diff options
| -rw-r--r-- | common/motion_sense.c | 136 | ||||
| -rw-r--r-- | driver/als_si114x.c | 2 | ||||
| -rw-r--r-- | include/motion_sense.h | 16 | ||||
| -rw-r--r-- | include/timer.h | 29 | ||||
| -rw-r--r-- | test/motion_angle.c | 2 | ||||
| -rw-r--r-- | test/motion_angle_tablet.c | 2 | ||||
| -rw-r--r-- | test/motion_common.h | 1 | ||||
| -rw-r--r-- | test/motion_lid.c | 3 |
8 files changed, 101 insertions, 90 deletions
diff --git a/common/motion_sense.c b/common/motion_sense.c index 4b4d996cc2..3ab78cf7b4 100644 --- a/common/motion_sense.c +++ b/common/motion_sense.c @@ -45,13 +45,8 @@ const intv3_t orientation_modes[] = { }; #endif -/* - * Sampling interval for measuring acceleration and calculating lid angle. - */ -test_export_static unsigned int motion_interval; - /* Delay between FIFO interruption. */ -static unsigned int motion_int_interval; +static unsigned int ap_event_interval; /* Minimum time in between running motion sense task loop. */ unsigned int motion_min_interval = CONFIG_MOTION_MIN_SENSE_WAIT_TIME * MSEC; @@ -212,22 +207,19 @@ static inline int motion_sensor_in_forced_mode( #endif } - - /* Minimal amount of time since last collection before triggering a new one */ static inline int motion_sensor_time_to_read(const timestamp_t *ts, const struct motion_sensor_t *sensor) { - int rate_mhz = sensor->drv->get_data_rate(sensor); - - if (rate_mhz == 0) + if (sensor->collection_rate == 0) return 0; + /* - * converting from mHz to us. - * If within 95% of the time, check sensor. + * If the time is within the min motion interval (3 ms) go ahead and + * read from the sensor */ return time_after(ts->le.lo, - sensor->last_collection + SECOND * 950 / rate_mhz); + sensor->next_collection - motion_min_interval); } static enum sensor_config motion_sense_get_ec_config(void) @@ -301,7 +293,9 @@ int motion_sense_set_data_rate(struct motion_sensor_t *sensor) * Reset last collection: the last collection may be so much in the past * it may appear to be in the future. */ - sensor->last_collection = ts.le.lo; + odr = sensor->drv->get_data_rate(sensor); + sensor->collection_rate = odr > 0 ? SECOND * 1000 / odr : 0; + sensor->next_collection = ts.le.lo + sensor->collection_rate; sensor->oversampling = 0; mutex_unlock(&g_sensor_mutex); return 0; @@ -407,9 +401,9 @@ static int motion_sense_ec_rate(struct motion_sensor_t *sensor) * * Note: Not static to be tested. */ -static int motion_sense_set_motion_intervals(void) +static void motion_sense_set_motion_intervals(void) { - int i, sensor_ec_rate, ec_rate = 0, ec_int_rate = 0; + int i, sensor_ec_rate, ec_int_rate = 0; struct motion_sensor_t *sensor; for (i = 0; i < motion_sensor_count; ++i) { sensor = &motion_sensors[i]; @@ -420,28 +414,20 @@ static int motion_sense_set_motion_intervals(void) (sensor->drv->get_data_rate(sensor) == 0)) continue; - sensor_ec_rate = motion_sense_ec_rate(sensor); - if (sensor_ec_rate == 0) - continue; - if (ec_rate == 0 || sensor_ec_rate < ec_rate) - ec_rate = sensor_ec_rate; - sensor_ec_rate = motion_sense_select_ec_rate( sensor, SENSOR_CONFIG_AP, 1); if (ec_int_rate == 0 || (sensor_ec_rate && sensor_ec_rate < ec_int_rate)) ec_int_rate = sensor_ec_rate; } - motion_interval = ec_rate; - motion_int_interval = + ap_event_interval = MAX(0, ec_int_rate - MOTION_SENSOR_INT_ADJUSTMENT_US); /* * Wake up the motion sense task: we want to sensor task to take * in account the new period right away. */ task_wake(TASK_ID_MOTIONSENSE); - return motion_interval; } static inline int motion_sense_init(struct motion_sensor_t *sensor) @@ -717,6 +703,28 @@ static int motion_sense_read(struct motion_sensor_t *sensor) return sensor->drv->read(sensor, sensor->raw_xyz); } + +static inline void increment_sensor_collection(struct motion_sensor_t *sensor, + const timestamp_t *ts) +{ + sensor->next_collection += sensor->collection_rate; + + while (time_after(ts->le.lo, sensor->next_collection)) { + /* + * If we get here it means that we completely missed a sensor + * collection time and we attempt to recover by incrementing + * the next collection time until we recover. This should not + * happen and if it does it means that the ec cannot handle the + * requested data rate. + */ + + CPRINTS("%s Missed data collection at %u - rate: %d", + sensor->name, sensor->next_collection, + sensor->collection_rate); + sensor->next_collection += sensor->collection_rate; + } +} + static int motion_sense_process(struct motion_sensor_t *sensor, uint32_t *event, const timestamp_t *ts) @@ -759,7 +767,7 @@ static int motion_sense_process(struct motion_sensor_t *sensor, motion_sense_fifo_add_data(&vector, sensor, 3, __hw_clock_source_read()); } - sensor->last_collection = ts->le.lo; + increment_sensor_collection(sensor, ts); } else { ret = EC_ERROR_BUSY; } @@ -777,7 +785,7 @@ static int motion_sense_process(struct motion_sensor_t *sensor, if (motion_sensor_time_to_read(ts, sensor)) { /* Get latest data for local calculation */ ret = motion_sense_read(sensor); - sensor->last_collection = ts->le.lo; + increment_sensor_collection(sensor, ts); } else { ret = EC_ERROR_BUSY; } @@ -925,6 +933,7 @@ void motion_sense_task(void *u) { int i, ret, wait_us; timestamp_t ts_begin_task, ts_end_task; + int32_t time_diff; uint32_t event = 0; uint16_t ready_status; struct motion_sensor_t *sensor; @@ -998,7 +1007,6 @@ void motion_sense_task(void *u) update_sense_data(lpc_status, &sample_id); #endif - ts_end_task = get_time(); #ifdef CONFIG_ACCEL_FIFO /* * Ask the host to flush the queue if @@ -1010,13 +1018,13 @@ void motion_sense_task(void *u) event & (TASK_EVENT_MOTION_ODR_CHANGE | TASK_EVENT_MOTION_FLUSH_PENDING) || queue_space(&motion_sense_fifo) < CONFIG_ACCEL_FIFO_THRES || - (motion_int_interval > 0 && - time_after(ts_end_task.le.lo, - ts_last_int.le.lo + motion_int_interval))) { + (ap_event_interval > 0 && + time_after(ts_begin_task.le.lo, + ts_last_int.le.lo + ap_event_interval))) { if ((event & TASK_EVENT_MOTION_FLUSH_PENDING) == 0) motion_sense_insert_timestamp( __hw_clock_source_read()); - ts_last_int = ts_end_task; + ts_last_int = ts_begin_task; /* * Count the number of event the AP is allowed to * collect. @@ -1040,25 +1048,36 @@ void motion_sense_task(void *u) #endif } #endif - if (motion_interval > 0) { - /* - * Delay appropriately to keep sampling time - * consistent. - */ - wait_us = motion_interval - - (ts_end_task.val - ts_begin_task.val); - /* and it cannnot be negative */ - wait_us = MAX(wait_us, 0); + ts_end_task = get_time(); + wait_us = -1; + + for (i = 0; i < motion_sensor_count; i++) { + struct motion_sensor_t *sensor = &motion_sensors[i]; + + if (!motion_sensor_in_forced_mode(sensor) || + sensor->collection_rate == 0) + continue; + + time_diff = time_until(ts_end_task.le.lo, + sensor->next_collection); + /* We missed our collection time so wake soon */ + if (time_diff <= 0) { + wait_us = 0; + break; + } + + if (wait_us == -1 || wait_us > time_diff) + wait_us = time_diff; + } + + if (wait_us >= 0 && wait_us < motion_min_interval) { /* - * Guarantee some minimum delay to allow other lower - * priority tasks to run. - */ - if (wait_us < motion_min_interval) - wait_us = motion_min_interval; - } else { - wait_us = -1; + * Guarantee some minimum delay to allow other lower + * priority tasks to run. + */ + wait_us = motion_min_interval; } event = task_wait_event(wait_us); @@ -1666,8 +1685,7 @@ static int command_accel_data_rate(int argc, char **argv) sensor->drv->get_data_rate(sensor)); ccprintf("EC rate for sensor %d: %d\n", id, motion_sense_ec_rate(sensor)); - ccprintf("Current EC rate: %d\n", motion_interval); - ccprintf("Current Interrupt rate: %d\n", motion_int_interval); + ccprintf("Current Interrupt rate: %d\n", ap_event_interval); } return EC_SUCCESS; @@ -1743,7 +1761,6 @@ DECLARE_CONSOLE_COMMAND(accelinit, command_accel_init, #ifdef CONFIG_CMD_ACCEL_INFO static int command_display_accel_info(int argc, char **argv) { - char *e; int val, i, j; if (argc > 3) @@ -1780,21 +1797,6 @@ static int command_display_accel_info(int argc, char **argv) accel_disp = val; } - /* - * Second arg changes the accel task time interval. Note accel - * sampling interval will be clobbered when chipset suspends or - * resumes. - */ - if (argc > 2) { - val = strtoi(argv[2], &e, 0); - if (*e) - return EC_ERROR_PARAM2; - - motion_interval = val * MSEC; - task_wake(TASK_ID_MOTIONSENSE); - - } - return EC_SUCCESS; } DECLARE_CONSOLE_COMMAND(accelinfo, command_display_accel_info, diff --git a/driver/als_si114x.c b/driver/als_si114x.c index 17f178080f..be3f090db3 100644 --- a/driver/als_si114x.c +++ b/driver/als_si114x.c @@ -295,6 +295,7 @@ static int read(const struct motion_sensor_t *s, intv3_t v) case SI114X_NOT_READY: ret = EC_ERROR_NOT_POWERED; } +#if 0 /* This code is incorrect https://crbug.com/956569 */ if (ret == EC_ERROR_ACCESS_DENIED && s->type == MOTIONSENSE_TYPE_LIGHT) { timestamp_t ts_now = get_time(); @@ -315,6 +316,7 @@ static int read(const struct motion_sensor_t *s, intv3_t v) init(s); } } +#endif return ret; } diff --git a/include/motion_sense.h b/include/motion_sense.h index cebd7907a7..b5fc36dfe4 100644 --- a/include/motion_sense.h +++ b/include/motion_sense.h @@ -180,13 +180,17 @@ struct motion_sensor_t { uint16_t lost; /* - * Time since last collection: - * For sensor with hardware FIFO, time since last sample - * has move from the hardware FIFO to the FIFO (used if fifo rate != 0). - * For sensor without FIFO, time since the last event was collect - * from sensor registers. + * For sensors in forced mode the ideal time to collect the next + * measurement. + * + * This is unused with sensors that interrupt the ec like hw fifo chips. + */ + uint32_t next_collection; + + /* + * The time in us between collection measurements */ - uint32_t last_collection; + uint32_t collection_rate; /* Minimum supported sampling frequency in miliHertz for this sensor */ uint32_t min_frequency; diff --git a/include/timer.h b/include/timer.h index 02a50070c1..47fbe7a4bd 100644 --- a/include/timer.h +++ b/include/timer.h @@ -134,6 +134,23 @@ void force_time(timestamp_t ts); void timer_print_info(void); /** + * Returns a free running millisecond clock counter, which matches tpm2 + * library expectations. + */ +clock_t clock(void); + +/** + * Compute how far to_time is from from_time with rollover taken into account + * + * Return us until to_time given from_time, if negative then to_time has + * passeed from_time. + */ +static inline int time_until(uint32_t from_time, uint32_t to_time) +{ + return (int32_t)(to_time - from_time); +} + +/** * Returns the number of microseconds that have elapsed from a start time. * * This function is for timing short delays typically of a few milliseconds @@ -143,27 +160,21 @@ void timer_print_info(void); * hour. After that, the value returned will wrap. * * @param start Start time to compare against - * @return number of microseconds that have elspsed since that start time + * @return number of microseconds that have elapsed since that start time */ static inline unsigned time_since32(timestamp_t start) { - return get_time().le.lo - start.le.lo; + return time_until(start.le.lo, get_time().le.lo); } /** - * Returns a free running millisecond clock counter, which matches tpm2 - * library expectations. - */ -clock_t clock(void); - -/** * To compare time and deal with rollover * * Return true if a is after b. */ static inline int time_after(uint32_t a, uint32_t b) { - return (int32_t)(b - a) < 0; + return time_until(a, b) < 0; } #endif /* __CROS_EC_TIMER_H */ diff --git a/test/motion_angle.c b/test/motion_angle.c index c69f1dccc2..37157dc0c0 100644 --- a/test/motion_angle.c +++ b/test/motion_angle.c @@ -41,7 +41,6 @@ static int test_lid_angle_less180(void) hook_notify(HOOK_CHIPSET_SHUTDOWN); TEST_ASSERT(sensor_active == SENSOR_ACTIVE_S5); TEST_ASSERT(lid->drv->get_data_rate(lid) == 0); - TEST_ASSERT(motion_interval == 0); /* Go to S0 state */ hook_notify(HOOK_CHIPSET_SUSPEND); @@ -49,7 +48,6 @@ static int test_lid_angle_less180(void) msleep(1000); TEST_ASSERT(sensor_active == SENSOR_ACTIVE_S0); TEST_ASSERT(lid->drv->get_data_rate(lid) == TEST_LID_FREQUENCY); - TEST_ASSERT(motion_interval == TEST_LID_EC_RATE); /* Open lid, testing close to 180 degree. */ gpio_set_level(GPIO_LID_OPEN, 1); diff --git a/test/motion_angle_tablet.c b/test/motion_angle_tablet.c index ee241d3172..5f096b1603 100644 --- a/test/motion_angle_tablet.c +++ b/test/motion_angle_tablet.c @@ -43,7 +43,6 @@ static int test_lid_angle_less180(void) hook_notify(HOOK_CHIPSET_SHUTDOWN); TEST_ASSERT(sensor_active == SENSOR_ACTIVE_S5); TEST_ASSERT(lid->drv->get_data_rate(lid) == 0); - TEST_ASSERT(motion_interval == 0); /* Go to S0 state */ hook_notify(HOOK_CHIPSET_SUSPEND); @@ -51,7 +50,6 @@ static int test_lid_angle_less180(void) msleep(1000); TEST_ASSERT(sensor_active == SENSOR_ACTIVE_S0); TEST_ASSERT(lid->drv->get_data_rate(lid) == TEST_LID_FREQUENCY); - TEST_ASSERT(motion_interval == TEST_LID_EC_RATE); /* Open lid, testing close to 180 degree. */ gpio_set_level(GPIO_LID_OPEN, 1); diff --git a/test/motion_common.h b/test/motion_common.h index 3adb9f24e5..45d856d9ef 100644 --- a/test/motion_common.h +++ b/test/motion_common.h @@ -24,7 +24,6 @@ #define TEST_LID_SAMPLE_SIZE (2 * 3) extern enum chipset_state_mask sensor_active; -extern unsigned int motion_interval; extern struct motion_sensor_t motion_sensors[]; extern const unsigned int motion_sensor_count; diff --git a/test/motion_lid.c b/test/motion_lid.c index 6dc5f05831..a8e16f8cd1 100644 --- a/test/motion_lid.c +++ b/test/motion_lid.c @@ -21,7 +21,6 @@ #include "util.h" extern enum chipset_state_mask sensor_active; -extern unsigned motion_interval; /* * Period in us for the motion task period. @@ -181,7 +180,6 @@ static int test_lid_angle(void) hook_notify(HOOK_CHIPSET_SHUTDOWN); TEST_ASSERT(sensor_active == SENSOR_ACTIVE_S5); TEST_ASSERT(accel_get_data_rate(lid) == 0); - TEST_ASSERT(motion_interval == 0); /* Go to S0 state */ hook_notify(HOOK_CHIPSET_SUSPEND); @@ -189,7 +187,6 @@ static int test_lid_angle(void) msleep(1000); TEST_ASSERT(sensor_active == SENSOR_ACTIVE_S0); TEST_ASSERT(accel_get_data_rate(lid) == 119000); - TEST_ASSERT(motion_interval == TEST_LID_EC_RATE); /* * Set the base accelerometer as if it were sitting flat on a desk |