diff options
Diffstat (limited to 'common/motion_sense.c')
| -rw-r--r-- | common/motion_sense.c | 1791 |
1 files changed, 0 insertions, 1791 deletions
diff --git a/common/motion_sense.c b/common/motion_sense.c deleted file mode 100644 index ce8c3588ca..0000000000 --- a/common/motion_sense.c +++ /dev/null @@ -1,1791 +0,0 @@ -/* Copyright 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. - */ - -/* Motion sense module to read from various motion sensors. */ - -#include "accelgyro.h" -#include "atomic.h" -#include "chipset.h" -#include "common.h" -#include "console.h" -#include "gesture.h" -#include "hooks.h" -#include "host_command.h" -#include "hwtimer.h" -#include "lid_angle.h" -#include "lightbar.h" -#include "math_util.h" -#include "mkbp_event.h" -#include "motion_sense.h" -#include "motion_sense_fifo.h" -#include "motion_lid.h" -#include "power.h" -#include "queue.h" -#include "tablet_mode.h" -#include "timer.h" -#include "task.h" -#include "util.h" - -/* Console output macros */ -#define CPUTS(outstr) cputs(CC_MOTION_SENSE, outstr) -#define CPRINTS(format, args...) cprints(CC_MOTION_SENSE, format, ## args) -#define CPRINTF(format, args...) cprintf(CC_MOTION_SENSE, format, ## args) - -#ifdef CONFIG_ORIENTATION_SENSOR -/* - * Orientation mode vectors, must match sequential ordering of - * known orientations from enum motionsensor_orientation - */ -const intv3_t orientation_modes[] = { - [MOTIONSENSE_ORIENTATION_LANDSCAPE] = { 0, -1, 0 }, - [MOTIONSENSE_ORIENTATION_PORTRAIT] = { 1, 0, 0 }, - [MOTIONSENSE_ORIENTATION_UPSIDE_DOWN_PORTRAIT] = { -1, 0, 0 }, - [MOTIONSENSE_ORIENTATION_UPSIDE_DOWN_LANDSCAPE] = { 0, 1, 0 }, -}; -#endif - -/* Delay between FIFO interruption. */ -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; -#ifdef CONFIG_CMD_ACCEL_INFO -static int accel_disp; -#endif - -#define SENSOR_ACTIVE(_sensor) (sensor_active & (_sensor)->active_mask) - -/* - * Adjustment in us to ec rate when calculating interrupt interval: - * To be sure the EC will send an interrupt even if it finishes processing - * events slightly earlier than the previous period. - */ -#define MOTION_SENSOR_INT_ADJUSTMENT_US 10 - -struct mutex g_sensor_mutex; - -/* - * Current power level (S0, S3, S5, ...) - */ -test_export_static enum chipset_state_mask sensor_active; - -#ifdef CONFIG_ACCEL_SPOOF_MODE -static void print_spoof_mode_status(int id); -#endif /* defined(CONFIG_ACCEL_SPOOF_MODE) */ - -/* Flags to control whether to send an ODR change event for a sensor */ -static uint32_t odr_event_required; - -/* Whether or not the FIFO interrupt should be enabled (set from the AP). */ -__maybe_unused static int fifo_int_enabled; - -static inline int motion_sensor_in_forced_mode( - const struct motion_sensor_t *sensor) -{ -#ifdef CONFIG_ACCEL_FORCE_MODE_MASK - /* Sensor not in force mode, its irq_handler is getting data. */ - if (!(CONFIG_ACCEL_FORCE_MODE_MASK & (1 << (sensor - motion_sensors)))) - return 0; - else - return 1; -#else - return 0; -#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) -{ - if (sensor->collection_rate == 0) - return 0; - - /* - * 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->next_collection - motion_min_interval); -} - -static enum sensor_config motion_sense_get_ec_config(void) -{ - switch (sensor_active) { - case SENSOR_ACTIVE_S0: - return SENSOR_CONFIG_EC_S0; - case SENSOR_ACTIVE_S3: - return SENSOR_CONFIG_EC_S3; - case SENSOR_ACTIVE_S5: - return SENSOR_CONFIG_EC_S5; - default: - CPRINTS("get_ec_config: Invalid active state: %x", - sensor_active); - return SENSOR_CONFIG_MAX; - } -} -/* motion_sense_set_data_rate - * - * Set the sensor data rate. It is altered when the AP change the data - * rate or when the power state changes. - */ -int motion_sense_set_data_rate(struct motion_sensor_t *sensor) -{ - int roundup, ap_odr_mhz = 0, ec_odr_mhz, odr, ret; - enum sensor_config config_id; - timestamp_t ts = get_time(); - - /* We assume the sensor is initialized */ - - /* Check the AP setting first. */ - if (sensor_active != SENSOR_ACTIVE_S5) - ap_odr_mhz = BASE_ODR(sensor->config[SENSOR_CONFIG_AP].odr); - - /* check if the EC set the sensor ODR at a higher frequency */ - config_id = motion_sense_get_ec_config(); - ec_odr_mhz = BASE_ODR(sensor->config[config_id].odr); - if (ec_odr_mhz > ap_odr_mhz) { - odr = ec_odr_mhz; - } else { - odr = ap_odr_mhz; - config_id = SENSOR_CONFIG_AP; - } - roundup = !!(sensor->config[config_id].odr & ROUND_UP_FLAG); - - ret = sensor->drv->set_data_rate(sensor, odr, roundup); - if (ret) - return ret; - -#ifdef CONFIG_CONSOLE_VERBOSE - CPRINTS("%s ODR: %d - roundup %d from config %d [AP %d]", - sensor->name, odr, roundup, config_id, - BASE_ODR(sensor->config[SENSOR_CONFIG_AP].odr)); -#else - CPRINTS("%c%d ODR %d rup %d cfg %d AP %d", - sensor->name[0], sensor->type, odr, roundup, config_id, - BASE_ODR(sensor->config[SENSOR_CONFIG_AP].odr)); -#endif - mutex_lock(&g_sensor_mutex); - if (ap_odr_mhz) - /* - * In case the AP want to run the sensors faster than it can, - * be sure we don't see the ratio to 0. - */ - sensor->oversampling_ratio = MAX(1, - sensor->drv->get_data_rate(sensor) / ap_odr_mhz); - else - sensor->oversampling_ratio = 0; - - /* - * Reset last collection: the last collection may be so much in the past - * it may appear to be in the future. - */ - 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; -} - -static int motion_sense_set_ec_rate_from_ap( - const struct motion_sensor_t *sensor, - unsigned int new_rate_us) -{ - int odr_mhz = sensor->drv->get_data_rate(sensor); - - if (new_rate_us == 0) - return 0; - if (motion_sensor_in_forced_mode(sensor)) - /* - * AP EC sampling rate does not matter: we will collect at the - * requested sensor frequency. - */ - goto end_set_ec_rate_from_ap; - if (odr_mhz == 0) - goto end_set_ec_rate_from_ap; - - /* - * If the EC collection rate is close to the sensor data rate, - * given variation from the EC scheduler, it is possible that a sensor - * will not present any measurement for a given time slice, and then 2 - * measurement for the next. That will create a large interval between - * 2 measurements. - * To prevent that, increase the EC period by 5% to be sure to get at - * least one measurement at every collection time. - * We will apply that correction only if the ec rate is within 10% of - * the data rate. - */ - if (SECOND * 1100 / odr_mhz > new_rate_us) - new_rate_us = new_rate_us / 100 * 105; - -end_set_ec_rate_from_ap: - return MAX(new_rate_us, motion_min_interval); -} - - -/* - * motion_sense_select_ec_rate - * - * Calculate the ec_rate for a given sensor. - * - sensor: sensor to use - * - config_id: determine the requester (AP or EC). - * - interrupt: - * If interrupt is set: return the sampling rate requested by AP or EC. - * If interrupt is not set and the sensor is in forced mode, - * we return the rate needed to probe the sensor at the right ODR. - * otherwise return the sampling rate requested by AP or EC. - * - * return rate in us. - */ -static int motion_sense_select_ec_rate( - const struct motion_sensor_t *sensor, - enum sensor_config config_id, - int interrupt) -{ - if (interrupt == 0 && motion_sensor_in_forced_mode(sensor)) { - int rate_mhz = BASE_ODR(sensor->config[config_id].odr); - /* we have to run ec at the sensor frequency rate.*/ - if (rate_mhz > 0) - return SECOND * 1000 / rate_mhz; - else - return 0; - } else { - return sensor->config[config_id].ec_rate; - } -} - -/* motion_sense_ec_rate - * - * Calculate the sensor ec rate. It will be use to set the motion task polling - * rate. - * - * Return the EC rate, in us. - */ -static int motion_sense_ec_rate(struct motion_sensor_t *sensor) -{ - int ec_rate = 0, ec_rate_from_cfg; - - /* Check the AP setting first. */ - if (sensor_active != SENSOR_ACTIVE_S5) - ec_rate = motion_sense_select_ec_rate( - sensor, SENSOR_CONFIG_AP, 0); - - ec_rate_from_cfg = motion_sense_select_ec_rate( - sensor, motion_sense_get_ec_config(), 0); - - if (ec_rate_from_cfg != 0) - if (ec_rate == 0 || ec_rate_from_cfg < ec_rate) - ec_rate = ec_rate_from_cfg; - return ec_rate; -} - -/* - * motion_sense_set_motion_intervals - * - * Set the wake up interval for the motion sense thread. - * It is set to the highest frequency one of the sensors need to be polled at. - * - * Note: Not static to be tested. - */ -static void motion_sense_set_motion_intervals(void) -{ - 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]; - /* - * If the sensor is sleeping, no need to check it periodically. - */ - if ((sensor->state != SENSOR_INITIALIZED) || - (sensor->drv->get_data_rate(sensor) == 0)) - continue; - - 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; - } - - 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); -} - -static inline int motion_sense_init(struct motion_sensor_t *sensor) -{ - int ret, cnt = 3; - - /* Initialize accelerometers. */ - do { - ret = sensor->drv->init(sensor); - } while ((ret != EC_SUCCESS) && (--cnt > 0)); - - if (ret != EC_SUCCESS) { - sensor->state = SENSOR_INIT_ERROR; - } else { - sensor->state = SENSOR_INITIALIZED; - motion_sense_set_data_rate(sensor); - } - - return ret; -} - -/* - * sensor_init_done - * - * Called by init routine of each sensors when successful. - */ -int sensor_init_done(const struct motion_sensor_t *s) -{ - int ret; - - ret = s->drv->set_range(s, BASE_RANGE(s->default_range), - !!(s->default_range & ROUND_UP_FLAG)); - if (ret == EC_RES_SUCCESS) { -#ifdef CONFIG_CONSOLE_VERBOSE - CPRINTS("%s: MS Done Init type:0x%X range:%d", - s->name, s->type, s->drv->get_range(s)); -#else - CPRINTS("%c%d InitDone r:%d", s->name[0], s->type, - s->drv->get_range(s)); -#endif - } - return ret; -} -/* - * motion_sense_switch_sensor_rate - * - * Suspend all sensors that are not needed. - * Mark them as uninitialized, they will lose power and - * need to be initialized again. - */ -static void motion_sense_switch_sensor_rate(void) -{ - int i, ret; - struct motion_sensor_t *sensor; - for (i = 0; i < motion_sensor_count; ++i) { - sensor = &motion_sensors[i]; - if (SENSOR_ACTIVE(sensor)) { - /* Initialize or just back the odr previously set. */ - if (sensor->state == SENSOR_INITIALIZED) { - motion_sense_set_data_rate(sensor); - } else { - ret = motion_sense_init(sensor); - if (ret != EC_SUCCESS) { - CPRINTS("%s: %d: init failed: %d", - sensor->name, i, ret); -#if defined(CONFIG_TABLET_MODE) && defined(CONFIG_LID_ANGLE) - /* - * No tablet mode allowed if an accel - * is not working. - */ - if (i == CONFIG_LID_ANGLE_SENSOR_BASE || - i == CONFIG_LID_ANGLE_SENSOR_LID) { - tablet_set_mode(0); - } -#endif - } - } - } else { - /* The sensors are being powered off */ - if (sensor->state == SENSOR_INITIALIZED) - sensor->state = SENSOR_NOT_INITIALIZED; - } - } - motion_sense_set_motion_intervals(); -} -DECLARE_DEFERRED(motion_sense_switch_sensor_rate); - -static void motion_sense_shutdown(void) -{ - int i; - struct motion_sensor_t *sensor; -#ifdef CONFIG_GESTURE_DETECTION_MASK - uint32_t enabled = 0, disabled, mask; -#endif - - sensor_active = SENSOR_ACTIVE_S5; - for (i = 0; i < motion_sensor_count; i++) { - sensor = &motion_sensors[i]; - /* Forget about changes made by the AP */ - sensor->config[SENSOR_CONFIG_AP].odr = 0; - sensor->config[SENSOR_CONFIG_AP].ec_rate = 0; - } - motion_sense_switch_sensor_rate(); - - /* Forget activities set by the AP */ -#ifdef CONFIG_GESTURE_DETECTION_MASK - mask = CONFIG_GESTURE_DETECTION_MASK; - while (mask) { - i = get_next_bit(&mask); - sensor = &motion_sensors[i]; - if (sensor->state != SENSOR_INITIALIZED) - continue; - sensor->drv->list_activities(sensor, - &enabled, &disabled); - /* exclude double tap, it is used internally. */ - enabled &= ~BIT(MOTIONSENSE_ACTIVITY_DOUBLE_TAP); - while (enabled) { - int activity = get_next_bit(&enabled); - sensor->drv->manage_activity(sensor, activity, 0, NULL); - } - /* Re-enable double tap in case AP disabled it */ - sensor->drv->manage_activity(sensor, - MOTIONSENSE_ACTIVITY_DOUBLE_TAP, 1, NULL); - } -#endif -} -DECLARE_HOOK(HOOK_CHIPSET_SHUTDOWN, motion_sense_shutdown, - MOTION_SENSE_HOOK_PRIO); - -static void motion_sense_suspend(void) -{ - /* - * If we are coming from S5, don't enter suspend: - * We will go in SO almost immediately. - */ - if (sensor_active == SENSOR_ACTIVE_S5) - return; - - sensor_active = SENSOR_ACTIVE_S3; - - /* - * During shutdown sequence sensor rails can be powered down - * asynchronously to the EC hence EC cannot interlock the sensor - * states with the power down states. To avoid this issue, defer - * switching the sensors rate with a configurable delay if in S3. - * By the time deferred function is serviced, if the chipset is - * in S5 we can back out from switching the sensor rate. - * - * TODO: This does not fix the issue completely. It is mitigating - * some of the accesses when we're going from S0->S5 with a very - * brief stop in S3. - */ - hook_call_deferred(&motion_sense_switch_sensor_rate_data, - CONFIG_MOTION_SENSE_SUSPEND_DELAY_US); -} -DECLARE_HOOK(HOOK_CHIPSET_SUSPEND, motion_sense_suspend, - MOTION_SENSE_HOOK_PRIO); - -static void motion_sense_resume(void) -{ - sensor_active = SENSOR_ACTIVE_S0; - hook_call_deferred(&motion_sense_switch_sensor_rate_data, - CONFIG_MOTION_SENSE_RESUME_DELAY_US); -} -DECLARE_HOOK(HOOK_CHIPSET_RESUME, motion_sense_resume, - MOTION_SENSE_HOOK_PRIO); - -static void motion_sense_startup(void) -{ - /* - * If the AP is already in S0, call the resume hook now. - * We may initialize the sensor 2 times (once in RO, another time in - * RW), but it may be necessary if the init sequence has changed. - */ - if (chipset_in_state(SENSOR_ACTIVE_S0_S3_S5)) - motion_sense_shutdown(); - if (chipset_in_state(SENSOR_ACTIVE_S0_S3)) - motion_sense_suspend(); - if (chipset_in_state(SENSOR_ACTIVE_S0)) - motion_sense_resume(); -} -DECLARE_HOOK(HOOK_INIT, motion_sense_startup, - MOTION_SENSE_HOOK_PRIO); - -/* Write to LPC status byte to represent that accelerometers are present. */ -static inline void set_present(uint8_t *lpc_status) -{ - *lpc_status |= EC_MEMMAP_ACC_STATUS_PRESENCE_BIT; -} - -#ifdef CONFIG_MOTION_FILL_LPC_SENSE_DATA -/* Update/Write LPC data */ -static inline void update_sense_data(uint8_t *lpc_status, int *psample_id) -{ - int s, d, i; - uint16_t *lpc_data = (uint16_t *)host_get_memmap(EC_MEMMAP_ACC_DATA); -#if (!defined HAS_TASK_ALS) && (defined CONFIG_ALS) - uint16_t *lpc_als = (uint16_t *)host_get_memmap(EC_MEMMAP_ALS); -#endif - struct motion_sensor_t *sensor; - /* - * Set the busy bit before writing the sensor data. Increment - * the counter and clear the busy bit after writing the sensor - * data. On the host side, the host needs to make sure the busy - * bit is not set and that the counter remains the same before - * and after reading the data. - */ - *lpc_status |= EC_MEMMAP_ACC_STATUS_BUSY_BIT; - - /* - * Copy sensor data to shared memory. Note that this code - * assumes little endian, which is what the host expects. Also, - * note that we share the lid angle calculation with host only - * for debugging purposes. The EC lid angle is an approximation - * with uncalibrated accelerometers. The AP calculates a separate, - * more accurate lid angle. - */ -#ifdef CONFIG_LID_ANGLE - lpc_data[0] = motion_lid_get_angle(); -#else - lpc_data[0] = LID_ANGLE_UNRELIABLE; -#endif - /* - * The first 2 entries must be accelerometers, then gyroscope. - * If there is only one accel and one gyro, the entry for the second - * accel is skipped. - */ - for (s = 0, d = 0; d < 3 && s < motion_sensor_count; s++, d++) { - sensor = &motion_sensors[s]; - if (sensor->type > MOTIONSENSE_TYPE_GYRO) - break; - else if (sensor->type == MOTIONSENSE_TYPE_GYRO) - d = 2; - for (i = X; i <= Z; i++) - lpc_data[1 + i + 3 * d] = sensor->xyz[i]; - } - -#if (!defined HAS_TASK_ALS) && (defined CONFIG_ALS) - for (i = 0; i < EC_ALS_ENTRIES && i < ALS_COUNT; i++) - lpc_als[i] = motion_als_sensors[i]->xyz[X]; -#endif - - /* - * Increment sample id and clear busy bit to signal we finished - * updating data. - */ - *psample_id = (*psample_id + 1) & - EC_MEMMAP_ACC_STATUS_SAMPLE_ID_MASK; - *lpc_status = EC_MEMMAP_ACC_STATUS_PRESENCE_BIT | *psample_id; -} -#endif - -static int motion_sense_read(struct motion_sensor_t *sensor) -{ - if (sensor->state != SENSOR_INITIALIZED) - return EC_ERROR_UNKNOWN; - - if (sensor->drv->get_data_rate(sensor) == 0) - return EC_ERROR_NOT_POWERED; - -#ifdef CONFIG_ACCEL_SPOOF_MODE - /* - * If the sensor is in spoof mode, the readings are already present in - * spoof_xyz. - */ - if (sensor->flags & MOTIONSENSE_FLAG_IN_SPOOF_MODE) - return EC_SUCCESS; -#endif /* defined(CONFIG_ACCEL_SPOOF_MODE) */ - - /* Otherwise, read all raw X,Y,Z accelerations. */ - 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; - - if (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 scheduling as - * soon as possible. This should not happen and if it does it - * means that the ec cannot handle the requested data rate. - */ - int missed_events = - time_until(sensor->next_collection, ts->le.lo) / - sensor->collection_rate; - - CPRINTS("%s Missed %d data collections at %u - rate: %d", - sensor->name, missed_events, sensor->next_collection, - sensor->collection_rate); - sensor->next_collection = ts->le.lo + motion_min_interval; - } -} - -/** - * Commit the data in a sensor's raw_xyz vector. This operation might have - * different meanings depending on the CONFIG_ACCEL_FIFO flag. - * - * @param s Pointer to the sensor. - */ -static void motion_sense_push_raw_xyz(struct motion_sensor_t *s) -{ - if (IS_ENABLED(CONFIG_ACCEL_FIFO)) { - struct ec_response_motion_sensor_data vector; - int *v = s->raw_xyz; - - vector.flags = 0; - vector.sensor_num = s - motion_sensors; - if (IS_ENABLED(CONFIG_ACCEL_SPOOF_MODE) && - s->flags & MOTIONSENSE_FLAG_IN_SPOOF_MODE) - v = s->spoof_xyz; - mutex_lock(&g_sensor_mutex); - vector.data[X] = v[X]; - vector.data[Y] = v[Y]; - vector.data[Z] = v[Z]; - mutex_unlock(&g_sensor_mutex); - motion_sense_fifo_stage_data(&vector, s, 3, - __hw_clock_source_read()); - motion_sense_fifo_commit_data(); - } else { - mutex_lock(&g_sensor_mutex); - memcpy(s->xyz, s->raw_xyz, sizeof(s->xyz)); - mutex_unlock(&g_sensor_mutex); - } -} - -static int motion_sense_process(struct motion_sensor_t *sensor, - uint32_t *event, - const timestamp_t *ts) -{ - int ret = EC_SUCCESS; - int is_odr_pending = 0; - - if (*event & TASK_EVENT_MOTION_ODR_CHANGE) { - const int sensor_bit = 1 << (sensor - motion_sensors); - int odr_pending = atomic_read_clear(&odr_event_required); - - is_odr_pending = odr_pending & sensor_bit; - odr_pending &= ~sensor_bit; - atomic_or(&odr_event_required, odr_pending); - } - -#ifdef CONFIG_ACCEL_INTERRUPTS - if ((*event & TASK_EVENT_MOTION_INTERRUPT_MASK || is_odr_pending) && - (sensor->drv->irq_handler != NULL)) { - ret = sensor->drv->irq_handler(sensor, event); - } -#endif - if (motion_sensor_in_forced_mode(sensor)) { - if (motion_sensor_time_to_read(ts, sensor)) { - ret = motion_sense_read(sensor); - increment_sensor_collection(sensor, ts); - } else { - ret = EC_ERROR_BUSY; - } - - if (ret == EC_SUCCESS) - motion_sense_push_raw_xyz(sensor); - } - if (IS_ENABLED(CONFIG_ACCEL_FIFO) && - *event & TASK_EVENT_MOTION_FLUSH_PENDING) { - int flush_pending = atomic_read_clear(&sensor->flush_pending); - - for (; flush_pending > 0; flush_pending--) { - motion_sense_fifo_insert_async_event( - sensor, ASYNC_EVENT_FLUSH); - } - } - - /* ODR change was requested. */ - if (is_odr_pending) { - motion_sense_set_data_rate(sensor); - motion_sense_set_motion_intervals(); - if (IS_ENABLED(CONFIG_ACCEL_FIFO)) - motion_sense_fifo_insert_async_event( - sensor, ASYNC_EVENT_ODR); - } - return ret; -} - -#ifdef CONFIG_ORIENTATION_SENSOR -enum motionsensor_orientation motion_sense_remap_orientation( - const struct motion_sensor_t *s, - enum motionsensor_orientation orientation) -{ - enum motionsensor_orientation rotated_orientation; - const intv3_t *orientation_v; - intv3_t rotated_orientation_v; - - if (orientation == MOTIONSENSE_ORIENTATION_UNKNOWN) - return MOTIONSENSE_ORIENTATION_UNKNOWN; - - orientation_v = &orientation_modes[orientation]; - rotate(*orientation_v, *s->rot_standard_ref, rotated_orientation_v); - rotated_orientation = ((2 * rotated_orientation_v[1] + - rotated_orientation_v[0] + 4) % 5); - return rotated_orientation; -} -#endif - -#ifdef CONFIG_GESTURE_DETECTION -static void check_and_queue_gestures(uint32_t *event) -{ -#ifdef CONFIG_ORIENTATION_SENSOR - const struct motion_sensor_t *sensor; -#endif - -#ifdef CONFIG_GESTURE_SW_DETECTION - /* Run gesture recognition engine */ - gesture_calc(event); -#endif -#ifdef CONFIG_GESTURE_SENSOR_DOUBLE_TAP - if (*event & TASK_EVENT_MOTION_ACTIVITY_INTERRUPT( - MOTIONSENSE_ACTIVITY_DOUBLE_TAP)) { -#ifdef CONFIG_GESTURE_HOST_DETECTION - struct ec_response_motion_sensor_data vector; - - /* - * Send events to the FIFO - * AP is ignoring double tap event, do no wake up and no - * automatic disable. - */ -#ifdef CONFIG_GESTURE_SENSOR_DOUBLE_TAP_FOR_HOST - vector.flags = MOTIONSENSE_SENSOR_FLAG_WAKEUP; -#else - vector.flags = 0; -#endif - vector.activity = MOTIONSENSE_ACTIVITY_DOUBLE_TAP; - vector.state = 1; /* triggered */ - vector.sensor_num = MOTION_SENSE_ACTIVITY_SENSOR_ID; - motion_sense_fifo_stage_data(&vector, NULL, 0, - __hw_clock_source_read()); - motion_sense_fifo_commit_data(); -#endif - /* Call board specific function to process tap */ - sensor_board_proc_double_tap(); - } -#endif -#ifdef CONFIG_GESTURE_SIGMO - if (*event & TASK_EVENT_MOTION_ACTIVITY_INTERRUPT( - MOTIONSENSE_ACTIVITY_SIG_MOTION)) { - struct motion_sensor_t *activity_sensor; -#ifdef CONFIG_GESTURE_HOST_DETECTION - struct ec_response_motion_sensor_data vector; - - /* Send events to the FIFO */ - vector.flags = MOTIONSENSE_SENSOR_FLAG_WAKEUP; - vector.activity = MOTIONSENSE_ACTIVITY_SIG_MOTION; - vector.state = 1; /* triggered */ - vector.sensor_num = MOTION_SENSE_ACTIVITY_SENSOR_ID; - motion_sense_fifo_stage_data(&vector, NULL, 0, - __hw_clock_source_read()); - motion_sense_fifo_commit_data(); -#endif - /* Disable further detection */ - activity_sensor = &motion_sensors[CONFIG_GESTURE_SIGMO]; - activity_sensor->drv->manage_activity( - activity_sensor, - MOTIONSENSE_ACTIVITY_SIG_MOTION, - 0, NULL); - } -#endif - -#ifdef CONFIG_ORIENTATION_SENSOR - sensor = &motion_sensors[LID_ACCEL]; - if (SENSOR_ACTIVE(sensor) && (sensor->state == SENSOR_INITIALIZED)) { - struct ec_response_motion_sensor_data vector = { - .flags = 0, - .activity = MOTIONSENSE_ACTIVITY_ORIENTATION, - .sensor_num = MOTION_SENSE_ACTIVITY_SENSOR_ID, - }; - - mutex_lock(sensor->mutex); - if (ORIENTATION_CHANGED(sensor) && (GET_ORIENTATION(sensor) != - MOTIONSENSE_ORIENTATION_UNKNOWN)) { - SET_ORIENTATION_UPDATED(sensor); - vector.state = GET_ORIENTATION(sensor); - motion_sense_fifo_add_data(&vector, NULL, 0, - __hw_clock_source_read()); -#ifdef CONFIG_DEBUG_ORIENTATION - { - static const char * const mode_strs[] = { - "Landscape", - "Portrait", - "Inv_Portrait", - "Inv_Landscape", - "Unknown" - }; - CPRINTS(mode_strs[GET_ORIENTATION(sensor)]); - } -#endif - } - mutex_unlock(sensor->mutex); - } -#endif -} -#endif - -/* - * Motion Sense Task - * Requirement: motion_sensors[] are defined in board.c file. - * Two (minimum) Accelerometers: - * 1 in the A/B(lid, display) and 1 in the C/D(base, keyboard) - * Gyro Sensor (optional) - */ -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; -#ifdef CONFIG_LID_ANGLE - const uint16_t lid_angle_sensors = (BIT(CONFIG_LID_ANGLE_SENSOR_BASE)| - BIT(CONFIG_LID_ANGLE_SENSOR_LID)); -#endif - timestamp_t ts_last_int; -#ifdef CONFIG_MOTION_FILL_LPC_SENSE_DATA - int sample_id = 0; - uint8_t *lpc_status; - - lpc_status = host_get_memmap(EC_MEMMAP_ACC_STATUS); - set_present(lpc_status); -#endif - - if (IS_ENABLED(CONFIG_ACCEL_FIFO)) - ts_last_int = get_time(); - - while (1) { - ts_begin_task = get_time(); - ready_status = 0; - for (i = 0; i < motion_sensor_count; ++i) { - - sensor = &motion_sensors[i]; - - /* if the sensor is active in the current power state */ - if (SENSOR_ACTIVE(sensor)) { - if (sensor->state != SENSOR_INITIALIZED) { - continue; - } - - ret = motion_sense_process(sensor, &event, - &ts_begin_task); - if (ret != EC_SUCCESS) - continue; - ready_status |= BIT(i); - } - } -#ifdef CONFIG_GESTURE_DETECTION - check_and_queue_gestures(&event); -#endif -#ifdef CONFIG_LID_ANGLE - /* - * Check to see that the sensors required for lid angle - * calculation are ready. - */ - ready_status &= lid_angle_sensors; - if (ready_status == lid_angle_sensors) - motion_lid_calc(); -#endif -#ifdef CONFIG_CMD_ACCEL_INFO - if (accel_disp) { - CPRINTF("[%pT event 0x%08x ", - PRINTF_TIMESTAMP_NOW, event); - for (i = 0; i < motion_sensor_count; ++i) { - sensor = &motion_sensors[i]; - CPRINTF("%s=%-5d, %-5d, %-5d ", sensor->name, - sensor->xyz[X], - sensor->xyz[Y], - sensor->xyz[Z]); - } -#ifdef CONFIG_LID_ANGLE - CPRINTF("a=%-4d", motion_lid_get_angle()); -#endif - CPRINTF("]\n"); - } -#endif -#ifdef CONFIG_MOTION_FILL_LPC_SENSE_DATA - update_sense_data(lpc_status, &sample_id); -#endif - - /* - * Ask the host to flush the queue if - * - a flush event has been queued. - * - the queue is almost full, - * - we haven't done it for a while. - */ - if (IS_ENABLED(CONFIG_ACCEL_FIFO) && - (motion_sense_fifo_wake_up_needed() || - event & (TASK_EVENT_MOTION_ODR_CHANGE | - TASK_EVENT_MOTION_FLUSH_PENDING) || - motion_sense_fifo_over_thres() || - (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_fifo_add_timestamp( - __hw_clock_source_read()); - } - ts_last_int = ts_begin_task; -#ifdef CONFIG_MKBP_EVENT - /* - * Send an event if we know we are in S0 and the kernel - * driver is listening, or the AP needs to be waken up. - * In the latter case, the driver pulls the event and - * will resume listening until it is suspended again. - */ - if ((fifo_int_enabled && - sensor_active == SENSOR_ACTIVE_S0) || - motion_sense_fifo_wake_up_needed()) { - mkbp_send_event(EC_MKBP_EVENT_SENSOR_FIFO); - motion_sense_fifo_reset_wake_up_needed(); - } -#endif /* CONFIG_MKBP_EVENT */ - } - - 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. - */ - wait_us = motion_min_interval; - } - - event = task_wait_event(wait_us); - } -} - -/*****************************************************************************/ -/* Host commands */ - -/* Function to map host sensor IDs to motion sensor. */ -static struct motion_sensor_t - *host_sensor_id_to_real_sensor(int host_id) -{ - struct motion_sensor_t *sensor; - - if (host_id >= motion_sensor_count) - return NULL; - sensor = &motion_sensors[host_id]; - - /* if sensor is powered and initialized, return match */ - if (SENSOR_ACTIVE(sensor) && (sensor->state == SENSOR_INITIALIZED)) - return sensor; - - /* If no match then the EC currently doesn't support ID received. */ - return NULL; -} - -static struct motion_sensor_t - *host_sensor_id_to_motion_sensor(int host_id) -{ -#ifdef CONFIG_GESTURE_HOST_DETECTION - if (host_id == MOTION_SENSE_ACTIVITY_SENSOR_ID) - /* - * Return the info for the first sensor that - * support some gestures. - */ - return host_sensor_id_to_real_sensor( - __builtin_ctz(CONFIG_GESTURE_DETECTION_MASK)); -#endif - return host_sensor_id_to_real_sensor(host_id); -} - -static enum ec_status host_cmd_motion_sense(struct host_cmd_handler_args *args) -{ - const struct ec_params_motion_sense *in = args->params; - struct ec_response_motion_sense *out = args->response; - struct motion_sensor_t *sensor; - int i, ret = EC_RES_INVALID_PARAM, reported; - - switch (in->cmd) { - case MOTIONSENSE_CMD_DUMP: - out->dump.module_flags = - (*(host_get_memmap(EC_MEMMAP_ACC_STATUS)) & - EC_MEMMAP_ACC_STATUS_PRESENCE_BIT) ? - MOTIONSENSE_MODULE_FLAG_ACTIVE : 0; - out->dump.sensor_count = ALL_MOTION_SENSORS; - args->response_size = sizeof(out->dump); - reported = MIN(ALL_MOTION_SENSORS, in->dump.max_sensor_count); - mutex_lock(&g_sensor_mutex); - for (i = 0; i < reported; i++) { - out->dump.sensor[i].flags = - MOTIONSENSE_SENSOR_FLAG_PRESENT; - if (i < motion_sensor_count) { - sensor = &motion_sensors[i]; - /* casting from int to s16 */ - out->dump.sensor[i].data[X] = sensor->xyz[X]; - out->dump.sensor[i].data[Y] = sensor->xyz[Y]; - out->dump.sensor[i].data[Z] = sensor->xyz[Z]; - } else { - memset(out->dump.sensor[i].data, 0, - 3 * sizeof(int16_t)); - } - } - mutex_unlock(&g_sensor_mutex); - args->response_size += reported * - sizeof(struct ec_response_motion_sensor_data); - break; - - case MOTIONSENSE_CMD_DATA: - sensor = host_sensor_id_to_real_sensor( - in->sensor_odr.sensor_num); - if (sensor == NULL) - return EC_RES_INVALID_PARAM; - - out->data.flags = 0; - - mutex_lock(&g_sensor_mutex); - out->data.data[X] = sensor->xyz[X]; - out->data.data[Y] = sensor->xyz[Y]; - out->data.data[Z] = sensor->xyz[Z]; - mutex_unlock(&g_sensor_mutex); - args->response_size = sizeof(out->data); - break; - - case MOTIONSENSE_CMD_INFO: - sensor = host_sensor_id_to_motion_sensor( - in->sensor_odr.sensor_num); - if (sensor == NULL) - return EC_RES_INVALID_PARAM; - -#ifdef CONFIG_GESTURE_HOST_DETECTION - if (in->sensor_odr.sensor_num == - MOTION_SENSE_ACTIVITY_SENSOR_ID) - out->info.type = MOTIONSENSE_TYPE_ACTIVITY; - else -#endif - out->info.type = sensor->type; - - out->info.location = sensor->location; - out->info.chip = sensor->chip; - if (args->version >= 3) { - out->info_3.min_frequency = sensor->min_frequency; - out->info_3.max_frequency = sensor->max_frequency; - out->info_3.fifo_max_event_count = MAX_FIFO_EVENT_COUNT; - args->response_size = sizeof(out->info_3); - } else { - args->response_size = sizeof(out->info); - } - break; - - case MOTIONSENSE_CMD_EC_RATE: - sensor = host_sensor_id_to_real_sensor( - in->sensor_odr.sensor_num); - if (sensor == NULL) - return EC_RES_INVALID_PARAM; - - /* - * Set new sensor sampling rate when AP is on, if the data arg - * has a value. - */ - if (in->ec_rate.data != EC_MOTION_SENSE_NO_VALUE) { - sensor->config[SENSOR_CONFIG_AP].ec_rate = - motion_sense_set_ec_rate_from_ap( - sensor, in->ec_rate.data * MSEC); - /* Bound the new sampling rate. */ - motion_sense_set_motion_intervals(); - - /* Force a collection to purge old events. */ - task_set_event(TASK_ID_MOTIONSENSE, - TASK_EVENT_MOTION_ODR_CHANGE, 0); - } - - out->ec_rate.ret = motion_sense_ec_rate(sensor) / MSEC; - - args->response_size = sizeof(out->ec_rate); - break; - - case MOTIONSENSE_CMD_SENSOR_ODR: - /* Verify sensor number is valid. */ - sensor = host_sensor_id_to_real_sensor( - in->sensor_odr.sensor_num); - if (sensor == NULL) - return EC_RES_INVALID_PARAM; - - /* Set new data rate if the data arg has a value. */ - if (in->sensor_odr.data != EC_MOTION_SENSE_NO_VALUE) { - sensor->config[SENSOR_CONFIG_AP].odr = - in->sensor_odr.data | - (in->sensor_odr.roundup ? ROUND_UP_FLAG : 0); - - /* - * The new ODR may suspend sensor, leaving samples - * in the FIFO. Flush it explicitly. - */ - atomic_or(&odr_event_required, - 1 << (sensor - motion_sensors)); - task_set_event(TASK_ID_MOTIONSENSE, - TASK_EVENT_MOTION_ODR_CHANGE, 0); - } - - out->sensor_odr.ret = sensor->drv->get_data_rate(sensor); - - args->response_size = sizeof(out->sensor_odr); - - break; - - case MOTIONSENSE_CMD_SENSOR_RANGE: - /* Verify sensor number is valid. */ - sensor = host_sensor_id_to_real_sensor( - in->sensor_range.sensor_num); - if (sensor == NULL) - return EC_RES_INVALID_PARAM; - /* Set new range if the data arg has a value. */ - if (in->sensor_range.data != EC_MOTION_SENSE_NO_VALUE) { - if (!sensor->drv->set_range) - return EC_RES_INVALID_COMMAND; - - if (sensor->drv->set_range(sensor, - in->sensor_range.data, - in->sensor_range.roundup) - != EC_SUCCESS) { - return EC_RES_INVALID_PARAM; - } - } - - if (!sensor->drv->get_range) - return EC_RES_INVALID_COMMAND; - - out->sensor_range.ret = sensor->drv->get_range(sensor); - args->response_size = sizeof(out->sensor_range); - break; - - case MOTIONSENSE_CMD_SENSOR_OFFSET: - /* Verify sensor number is valid. */ - sensor = host_sensor_id_to_real_sensor( - in->sensor_offset.sensor_num); - if (sensor == NULL) - return EC_RES_INVALID_PARAM; - /* Set new range if the data arg has a value. */ - if (in->sensor_offset.flags & MOTION_SENSE_SET_OFFSET) { - if (!sensor->drv->set_offset) - return EC_RES_INVALID_COMMAND; - - ret = sensor->drv->set_offset(sensor, - in->sensor_offset.offset, - in->sensor_offset.temp); - if (ret != EC_SUCCESS) - return ret; - } - - if (!sensor->drv->get_offset) - return EC_RES_INVALID_COMMAND; - - ret = sensor->drv->get_offset(sensor, out->sensor_offset.offset, - &out->sensor_offset.temp); - if (ret != EC_SUCCESS) - return ret; - args->response_size = sizeof(out->sensor_offset); - break; - - case MOTIONSENSE_CMD_SENSOR_SCALE: - /* Verify sensor number is valid. */ - sensor = host_sensor_id_to_real_sensor( - in->sensor_scale.sensor_num); - if (sensor == NULL) - return EC_RES_INVALID_PARAM; - /* Set new range if the data arg has a value. */ - if (in->sensor_scale.flags & MOTION_SENSE_SET_OFFSET) { - if (!sensor->drv->set_scale) - return EC_RES_INVALID_COMMAND; - - ret = sensor->drv->set_scale(sensor, - in->sensor_scale.scale, - in->sensor_scale.temp); - if (ret != EC_SUCCESS) - return ret; - } - - if (!sensor->drv->get_scale) - return EC_RES_INVALID_COMMAND; - - ret = sensor->drv->get_scale(sensor, out->sensor_scale.scale, - &out->sensor_scale.temp); - if (ret != EC_SUCCESS) - return ret; - args->response_size = sizeof(out->sensor_scale); - break; - - case MOTIONSENSE_CMD_PERFORM_CALIB: - /* Verify sensor number is valid. */ - sensor = host_sensor_id_to_real_sensor( - in->perform_calib.sensor_num); - if (sensor == NULL) - return EC_RES_INVALID_PARAM; - if (!sensor->drv->perform_calib) - return EC_RES_INVALID_COMMAND; - - ret = sensor->drv->perform_calib( - sensor, in->perform_calib.enable); - if (ret != EC_SUCCESS) - return ret; - ret = sensor->drv->get_offset(sensor, out->perform_calib.offset, - &out->perform_calib.temp); - if (ret != EC_SUCCESS) - return ret; - args->response_size = sizeof(out->perform_calib); - break; - - case MOTIONSENSE_CMD_FIFO_FLUSH: - if (!IS_ENABLED(CONFIG_ACCEL_FIFO)) - return EC_RES_INVALID_PARAM; - sensor = host_sensor_id_to_real_sensor( - in->sensor_odr.sensor_num); - if (sensor == NULL) - return EC_RES_INVALID_PARAM; - - atomic_add(&sensor->flush_pending, 1); - - task_set_event(TASK_ID_MOTIONSENSE, - TASK_EVENT_MOTION_FLUSH_PENDING, 0); - /* pass-through */ - case MOTIONSENSE_CMD_FIFO_INFO: - if (!IS_ENABLED(CONFIG_ACCEL_FIFO)) { - /* - * Only support the INFO command, to tell there is no - * FIFO. - */ - memset(&out->fifo_info, 0, sizeof(out->fifo_info)); - args->response_size = sizeof(out->fifo_info); - break; - } - motion_sense_fifo_get_info(&out->fifo_info, 1); - for (i = 0; i < motion_sensor_count; i++) { - out->fifo_info.lost[i] = motion_sensors[i].lost; - motion_sensors[i].lost = 0; - } - args->response_size = sizeof(out->fifo_info) + - sizeof(uint16_t) * motion_sensor_count; - break; - - case MOTIONSENSE_CMD_FIFO_READ: - if (!IS_ENABLED(CONFIG_ACCEL_FIFO)) - return EC_RES_INVALID_PARAM; - out->fifo_read.number_data = motion_sense_fifo_read( - args->response_max - sizeof(out->fifo_read), - in->fifo_read.max_data_vector, - out->fifo_read.data, - &(args->response_size)); - args->response_size += sizeof(out->fifo_read); - break; - case MOTIONSENSE_CMD_FIFO_INT_ENABLE: - if (!IS_ENABLED(CONFIG_ACCEL_FIFO)) - return EC_RES_INVALID_PARAM; - switch (in->fifo_int_enable.enable) { - case 0: - case 1: - fifo_int_enabled = in->fifo_int_enable.enable; - /* fallthrough */ - case EC_MOTION_SENSE_NO_VALUE: - out->fifo_int_enable.ret = fifo_int_enabled; - args->response_size = sizeof(out->fifo_int_enable); - break; - default: - return EC_RES_INVALID_PARAM; - } - break; -#ifdef CONFIG_GESTURE_HOST_DETECTION - case MOTIONSENSE_CMD_LIST_ACTIVITIES: { - uint32_t enabled, disabled, mask, i; - - out->list_activities.enabled = 0; - out->list_activities.disabled = 0; - ret = EC_RES_SUCCESS; - mask = CONFIG_GESTURE_DETECTION_MASK; - while (mask && ret == EC_RES_SUCCESS) { - i = get_next_bit(&mask); - sensor = &motion_sensors[i]; - ret = sensor->drv->list_activities(sensor, - &enabled, &disabled); - if (ret == EC_RES_SUCCESS) { - out->list_activities.enabled |= enabled; - out->list_activities.disabled |= disabled; - } - } - if (ret != EC_RES_SUCCESS) - return ret; - args->response_size = sizeof(out->list_activities); - break; - } - case MOTIONSENSE_CMD_SET_ACTIVITY: { - uint32_t enabled, disabled, mask, i; - - mask = CONFIG_GESTURE_DETECTION_MASK; - ret = EC_RES_SUCCESS; - while (mask && ret == EC_RES_SUCCESS) { - i = get_next_bit(&mask); - sensor = &motion_sensors[i]; - sensor->drv->list_activities(sensor, - &enabled, &disabled); - if ((1 << in->set_activity.activity) & - (enabled | disabled)) - ret = sensor->drv->manage_activity(sensor, - in->set_activity.activity, - in->set_activity.enable, - &in->set_activity); - } - if (ret != EC_RES_SUCCESS) - return ret; - args->response_size = 0; - break; - } -#endif /* defined(CONFIG_GESTURE_HOST_DETECTION) */ - -#ifdef CONFIG_ACCEL_SPOOF_MODE - case MOTIONSENSE_CMD_SPOOF: { - sensor = host_sensor_id_to_real_sensor(in->spoof.sensor_id); - if (sensor == NULL) - return EC_RES_INVALID_PARAM; - - switch (in->spoof.spoof_enable) { - case MOTIONSENSE_SPOOF_MODE_DISABLE: - /* Disable spoof mode. */ - sensor->flags &= ~MOTIONSENSE_FLAG_IN_SPOOF_MODE; - break; - - case MOTIONSENSE_SPOOF_MODE_CUSTOM: - /* - * Enable spoofing, but use provided component values. - */ - sensor->spoof_xyz[X] = (int)in->spoof.components[X]; - sensor->spoof_xyz[Y] = (int)in->spoof.components[Y]; - sensor->spoof_xyz[Z] = (int)in->spoof.components[Z]; - sensor->flags |= MOTIONSENSE_FLAG_IN_SPOOF_MODE; - break; - - case MOTIONSENSE_SPOOF_MODE_LOCK_CURRENT: - /* - * Enable spoofing, but lock to current sensor - * values. raw_xyz already has the values we want. - */ - sensor->spoof_xyz[X] = sensor->raw_xyz[X]; - sensor->spoof_xyz[Y] = sensor->raw_xyz[Y]; - sensor->spoof_xyz[Z] = sensor->raw_xyz[Z]; - sensor->flags |= MOTIONSENSE_FLAG_IN_SPOOF_MODE; - break; - - case MOTIONSENSE_SPOOF_MODE_QUERY: - /* Querying the spoof status of the sensor. */ - out->spoof.ret = !!(sensor->flags & - MOTIONSENSE_FLAG_IN_SPOOF_MODE); - args->response_size = sizeof(out->spoof); - break; - - default: - return EC_RES_INVALID_PARAM; - } - - /* - * Only print the status when spoofing is enabled or disabled. - */ - if (in->spoof.spoof_enable != MOTIONSENSE_SPOOF_MODE_QUERY) - print_spoof_mode_status((int)(sensor - motion_sensors)); - - break; - } -#endif /* defined(CONFIG_ACCEL_SPOOF_MODE) */ - - default: - /* Call other users of the motion task */ -#ifdef CONFIG_LID_ANGLE - if (ret == EC_RES_INVALID_PARAM) - ret = host_cmd_motion_lid(args); -#endif - return ret; - } - - return EC_RES_SUCCESS; -} - -DECLARE_HOST_COMMAND(EC_CMD_MOTION_SENSE_CMD, - host_cmd_motion_sense, - EC_VER_MASK(1) | EC_VER_MASK(2) | EC_VER_MASK(3)); - -/*****************************************************************************/ -/* Console commands */ -#ifdef CONFIG_CMD_ACCELS -static int command_accelrange(int argc, char **argv) -{ - char *e; - int id, data, round = 1; - struct motion_sensor_t *sensor; - - if (argc < 2 || argc > 4) - return EC_ERROR_PARAM_COUNT; - - /* First argument is sensor id. */ - id = strtoi(argv[1], &e, 0); - if (*e || id < 0 || id >= motion_sensor_count) - return EC_ERROR_PARAM1; - - sensor = &motion_sensors[id]; - - if (argc >= 3) { - /* Second argument is data to write. */ - data = strtoi(argv[2], &e, 0); - if (*e) - return EC_ERROR_PARAM2; - - if (argc == 4) { - /* Third argument is rounding flag. */ - round = strtoi(argv[3], &e, 0); - if (*e) - return EC_ERROR_PARAM3; - } - - /* - * Write new range, if it returns invalid arg, then return - * a parameter error. - */ - if (sensor->drv->set_range(sensor, - data, - round) == EC_ERROR_INVAL) - return EC_ERROR_PARAM2; - } else { - ccprintf("Range for sensor %d: %d\n", id, - sensor->drv->get_range(sensor)); - } - - return EC_SUCCESS; -} -DECLARE_CONSOLE_COMMAND(accelrange, command_accelrange, - "id [data [roundup]]", - "Read or write accelerometer range"); - -static int command_accelresolution(int argc, char **argv) -{ - char *e; - int id, data, round = 1; - struct motion_sensor_t *sensor; - - if (argc < 2 || argc > 4) - return EC_ERROR_PARAM_COUNT; - - /* First argument is sensor id. */ - id = strtoi(argv[1], &e, 0); - if (*e || id < 0 || id >= motion_sensor_count) - return EC_ERROR_PARAM1; - - sensor = &motion_sensors[id]; - - if (argc >= 3) { - /* Second argument is data to write. */ - data = strtoi(argv[2], &e, 0); - if (*e) - return EC_ERROR_PARAM2; - - if (argc == 4) { - /* Third argument is rounding flag. */ - round = strtoi(argv[3], &e, 0); - if (*e) - return EC_ERROR_PARAM3; - } - - /* - * Write new resolution, if it returns invalid arg, then - * return a parameter error. - */ - if (sensor->drv->set_resolution && - sensor->drv->set_resolution(sensor, data, round) - == EC_ERROR_INVAL) - return EC_ERROR_PARAM2; - } else { - ccprintf("Resolution for sensor %d: %d\n", id, - sensor->drv->get_resolution(sensor)); - } - - return EC_SUCCESS; -} -DECLARE_CONSOLE_COMMAND(accelres, command_accelresolution, - "id [data [roundup]]", - "Read or write accelerometer resolution"); - -static int command_accel_data_rate(int argc, char **argv) -{ - char *e; - int id, data, round = 1; - struct motion_sensor_t *sensor; - enum sensor_config config_id; - - if (argc < 2 || argc > 4) - return EC_ERROR_PARAM_COUNT; - - /* First argument is sensor id. */ - id = strtoi(argv[1], &e, 0); - if (*e || id < 0 || id >= motion_sensor_count) - return EC_ERROR_PARAM1; - - sensor = &motion_sensors[id]; - - if (argc >= 3) { - /* Second argument is data to write. */ - data = strtoi(argv[2], &e, 0); - if (*e) - return EC_ERROR_PARAM2; - - if (argc == 4) { - /* Third argument is rounding flag. */ - round = strtoi(argv[3], &e, 0); - if (*e) - return EC_ERROR_PARAM3; - } - - /* - * Take ownership of the sensor and - * Write new data rate, if it returns invalid arg, then - * return a parameter error. - */ - config_id = motion_sense_get_ec_config(); - sensor->config[SENSOR_CONFIG_AP].odr = 0; - sensor->config[config_id].odr = - data | (round ? ROUND_UP_FLAG : 0); - task_set_event(TASK_ID_MOTIONSENSE, - TASK_EVENT_MOTION_ODR_CHANGE, 0); - } else { - ccprintf("Data rate for sensor %d: %d\n", id, - sensor->drv->get_data_rate(sensor)); - ccprintf("EC rate for sensor %d: %d\n", id, - motion_sense_ec_rate(sensor)); - ccprintf("Current Interrupt rate: %d\n", ap_event_interval); - } - - return EC_SUCCESS; -} -DECLARE_CONSOLE_COMMAND(accelrate, command_accel_data_rate, - "id [data [roundup]]", - "Read or write accelerometer ODR"); - -static int command_accel_read_xyz(int argc, char **argv) -{ - char *e; - int id, n = 1, ret; - struct motion_sensor_t *sensor; - intv3_t v; - - if (argc < 2) - return EC_ERROR_PARAM_COUNT; - - /* First argument is sensor id. */ - id = strtoi(argv[1], &e, 0); - - if (*e || id < 0 || id >= motion_sensor_count) - return EC_ERROR_PARAM1; - - if (argc >= 3) - n = strtoi(argv[2], &e, 0); - - sensor = &motion_sensors[id]; - - while ((n == -1) || (n-- > 0)) { - ret = sensor->drv->read(sensor, v); - if (ret == 0) - ccprintf("Current data %d: %-5d %-5d %-5d\n", - id, v[X], v[Y], v[Z]); - else - ccprintf("vector not ready\n"); - ccprintf("Last calib. data %d: %-5d %-5d %-5d\n", - id, sensor->xyz[X], sensor->xyz[Y], sensor->xyz[Z]); - task_wait_event(motion_min_interval); - } - return EC_SUCCESS; -} - -DECLARE_CONSOLE_COMMAND(accelread, command_accel_read_xyz, - "id [n]", - "Read sensor x/y/z"); - -static int command_accel_init(int argc, char **argv) -{ - char *e; - int id, ret; - struct motion_sensor_t *sensor; - - if (argc < 2) - return EC_ERROR_PARAM_COUNT; - - /* First argument is sensor id. */ - id = strtoi(argv[1], &e, 0); - - if (*e || id < 0 || id >= motion_sensor_count) - return EC_ERROR_PARAM1; - - sensor = &motion_sensors[id]; - ret = motion_sense_init(sensor); - - ccprintf("%s: state %d - %d\n", sensor->name, sensor->state, ret); - return EC_SUCCESS; -} -DECLARE_CONSOLE_COMMAND(accelinit, command_accel_init, - "id", - "Init sensor"); - -#ifdef CONFIG_CMD_ACCEL_INFO -static int command_display_accel_info(int argc, char **argv) -{ - int val, i, j; - - if (argc > 3) - return EC_ERROR_PARAM_COUNT; - - ccprintf("Motion sensors count = %d\n", motion_sensor_count); - - /* Print motion sensor info. */ - for (i = 0; i < motion_sensor_count; i++) { - ccprintf("\nsensor %d name: %s\n", i, motion_sensors[i].name); - ccprintf("active mask: %d\n", motion_sensors[i].active_mask); - ccprintf("chip: %d\n", motion_sensors[i].chip); - ccprintf("type: %d\n", motion_sensors[i].type); - ccprintf("location: %d\n", motion_sensors[i].location); - ccprintf("port: %d\n", motion_sensors[i].port); - ccprintf("addr: %d\n", I2C_GET_ADDR(motion_sensors[i] - .i2c_spi_addr_flags)); - ccprintf("range: %d\n", motion_sensors[i].default_range); - ccprintf("min_freq: %d\n", motion_sensors[i].min_frequency); - ccprintf("max_freq: %d\n", motion_sensors[i].max_frequency); - ccprintf("config:\n"); - for (j = 0; j < SENSOR_CONFIG_MAX; j++) { - ccprintf("%d - odr: %umHz, ec_rate: %uus\n", j, - motion_sensors[i].config[j].odr & - ~ROUND_UP_FLAG, - motion_sensors[i].config[j].ec_rate); - } - } - - /* First argument is on/off whether to display accel data. */ - if (argc > 1) { - if (!parse_bool(argv[1], &val)) - return EC_ERROR_PARAM1; - - accel_disp = val; - } - - return EC_SUCCESS; -} -DECLARE_CONSOLE_COMMAND(accelinfo, command_display_accel_info, - "on/off [interval]", - "Print motion sensor info, lid angle calculations" - " and set calculation frequency."); -#endif /* CONFIG_CMD_ACCEL_INFO */ - -#ifdef CONFIG_CMD_ACCEL_FIFO -static int motion_sense_read_fifo(int argc, char **argv) -{ - int count, i; - struct ec_response_motion_sensor_data v; - - if (argc < 1) - return EC_ERROR_PARAM_COUNT; - - /* Limit the amount of data to avoid saturating the UART buffer */ - count = MIN(queue_count(&motion_sense_fifo), 16); - for (i = 0; i < count; i++) { - queue_peek_units(&motion_sense_fifo, &v, i, 1); - if (v.flags & (MOTIONSENSE_SENSOR_FLAG_TIMESTAMP | - MOTIONSENSE_SENSOR_FLAG_FLUSH)) { - uint64_t timestamp; - memcpy(×tamp, v.data, sizeof(v.data)); - ccprintf("Timestamp: 0x%016llx%s\n", timestamp, - (v.flags & MOTIONSENSE_SENSOR_FLAG_FLUSH ? - " - Flush" : "")); - } else { - ccprintf("%d %d: %-5d %-5d %-5d\n", i, v.sensor_num, - v.data[X], v.data[Y], v.data[Z]); - } - } - return EC_SUCCESS; -} - -DECLARE_CONSOLE_COMMAND(fiforead, motion_sense_read_fifo, - "id", - "Read Fifo sensor"); -#endif /* defined(CONFIG_CMD_ACCEL_FIFO) */ -#endif /* CONFIG_CMD_ACCELS */ - -#ifdef CONFIG_ACCEL_SPOOF_MODE -static void print_spoof_mode_status(int id) -{ - CPRINTS("Sensor %d spoof mode is %s. <%d, %d, %d>", id, - (motion_sensors[id].flags & MOTIONSENSE_FLAG_IN_SPOOF_MODE) - ? "enabled" : "disabled", - motion_sensors[id].spoof_xyz[X], - motion_sensors[id].spoof_xyz[Y], - motion_sensors[id].spoof_xyz[Z]); -} - -#ifdef CONFIG_CMD_ACCELSPOOF -static int command_accelspoof(int argc, char **argv) -{ - char *e; - int id, enable, i; - struct motion_sensor_t *s; - - /* There must be at least 1 parameter, the sensor id. */ - if (argc < 2) - return EC_ERROR_PARAM_COUNT; - - /* First argument is sensor id. */ - id = strtoi(argv[1], &e, 0); - if (id >= motion_sensor_count || id < 0) - return EC_ERROR_PARAM1; - - s = &motion_sensors[id]; - - /* Print the sensor's current spoof status. */ - if (argc == 2) - print_spoof_mode_status(id); - - /* Enable/Disable spoof mode. */ - if (argc >= 3) { - if (!parse_bool(argv[2], &enable)) - return EC_ERROR_PARAM2; - - if (enable) { - /* - * If no components are provided, we'll just use the - * current values as the spoofed values. But if the - * components are provided, use the provided ones as the - * spoofed ones. - */ - if (argc == 6) { - for (i = 0; i < 3; i++) - s->spoof_xyz[i] = strtoi(argv[3 + i], - &e, 0); - } else if (argc == 3) { - for (i = X; i <= Z; i++) - s->spoof_xyz[i] = s->raw_xyz[i]; - } else { - /* It's either all or nothing. */ - return EC_ERROR_PARAM_COUNT; - } - } - if (enable) - s->flags |= MOTIONSENSE_FLAG_IN_SPOOF_MODE; - else - s->flags &= ~MOTIONSENSE_FLAG_IN_SPOOF_MODE; - print_spoof_mode_status(id); - } - - return EC_SUCCESS; -} -DECLARE_CONSOLE_COMMAND(accelspoof, command_accelspoof, - "id [on/off] [X] [Y] [Z]", - "Enable/Disable spoofing of sensor readings."); -#endif /* defined(CONIFG_CMD_ACCELSPOOF) */ -#endif /* defined(CONFIG_ACCEL_SPOOF_MODE) */ |