sensor_num = MOTION_SENSE_ACTIVITY_SENSOR_ID;
- motion_sense_fifo_add_unit(&vector, NULL, 0);
+ motion_sense_fifo_add_data(&vector, NULL, 0,
+ __hw_clock_source_read());
#endif
/* Call board specific function to process tap */
sensor_board_proc_double_tap();
@@ -829,7 +837,8 @@ static void check_and_queue_gestures(uint32_t *event)
vector.activity = MOTIONSENSE_ACTIVITY_SIG_MOTION;
vector.state = 1; /* triggered */
vector.sensor_num = MOTION_SENSE_ACTIVITY_SENSOR_ID;
- motion_sense_fifo_add_unit(&vector, NULL, 0);
+ motion_sense_fifo_add_data(&vector, NULL, 0,
+ __hw_clock_source_read());
#endif
/* Disable further detection */
activity_sensor = &motion_sensors[CONFIG_GESTURE_SIGMO];
@@ -854,7 +863,8 @@ static void check_and_queue_gestures(uint32_t *event)
MOTIONSENSE_ORIENTATION_UNKNOWN)) {
SET_ORIENTATION_UPDATED(sensor);
vector.state = GET_ORIENTATION(sensor);
- motion_sense_fifo_add_unit(&vector, NULL, 0);
+ motion_sense_fifo_add_data(&vector, NULL, 0,
+ __hw_clock_source_read());
#ifdef CONFIG_DEBUG_ORIENTATION
{
static const char * const mode_strs[] = {
@@ -973,7 +983,8 @@ void motion_sense_task(void *u)
time_after(ts_end_task.le.lo,
ts_last_int.le.lo + motion_int_interval))) {
if (!fifo_flush_needed)
- motion_sense_insert_timestamp();
+ motion_sense_insert_timestamp(
+ __hw_clock_source_read());
fifo_flush_needed = 0;
ts_last_int = ts_end_task;
/*
@@ -1194,7 +1205,7 @@ static int host_cmd_motion_sense(struct host_cmd_handler_args *args)
* Send an event to have a timestamp inserted in the
* FIFO.
*/
- motion_sense_insert_timestamp();
+ motion_sense_insert_timestamp(__hw_clock_source_read());
#endif
sensor->config[SENSOR_CONFIG_AP].odr =
in->sensor_odr.data |
diff --git a/driver/accel_lis2dh.c b/driver/accel_lis2dh.c
index 6cb2ff87ce..0393d95429 100644
--- a/driver/accel_lis2dh.c
+++ b/driver/accel_lis2dh.c
@@ -11,6 +11,7 @@
#include "common.h"
#include "console.h"
#include "hooks.h"
+#include "hwtimer.h"
#include "i2c.h"
#include "math_util.h"
#include "task.h"
@@ -197,7 +198,12 @@ static int load_fifo(struct motion_sensor_t *s)
vect.data[2] = axis[2];
vect.flags = 0;
vect.sensor_num = 0;
- motion_sense_fifo_add_unit(&vect, s, 3);
+ motion_sense_fifo_add_data(&vect, s, 3,
+ __hw_clock_source_read());
+ /*
+ * TODO: get time at a more accurate spot.
+ * Like in lis2dh_interrupt
+ */
}
} while(!done);
diff --git a/driver/accelgyro_bmi160.c b/driver/accelgyro_bmi160.c
index 384357bf29..72b8b2a902 100644
--- a/driver/accelgyro_bmi160.c
+++ b/driver/accelgyro_bmi160.c
@@ -14,6 +14,7 @@
#include "driver/accelgyro_bmi160.h"
#include "driver/mag_bmm150.h"
#include "hooks.h"
+#include "hwtimer.h"
#include "i2c.h"
#include "math_util.h"
#include "spi.h"
@@ -25,6 +26,10 @@
#define CPRINTF(format, args...) cprintf(CC_ACCEL, format, ## args)
#define CPRINTS(format, args...) cprints(CC_ACCEL, format, ## args)
+#ifdef CONFIG_ACCEL_FIFO
+static uint32_t last_interrupt_timestamp;
+#endif
+
/*
* Struct for pairing an engineering value with the register value for a
* parameter.
@@ -820,7 +825,8 @@ static int bmi160_decode_header(struct motion_sensor_t *s,
vector.data[Y] = v[Y];
vector.data[Z] = v[Z];
vector.sensor_num = i + (s - motion_sensors);
- motion_sense_fifo_add_unit(&vector, s + i, 3);
+ motion_sense_fifo_add_data(&vector, s + i, 3,
+ last_interrupt_timestamp);
*bp += (i == MOTIONSENSE_TYPE_MAG ? 8 : 6);
}
}
@@ -955,6 +961,9 @@ static int load_fifo(struct motion_sensor_t *s)
*/
void bmi160_interrupt(enum gpio_signal signal)
{
+#ifdef CONFIG_ACCEL_FIFO
+ last_interrupt_timestamp = __hw_clock_source_read();
+#endif
task_set_event(TASK_ID_MOTIONSENSE,
CONFIG_ACCELGYRO_BMI160_INT_EVENT, 0);
}
diff --git a/driver/als_si114x.c b/driver/als_si114x.c
index 5d9e595f07..567caa917c 100644
--- a/driver/als_si114x.c
+++ b/driver/als_si114x.c
@@ -11,6 +11,7 @@
#include "console.h"
#include "driver/als_si114x.h"
#include "hooks.h"
+#include "hwtimer.h"
#include "i2c.h"
#include "math_util.h"
#include "task.h"
@@ -150,7 +151,12 @@ static int si114x_read_results(struct motion_sensor_t *s, int nb)
for (i = nb; i < 3; i++)
vector.data[i] = 0;
vector.sensor_num = s - motion_sensors;
- motion_sense_fifo_add_unit(&vector, s, nb);
+ motion_sense_fifo_add_data(&vector, s, nb,
+ __hw_clock_source_read());
+ /*
+ * TODO: get time at a more accurate spot.
+ * Like in si114x_interrupt
+ */
#else
/* We need to copy raw_xyz into xyz with mutex */
#endif
diff --git a/include/motion_sense.h b/include/motion_sense.h
index 9d727a62de..07687feb5a 100644
--- a/include/motion_sense.h
+++ b/include/motion_sense.h
@@ -180,15 +180,18 @@ extern unsigned int motion_min_interval;
extern struct queue motion_sense_fifo;
/**
- * Interrupt function for lid accelerometer.
+ * Add new actual data to the fifo, including a timestamp.
*
* @param data data to insert in the FIFO
* @param sensor sensor the data comes from
- * @valid_data data should be copied into the public sensor vector
+ * @param valid_data data should be copied into the public sensor vector
+ * @param time accurate time (ideally measured in an interrupt) the sample
+ * was taken at
*/
-void motion_sense_fifo_add_unit(struct ec_response_motion_sensor_data *data,
+void motion_sense_fifo_add_data(struct ec_response_motion_sensor_data *data,
struct motion_sensor_t *sensor,
- int valid_data);
+ int valid_data,
+ uint32_t time);
#endif
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